A layout planning method

Abstract

The present application provides a layout planning method, which relates to the technical field of intelligent warehouse layout. The method includes: obtaining the maximum site area, the number of transportation destinations, and the target working efficiency; obtaining a plurality of initial layout schemes according to the maximum site area and the number of transportation destinations; estimating the working efficiency of each of the initial layout schemes to obtain a plurality of candidate layout schemes whose working efficiency reaches the target working efficiency; for each of the candidate layout schemes, using a planning model to solve the number of transportation devices required for the candidate layout scheme when reaching the target working efficiency; in the case where the planning model solves the number of the transportation devices required for any one of the candidate layout schemes, determining the candidate layout scheme and the number of the transportation devices required therefor as the target scheme.

Description

Technical Field

[0001] The present application relates to the technical field of the layout of intelligent warehousing, and particularly to a layout planning method. Background Art

[0002] In the modern logistics industry, with the development of related technologies of logistics equipment, automatic sorting equipment has gradually replaced traditional manual sorting. The upper limit of the efficiency of the sorting system is limited by the sorting method, the size of the site, and the workers loading packages on the workbench. For the sorting system, since the loading rate of each person is fixed, the number of workers on the workbench determines the upper limit of the throughput it can achieve.

[0003] Most of the current related research in the logistics field is focused on the layout distribution design of order picking. For example, the queuing network model derived from the order picking problem can track the behavior of transportation equipment in the work process and the waiting situation of orders, but it cannot well depict the mutual influence of transportation equipment during movement. Because in the sorting scenario, the ratio of cargo bays to transportation equipment is similar, and the number of transportation equipment is usually on the scale of hundreds, the traffic capacity of the road will greatly affect the single operation time of transportation equipment. When the road approaches the bottleneck, the decrease in the average moving speed of transportation equipment leads to the actual work efficiency often being lower than the result obtained using the queuing model. Therefore, the related research methods cannot accurately reflect the real work efficiency, and the designed layout is not reasonable enough. Therefore, how to reasonably design the layout so that the system can meet the efficiency requirements under limited conditions is a new problem that requires more exploration. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present invention provide a layout planning method to overcome or at least partially solve the above problems.

[0005] The embodiments of the present invention provide a layout planning method, and the method includes:

[0006] Obtain the maximum site area, the number of transportation destinations, and the target work efficiency;

[0007] According to the maximum site area and the number of transportation destinations, obtain multiple initial layout plans;

[0008] Estimate the work efficiency of each initial layout plan to obtain multiple candidate layout plans whose work efficiency reaches the target work efficiency;

[0009] For each candidate layout plan, use the planning model to solve the number of transportation equipment required for this candidate layout plan to reach the target work efficiency;

[0010] When the planning model solves for the number of transportation devices required for any one of the candidate layout plans, determine the candidate layout plan and the number of transportation devices required therefor as the target plan.

[0011] Optionally, for each candidate layout plan, using the planning model to solve for the number of transportation devices required for the candidate layout plan to achieve the target working efficiency includes:

[0012] Estimate the number of transportation devices required for each candidate layout plan to achieve the target working efficiency;

[0013] Calculate the cost of each candidate layout plan based on each candidate layout plan and the number of transportation devices required therefor;

[0014] In the order from low to high of the costs, for each candidate layout plan in turn, use the planning model to solve for the number of transportation devices required for the candidate layout plan to achieve the target working efficiency;

[0015] The step of, when the planning model solves for the number of transportation devices required for any one of the candidate layout plans, determining the candidate layout plan and the number of transportation devices required therefor as the target plan includes:

[0016] Take the candidate layout plan corresponding to the first number of transportation devices solved by the planning model, and the first number of transportation devices, as the initial target plan;

[0017] Take the candidate layout plan corresponding to the non-first number of transportation devices solved by the planning model, and the corresponding non-first number of transportation devices, as the non-initial target plan;

[0018] Calculate the cost of the initial target plan and the cost of the non-initial target plan. When the cost of any non-initial target plan is greater than the cost of the initial target plan, determine the non-initial target plan as the local optimal plan.

[0019] Optionally, after obtaining the target plan, the method further includes:

[0020] Calculate the cost of each target plan based on each target plan and the number of transportation devices required therefor;

[0021] Determine the target plan with the lowest cost as the global optimal plan.

[0022] Optionally, the step of obtaining a plurality of initial layout plans according to the maximum site area and the number of transportation destinations includes:

[0023] Obtain the size of the transportation device;

[0024] Determine the road width of the multiple initial layout plans according to the size of the transportation device;

[0025] List the multiple initial layout plans according to the maximum site area, the number of transportation destinations, and the road widths of the multiple initial layout plans.

[0026] Optionally, the estimating the working efficiency of each of the initial layout plans includes:

[0027] Obtain the number of horizontal roads, the number of vertical roads, and the number of workbenches of each of the initial layout plans;

[0028] Obtain the traffic capacity limit of each section of the road;

[0029] Calculate the theoretical upper limit of the working efficiency of each of the initial layout plans according to the number of horizontal roads, the number of vertical roads of each of the initial layout plans, and the traffic capacity limit of each section of the road;

[0030] Calculate the working efficiency of each of the initial layout plans according to the number of workbenches and the theoretical upper limit of the working efficiency of each of the initial layout plans.

[0031] Optionally, before the estimating the working efficiency of each of the initial layout plans, the method further includes:

[0032] Estimate the working efficiency of different layout plans, and store the different layout plans and their working efficiencies;

[0033] The estimating the working efficiency of each of the initial layout plans includes:

[0034] Obtain the working efficiency of each of the initial layout plans from the stored different layout plans and their working efficiencies.

[0035] Optionally, the estimating the number of transportation devices required for each of the candidate layout plans to reach the target working efficiency includes:

[0036] Obtain the number of horizontal roads and the number of vertical roads of each of the candidate layout plans;

[0037] Obtain the traffic capacity limit of each section of the road and the time required for the transportation device to pass through each section of the road;

[0038] Calculate the number of transportation devices required for each candidate layout plan when achieving the target working efficiency based on the target working efficiency, the traffic limit of each section of the road, the time required for the transportation device to pass through each section of the road, and the number of horizontal roads and vertical roads in each candidate layout plan.

[0039] Optionally, before estimating the number of transportation devices required for each candidate layout plan when achieving the target working efficiency, the method further includes:

[0040] Estimate the number of transportation devices required for different layout plans when achieving the target working efficiency, and store the number of transportation devices required for different layout plans when achieving the target working efficiency;

[0041] The estimating the number of transportation devices required for each candidate layout plan when achieving the target working efficiency includes:

[0042] Obtain the number of transportation devices required for each candidate layout plan when achieving the target working efficiency from the stored number of transportation devices required for different layout plans when achieving the target working efficiency.

[0043] Optionally, calculate the cost of each candidate layout plan according to each candidate layout plan and the number of transportation devices required therefor, including:

[0044] Obtain the unit site cost, the cost of each transportation device, and the cost of each workbench;

[0045] Obtain the site area occupied by each candidate layout plan and the number of workbenches required;

[0046] Calculate the cost of each candidate layout plan according to the unit site cost, the cost of each transportation device, the cost of each workbench, the site area occupied by each candidate layout plan, the number of workbenches required, and the number of transportation devices required.

[0047] Optionally, obtain the planning model through the following formula:

[0048]

[0049] s.t.

[0050]

[0051]

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[0059]

[0060] Wherein, m is the number of horizontal roads in the candidate layout plan, n is the number of vertical roads in the candidate layout plan, M is a sufficiently large number; C e is the flow upper limit of each road; λ is the maximum rate at which each workbench loads goods onto the transportation equipment; τ i is an indication parameter, τ i = 1 indicates that workbench i is turned on in this layout plan, τ i = 0 indicates that workbench i is turned off; is an indication parameter, indicates that the r-th path from workbench i to workbench j can be delivered to grid k, otherwise it cannot; is an indication parameter, indicates that the r-th path from workbench i to workbench j contains the one-way section e, otherwise it does not; W is the set of all workbenches; K is the set of all transportation destinations; R(i,j) represents the set of feasible paths from workbench i to workbench j, l ijr is the total length of all horizontal roads and vertical roads; μ i characterizes the throughput of the i-th workbench; f ijr characterizes the flow of the r-th path from workbench i to workbench j; f jir characterizes the flow of the r-th path from workbench j to workbench i; characterizes the component of the transportation destination k in the flow of the r-th path from workbench i to workbench j.

[0061] The embodiments of the present invention include the following advantages:

[0062] In this embodiment, multiple initial layout plans obtained based on the maximum site area and the number of transportation destinations can meet the limitations of the site area and the number of transportation destinations. The candidate layout plan determined from the multiple initial layout plans is a layout plan whose working efficiency reaches the target working efficiency. The number of transportation devices required for the candidate layout plan solved by the planning model is the number of transportation devices required for the candidate layout plan when it reaches the target working efficiency. Therefore, the planning model comprehensively considers the passing capacity and the working efficiency of the transportation devices in the layout plan, and can accurately obtain the number of transportation devices required for the candidate layout plan when it reaches the target working efficiency. In this way, the target plan is a plan that meets the limitations of the maximum site area and the number of transportation destinations and can reach the target working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 is a flowchart of the steps of a layout planning method in an embodiment of the present invention;

[0065] Figure 2 is a schematic diagram of a 4×4 layout plan in an embodiment of the present invention;

[0066] Figure 3 is a topological structure diagram of a layout plan in an embodiment of the present invention;

[0067] Figure 4 is a schematic flowchart of the layout planning method in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0069] Referring to Figure 1 as shown, a flowchart of the steps of a layout planning method in an embodiment of the present invention is shown. As Figure 1 shown, the layout planning method may specifically include the following steps:

[0070] Step S11: Obtain the maximum site area, the number of transportation destinations, and the target working efficiency;

[0071] Step S12: Obtain multiple initial layout plans according to the maximum site area and the number of transportation destinations;

[0072] Step S13: Estimate the working efficiency of each of the initial layout schemes to obtain multiple candidate layout schemes whose working efficiency reaches the target working efficiency;

[0073] Step S14: For each of the candidate layout schemes, use the planning model to solve for the number of transportation devices required for this candidate layout scheme to reach the target working efficiency;

[0074] Step S15: In the case where the planning model solves for the number of the transportation devices required for any one of the candidate layout schemes, determine this candidate layout scheme and the number of the transportation devices required therefor as the target scheme.

[0075] The layout scheme in the present disclosure may be a layout scheme of a warehouse in an intelligent warehousing system. A warehouse includes at least roads, transportation destinations, and workbenches. Among them, the areas where the roads and transportation destinations are located may be called sorting areas. The transportation destinations may be areas for storing goods such as cargo bays and shelves; the workbench is an area where manual or machine cargo sorting is performed; the transportation device may be an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). The transportation device moves on the roads in the warehouse, enters the warehouse from the workbench, arrives at the transportation destination to load or unload goods, and then returns to the workbench to wait for the next task.

[0076] Figure 2 FIG. 14 is a schematic diagram of a 4×4 layout scheme. Among them, a road is composed of multiple road units arranged in a column or a row. The transportation destination is a cargo bay, and the workbench is a bag supply workbench. All roads extend out at the edge of the road network (the network composed of roads) to form staggered entrances and exits. Bind each pair of adjacent entrances and exits to a bag supply workbench. The transportation device that receives the goods from this bag supply workbench enters the sorting area from the bound road network entrance. After completing the corresponding task at the corresponding cargo bay, it leaves the sorting area through the bound road network exit and returns to this bag supply workbench to queue up and wait to receive the next task. The cargo bays are evenly distributed in the square areas enclosed by roads and roads. Each cargo bay is a transportation destination. The transportation device moves to the side of the cargo bay and stores the goods in the cargo bay to complete the sorting.

[0077] In order to plan the layout scheme of the warehouse, it is first necessary to determine the maximum site area and the number of transportation destinations. The area occupied by the layout scheme cannot exceed the maximum site area, and the number of transportation destinations determines the storage capacity of the warehouse.

[0078] Multiple initial layout plans can be obtained based on the maximum site area and the number of transportation destinations. When planning the layout plan, the transportation equipment is predetermined. Based on the size of the transportation equipment, the road width of the initial layout plan can be determined. If the road width is too wide, it will only cause waste of the site. If the road width is too narrow, the transportation equipment will not be able to pass. Therefore, the road width can be determined as the width that the transportation equipment can just pass through. The size of the workbench can also be obtained. Since the workbench is located at the outermost periphery, after knowing the maximum site area, the number of transportation destinations, and the road width, multiple initial layout plans can be listed one by one.

[0079] For example, assume the number of transportation destinations is 4. Then the possible layout plans can be (4), (3,1), (2,2), (2,1,1), (1,2,1), etc. Among them, the layout plan (2,1,1) means that there are 2 transportation destinations in the first row, 1 transportation destination in the second row, and 1 transportation destination in the third row. It can be understood that the layout plan (2,1,1) and the layout plan (1,1,2) are essentially the same plan. After determining multiple possible layout plans according to the number of transportation destinations, adding the road width between each row and the area occupied by the workbench on the outermost periphery, the area occupied by each possible layout plan can be calculated. The layout plans whose occupied area does not exceed the maximum site area are determined as the initial layout plans.

[0080] Optionally, the distance between two adjacent transportation destinations on the same side of the road can also be set, that is, the length of each section of the road is set. The length of each section of the road refers to the distance between two adjacent roads that are orthogonal to this section of the road. For example, the length of a section of a horizontal road refers to the distance between two parallel and adjacent vertical roads. Based on the above technical solution, the area occupied by each possible layout plan can be calculated based on the length of each section of the road, and then the initial layout plan can be determined.

[0081] The planning model can accurately calculate the number of transportation equipment required for each layout plan to achieve each efficiency. Therefore, after determining multiple initial layout plans, the planning model can be directly used to solve the number of transportation equipment required for the initial layout plan to achieve the target working efficiency. If a solution exists for an initial layout plan, then this initial layout plan is a plan that meets the limitations of the maximum site area and the number of transportation destinations and can achieve the target working efficiency.

[0082] However, directly using the planning model for solving takes too much time. Therefore, multiple initial layout plans can be screened first to obtain multiple candidate layout plans, and then the planning model only solves for the candidate layout plans, thereby reducing the amount of calculation.

[0083] The empirical formula Ⅰ can be used to estimate the working efficiency of each initial layout plan first, and directly eliminate the initial layout plans whose working efficiency cannot reach the target working efficiency, so as to obtain multiple candidate layout plans.

[0084] Optionally, the number of horizontal roads, the number of vertical roads, and the number of workbenches in the initial layout plan can be obtained, and the flow upper limit of each section of the road can be obtained. According to the number of horizontal roads and vertical roads in the initial layout plan, and the flow upper limit of each section of the road, the theoretical upper limit of the working efficiency of each initial layout plan can be calculated. According to the number of workbenches in the initial layout plan and the theoretical upper limit of the working efficiency, the working efficiency of the initial layout plan can be calculated.

[0085] Optionally, the theoretical upper limit of the working efficiency of the initial layout plan can be calculated by the following formula:

[0086]

[0087] Where is the theoretical upper limit of the working efficiency of the initial layout plan, m is the number of horizontal roads in the initial layout plan, n is the number of vertical roads in the initial layout plan, C e is the flow upper limit of each section of the road, β is a constant representing the attenuation of the road traffic capacity, and 0 < β < 1.

[0088] The theoretical upper limit of the working efficiency is limited by the number of workbenches. When only n work workbenches are turned on, the working efficiency of the initial layout plan is:

[0089]

[0090] Where is the working efficiency of the initial layout plan, n work is the number of workbenches, and the meanings of the other letters can be referred to the previous text.

[0091] It can be seen from the formula for calculating the working efficiency of the initial layout plan above that the working efficiency of the initial layout plan is mainly affected by the number of horizontal roads, the number of vertical roads, and the number of workbenches. Therefore, according to the formula for calculating the working efficiency of the initial layout plan above, the working efficiency of the layout plans with different numbers of horizontal roads, vertical roads, and workbenches can be calculated in advance, and each layout plan and its working efficiency can be stored. An efficiency table can be constructed to store the layout plans and their working efficiencies in the efficiency table. In actual applications, the working efficiency of each initial layout plan can be directly obtained from the stored efficiency table, so as to speed up the process of obtaining candidate layout plans from multiple initial layout plans.

[0092] To determine that the estimated work efficiency of the candidate layout plan is not accurate enough, it is necessary to use a planning model to solve the number of transportation devices required for each candidate layout plan to achieve the target work efficiency. Before using the planning model to solve, it is necessary to construct a topological structure diagram G(E, V 1 , V 2 ) of the candidate layout plan, where E is the set of one-way road sections of single lanes between any two nodes, and the transportation devices can pass through each one-way road section in the same time. If there is a two-way road section, it can be split into two parallel and reverse one-way road sections; V 1 represents all intersection nodes; V 2 represents all transportation destinations. Figure 3 Fig. shows the topological structure diagram of a layout plan, where the dots represent intersection nodes and the hexagons represent transportation destinations.

[0093] The sorting work of each transportation device can be defined as the "workbench 1 - target transportation destination - workbench 2" mode. Therefore, all feasible paths can be expressed in the form of (i, j, k), where i, j, and k represent workbench 1, workbench 2, and the target transportation destination in sequence.

[0094] Therefore, the decision variables in the planning model are: μ i , representing the throughput of the i-th workbench; f ijr , representing the flow of the r-th path from workbench i to workbench j; represents the component of the transportation destination k in the flow of the r-th path from workbench i to workbench j.

[0095] Solve the number of transportation devices required to achieve the target work efficiency S target under the current layout plan. The planning model can be expressed by the following formulas (1)-(10):

[0096]

[0097] s.t.

[0098]

[0099]

[0100]

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108] where M is a sufficiently large number; λ is the maximum rate at which each workbench loads goods onto the transportation equipment; τ i is an indication parameter, τ i = 1 indicates that workbench i is turned on in this layout scheme, and τ i = 0 indicates that workbench i is turned off; is an indication parameter, indicates that the r-th path from workbench i to workbench j can be delivered to grid k, otherwise it cannot; is an indication parameter, indicates that the r-th path from workbench i to workbench j contains the one-way section e, otherwise it does not; W is the set of all workbenches; K is the set of all transportation destinations; R(i, j) represents the set of feasible paths from workbench i to workbench j, and l ijr is the total length of all horizontal and vertical roads. Among them, through the respective values of i, j, and r, the layout scheme can be determined.

[0109] The objective function (1) is to minimize the number of transportation equipment; the constraints (2)-(3) are the flow conservation at the workbench; the constraints (4)-(7) are the value limitations of the decision variables; the constraint (8) ensures that the system serves each grid evenly; the constraint (8) ensures that the system serves each grid evenly; the constraint (9) means that the total flow on a road during operation is less than its traffic capacity limit; the constraint (10) ensures that the system meets the target working efficiency.

[0110] The layout scheme of the warehouse only determines the quantity and settings of roads, workbenches, transportation destinations, etc. in the site. However, the number of transportation equipment also affects the working efficiency. Therefore, only when the number of transportation equipment of the candidate layout scheme obtained by solving the planning model reaches the target working efficiency can it be proved that the candidate layout scheme is practical. The candidate layout scheme for which the number of transportation equipment can be solved, and the corresponding number of transportation equipment of this candidate layout scheme, can be used as the target scheme, and the target scheme can be recorded.

[0111] Adopting the technical solution of the embodiment of the present application, multiple initial layout schemes obtained according to the maximum site area and the number of transportation destinations can meet the limitations of the site area and the number of transportation destinations. The candidate layout scheme determined from multiple initial layout schemes is a layout scheme whose working efficiency reaches the target working efficiency. The number of transportation devices required for the candidate layout scheme solved by the planning model is the number of transportation devices required for the candidate layout scheme when reaching the target working efficiency; therefore, the planning model comprehensively considers the passing capacity and the working efficiency of the transportation devices in the layout scheme, and can accurately obtain the number of transportation devices required for the candidate layout scheme when reaching the target working efficiency. In this way, the target scheme is a scheme that meets the limitations of the maximum site area and the number of transportation destinations and can reach the target working efficiency.

[0112] Optionally, on the basis of the above technical solution, there may be multiple target schemes, and multiple target schemes can all meet the maximum site area, the number of transportation destinations, and the target working efficiency. However, from a practical perspective, the cost of each target scheme can also be considered, and the scheme with the lowest cost among all target schemes is determined as the global optimal scheme.

[0113] The cost can include the site cost, the workbench cost, and the transportation device cost. Since the number of transportation destinations for each layout scheme is the same, it can be not considered when calculating the cost. The cost of each target scheme can be calculated by the following formula:

[0114] C p (m, n, n work , n agv )

[0115] =[(m + 1)d + 2w work ·[(n + 1)d + 2w work ·C s +n work ·C w +n agv ·C a

[0116] Wherein, C p (m, n, n work , n agv ) is the cost, d is the distance between any two adjacent parallel roads, w work is the width of the workbench, C s is the unit site cost, C w is the cost of each workbench, C a is the cost of each transportation device, and the meanings of the remaining symbols can be referred to the previous text.

[0117] Calculating the cost of each target scheme and determining the global optimal scheme helps to save costs.

[0118] Optionally, based on the above technical solution, when solving the number of transport equipment required for each candidate layout solution to achieve the target work efficiency, the planning model can first estimate the cost of each candidate layout solution, and then solve each candidate layout solution in order from low to high according to the estimated cost. In this way, there is a high probability that the solution with the lowest cost will be obtained when solving the top candidate layout solutions, so there is no need to solve all candidate layout solutions, saving computing resources.

[0119] In order to estimate the cost of the candidate layout solutions, it is first necessary to estimate the number of transportation equipment required by the candidate layout solutions to achieve the target work efficiency.

[0120] Optionally, the empirical formula II can be used to estimate the number of transport equipment required for the candidate layout to achieve the target work efficiency based on the number of lateral roads, the number of longitudinal roads, the flow limit of each road section, and the time required for the transport equipment to pass through each road section.

[0121] According to the empirical formula II, for an open n work For an m×n candidate layout of workstations, when working at maximum efficiency, the number of transport devices deployed should be at least:

[0122]

[0123] Among them, T a It is the time required for transport equipment to pass through any single road. The meaning of other symbols can be referred to the previous text.

[0124] When the target work efficiency needs to be achieved, the number of transport equipment required should be at least:

[0125]

[0126] The meaning of each symbol can be found in the previous text.

[0127] Optionally, the layout parameters and the required number of transport equipment of each layout scheme may be stored in advance according to the above formula for calculating the number of transport equipment required for the candidate layout scheme. A transport equipment quantity table may be constructed, and the layout schemes and the number of transport equipment may be stored in the transport equipment quantity table. In actual application, the number of transport equipment required for each candidate layout scheme to achieve work efficiency may be directly obtained from the stored transport equipment quantity table, thereby speeding up the process of determining the number of transport equipment required for the candidate layout scheme.

[0128] After estimating and obtaining the transportation equipment, the cost of the candidate layout plan can be calculated based on the floor area, the number of workbenches, and the number of transportation equipment occupied by the candidate layout plan. Since the number of transportation equipment is estimated, the cost of the candidate layout plan calculated at this time is also inaccurate. The accurate cost of the plan needs to be recalculated based on the number of transportation equipment obtained by solving the planning model.

[0129] The planning model solves the number of transportation equipment required for each candidate layout plan to reach the target work efficiency in ascending order of the estimated cost from low to high. Among them, some candidate layout plans may not be solvable, indicating that the candidate layout plan is infeasible. For the first candidate layout plan with a solution obtained, the candidate layout plan and the corresponding number of transportation equipment can be used as the initial target plan to calculate the cost of the initial target plan.

[0130] For the second candidate layout plan with a solution obtained, calculate the cost of the candidate layout plan. If the cost of the second candidate layout plan with a solution obtained is higher than that of the initial target plan, the target plan corresponding to the second solution can be used as the local optimal plan. Correspondingly, for other candidate layout plans that do not have the number of transportation equipment solved for the first time, if the cost of the candidate layout plan is higher than that of the initial target plan, the target plan corresponding to the candidate layout plan can be used as the local optimal plan.

[0131] Among them, the costs of the global optimal plan and the local optimal plan satisfy the following conditions:

[0132] |C p (p′)-C p (p * )|≤C p (p′)-C p (p 0 )

[0133] Among them, C p (p 0 ) is the cost of the initial target plan, C p (p′) is the cost of the local optimal plan, and C p (p * ) is the cost of the global optimal plan.

[0134] According to the above conditions, the gap between the local optimal plan and the global optimal plan can be judged, so that the local optimal plan can be directly selected when the gap meets the requirements.

[0135] Optionally, as an embodiment, after determining each candidate layout plan, directly estimate the cost of each candidate layout plan. In this way, the candidate layout plan with the lowest cost is a plan that is an approximate optimal layout plan.

[0136] In the embodiments of the present application, ① a planning model is provided, which can solve the work efficiency and the number of required transportation devices under a given layout plan; ② an empirical formula is derived, and an algorithm for searching an approximate optimal layout plan is proposed. In this algorithm, by inputting the maximum site area, the number of transportation destinations, the target work efficiency, and the unit cost of each link, an approximate optimal layout plan with the lowest cost that meets the target work efficiency can be quickly obtained; ③ the algorithm for searching the approximate optimal layout plan and the planning model are combined, as Figure 4 shown in the schematic flowchart of the layout planning method. The upper layer is the algorithm for searching the approximate optimal layout plan, and the lower layer is the planning model. The upper layer transfers the layout parameters of the approximate optimal layout plan to the lower layer, and the lower layer performs efficiency analysis to determine the number of required transportation devices, so as to confirm whether the approximate optimal layout plan meets the requirements, and the accurate construction cost can be obtained, a relatively excellent plan can be obtained, as well as the cost error range between it and the global optimal plan.

[0137] By adopting the embodiments of the present application, the empirical formula can be used to estimate the work efficiency and the number of required transportation devices of the layout plan without complex calculations, and an approximate optimal layout that meets the requirements can be obtained with a computational complexity of O(n 3 ), where n is the number of horizontal or vertical roads in the road; through the planning model, the efficiency that can be achieved under the given layout parameters and the number of transportation devices required to achieve the target work efficiency under the given layout parameters can be accurately solved; according to the maximum site area, the number of transportation destinations, the target work efficiency, and the unit cost of each link, a layout plan with the lowest cost that meets the target work efficiency can be quickly and accurately obtained, and the cost error range between the layout plan and the global optimal plan can also be given to ensure the quality of the layout plan.

[0138] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0139] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0140] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, apparatus, or computer program product. Therefore, the embodiments of the present invention can take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0141] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one or more of the processes and / or Figure 1 blocks or multiple blocks.

[0142] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one or more of the processes and / or Figure 1 blocks or multiple blocks.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in Figure 1 one or more of the processes and / or Figure 1 blocks or multiple blocks.

[0144] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0145] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0146] The above has introduced in detail a layout planning method provided by the present application. Specific examples are used in this text to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A layout planning method, characterized in that, the method includes: obtaining the maximum site area, the number of transportation destinations, and the target working efficiency; obtaining a plurality of initial layout plans according to the maximum site area and the number of transportation destinations; estimating the working efficiency of each of the initial layout plans to obtain a plurality of candidate layout plans whose working efficiency reaches the target working efficiency, wherein, the estimating the working efficiency of each of the initial layout plans includes: obtaining the number of horizontal roads, the number of vertical roads, and the number of workbenches of each of the initial layout plans; obtaining the traffic capacity limit of each section of road; calculating the theoretical upper limit of the working efficiency of each of the initial layout plans according to the number of horizontal roads, the number of vertical roads of each of the initial layout plans, and the traffic capacity limit of each section of road; calculating the working efficiency of each of the initial layout plans according to the number of workbenches and the theoretical upper limit of the working efficiency of each of the initial layout plans; for each of the candidate layout plans, using a planning model to solve the number of transportation devices required for the candidate layout plan to reach the target working efficiency, including: estimating the number of transportation devices required for each of the candidate layout plans to reach the target working efficiency; calculating the cost of each of the candidate layout plans according to each of the candidate layout plans and the number of transportation devices required therefor; in the order from low to high of the cost, for each of the candidate layout plans in turn, using the planning model to solve the number of transportation devices required for the candidate layout plan to reach the target working efficiency; in the case where the planning model solves the number of the transportation devices required for any one of the candidate layout plans, determining the candidate layout plan and the number of the transportation devices required therefor as the target plan, including: taking the feasible candidate layout plan and the number of transportation devices corresponding to the feasible candidate layout plan as the target plan; wherein, solving the number of transportation devices required for a candidate layout plan to reach the target working efficiency according to the planning model indicates that the candidate layout plan is feasible; being unable to solve the number of transportation devices required for a candidate layout plan to reach the target working efficiency according to the planning model indicates that the candidate layout plan is infeasible.

2. The method according to claim 1, characterized in that, after obtaining the target plan, the method further includes: calculating the cost of each of the target plans according to each of the target plans and the number of the transportation devices required therefor; determining the target plan with the lowest cost as the global optimal plan.

3. The method according to claim 1, characterized in that, the obtaining a plurality of initial layout plans according to the maximum site area and the number of transportation destinations includes: obtaining the size of the transportation device; determining the road width of the plurality of initial layout plans according to the size of the transportation device; listing the plurality of initial layout plans according to the maximum site area, the number of transportation destinations, and the road width of the plurality of initial layout plans.

4. The method according to claim 1, characterized in that, Before estimating the working efficiency of each of the initial layout schemes, the method further includes: estimating the working efficiency of different layout schemes, and storing the different layout schemes and their working efficiencies; The estimating of the working efficiency of each of the initial layout schemes includes: obtaining the working efficiency of each of the initial layout schemes from the stored different layout schemes and their working efficiencies.

5. The method according to claim 1, wherein, the estimating of the number of transportation devices required for each of the candidate layout schemes to reach the target working efficiency includes: obtaining the number of horizontal roads and the number of vertical roads for each of the candidate layout schemes; obtaining the traffic capacity limit of each section of road and the time required for the transportation device to pass through each section of road; calculating the number of transportation devices required for each of the candidate layout schemes to reach the target working efficiency according to the target working efficiency, the traffic capacity limit of each section of road, the time required for the transportation device to pass through each section of road, and the number of horizontal roads and the number of vertical roads for each of the candidate layout schemes.

6. The method according to claim 1, wherein, before the estimating of the number of transportation devices required for each of the candidate layout schemes to reach the target working efficiency, the method further includes: estimating the number of transportation devices required for different layout schemes to reach the target working efficiency, and storing the number of transportation devices required for the different layout schemes to reach the target working efficiency; The estimating of the number of transportation devices required for each of the candidate layout schemes to reach the target working efficiency includes: obtaining the number of transportation devices required for each of the candidate layout schemes to reach the target working efficiency from the stored number of transportation devices required for the different layout schemes to reach the target working efficiency.

7. The method according to claim 1, wherein, calculating the cost of each of the candidate layout schemes according to each of the candidate layout schemes and the number of transportation devices required therefor includes: obtaining the unit site cost, the cost of each transportation device, and the cost of each workbench; obtaining the site area occupied by each of the candidate layout schemes and the number of workbenches required; calculating the cost of each of the candidate layout schemes according to the unit site cost, the cost of each transportation device, the cost of each workbench, the site area occupied by each of the candidate layout schemes, the number of workbenches required, and the number of transportation devices required.

8. The method according to claim 1, wherein, the planning model is obtained through the following formula: where m is the number of horizontal roads in the candidate layout plan, n is the number of vertical roads in the candidate layout plan, and M is a sufficiently large number; is the traffic upper limit of each road; λ is the maximum rate at which each workbench loads goods onto the transportation equipment; is an indication parameter, = 1 indicates that workbench i is turned on in this layout plan, = 0 indicates that workbench i is turned off; is an indication parameter, = 1 indicates that the r-th path from workbench i to workbench j can be delivered to grid k, otherwise it cannot; is an indication parameter, = 1 indicates that the r-th path from workbench i to workbench j contains the one-way section e, otherwise it does not; W is the set of all workbenches; K is the set of all transportation destinations; R(i, j) represents the set of feasible paths from workbench i to workbench j, is the total length of all horizontal roads and vertical roads; characterizes the throughput of the i-th workbench; characterizes the traffic flow of the r-th path from workbench i to workbench j; characterizes the traffic flow of the r-th path from workbench j to workbench i; characterizes the component of the transportation destination k in the traffic flow of the r-th path from workbench i to workbench j; E is the topological structure diagram of the candidate layout plan is the set of one-way sections of single lanes between any two intersection nodes in represents all intersection nodes, represents all transportation destinations; is the target work efficiency.

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