A scheduling method and system of one-track multi-stack stacker

Abstract

The present application relates to the technical field of stereoscopic warehouse, and particularly relates to a scheduling method and system of one-rail multi-stack stacker, which adopts a technical scheme of arranging one-rail multi-stack stacker in the same lane, can automatically allocate multiple execution devices to work simultaneously, and improves the warehouse-in and warehouse-out efficiency and the throughput rate of the lane; the stacker group, the warehouse area division module, the warehouse area division module is used for regionally dividing the storage locations of the stereoscopic warehouse, and the storage location regions are allocated to each stacker; the task module, the task module formulates the warehouse-out task sheet and the warehouse-in task sheet according to the order; the execution module, the execution module receives the task sheet, and schedules the corresponding stacker to execute the task according to the information of the regional storage location on the task sheet; the communication module, the stackers interact and communicate through the communication module, and the avoidance rule is determined according to the first priority level and the secondary priority level of the execution task; the device state monitoring module, the fault condition of the stacker is monitored, and the fault information is sent to the warehouse area division module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stereoscopic libraries, and in particular to a scheduling method and system for a one-rail multi-stack machine. BACKGROUND

[0002] An automated stereoscopic warehouse, also known as an automated stereoscopic storage, is a new concept in logistics and storage. It utilizes stereoscopic warehouse equipment to achieve rationalization of high-level storage, automation of storage and retrieval, and simplification of operation. The automated stereoscopic warehouse is a form with a high level of current technology. The main body of the automated stereoscopic warehouse is composed of shelves, roadway stacker cranes, in(out) warehouse workbenches, and automatic in(out) transport and operation control systems. The shelves are steel structure or reinforced concrete structure buildings or structures, and the shelves are standard size storage spaces. The roadway stacker crane travels in the roadway between the shelves to complete the storage and retrieval of goods. The stacker crane, also known as a stacker, is the most important hoisting and transportation equipment in the stereoscopic warehouse and is a symbol representing the characteristics of the stereoscopic warehouse. The stacker is generally divided into a rail type and a railless type. The main function of the stacker crane is to run back and forth in the passageway of the stereoscopic warehouse, store goods located at the roadway entrance into the shelf, or take out the goods in the shelf and transport them to the roadway entrance.

[0003] In existing stereoscopic warehouse storage solutions, one rail and one vehicle are commonly used. In centralized warehousing and centralized delivery scenarios, the throughput is limited by the number of full-load operation devices. This situation is particularly evident in small and medium-sized warehouses with short inventory cycles or long-path roadway warehouses. A single vehicle is responsible for the in-out operation of a roadway, which may cause production rhythm to slow down and not meet efficiency requirements.

[0004] Therefore, based on the analysis of the use of existing equipment, an implementation scheme of one rail and multiple vehicles for rail-type stackers is proposed. According to certain scheduling rules and inventory allocation rules, the execution devices are automatically allocated, which can improve the efficiency of in-out operation of the warehouse in the same roadway. SUMMARY

[0005] To solve the above technical problems, the present application provides a technical scheme of setting one rail and multiple stackers in the same roadway, which can automatically allocate multiple execution devices to work simultaneously, improve the in-out efficiency and throughput rate of the roadway, and a scheduling method and system for a one-rail multi-stack machine.

[0006] The scheduling system of the one-track multi-stack stacker of the application comprises: a stacker group, the stacker group comprising multiple stackers and work stations; a warehouse area division module, the warehouse area division module being used for regionally dividing the storage locations of the stereoscopic warehouse, and assigning the storage location regions to each stacker; a task module, the task module formulating the warehouse-out task sheet and the warehouse-in task sheet according to the order, the warehouse-out task sheet searching for the region storage location of the inventory meeting the warehouse-out condition, and the warehouse-in task sheet assigning the goods to different region storage locations; an execution module, the execution module receiving the task sheet, scheduling the corresponding stacker to execute the task according to the information of the region storage location on the task sheet, and setting the same first priority level for the stackers executing the same order, and setting different second priority levels for the stackers executing the same task; a communication module, the stackers communicating with each other through the communication module, and determining the avoidance rule according to the first priority level and the second priority level of the executed task; and a device state monitoring module, the device state monitoring module monitoring the fault condition of the stacker, and sending the fault information to the warehouse area division module.

[0007] Preferably, the multiple stackers are respectively bound to multiple work stations; the one-to-one correspondence or the many-to-one or one-to-many correspondence of the stackers and the work stations is realized through the flexible binding rule, so that the efficiency of the stackers to the work stations for taking and placing goods can be effectively improved, and the idle time of the stackers and the work stations is reduced.

[0008] Preferably, the warehouse area division module assigns the storage location regions in the same aisle to at least two stackers; through the above setting, the multiple stackers in the same aisle work simultaneously, the single-thread operation is changed into the multi-thread operation, and the throughput rate is improved.

[0009] Preferably, the warehouse area division module divides the storage location regions in the same aisle in the column; the storage location regions divided in the column make the storage location regions responsible by each stacker more concentrated, the displacement of the stacker is reduced, and the interference avoidance problem of the multiple stackers is reduced.

[0010] Preferably, the task module sets different priority levels for the idle storage location regions, and sets the storage location regions on both sides of the stacker as high priority levels; when the warehouse-in task sheet is formulated, the storage location regions of the goods are assigned according to the priority levels of the storage locations; when the multiple stackers execute according to the warehouse-in task sheet, the goods can be preferentially stored in the regions on both sides of the stacker, the avoidance behavior between the two stackers is reduced as much as possible, the use frequency of the storage locations in the partial regions is improved, the priority level of the interference regions in the middle is reduced, and the inventory turnover efficiency is further improved.

[0011] Preferably, the execution module formulates the taking and placing sequence of the goods in each storage location region in the task sheet, and the multiple stackers are scheduled according to the taking and placing sequence; after the multiple stackers receive the task, the goods are taken and placed according to the scheduling sequence, the mutual interference and congestion can be effectively avoided, the avoidance behavior is reduced, and the work efficiency is improved.

[0012] Preferably, the equipment state monitoring module divides the fault type into long-term fault and short-term fault, when the stacker fault is long-term fault, the equipment fault information is sent to the warehouse area division module, the warehouse area division module divides the area responsible by the fault stacker to other stackers in the same track; the fault-tolerant mechanism of stacker scheduling and the emergency handling mechanism under equipment fault are realized, the dynamic division of warehouse area and the equipment belonging to the warehouse area are realized, the warehouse positions in the public area can be allocated to the running stackers, and the loading and unloading work is ensured to be carried out smoothly.

[0013] Preferably, the domain division mode of the warehouse area division module has an automatic mode and a manual mode.

[0014] The one-track multi-stack scheduling method of the application comprises:

[0015] I. The number of required stackers is determined according to the actual production situation of the stereoscopic warehouse, and the bound loading and unloading work stations are set for different stackers;

[0016] II. The warehouse positions of the stereoscopic warehouse are regionally divided by the set number of stackers, and different stackers in the same lane are respectively responsible for N partial areas, and the division mode is to divide by column;

[0017] III. The avoidance mechanism is set, when two stackers work to the middle intersection area, the stackers interact and communicate by comparing priority information, so that the stacker with low priority avoids, and the stacker with high priority continues to travel;

[0018] IV. For the warehousing behavior, a storage logic model is set, and the storage is preferentially performed to the areas on both sides of the stacker, so as to reduce the avoidance behavior between the two stackers as much as possible;

[0019] V. The fault-tolerant mechanism is set, when a stacker has mechanical failure, the responsible area of the fault stacker can be automatically / humanly divided to the responsible range of the stacker in the same track.

[0020] Preferably, the out-of-warehouse process is:

[0021] S1, generating an out-of-warehouse order;

[0022] S2, finding the warehouse position of the inventory meeting the out-of-warehouse condition;

[0023] S3, judging whether the matched stacker is occupied, if it is occupied, waiting for its idle to determine execution;

[0024] S4, judging whether the stacker determined to execute is faulty, if it is faulty, the stacker is offline, and the warehouse position is transferred to the non-fault stacker, and S3 is executed again;

[0025] S5, binding the stacker and the work station;

[0026] S6, executing the out-of-warehouse task.

[0027] The beneficial effects of the present application compared with the prior art are:

[0028] 1. The efficiency of warehouse-in and warehouse-out is improved by scheduling multiple stackers in a lane;

[0029] 2. The single-thread job is changed to multi-thread job, more than one stacker is working simultaneously, and the throughput is improved;

[0030] 3. The warehouse area and the corresponding equipment are dynamically divided, the storage and warehouse-out model rules are dynamically adjusted, the storage structure in the warehouse is continuously optimized, and the utilization rate of the warehouse is fully improved;

[0031] 4. The use frequency of the warehouse in some areas is improved, the priority of the warehouse in the interference area is reduced, and the warehouse turnover efficiency is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the flowchart of the present application when warehouse-out;

[0033] Figure 2 is a structural schematic diagram of the present application;

[0034] Figure 3 is the flowchart of the present application when dividing the warehouse area. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the related drawings. The present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0036] Example 1

[0037] As shown in Figure 2 , the stacker group includes multiple stackers and workstations; the multiple stackers are respectively bound to multiple workstations; the warehouse area division module is used to divide the warehouse area of the vertical warehouse, and the warehouse area is allocated to each stacker; the warehouse area division module divides the warehouse area in the same lane by column.

[0038] The task module formulates the warehouse-out task sheet and the warehouse-in task sheet according to the order, the warehouse-out task sheet finds the area warehouse of the inventory that meets the warehouse-out condition, and the warehouse-in task sheet allocates the goods to different area warehouses; the execution module receives the task sheet, and schedules the corresponding stacker to execute the task according to the information of the area warehouse on the task sheet.

[0039] In specific implementation, the one-to-one or many-to-one and one-to-many correspondence between the stacker and the work station is realized through flexible binding rules, which can effectively improve the efficiency of the stacker picking and placing goods to the work station, and reduce the idle time of the stacker and the work station; the warehouse area division module allocates the storage area in the same aisle to at least two stackers, and the column-divided storage area makes the storage area responsible by each stacker more concentrated, reduces the displacement of the stacker, and at the same time reduces the interference avoidance problem of multiple stackers, realizes the simultaneous work of multiple stackers in the same aisle, changes from single-thread operation to multi-thread operation, and improves the throughput rate; the task module sets different priority levels for the idle storage area, and sets the storage area on both sides of the stacker as high priority, and when formulating the warehouse entry task list, the storage area of the goods is allocated according to the priority level of the storage area, so that multiple stackers can preferentially store in the area on both sides of the stacker when executing according to the warehouse entry task list, and the avoidance behavior between two stackers is minimized; the execution module formulates the order of picking and placing goods in each storage area in the task list, and multiple stackers are dispatched according to the picking and placing order. After multiple stackers receive the task, the goods are picked and placed according to the dispatching order, which can effectively avoid mutual interference and congestion, reduce avoidance behavior, and improve work efficiency.

[0040] Embodiment 2

[0041] As shown in the embodiment 1, the device state monitoring module is further included, which monitors the fault condition of the stacker and sends the fault information to the warehouse area division module; the device state monitoring module divides the fault type into long-term fault and short-term fault. Figure 3 In specific implementation, the device state monitoring module monitors the fault condition of the stacker in real time, sends a maintenance report in time when the stacker fails, and judges the fault type; when the stacker fault is a long-term fault, the device fault information is sent to the warehouse area division module, and the warehouse area division module divides the area responsible by the faulty stacker to other stackers on the same track through an automatic or manual way, realizes the fault-tolerant mechanism of stacker scheduling and the emergency handling mechanism under device failure, realizes the dynamic division of warehouse area and the device belonging to the warehouse area, and can allocate the storage area of the public area to the running stacker to ensure the smooth operation of the warehouse entry and exit work.

[0042] Embodiment 3

[0043] On the basis of the embodiment 1, the execution module receives the task list, dispatches the corresponding stacker to execute the task according to the information of the area storage on the task list, and sets the same primary priority level for the stackers executing the same order, and sets different secondary priority levels for the stackers executing the same task; the communication module is used for the communication between the stackers.

[0044]

[0045] ​In specific implementation, the stacker takes the task after execution, when the moving route or the work area of multiple stackers has overlapping interference, the multiple stackers communicate through the communication module, first, the stacker with high first priority level is given priority to execute, and the stacker with low first priority level is given priority to avoid; when the first priority level is the same, the second priority level is compared, the stacker with high second priority level is given priority to execute, and the stacker with low second priority level is given priority to avoid, so as to determine the avoidance rule according to the first priority level and the second priority level of the executed task.

[0046] Embodiment 4

[0047] A scheduling method of one-track multiple stackers, in specific implementation, the following steps are performed:

[0048] First, the number of required stackers is determined according to the actual production situation of the stereoscopic warehouse, and the bound warehouse entry and exit work station is set for different stackers;

[0049] Second, the storage locations of the stereoscopic warehouse are regionally divided by the set number of stackers, and different stackers in the same aisle are respectively responsible for N partial regions, and the division mode is to divide by column;

[0050] Third, the avoidance mechanism is set, when two stackers work to the middle intersection area, the stackers interact and communicate by comparing the priority information, so that the stacker with low priority avoids, and the stacker with high priority continues to travel;

[0051] Fourth, for the warehouse entry behavior, a storage logic model is set, and the storage is preferentially stored to the area on both sides of the stacker, so as to reduce the avoidance behavior between the two stackers as much as possible;

[0052] Fifth, the fault tolerance mechanism is set, when a stacker has mechanical failure, the responsible area of the fault stacker can be automatically / humanly divided into the range of the same-track stacker.

[0053] As shown in Figure 1 , a scheduling method and system of one-track multiple stackers of the application, the warehouse-out process thereof in work is as follows:

[0054] S1, generating a warehouse-out order;

[0055] S2, finding the storage location of the inventory meeting the warehouse-out condition;

[0056] S3, judging whether the matched stacker is occupied, if it is occupied, waiting for its idle to determine execution;

[0057] S4, judging whether the stacker determined to execute is faulty, if it is faulty, the stacker is offline, and the storage location is transferred to the fault-free stacker, and S3 is executed again;

[0058] S5, binding the stacker and the work station;

[0059] S6, the warehouse task is executed.

[0060] The main functions realized by the present application are:

[0061] 1. By scheduling multiple stackers in a lane, the efficiency of warehouse entry and exit is improved;

[0062] 2. From single-threaded operation to multi-threaded operation, more than one stacker can work simultaneously, improving throughput;

[0063] 3. Dynamic division of the warehouse area and the associated equipment, dynamic adjustment of storage and warehouse model rules, continuous optimization of warehouse storage structure, and full utilization of warehouse space;

[0064] 4. Improve the use frequency of some areas of the warehouse, reduce the priority of the intermediate interference area, and further improve the warehouse turnover efficiency.

[0065] The installation method, connection method or setting method of the one-rail multi-stacker scheduling method and system of the present application are all common mechanical methods, as long as they can achieve the beneficial effects. The stacker, work station, communication module and equipment state monitoring module of the one-rail multi-stacker scheduling method and system of the present application are purchased on the market. The technical personnel in this industry only need to install and operate according to the attached instruction manual, without the need for technical personnel in this field to exert creative labor.

[0066] All technical and scientific terms used herein have the same meaning as understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0067] The above is only the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the technical principles of the present application, several improvements and modifications can be made, which should also be considered within the scope of protection of the present application.

Claims

1. A scheduling system for a single-track multi-stacking crane, characterized in that, include: Stacker unit, which includes multiple stacker cranes and multiple work stations; The warehouse area division module is used to divide the warehouse locations into areas and allocate the warehouse locations to each stacker crane. Based on the fault information, the warehouse area division module will assign the area of ​​responsibility of the faulty stacker crane to the area of ​​responsibility of the stacker crane on the same track. The task module generates outbound and inbound task orders based on orders. The outbound task order finds the storage area of ​​the inventory that meets the outbound conditions, and the inbound task order allocates the goods to different storage areas. The inbound task order prioritizes storage in the areas on both sides of the stacker crane to minimize the avoidance behavior between the two stacker cranes. The execution module receives task orders, schedules the corresponding stacker cranes to execute tasks based on the regional warehouse location information on the task orders, and sets the same primary priority level for stacker cranes executing the same order, and sets different secondary priority levels for stacker cranes executing the same task. The communication module allows stacker cranes to communicate with each other. It determines avoidance rules based on the primary and secondary priority levels of the tasks being executed. The avoidance rules are as follows: when two stacker cranes are working in the middle intersection area, they communicate with each other and compare priority information to make the lower priority stacker crane avoid the task while the higher priority stacker crane continues to move. The equipment status monitoring module monitors the stacker crane's fault status and sends the fault information to the warehouse area division module.

2. The scheduling system for a single-track multi-stall crane as described in claim 1, characterized in that, Multiple stacker cranes are each bound to multiple work stations.

3. The scheduling system for a single-track multi-stall crane as described in claim 1, characterized in that, The warehouse area division module allocates warehouse locations in the same lane to at least two stacker cranes.

4. The scheduling system for a single-track multi-stall crane as described in claim 3, characterized in that, The warehouse area division module divides the storage location areas in the same lane by dividing them by column.

5. The scheduling system for a single-track multi-stall crane as described in claim 1, characterized in that, The task module sets different priority levels for available storage locations and sets the storage locations on both sides of the stacker crane as high priority. When creating an inbound task order, the storage locations for goods are allocated according to the storage location priority level.

6. The scheduling system for a single-track multi-stall crane as described in claim 1, characterized in that, The execution module defines the order of goods retrieval and placement in each storage area of ​​the task, and multiple stacker cranes are scheduled according to the retrieval and placement order.

7. The scheduling system for a single-track multi-stall crane as described in claim 1, characterized in that, The equipment status monitoring module classifies fault types into long-term faults and short-term faults. When a stacker crane fault is a long-term fault, the equipment fault information is sent to the warehouse area division module, which then assigns the area under the responsibility of the faulty stacker crane to other stacker cranes on the same track.

8. The scheduling system for a single-track multi-stall crane as described in claim 7, characterized in that, The domain allocation method for the reservoir area division module includes automatic and manual modes.

9. A scheduling method for a scheduling system of a single-rail multi-stall crane as described in any one of claims 1 to 8, characterized in that, include:

1. Determine the required number of stacker cranes based on the actual production situation of the automated warehouse, and set up binding inbound and outbound operation stations for different stacker cranes; 2. Based on the set number of stacker cranes, the storage locations of the automated warehouse are divided into areas. Different stacker cranes in the same aisle are responsible for N parts of the area. The division method is by column.

3. Set up an avoidance mechanism. When two stacker cranes are working in the middle intersection area, the stacker cranes communicate with each other and compare priority information to make the lower priority stacker crane avoid the intersection, while the higher priority stacker crane continues to move.

4. For inbound operations, set up a storage logic model to prioritize storage in the areas on both sides of the stacker crane, and minimize the avoidance behavior between the two stacker cranes.

5. Set up a fault tolerance mechanism. When a stacker crane experiences a mechanical failure, the area under the responsibility of the faulty stacker crane can be automatically / manually reassigned to the area under the responsibility of a stacker crane on the same track.

10. The scheduling method of a scheduling system for a single-track multi-stall crane as described in claim 9, characterized in that, The outbound process is as follows: S1. Generate an outbound order; S2. Locate the storage location of inventory that meets the outbound conditions; S3. Determine if the matched stacker crane is occupied. If it is occupied, wait for it to become available before proceeding. S4. Determine if the stacker crane being executed is faulty. If it is faulty, the stacker crane is taken offline, the storage location is transferred to a fault-free stacker crane, and S3 is executed again. S5, binding stacker crane and work station; S6. Execute the outbound task.

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