Method for evaluating carrying capacity of stacker under multi-group in-out warehouse flow

Abstract

The invention discloses a method for evaluating the carrying capacity of a stacker under multiple groups of in-out warehouse flows, and the method comprises the following steps: obtaining the design size of a stereoscopic warehouse, the parameter information of the stacker, and the in-out warehouse carrying flows, and respectively calculating the time required for accelerating a cargo carrying platform to the maximum speed in the lifting direction and the walking direction; calculating constant-speed moving time according to the size length and height of the goods shelf; analyzing the single-cycle key path; analyzing the critical path of the composite cycle, and analyzing the flow of the single cycle to obtain the time consumption of the single cycle; calculating the average operation time consumption of the roadway stacker in each path; and calculating the unit time capability of the laneway stacker. The technical threshold of evaluation is reduced, and the purposes of shortening the evaluation period, improving the evaluation efficiency and quickly and reasonably calculating and matching the throughput capacity and the design capacity of the warehouse can be achieved under the condition that the virtual simulation technology is not used.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics resource allocation, and in particular to a method for evaluating the handling capacity of a stacker under multiple groups of inbound and outbound flows. Background Art

[0002] The aisle stacker is an automated robot that quickly stores and transports in automated warehouses. It is widely used in the automated logistics and warehousing industry. Usually, infrared laser or barcode technology is used for data communication and cargo location determination, and materials are transported and stored according to the flow rate to achieve automated operation of the warehouse. Designing the capacity of the stacker according to different flow requirements can improve the accuracy of the stacker design and increase the cost-effectiveness of the design. While meeting the capacity, it can also avoid excessive redundancy and increase costs.

[0003] With the continuous development of enterprises, the throughput of vertical warehouse stacker is constantly increasing. The reasonable configuration of the design parameters of the aisle stacker has an important impact on the operation efficiency of the warehouse area and the cost performance of the project. Too high parameter design will not only have a large energy demand during use, but also increase the subsequent maintenance costs. Low parameter configuration will have a direct impact on the efficiency of the warehouse area.

[0004] Traditional stacker capacity calculations are usually based on the FEM9.851 standard, relying on special location points set by the standard to calculate the stacker capacity. However, in the current application scenarios of stackers, there are usually multiple groups of different traffic flows entering and exiting the warehouse at the same time. Instead of the uniform storage state in the FEM9.851 standard, in order to stabilize the center of gravity of the shelf, storage is performed by layer priority. The capacity of aisle stackers is affected by various factors such as travel speed, lifting speed, acceleration, pick-up and release cycle, single cycle ratio, and compound cycle ratio. With the continuous increase in throughput, without the use of modeling and simulation technology, the results calculated using the FEM9.851 standard generally have large errors. The calculation method provided by the standard alone can no longer meet the current design requirements of stackers to calculate the capacity of stackers. Summary of the invention

[0005] The purpose of the present invention is to provide a method for evaluating the handling capacity of stacker cranes under multiple groups of inbound and outbound flows in response to the above-mentioned problems, thereby lowering the technical threshold for evaluation and shortening the evaluation cycle and improving evaluation efficiency without using virtual simulation technology, thereby achieving the purpose of rapid and reasonable calculation matching of warehouse throughput capacity and design capacity.

[0006] The technical solution of the present invention is as follows:

[0007] A method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows comprises the following steps:

[0008] Obtain the design dimensions of the vertical warehouse, stacker parameter information, and in-and-out handling flow, and calculate the time required for the cargo platform to accelerate to the maximum speed in the lifting direction and the walking direction;

[0009] The longest time between the time required to accelerate to the maximum speed in the lifting and traveling directions is taken as the maximum speed moving time, and the direction of the maximum speed moving time is taken as the maximum speed displacement direction of the stacker loading platform;

[0010] The time it takes for the cargo platform to reach the maximum speed in the maximum speed displacement direction and then decelerate to a stop is taken as the maximum speed acceleration and deceleration cycle;

[0011] According to the length and height of the shelf, calculate the time it takes for the loading platform to reach the maximum speed and move at a uniform speed in the direction of the maximum speed movement, and take the larger value as the uniform speed movement time;

[0012] The single handling process of the stacker is set as a single-cycle critical path, and the single-cycle critical path is analyzed;

[0013] For the critical path analysis of the compound cycle, the inlet and outlet on one side of the vertical warehouse is set as the origin end, and the other side is set as the non-origin end;

[0014] Analyze the critical path of the compound loop at the origin end and the critical path of the compound loop at the non-origin end;

[0015] Analyze the composition of multiple groups of inbound and outbound flows, and divide the flows into inbound flow at the origin end; outbound flow at the origin end; inbound flow at the non-origin end; outbound flow at the non-origin end;

[0016] Compare and analyze the inflow and outflow flow at the origin end, and obtain the flow ratio at the origin end, taking the minimum value as Q 原小 , calculate the time consumption of compound cycle transportation at the origin end;

[0017] Compare and analyze the inflow and outflow flow at the non-origin end, and obtain the non-origin end flow ratio, taking the minimum value as Q 非原小 ; Calculate the time consumption of compound cycle handling at non-origin end;

[0018] Analyze the single-cycle flow rate to obtain the single-cycle time consumption; calculate the average operation time consumption of each path of the aisle stacker; calculate the unit time capacity of the aisle stacker.

[0019] Furthermore, the longest time between the time required for the lifting and the time required for the walking direction to accelerate to the maximum speed is taken as the maximum speed moving time T 大 The calculation formula is:

[0020] T 大 =MAX(T 走行方向 , T 提升方向);

[0021]

[0022]

[0023] Among them, V 满载 is the speed of the stacker when fully loaded, V 空载 is the speed of the stacker when it is unloaded, a 走行方向 is the acceleration in the moving direction, V 提开方向 is the speed of the stacker in the lifting direction, a 提开方向 To increase the directional acceleration.

[0024] Furthermore, the calculation formula of the maximum speed displacement direction S of the stacker loading platform is:

[0025] S=MAX(S 走行方向 , S 提升方向 );

[0026] S 走行方向 =(T 大 -T 走行方向 )×V 满载 +a 走行方向 T 走行方向 2 ;

[0027] S 提升方向 =a(T 大 / 2) 2 .

[0028] Furthermore, the uniform moving time T 匀速时间 The calculation formula is:

[0029] T 匀速时间 =MAX(T 匀速走行 , T 匀速提升 );

[0030] T 匀速走行 =(LS 走行方向 ) / V 走行方向 ;

[0031]

[0032] Among them, L is the length of the shelf, H is the height of the shelf, V 走行方向 is the speed of the stacker in the direction of travel. Further, the analysis of the single-cycle critical path specifically includes the following calculation formula:

[0033] T 单循环周 =2(T 取放周期 +T 大 )+T 匀速时间 ;

[0034] C 单循环能力 =3600 / T 单循环周 ;

[0035] Among them, T 取放周期 It is the time taken by the stacker to pick up and place goods.

[0036] Furthermore, the analysis of the critical path of the origin-end compound cycle includes:

[0037] T 原点端复合循环周期 =T 单循环周期 +2T 取放周期 +T 大 +(T 匀速时间 / 2);

[0038] C 原点端复合循环能力 =(3600 / T 原点端复合循环周期 )*2;

[0039] The analysis of the critical path of the non-origin compound cycle includes:

[0040] T 非原点端复合循环周期 =T 原点端复合循环周期 +2T 大 +T 匀速时间 ;

[0041] C 非原点端复合循环能力 =(3600 / T 非原点端复合循环周期 )*2.

[0042] Furthermore, the calculation formula for the time consumption of the composite cycle transport at the origin end is:

[0043] T 原点端复合循环耗时 =T 原点端复合循环周期 *(Q 原点复合循环流量 / 2);

[0044] Q 原点复合循环流量 =Q 原小 .

[0045] Furthermore, the calculation formula for the time consumption of the non-origin end composite cycle transport is:

[0046] T 非原点端复合循环耗时 =T 非原点端复合循环周期 *(Q 非原点复合循环流量 / 2);

[0047] Q 非原点复合循环流量 =Q 非原小 .

[0048] Furthermore, the calculation of the single cycle time includes:

[0049] Q 原点单合循环流量 =|Q 原入 -Q原出 |;

[0050] Q 非原点单合循环流量 =|Q 非原入 -Q 非原出 |;

[0051] T 单循环耗时 =T 单循环周期 *(Q 原点单合循环流量 +Q 非原点单合循环流量 );

[0052] Among them, Q 原入 is the inflow flow at the origin end, Q 原出 is the outbound flow at the origin, Q 非原入 is the inflow flow from the non-origin end, Q 非原出 It is the outbound flow from the non-origin end.

[0053] Furthermore, the calculation of the average operation time of each path of the aisle stacker includes:

[0054] T 作业总耗时 =T 原点端复合循环耗时 +T 非原点端复合循环耗时 +T 单循环耗时 ;

[0055] T 平均作业耗时 =T 作业总耗时 / Q 总流量 ;

[0056] The calculation of the unit time capacity of the aisle stacker includes:

[0057] C 设备能力 =3600 / T 平均作业耗时 .

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] A method for evaluating the handling capacity of stackers under multiple groups of inbound and outbound flows. This method can effectively reduce technical barriers, improve evaluation efficiency, and improve the accuracy of evaluation results. Different from the complex special point collection and calculation method of the FEM standard, the layer-by-layer placement strategy in the actual application scenario is abstracted and calculated to obtain a more accurate evaluation result. The error between the results obtained by the parameter calculation method and the modeling simulation results is within 3%. At the same time, the flow analysis and the cycle path analysis results are correlated and applied to realize the calculation of the stacker capacity under different flow conditions, expanding the application scenarios of the algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A flowchart of the method of the present application.

[0061] Figure 2 This is a schematic diagram of the shelf elevation of this application. DETAILED DESCRIPTION

[0062] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0063] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0064] See also Figure 1 and Figure 2 , a method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows, comprising the following steps:

[0065] Obtain the design dimensions of the vertical warehouse, stacker parameter information, and in-and-out handling flow, and calculate the time required for the cargo platform to accelerate to the maximum speed in the lifting direction and the walking direction;

[0066] The longest time between the time required to accelerate to the maximum speed in the lifting and traveling directions is taken as the maximum speed moving time, and the direction of the maximum speed moving time is taken as the maximum speed displacement direction of the stacker loading platform;

[0067] The longest time between the time required to accelerate to the maximum speed in the lifting and walking directions is taken as the maximum speed moving time T. 大 The calculation formula is:

[0068] T 大 =MAX(T 走行方向 , T 提升方向 );

[0069]

[0070]

[0071] Among them, V 满载 is the speed of the stacker when fully loaded, V 空载 is the speed of the stacker when it is unloaded, a 走行方向 is the acceleration in the moving direction, V 提升方向 is the speed of the stacker in the lifting direction, a 提开方向To increase the direction of acceleration.

[0072] The calculation formula for the maximum speed displacement direction S of the stacker platform is:

[0073] S=MAX(S 走行方向 , S 提升方向 );

[0074] S 走行方向 =(T 大 -T 走行方向 )×V 满载 +a 走行方向 T 走行方向 2 ;

[0075] S 提升方向 =a(T 大 / 2) 2 .

[0076] The time it takes for the cargo platform to reach the maximum speed in the maximum speed displacement direction and then decelerate to a stop is taken as the maximum speed acceleration and deceleration cycle;

[0077] According to the length and height of the shelf, calculate the time it takes for the loading platform to reach the maximum speed and move at a uniform speed in the direction of the maximum speed movement, and take the larger value as the uniform speed movement time;

[0078] Uniform moving time T 匀速时间 The calculation formula is:

[0079] T 匀速时间 =MAX(T 匀速走行 , T 匀速提升 );

[0080] T 匀速走行 =(LS 走行方向 ) / V 走行方向 ;

[0081]

[0082] Among them, L is the length of the shelf, H is the height of the shelf, V 走行方向 It is the speed of stacker in the travel direction.

[0083] The single handling process of the stacker is set as a single-cycle critical path, and the single-cycle critical path is analyzed;

[0084] The analysis of the single-cycle critical path specifically includes the following calculation formula:

[0085] T 单循环周期 =2(T 取放周期 +T 大 )+T 匀速时间 ;

[0086] C 单循环能力 =3600 / T 单循环周期 ;

[0087] Among them, T 取放周期 It is the time taken by the stacker to pick up and place goods.

[0088] For the critical path analysis of the compound cycle, the inlet and outlet on one side of the vertical warehouse is set as the origin end, and the other side is set as the non-origin end;

[0089] Analyze the critical path of the compound loop at the origin end and the critical path of the compound loop at the non-origin end;

[0090] The analysis of the critical path of the origin-end compound cycle includes:

[0091] T 原点端复合循环周期 =T 单循环周期 +2T 取放周期 +T 大 +(T 匀速时间 / 2);

[0092] C 原点端复合循环能力 =(3600 / T 原点端复合循环周期 )*2;

[0093] The analysis of the critical path of the non-origin compound cycle includes:

[0094] T 非原点端复合循环周期 =T 原点端复合循环周期 +2T 大 +T 匀速时间 ;

[0095] C 非原点端复合循环能力 =(3600 / T 非原点端复合循环周期 )*2.

[0096] Analyze the composition of multiple groups of inbound and outbound flows, and divide the flows into inbound flow at the origin end; outbound flow at the origin end; inbound flow at the non-origin end; outbound flow at the non-origin end;

[0097] Compare and analyze the inflow and outflow flow at the origin end, and obtain the flow ratio at the origin end, taking the minimum value as Q 原小 , calculate the time consumption of compound cycle transportation at the origin end;

[0098] The calculation formula for the time consumption of compound cycle handling at the origin end is:

[0099] T 原点端复合循环耗时 =T 原点端复合循环周期 *(Q 原点复合循环流量 / 2);

[0100] Q 原点复合循环流量 =Q 原小 .

[0101] Compare and analyze the inflow and outflow flow at the non-origin end, and obtain the non-origin end flow ratio, taking the minimum value as Q 非原小 ; Calculate the time consumption of compound cycle handling at non-origin end;

[0102] The calculation formula for the time consumption of compound cycle handling at the non-origin end is:

[0103] T 非原点端复合循环耗时 =T 非原点端复合循环周期 *(Q 非原点复合循环流量 / 2);

[0104] Q 非原点复合循环流量 =Q 非原小 .

[0105] Analyze the single-cycle flow rate to obtain the single-cycle time consumption; calculate the average operation time consumption of each path of the aisle stacker; calculate the unit time capacity of the aisle stacker.

[0106] The calculation of single cycle time includes:

[0107] Q 原点单合循环流量 =|Q 原入 -Q 原出 |;

[0108] Q 非原点单合循环流量 =|Q 非原入 -Q 非原出 |;

[0109] T 单循环耗时 =T 单循环周期 *(Q 原点单合循环流量 +Q 非原点单合循环流量 );

[0110] Among them, Q 原入 is the inflow flow at the origin end, Q 原出 is the outbound flow at the origin, Q 非原入 is the inflow flow from the non-origin end, Q 非原出 It is the outbound flow from the non-origin end.

[0111] The average operation time calculation of each path of the aisle stacker includes:

[0112] T 作业总耗时 =T 原点端复合循环耗时 +T 非原点端复合循环耗时 +T 单循环耗时 ;

[0113] T 平均作业耗时 =T 作业总耗时 / Q 总流量 ;

[0114] The calculation of the unit time capacity of the aisle stacker includes:

[0115] C设备能力 =3600 / T 平均作业耗时 .

[0116] To evaluate the capacity of aisle stackers under multiple entry and exit processes, the current mainstream method is to establish a virtual model, compile the scheduling strategy, and use simulation technology to restore the operation scenario of the aisle stacker running simultaneously under multiple flow rates. Finally, the capacity of the aisle stacker is judged based on the operation effect and the number of handling times of the aisle stacker. This method can realize the evaluation of aisle stackers under multiple flow rates, but the technology has shortcomings such as long modeling cycle, low model reusability, and inability to respond to changes in scenarios or constraint factors in a timely manner. In order to lower the calculation threshold and shorten the evaluation cycle, the above problems are improved based on evaluation methods such as aisle stacker operation path analysis and flow configuration analysis.

[0117] First, through the analysis of path planning in different scenarios, the cycle mode analysis of the aisle stacker's handling path is carried out, and various cycle modes are calculated in detail; then the corresponding time calculation is performed based on the cycle path; secondly, the single-machine operation capacity of the aisle stacker is evaluated in combination with different paths; then, the cycle ratio of the aisle stacker is calculated in combination with the in-and-out locations and the frequency of picking and releasing goods with different flow rates; finally, according to the cycle ratio, the business operation path is analyzed and planned based on the cycle time, and finally the capacity of the aisle stacker under various in-and-out volumes is calculated and evaluated.

[0118] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows, characterized in that: The following steps are involved: Obtain the design dimensions of the vertical warehouse, stacker parameter information, and in-and-out handling flow, and calculate the time required for the cargo platform to accelerate to the maximum speed in the lifting direction and the walking direction; The longest time between the time required to accelerate to the maximum speed in the lifting and traveling directions is taken as the maximum speed moving time, and the direction of the maximum speed moving time is taken as the maximum speed displacement direction of the stacker loading platform; The time it takes for the cargo platform to reach the maximum speed in the maximum speed displacement direction and then decelerate to a stop is taken as the maximum speed acceleration and deceleration cycle; According to the length and height of the shelf, calculate the time it takes for the loading platform to reach the maximum speed and move at a uniform speed in the direction of the maximum speed movement, and take the larger value as the uniform speed movement time; The single handling process of the stacker is set as a single-cycle critical path, and the single-cycle critical path is analyzed; For the critical path analysis of the compound cycle, the inlet and outlet on one side of the vertical warehouse is set as the origin end, and the other side is set as the non-origin end; Analyze the critical path of the compound loop at the origin end and the critical path of the compound loop at the non-origin end; Analyze the composition of multiple groups of inbound and outbound flows, and divide the flows into inbound flows at the origin end; Outbound flow at the origin end; Inbound traffic from non-origin terminals; Outbound flow from non-origin end; Compare and analyze the inflow and outflow flow at the origin end, and obtain the flow ratio at the origin end, taking the minimum value as Q 原小 , calculate the time consumption of compound cycle transportation at the origin end; Compare and analyze the inflow and outflow flow at the non-origin end, and obtain the non-origin end flow ratio, taking the minimum value as Q 非原小 ; Calculate the time consumption of compound cycle handling at non-origin end; Analyze the single cycle flow and obtain the single cycle time consumption; Calculation of average operation time for each path of the aisle stacker; Calculation of the unit time capacity of the aisle stacker.

2. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 1 is characterized in that: The longest time between the time required to accelerate to the maximum speed in the lifting and running directions is taken as the maximum speed moving time T. 大 The calculation formula is: Q 大 =MAX(T 走行方向 ,T 提升方向 ); Among them, V 满载 is the speed of the stacker when fully loaded, V 空载 is the speed of the stacker when it is unloaded, a 走行方向 is the acceleration in the moving direction, V 提升方向 is the speed of the stacker in the lifting direction, a 提升方向 To increase the direction of acceleration.

3. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 2 is characterized in that: The calculation formula of the maximum speed displacement direction S of the stacker loading platform is: S=MAX(S 走行方向 ,S 提升方向 ); S 走行方向 =(T 大 -T 走行方向 )×V 满载 +a 走行方向 T 走行方向 2 ; S 提升方向 =a(T 大 / 2) 2 。 4. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 3 is characterized in that: The uniform moving time T 匀速时间 The calculation formula is: T 匀速时间 =MAX(T 匀速走行 ,T 匀速提升 ); T 匀速走行 =(L-S 走行方向 ) / V 走行方向 ; Among them, L is the length of the shelf, H is the height of the shelf, V 走行方向 It is the speed of stacker in the travel direction.

5. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 4 is characterized in that: The analysis of the single-cycle critical path specifically includes the following calculation formula: T 单循环周期 =2(T 取放周期 +T 大 )+T 匀速时间 ; C 单循环能力 =3600 / T 单循环周期 ; Among them, T 取放周期 It is the time taken by the stacker to pick up and place goods.

6. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 5, characterized in that: The analysis of the critical path of the origin-end compound cycle includes: T 原点端复合循环周期 =T 单循环周期 +2T 取放周期 +T 大 +(T 匀速时间 / 2); C 原点端复合循环能力 =(3600 / T 原点端复合循环周期 )*2; The analysis of the critical path of the non-origin compound cycle includes: T 非原点端复合循环周期 = 原点端复合循环周期 +2T 大 +T 匀速时间 ; C 非原点端复合循环能力 =(3600 / T 非原点端复合循环周期 )*2。 7. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 6, characterized in that: The calculation formula for the time consumption of the composite cycle handling at the origin end is: T 原点端复合循环耗时 =T 原点端复合循环周期 *(Q 原点复合循环流量 / 2); Q 原点复合循环流量 =Q 原小 。 8. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 7, characterized in that: The calculation formula for the time consumption of the non-origin end compound cycle handling is: T 非原点端复合循环耗时 =T 非原点端复合循环周期 *(Q 非原点复合循环流量 / 2); Q 非原点复合循环流量 =Q 非原小 。 9. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 8, characterized in that: The calculation of the single cycle time includes: Q 原点单合循环流量 =|Q 原入 -Q 原出 |; Q 非原点单合循环流量 =|Q 非原入 -Q 非原出 |; T 单循环耗时 =T 单循环周期 *(Q 原点单合循环流量 +Q 非原点单合循环流量 ); Among them, Q 原入 is the inflow flow at the origin end, Q 原出 is the outbound flow at the origin, Q 非原入 is the inflow flow from the non-origin end, Q 非原出 It is the outbound flow from the non-origin end.

10. The method for evaluating the handling capacity of a stacker crane under multiple groups of inbound and outbound flows according to claim 9, characterized in that: The average operation time calculation of each path of the aisle stacker includes: T 作业总耗时 =T 原点端复合循环耗时 +T 非原点端复合循环耗时 +T 单循环耗时 ; T 平均作业耗时 =T 作业总耗时 / Q 总流量 ; The calculation of the unit time capacity of the aisle stacker includes: C 设备能力 =3600 / T 平均作业耗时 。

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