Shortest running path calculation method suitable for cooperative operation of stacking machine and multiple conveying points, computer storage medium and equipment

Abstract

The invention relates to a path calculation method, in particular to a shortest running path calculation method suitable for cooperative operation of a stacking machine and multiple conveying points, a computer storage medium and equipment. The invention aims to solve the problems that the operation path is too long, the workload is increased and the working efficiency is low when an existing stacking machine adopting a common sequence control logic mode is used for carrying out complex tasks. The method comprises the following steps: 1) establishing a rectangular plane coordinate system, and setting an initial position coordinate of a stacker; (2) a coordinate set Bi of all the goods allocation positions and a coordinate set Ai of all the conveying ports are obtained, the distance value d1i between each goods allocation and the stacking machine is calculated, and the distance value d2i between each conveying port and the corresponding goods allocation is calculated; (3) respectively calculating the time T1zi required by each total conveying route to obtain bmin1 and am1; (4) obtaining bmin2 and amin2 according to the same method as the step (2) and the step (3); 5) performing the same operation until all bmin and ammin are calculated; and 6) calculating the shortest operation path of the stacker.

Description

Technical Field

[0001] The invention relates to a path calculation method, and in particular to a shortest running path calculation method, a computer storage medium and a device suitable for a stacker and a plurality of conveying points to cooperate in operation. Background Art

[0002] An automated high-bay warehouse (also known as a high-bay warehouse, high-bay warehouse or automatic storage) is a warehouse that uses high-bay shelves to store materials, is controlled and managed by computers, and uses automatically controlled stackers for storage and retrieval operations. The aisle stacker crane is a special crane that has developed with the emergence of high-bay warehouses. It is usually referred to as a stacker and is the core lifting and transportation equipment in an automated high-bay warehouse. It mainly runs along the track in the aisles of high-bay warehouses and is used to store materials at the entrance of the aisle into designated cargo cells; or to take out materials in designated cargo cells and transport them to the aisle entrance to complete storage operations. The advantages of high-bay warehouses are reflected through stackers.

[0003] In the process of using a small light-load automated stereoscopic warehouse, due to the large number of conveyor ports for goods entering and leaving the warehouse, when the task of storing and retrieving goods is heavy and the amount of goods is large, it is very easy to cause a stacker to have a significantly reduced efficiency. In this way, it is inevitable that goods will pile up at multiple conveyor ports during long-term operation. If ordinary sequential control logic is used for goods entering and leaving the warehouse, it is easy to cause the stacker to have a long running path, increase the workload, and have low work efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that the existing stacker using ordinary sequential control logic is prone to having a long running path, increased workload and low work efficiency when performing complex tasks, and to provide a shortest running path calculation method, computer storage medium and equipment suitable for the cooperation of a stacker with multiple conveying points.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A method for calculating the shortest running path applicable to a stacker and multiple delivery points, wherein the stacker is used to deliver goods at each cargo position to a corresponding delivery port, and the method is special in that it includes the following steps:

[0007] Step 1: Establish a plane rectangular coordinate system and set the initial position coordinate of the stacker as the first position coordinate S of the stacker 1 (x s1 ,y s1 );

[0008] Step 2: Start the stacker. The stacker starts to receive the pickup instructions sent by F delivery ports, F>1, and then obtains the coordinate set B of all F cargo locations to be picked up. F and F delivery port location coordinate sets A F ; Calculate the distance d1 between each cargo location and the stacker i , calculate the distance d2 between each conveying port and the corresponding cargo position i , i is the set A F or set B F The number of elements in B, i = 1, 2, 3...F; F = {b i}; A F ={a i}; a i is the position coordinate of the i-th conveying port, b i is the position coordinate of the i-th cargo location; the sum of the transport routes of the stacker from the current location to the cargo location and from the cargo location to the corresponding delivery port is defined as the total transport route;

[0009] Step 3: Based on set A F and set B F , calculate the time T1z required for each total delivery route i , get b min1 and a min1 , where b min1 and a min1 They are the first shortest total delivery time min{T1z i} The first shortest pickup location coordinates and the first shortest delivery location coordinates corresponding to the

[0010] Step 4: min1 As the second position coordinate S of the stacker 2 (x s1 ,y s1 ), the element b min1 and a min1 From set B F-1 and set A F-1 Delete from and generate a new set B F-2 and A F-2 ; Based on set A 2 and set B 2 , calculate the distance d1 between each remaining cargo space and the stacker j , calculate the distance d2 between each remaining delivery port and the corresponding cargo location j , j = 1, 2, 3 ... F-1; calculate the time T2z required for each new total delivery route j , get b min2 and a min2 , where b min2 and amin2 The second shortest total delivery time min{T2z j}The second shortest pickup location coordinates and the second shortest delivery location coordinates corresponding to the

[0011] Step 5, and so on, minF-1 As the stacker F position coordinate S F (x sF ,y sF ), the element b minF-1 and a minF-1 From set B 2 and set A 2 Delete from and generate a new set B 1 and A 1 ; Based on set A 1 and set B 1 , and obtain the position coordinates of the remaining cargo space and the conveying port respectively as b minF and a minF ;

[0012] Step 6: Arrange the coordinate data obtained from step 3 to step 5 to obtain the shortest running path of the stacker, which is expressed in coordinate form as: b min1 →a min1 →b min2 →a min2 →…→b minF →a minF .

[0013] Furthermore, in step 2, b i =(x i ,y i );

[0014] Then d1 i =b i -S 1 =(|x i -x s1 |,|y i -y s1 |);

[0015]

[0016] Furthermore, step 3 is specifically as follows:

[0017] Step 3.1, define the stacker from the existing position to the cargo position as the front transport route, and the stacker from the cargo position to the corresponding conveying port as the rear transport route, calculate the first horizontal transport time T1(i)x of the front transport route, the first vertical transport time T1(i)y of the front transport route, the first horizontal transport time T2(i)x of the rear transport route, and the first vertical transport time T2(i)y of the rear transport route. The calculation formula is as follows:

[0018] like but like but

[0019] like but like but

[0020] like but like but

[0021] like but like but

[0022] where s 1 is the acceleration of the stacker moving in the horizontal direction, t 1 The time required for the stacker to accelerate to the maximum speed in the horizontal direction. is the shortest distance for the stacker to accelerate to the maximum speed and decelerate to zero in the horizontal direction, s 2 is the acceleration of the stacker moving in the vertical direction, t 2 The time required for the stacker to accelerate to the maximum speed in the vertical direction. The shortest distance for the vertical stacker to accelerate to the maximum speed and decelerate to zero, d1 i x is the distance between the i-th cargo location and the stacker in the X direction, d1 i y is the distance between each cargo location and the stacker in the Y direction of the i-th cargo location, d2 i x is the distance between the i-th conveying port and the corresponding cargo position in the X direction, d2 i y is the distance between the i-th conveying port and the corresponding cargo position in the Y direction;

[0023] Step 3.2: Calculate the time T1z required for each total delivery route i , T1z i = T1(i)x+T1(i)y+T2(i)x+T2(i)y, then select the first shortest total delivery time min{T1zi}, get b min1 and a min1 , where b min1 and a min1 min{T1z i} corresponds to the first shortest pickup position coordinates and the first shortest delivery position coordinates.

[0024] Furthermore, F=4.

[0025] At the same time, the present invention also provides a computer storage medium on which a computer program is stored, and its special feature is that when the computer program is executed by a processor, the steps of the above-mentioned method for calculating the shortest operating path suitable for the cooperation of a stacker and multiple conveying points are implemented.

[0026] In addition, the present invention also provides a computer device, including a processor, a memory connected to the processor, and a computer program that can be run on the processor, the special feature of which is that when the processor executes the computer program, it implements the steps of the above-mentioned method for calculating the shortest operating path suitable for the cooperation between a stacker and multiple conveying points.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention provides a method for calculating the shortest operating path for a stacker to work in coordination with multiple delivery points. By optimizing the path, the stacker can complete the storage and retrieval of goods in the shortest distance and time. When applied to warehouse logistics scenarios, it can significantly improve the overall operating efficiency of the warehouse.

[0029] 2. The present invention provides a method for calculating the shortest operating path for a stacker to work in coordination with multiple delivery points. Path optimization reduces ineffective movement of the stacker, thereby reducing energy consumption of the equipment, which is beneficial to energy conservation and emission reduction;

[0030] 3. The present invention provides a method for calculating the shortest operating path for a stacker to work in coordination with multiple delivery points. The optimized path reduces the number and intensity of operations of the stacker, extends the service life of the equipment, and reduces the cost of equipment maintenance and replacement.

[0031] 4. The present invention provides a method for calculating the shortest operating path suitable for a stacker to work in coordination with multiple delivery points. Its path optimization helps to reduce congestion and failures in the warehouse system and improve the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of an embodiment of a method for calculating the shortest running path applicable to a stacker and multiple conveying points in cooperation with each other in the present invention;

[0033] Figure 2 It is a schematic diagram of the calculation result of the shortest running path of a stacker in an embodiment of the method for calculating the shortest running path applicable to the coordinated operation of a stacker and multiple conveying points of the present invention;

[0034] Description of reference numerals:

[0035] 1-stacker; 2-stacker operation route; 31-first operating station, 32-second operating station; β1-first cargo position, β2-second cargo position, β3-third cargo position, β4-fourth cargo position; α1-first conveying port, α2-second conveying port, α3-third conveying port, α4-fourth conveying port; amin1-first shortest conveying position coordinates, amin2-second shortest conveying position coordinates, amin3-third shortest conveying position coordinates, amin4-fourth shortest conveying position coordinates; bmin1-first shortest pickup position coordinates, bmin2-second shortest pickup position coordinates, bmin3-third shortest pickup position coordinates, bmin4-fourth shortest pickup position coordinates. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] In actual working conditions, the stacker 1 moves along the stacker operation route 2 to transport the goods in each cargo position to the corresponding delivery port. The stacker 1 is defined as the front delivery route from the current position to the cargo position, and the stacker 1 is defined as the rear delivery route from the cargo position to the corresponding delivery port. The front delivery route and the rear delivery route constitute the total delivery route. This embodiment is described by taking a stacker, four delivery ports (the first delivery port α1, the second delivery port α2, the third delivery port α3 and the fourth delivery port α4) and four cargo positions (the first cargo position β1, the second cargo position β2, the third cargo position β3, and the fourth cargo position β4) as an example.

[0038] A method for calculating the shortest running path applicable to a stacker and multiple delivery points in cooperation, wherein the stacker 1 is used to deliver the goods at each cargo position to the corresponding delivery port, see Figure 1 , including the following steps:

[0039] Step 1: Establish a plane rectangular coordinate system and set the initial position coordinate of stacker 1 as the first position coordinate S of stacker 1. 1 (x s1 ,y s1 );

[0040] Step 2: Start stacker 1, which starts receiving the pickup instructions sent by the four conveyor ports, and then obtains the coordinate set B of the four cargo locations to be picked up. 4 and the four delivery port location coordinates set A 4; Calculate the distance d1 between each cargo location and stacker 1 1 , d1 2 , d1 3 , d1 4 , calculate the distance d2 between each conveying port and the corresponding cargo position 1 , d2 2 , d2 3 , d2 4 , i is the set A 4 or set B 4 The number of elements in B, i = 1, 2, 3, 4; F = {b 1 , b 2 , b 3 , b 4}; A 4 ={a 1 , a 2 , a 3 , a 4}; a i is the position coordinate of the i-th conveying port, b i is the position coordinate of the i-th cargo location; the sum of the transport routes of stacker 1 from the current position to the cargo location and from the cargo location to the corresponding delivery port is defined as the total transport route; b i =(x i ,y i );d1 i =b i -S 1 =(|x i -x s1 |,|y i -y s1 |);

[0041] Step 3.1, define the front transport route as the time when stacker 1 arrives at the cargo position from the existing position, and the back transport route as the time when stacker 1 arrives at the corresponding conveying port from the cargo position. Calculate the first horizontal transport time T1(i)x of the front transport route, the first vertical transport time T1(i)y of the front transport route, the first horizontal transport time T2(i)x of the back transport route, and the first vertical transport time T2(i)y of the back transport route. The calculation formula is as follows:

[0042] like but like but

[0043] like but like but

[0044] like but like but

[0045] like but like but

[0046] where s 1 is the acceleration of stacker 1 moving in the horizontal direction, t 1 is the time required for stacker 1 to accelerate to the maximum speed in the horizontal direction, is the shortest distance for stacker 1 to accelerate to maximum speed and decelerate to zero in the horizontal direction, s 2 is the acceleration of stacker 1 moving in the vertical direction, t 2 is the time required for stacker 1 to accelerate to the maximum speed in the vertical direction, The shortest distance in the vertical direction that the stacker 1 accelerates to the maximum speed and decelerates to zero, d1 i x is the distance between the i-th cargo location and stacker 1 in the X direction, d1 i y is the distance between each cargo location and stacker 1 in the Y direction of the i-th cargo location, d2 i x is the distance between the i-th conveying port and the corresponding cargo position in the X direction, d2 i y is the distance between the i-th conveying port and the corresponding cargo position in the Y direction;

[0047] Step 3.2: Calculate the time T1z required for each total delivery route i , T1z i = T1(i)x+T1(i)y+T2(i)x+T2(i)y, then select the first shortest total delivery time min{T1z i}, get b min1 and a min1 , where b min1 and a min1 min{T1z i} The first shortest pickup location coordinates and the first shortest delivery location coordinates corresponding to the

[0048] Step 4: min1 As the second position coordinate S of the stacker 1 2 (x s1 ,y s1 ), the element b min1 and a min1 From set B F-1 and set A F-1 Delete from and generate a new set B F-2 and AF-2 ; Based on set A 2 and set B 2 , calculate the distance d1 between each remaining cargo space and stacker 1 j , calculate the distance d2 between each remaining delivery port and the corresponding cargo location j , j = 1, 2, 3 ... F-1; calculate the time T2z required for each new total delivery route j , get b min2 and a min2 , where b min2 and a min2 The second shortest total delivery time min{T2z j}The second shortest pickup location coordinates and the second shortest delivery location coordinates corresponding to the

[0049] Step 5, and so on, min3 As the third position coordinate S of the stacker 1 F (x sF ,y sF ), the element b min3 and a min3 From set B 2 and set A 2 Delete from and generate a new set B 1 and A 1 ; Based on set A 1 and set B 1 , and obtain the position coordinates of the remaining cargo space and the conveying port respectively as b min4 and a min4 ;

[0050] Step 6: Arrange the coordinate data obtained from step 3 to step 5 to obtain the shortest running path of the stacker 1, such as Figure 2 As shown, it is expressed in coordinate form as: b min1 →a min1 →b min2 →a min2 →b min3 →a min3 →b min4 →a min4 .

[0051] At the same time, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for calculating the shortest operating path suitable for the cooperation between a stacker and multiple conveying points are implemented.

[0052] In addition, an embodiment of the present invention also provides a computer device, including a processor, a memory connected to the processor, and a computer program that can be run on the processor. When the processor executes the computer program, it implements the steps of the above-mentioned method for calculating the shortest operating path suitable for the cooperation between a stacker and multiple conveying points.

[0053] It should be noted that Figure 2 In the above, amin1, amin2, amin3, amin4, bmin1, bmin2, bmin3, and bmin4 are respectively min1 、a min2 、a min3 、a min4 、b min1 、b min2 、b min3 、b min4 have the same meaning.

[0054] To sum up, the method provided in this embodiment plans the path before the stacker runs so that its total running path is as short as possible. This has significant advantages in improving the operating efficiency of the stacker, reducing the energy consumption and wear of automated equipment, enhancing the stability and safety of goods, and improving the overall warehouse management intelligence level. These advantages help to improve the warehouse's operating efficiency and intelligence level.

Claims

1. A method for calculating the shortest running path applicable to a stacker cooperating with multiple delivery points, wherein the stacker (1) is used to deliver goods in each cargo position to a corresponding delivery port, characterized in that: The following steps are involved: Step 1: Establish a plane rectangular coordinate system and set the initial position coordinates of the stacker (1) as the first position coordinates S1 (x s1 ,y s1 ); Step 2: Start the stacker (1), the stacker (1) starts to receive the pickup instructions sent by F delivery ports, F>1, and then obtains the coordinate set B of all F cargo locations to be picked up. F and F delivery port location coordinate sets A F ; Calculate the distance d1 between each cargo location and the stacker (1) i , calculate the distance d2 between each conveying port and the corresponding cargo position i , i is the set A F or set B F The number of elements in B, i = 1, 2, 3...F; F = {b i }; A F ={a i }; a i is the position coordinate of the i-th conveying port, b i is the position coordinate of the i-th cargo location; define the sum of the transport routes of the stacker (1) from the current position to the cargo location and from the cargo location to the corresponding delivery port as the total transport route; Step 3: Based on set A F and set B F , calculate the time T1z required for each total delivery route i , get b min1 and a min1 , where b min1 and a min1 They are the first shortest total delivery time min{T1z i } The first shortest pickup location coordinates and the first shortest delivery location coordinates corresponding to the Step 4: min1 As the second position coordinate S2 (x s1 ,y s1 ), the element b min1 and a min1 From set B F-1 and set A F-1 Delete from and generate a new set B F-2 and A F-2 ; Based on set A2 and set B2, calculate the distance value d1 between each remaining cargo space and the stacker (1) j , calculate the distance d2 between each remaining delivery port and the corresponding cargo location j , j = 1, 2, 3 ... F-1; calculate the time T2z required for each new total delivery route j , get b min2 and a min2 , where b min2 and a min2 The second shortest total delivery time min{T2z j }The second shortest pickup location coordinates and the second shortest delivery location coordinates corresponding to the Step 5, and so on, minF-1 As the Fth position coordinate S of the stacker (1) F (x sF ,y sF ), the element b minF-1 and a minF-1 Delete from set B2 and set A2 respectively to generate new sets B1 and A1; based on set A1 and set B1, obtain the location coordinates of the remaining cargo space and the delivery port, which are b minF and a minF ; Step 6: Arrange the coordinate data obtained from step 3 to step 5 to obtain the shortest running path of the stacker (1), which is expressed in coordinate form as: b min1 →a min1 →b min2 →a min2 →…→b minF →a minF .

2. The method for calculating the shortest operation path applicable to the coordinated operation of a stacker and multiple conveying points according to claim 1, characterized in that: In step 2, b i =(x i ,y i ); Then d1 i = b i - S1 = (|x i - x s1 |, |y i - y s1 |); 3. The method for calculating the shortest operation path applicable to the coordinated operation of a stacker and multiple conveying points according to claim 2, characterized in that: Step 3 is as follows: Step 3.1, define the stacker (1) from the existing position to the cargo position as the front transport route, and the stacker (1) from the cargo position to the corresponding conveying port as the rear transport route, calculate the first horizontal transport time T1(i)x of the front transport route, the first vertical transport time T1(i)y of the front transport route, the first horizontal transport time T2(i)x of the rear transport route, and the first vertical transport time T2(i)y of the rear transport route, and the calculation formula is as follows: like but like but like but like but like but like but like but like but Where s1 is the acceleration of the stacker (1) in the horizontal direction, t1 is the time required for the stacker (1) to accelerate to the maximum speed in the horizontal direction, is the shortest distance for the stacker (1) to accelerate to the maximum speed in the horizontal direction and decelerate to zero, s2 is the acceleration of the stacker (1) in the vertical direction, t2 is the time required for the stacker (1) to accelerate to the maximum speed in the vertical direction, is the shortest distance for the vertical stacker (1) to accelerate to maximum speed and decelerate to zero, d1 i x is the distance between the i-th cargo location and the stacker (1) in the X direction, d1 i y is the distance between each cargo location and the stacker (1) in the Y direction of the i-th cargo location, d2 i x is the distance between the i-th conveying port and the corresponding cargo position in the X direction, d2 i y is the distance between the i-th conveying port and the corresponding cargo position in the Y direction; Step 3.2: Calculate the time T1z required for each total delivery route i , T1z i = T1(i)x+T1(i)y+T2(i)x+T2(i)y, then select the first shortest total delivery time min{T1z i }, get b min1 and a min1 , where b min1 and a min1 They are min{T1z i } corresponds to the first shortest pickup position coordinates and the first shortest delivery position coordinates.

4. A method for calculating the shortest operating path applicable to a stacker and multiple conveying points in cooperation with each other according to any one of claims 1 to 3, characterized in that: The F=4.

5. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for calculating the shortest operating path applicable to the cooperation between a stacker and multiple conveying points as described in any one of claims 1 to 4 are implemented.

6. A computer device comprising a processor, a memory connected to the processor, and a computer program executable on the processor, characterized in that: When the processor executes the computer program, the steps of a method for calculating the shortest operating path applicable to the cooperation between a stacker and multiple conveying points as described in any one of claims 1 to 4 are implemented.

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