Unmanned forklift control method for improving exit efficiency of tires at wharf and readable medium

Abstract

According to the unmanned forklift control method for improving the tire leaving efficiency and the readable medium provided by the invention, a plurality of tires in a stack can be forked at a time through the unmanned forklift, and the tire leaving efficiency is improved. The method comprises the following steps: determining storage yard information, exit plan information, tire information in an exit area and control requirement information in an area in charge of the unmanned forklift; sequentially and optimally selecting departure tires according to the departure plan information, and determining an initial control scheme; performing iterative optimization on the initial control scheme by adopting a neighborhood search algorithm to obtain a final control scheme; converting the final control scheme into an unmanned forklift operation instruction, transmitting the unmanned forklift operation instruction to an unmanned forklift terminal, and controlling the unmanned forklift to sequentially execute operation to complete tire departure; according to the method, the moving path, the forking times and the number of the obstacle tires of the unmanned forklift can be optimized, the logistics cost and the tire leaving time are reduced, then the waiting time of customers is shortened, and the turnover efficiency of a tire storage yard is improved.

Description

Technical Field

[0001] The invention belongs to the field of information technology, and in particular relates to an unmanned forklift control method and a readable medium for improving tire exit efficiency at a terminal. Background Art

[0002] The tire terminal yard is the main buffer area in the tire freight process. As shown in Figure 1, it serves as a transfer station between the shipper and the customer. A large number of tires are transported from the yard to the customer every day, and the efficiency of tire exit and placement has a direct impact on the efficiency of subsequent tire extraction. In the tire yard, an unmanned forklift is responsible for picking up tires from a certain stack, and the moving operation is completed by intermittently inserting the fork from the bottom and lifting the tire. A limited number of tires can be extracted at one time.

[0003] When the lifted tires include non-exit tires, these tires must be moved to other stacks, a process called "box flipping". The box flipping rate is affected by many factors, including the box picking order, the placement of the exit tires, and the location of the box flipping. Since the box picking order is difficult to adjust due to various internal and external conditions, the key to optimization lies in how to choose the location decision of the exit tires and the location decision of the box flipping to improve the tire extraction efficiency.

[0004] With the growth of tire throughput, improving tire delivery efficiency and reducing or avoiding unnecessary box dumping have become one of the important issues in improving yard operation efficiency. In addition, in order to adapt to the trend of rapid, economical, simple and standardized tire transportation requirements, it is crucial to develop a method that can optimize the placement of tires at the delivery and the control of unmanned forklifts. This not only helps to reduce the number of forklifts and the number of tires in trouble, but also improves the tire circulation efficiency of the entire yard, reduces logistics costs, and enhances the competitiveness of the tire industry. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention proposes an unmanned forklift control method for improving tire delivery efficiency.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] An unmanned forklift control method for improving the efficiency of tire delivery at a terminal includes the following steps:

[0008] Step 1: Read the storage yard information, exit plan information, tire information in the area and control requirement information from the tire database;

[0009] Step 2: Classify the tires according to their sizes, mark the size numbers as type numbers, and count the total number of tires of each type;

[0010] Step 3: According to the exit plan information, the total number of each type of tires required to exit and the number of tires that meet the exit requirements in the area where the unmanned forklift is responsible are counted. If the number of tires of a certain type is less than the number of tires required to exit, an early warning is output, indicating that all tires cannot be exited. Otherwise, step 4 is executed;

[0011] Step 4: From the designated exit area, select the exit tires in sequence according to the exit plan requirements, and make decisions on the unmanned forklift operations in sequence, so as to obtain the initial control plan;

[0012] Step 5: Use the exchange operator to optimize the initial tire number sequence and control scheme;

[0013] Step 6: Store the final control scheme and the tire serial number sequence in the database and send them to the unmanned forklift terminal via the network;

[0014] Step 7: According to the control scheme and the sequence of tire numbers obtained by the unmanned forklift terminal, the unmanned forklift is controlled to arrive at the designated position to operate all tires in sequence.

[0015] Furthermore, in step 1, the yard information includes the number of rows, the total number of stacks, the maximum number of layers of tires stored in each stack, the actual tire size stored in each stack, and the total number of tires; the rows and stacks are space units for storing tires, and the space for vertically stacking a column of tires is called a stack, and multiple stack spaces aligned side by side form a row;

[0016] The exit plan information includes a sequence number, an exit sequence number and a tire type;

[0017] The tire information in the area includes tire number, tire size and tire position information;

[0018] The tire location information includes the stack number and layer number of the tire;

[0019] The control requirement information includes the maximum number of tires that the unmanned forklift can pick up at one time; the optimization weights for minimizing the number of unmanned forklift operations and minimizing the number of tires that are blocked from exiting the vehicle;

[0020] The "obstacle tires" are determined based on the order in which the tires appear and the type of tires. An unmanned forklift can pick up all tires from a certain layer to the top layer in a stack at one time. Among them, there may be tires that are not appearing. These tires are obstacle tires and need to be put back into the original stack.

[0021] Furthermore, step 4 includes:

[0022] Step 4.1: Select the tires to be delivered in sequence according to the tire delivery requirements and the tire delivery optimization rules;

[0023] Step 4.2: Filter out the stacks where the tires are stored, and mark the layer number of the bottom tire stored in the stack;

[0024] Step 4.3: Sort the selected stacks according to their serial numbers, and control the unmanned forklift to go to the corresponding stacks in turn, pick up this layer and all the tires on it from the marked layer number, and move them out of the tire yard.

[0025] Furthermore, step 5 includes:

[0026] Step 5.1: Take the initial tire number sequence as the historical optimal tire number sequence, take the initial control scheme as the historical optimal control scheme, set the maximum number of iterations of the optimization method, establish a record list, record the combination of exchange operations, and set the list length;

[0027] Step 5.2: Evaluate the current control scheme, and the evaluation index value is equal to the sum of the unmanned forklift instruction number index and the obstacle tire number index, where the unmanned forklift operation number index is the product of the unmanned forklift operation number and the unmanned forklift operation number weight, and the obstacle tire number index is the product of the obstacle tire number and the obstacle tire number weight;

[0028] Step 5.3: Execute the exchange operator, randomly select a tire from the historical optimal tire number sequence, and exchange it with any other non-tires of the same type, so as to generate a new tire number sequence, and then execute steps 4.2 and 4.3 to generate a new control scheme, and execute step 5.2 to evaluate the new control scheme;

[0029] Step 5.4: Determine whether the exchange operation of the new candidate control scheme is in the record list. If so, execute step 5.6; otherwise, execute step 5.5;

[0030] Step 5.5: Record the new exchange operation in the record list, and determine whether the new control scheme is better than the historical optimal control scheme, that is, whether the evaluation index value of the new candidate control scheme is less than the evaluation index value of the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time, and execute step 5.7. Otherwise, keep the historical optimal control scheme as the current control scheme, and execute step 5.7;

[0031] Step 5.6: Determine whether the new candidate control scheme is better than the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time. Otherwise, keep the historical optimal control scheme as the current control scheme.

[0032] Step 5.7: Determine whether the current number of iterations has reached the maximum number of iterations. If so, take the current control scheme as the final control scheme and execute step 7. Otherwise, return to step 5.3.

[0033] A readable medium stores a computer program, which, when executed, implements the unmanned forklift control method for improving the tire exit efficiency at a terminal.

[0034] The beneficial effects achieved by the present invention are:

[0035] The present invention provides an unmanned forklift control method for improving tire exit efficiency, optimizes the placement of exit tires and unmanned forklift control, reduces the number of unmanned forklift forks and the number of blocked tires, improves the tire circulation efficiency in the yard, reduces logistics costs, and improves the competitiveness of the tire industry.

[0036] The present invention provides an unmanned forklift control method for improving tire exit efficiency, and uses an exchange operator to optimize the initial exit tire number sequence and control scheme, so that the unmanned forklift can remove as many tires as possible that need to be exited each time, while minimizing the number of non-exit tires (i.e., obstacle tires). The workload of the unmanned forklift is reduced, the work efficiency is improved, and the energy consumption is reduced.

[0037] The present invention provides an unmanned forklift control method for improving tire delivery efficiency. Since the operating time and frequency of the unmanned forklift are reduced, and the optimized operation reduces collision and wear between tires, it can effectively reduce maintenance costs, extend equipment life, reduce labor costs, and reduce overall logistics costs.

[0038] The present invention provides an unmanned forklift control method for improving tire delivery efficiency. The method can adapt to the trend of rapid, economical, simple and standardized tire transportation requirements, help tire companies to quickly respond to changes in market demand, improve service quality and market response speed, and thus occupy an advantageous position in a highly competitive market environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0040] FIG1 is a schematic diagram of the exit and destination of tires at the terminal yard of the present invention;

[0041] FIG2 is a flow chart of an unmanned forklift control method for improving tire exit efficiency in a specific embodiment of the present invention;

[0042] FIG3 is a top view of a tire storage yard in a specific embodiment of the present invention;

[0043] FIG4 is a schematic diagram of the layout of the tires shipped out and the tire yard in a specific embodiment of the present invention;

[0044] FIG5 is a schematic diagram of the initial layout of a specific embodiment of the present invention;

[0045] FIG6 is a schematic diagram of an exchange operator in a specific embodiment of the present invention;

[0046] FIG7 is a schematic diagram of a layout of candidate solutions in a specific embodiment of the present invention;

[0047] FIG8 is a schematic diagram of the final layout of the specific embodiment of the present invention.

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if the meaning of "and / or" appearing in the full text is to include three parallel solutions, taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] As shown in FIG1-8, a pre-reversal control method for improving tire storage and retrieval efficiency at a terminal includes the following steps:

[0053] Step 1: Read the yard information, exit plan information, tire information and control requirement information in the exit area that the unmanned forklift is responsible for from the tire database;

[0054] The yard information includes: the number of rows, the total number of stacks, the maximum number of layers of tires stored in each stack, the actual tire size and the total number of tires stored in each stack; the "row" and "stack" are the space units for storing tires, the space for vertically stacking a row of tires is called a stack, and multiple stack spaces aligned side by side constitute a row;

[0055] Departure plan information, including: sequence number, departure order number and tire type;

[0056] The tire information in the area includes: tire number, tire size, tire stack number and layer number;

[0057] The "tire location information" includes: the stack number and layer number of the tire;

[0058] The control requirement information includes: the maximum number of tires that the unmanned forklift can pick up at one time; the optimization weights for minimizing the number of unmanned forklift operations and minimizing the number of obstacle tires that are removed; the "obstacle tires" are determined according to the tire removal order and tire type. The unmanned forklift can pick up all tires from a certain layer to the top layer in a stack at one time, among which there may be tires that are not removed. These tires are obstacle tires and need to be put back into the original stack;

[0059] Step 2: In this embodiment, the tires are classified according to their sizes, and the size numbers are marked as type numbers, and the total number of tires of each type is counted;

[0060] Step 3: According to the exit plan information, count the total number of each type of tires required to exit, and the number of tires that meet the exit requirements in the area where the unmanned forklift is responsible. If the number of tires of a certain type is less than the number of tires required to exit, output a warning that all tires cannot be exited, otherwise execute step 4;

[0061] Step 4: From the designated exit area, select the exit tires in sequence according to the exit plan requirements, and make decisions on the unmanned forklift operations in sequence to obtain the initial control plan. The specific method is as follows:

[0062] Step 4.1: Select the tires to be delivered in sequence according to the tire delivery requirements and the tire delivery optimization rules;

[0063] Step 4.2: Filter out the stacks where the tires are stored, and mark the layer number of the bottom tire stored in the stack;

[0064] Step 4.3: Sort the selected stacks according to their serial numbers, and control the unmanned forklift to go to the corresponding stacks in turn, pick up the layer and all the tires on it from the marked layer, and move them out of the tire yard;

[0065] Step 5: Use the exchange operator to optimize the initial tire number sequence and control scheme. The specific steps are as follows:

[0066] Step 5.1: Take the initial tire number sequence as the historical optimal tire number sequence, take the initial control scheme as the historical optimal control scheme, set the maximum number of iterations of the optimization method, establish a record list, record the combination of exchange operations, and set the list length;

[0067] Step 5.2: Evaluate the current control scheme, and the evaluation index value is equal to the sum of the unmanned forklift instruction number index and the obstacle tire number index, where the unmanned forklift operation number index is the product of the unmanned forklift operation number and the unmanned forklift operation number weight, and the obstacle tire number index is the product of the obstacle tire number and the obstacle tire number weight;

[0068] Step 5.3: Execute the exchange operator, randomly select a tire from the historical optimal tire number sequence, and exchange it with any other non-tires of the same type, so as to generate a new tire number sequence, and then execute steps 4.2 and 4.3 to generate a new control scheme, and execute step 5.2 to evaluate the new control scheme;

[0069] Step 5.4: Determine whether the exchange operation of the new candidate control scheme is in the record list. If so, execute step 5.6; otherwise, execute step 5.5;

[0070] Step 5.5: Record the new exchange operation in the record list, and determine whether the new control scheme is better than the historical optimal control scheme, that is, whether the evaluation index value of the new candidate control scheme is less than the evaluation index value of the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time, and execute step 5.7. Otherwise, keep the historical optimal control scheme as the current control scheme, and execute step 5.7;

[0071] Step 5.6: Determine whether the new candidate control scheme is better than the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time. Otherwise, keep the historical optimal control scheme as the current control scheme.

[0072] Step 5.7: Determine whether the current number of iterations has reached the maximum number of iterations. If so, take the current control scheme as the final control scheme and execute step 7. Otherwise, return to step 5.3.

[0073] Step 6: Store the final control scheme and the tire serial number sequence in the database, and send them to the unmanned forklift terminal through the network;

[0074] Step 7: According to the control scheme and the sequence of tire numbers obtained by the unmanned forklift terminal, the unmanned forklift is controlled to arrive at the designated position to operate all tires in sequence.

[0075] A readable medium stores a computer program, which, when executed, implements an unmanned forklift control method for improving the tire exit efficiency at a terminal. This method not only improves the tire exit efficiency at the terminal, but also provides solid technical support for the automation and intelligent transformation of the logistics industry, bringing about multiple economic and social benefits.

[0076] The present invention proposes an unmanned forklift control method for improving the efficiency of tire delivery. As shown in FIG1 , the unmanned forklift is connected to the tire yard through a network. The control method automatically generates an unmanned forklift control scheme to guide the unmanned forklift to complete the delivery of tires. The specific steps are as follows:

[0077] Step 1: Read the yard information, exit plan information, tire information and control requirement information in the exit area that the unmanned forklift is responsible for from the tire database.

[0078] In this embodiment, the actual dock yard layout diagram is shown in FIG3 . In the yard information, the total number of rows is 2, the number of stacks in each row is 10, the maximum number of layers of tires stored in each stack is 4, and the total number of tires in each stack is 4.

[0079] In this embodiment, the exit plan information includes: sequence number, exit sequence number and tire type. The exit tire information is shown in Table 1.

[0080] Table 1 Tire information table

[0081]

[0082] The tire information in the area includes the tire number, tire size, stack number and layer number of the tire. The tire information in the area in this embodiment is shown in Table 2.

[0083] Table 2 Tire information table in the area

[0084]

[0085] In this embodiment, the layout of tires leaving the factory and tires in the storage yard is shown in FIG. 4 .

[0086] In this embodiment, the unmanned forklift can pick up a maximum of four tires at a time. Assuming that the planner requires to prioritize the optimization of the number of unmanned forklift operations, the weight of minimizing the number of unmanned forklift operations is required to be greater than the number of obstacle tires. The total number of tires in the yard is 80, and the number of obstacle tires must be less than 80. Therefore, the weight of minimizing the number of unmanned forklift operations is set to 80, and the optimization weight of minimizing the number of obstacle tires is set to 1. In this way, even if the unmanned forklift operation is reduced once, the index value is reduced by 80, which is greater than the value that the obstacle tire number index can be reduced by.

[0087] Step 2: In this embodiment, the tires are classified according to their sizes, and the size numbers are marked as type numbers. The total number of tires of each type is counted, as shown in Table 3.

[0088] Table 3 Statistics of various tire information

[0089]

[0090] Step 3: According to the exit plan information, count the total number of each type of tires required to exit, and the number of tires that meet the exit requirements in the area where the unmanned forklift is responsible. If the number of tires of a certain type is less than the number of tires required to exit, output a warning that all tires cannot be exited, otherwise execute step 4.

[0091] In this embodiment, the number of tires of each type leaving the warehouse is 4, and the number of tires of each type meeting the exit requirements in the area in which the unmanned forklift is responsible is 16. Since 4<16, step 4 is executed;

[0092] Step 4: From the designated exit area, select the exit tires in sequence according to the exit plan requirements, and make decisions on the unmanned forklift operations in sequence to obtain the initial control plan. The specific method is as follows:

[0093] Step 4.1: Select the tires to be delivered in sequence according to the tire delivery requirements and the tire delivery optimization rules.

[0094] In this embodiment, the selected exit tire number sequence is: 56, 68, 72, 75, 60, 59, 58, 52, 51, 36, 35, 34, 33, 24, 23, 22, 21, 16, 15, 14.

[0095] Step 4.2: Filter out the stacks where the tires are stored and mark the layer number of the lowest tire stored in the stack.

[0096] The stack numbers and corresponding layer numbers in this embodiment are marked as: 14 and 4, 17 and 4, 18 and 4, 19 and 3, 15 and 2, 13 and 3, 9 and 1, 6 and 1, 4 and 2.

[0097] Step 4.3: Sort the selected stacks according to their serial numbers, and control the unmanned forklift to go to the corresponding stacks in turn, pick up this layer and all the tires on it from the marked layer number, and move them out of the tire yard.

[0098] In this embodiment, the initial control scheme is recorded as: 14-4, 17-4, 18-4, 19-3, 15-2, 13-3, 9-1, 6-1, 4-2.

[0099] Step 5: Use the exchange operator to optimize the initial tire number sequence and control scheme. The specific steps are as follows:

[0100] Step 5.1: Take the initial tire number sequence as the historical optimal tire number sequence, take the initial control scheme as the historical optimal control scheme, set the maximum number of iterations of the optimization method, establish a record list, and set the list length. This table is used to record the combination of exchange operations;

[0101] In this embodiment, the exit tire number sequence: 56, 68, 72, 75, 60, 59, 58, 52, 51, 36, 35, 34, 33, 24, 23, 22, 21, 16, 15, 14 is taken as the historical optimal tire number sequence, the initial control scheme is recorded as: 14-4, 17-4, 18-4, 19-3, 15-2, 13-3, 9-1, 6-1, 4-2 as the historical optimal control scheme, the maximum number of iterations is set to 100, the list length is set to 10, and a record list is established to record the exchange operation. The recording operation is to avoid that the subsequent exchange operation is the reverse operation of the recorded exchange operation, such as sequence number 56 and 74 If the subsequent iterations produce an exchange between 74 and 56, the new solution generated will be exactly the same as the initial solution, that is, it will not play the role of generating a new solution. In order to avoid this situation, the exchange operation needs to be recorded.

[0102] Step 5.2: Evaluate the current control scheme. The evaluation index value is equal to the sum of the unmanned forklift instruction number index and the obstacle tire number index. Among them, the unmanned forklift operation number index is the product of the unmanned forklift operation number and the weight of the unmanned forklift operation number, and the obstacle tire number index is the product of the obstacle tire number and the weight of the obstacle tire number.

[0103] In this embodiment, the current tire control scheme is evaluated. The number of unmanned forklift instructions is 9, and the number of obstacle tires that appear is 1, as shown in FIG5 . This scheme requires a total of 9 stacks to be operated, as shown by the number of stacks circled in the inner frame in the figure. There is an obstacle tire above the tire that appears, as shown by the number of gray tires in FIG5 . The evaluation index value is equal to 9*80+1*1=721.

[0104] Step 5.3: Execute the exchange operator, randomly select a tire from the historical optimal tire number sequence, and exchange it with any other non-tires of the same type, so as to generate a new tire number sequence, and then execute steps 4.2 and 4.3 to generate a new control scheme, and execute step 5.2 to evaluate the new control scheme;

[0105] In this embodiment, as shown in FIG6 , the first tire in the historical optimal tire number sequence is randomly selected to perform the exchange operator, and the tire with number 56 is replaced with 74 to generate a new tire number sequence: 74, 68, 72, 75, 60, 59, 58, 52, 51, 36, 35, 34, 33, 24, 23, 22, 21, 16, 15, 14, and steps 4.2 and 4.3 are executed to generate a new control scheme: 17-4, 18-4, 19-2, 15-2, 13-3, 9-1, 6-1, 4-2, and step 5.2 is executed. Evaluate the new control scheme, and the evaluation index value is equal to 8*80+1*1=641<721.

[0106] Step 5.4: Determine whether the exchange operation of the new candidate control scheme is in the record list. If so, execute step 5.6; otherwise, execute step 5.5;

[0107] In this embodiment, the first exchange operation is recorded as: 56->74, which is not in the record table, and step 5.5 is executed.

[0108] Step 5.5: Record the new exchange operation in the record list, and determine whether the new control scheme is better than the historical optimal control scheme, that is, whether the evaluation index value of the new candidate control scheme is less than the evaluation index value of the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time, and execute step 5.7. Otherwise, keep the historical optimal control scheme as the current control scheme, and execute step 5.7;

[0109] In this embodiment, the first exchange operation is recorded in the record list, and the tire layout after the execution of the newly generated candidate control scheme is shown in Figure 7. The new candidate control scheme is evaluated, and the evaluation index value is 641<721, which is better than the historical optimal control scheme. Therefore, it is used as the historical optimal control scheme and the current control scheme. At the same time, the exit tire number sequence is updated to 74, 68, 72, 75, 60, 59, 58, 52, 51, 36, 35, 34, 33, 24, 23, 22, 21, 16, 15, 14, and step 5.7 is executed.

[0110] Step 5.6: Determine whether the new candidate control scheme is better than the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time. Otherwise, keep the historical optimal control scheme as the current control scheme.

[0111] Step 5.7: Determine whether the current number of iterations has reached the maximum number of iterations. If so, take the current control scheme as the final control scheme and execute step 7. Otherwise, return to step 5.3.

[0112] In this embodiment, the maximum number of iterations is 100. When the maximum number of iterations is reached, the historical optimal exit tire number sequence is obtained: 75, 74, 73, 56, 55, 54, 53, 52, 51, 36, 35, 34, 33, 24, 23, 22, 21, 4, 3, 2. The historical optimal control scheme is 19-1, 14-1, 13-3, 9-1, 6-1, 1-2. The layout generated after execution is shown in FIG8, and its evaluation index value is 6*80+1*1=481.

[0113] Step 6: Store the final control scheme and the tire serial number sequence in the database, and send them to the unmanned forklift terminal through the network;

[0114] Step 7: According to the control scheme and the sequence of tire numbers obtained by the unmanned forklift terminal, the unmanned forklift is controlled to arrive at the designated position to operate all tires in sequence.

[0115] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An unmanned forklift control method for improving the efficiency of tire delivery at a terminal, characterized in that The following steps are involved: Step 1: Read the storage yard information, exit plan information, tire information in the area and control requirement information from the tire database; Step 2: Classify the tires according to their sizes, mark the size numbers as type numbers, and count the total number of tires of each type; Step 3: According to the exit plan information, the total number of each type of tires required to exit and the number of tires that meet the exit requirements in the area where the unmanned forklift is responsible are counted. If the number of tires of a certain type is less than the number of tires required to exit, an early warning is output, indicating that all tires cannot be exited. Otherwise, step 4 is executed. Step 4: From the designated exit area, select exit tires in sequence according to the exit plan requirements, and make decisions on unmanned forklift operations in sequence, thereby obtaining an initial control plan; Step 5: Use the exchange operator to optimize the initial tire number sequence and control scheme; Step 6: Store the final control scheme and the tire serial number sequence in the database and send them to the unmanned forklift terminal via the network; Step 7: According to the control scheme and the sequence of tire numbers obtained by the unmanned forklift terminal, the unmanned forklift is controlled to arrive at the designated position to operate all tires in sequence.

2. The unmanned forklift control method for improving the tire exit efficiency at the terminal according to claim 1, characterized in that: In step 1, the yard information includes the number of rows, the total number of stacks, the maximum number of layers of tires stored in each stack, the actual tire size stored in each stack, and the total number of tires; the row and stack are space units for storing tires, a space for vertically stacking a row of tires is called a stack, and multiple stack spaces aligned side by side form a row; The exit plan information includes a sequence number, an exit sequence number and a tire type; The tire information in the area includes tire number, tire size and tire position information; The tire location information includes the stack number and layer number of the tire; The control requirement information includes the maximum number of tires that the unmanned forklift can pick up at one time; the optimization weights for minimizing the number of unmanned forklift operations and minimizing the number of tires that are blocked from exiting the vehicle; The "obstacle tires" are determined according to the order in which the tires come out and the types of tires. The unmanned forklift takes all the tires from a certain layer to the top layer in a stack at a time. Among them, there may be tires that are not out. These tires are obstacle tires and need to be put back into the original stack.

3. The unmanned forklift control method for improving the tire exit efficiency at the terminal according to claim 2, characterized in that: Step 4 includes: Step 4.1: Select the tires to be delivered in sequence according to the tire delivery requirements and the tire delivery optimization rules; Step 4.2: Filter out the stacks storing the exiting tires, and mark the layer number of the bottom exiting tire stored in the stack; Step 4.3: Sort the selected stacks according to their serial numbers, and control the unmanned forklift to go to the corresponding stacks in turn, pick up this layer and all the tires on it from the marked layer number, and move them out of the tire yard.

4. The unmanned forklift control method for improving the efficiency of tire exit at a terminal according to claim 3, characterized in that: Step 5 includes: Step 5.1: Take the initial tire number sequence as the historical optimal tire number sequence, take the initial control scheme as the historical optimal control scheme, set the maximum number of iterations of the optimization method, establish a record list, record the combination of exchange operations, and set the list length; Step 5.2: Evaluate the current control scheme, and the evaluation index value is equal to the sum of the unmanned forklift instruction number index and the obstacle tire number index, where the unmanned forklift operation number index is the product of the unmanned forklift operation number and the unmanned forklift operation number weight, and the obstacle tire number index is the product of the obstacle tire number and the obstacle tire number weight; Step 5.3: Execute the exchange operator, randomly select a tire from the historical optimal tire number sequence, and exchange it with any other non-tires of the same type, so as to generate a new tire number sequence, and then execute steps 4.2 and 4.3 to generate a new control scheme, and execute step 5.2 to evaluate the new control scheme; Step 5.4: Determine whether the exchange operation of the new candidate control scheme is in the record list. If so, execute step 5.6; otherwise, execute step 5.5; Step 5.5: record the new exchange operation in the record list, and judge whether the new control scheme is better than the historical optimal control scheme, that is, whether the evaluation index value of the new candidate control scheme is less than the evaluation index value of the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time, and execute step 5.

7. Otherwise, keep the historical optimal control scheme as the current control scheme, and execute step 5.

7. Step 5.6: Determine whether the new candidate control scheme is better than the historical optimal control scheme. If so, take the new candidate control scheme as the historical optimal control scheme and use it as the current control scheme, and update the tire number sequence at the same time. Otherwise, keep the historical optimal control scheme as the current control scheme. Step 5.7: Determine whether the current number of iterations reaches the maximum number of iterations. If so, take the current control scheme as the final control scheme and execute step 7. Otherwise, return to step 5.

3.

5. A readable medium having a computer program stored thereon, characterized in that: When the program is executed, the method according to any one of claims 1 to 4 is implemented.

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