Layout optimization method for four-direction shuttling type high-density stereoscopic warehouse

Abstract

The invention discloses a layout optimization method for a four-way shuttle type high-density stereoscopic warehouse. The method comprises the following steps: determining a layout coding mode of the four-way shuttle type high-density stereoscopic warehouse; initializing genetic algorithm parameters; according to the layout coding mode, a heuristic rule is adopted to generate a layout initial solution of the four-way shuttle type high-density stereoscopic warehouse; calculating a fitness function of the layout initial solution, judging whether the fitness function is in a convergence state, and if so, determining that the layout initial solution is an optimal layout solution; and if not, dynamically adjusting the crossover rate and the mutation rate by adopting a cosine adaptive genetic layout optimization algorithm or a dynamic genetic layout optimization algorithm combined with a simulated annealing mechanism, and carrying out selection, crossover and mutation operations on the initial layout solution until the optimal layout solution is obtained. According to the method, the problem that the design efficiency of a layout scheme is low due to the fact that the layout design of the current four-direction shuttle type high-density stereoscopic warehouse mainly depends on empirical judgment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of the layout of four-way shuttle high-density stereoscopic warehouses, and specifically, to a layout optimization method for four-way shuttle high-density stereoscopic warehouses. Background Art

[0002] A four-way shuttle high-density stereoscopic warehouse is a highly integrated automated warehousing system, which is characterized by densely arranged storage units, a multi-layer shelf structure, and allowing four-way shuttle vehicles to move freely in the warehouse to achieve efficient goods storage and retrieval operations. However, the current layout design of four-way shuttle high-density stereoscopic warehouses mainly relies on empirical judgment and lacks scientific and systematic optimization methods, resulting in a long design cycle of the layout plan and low design efficiency of the layout plan. Most of the existing layout optimization methods generate the initial layout solution based on binary coding, integer coding, or permutation coding. Although these methods can meet the basic requirements to a certain extent, they do not fully consider the collaborative optimization of key layout elements such as the main road block, sub-road block, elevator main road block, inbound lane block, and outbound lane block in the warehouse, which often leads to insufficient throughput capacity in some areas, forming a logistics bottleneck and thus affecting the overall operation efficiency of the warehouse. Summary of the Invention

[0003] Aiming at the above defects, the present invention proposes a layout optimization method for four-way shuttle high-density stereoscopic warehouses, aiming to solve the problems that the current layout design of four-way shuttle high-density stereoscopic warehouses mainly relies on empirical judgment, resulting in low design efficiency of the layout plan, and most of the existing layout optimization methods generate the initial layout solution based on binary coding and other methods, without fully considering the collaborative optimization of key layout elements in the warehouse, resulting in insufficient throughput capacity in some areas and forming a logistics bottleneck.

[0004] To achieve this purpose, the present invention adopts the following technical solutions:

[0005] A layout optimization method for a four-way shuttle high-density stereoscopic warehouse, comprising the following steps: Step S1: Determine the layout coding method of the four-way shuttle high-density stereoscopic warehouse, wherein the layout coding method of the four-way shuttle high-density stereoscopic warehouse is a layout coding method based on a hierarchical space block set, and the space block set includes defective blocks, main road blocks, sub-road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, and pallet blocks; Step S2: Initialize the genetic algorithm parameters, wherein the genetic algorithm parameters include the crossover rate and the mutation rate; Step S3: Generate an initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse according to the layout coding method of the four-way shuttle high-density stereoscopic warehouse by using heuristic rules; Step S4: Calculate the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse; Step S5: Determine whether the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is in a converged state. If so, the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse; if not, execute Step S6; Step S6: Dynamically adjust the crossover rate and the mutation rate by using a cosine adaptive genetic layout optimization algorithm or a dynamic genetic layout optimization algorithm combined with a simulated annealing mechanism, and perform selection, crossover, and mutation operations on the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse until the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse is obtained.

[0006] Preferably, in step S3, it specifically includes the following sub-steps: Step S31: Determine the defective block set; Step S32: Generate the main road block set according to the defective block set; Step S33: Generate the secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set in sequence according to the main road block set; Step S34: Generate the pallet block set according to the main road block set, the secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set; Step S35: Judge whether the number of pallet blocks is greater than the preset pallet storage value. If not, generate the initial layout solution of the four-way shuttle high-density stereoscopic warehouse according to the main road block set, the secondary road block set, the elevator main road block set, the inbound lane block set, the outbound lane block set, and the pallet block set; If so, execute steps S36 - S39; Step S36: Generate a new main road block set according to the defective block set and the main road block set; Step S37: Generate a new secondary road block set according to the new main road block set, the defective block set, and the pallet block set; Step S38: Generate a new pallet block set according to the new main road block set, the new secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set; Step S39: Judge whether the new pallet block set is greater than the preset pallet storage value. If not, generate the initial layout solution of the four-way shuttle high-density stereoscopic warehouse according to the new main road block set, the new secondary road block set, the elevator main road block set, the inbound lane block set, the outbound lane block set, and the new pallet block set; If not, continue to execute steps S36 - S39.

[0007] Preferably, in step S32, it specifically includes the following sub-steps: Step S321: Sort all the defective blocks in the defective block set and traverse them one by one; During the traversal, judge whether the abscissa of the starting point of the current defective block is greater than the abscissa of the ending point of the previous defective block. If so, randomly insert a main road block between two adjacent defective blocks. If not, do not perform the main road block insertion operation; Step S322: Calculate the main road block density MRDR of the current layout. The specific calculation formula is as follows:

[0008]

[0009] Among them, N n represents the number of existing main road blocks between the nth defective block and the (n + 1)th defective block, represents the abscissa of the starting point of the nth defective block, represents the abscissa of the ending point of the (n + 1)th defective block, represents the width of the nth defective block.

[0010] Preferably, in step S33, the generation of the sub-trunk road block set specifically includes the following sub-steps: Sort all the main trunk road blocks in the main trunk road block set and traverse them one by one. During the traversal, sort the defective blocks between each pair of adjacent main trunk road blocks and traverse them one by one. During the traversal, determine whether the longitudinal distance between two adjacent defective blocks is greater than the width of the sub-trunk road block in the longitudinal direction. If not, no sub-trunk road block insertion operation is performed; if so, calculate the total number of sub-trunk road blocks to be inserted between the current two main trunk road blocks, and accordingly calculate the sub-trunk road block density SRDR between the current two main trunk road blocks, and randomly insert sub-trunk road blocks in the area with the highest sub-trunk road block density;

[0011] The generation of the hoist main trunk road block set specifically includes the following sub-steps: Sort all the main trunk road blocks in the main trunk road block set and traverse them one by one. During the traversal, for each pair of adjacent main trunk road blocks, calculate the coordinates of the end point of the current main trunk road block and the coordinates of the starting point of the next main trunk road block, and determine whether there is a hoist between the two main trunk road blocks. If not, calculate the coordinates of the end point of the main trunk road block with the earlier order and the coordinates of the starting point of the main trunk road block with the later order in the next pair of adjacent main trunk road blocks. If so, obtain the coordinates of the hoist and generate the hoist main trunk road block according to the coordinates of the hoist;

[0012] The generation of the inbound lane block set specifically includes the following sub-steps: Calculate the number of inbound lane blocks required and determine the starting boundary of the warehouse, sort all the main trunk road blocks in the main trunk road block set, obtain the coordinates of the starting point of the first main trunk road block in the sorted main trunk road block set, and generate inbound lane blocks between the starting boundary of the warehouse and the first main trunk road block according to the number of inbound lane blocks required;

[0013] The generation of the outbound lane block set specifically includes the following sub-steps: Calculate the number of outbound lane blocks required and determine the ending boundary of the warehouse, sort all the main trunk road blocks in the main trunk road block set, obtain the coordinates of the end point of the last main trunk road block in the sorted main trunk road block set, and generate outbound lane blocks between the ending boundary of the warehouse and the last main trunk road block according to the number of outbound lane blocks required.

[0014] Preferably, in step S34, it specifically includes the following sub-steps: Step S341: Traverse the types of pallets to be stored; Step S342: Take the lower left corner of the warehouse as the coordinate origin O, the horizontal right direction as the positive X-axis direction, and the vertical upward direction as the positive Y-axis direction to construct a plane coordinate system, and use the plane coordinate system as a reference system to arrange the pallets to be stored in the order of filling from left to right first and then from top to bottom. During the arrangement, determine whether the pallets to be stored overlap with the main trunk road blocks, sub-trunk road blocks, hoist main trunk road blocks, inbound lane blocks and outbound lane blocks. If not, generate pallet blocks; if so, do not generate pallet blocks.

[0015] Preferably, in step S36, it specifically includes the following sub-steps: Step S361: Determine the defective block set and the main road block density of the initial layout; Step S362: Sort the main road block densities of the initial layout in ascending order, and traverse the areas corresponding to the main road block densities of the initial layout; during the traversal, sort and traverse the defective blocks in the area one by one. During the traversal, for two adjacent defective blocks, judge whether the value obtained by subtracting the end abscissa of the previous defective block from the start abscissa of the current defective block is less than the width of the main road block. If so, filter out these two defective blocks. If not, calculate the number of main road blocks inserted in the area between these two defective blocks, and judge whether the main road block density of the initial layout of this area is the lowest. If not, insert the existing number of main road blocks in this area. If so, judge whether this area needs to add a main road block. If so, add one main road block on the basis of the existing number of main road blocks in this area. If not, judge whether this area is the last area to be traversed. If so, insert the existing number of main road blocks in this area. If not, continue to traverse the next area to be traversed; Step S363: Calculate the main road block density of the new main road block set.

[0016] Preferably, in step S37, it specifically includes the following sub-steps: Step S371: Generate a set of sub-trunk blocks for the current layout among new main trunk blocks according to the method of initially generating sub-trunk blocks; Step S372: Calculate the sub-trunk block density of the set of sub-trunk blocks for the current layout; Step S373: Screen out the set of sub-trunk blocks with the highest sub-trunk block density to obtain the screened set of sub-trunk blocks; Step S378: Sort the sub-trunk block densities of the set of sub-trunk blocks for the current layout, and traverse the areas corresponding to the sub-trunk block densities of the set of sub-trunk blocks for the current layout; during the traversal, determine whether there are defective blocks in the area corresponding to the sub-trunk block density of the set of sub-trunk blocks for the current layout. If so, return the generated set of sub-trunk blocks for the current layout; if not, traverse the sub-trunk blocks in the area corresponding to the highest sub-trunk block density and traverse the sub-trunk blocks in the area corresponding to the current sub-trunk block density. During the traversal, determine whether the Y-axis of the sub-trunk block in the area corresponding to the highest sub-trunk block density is the same as the Y-axis of the sub-trunk block in the area corresponding to the current sub-trunk block density. If so, continue the traversal of the sub-trunk blocks in the area corresponding to the highest sub-trunk block density. If not, insert a sub-trunk block with the same Y-axis as the sub-trunk block in the area corresponding to the highest sub-trunk block density in the area corresponding to the sub-trunk block density of the set of sub-trunk blocks for the current layout, and determine whether the current number of pallets is greater than the preset value of pallet storage. If not, continue to insert sub-trunk blocks until the number of sub-trunk blocks between the newly added main trunk block and the subsequent main trunk block is equal to the number of the set of sub-trunk blocks with the highest sub-trunk block density in the current layout. If so, retain the inserted sub-trunk blocks in the last case where the current number of pallets is less than the preset value of pallet storage.

[0017] Preferably, in step S4, the specific calculation formula of the fitness function of the initial solution of the layout of the four-way shuttle high-density three-dimensional warehouse is as follows:

[0018] F = max(αF1 + βF2);

[0019]

[0020] Among them, F represents the fitness function; F1 represents the comprehensive value of multiple evaluation indicators; F2 represents the single four-way vehicle inbound and outbound efficiency value; α represents the weight coefficient of the comprehensive value of multiple evaluation indicators; β represents the weight coefficient of the single four-way vehicle inbound and outbound efficiency value; U i represents the area utilization rate; A i represents the pallet accessibility; T i represents the path smoothness; R i represents the sub-trunk service rate; ω U represents the weight coefficient of the area utilization rate; ω A represents the weight coefficient of the pallet accessibility; ω T represents the weight coefficient of the path smoothness; ωR The weight coefficient representing the feeder road service rate; L represents the number of floors of the current warehouse; Represents the depreciation coefficient; E vehicle Represents the inbound and outbound efficiency of a single four-way vehicle;

[0021] The area utilization rate U i The specific calculation steps are as follows:

[0022] Step S41: Calculate the total area sum A of all space blocks occupy,i , and the specific calculation formula is as follows:

[0023]

[0024] Where, A main,i Represents the sum of the areas of all main road blocks on the i-th floor; A sub,i Represents the sum of the areas of all feeder road blocks on the i-th floor; A eva,i Represents the sum of the areas of all elevator main road blocks on the i-th floor; A pallet,i Represents the sum of the areas of all pallet blocks on the i-th floor; A defect,i Represents the sum of the areas of all defective blocks on the i-th floor; A in,i Represents the sum of the areas of all inbound lane blocks on the i-th floor; A out,i Represents the sum of the areas of all outbound lane blocks on the i-th floor; M i,j Represents the j-th main road block on the i-th floor; M layer,i Represents the set of main road blocks on the i-th floor; Represents the width of the j-th main road block on the i-th floor; Represents the height of the j-th main road block on the i-th floor; S i,k Represents the k-th feeder road block on the i-th floor; S layer,i Represents the set of feeder road blocks on the i-th floor; Represents the width of the k-th feeder road block on the i-th floor; Represents the height of the k-th feeder road block on the i-th floor; E i,l Represents the l-th elevator main road block on the i-th floor; E layer,i Represents the set of elevator main road blocks on the i-th floor; Represents the width of the l-th elevator main road block on the i-th floor; Represents the height of the l-th elevator main road block on the i-th floor; P i,m Represents the m-th pallet block on the i-th floor; P layer,i Represents the set of pallet blocks on the i-th floor; Represents the width of the m-th pallet block on the i-th floor; Represents the height of the m-th pallet block on the i-th floor; D i,n Represents the n-th defective block on the i-th floor; D layer,i Represents the set of defective blocks on the i-th floor; represents the width of the nth defective block in the ith layer; represents the height of the nth defective block in the ith layer; In i,o represents the oth inbound lane block in the ith layer; In layer,i represents the set of inbound lane blocks in the ith layer; represents the width of the oth inbound lane block in the ith layer; represents the height of the oth inbound lane block in the ith layer; O i,p represents the pth outbound lane block in the ith layer; O layer,i represents the set of outbound lane blocks in the ith layer; represents the width of the pth outbound lane block in the ith layer; represents the height of the pth outbound lane block in the ith layer;

[0025] Step S42: Calculate the total area A of the boundary of the current layer border,i , and the specific calculation formula is as follows:

[0026] A border,i = h border,i · w border,i ;

[0027] where, h border,i represents the boundary height range value of the warehouse in the ith layer; w border,i represents the boundary width range value of the warehouse in the ith layer;

[0028] Step S43: Calculate the area utilization rate U occupy,i based on the sum of the areas A border,i of all space blocks and the total area A i of the boundary of the current layer, and the specific calculation formula is as follows:

[0029]

[0030] The pallet accessibility A i is calculated as follows:

[0031] Step S44: Sort the set M layer,i of the main road blocks in the ith layer in ascending order according to the starting abscissa of the jth main road block in the ith layer, and for each pair of adjacent main road blocks, define the interval as

[0032] Step S45: For the interval between each pair of adjacent main road blocks, screen out the corresponding set D betweeen (M i,j , M i,j+1 ), and the specific mathematical expression is as follows:

[0033]

[0034] Among them, represents the starting abscissa of the nth defective block in the ith layer;

[0035] Step S46: For each defective block D i,n , filter out the set of pallets P within (M i,j , M i,j+1 , D i,n ) that meet the conditions. The specific mathematical expression is as follows:

[0036]

[0037] Among them, represents the starting ordinate of the nth defective block in the ith layer; represents the starting ordinate of the mth pallet block in the ith layer; represents the starting abscissa of the mth pallet block in the ith layer;

[0038] Step S47: Accumulate the number of pallets P allDefect in the rows where the defective areas are located between all main roads in the ith layer, and calculate the total number of pallets T pallet,i in the ith layer. Then, normalize the ratio of P allDefect and T pallet,i to obtain the pallet accessibility A i of the current layer. The specific calculation formula for the pallet accessibility A i is as follows:

[0039]

[0040]

[0041] Among them, t i represents the number of pallet types in the ith layer, and n i,k represents the number of the kth type of pallets in the ith layer;

[0042] The path smoothness T i is calculated as follows:

[0043] Step S48: Calculate the theoretical minimum number of turning points I min based on the difference in the number of sub-road blocks between main road blocks. The specific calculation formula is as follows:

[0044]

[0045] Among them, S(M i,j , M i,j+1 ) represents the number of sub-road blocks between the jth and (j + 1)th main road blocks in the ith layer layout; n'' represents the total number of main road blocks in the ith layer layout;

[0046] Step S49: Calculate the actual number of turning points I according to the actual positions and connection conditions of the current layout sub-trunk blocks actual , and the specific calculation formula is as follows:

[0047]

[0048] where N sub,i represents the total number of sub-trunk blocks in the i-th layer layout; represents the starting ordinate of the k-th sub-trunk block in the i-th layer; represents the starting abscissa of the (k + 1)-th sub-trunk block in the i-th layer; δ(i,j) represents a binary function;

[0049] Step S410: Calculate the path smoothness T according to the theoretical minimum number of turning points I min and the actual number of turning points I actual , and the specific calculation formula is as follows: i

[0050]

[0051] The sub-trunk service rate R i The specific calculation steps are as follows:

[0052] Step S411: Calculate the number of sub-trunk blocks S(M i,j ,M i,j+1 ) between the j-th and (j + 1)-th main trunk blocks in the i-th layer layout, and the specific calculation formula is as follows:

[0053]

[0054] where represents the starting abscissa of the k-th sub-trunk block in the i-th layer;

[0055] And calculate the total number of pallets T in the i-th layer pallet,i ;

[0056] Step S412: Calculate the number of pallets between the k-th sub-trunk block in the i-th layer and the previous sub-trunk block or the boundary The specific calculation formula is as follows:

[0057]

[0058] where y border,i represents the ordinate of the boundary point of the i-th layer warehouse; h border,i represents the boundary height range value of the i-th layer warehouse; represents an indicator function, and the specific mathematical expression is as follows:

[0059] ​

[0060] Step S413: Calculate the number of pallets between the k-th sub-trunk block on the i-th layer and the next sub-trunk block or the boundary The specific calculation formula is as follows:

[0061]

[0062] Step S414: According to and T pallet,i , calculate the sub-trunk service rate R i , and the specific calculation formula is as follows:

[0063]

[0064] The inbound and outbound efficiency E of the single four-way vehicle vehicle The specific calculation steps are as follows:

[0065] Step S415: Calculate the inbound efficiency E of the single four-way vehicle in , and the specific calculation formula is as follows:

[0066]

[0067]

[0068] Among them, L represents the number of layers of the current warehouse; T pallet,i represents the total number of pallets on the i-th layer; T in represents the average total time for the four-way vehicle to traverse all inbound points to all storage locations in the warehouse; N in represents the number of inbound points; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; t l represents the running time of the four-way vehicle on the l-th path segment; represents the total accumulated turning time of the four-way vehicle for a single inbound task; t top represents the total time for the four-way vehicle to pick up and place pallets for a single task; t eva represents the running time of the elevator between the (i - 1)-th layer and the i-th layer; v max represents the maximum running speed of the four-way vehicle; a represents the acceleration of the four-way vehicle during operation; d l represents the Euclidean distance between two path points (x j , y j ) and (x j+1 , y j+1 ); T turn represents the time required for the four-way vehicle to turn each time; Denote the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; T top Denote the time required for the four-way vehicle to reach the top or place the pallet; Denote the maximum speed when the elevator is running; a eva Denote the acceleration when the elevator is running; d i-1,i Denote the distance between the (i - 1)-th layer and the i-th layer;

[0069] Step S416: Calculate the outbound efficiency E of a single four-way vehicle out , and the specific calculation formula is as follows:

[0070]

[0071] Among them, T out Denote the total time taken for the four-way vehicle to traverse all outbound points to all storage locations in the warehouse; N out Denote the number of outbound points; Denote the path time taken for the four-way vehicle to travel from the o-th outbound point to the j-th storage location on the i-th layer; Denote the number of path segments from the o-th outbound point to the j-th storage location on the i-th layer; Denote the total accumulated turning time for the four-way vehicle to perform a single outbound task; Denote the number of path segments from the o-th outbound point to the j-th storage location on the i-th layer;

[0072] Step S417: Calculate the inbound and outbound efficiency E of a single four-way vehicle based on the inbound efficiency E in and the outbound efficiency E of a single four-way vehicle out , and calculate the inbound and outbound efficiency E of a single four-way vehicle vehicle , and the specific calculation formula is as follows:

[0073] F vehicle = max (E in + E out ).

[0074] Preferably, in step S6, when using the cosine adaptive genetic layout optimization algorithm to dynamically adjust the crossover rate and mutation rate, the calculation formulas for the crossover rate and mutation rate are as follows:

[0075]

[0076] Among them, P c Denote the crossover rate under the cosine adaptive genetic layout optimization algorithm; P c0 Denote the initial value of the crossover rate, ΔP c Denote the amplitude of the crossover rate change, f 1,2 Denote the average fitness of parent individuals 1 and 2, f avg 、f min and f maxrespectively represent the mean, minimum, and maximum of the population fitness;

[0077]

[0078] wherein, P m represents the mutation rate under the cosine adaptive genetic layout optimization algorithm; P m0 represents the initial value of the mutation rate, ΔP m represents the change amplitude of the mutation rate, f represents the fitness of the parental individual, f avg 、f min and f max respectively represent the mean, minimum, and maximum of the population fitness;

[0079] When the crossover rate and mutation rate are dynamically adjusted by using the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism, the calculation formulas of the crossover rate and mutation rate are as follows:

[0080]

[0081] T(b) = T0·δ b ;

[0082] wherein, P c (b) represents the crossover rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; P m (b) represents the mutation rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; T(b) represents the temperature function varying with the number of iterations; T0 represents the initial temperature; δ represents the cooling coefficient, and 0 < δ < 1; b represents the current number of iterations.

[0083] Preferably, in step S6, a crossover operation is performed on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, which specifically includes the following sub-steps: Step S61: Randomly select some main road blocks from the first parent and the second parent respectively, and retain them at the corresponding positions in the first offspring and the first offspring; Step S62: Supplement the unselected main road blocks in the first parent to the corresponding positions in the second offspring in sequence, and supplement the unselected main road blocks in the second parent to the corresponding positions in the first offspring in sequence, so as to obtain the layout of the main road blocks after crossover recombination; Step S63: Based on the layout of the main road blocks after crossover recombination, regenerate the secondary road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, pallet blocks, and defect blocks;

[0084] Perform mutation operations on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, which specifically includes the following sub-steps: Step S64: Randomly select a main road block, calculate the distance between the selected main road block and the nearest defective block, and define the minimum base number and the minimum pallet unit according to the requirements of the material receiving and sending method; Step S65: Determine whether the distance between the selected main road block and the nearest defective block is greater than or equal to the minimum base number. If so, move the main road block along the feasible direction by a minimum base number. If not, determine whether the distance between the selected main road block and the nearest defective block is greater than or equal to the minimum pallet unit. If so, move the main road block along the feasible direction by a minimum pallet unit. If not, abandon the movement to obtain the layout of the main road block after mutation; Step S66: Based on the layout of the main road block after mutation, regenerate the secondary road block, elevator main road block, inbound lane block, outbound lane block, pallet block, and defective block.

[0085] The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

[0086] This solution uses a layout coding method based on a hierarchical space block set, combines heuristic rules to generate an initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse, introduces a genetic algorithm, and uses a cosine adaptive genetic layout optimization algorithm or a dynamic genetic layout optimization algorithm combined with a simulated annealing mechanism to iteratively optimize the initial solution of the layout to find the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse. Compared with the traditional layout design method that relies on empirical judgment, this solution quickly generates a high-quality initial solution for the layout through heuristic rules, significantly reducing the design time of the layout plan, thereby improving the design efficiency of the layout plan. In addition, the layout coding method based on a hierarchical space block set is adopted in this solution, which fully considers the collaborative optimization of key layout elements such as main road blocks, secondary road blocks, elevator main road blocks, inbound lane blocks, and outbound lane blocks in the warehouse, effectively avoiding the possible logistics bottleneck problems in the traditional method, thereby improving the overall operation efficiency of the warehouse. Description of the Drawings

[0087] Figure 1 It is a step flow chart of a layout optimization method for a four-way shuttle high-density stereoscopic warehouse. Detailed Embodiments

[0088] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0089] A layout optimization method for a four-way shuttle high-density stereoscopic warehouse, comprising the following steps: Step S1: Determine the layout coding method of the four-way shuttle high-density stereoscopic warehouse, wherein the layout coding method of the four-way shuttle high-density stereoscopic warehouse is a layout coding method based on a hierarchical space block set, and the space block set includes defective blocks, main road blocks, sub-road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, and pallet blocks; Step S2: Initialize the genetic algorithm parameters, wherein the genetic algorithm parameters include the crossover rate and the mutation rate; Step S3: Generate an initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse by using heuristic rules according to the layout coding method of the four-way shuttle high-density stereoscopic warehouse; Step S4: Calculate the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse; Step S5: Determine whether the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is in a convergent state. If so, the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse; if not, execute Step S6; Step S6: Dynamically adjust the crossover rate and the mutation rate by using a cosine adaptive genetic layout optimization algorithm or a dynamic genetic layout optimization algorithm combined with a simulated annealing mechanism, and perform selection, crossover, and mutation operations on the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse until the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse is obtained.

[0090] A layout optimization method for a four-way shuttle high-density stereoscopic warehouse in this solution, such as Figure 1As shown, the first step is to determine the layout coding method of the four-way shuttle high-density stereoscopic warehouse. Among them, the layout coding method of the four-way shuttle high-density stereoscopic warehouse is a layout coding method based on a hierarchical space block set. The space block set includes defective blocks, main road blocks, sub-road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, and pallet blocks. In this embodiment, the layout coding method adopted for the four-way shuttle high-density stereoscopic warehouse is a layout coding method based on a hierarchical space block set. The layout coding method based on a hierarchical space block set is specifically a method of hierarchical coding based on the type and position information of space blocks. Among them, the position information of space blocks includes serial number, starting abscissa, starting ordinate, width value (X direction), height value (Y direction), and the layer where the current element is located. This layout coding method based on a hierarchical space block set can not only directly map the geometric positions and topological relationships of warehouse layout elements, but also introduce the dimension in the vertical direction, greatly enriching the level and depth of the search space, so as to effectively adapt to the complex warehouse environment of multiple layers and multiple dimensions. The second step is to initialize the genetic algorithm parameters. Among them, the genetic algorithm parameters include the crossover rate and the mutation rate. In this embodiment, the global search ability of the genetic algorithm can be used to effectively search for the optimal solution of the layout of the four-way shuttle high-density stereoscopic warehouse. Since the setting of genetic algorithm parameters such as the crossover rate and the mutation rate will directly affect the convergence speed of the genetic algorithm, initializing the genetic algorithm parameters can accelerate the convergence of the algorithm and enable the algorithm to find a better solution in a shorter time. The third step is to generate an initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse according to the layout coding method of the four-way shuttle high-density stereoscopic warehouse. In this embodiment, the heuristic rule is based on the actual layout requirements and optimization objectives of the warehouse, and can generate a high-quality initial solution, laying a good foundation for the subsequent optimization process, reducing the number of iterations, and improving the optimization efficiency. The fourth step is to calculate the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse. In this embodiment, the fitness function consists of two parts, namely the comprehensive value of multiple evaluation indicators and the inbound and outbound efficiency value of a single four-way vehicle. Among them, the comprehensive value of multiple evaluation indicators considers multiple evaluation indicators, including area utilization rate, pallet accessibility, path smoothness, and sub-road service rate. By calculating the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse, it is beneficial to evaluate the quality of the layout of the four-way shuttle high-density stereoscopic warehouse, so as to optimize the layout design of the four-way shuttle high-density stereoscopic warehouse.The fifth step is to determine whether the fitness function of the initial solution of the layout of the four-way shuttle high-density automated storage and retrieval system (AS / RS) is in a convergent state. If it is, the initial solution of the layout of the four-way shuttle high-density AS / RS is the optimal solution of the layout of the four-way shuttle high-density AS / RS; if not, step S6 is executed. In this embodiment, by judging the convergence of the fitness function of the initial solution of the layout of the four-way shuttle high-density AS / RS, invalid iterations can be terminated in a timely manner, avoiding continuous search by the genetic algorithm in the area close to the optimal solution of the layout of the four-way shuttle high-density AS / RS, thereby reducing the consumption of computing resources. The sixth step is to dynamically adjust the crossover rate and mutation rate using the cosine adaptive genetic layout optimization algorithm or the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism, and perform selection, crossover, and mutation operations on the initial solution of the layout of the four-way shuttle high-density AS / RS until the optimal solution of the layout of the four-way shuttle high-density AS / RS is obtained. In this embodiment, the cosine adaptive genetic layout optimization algorithm dynamically adjusts the crossover rate and mutation rate through the smoothness of the cosine function to balance the global search and local exploitation capabilities. The dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism dynamically adjusts the crossover rate and mutation rate by introducing the temperature decay strategy and the inferior solution acceptance mechanism of simulated annealing, thereby achieving more efficient global exploration and local exploitation during the optimization process. By performing selection, crossover, and mutation operations on the initial solution of the layout of the four-way shuttle high-density AS / RS, an iterative system of layout solutions with self-optimization capabilities can be effectively constructed.

[0091] This solution generates the initial solution of the layout of the four-way shuttle high-density AS / RS by adopting a layout coding method based on a hierarchical space block set, combining heuristic rules, introducing a genetic algorithm, and using the cosine adaptive genetic layout optimization algorithm or the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism to iteratively optimize the initial solution of the layout to find the optimal solution of the layout of the four-way shuttle high-density AS / RS. Compared with the traditional layout design method that relies on empirical judgment, this solution quickly generates a high-quality initial solution of the layout through heuristic rules, significantly reducing the design time of the layout plan, thereby improving the design efficiency of the layout plan. In addition, the layout coding method based on a hierarchical space block set adopted in this solution fully considers the collaborative optimization of key layout elements such as the main road block, sub-road block, elevator main road block, inbound lane block, and outbound lane block in the warehouse, effectively avoiding the potential logistics bottleneck problems in the traditional method, thereby improving the overall operation efficiency of the warehouse.

[0092] Preferably, in step S3, it specifically includes the following sub-steps: Step S31: Determine the defective block set; Step S32: Generate the main road block set according to the defective block set; Step S33: Generate the secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set in sequence according to the main road block set; Step S34: Generate the pallet block set according to the main road block set, the secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set; Step S35: Determine whether the number of pallet blocks is greater than the preset pallet storage value. If not, generate the initial layout solution of the four-way shuttle high-density stereoscopic warehouse according to the main road block set, the secondary road block set, the elevator main road block set, the inbound lane block set, the outbound lane block set, and the pallet block set. If so, execute steps S36-S39; Step S36: Generate a new main road block set according to the defective block set and the main road block set; Step S37: Generate a new secondary road block set according to the new main road block set, the defective block set, and the pallet block set; Step S38: Generate a new pallet block set according to the new main road block set, the new secondary road block set, the elevator main road block set, the inbound lane block set, and the outbound lane block set; Step S39: Determine whether the new pallet block set is greater than the preset pallet storage value. If not, generate the initial layout solution of the four-way shuttle high-density stereoscopic warehouse according to the new main road block set, the new secondary road block set, the elevator main road block set, the inbound lane block set, the outbound lane block set, and the new pallet block set. If not, continue to execute steps S36-S39.

[0093] In this embodiment, the preset pallet storage value in step S35 is 3,500. Due to the hierarchical characteristics of the layout of the four-way shuttle high-density stereoscopic warehouse, in the actual implementation process of the layout plan, it is often required that the layout of the main roads on each floor in the space be consistent, that is, the projections of the main roads on other floors need to completely coincide with those on the first floor. To achieve this goal, first project all the defective blocks in each floor of the warehouse space onto the first floor to form a unified defective block set. Subsequently, generate the main road block set, the secondary road block set, the elevator main road block set, the inbound lane block set, the outbound lane block set, and the pallet block set in sequence, so as to form the initial layout solution of the four-way shuttle high-density stereoscopic warehouse.

[0094] Preferably, in step S32, it specifically includes the following sub-steps: Step S321: Sort all the defective blocks in the defective block set and traverse them one by one; during the traversal, determine whether the abscissa of the starting point of the current defective block is greater than the abscissa of the end point of the previous defective block. If so, randomly insert a main road block between two adjacent defective blocks. If not, do not perform the main road block insertion operation; Step S322: Calculate the main road block density MRDR of the current layout. The specific calculation formula is as follows:

[0095]

[0096] Among them, N n represents the number of existing main road blocks between the nth defective block and the (n + 1)th defective block, represents the abscissa of the starting point of the nth defective block, represents the abscissa of the end point of the (n + 1)th defective block, represents the width of the nth defective block.

[0097] In this embodiment, all the defective blocks in the defective block set are sorted and traversed one by one. When the abscissa of the starting point of the current defective block is greater than the abscissa of the end point of the previous defective block, a main road must be randomly inserted between the two defective blocks. Otherwise, the storage locations in the common row between the two defective blocks cannot be accessed by the four-way shuttle vehicle, resulting in an unreasonable warehouse design. In addition, the inserted main road should run through the entire three-dimensional warehouse layout and shall not overlap with any defective blocks. During the random generation of the main road, it is necessary to ensure the rationality of the inserted main road according to the requirements of the predefined material receiving and sending methods. Among them, the material receiving and sending methods of the four-way shuttle high-density three-dimensional warehouse mainly include batch receiving and sending, base number receiving and sending, picking receiving and sending, and set receiving and sending.

[0098] By calculating the main road block density of the current layout, it is beneficial to provide a reference for the subsequent addition of main roads. The main road density ratio refers to the ratio of the number of existing main roads between two defective blocks to the difference in their distances, and is used to measure the rationality of adding a main road between two defective blocks.

[0099] Preferably, in step S33, the generation of the sub-main road block set specifically includes the following sub-steps: Sort all the main road blocks in the main road block set and traverse them one by one. During the traversal, sort and traverse the defective blocks between each pair of adjacent main road blocks one by one. During the traversal, judge whether the vertical distance between two adjacent defective blocks is greater than the width of the sub-main road block in the vertical direction. If not, no sub-main road block insertion operation is performed; if so, calculate the total number of sub-main road blocks to be inserted between the current two main road blocks, and calculate the sub-main road block density SRDR between the current two main road blocks accordingly, and select to randomly insert sub-main road blocks in the area with the highest sub-main road block density;

[0100] The generation of the hoist main road block set specifically includes the following sub-steps: Sort all the main road blocks in the main road block set and traverse them one by one. During the traversal, for each pair of adjacent main road blocks, calculate the coordinates of the end point of the current main road block and the coordinates of the starting point of the next main road block, and determine whether there is a hoist between the two main road blocks. If not, calculate the coordinates of the end point of the main road block with a lower sort order and the coordinates of the starting point of the main road block with a higher sort order in the next pair of adjacent main road blocks. If there is, obtain the coordinates of the hoist and generate the hoist main road block according to the coordinates of the hoist.

[0101] The generation of the inbound lane block set specifically includes the following sub-steps: Calculate the number of required inbound lane blocks and determine the starting boundary of the warehouse, sort all the main road blocks in the main road block set, obtain the coordinates of the starting point of the first main road block in the sorted main road block set, and generate inbound lane blocks between the starting boundary of the warehouse and the first main road block according to the number of required inbound lane blocks.

[0102] The generation of the outbound lane block set specifically includes the following sub-steps: Calculate the number of required outbound lane blocks and determine the ending boundary of the warehouse, sort all the main road blocks in the main road block set, obtain the coordinates of the end point of the last main road block in the sorted main road block set, and generate outbound lane blocks between the ending boundary of the warehouse and the last main road block according to the number of required outbound lane blocks.

[0103] In this embodiment, during the generation of the sub-main road blocks, it is necessary to insert sub-main road blocks between two main road blocks to ensure that each sub-main road block is connected to the front and rear main road blocks, and there are at least two sub-main road blocks between the two main road blocks to form a loop. And randomly insert into the main road block area with the highest sub-main road block density ratio first, which helps to reduce the number of inflection points in the initial layout, thereby accelerating the convergence speed of the subsequent genetic algorithm. Further explanation, the sub-main road density ratio is defined as the number of sub-main road blocks between two main roads, which is used to evaluate the rationality of inserting new sub-main road blocks between two main roads. When generating sub-main roads, it is also necessary to ensure that the sub-main road blocks are in the same row as the inventory aisles and do not overlap with defective blocks. The inventory aisle refers to a row of storage locations between two main road blocks.

[0104] During the generation of the hoist main road blocks, the layout of the main road blocks needs to be fully considered to ensure the efficient connection between the hoist main road blocks and other areas of the warehouse.

[0105] The design of the number of inbound lanes and outbound lanes is an important part of warehouse layout optimization. The number of inbound and outbound lanes needs to consider various factors comprehensively, including warehouse scale, cargo flow, operation mode, equipment performance, space layout, and the overall coordination of the logistics system, etc., to ensure the efficient operation of the outbound system and avoid the emergence of logistics bottlenecks. Scientifically and reasonably designing the number and distribution of inbound and outbound lanes can significantly improve the inbound and outbound efficiency of the warehouse and reduce logistics costs. In this solution, aiming at the characteristics of multiple automated production lines connected to the front end of the warehouse, a generation strategy of inbound lanes based on the number of automated production lines is proposed. Specifically, the number of inbound lanes is directly related to the number of automated production lines connected to the warehouse, ensuring that each production line has an independent inbound channel to avoid logistics congestion, so as to meet the actual engineering requirements and optimize logistics efficiency. Aiming at the characteristics of the fixed number of warehouse elevators and their symmetrical arrangement in the front and back, a generation strategy of outbound lanes based on the docking requirements of elevators is proposed. Specifically, the number of outbound lanes is directly related to the number of elevators connected to the back end of the warehouse to ensure that each elevator has an independent outbound channel to avoid logistics congestion and resource waste.

[0106] Preferably, in step S34, it specifically includes the following sub-steps: Step S341: Traverse the types of pallets to be stored; Step S342: Take the lower left corner of the warehouse as the coordinate origin O, the horizontal right direction as the positive direction of the X-axis, and the vertical upward direction as the positive direction of the Y-axis to construct a plane coordinate system, and use the plane coordinate system as a reference system to arrange the pallets to be stored in the order of filling from left to right first and then from top to bottom. During the arrangement process, judge whether the pallets to be stored overlap with the main road blocks, sub-road blocks, elevator main road blocks, inbound lane blocks, and outbound lane blocks. If not, generate pallet blocks; if so, do not generate pallet blocks.

[0107] In this embodiment, according to the characteristics of the warehouse shelf structure, pallet blocks are generated in sequence between two main road blocks, and a zoning storage strategy is adopted to ensure that the same type of pallets are preferentially stored centrally to improve the access efficiency and the convenience of inventory management. Horizontally and vertically, a certain interval needs to be reserved when storing pallets to meet the requirements of industry specifications and ensure the safe passage of four-way vehicles. At the same time, when arranging pallets, it is necessary to avoid overlapping with other layout elements such as main roads, sub-roads, and defective blocks to ensure the rationality and feasibility of the layout. At the same depth of the same storage aisle, the number of types of pallets stored should be as close to 1 as possible, and at most not exceed 2, to simplify storage operations, avoid relocation operations, and improve the storage efficiency of the system.

[0108] Preferably, in step S36, it specifically includes the following sub-steps: Step S361: Determine the defective block set and the main road block density of the initial layout; Step S362: Sort the main road block density of the initial layout in ascending order and traverse the area corresponding to the main road block density of the initial layout; during the traversal, sort and traverse the defective blocks in the area one by one. During the traversal, for two adjacent defective blocks, determine whether the value obtained by subtracting the end abscissa of the previous defective block from the start abscissa of the current defective block is less than the width of the main road block. If so, filter out these two defective blocks. If not, calculate the number of main road blocks inserted in the area between these two defective blocks, and determine whether the main road block density of the initial layout in this area is the lowest. If not, insert the existing number of main road blocks in this area. If so, determine whether this area needs to add a main road block. If so, add one main road block on the basis of the existing number of main road blocks in this area. If not, determine whether this area is the last area to be traversed. If so, insert the existing number of main road blocks in this area. If not, continue to traverse the next area to be traversed; Step S363: Calculate the main road block density of the new main road block set.

[0109] In this embodiment, when the tray storage capacity exceeds the preset value of tray storage, the main road regeneration mechanism is triggered. This solution proposes a dynamic main road generation strategy based on the main road density ratio, aiming to maximize the inbound and outbound efficiency of the warehouse while meeting the customer's storage capacity requirements. The rationality of the main road distribution is quantified by the main road block density index, and the main road is preferentially increased in the area with the lowest main road block density. Only one main road block is added in each iteration. The position of the newly added main road block needs to maintain a reasonable distance from the existing main road blocks and avoid defective blocks and other layout elements. After adding the main road block, the main road block density index needs to be updated again until the preset layout optimization goal is met. Through this closed-loop feedback mechanism, the dynamic nature and adaptability of the main road block generation are ensured, and at the same time, the balance of storage capacity, logistics efficiency, and space utilization rate is achieved.

[0110] Preferably, in step S37, it specifically includes the following sub-steps: Step S371: Generate a set of sub-trunk blocks for the current layout among the new main trunk blocks according to the method of initially generating sub-trunk blocks; Step S372: Calculate the sub-trunk block density of the set of sub-trunk blocks for the current layout; Step S373: Screen out the set of sub-trunk blocks with the highest sub-trunk block density to obtain the filtered set of sub-trunk blocks; Step S378: Sort the sub-trunk block densities of the set of sub-trunk blocks for the current layout, and traverse the areas corresponding to the sub-trunk block densities of the set of sub-trunk blocks for the current layout; during the traversal, determine whether there are defective blocks in the area corresponding to the sub-trunk block density of the set of sub-trunk blocks for the current layout. If so, return the set of sub-trunk blocks for the current layout that has been generated; if not, traverse the sub-trunk blocks in the area corresponding to the highest sub-trunk block density and traverse the sub-trunk blocks in the area corresponding to the current sub-trunk block density. During the traversal, determine whether the Y-axis of the sub-trunk blocks in the area corresponding to the highest sub-trunk block density is the same as the Y-axis of the sub-trunk blocks in the area corresponding to the current sub-trunk block density. If so, continue the traversal of the sub-trunk blocks in the area corresponding to the highest sub-trunk block density. If not, insert sub-trunk blocks with the same Y-axis as the sub-trunk blocks in the area corresponding to the highest sub-trunk block density in the area corresponding to the sub-trunk block density of the set of sub-trunk blocks for the current layout, and determine whether the current number of pallets is greater than the preset pallet storage value. If not, continue to insert sub-trunk blocks until the number of sub-trunk blocks between the newly added main trunk block and the next main trunk block is equal to the number of the set of sub-trunk blocks with the highest sub-trunk block density in the current layout. If so, retain the inserted sub-trunk blocks in the last case where the current number of pallets is less than the preset pallet storage value.

[0111] In this embodiment, by dynamically reconstructing the layout of sub-trunk blocks, while accurately matching the customer's warehousing capacity requirements, a systematic improvement in the inbound and outbound operation efficiency is achieved.

[0112] Preferably, in step S4, the specific calculation formula of the fitness function of the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse is as follows:

[0113] F = max(αF1 + βF2);

[0114]

[0115] Among them, F represents the fitness function; F1 represents the comprehensive value of multiple evaluation indicators; F2 represents the inbound and outbound efficiency value of a single four-way vehicle; α represents the weight coefficient of the comprehensive value of multiple evaluation indicators; β represents the weight coefficient of the inbound and outbound efficiency value of a single four-way vehicle; U i represents the area utilization rate; A i represents the pallet accessibility; T i represents the path smoothness; R i represents the sub-trunk service rate; ωU The weight coefficient representing the area utilization rate; ω A The weight coefficient representing the tray accessibility; ω T The weight coefficient representing the path smoothness; ω R The weight coefficient representing the service rate of the secondary road; L represents the number of floors of the current warehouse; The depreciation coefficient; E vehicle The inbound and outbound efficiency of a single four-way vehicle;

[0116] The area utilization rate U i The specific calculation steps are as follows:

[0117] Step S41: Calculate the total area sum A of all spatial blocks occupy,i , and the specific calculation formula is as follows:

[0118]

[0119] where A main,i represents the sum of the areas of all main road blocks on the i-th floor; A sub,i represents the sum of the areas of all secondary road blocks on the i-th floor; A eva,i represents the sum of the areas of all elevator main road blocks on the i-th floor; A pallet,i represents the sum of the areas of all tray blocks on the i-th floor; A defect,i represents the sum of the areas of all defective blocks on the i-th floor; A in,i represents the sum of the areas of all inbound lane blocks on the i-th floor; A out,i represents the sum of the areas of all outbound lane blocks on the i-th floor; M i,j represents the j-th main road block on the i-th floor; M layer,i represents the set of main road blocks on the i-th floor; represents the width of the j-th main road block on the i-th floor; represents the height of the j-th main road block on the i-th floor; S i,k represents the k-th secondary road block on the i-th floor; S layer,i represents the set of secondary road blocks on the i-th floor; represents the width of the k-th secondary road block on the i-th floor; represents the height of the k-th secondary road block on the i-th floor; E i,l represents the l-th elevator main road block on the i-th floor; E layer,i represents the set of elevator main road blocks on the i-th floor; represents the width of the l-th elevator main road block on the i-th floor; represents the height of the l-th elevator main road block on the i-th floor; P i,m represents the m-th tray block on the i-th floor; P layer,i represents the set of tray blocks on the i-th floor; represents the width of the m-th tray block on the i-th floor; Represents the height of the m-th pallet block in the i-th layer; D i,n Represents the n-th defect block in the i-th layer; D layer,i Represents the set of defect blocks in the i-th layer; Represents the width of the n-th defect block in the i-th layer; Represents the height of the n-th defect block in the i-th layer; In i,o Represents the o-th inbound lane block in the i-th layer; In layer,i Represents the set of inbound lane blocks in the i-th layer; Represents the width of the o-th inbound lane block in the i-th layer; Represents the height of the o-th inbound lane block in the i-th layer; O i,p Represents the p-th outbound lane block in the i-th layer; O layer,i Represents the set of outbound lane blocks in the i-th layer; Represents the width of the p-th outbound lane block in the i-th layer; Represents the height of the p-th outbound lane block in the i-th layer;

[0120] Step S42: Calculate the total boundary area A of the current layer border,i , and the specific calculation formula is as follows:

[0121] A border, i = h border,i ·w border,i ;

[0122] where h border,i represents the boundary height range value of the warehouse in the i-th layer; w border,i represents the boundary width range value of the warehouse in the i-th layer;

[0123] Step S43: Calculate the area utilization rate U occupy,i based on the total area sum A of all space blocks border,i and the total boundary area A of the current layer i , and the specific calculation formula is as follows:

[0124]

[0125] The pallet accessibility A i is calculated as follows specifically:

[0126] Step S44: Sort the set M of main road blocks in the i-th layer layer,i in ascending order according to the starting abscissa of the j-th main road block in the i-th layer , and for each pair of adjacent main road blocks, define the interval as

[0127] Step S45: For the interval between each pair of adjacent main road blocks, screen out the corresponding set of defect blocks D betweeen (Mi,j , M i,j+1 ), the specific mathematical expressions are as follows:

[0128]

[0129] Among them, represents the starting abscissa of the nth defective block in the ith layer;

[0130] Step S46: For each defective block D i,n , filter out the set of pallets P that meet the conditions within (M i,j , M i,j+1 , D i,n ), the specific mathematical expressions are as follows:

[0131]

[0132] Among them, represents the starting ordinate of the nth defective block in the ith layer; represents the starting ordinate of the mth pallet block in the ith layer; represents the starting abscissa of the mth pallet block in the ith layer;

[0133] Step S47: Accumulate the number of pallets P in the rows where the defective areas are located between all main roads in the ith layer allDefect , and calculate the total number of pallets T in the ith layer pallet,i , and normalize the ratio of P allDefect and T pallet,i to obtain the pallet accessibility A of the current layer i , and the specific calculation formula of the pallet accessibility A i is as follows:

[0134]

[0135]

[0136] Among them, t i represents the number of pallet types in the ith layer, and n i,k represents the number of pallets of the kth type in the ith layer;

[0137] The path smoothness T i The specific calculation steps are as follows:

[0138] Step S48: Calculate the theoretical minimum number of turning points I based on the difference in the number of sub-road blocks between main road blocks min , and the specific calculation formula is as follows:

[0139]

[0140] Among them, S(Mi,j , M i,j+1 ) represents the number of sub-trunk blocks between the j-th and (j + 1)-th main trunk blocks in the i-th layer layout; n” represents the total number of main trunk blocks in the i-th layer layout;

[0141] Step S49: Calculate the actual number of turning points I based on the actual positions and connection conditions of the sub-trunk blocks in the current layout actual , and the specific calculation formula is as follows:

[0142]

[0143] Among them, N sub,i represents the total number of sub-trunk blocks in the i-th layer layout; represents the starting ordinate of the k-th sub-trunk block in the i-th layer; represents the starting abscissa of the (k + 1)-th sub-trunk block in the i-th layer; δ(i, j) represents a binary function;

[0144] Step S410: Calculate the path smoothness T based on the theoretical minimum number of turning points I min and the actual number of turning points I actual , and the specific calculation formula is as follows: i , and the specific calculation formula is as follows:

[0145]

[0146] The sub-trunk service rate R i The specific calculation steps are as follows:

[0147] Step S411: Calculate the number of sub-trunk blocks S(M i,j , M i,j+1 ) between the j-th and (j + 1)-th main trunk blocks in the i-th layer layout, and the specific calculation formula is as follows:

[0148]

[0149] Among them, represents the starting abscissa of the k-th sub-trunk block in the i-th layer;

[0150] And calculate the total number of pallets T in the i-th layer pallet,i ;

[0151] Step S412: Calculate the number of pallets between the k-th sub-trunk block in the i-th layer and the previous sub-trunk block or the boundary The specific calculation formula is as follows:

[0152]

[0153] Among them, y border,i represents the ordinate of the boundary point of the i-th layer warehouse; h border,iRepresents the boundary height range value of the i-th layer warehouse; Represents the indicator function, The specific mathematical expression is as follows:

[0154]

[0155] Step S413: Calculate the number of pallets between the k-th sub-trunk block of the i-th layer and the next sub-trunk block or the boundary The specific calculation formula is as follows:

[0156]

[0157] Step S414: According to and T pallet,i , calculate the sub-trunk service rate R i , the specific calculation formula is as follows:

[0158]

[0159] The inbound and outbound efficiency E of the single four-way vehicle vehicle The specific calculation steps are as follows:

[0160] Step S415: Calculate the inbound efficiency E of the single four-way vehicle in , the specific calculation formula is as follows:

[0161]

[0162]

[0163] Among them, L represents the number of layers of the current warehouse; T pallet,i represents the total number of pallets on the i-th layer; T in represents the average total time for the four-way vehicle to traverse all inbound points to all storage locations in the warehouse; N in represents the number of inbound points; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; t l represents the running time of the four-way vehicle on the l-th path segment; represents the total accumulated turning time of the four-way vehicle for a single inbound task; t top represents the total time for the four-way vehicle to pick up and place a pallet for a single task; t eva represents the running time of the elevator between the (i - 1)-th layer and the i-th layer; v max represents the maximum running speed of the four-way vehicle; a represents the acceleration of the four-way vehicle during operation; d l represents two path points (x j , y j ) and (xj+1 , y j+1 The Euclidean distance between turn represents the time required for each turn of the four-way vehicle; T represents the number of path segments from the kth inbound point to the jth storage location on the ith layer; T top represents the time required for the four-way vehicle to top or place a tray; represents the maximum speed during the operation of the elevator; a eva represents the acceleration during the operation of the elevator; d i-1,i represents the distance between the (i - 1)th layer and the ith layer;

[0164] Step S416: Calculate the outbound efficiency E of a single four-way vehicle out , and the specific calculation formula is as follows:

[0165]

[0166] where, T out represents the total time taken for the four-way vehicle to traverse all outbound points to all storage locations in the warehouse; N out represents the number of outbound points; represents the path time for the four-way vehicle to travel from the oth outbound point to the jth storage location on the ith layer; represents the number of path segments from the oth outbound point to the jth storage location on the ith layer; represents the total cumulative turning time for the four-way vehicle to perform a single outbound task; represents the number of path segments from the oth outbound point to the jth storage location on the ith layer;

[0167] Step S417: Calculate the inbound and outbound efficiency E of a single four-way vehicle based on the inbound efficiency E in and the outbound efficiency E out of a single four-way vehicle, and the specific calculation formula is as follows: vehicle Specifically, after obtaining the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, it is necessary to calculate its fitness function. The fitness function in this solution consists of two parts: the comprehensive value F1 of multiple evaluation indicators and the inbound and outbound efficiency value F2 of a single four-way vehicle. F1 has been normalized, and F2 is based on the actual situation of specific problems, and its value range is usually 40 to 50. In this embodiment, α = 0.99 and β = 0.01 are taken to ensure the reasonable weighting of F1 and F2 in the final fitness calculation, so that the value ranges of F1 and F2 are both [0, 1], avoiding the excessive influence of a single target.

[0168] F vehicle = max (E in + E out ).

[0169] ​

[0170] F1 considers multiple evaluation indicators, including the area utilization rate U i , the pallet accessibility A i , the path smoothness T i and the sub-trunk road service rate R i , ω U , ω A , ω T and ω R are the weight coefficients of the corresponding indicators respectively, and ω U + ω A + ω T + ω R = 1.

[0171] The area utilization rate U i reflects the utilization efficiency of the warehouse space. In this embodiment, when generating the initial population, heuristic constraints and reasonable layout of the main trunk road blocks are used to maximize the reduction of space waste. Therefore, the weight coefficient ω U of the area utilization rate is taken as 0.2 to reasonably reflect the importance of space optimization. The pallet accessibility A i is used to measure the access efficiency of the four-way vehicle to the pallet, mainly describing whether the four-way vehicle can pick up goods from both sides of the track where the pallet is located. If the four-way vehicle can pick up goods bidirectionally, the pallet has bidirectional accessibility, which can significantly improve the operation flexibility and picking efficiency of the warehouse; conversely, the pallet has unidirectional accessibility, and unidirectional accessibility will limit the picking efficiency. Especially in the case of multi-vehicle scheduling, it may affect the overall operation performance. Therefore, in the warehouse layout design, optimizing the layout of the pallet and the track to improve bidirectional accessibility is the key strategy to improve the warehouse operation efficiency. In this embodiment, the weight coefficient ω A of the pallet accessibility is taken as 0.4 to highlight its key role in layout optimization. The path smoothness T i is used to measure the coherence of the connection between the sub-trunk road block and the main trunk road block. Its core index is the number of turning points. The number of turning points is defined as the number of turns in the path planning of the four-way vehicle. The fewer the number of turning points, the smoother the path and the higher the efficiency. In this embodiment, through the sub-trunk road block alignment strategy when generating the initial population, the number of turning points has been effectively controlled. Therefore, the weight coefficient ω T of the path smoothness is relatively low, taking 0.1. The sub-trunk road service rate R i is used to quantify the service efficiency of the sub-trunk road block to the pallet block, reflecting the total time required for the four-way vehicle to pick up goods from the cargo location to both ends of the sub-trunk road. By optimizing the sub-trunk road layout and pallet allocation, the moving time of the four-way vehicle can be reduced, thereby improving the warehousing operation efficiency. The sub-trunk road service rate can be measured by calculating the difference in the number of pallets between each sub-trunk road block and the adjacent sub-trunk road blocks or the boundary, and then evaluating the uniformity and flow efficiency of the pallet distribution in the warehouse. In this embodiment, the weight coefficient ω RSet to 0.3 to reflect its contribution to the operation efficiency of four-way vehicles. F2 corrects the deviation of the single vehicle efficiency in multi-vehicle scheduling. In this embodiment, according to the enterprise industry standard, take to compensate for the time loss caused by path conflicts and obstacle avoidance waiting in multi-vehicle scheduling. Further illustrate, the inbound and outbound efficiency E of a single four-way vehicle is a key indicator to measure the warehouse operation efficiency, which directly affects the throughput and overall operation efficiency of the warehouse. Optimizing the inbound and outbound efficiency of four-way vehicles requires comprehensive consideration of multiple factors, such as the layout of main roads and sub-roads, the configuration of elevators, the storage location of goods, and the running path of four-way vehicles. By reasonably configuring these factors, the running time of four-way vehicles can be reduced, thereby improving the speed of goods storage and retrieval and the overall warehouse operation efficiency. The inbound and outbound efficiency of four-way vehicles consists of two parts: inbound efficiency and outbound efficiency. Inbound efficiency refers to the number of inbound tasks completed by a four-way vehicle per unit time, and outbound efficiency refers to the number of outbound tasks completed by a four-way vehicle per unit time. vehicle is a key indicator to measure the warehouse operation efficiency, which directly affects the throughput and overall operation efficiency of the warehouse. Optimizing the inbound and outbound efficiency of four-way vehicles requires comprehensive consideration of multiple factors, such as the layout of main roads and sub-roads, the configuration of elevators, the storage location of goods, and the running path of four-way vehicles. By reasonably configuring these factors, the running time of four-way vehicles can be reduced, thereby improving the speed of goods storage and retrieval and the overall warehouse operation efficiency. The inbound and outbound efficiency of four-way vehicles consists of two parts: inbound efficiency and outbound efficiency. Inbound efficiency refers to the number of inbound tasks completed by a four-way vehicle per unit time, and outbound efficiency refers to the number of outbound tasks completed by a four-way vehicle per unit time.

[0172] Preferably, in step S6, when using the cosine adaptive genetic layout optimization algorithm to dynamically adjust the crossover rate and mutation rate, the calculation formulas of the crossover rate and mutation rate are as follows:

[0173]

[0174] where P c represents the crossover rate under the cosine adaptive genetic layout optimization algorithm; P c0 represents the initial value of the crossover rate, ΔP c represents the change amplitude of the crossover rate, f 1,2 represents the average fitness of parent individuals 1 and 2, f avg , f min and f max represent the mean, minimum, and maximum values of the population fitness respectively;

[0175]

[0176] where P m represents the mutation rate under the cosine adaptive genetic layout optimization algorithm; P m0 represents the initial value of the mutation rate, ΔP m represents the change amplitude of the mutation rate, f represents the fitness of the parent individual, f avg , f min and f max represent the mean, minimum, and maximum values of the population fitness respectively;

[0177] When using the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism to dynamically adjust the crossover rate and mutation rate, the calculation formulas of the crossover rate and mutation rate are as follows:

[0178]

[0179] T(b) = T0·δ b ;

[0180] Wherein, P c (b) represents the crossover rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; P m (b) represents the mutation rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; T(b) represents the temperature function that changes with the number of iterations; T0 represents the initial temperature; δ represents the cooling coefficient, and 0 < δ < 1; b represents the current number of iterations.

[0181] In this embodiment, when the cosine adaptive genetic layout optimization algorithm is used to dynamically adjust the crossover rate and mutation rate, the cosine adaptive genetic layout optimization algorithm can dynamically adjust the crossover rate and mutation rate according to the fitness distribution of the population. When the population fitness is low, the crossover rate and mutation rate are increased to promote gene recombination; when the population fitness is high, the crossover rate and mutation rate are decreased to protect excellent genes. The characteristics of the cosine function make the crossover rate and mutation rate show a changing trend of being fast first and then slow during the optimization process, so as to accelerate the global search speed in the early stage and strengthen the local search ability in the later stage. The dynamic adjustment mechanism enables the algorithm to quickly locate the excellent gene region and significantly shortens the convergence time.

[0182] When the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism is used to dynamically adjust the crossover rate and mutation rate, the crossover rate and mutation rate are dynamically adjusted according to the change of temperature. The crossover rate and mutation rate are increased in the high-temperature stage to enhance diversity, and the crossover rate and mutation rate are decreased in the low-temperature stage to stabilize convergence.

[0183] Preferably, in step S6, a crossover operation is performed on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, which specifically includes the following sub-steps: Step S61: Randomly select some main road blocks from the first parent and the second parent respectively, and retain them at the corresponding positions in the first offspring and the first offspring; Step S62: Supplement the unselected main road blocks in the first parent to the corresponding positions in the second offspring in sequence, and supplement the unselected main road blocks in the second parent to the corresponding positions in the first offspring in sequence to obtain the layout of the main road blocks after crossover recombination; Step S63: Based on the layout of the main road blocks after crossover recombination, regenerate the secondary road blocks, hoist main road blocks, inbound lane blocks, outbound lane blocks, pallet blocks and defect blocks;

[0184] Perform mutation operations on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, which specifically includes the following sub-steps: Step S64: Randomly select a main road block, calculate the distance between the selected main road block and the nearest defective block, and define the minimum base number and the minimum pallet unit according to the requirements of the material receiving and sending method; Step S65: Determine whether the distance between the selected main road block and the nearest defective block is greater than or equal to the minimum base number. If so, move the main road block along the feasible direction by a minimum base number. If not, determine whether the distance between the selected main road block and the nearest defective block is greater than or equal to the minimum pallet unit. If so, move the main road block along the feasible direction by a minimum pallet unit. If not, abandon the movement to obtain the layout of the mutated main road block; Step S66: Based on the layout of the mutated main road block, regenerate the secondary road block, the hoist main road block, the inbound lane block, the outbound lane block, the pallet block, and the defective block.

[0185] In this embodiment, when performing crossover operations on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, an order crossover method based on the position retention of the main road block is adopted. Its core idea is to maintain the topological structure stability of the layout by retaining the position and order information of the main road block, and at the same time introduce randomness to enhance the population diversity. Further explanation, by executing Step S61, it is beneficial to ensure that the order and spatial distribution of the main road blocks conform to the physical characteristics of the warehouse layout, such as defective block avoidance and projection consistency, etc. By executing Step S62, it is beneficial to avoid the crossover operation from destroying the global topological relationship of the layout, thereby ensuring the structural rationality of the offspring individuals.

[0186] When performing mutation operations on the initial solution of the layout of the four-way shuttle high-density stereoscopic warehouse, a heuristic mutation strategy based on distance constraints is adopted, aiming to improve the pallet accessibility and the warehouse area utilization rate by locally adjusting the layout of the main road blocks, while maintaining the feasibility of the solution.

[0187] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0188] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A layout optimization method for a four-way shuttle high-density automated storage and retrieval system, characterized in that: It includes the following steps: Step S1: Determine the layout coding method of the four-way shuttle high-density stereoscopic warehouse. The layout coding method of the four-way shuttle high-density stereoscopic warehouse is a layout coding method based on a hierarchical space block set. The space block set includes defective blocks, main road blocks, sub-road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, and pallet blocks; Step S2: Initialize the genetic algorithm parameters. The genetic algorithm parameters include the crossover rate and the mutation rate; Step S3: According to the layout coding method of the four-way shuttle high-density stereoscopic warehouse, use heuristic rules to generate an initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse; Step S4: Calculate the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse; Step S5: Determine whether the fitness function of the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is in a converged state. If so, the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse is the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse; if not, execute Step S6; Step S6: Use the cosine adaptive genetic layout optimization algorithm or the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism to dynamically adjust the crossover rate and the mutation rate, and perform selection, crossover, and mutation operations on the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse until the optimal solution for the layout of the four-way shuttle high-density stereoscopic warehouse is obtained.

2. The layout optimization method of a four-way shuttle high-density automated storage and retrieval system according to claim 1, characterized in that: In Step S3, it specifically includes the following sub-steps: Step S31: Determine the set of defective blocks; Step S32: Generate the set of main road blocks according to the set of defective blocks; Step S33: Generate the set of sub-road blocks, the set of elevator main road blocks, the set of inbound lane blocks, and the set of outbound lane blocks in sequence according to the set of main road blocks; Step S34: Generate the set of pallet blocks according to the set of main road blocks, the set of sub-road blocks, the set of elevator main road blocks, the set of inbound lane blocks, and the set of outbound lane blocks; Step S35: Determine whether the number of pallet blocks is greater than the preset pallet storage value. If not, generate the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse according to the set of main road blocks, the set of sub-road blocks, the set of elevator main road blocks, the set of inbound lane blocks, the set of outbound lane blocks, and the set of pallet blocks; if so, execute Steps S36 - S39; Step S36: Generate a new set of main road blocks according to the set of defective blocks and the set of main road blocks; Step S37: Generate a new set of sub-road blocks according to the new set of main road blocks, the set of defective blocks, and the set of pallet blocks; Step S38: Generate a new set of pallet blocks according to the new set of main road blocks, the new set of sub-road blocks, the set of elevator main road blocks, the set of inbound lane blocks, and the set of outbound lane blocks; Step S39: Determine whether the new set of pallet blocks is greater than the preset pallet storage value. If not, generate the initial solution for the layout of the four-way shuttle high-density stereoscopic warehouse according to the new set of main road blocks, the new set of sub-road blocks, the set of elevator main road blocks, the set of inbound lane blocks, the set of outbound lane blocks, and the new set of pallet blocks; if not, continue to execute Steps S36 - S39.

3. The layout optimization method of a four-way shuttle high-density stereoscopic warehouse according to claim 2, wherein: In Step S32, it specifically includes the following sub-steps: Step S321: Sort all the defective blocks in the defective block set and traverse them one by one; During the traversal, determine whether the abscissa of the starting point of the current defective block is greater than the abscissa of the ending point of the previous defective block. If so, randomly insert a main road block between two adjacent defective blocks. If not, do not perform the operation of inserting a main road block; Step S322: Calculate the main road block density MRDR of the current layout. The specific calculation formula is as follows: Among them, N n represents the number of existing main road blocks between the nth defective block and the (n + 1)th defective block, represents the abscissa of the starting point of the nth defective block, represents the abscissa of the end point of the (n + 1)th defective block, represents the width of the nth defective block.

4. A layout optimization method for a four-way shuttle high-density automated storage and retrieval system according to claim 2, characterized in that: In step S33, the generation of the secondary road block set specifically includes the following sub-steps: Sort all the main road blocks in the main road block set and traverse them one by one. During the traversal, sort the defective blocks between every two adjacent main road blocks and traverse them one by one. During the traversal, determine whether the vertical distance between two adjacent defective blocks is greater than the width of the secondary road block in the vertical direction. If not, do not perform the operation of inserting a secondary road block; if so, calculate the total number of secondary road blocks that need to be inserted between the current two main road blocks, and calculate the secondary road block density SRDR between the current two main road blocks accordingly, and select to randomly insert secondary road blocks in the area with the highest secondary road block density; The generation of the elevator main road block set specifically includes the following sub-steps: Sort all the main road blocks in the main road block set and traverse them one by one. During the traversal, for each pair of adjacent main road blocks, calculate the coordinates of the ending point of the current main road block and the coordinates of the starting point of the next main road block, and determine whether there is an elevator between the two main road blocks. If not, calculate the coordinates of the ending point of the main road block with the earlier sorting and the coordinates of the starting point of the main road block with the later sorting in the next pair of adjacent main road blocks. If so, obtain the coordinates of the elevator, and generate an elevator main road block according to the coordinates of the elevator; The generation of the inbound lane block set specifically includes the following sub-steps: Calculate the number of inbound lane blocks required and determine the starting boundary of the warehouse, sort all the main road blocks in the main road block set, obtain the coordinates of the starting point of the first main road block in the sorted main road block set, and generate inbound lane blocks between the starting boundary of the warehouse and the first main road block according to the number of inbound lane blocks required; The generation of the outbound lane block set specifically includes the following sub-steps: Calculate the number of outbound lane blocks required and determine the ending boundary of the warehouse, sort all the main road blocks in the main road block set, obtain the coordinates of the ending point of the last main road block in the sorted main road block set, and generate outbound lane blocks between the ending boundary of the warehouse and the last main road block according to the number of outbound lane blocks required.

5. A layout optimization method for a four-way shuttle high-density automated storage and retrieval system according to claim 2, characterized in that: In step S34, it specifically includes the following sub-steps: Step S341: Traverse the types of pallets to be stored; Step S342: Take the lower left corner of the warehouse as the coordinate origin O, the horizontal right direction as the positive direction of the X axis, and the vertical upward direction as the positive direction of the Y axis to construct a plane coordinate system. Using the plane coordinate system as a reference system, arrange the pallets to be stored in the order of filling from left to right first and then from top to bottom. During the arrangement process, it is determined whether the tray to be stored overlaps with the main road block, the secondary road block, the elevator main road block, the inbound lane block, and the outbound lane block. If not, a tray block is generated; if so, no tray block is generated.

6. The layout optimization method of a four-way shuttle high-density stereoscopic warehouse according to claim 2, characterized in that: In step S36, it specifically includes the following sub-steps: Step S361: Determine the defective block set and the density of the main road blocks in the initial layout. Step S362: Sort the density of the main road blocks in the initial layout in ascending order and traverse the area corresponding to the density of the main road blocks in the initial layout. During the traversal, sort and traverse the defective blocks in the area one by one. During the traversal, for two adjacent defective blocks, determine whether the value obtained by subtracting the abscissa of the end point of the previous defective block from the abscissa of the starting point of the current defective block is less than the width of the main road block. If so, filter out these two defective blocks; if not, calculate the number of main road blocks inserted in the area between these two defective blocks and determine whether the density of the main road blocks in the initial layout of this area is the lowest. If not, insert the existing number of main road blocks in this area; if so, determine whether this area needs to add a main road block. If so, add one main road block on the basis of the existing number of main road blocks in this area; if not, determine whether this area is the last area to be traversed. If so, insert the existing number of main road blocks in this area; if not, continue to traverse the next area to be traversed. Step S363: Calculate the density of the main road blocks in the new main road block set.

7. A layout optimization method for a four-way shuttle high-density stereoscopic warehouse according to claim 2, characterized in that: In step S37, it specifically includes the following sub-steps: Step S371: Generate the set of secondary road blocks in the current layout among the new main road blocks according to the method of initially generating secondary road blocks. Step S372: Calculate the density of the secondary road blocks in the set of secondary road blocks in the current layout. Step S373: Select the set of secondary road blocks with the highest density of secondary road blocks to obtain the filtered set of secondary road blocks. Step S378: Sort the density of the secondary road blocks in the set of secondary road blocks in the current layout and traverse the area corresponding to the density of the secondary road blocks in the set of secondary road blocks in the current layout. During the traversal, it is determined whether there are defective blocks in the area corresponding to the sub-trunk block density of the sub-trunk block set of the current layout. If so, the sub-trunk block set of the current layout that has been generated is returned; if not, the sub-trunk blocks in the area corresponding to the highest sub-trunk block density are traversed, and the sub-trunk blocks in the area corresponding to the current sub-trunk block density are traversed. During the traversal, it is determined whether the Y-axis of the sub-trunk block in the area corresponding to the highest sub-trunk block density is the same as the Y-axis of the sub-trunk block in the area corresponding to the current sub-trunk block density. If so, the traversal of the sub-trunk blocks in the area corresponding to the highest sub-trunk block density continues; if not, sub-trunk blocks with the same Y-axis as the sub-trunk blocks in the area corresponding to the highest sub-trunk block density are inserted into the area corresponding to the sub-trunk block density of the sub-trunk block set of the current layout, and it is determined whether the current number of pallets is greater than the preset pallet storage value. If not, sub-trunk blocks continue to be inserted until the number of sub-trunk blocks between the newly added main trunk block and the next main trunk block is equal to the number of sub-trunk block sets with the highest sub-trunk block density in the current layout. If so, the inserted sub-trunk blocks in the case where the current number of pallets is less than the preset pallet storage value for the last time are retained.

8. The layout optimization method of a four-way shuttle high-density automated storage and retrieval system according to claim 1, wherein: In step S4, the specific calculation formula of the fitness function of the initial solution of the layout of the four-way shuttle high-density automated storage and retrieval system is as follows: F = max(αF1 + βF2); Among them, F represents the fitness function; F1 represents the comprehensive value of multiple evaluation indicators; F2 represents the single four-way vehicle in-out efficiency value; α represents the weight coefficient of the comprehensive value of multiple evaluation indicators; β represents the weight coefficient of the single four-way vehicle in-out efficiency value; U i represents the area utilization rate; A i represents the pallet accessibility; T i represents the path smoothness; R i represents the sub-trunk road service rate; ω U represents the weight coefficient of the area utilization rate; ω A represents the weight coefficient of the pallet accessibility; ω T represents the weight coefficient of the path smoothness; ω R represents the weight coefficient of the sub-trunk road service rate; L represents the number of floors of the current warehouse; represents the loss coefficient; E vehicle represents the single four-way vehicle in-out efficiency; The area utilization rate U i The specific calculation steps are as follows: Step S41: Calculate the total area A of all spatial blocks occupy,i , and the specific calculation formula is as follows: Among them, A main,i represents the sum of the areas of all main road blocks on the i-th floor; A sub,i represents the sum of the areas of all secondary road blocks on the i-th floor; A eva,i represents the sum of the areas of all elevator main road blocks on the i-th floor; A pallet,i represents the sum of the areas of all pallet blocks on the i-th floor; A defect,i represents the sum of the areas of all defective blocks on the i-th floor; A in,i represents the sum of the areas of all inbound lane blocks on the i-th floor; A out,i represents the sum of the areas of all outbound lane blocks on the i-th floor; M i,j represents the j-th main road block on the i-th floor; M layer,i represents the set of main road blocks on the i-th floor; represents the width of the j-th main road block on the i-th floor; represents the height of the j-th main road block on the i-th floor; S i,k represents the k-th secondary road block on the i-th floor; S layer,i represents the set of secondary road blocks on the i-th floor; represents the width of the k-th secondary road block on the i-th floor; represents the height of the k-th secondary road block on the i-th floor; E i,l represents the l-th elevator main road block on the i-th floor; E layer,i represents the set of elevator main road blocks on the i-th floor; represents the width of the l-th elevator main road block on the i-th floor; represents the height of the l-th elevator main road block on the i-th floor; P i,m represents the m-th pallet block on the i-th floor; P layer,i represents the set of pallet blocks on the i-th floor; represents the width of the m-th pallet block on the i-th floor; represents the height of the m-th pallet block on the i-th floor; D i,n represents the n-th defective block on the i-th floor; D layer,i represents the set of defective blocks on the i-th floor; represents the width of the n-th defective block on the i-th floor; represents the height of the n-th defective block on the i-th floor; In i,o represents the o-th inbound lane block on the i-th floor; In layer,i represents the set of inbound lane blocks on the i-th floor; represents the width of the o-th inbound lane block on the i-th floor; represents the height of the o-th inbound lane block on the i-th floor; O i,p represents the p-th outbound lane block on the i-th floor; O layer,i represents the set of outbound lane blocks on the i-th floor; represents the width of the p-th outbound lane block on the i-th floor; represents the height of the p-th outbound lane block on the i-th floor; Step S42: Calculate the total area A of the boundary of the current layer boreder,i , and the specific calculation formula is as follows: A border,i = h border,i · w order,i ; Among them, h border,i represents the boundary height range value of the i-th layer of the warehouse; w border,i represents the boundary width range value of the i-th layer of the warehouse. Step S43: Calculate the area utilization rate U based on the total area A of all spatial blocks occupy,i and the total area A of the current layer boundary border,i . The specific calculation formula is as follows: i ​ The tray accessibility A i The specific calculation steps are as follows: Step S44: For the set M of the main road blocks in the i-th layer layer,i Sort them in ascending order according to the starting abscissa of the j-th main road block in the i-th layer and for each pair of adjacent main road blocks, define the interval as Step S45: For the interval between each pair of adjacent main road blocks, filter out the corresponding set of defective blocks D betweeen (M i,j ,M i,j+1 ), and the specific mathematical expression is as follows: Among them, represents the abscissa of the starting point of the nth defective block in the ith layer; Step S46: For each defective block D i,n , filter out the set of pallets P within (M i,j ,M i,j+1 ,D i,n ), and the specific mathematical expression is as follows: Among them, represents the starting ordinate of the nth defective block in the ith layer; represents the starting ordinate of the mth tray block in the ith layer; represents the starting abscissa of the mth tray block in the ith layer; Step S47: Accumulate the number of pallets P in the rows where the defective areas are located among all the main roads on the i-th layer allDefect , and calculate the total number of pallets T on the i-th layer pallet,i , and normalize the ratio of P allDefect and T pallet,i to obtain the pallet accessibility A of the current layer i , and the pallet accessibility A i The specific calculation formula is as follows: where t i represents the number of pallet types in the i-th layer, and n i,k represents the number of the k-th type of pallets in the i-th layer; The path smoothness T i The specific calculation steps are as follows: Step S48: Calculate the theoretical minimum number of turning points I according to the difference in the number of sub-trunk road blocks between the main trunk road blocks min , and the specific calculation formula is as follows: Among them, S(M i,j , M i,j+1 ) represents the number of sub-trunk blocks between the j-th and (j + 1)-th main trunk blocks in the i-th layer layout; n” represents the total number of main trunk blocks in the i-th layer layout; Step S49: Calculate the actual number of turning points I according to the actual positions and connection conditions of the current layout sub-trunk blocks actual , and the specific calculation formula is as follows: Among them, N sub,i represents the total number of sub-trunk blocks in the i-th layer layout; represents the starting vertical coordinate of the k-th sub-trunk block in the i-th layer; represents the starting horizontal coordinate of the (k + 1)-th sub-trunk block in the i-th layer; δ(i, j) represents a binary function; Step S410: Calculate the path smoothness T according to the theoretical minimum number of inflection points I min and the actual number of inflection points I actual , and the specific calculation formula is as follows: i Specifically, the calculation formula is as follows: The sub-arterial road service rate R i The specific calculation steps are as follows: Step S411: Calculate the number of sub-trunk blocks S(M i,j ,M i,j+1 ) between the j-th and (j + 1)-th main trunk blocks in the layout of the i-th layer. The specific calculation formula is as follows: Among them, represents the abscissa of the starting point of the k-th sub-trunk block in the i-th layer; and calculate the total number of pallets Ti on the i-th layer pallet,i ; Step S412: Calculate the number of pallets between the k-th sub-trunk block on the i-th layer and the previous sub-trunk block or the boundary The specific calculation formula is as follows: Among them, y border,i represents the ordinate of the boundary point of the i-th layer warehouse; h border,i represents the boundary height range value of the i-th layer warehouse; represents the indicator function, and the specific mathematical expression is as follows: Step S413: Calculate the number of pallets between the k-th sub-trunk block on the i-th layer and the next sub-trunk block or the boundary The specific calculation formula is as follows: Step S414: According to and T pallet,i , calculate the service rate R of the secondary arterial road i . The specific calculation formula is as follows: The inbound and outbound efficiency E of the single four-way vehicle vehicle The specific calculation steps are as follows: Step S415: Calculate the inbound efficiency E of the single four-way vehicle in , and the specific calculation formula is as follows: t top = 2·T top ; Among them, L represents the number of layers of the current warehouse; T pallet,i represents the total number of pallets on the i-th layer; T in represents the average total time taken for the four-way vehicle to traverse all inbound points to all storage locations in the warehouse; N in represents the number of inbound points; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; t l represents the running time of the four-way vehicle on the l-th path segment; represents the total accumulated turning time of the four-way vehicle for a single inbound task; t top represents the total time for the four-way vehicle to pick up and place pallets for a single task; t eva represents the running time of the elevator between the (i - 1)-th layer and the i-th layer; v max represents the maximum running speed of the four-way vehicle; a represents the acceleration of the four-way vehicle during operation; d l represents the Euclidean distance between two path points (x j , y j ) and (x j+1 , y j+1 ); T turn represents the time required for the four-way vehicle to turn each time; represents the number of path segments from the k-th inbound point to the j-th storage location on the i-th layer; T top represents the time required for the four-way vehicle to top or place a pallet; represents the maximum speed of the elevator during operation; a eva represents the acceleration of the elevator during operation; d i-1,i represents the distance between the (i - 1)-th layer and the i-th layer; Step S416: Calculate the outbound efficiency E of the single four-way vehicle out , and the specific calculation formula is as follows: Among them, T out represents the total time taken for the four-way vehicle to traverse all outbound points to all storage locations in the warehouse; N out represents the number of outbound points; represents the path time taken for the four-way vehicle to travel from the o-th outbound point to the j-th storage location on the i-th floor; represents the number of path segments from the o-th outbound point to the j-th storage location on the i-th floor; represents the total accumulated turning time for the four-way vehicle to perform a single outbound task; represents the number of path segments from the o-th outbound point to the j-th storage location on the i-th floor; Step S417: Calculate the in-out efficiency E of the single four-way vehicle based on the in-warehouse efficiency E in and the out-warehouse efficiency E out of the single four-way vehicle. Specifically, the calculation formula is as follows: vehicle ​ E vehicle = max(E in + E out ).

9. The layout optimization method of a four-way shuttle high-density stereoscopic warehouse according to claim 1, characterized in that: In step S6, when the cosine adaptive genetic layout optimization algorithm is used to dynamically adjust the crossover rate and mutation rate, the calculation formulas of the crossover rate and mutation rate are as follows: Among them, P c represents the crossover rate under the cosine adaptive genetic layout optimization algorithm; P c0 represents the initial value of the crossover rate, and ΔP c represents the amplitude of the crossover rate change, and f 1,2 represents the average fitness of parent individuals 1 and 2, and f avg , f min and f max represent the mean, minimum, and maximum values of the population fitness, respectively; Among them, P m represents the mutation rate under the cosine adaptive genetic layout optimization algorithm; P m0 represents the initial value of the mutation rate, and ΔP m represents the change amplitude of the mutation rate, f represents the fitness of the parent individual, f avg , f min and f max respectively represent the mean, minimum, and maximum values of the population fitness; When the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism is used to dynamically adjust the crossover rate and mutation rate, the calculation formulas of the crossover rate and mutation rate are as follows: T(b) = T0·δ b ; Among them, P c (b) represents the crossover rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; P m (b) represents the mutation rate under the dynamic genetic layout optimization algorithm combined with the simulated annealing mechanism; T(b) represents the temperature function varying with the number of iterations; T0 represents the initial temperature; δ represents the cooling coefficient, and 0 < δ < 1; b represents the current number of iterations.

10. The layout optimization method of a four-way shuttle high-density stereoscopic warehouse according to claim 1, characterized in that: In step S6, the crossover operation is performed on the initial solution of the layout of the four-way shuttle high-density automated storage and retrieval system, which specifically includes the following sub-steps: Step S61: Randomly select some main trunk blocks from the first parent and the second parent, and retain them in the corresponding positions in the first offspring and the first offspring; Step S62: Supplement the unselected main trunk blocks in the first parent to the corresponding positions in the second offspring in sequence, and supplement the unselected main trunk blocks in the second parent to the corresponding positions in the first offspring in sequence to obtain the main trunk block layout after crossover recombination; Step S63: Based on the main trunk block layout after crossover recombination, sub-trunk blocks, elevator trunk blocks, inbound lane blocks, outbound lane blocks, pallet blocks, and defective blocks are regenerated; The mutation operation is performed on the initial solution of the layout of the four-way shuttle high-density automated storage and retrieval system, which specifically includes the following sub-steps: Step S64: Randomly select a main trunk block, calculate the distance between the selected main trunk block and the nearest defective block, and define the minimum base number and the minimum pallet unit according to the requirements of the material receiving and sending method. Step S65: Determine whether the distance between the selected main road block and the nearest defect block is greater than or equal to the minimum base number. If so, move the main road block along the feasible direction by one minimum base number. If not, determine whether the distance between the selected main road block and the nearest defect block is greater than or equal to the minimum pallet unit. If so, move the main road block along the feasible direction by one minimum pallet unit. If not, abandon the movement to obtain the mutated layout of the main road blocks; Step S66: Based on the mutated layout of the main road blocks, regenerate the secondary road blocks, elevator main road blocks, inbound lane blocks, outbound lane blocks, pallet blocks, and defect blocks.

Images