Steel pipe stereoscopic warehouse intelligent access method and system based on load balancing

Abstract

The invention discloses a steel pipe stereoscopic warehouse intelligent access method and system based on load balancing, and the method comprises a storage position distribution step: when a steel pipe to be warehoused exists, based on the load distribution state of a current goods shelf, through calculating a plurality of scoring factors of each available storage position and carrying out comprehensive scoring, dynamically distributing storage positions for the steel pipe to be warehoused, the overall stress balance of the goods shelf is realized; and a warehouse-out hit step: when a warehouse-out task exists, based on the load distribution state of the current shelf and the position of the stacker, calculating a plurality of hit factors of each candidate storage position storing the target steel pipe and carrying out comprehensive scoring, and selecting an optimal storage position from the candidate storage positions to execute warehouse-out operation. Meanwhile, the warehouse-out path is optimized and the balance of the goods shelf is maintained. According to the invention, through a dynamic scoring strategy of coupling load balancing and path optimization, the warehouse-in storage location distribution and warehouse-out hit selection of the steel pipes are synchronously optimized, so that the structural safety and the operation efficiency of the three-dimensional warehouse are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated warehouse logistics, in particular to a steel pipe stereoscopic warehouse intelligent access method and system based on load balancing. BACKGROUND

[0002] The traditional automated stereoscopic warehouse is mainly designed for standard pallet goods, and its storage allocation mostly adopts static strategies such as "near priority". The warehouse outflow follows simple principles such as FIFO (First In First Out). When applied to heavy and long non-standard materials such as steel pipes, the existing technology has obvious defects: first, it lacks dynamic consideration of the overall force balance of the shelf, which easily leads to local overload of the shelf and structural safety hazards; second, it does not optimize the outflow path and the load state of the shelf, resulting in long movement distance of the stacker and low operation efficiency; third, the storage usage frequency is uneven, which accelerates the wear of local equipment. Therefore, an intelligent management method is urgently needed that can comprehensively ensure structural safety, improve operation efficiency and balance equipment wear. SUMMARY

[0003] The present application overcomes the shortcomings of the prior art, and provides a steel pipe stereoscopic warehouse intelligent access method and system based on load balancing to solve the problems raised in the background.

[0004] A steel pipe stereoscopic warehouse intelligent access method based on load balancing, comprising the following steps: Storage allocation step: when there is a steel pipe to be stored, based on the load distribution state of the current shelf, the multiple scoring factors of each available storage are calculated and comprehensively scored, and the storage is dynamically allocated to the steel pipe to be stored, so as to realize the overall force balance of the shelf; Outflow hit step: when there is a task to be outflowed, based on the load distribution state of the current shelf and the position of the stacker, the multiple hit factors of each candidate storage storing the target steel pipe are calculated and comprehensively scored, and the optimal storage is selected from the candidate storage to perform the outflow operation, so as to optimize the outflow path and maintain the balance of the shelf.

[0005] As a further scheme of the present application: the structure safety factor in the storage allocation step is specifically a structure balance factor which is calculated by evaluating the change in the overall center of gravity of the shelf caused by placing the steel pipe to be stored in the candidate storage The calculation formula is:

[0006] Wherein, is the estimated center of gravity offset after placement, is the current center of gravity offset, is the preset maximum allowed offset.

[0007] As a further scheme of the present application: in the storage location allocation step, the plurality of scoring factors include a structure balance factor, a path cost factor, and a region popularity factor, wherein: The path cost factor is calculated based on the distance of the stacker moving from the current location to the candidate storage location, and the calculation formula is:

[0008] wherein, is a distance adjustment parameter; The region popularity factor is calculated based on the historical usage frequency of the region where the candidate storage location is located , and the calculation formula is:

[0009] wherein, is a preset maximum usage frequency threshold; The comprehensive score is calculated according to the following formula:

[0010] wherein, , , is an adjustable weight coefficient, and satisfies .

[0011] As a further scheme of the present application: in the warehouse-out hit step, the plurality of hit factors include a warehouse-out priority factor, a balance influence factor, and a path optimization factor, wherein: The warehouse-out priority factor is calculated based on the in-warehouse storage duration of the steel pipe, and the calculation formula is:

[0012] The balance influence factor is calculated by evaluating the influence amount of removing the steel pipe from the storage location on the overall center of gravity of the shelf, and the calculation formula is:

[0013] wherein, is a preset balance influence threshold; The path optimization factor is calculated based on the total moving distance of the stacker performing a continuous warehouse-out task sequence including the candidate storage location, and the calculation formula is:

[0014] The hit comprehensive score The calculation formula is:

[0015] in, , , The weighting coefficients are adjustable and satisfy the following conditions: .

[0016] As a further aspect of the present invention, it also includes: Scheduling optimization steps: Calculate the operation cost for each task i in the inbound / outbound task queue. The calculation formula is:

[0017] in, The cost is the distance traveled based on the distance the stacker crane needs to travel to perform this task. The cost of the balance impact based on the degree of influence of this task on the overall center of gravity balance of the shelving. and Let be the weight coefficient, and satisfy... ; Then, the execution priority of each task in the queue is dynamically adjusted based on the calculated operation cost of each task.

[0018] As a further aspect of the present invention, the weighting coefficients can be dynamically configured and adjusted according to the actual operating status or management strategy of the warehouse.

[0019] As a further aspect of the present invention: the path cost factor or path optimization factor The movement distance used in the calculation is based on the storage location identified by three-dimensional coordinates (i,j,k), where i is the layer number, j is the column number, and k is the depth position.

[0020] As a further aspect of the present invention, the shelf adopts a shelf structure with both horizontal and vertical bidirectional distribution.

[0021] The second aspect of the technical solution: A system employing a load-balancing-based intelligent storage and retrieval method for steel pipe automated warehouses as described in any of the above embodiments, characterized in that it includes: The shelving management module is used to maintain storage location status, calculate real-time load distribution, and shelving center of gravity coordinates; The task scheduling module is used to manage the inbound and outbound task queues and implement scheduling optimization steps; The path optimization module is used to calculate the optimal movement path of the stacker crane; The safety monitoring module is used to monitor and provide early warnings of the safety status of the rack structure in real time based on the center of gravity offset.

[0022] As a further aspect of the present invention, it also includes: Shelf structure; Stacker cranes are used to perform storage, retrieval, and handling operations on steel pipes; The control unit is used to integrate the shelf management module, task scheduling module, path optimization module, and safety monitoring module; The control unit is communicatively connected to the rack structure and the stacker crane, and is used to execute the storage location allocation step, the outbound hit step, and the scheduling optimization step.

[0023] Compared with the prior art, the present invention has the following technical advantages: By employing the above technical solution, the optimal storage location is dynamically calculated and selected based on the current rack load distribution upon inbound, thus achieving load balancing. Upon outbound, the optimal outbound point is intelligently selected from qualified steel pipes, taking into account both rack balance and stacker crane path. This method deeply couples inbound allocation and outbound selection with real-time load and path cost, thereby synergistically optimizing the overall security and operational efficiency of the warehouse. Attached Figure Description

[0024] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings: Figure 1 This is a schematic diagram illustrating the steps of the smart access method according to an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please refer to Figure 1 In this embodiment of the invention, a method for intelligent storage and retrieval of steel pipe automated warehouse based on load balancing includes the following steps: Step S1, Storage Location Allocation Step: When there are steel pipes to be stored, based on the current load distribution of the rack, multiple scoring factors of each available storage location are calculated and a comprehensive score is given to dynamically allocate storage locations to the steel pipes to be stored, so as to achieve overall stress balance of the rack. In this embodiment, the structural safety factor in the storage allocation step is specifically a structural equilibrium factor. It assesses the change in the overall center of gravity of the shelving caused by placing the steel pipes to be stored into the candidate storage location. The calculation formula is as follows:

[0027] in, This is the estimated center of gravity offset after placement. This is the current center of gravity offset. This is the preset maximum allowable offset.

[0028] Specifically, the steps and formula for obtaining the change in center of gravity offset are as follows: Formula for calculating the center of gravity coordinates of a shelving unit:

[0029] in: For the first The weight of each storage location; For the first The three-dimensional coordinates of each storage location; This represents the total number of storage spaces already occupied. The functional formula for the change in center of gravity offset is:

[0030] in, The ideal center of gravity position.

[0031] In this embodiment, the multiple scoring factors in the storage location allocation step include a structural balance factor, a path cost factor, and a regional heat factor; wherein: The path cost factor The calculation is based on the distance the stacker crane moves from its current position to the candidate storage location. The calculation formula is as follows:

[0032] in, This is a distance adjustment parameter; The regional heat factor Based on the historical usage frequency of the candidate storage sites' location The calculation formula is as follows:

[0033] in, To preset a maximum usage threshold; Specifically, based on the current load distribution of the shelving, the position of the steel pipes entering the warehouse is dynamically allocated to ensure overall stress balance; The overall score The calculation formula is:

[0034] in, , , The weighting coefficients are adjustable and satisfy the following conditions: .

[0035] Step S2, Outbound Hit Step: When there is an outbound task, based on the current load distribution of the rack and the position of the stacker crane, multiple hit factors of each candidate storage location storing the target steel pipe are calculated and comprehensively scored. The optimal storage location is selected from the candidate storage locations to perform the outbound operation, so as to simultaneously optimize the outbound path and maintain the rack balance. In this embodiment, in the outbound hit step, the multiple hit factors include an outbound priority factor, a balance influence factor, and a path optimization factor, wherein: The outbound priority factor The calculation formula for the storage time of steel pipes is as follows:

[0036] The balance influencing factors The impact of removing the steel pipe from the storage location on the overall center of gravity shift of the shelving was calculated using the following formula:

[0037] in, To preset the threshold for the impact of balance; The path optimization factor The total travel distance for a stacker crane to execute a continuous outbound task sequence that includes the candidate storage location is calculated as follows:

[0038] The overall hit score The calculation formula is:

[0039] in, , , The weighting coefficients are adjustable and satisfy the following conditions: .

[0040] Step S3, Scheduling Optimization Step: Calculate the operation cost for each task i in the inbound / outbound task queue. The calculation formula is: A priority adjustment mechanism is introduced into the inbound and outbound task queue, and points are selected through a cost function;

[0041] in, The cost is the distance traveled based on the distance the stacker crane needs to travel to perform this task. is the balance impact cost based on the degree of influence of the task on the overall center of gravity balance of the shelf. and is the weight coefficient, and satisfies ; Then, dynamically adjust the execution priority of each task in the queue according to the calculated operation cost of each task.

[0042] The task priority adjustment function is:

[0043] Among them, is the weight coefficient of task .

[0044] In this embodiment, the weight coefficients can all be dynamically configured and adjusted according to the actual operation status or management strategy of the warehouse.

[0045] In this embodiment, the path cost factor or the path optimization factor The moving distance relied on in the calculation is calculated based on the storage location identified by the three-dimensional coordinates (i, j, k), where i is the layer number, j is the column number, and k is the depth position.

[0046] In this embodiment, the shelf is a shelf structure with a two-way distribution of horizontal and vertical directions.

[0047] Specifically, the shelf structure is a cross-shaped shelf structure: Adopting a "cross-shaped" distribution design, supporting multi-directional access operations; Each layer of the shelf is provided with multiple storage locations, allowing two-way distribution of horizontal and vertical directions; The storage location numbers adopt a three-dimensional coordinate system (i, j, k), where i is the layer number, j is the column number, and k is the depth position; The handling equipment among them is: Customized heavy-duty ASRS stacker, equipped with a special fork arm; Supporting deep-position access operations, adapting to the storage requirements of steel pipes of different lengths; Integrating a weight sensor to monitor the load status in real time; The technical solution of the second aspect: A system adopting an intelligent access method for a three-dimensional steel pipe library based on load balancing as described in any one of the above, characterized in that it includes: A shelf management module, used to maintain the storage location status, calculate the real-time load distribution and the center of gravity coordinates of the shelf; A task scheduling module, used to manage the inbound and outbound task queue and implement scheduling optimization steps; A path optimization module, used to calculate the optimal moving path of the stacker; The safety monitoring module is used to monitor and provide early warnings of the safety status of the rack structure in real time based on the center of gravity offset.

[0048] This embodiment also includes: Shelf structure; Stacker cranes are used to perform storage, retrieval, and handling operations on steel pipes; The control unit is used to integrate the shelf management module, task scheduling module, path optimization module, and safety monitoring module; The control unit is communicatively connected to the rack structure and the stacker crane, and is used to execute the storage location allocation step, the outbound hit step, and the scheduling optimization step.

[0049] The beneficial effects of the present invention: By implementing the technical solution of the present invention, the following technical effects are achieved: Enhanced safety: The shelving experiences more balanced stress, reducing fluctuations by 25% and effectively preventing single-point overload. Efficiency optimization: Outbound routes were optimized by an average of 18%, significantly improving operational efficiency; Equipment protection: Extend the lifespan of the shelving through load balancing algorithms; High compatibility: Supports compatible storage of various types of steel pipes (spiral pipes, thick-walled pipes, etc.).

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents, all of which should be included within the scope of protection of the invention.

Claims

1. A load balancing-based intelligent access method for a steel pipe stereoscopic warehouse, characterized in that, The method comprises the following steps: A storage location allocation step: when there is a steel pipe to be stored, based on the current load distribution state of the rack, the storage location for the steel pipe to be stored is dynamically allocated by calculating a plurality of scoring factors of each available storage location and performing comprehensive scoring, so as to balance the overall stress of the rack; A delivery hit step: when there is a delivery task, based on the current load distribution state of the rack and the position of the stacker, the optimal storage location is selected from the candidate storage locations storing the target steel pipe by calculating a plurality of hit factors of each candidate storage location and performing comprehensive scoring, so as to optimize the delivery path and maintain the balance of the rack.

2. The load balancing based intelligent access method of a steel pipe stereoscopic warehouse according to claim 1, characterized in that, The structural safety factor in the storage location allocation step is specifically a structural balance factor , which is calculated by evaluating the change in the overall center of gravity of the rack caused by placing the steel pipe to be stored in the candidate storage location , and the calculation formula is: wherein, is an estimated center of gravity offset after placement, is a current center of gravity offset, is a preset maximum allowed offset.

3. The load balancing based intelligent access method of a steel pipe stereoscopic warehouse according to claim 2, characterized in that, In the storage location allocation step, the plurality of scoring factors include a structural balance factor, a path cost factor, and a region heat factor, wherein: The path cost factor The path cost factor is calculated based on the distance of the stacker moving from the current position to the candidate storage location, and the calculation formula is: wherein is a distance adjustment parameter; The regional heat factor Based on the historical frequency of use of the region in which the candidate storage location is located The calculation is as follows: wherein, is a preset maximum usage number threshold value; The overall score The formula for calculating the overall score is: wherein, , , are adjustable weight coefficients, and satisfy .

4. The load balancing based intelligent access method of a three-dimensional steel pipe warehouse according to claim 1, characterized in that, In the delivery hit step, the plurality of hit factors include a delivery priority factor, a balance influence factor, and a path optimization factor, wherein: The warehouse-out priority factor The in-stock storage duration of the steel pipe is calculated based on the formula: The balance influence factor The balance influence factor is calculated by evaluating the amount of shift of the overall center of gravity of the rack when the steel pipe is removed from the storage location, according to the following formula: wherein, is a preset balance influence threshold value; The path optimization factor The total moving distance of the stacker for performing the continuous outbound task sequence including the candidate storage location is calculated as: The hit comprehensive score The calculation formula is: wherein, , , are adjustable weight coefficients, and satisfy .

5. The load balancing based intelligent access method of a three-dimensional steel pipe warehouse according to claim 1, characterized in that, Further comprising: Scheduling optimization step: for each task i in the in-out task queue, calculate the operation cost The calculation formula is: wherein, is a movement distance cost based on a movement distance required for the stacker to perform the task, is a balance influence cost based on a degree of influence on the overall balance of the shelves by the task, and is a weight coefficient, and satisfies ; The operation priority of each task in the queue is dynamically adjusted according to the calculated operation cost of each task.

6. The load balancing based intelligent access method of a steel pipe stereoscopic warehouse according to any one of claims 3 to 5, characterized in that, The weight coefficients can be dynamically configured and adjusted according to the actual running state or management strategy of the warehouse.

7. The load-balancing-based intelligent access method of a three-dimensional steel pipe warehouse according to claim 1, characterized in that, The path cost factor Or path optimization factor The movement distance relied on in the calculation is calculated based on the storage location identified in three-dimensional coordinates (i, j, k), where i is the layer number, j is the column number, and k is the depth position. 8.The load balancing based intelligent access method of a three-dimensional steel pipe warehouse according to claim 1, wherein, The rack is a rack structure distributed in two directions of horizontal and vertical.

9. A system for intelligent storage and retrieval of a load-balanced steel pipe stereoscopic warehouse according to any one of claims 1 to 8, characterized in that, Comprising: A rack management module for maintaining storage location state, calculating real-time load distribution and rack gravity center coordinates; A task scheduling module for managing the in-out warehouse task queue and implementing the scheduling optimization step; A path optimization module for calculating the optimal moving path of the stacker; A safety monitoring module for real-time monitoring and early warning of the safety state of the rack structure based on the gravity center offset.

10. The load-balancing-based intelligent access method for a three-dimensional steel pipe warehouse system according to claim 9, characterized in that, Further comprising: A rack structure; A stacker for performing the storage and handling operation of the steel pipe; A control unit for integrating the rack management module, the task scheduling module, the path optimization module, and the safety monitoring module; The control unit is in communication connection with the rack structure and the stacker, and is used for executing the storage location allocation step, the delivery hit step, and the scheduling optimization step.

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