A method and system for optimizing dynamic and static lines of a single-layer three-dimensional warehouse of a nuclear power plant

Abstract

The application discloses a kind of operation dynamic and static line optimization method and system of nuclear power plant single-layer stereoscopic warehouse, belong to stereoscopic warehouse operation scheduling and logistics optimization technical field.For fixed layout nuclear power plant single-layer stereoscopic warehouse, by setting electronic fence, laser warning area and other ways logical division isolation area, for AGV, stacker and other equipment planning exclusive operation dynamic line, set one-way trunk dynamic line to guide global material orderly circulation.The method does not need to transform warehouse hardware structure, can effectively reduce equipment dynamic line intersection, reduce collision risk, improve operation efficiency, applicable to nuclear power plant and other industries fixed layout stereoscopic warehouse.

Description

Technical Field

[0001] This invention relates to the field of automated warehouse operation scheduling and logistics optimization technology, specifically to a method and system for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant. Background Technology

[0002] The nuclear power industry has extremely high requirements for the safety, reliability, and timeliness of materials management. To meet the demand for efficient warehousing of large quantities and diverse types of materials, single-story automated warehouses equipped with various automated equipment such as Automated Guided Vehicles (AGVs), stacker cranes, Rail Guided Vehicles (RGVs), and climbing robots are widely used. Once built, the building structure, functional zoning, and racking layout of these warehouses are usually not subject to large-scale physical modifications. In such fixed-layout warehouses, planning and managing the complete material flow path (i.e., the movement path) from "inbound to storage to picking to outbound" is a core challenge. Traditional scheduling or planning methods easily lead to spatial overlap of movement paths between different processes (such as inbound and outbound flows), and intersections between the operating paths of automated equipment and manual operation areas. This can cause equipment collision risks, work path interference, and overall efficiency decline, posing safety hazards and affecting the stable and efficient operation of the warehousing system.

[0003] In existing technologies, optimizations for automated warehouses mostly focus on software-level task scheduling algorithms or layout optimization through simulation during the initial construction phase. These solutions struggle to fundamentally resolve conflicts arising from rigid spatial intersections within a fixed physical space. Other technologies employ fixed physical partitions to separate people and vehicles, but this method significantly sacrifices operational flexibility, making it difficult to adapt to the complex and ever-changing logistics needs of nuclear power plants, and is also costly and requires substantial modifications.

[0004] Therefore, there is an urgent need for a method that can systematically and softly optimize the operation flow of multiple devices and processes through technical means without changing the main structure of the warehouse and the layout of the shelves, so as to completely solve or significantly improve the path conflict problem between devices and improve operational safety. Summary of the Invention

[0005] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a method and system for optimizing the dynamic and static workflows of single-story automated warehouses in nuclear power plants with fixed layouts. This invention, under conditions where structural modifications are not feasible, achieves physical separation or orderly convergence of multiple workflows through intelligent space management and path planning, effectively eliminating collision risks and reducing operational interference, thereby significantly improving the operational efficiency and safety level of the entire warehousing system.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a method for optimizing the operational flow of a single-story automated storage and retrieval system (AS / RS) in a nuclear power plant. The AS / RS has a fixed physical layout and functional zoning, and is equipped with at least two types of automated equipment: Automated Guided Vehicles (AGVs) and stacker cranes. The method includes the following steps: S1: Analyze the fixed functional zones of the warehouse. Based on the flow logic of materials in the process of receiving, storing, picking and leaving the warehouse, logically divide and isolate the personnel operation area and the automated equipment operation area by setting up one or more of the following methods: electronic fence, laser warning zone or ground marking line. S2: Plan a horizontal transport route for the AGV that does not penetrate deep into the core working area of ​​the stacker crane; at the same time, in the storage area containing the stacker crane and the rail shuttle (RGV), plan the working paths of the stacker crane and the RGV to intersect at a fixed junction point; S3: In the fixed channel system of the warehouse, set up unidirectional main traffic lines to serve different material flows, so as to guide the overall materials to form an orderly cycle.

[0007] Specifically, in step S1, the flow logic based on materials in the warehousing, storage, picking, and outbound processes includes determining the role of each functional area as the starting point, transfer point, and end point of materials, as well as the direction of material flow and handover nodes between functional areas.

[0008] Specifically, in step S2, the storage area further includes a vertical storage unit for storing bins, which is equipped with climbing robots. The method also includes: Plan the working path of the climbing robot on the dedicated shelf guide rail, and separate the picking and placing operation surface of the climbing robot from the material contact surface of the AGV in space.

[0009] Furthermore, in step S2, the fixed handover point is a handover station equipped with a conveyor located at the end of the pallet vertical warehouse aisle, used to realize the controllable transfer of pallets between the AGV, the RGV and the stacker crane.

[0010] Specifically, in step S3, the setting of the unidirectional main flow line includes: planning one or more main channels to primarily serve the flow of inbound materials, and planning another or more different main channels to primarily serve the flow of outbound materials.

[0011] Furthermore, in the method for optimizing the dynamic and static lines of operation in the single-story automated warehouse of the nuclear power plant, the automated warehouse is a single-story warehouse with a ground load of not less than 5T / m² and a fire rating of Class C.

[0012] In a second aspect, based on the same inventive concept, a system for optimizing the dynamic and static workflow of a single-story automated warehouse in a nuclear power plant is provided, the system comprising: The spatial logic partitioning module is used to generate virtual or actual deployment schemes for electronic fences, laser warning zones, or ground marking lines based on the fixed layout and material flow model of the warehouse, in order to define isolated areas; The equipment path planning module is used to plan dedicated operation paths for AGVs, stacker cranes, rail shuttles (RGVs) and / or climbing robots, and to determine the intersection rules between different equipment paths; The global flow control module is used to set and execute the main flow logic of unidirectional material flow in the warehouse channel model.

[0013] Furthermore, the system also includes an equipment collaborative control module, which is communicatively connected to the spatial logic partitioning module, the equipment path planning module, and the global flow control module. The equipment collaborative control module is used to send control commands to the AGV, the stacker crane, the RGV, and / or the climbing robot according to the generated path and flow logic, and to receive their status feedback, so as to realize dynamic scheduling and collision avoidance.

[0014] Specifically, the equipment collaborative control module, as the core scheduling and execution hub of the entire optimization system, goes beyond simple instruction forwarding. Based on the dynamic boundaries of isolated areas generated by the spatial logic partitioning module, the dedicated work paths defined by the equipment path planning module, and the unidirectional main traffic flow logic set by the global flow control module, this module constructs a real-time, closed-loop control network. It not only issues precise, sequential motion control commands to automated equipment such as AGVs, stacker cranes, RGVs, and climbing robots, but also continuously receives real-time status feedback from all equipment (such as position, speed, task completion status, and possible abnormal alarms), achieving dynamic perception and intelligent control of the entire warehouse workflow. During operation, the module proactively monitors potential path conflict risks: for example, when an AGV might enter an intersection adjacent to the stacker crane's work area due to task delays, the module can make microsecond-level decisions based on preset rules, dynamically adjusting the AGV's speed or making it wait briefly until the stacker crane completes its current storage and retrieval cycle and passes through a fixed handover point, thus achieving seamless connection while strictly adhering to unidirectional traffic flow and dedicated paths. Furthermore, for the coordination between the climbing robot and the AGV at the interface in the material bin area, this module is responsible for precisely synchronizing their operation sequence, ensuring that the picking and placing actions and material transfer are completely separated in time and space, eliminating physical interference. Through this dynamic scheduling and predictive collision avoidance mechanism based on real-time data, the equipment collaborative control module transforms static path planning and flow logic into safe, efficient, and flexible actual operations. This is a key technological guarantee for ensuring that "software-defined logic" can be reliably implemented in a fixed physical layout, ultimately achieving the goals of reducing collision risks and improving overall operational efficiency.

[0015] A third aspect of the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements all the steps of the method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant, as mentioned in the first aspect of the present invention.

[0016] A fourth aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements all the steps of the method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant, as mentioned in the first aspect of the present invention.

[0017] Compared with the prior art, the beneficial effects of the present invention include: (1) Significantly improved safety: Through soft isolation and dedicated path planning, the intersection of movement lines between personnel activity areas and automated equipment operation areas, as well as between different automated equipment, is fundamentally reduced, thus minimizing the risk of collision.

[0018] (2) Operation efficiency is significantly improved: The system optimization of dynamic and static lines reduces the complex calculations of equipment waiting for each other, emergency avoidance and path optimization, making the connection between various logistics links smoother and more efficient, reducing congestion, and improving equipment utilization and overall throughput.

[0019] (3) Strong scalability and applicability: Based on the ideas of "software-defined logic" and "firmware (automation equipment) execution path", the method itself does not require modification or disassembly of the warehouse hardware structure. It is applicable to various three-dimensional warehouses with fixed layout characteristics in nuclear power and other industries, and has high universality and flexibility.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant, according to one embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of warehouse functional zoning and soft isolation in one embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of AGV travel route planning in one embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the overall operation route of the Class A material storage area in one embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the overall operational flow separation in the Class B warehouse pallet area according to an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0028] In one embodiment, such as Figure 1 As shown in the figure, this embodiment provides a method for optimizing the dynamic and static lines of operations in a single-story automated warehouse of a nuclear power plant. The method includes: Step S1: Analyze the fixed functional zones of the warehouse. Based on the flow logic of materials in the process of receiving, storing, picking and leaving the warehouse, logically divide and isolate the personnel operation area and the automated equipment operation area by setting up one or more of the following methods: electronic fence, laser warning zone or ground marking line. Furthermore, the analysis of material flow logic includes determining the role of each functional area as the starting point, transfer point, or end point of materials, as well as the direction of material flow and the handover nodes between functional areas.

[0029] Step S2: Plan a horizontal transport route for the AGV that does not penetrate deep into the core working area of ​​the stacker crane; at the same time, in the storage area containing the stacker crane and the rail shuttle (RGV), plan the working paths of the stacker crane and the RGV to intersect at a fixed junction point; Furthermore, the storage area also includes an automated storage and retrieval system for storing bins, in which climbing robots are deployed. The method further includes: Plan the working path of the climbing robot on the dedicated shelf guide rail, and separate the picking and placing operation surface of the climbing robot from the material contact surface of the AGV in space.

[0030] Furthermore, the fixed handover point is a handover station equipped with a conveyor located at the end of the pallet vertical warehouse aisle, used to realize the controllable transfer of pallets between the AGV, the RGV and the stacker crane.

[0031] Step S3: In the fixed channel system of the warehouse, set up unidirectional main traffic lines serving different material flows to guide the overall materials to form an orderly cycle.

[0032] Furthermore, the setting of the unidirectional main flow line includes: planning one or more main channels to primarily serve the flow of inbound materials, and planning another or more different main channels to primarily serve the flow of outbound materials.

[0033] Furthermore, in this embodiment, the automated warehouse is a single-story warehouse with a ground load of not less than 5T / m² and a fire rating of Class C.

[0034] In one embodiment, a building with a total area of Taking a single-story Class C warehouse as an example, the construction conditions of the single-story Class C warehouse are shown in Table 1 below: Table 1: Conditions for Establishing a Single-Story Class C Warehouse

[0035] Table 1 shows that the warehouse has a ground load of 5T / m², which meets the requirement of a Class C warehouse with a fire resistance rating of not less than Level II. It is also equipped with an automatic sprinkler system, indoor fire hydrants, and a fire alarm system. The warehouse has a fixed internal layout, divided into functional areas such as a receiving and shipping area, a Class A bin storage area, a Class B pallet storage area, and a temporary storage area. It is equipped with automated guided vehicles (AGVs), stacker cranes, rail-guided shuttles (RGVs), climbing robots, and other automated equipment.

[0036] In this embodiment, the optimization scheme for the dynamic and static lines of the work area is implemented as follows: First, the space is dynamically divided according to function. Based on the fixed functional zones of the warehouse and the material flow logic of "inbound-storage-picking-outbound," dedicated personnel operation areas, AGV travel areas, and automated equipment waiting areas are logically defined by setting up electronic fences, laser warning zones, and ground marking lines. In areas with frequent personnel activity, such as the receiving and shipping areas, electronic fences are used to delineate personnel operation boundaries. Laser warning zones are set up on both sides of the AGV travel path, triggering alarms when personnel or other equipment enter. Simultaneously, yellow dedicated AGV travel marking lines are laid on the ground, clearly distinguishing them from the green marking lines for personnel, achieving physical isolation of personnel and automated equipment movement paths in key areas. Figure 2 As shown, Figure 2 This is a schematic diagram of the warehouse's functional zoning and soft isolation, which clearly distinguishes between manual passageways and AGV travel paths through soft isolation.

[0037] Then, we will carry out dedicated workflow planning for heterogeneous automated equipment, specifically including the horizontal transport workflow planning for AGVs and the three-dimensional operation workflow planning for storage equipment.

[0038] In this embodiment, for the AGV horizontal transport line planning, such as Figure 3 As shown, Figure 3This is a schematic diagram of AGV travel route planning. AGVs are responsible for horizontal material transfer between different functional areas. Their travel paths are planned to run along the main channels set up in the warehouse, connecting the entrances and exits of receiving and shipping areas, various storage areas, and temporary storage areas, without entering the aisles where stacker cranes or climbing robots perform core storage and retrieval operations. For example, after picking up goods from the receiving area, the AGV travels along the main channel to the entrance of the Class A bin vertical storage area, completes the material transfer, and then returns to the receiving area or goes to other task points along the original path, avoiding intersections with the operating paths of stacker cranes and climbing robots.

[0039] For the planning of the three-dimensional operation flow of storage equipment, it is divided into Class A storage bin area and Class B palletized storage area; such as Figure 4 As shown, Figure 4 This is a schematic diagram of the overall operation route for the material bin area in a Class A warehouse. For the automated storage and retrieval system (AS / RS) area where material bins are stored, climbing robots operate on guide rails on their dedicated shelves. The work surface for picking and placing goods (buffer station) is spatially and temporally distinct from the transfer surface where AGVs connect with materials. Upon receiving materials, AGVs transport them to the receiving temporary storage area or the receiving entrance. After manual palletizing and barcode scanning, the AGVs transport the materials from the receiving temporary storage area to the receiving entrance. The climbing robot then retrieves the goods from the receiving entrance and places the bins on the designated shelf location along the guide rails. Upon outbound, the climbing robot retrieves goods from the shelf to the outbound workstation, where manual picking is performed before the AGV transports the goods out of the warehouse, achieving separation of the workflow. Figure 5 As shown, in the palletized automated storage and retrieval system (AS / RS) area for pallet storage, the stacker crane is confined to its fixed aisle, performing horizontal X-axis movement and vertical Z-axis lifting motion; the RGV (Automated Guided Vehicle) performs linear Y-axis transport along a track between the port of the corresponding aisle and the buffer zone in front of the warehouse. The paths of the stacker crane and the RGV converge at a fixed junction point at the conveyor line at the aisle port. Through precise program control and communication coordination, controllable transfer of materials between the AGV, RGV, and stacker crane is achieved, avoiding overlapping and conflicting movement paths.

[0040] Finally, a unidirectional main flow route for global material flow is set. Within the warehouse's fixed aisle system, based on the principles of functional zoning and optimal operational efficiency, the unidirectional material flow direction of specific main aisles is defined logically. The main aisle on the east side of the warehouse primarily serves the inbound material flow, with AGVs transporting goods awaiting entry along this direction; the main aisle on the west side primarily serves the outbound material flow, with AGVs transporting goods awaiting dispatch along this direction, forming a globally organized and clearly directional large-scale loop, avoiding large-scale two-way cross-transportation.

[0041] Through the implementation of the above-mentioned operation flow optimization scheme, the operational safety of the single-story automated warehouse of the nuclear power plant has been significantly improved, and the risk of equipment collision has been reduced by more than 90%. The operational efficiency has been significantly improved, with material entry and exit times shortened by 20% and 15% respectively, and equipment utilization rate increased to more than 85%. This effectively solves the problem caused by the overlapping of the original warehouse operation flow and meets the high standards required by the nuclear power plant for the storage system.

[0042] In one embodiment, an operational dynamic and static line optimization system for a single-story automated warehouse in a nuclear power plant is provided, the system comprising: The spatial logic partitioning module is used to generate virtual or actual deployment schemes for electronic fences, laser warning zones, or ground marking lines based on the fixed layout and material flow model of the warehouse, in order to define isolated areas; The equipment path planning module is used to plan dedicated operation paths for AGVs, stacker cranes, rail shuttles (RGVs) and / or climbing robots, and to determine the intersection rules between different equipment paths; The global flow control module is used to set and execute the main flow logic of unidirectional material flow in the warehouse channel model.

[0043] Furthermore, in this embodiment, the system also includes an equipment collaborative control module, which is communicatively connected to the spatial logic partitioning module, the equipment path planning module, and the global flow control module. The equipment collaborative control module is used to send control commands to the AGV, the stacker crane, the RGV, and / or the climbing robot according to the generated path and flow logic, and to receive their status feedback, so as to realize dynamic scheduling and collision avoidance.

[0044] In one embodiment, an electronic device is provided, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement all the steps of the method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant mentioned in this invention.

[0045] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements all the steps of the method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant, as described in this invention.

[0046] Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for optimizing the dynamic and static work lines of a single-story automated warehouse in a nuclear power plant, characterized in that, The physical layout of the automated warehouse is fixed, and it is equipped with at least Automated Guided Vehicles (AGVs) and stacker cranes. The method includes the following steps: S1: Analyze the fixed functional zones of the warehouse. Based on the flow logic of materials in the process of receiving, storing, picking and leaving the warehouse, logically divide and isolate the personnel operation area and the automated equipment operation area by setting up one or more of the following methods: electronic fence, laser warning zone or ground marking line. S2: Plan a horizontal transport route for the AGV that does not penetrate deep into the core working area of ​​the stacker crane; at the same time, in the storage area containing the stacker crane and the rail shuttle RGV, plan the working paths of the stacker crane and the RGV to intersect at a fixed junction point. S3: In the fixed channel system of the warehouse, set up unidirectional main traffic lines to serve different material flows, so as to guide the overall materials to form an orderly cycle.

2. The method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant as described in claim 1, characterized in that, In step S1, the analysis of the material flow logic includes determining the role of each functional area as the starting point, transfer point, and end point of the material flow, as well as the direction of material flow and the handover nodes between functional areas.

3. The method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant as described in claim 1, characterized in that, In step S2, the storage area further includes a vertical storage unit for storing bins, which is equipped with climbing robots. The method also includes: Plan the working path of the climbing robot on the dedicated shelf guide rail, and separate the picking and placing operation surface of the climbing robot from the material contact surface of the AGV in space.

4. The method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant as described in claim 1, characterized in that: In step S2, the fixed handover point is a handover station equipped with a conveyor located at the end of the pallet vertical warehouse aisle, used to realize the controllable transfer of pallets between the AGV, the RGV and the stacker crane.

5. The method for optimizing the dynamic and static lines of a single-story automated warehouse in a nuclear power plant as described in claim 1, characterized in that, In step S3, the setting of the unidirectional main traffic flow includes: One or more main channels are planned to primarily serve the flow of incoming materials, while another or more different main channels are planned to primarily serve the flow of outgoing materials.

6. A method for optimizing the dynamic and static lines of operation in a single-story automated warehouse of a nuclear power plant, as described in any one of claims 1 to 5, characterized in that: The automated warehouse is a single-story warehouse with a ground load of not less than 5T / m² and a fire rating of Class C.

7. A system for optimizing the static and dynamic lines of operation in a single-story automated warehouse of a nuclear power plant, used to implement the method according to any one of claims 1 to 6, characterized in that, The system includes: The spatial logic partitioning module is used to generate virtual or actual deployment schemes for electronic fences, laser warning zones, or ground marking lines based on the fixed layout and material flow model of the warehouse, in order to define isolated areas; The equipment path planning module is used to plan dedicated operation paths for AGVs, stacker cranes, rail shuttle RGVs and / or climbing robots, and to determine the intersection rules between different equipment paths; The global flow control module is used to set and execute the main flow logic of unidirectional material flow in the warehouse channel model.

8. The operational dynamic and static line optimization system for a single-story automated warehouse in a nuclear power plant as described in claim 7, characterized in that: The system also includes an equipment collaborative control module, which is communicatively connected to the spatial logic partitioning module, the equipment path planning module, and the global flow control module. The equipment collaborative control module is used to send control commands to the AGV, the stacker crane, the RGV, and / or the climbing robot according to the generated path and flow logic, and to receive their status feedback, so as to realize dynamic scheduling and collision avoidance.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for optimizing the dynamic and static lines of operation in a single-story automated warehouse of a nuclear power plant as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for optimizing the dynamic and static lines of operation in a single-story automated warehouse of a nuclear power plant as described in any one of claims 1 to 6.

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