CN110589328A - Dangerous goods warehouse double-forklift simultaneous operation line planning method based on warehouse chain - Google Patents
Dangerous goods warehouse double-forklift simultaneous operation line planning method based on warehouse chain Download PDFInfo
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- CN110589328A CN110589328A CN201910845179.3A CN201910845179A CN110589328A CN 110589328 A CN110589328 A CN 110589328A CN 201910845179 A CN201910845179 A CN 201910845179A CN 110589328 A CN110589328 A CN 110589328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to a dangerous goods warehouse double-forklift simultaneous operation line planning method based on a storage chain, which takes an intercommunicated dangerous goods warehouse as an object and a dangerous goods warehouse simultaneously in and out as a background, and belongs to the field of dangerous goods warehouse management. The method comprises the following steps: A. formulating a forklift operation rule and giving a definition of a dangerous goods warehousing operation warehousing chain; B. formulating two-stage monitoring of dangerous goods forklift scheduling, and dividing the complete time period of warehousing operation into a key monitoring time period and a conventional monitoring time period; C. calculating a safety function of warehousing operation until any forklift stops working; D. calculating a comprehensive evaluation function of the forklift operation line in warehousing operation; E. establishing a management preference vector of dangerous goods warehousing operation; F. and determining the optimal dispatching strategy of the forklift through the comprehensive evaluation index of the forklift running line in the warehousing operation.
Description
Technical Field
In order to better manage and avoid a second type of danger source in dangerous article warehousing operation and solve the problem of forklift line planning in the novel intercommunicated dangerous article warehousing process, the invention provides a concept of a key monitoring time period of the intercommunicated dangerous article warehousing operation based on a warehousing chain concept of the dangerous article warehousing operation, provides a forklift safety degree function, a comprehensive evaluation function of a forklift operation line and a warehousing operation management preference vector, further provides a comprehensive evaluation index of the forklift operation line of the dangerous article warehousing operation, and provides support for forklift operation line planning. The invention relates to a dangerous goods warehouse double-forklift simultaneous operation line planning method based on a storage chain, and belongs to the field of dangerous goods warehouse management.
Background
According to investigation, the current domestic dangerous goods warehouse is mainly flat. On the basis of the progress of building materials, the academic world has the concept of communicating dangerous goods warehouses at present, but the dangerous goods warehouses belong to fresh things after all, and research is less. In order to provide support for the operation of communicating dangerous goods warehouses and warehousing the dangerous goods warehouses simultaneously, the following two works are urgently needed to be carried out: firstly, in order to realize simultaneous warehouse-in and warehouse-out operation, matching between a warehouse-in pile position and a warehouse-out pile position of a dangerous goods warehouse is required to be realized in the warehouse-in operation; and secondly, in order to realize efficient and safe operation of warehousing operation, a forklift operation line during warehousing operation needs to be planned. In consideration of the fact that the existing dangerous goods warehousing operation is low in digitization level, the randomness of a forklift operation line is high, and the existing dangerous goods warehousing operation is mainly dependent on forklift drivers, the method takes the simultaneous warehousing and warehousing operation of the double forklifts in and out of an intercommunicated dangerous goods warehouse as the background, the warehousing operation time period is divided into the conventional monitoring time period and the key monitoring time period, the safety degree of the key monitoring time period is taken as the core, the comprehensive evaluation index of the forklift operation line in the warehousing operation is given, and a brand-new forklift operation line determining method is given, so that the warehousing operation efficiency is improved on the premise of ensuring the safety.
Disclosure of Invention
The invention provides a novel dangerous goods warehouse double-forklift simultaneous working line planning method based on a storage chain, aiming at the problem of novel warehouse storage operation of a warehouse with a leveling intercommunication dangerous goods warehouse and double forklifts simultaneously. By using the method, the forklift storage operation time interval can be divided into two time intervals of conventional monitoring and key monitoring, the safety degree of storage operation and the comprehensive evaluation index of the forklift operation line of the storage operation are given, and the automation level of the existing dangerous goods storage operation can be improved.
In order to achieve the purpose, the dangerous goods warehouse double-forklift simultaneous operation line planning method based on the storage chain comprises the following steps:
(A) and (4) formulating the operation rule of the forklift and providing the definition of the dangerous goods warehousing operation chain.
The operation rule of the forklift is as follows: the forklift firstly takes out goods to be warehoused from a container outside a dangerous goods warehouse door, the warehoused goods are stored in a warehousing pile position through driving, then empty vehicles drive to a warehouse-out pile position, the goods to be warehoused are taken out and conveyed to a warehouse-out container at the door of the dangerous goods warehouse, and one-time closed-loop transportation is completed; the forklift needs to complete a plurality of closed-loop transports in one complete warehousing operation;
the definition of the dangerous goods storage operation chain is as follows: in one-time warehousing operation, a forklift needs to carry out closed-loop transportation for multiple times between an in-out warehouse container and a dangerous goods warehouse stack; in one warehousing task, all warehousing operation closed-loop transportation of one forklift is called a warehousing operation chain, the serial number of the forklift is marked as k, k is 1 and 2, and the operation chain of the forklift k in one warehousing operation is marked as lk(ii) a The warehousing operation chain pair corresponding to the two forklifts is (l) recorded as the completion of one warehousing task1,l2)。
B. And establishing a two-stage monitoring method for dispatching the dangerous goods forklift, and dividing the complete time period of the warehousing operation into a key monitoring time period and a conventional monitoring time period.
(B1) The distance between two forklifts is calculated before any forklift stops working when the forklift carries out warehouse entry and warehouse exit operation, and the forklifts mostly run in a straight line and a broken line in a dangerous goods warehouse, so the invention selects the broken line distance d between the two forklifts as the embodiment of the distance of the forklifts, wherein d is | at-xt|+|bt-ytL. Wherein (a)t,bt) And (x)t,yt) Respectively are the coordinates of the two forklifts at the t-th moment.
(B2) When two forklifts carry out warehousing and ex-warehouse operation simultaneously, the fork is setThreshold d of inter-vehicle distance0(the threshold value is generally 3 times of the turning radius of the forklift truck); when the distance between fork carriages is less than a given threshold d0When the distance between fork cars is larger than the threshold d, the warehousing operation enters a key monitoring state0And meanwhile, the warehousing operation enters a conventional monitoring state.
C. And calculating a safety function of the warehousing operation until any forklift stops working.
The storage task operation time interval is recorded as T0,T1]In a time period [ T ]0,T1]All possible pairs of warehousing operation chains of two forklifts are { (l)1i,l2i) 1,2, …, N, where N is the number of all possible pairs of warehousing jobs in a warehousing job task; recording the important monitoring time length corresponding to the ith pair of warehousing operation chains as tiThe average distance between two forklifts in the key monitoring time period of warehousing operation is diMemory for recordingSafety degree function S corresponding to storage operation chain of i pairs of two forklifts in storage operationiComprises the following steps:
wherein ω is1And ω2Respectively the weight parameters of the key monitoring time and the key monitoring space in the calculation of the safety degree, and omega1+ω2＝1。
D. And calculating a comprehensive evaluation function of the forklift operation line in warehousing operation.
Recording the total operation time of the forklift k in the ith pair of warehousing operation chains as tkiK is 1,2, let ti＝t1i+t2iRecording the total operation time of two forklifts in the i-th warehousing operation chainAs an efficiency function corresponding to the ith pair of warehousing operation chains,the ith comprehensive evaluation function P of the operation line of the warehousing operation chain forklifti(i.e., the overall evaluation index) is:
wherein w1And w2Wherein the weight parameters of the key monitoring time and the key monitoring space in the calculation of the comprehensive evaluation function are respectively, and w1+w2＝1。
E. And establishing a management preference vector of the dangerous goods warehousing operation.
Take omega to omega1,ω2,w1,w2The management preference vector corresponding to the operation line planning of the warehousing operation forklift is defined, wherein omega1+ω2＝1，w1+w21, and four parameters in the preference vector are given by a warehouse manager according to the warehousing operation environment; and the evaluation method can obtain the safety degree of the operation of the warehousing operation forklift and the comprehensive evaluation index of the operation line of the forklift by assigning the preference vector.
F. And determining the optimal dispatching strategy of the forklift through the comprehensive evaluation index of the forklift running line in the warehousing operation.
Recording the comprehensive evaluation index of the forklift operation line of the two forklifts in the ith pair of warehousing operation chains as PiMemory for recordingThenCorresponding ith*The pair of warehousing chains is the optimal warehousing chain, and the forklift operation line corresponding to the pair of warehousing chains is the optimal operation line.
The novel planning method for the double-forklift route of the flat-bin dangerous goods warehouse can plan the route for the forklift, can better fuse subjective and objective decision information, provides decision support for the operation of the storage enterprise, and improves the operating efficiency of the storage enterprise on the premise of ensuring safety.
Drawings
FIG. 1 is a schematic diagram of an intercommunicating hazardous materials warehouse;
FIG. 2 is a schematic representation of a grid representation of a hazardous materials warehouse plane;
FIG. 3 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The application object of the invention is a warehouse for communicating dangerous goods, and the assembly structure is shown in figure 1. In order to better represent the real-time positions of warehouse-out points, warehouse-in points and material transporting forklifts, the geometric structure of a dangerous goods warehouse is subjected to gridding processing, the length of one forklift is used as a minimum unit of gridding, a plane rectangular coordinate system is established by taking the lower boundary and the left boundary of the warehouse as x and y axes to mark the positions of all points, and details are shown in figure 2.
As shown in fig. 3, the invention provides a method for planning a simultaneous operation line of two forklifts of a novel hazardous material flat warehouse based on a storage chain, which comprises the following steps:
(A) and giving the definition of the storage chain of the dangerous goods storage operation.
First, an application background, namely a six-door hazardous material warehouse, is given, and detailed in fig. 1. C in FIG. 11Is a warehouse container, C2And C3Is a warehouse-out container. In one warehousing task, p1,p1,…,p5Five warehousing points and q1,q1,…,q5Five ex-warehouse points can be obtained according to the arrangement knowledge, and the warehousing operation has 125 matching schemes. The general routes of two forklifts required to operate under different matching schemes are shown in an attached table 1. From the traversal result, the best matching scheme is found under the 38 th matching scheme, and the warehousing job task at this time includes the matching scheme: p is a radical of1Point of storage and q4Match of ex-warehouse points, p2Point of storage and q2Match of ex-warehouse points, p3Point of storage and q5Match of ex-warehouse points, p4Point of storage and q1Match of ex-warehouse points, p5Point of storage and q3And matching the ex-warehouse points. Pairing conditions at the warehouse-in and warehouse-out pointsUnder the condition, the running distance of the two forklifts in the whole task period is the shortest and is 150 meters. According to the definition of the warehousing operation chain, the scheme that two forklift operation lines intersect at the same time point and are easy to collide is eliminated, and 98 pairs of warehousing chains meet the requirements in total.
(A1) Recording the position of the forklift at the time t as F1(at,bt) And F2(xt,yt). At the initial time, both the two forklifts are at the warehousing pile position, and the coordinates of the two forklifts are (4, 2) and (12, 2) in fig. 2 and are respectively marked as F1(a0,b0) And F2(x0,y0). Then, two forklifts are respectively piled from the warehouse1And C2Taking goods to prepare for warehousing operation, and t is consumed for taking goods1'minute'. Then the goods are driven to a warehousing point for warehousing operation, the goods are put down after reaching the warehousing point, and the time t for putting down the goods is consumed2And in minutes, driving to a delivery point corresponding to the warehousing point operation according to the matching result of the warehousing point and the delivery point, and grabbing the delivery goods.
(A2) The forklift drives the goods out of the warehouse to the warehouse out stacking position, and the forklift puts down the goods and judges whether warehouse entry operation is to be completed. If the task still exists, the warehouse-in and warehouse-out pile position outside the warehouse is connected with the straight road to the warehouse-in and warehouse-out pile position, and the closed-loop transportation of the warehouse-in and warehouse-out operation is completed. If the warehousing operation is not to be completed, the stack is stopped at the ex-warehouse stack at the moment, meanwhile, the calculation of the safety index is stopped, and the whole warehousing operation is completed. All warehousing operation round trips of one forklift are called warehousing operation chains, the number of the forklift is recorded as k (k is 1,2), and the operation chain of the forklift k in one warehousing operation is recorded as lk(k is 1, 2). The warehousing operation chain pair corresponding to the two forklifts is (l) after the completion of one warehousing task1,l2)。
(B) A two-stage monitoring method for dispatching the dangerous goods forklift is provided, and a threshold value for distinguishing two types of monitoring time periods is taken as 3 m.
(C) According to the step (C) in the technical scheme, a safety function of warehousing operation is calculated.
(D) According to the step (D) in the technical scheme, a comprehensive evaluation function of the forklift operation line in the warehousing operation is calculated.
(E) And establishing a dangerous goods warehousing operation management preference vector. For the sake of convenience of calculation, the value Ω of the preference vector in this example is {0.5, 0.5, 0.8, 0.2 }. Furthermore, a comprehensive evaluation index corresponding to 125 pairs of warehousing chains can be obtained through the comprehensive evaluation index and the preference vector of the warehousing operation forklift operation line. See attached table 2 for details.
(F) The overall evaluation result of scheme 8 obtained according to appendix 2 was the highest, where the time efficiency was 2.04 minutes, the safety index was 1.2651, and the scheduling scheme evaluation index was 1.5616. Therefore, scheme 8 is an optimal forklift travel route.
Attached table 1 total distance traveled by two forklifts in each possible pairing scenario
Evaluation results of all possible warehouse chain pairs of attached Table 2
Claims (1)
1. A dangerous goods warehouse double-forklift simultaneous operation line planning method based on a warehouse chain is characterized by comprising the following steps:
(A) formulating the operation rule of the forklift, and giving out the definition of the dangerous goods warehousing operation chain:
the operation rule of the forklift is as follows: the forklift firstly takes out goods to be warehoused from a container outside a dangerous goods warehouse door, the warehoused goods are stored in a warehousing pile position through driving, then empty vehicles drive to a warehouse-out pile position, the goods to be warehoused are taken out and conveyed to a warehouse-out container at the door of the dangerous goods warehouse, and one-time closed-loop transportation is completed; the forklift needs to complete a plurality of closed-loop transports in one complete warehousing operation;
the definition of the dangerous goods storage operation chain is as follows: in one-time warehousing operation, a forklift needs to carry out closed-loop transportation for multiple times between an in-out warehouse container and a dangerous goods warehouse stack; in one warehousing task, all warehousing operation closed-loop transportation of one forklift is called a warehousing operation chain, the serial number of the forklift is marked as k, k is 1 and 2, and the operation chain of the forklift k in one warehousing operation is marked as lk(ii) a The warehousing operation chain pair corresponding to the two forklifts is (l) recorded as the completion of one warehousing task1,l2)；
B. Formulating a two-stage monitoring method for dispatching the dangerous goods forklift, and dividing the complete period of the warehousing operation into a key monitoring period and a conventional monitoring period:
(B1) calculating the distance between two forklifts before any forklift stops working and the broken line distance d between two forklifts is selected as the forklift distance, wherein d ═ at-xt|+|bt-ytL, |; wherein (a)t,bt) And (x)t,yt) Coordinates of the two forklifts at the t moment are respectively;
(B2) when two forklifts carry out warehouse-in and warehouse-out operation simultaneously, a threshold value d for determining the distance between the forklifts0The threshold value is 3 times of the turning radius of the forklift; when the distance between fork carriages is less than a given threshold d0When the distance between fork cars is larger than the threshold d, the warehousing operation enters a key monitoring state0In time, warehousing operation enters a conventional monitoring state;
C. calculating a safety function of warehousing operation until any forklift stops working:
the storage task operation time interval is recorded as T0,T1]In a time period [ T ]0,T1]All possible pairs of warehousing operation chains of two forklifts are { (l)1i,l2i) 1,2, …, N, where N is the number of all possible pairs of warehousing jobs in a warehousing job task; note the ith pair of warehouseThe length of the key monitoring time corresponding to the operation chain is tiThe average distance between two forklifts in the key monitoring time period of warehousing operation is diMemory for recordingSafety degree function S corresponding to storage operation chain of i pairs of two forklifts in storage operationiComprises the following steps:
wherein ω is1And ω2Respectively the weight parameters of the key monitoring time and the key monitoring space in the calculation of the safety degree, and omega1+ω2＝1；
D. Calculating a comprehensive evaluation function of the forklift operation line in warehousing operation:
recording the total operation time of the forklift k in the ith pair of warehousing operation chains as tkiK is 1,2, let ti＝t1i+t2iRecording the total operation time of two forklifts in the i-th warehousing operation chainAs an efficiency function corresponding to the ith pair of warehousing operation chains,the ith comprehensive evaluation function P of the operation line of the warehousing operation chain forkliftiComprises the following steps:
wherein w1And w2Wherein the weight parameters of the key monitoring time and the key monitoring space in the calculation of the comprehensive evaluation function are respectively, and w1+w2＝1；
E. Establishing a management preference vector of dangerous goods warehousing operation: take omega to omega1,ω2,w1,w2The management preference vector corresponding to the operation line planning of the warehousing operation forklift is defined, wherein omega1+ω2＝1，w1+w21, and four parameters in the preference vector are given by a warehouse manager according to the warehousing operation environment; evaluating the preference vector to obtain the running safety of the warehousing operation forklift and the comprehensive evaluation index of the running line of the forklift;
F. determining the optimal dispatching strategy of the forklift through the comprehensive evaluation index of the forklift running line in warehousing operation: recording the comprehensive evaluation index of the forklift operation line of the two forklifts in the ith pair of warehousing operation chains as PiMemory for recordingThenCorresponding ith*The pair of warehousing chains is the optimal warehousing chain, and the forklift operation line corresponding to the pair of warehousing chains is the optimal operation line.
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