CN110716452A - Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle - Google Patents
Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle Download PDFInfo
- Publication number
- CN110716452A CN110716452A CN201911126892.9A CN201911126892A CN110716452A CN 110716452 A CN110716452 A CN 110716452A CN 201911126892 A CN201911126892 A CN 201911126892A CN 110716452 A CN110716452 A CN 110716452A
- Authority
- CN
- China
- Prior art keywords
- shuttle
- time
- logistics
- dispatching
- control server
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010845 search algorithm Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to a dispatching simulation method based on an intelligent stereoscopic warehouse of a multilayer shuttle, which comprises the following steps: initialization: establishing communication between a scheduling control server and an analog automation equipment controller; establishing a model: editing and establishing a logistics simulation model on a scheduling control server, wherein the logistics simulation model corresponds to an intelligent stereoscopic warehouse based on a multilayer shuttle vehicle; path calculation: the scheduling control server loads different logistics tasks to obtain a scheduling path of the logistics tasks; and (3) simulation execution: the scheduling control server sends the path scheduling instruction to the analog automation equipment controller, and the analog automation equipment controller starts simulation execution and feeds back information in real time; and (4) calculating a conclusion: and calculating the time consumption of a single logistics task and the warehouse efficiency. The scheduling efficiency of the stereoscopic warehouse can be obtained for reference through simulation, a dynamic graph is drawn according to simulated data, the dynamic graph is observed through calculation of position data displayed by the dynamic graph, and scheduling logic is verified.
Description
Technical Field
The invention relates to a simulation method, in particular to a dispatching simulation method based on an intelligent stereoscopic warehouse of a multilayer shuttle vehicle.
Background
The intelligent stereoscopic warehouse has the advantages that the related equipment is numerous, the engineering quantity is large, the scheduling efficiency is visual perception of the use of a client, the adjustment of the scheduling efficiency can be omitted in the primary stage of technical development, an engineer can be dispatched after actual products are delivered, the fine development is started, the delivery of the entity equipment is not achieved, the client wants to know how the future scheduling efficiency of the project is, the scheduling efficiency is written into the technical specification even when some project orders are set, the on-site software regulation and control cannot be expected to be achieved, a scientific and normative calculation scheme for scheduling the stereoscopic warehouse is required, and simulation is a better means undoubtedly.
Some factors needing to be considered can be scientifically set through simulation, the simulation result is close to the effect of an actual product, but too many twigs and minor branches are not suitable to be considered through simulation, the actual scheduling process is very difficult to simulate, or a large amount of calculation is needed after simulation, so that the simulation is not practical for simple engineering. How to choose the model is worth discussing.
In addition, the on-site debugging of a new product is time-consuming, labor-consuming and low in efficiency at present, the debugging can not be carried out in a short time in most cases, and the debugging is not accurate enough. If a set of feasible simulation method is provided, debugging personnel can establish a virtual library which is the same as the actual product, then various task scheduling, searching and calculation scheduling problems are carried out on the virtual library, the future debugging work is paved, the debugging time can be greatly shortened, and the product can be delivered and used in advance.
Based on multilayer shuttle car intelligence stereoscopic warehouse, mainly need the shuttle to carry the workbin in stereoscopic warehouse, go out the warehouse entry, perhaps move the storehouse, can combine to use the lifting machine to carry out the conversion between stereoscopic warehouse each layer simultaneously to can use the conveyer to carry on horizontal transport etc..
Disclosure of Invention
In order to solve the technical problems, the invention establishes a dispatching simulation method based on the intelligent stereoscopic warehouse of the multilayer shuttle vehicle by considering the factors meeting the actual requirements, can obtain the total efficiency of the stereoscopic warehouse, and solves the actual requirements of the engineering.
The technical scheme of the invention is as follows: a dispatching simulation method based on a multilayer shuttle car intelligent stereoscopic warehouse comprises the following steps:
(1) initialization: the method comprises the steps that signal communication is established between a dispatching control server and an analog automation equipment controller, the dispatching control server has the functions of inputting, calculating and displaying, the analog automation equipment controller is loaded with actually-measured parameter information of logistics equipment operation, the operation is carried out according to the instruction of the dispatching control server, and the operated data are fed back to the dispatching control server in real time;
(2) establishing a model: editing and establishing a logistics simulation model on a dispatching control server, wherein the logistics simulation model corresponds to an intelligent stereoscopic warehouse based on a multilayer shuttle car, at least comprises information of a bin, size information of a shelf, parameter information of the shuttle car, a lifter and a conveyor and the number of the shuttle car;
(3) route calculation: the dispatching control server loads different logistics tasks, the logistics tasks are converted into the workload of a shuttle car, a lifting machine and a conveyor, and the workload is the work load of conveying a specified number of material boxes and the determined warehousing equipment ports and ex-warehousing equipment ports; calculating and planning the route of the logistics task of each logistics device according to the parameter information of the shuttle, the hoister and the conveyor and the information of the material box, and performing avoidance scheduling when the route conflicts;
(4) and (3) simulation execution: the scheduling control server sends the path scheduling instruction to the analog automation equipment controller, and the analog automation equipment controller starts simulation execution and feeds back information in real time;
(5) and (4) calculating a conclusion: the dispatching control server counts and analyzes all the logistics task simulation logs, and calculates the time consumption of a single logistics task; the warehouse efficiency based on the intelligent stereoscopic warehouse of the multilayer shuttle can be calculated by the time consumption of a single logistics task and the number of the material boxes entering and exiting the warehouse.
Further, the parameter information of the bin comprises the dimensions in the X-axis direction and the Y-axis direction.
Further, the parameter information of the shuttle, the elevator and the conveyor comprises: the operation mode of the shuttle car, the maximum speed of the shuttle car in the X-axis direction, the acceleration/deceleration in the X-axis direction, the maximum speed of the trolley in the Y-axis direction, the acceleration/deceleration in the Y-axis direction, the goods taking/unloading time, the rail changing time, the first-layer operation time of the elevator, the second-layer operation time of the elevator, the sectional operation time of the conveyor and the complete operation time of the conveyor.
Furthermore, the operation mode of the shuttle vehicle is that the single warehouse entry, the single warehouse exit or the warehouse entry and exit are alternately carried out.
Further, the avoiding scheduling in the event of the path collision means: when 2 or more than 2 shuttle vehicles exist, selecting the shuttle vehicle for executing the instruction according to the real-time position and the state of the shuttle vehicle, firstly judging whether the state of the shuttle vehicle has the instruction or not, if no instruction exists, then judging whether the direction of the shuttle vehicle is nearest to the X axis direction of the target position or not, if yes, selecting the shuttle vehicle for planning and executing, if not, judging whether the direction of the shuttle vehicle is nearest to the Y axis direction of the target position or not, if yes, selecting the shuttle vehicle for planning and executing, and if not, reselecting the shuttle vehicle. When the state of the shuttle vehicle is judged, if an instruction is judged, whether the instruction is a charging instruction is judged, if yes, the shuttle vehicle is reselected, if not, whether the electric quantity is enough to finish the task is judged, if yes, the distance from the target position is judged, and if not, the shuttle vehicle is reselected; and planning after selecting the shuttle car, taking the occupied points of other vehicles or the paths of tasks being executed by other vehicles for avoiding, judging whether the paths exist, if so, issuing the execution, and if not, reselecting the shuttle car or waiting.
Further, the time consuming method of calculating the individual logistics task is:
(1) according to the parameter information of the material box and the goods shelf and the parameter information of the shuttle car, the lifting machine and the conveyor, the distance S of the movement route of the equipment is obtained by combining the row and the layer of the target goods location of the logistics task;
(2) then according to the input maximum speed Vmax and the input acceleration A of the shuttle vehicle;
the time-consuming formula can be derived as follows:
S≤Vmax21/2A T at/2A2= S, X-axis running time T is obtainedxOr Y-axis running time Ty。
S≤Vmax2at/2A, Vmax2(v 2A + Vmax (T-Vmax/A) = S), obtaining TxOr Ty。
(3) The travel path of the shuttle car is combined, and the time for taking and unloading goods by the equipment is added to obtain the time consumption and the total time consumption T of the final single logistics taskGeneral assembly=Tx+Ty+TRail changing+TGoods taking device+TUnloading+TLifting of+TTransport ofTotal time consumption TGeneral assemblyEqual to X-axis run time Tx、Y-axis running time TyShuttle rail changing time TRail changingShuttle car goods taking time TGoods taking deviceUnloading time T of shuttle carUnloadingRunning time T of hoisterLifting ofConveyor run time TTransport ofAnd the time units are all seconds.
Further, the simulation calculated warehouse efficiency =3600 × the sum of the number of logistics tasks/total consumed time of all logistics tasks, in torr/hour.
Furthermore, the dispatching control server draws a dynamic graph according to the data simulated by the simulation automation equipment controller, and tests whether the paths conflict or not through the position data and the state information displayed by the dynamic graph.
Advantageous effects
1. The simulation method can realize the dispatching simulation based on the intelligent stereoscopic warehouse of the multilayer shuttle vehicle, and can obtain the dispatching efficiency of the stereoscopic warehouse through calculation.
2. Drawing a dynamic graph according to the simulated data, and verifying the scheduling logic through calculation of position data displayed by the dynamic graph or observation of the animation state, wherein the dynamic graphs have overlapping or conflict at a glance.
Drawings
FIG. 1 schematic representation of a rack and bin after setting
FIG. 2 is a schematic view of parameter information setting of a shuttle, a hoist, and a conveyor
FIG. 3 is a schematic view of the operation mode setting of the shuttle car
FIG. 4 is a schematic view of setting the workload
FIG. 5 logic diagram for a work shuttle selection method
FIG. 6 is a schematic diagram of a simulation calculation of path parameters
Fig. 7 is a diagram illustrating simulation results.
Detailed Description
The following explains the embodiments of the present invention with reference to the drawings.
A dispatching simulation method based on a multilayer shuttle car intelligent stereoscopic warehouse comprises the following steps:
(1) initialization: the method comprises the steps that signal communication is established between a dispatching control server and an analog automation equipment controller, the dispatching control server has the functions of inputting, calculating and displaying, the analog automation equipment controller is loaded with actually-measured parameter information of logistics equipment operation, the operation is carried out according to the instruction of the dispatching control server, and the operated data are fed back to the dispatching control server in real time;
(2) establishing a model: editing and establishing a logistics simulation model on a dispatching control server, wherein the logistics simulation model corresponds to an intelligent stereoscopic warehouse based on a multilayer shuttle car, at least comprises information of a bin, size information of a shelf, parameter information of the shuttle car, a lifter and a conveyor and the number of the shuttle car;
(3) route calculation: the dispatching control server loads different logistics tasks, the logistics tasks are converted into the workload of a shuttle car, a lifting machine and a conveyor, and the workload is the work load of conveying a specified number of material boxes and the determined warehousing equipment ports and ex-warehousing equipment ports; calculating and planning the route of the logistics task of each logistics device according to the parameter information of the shuttle, the hoister and the conveyor and the information of the material box, and performing avoidance scheduling when the route conflicts;
(4) and (3) simulation execution: the scheduling control server sends the path scheduling instruction to the analog automation equipment controller, and the analog automation equipment controller starts simulation execution and feeds back information in real time;
(5) and (4) calculating a conclusion: the dispatching control server counts and analyzes all the logistics task simulation logs, and calculates the time consumption of a single logistics task; the warehouse efficiency based on the intelligent stereoscopic warehouse of the multilayer shuttle can be calculated by the time consumption of a single logistics task and the number of the material boxes entering and exiting the warehouse.
As shown in fig. 1, the bin parameter information includes dimensions in the X-axis direction and the Y-axis direction. The specification of a typical conventional bin is as follows, in mm: specification one: 280 (X direction) 600 (Y direction); paper box
Specification two: 340 (X direction) 600 (Y direction); paper box
The specification three is as follows: 400 (X direction) 600 (Y direction); paper box
The specification four: 400 (X direction) 600 (Y direction); plastic box
As shown in fig. 1, the size information of the shelf is as follows, in mm:
column diameter: 90
Beam thickness: 60
Safe interval in tray X direction: 100
The safe distance between the shelf and the left upright column in the X direction is as follows: 100
The safe distance between the Y direction of the goods shelf and the left upright column is as follows: 100
Safe interval of tray Y direction: 60
The safe distance between the Y direction of the goods shelf and the upper beam is as follows: 60
The safe distance between the Y direction of the goods shelf and the lower beam is as follows: 60
Spacing of the shelves in the Y direction: 880
The specification and the size of the goods shelf are as follows: 2190/1290
As shown in fig. 2, the parameter information of the shuttle, the hoist and the conveyor includes: the operation mode of the shuttle car, the maximum speed of the shuttle car in the X-axis direction, the acceleration/deceleration in the X-axis direction, the maximum speed of the trolley in the Y-axis direction, the acceleration/deceleration in the Y-axis direction, the goods taking/unloading time, the rail changing time, the first-layer operation time of the elevator, the second-layer operation time of the elevator, the sectional operation time of the conveyor and the complete operation time of the conveyor. These parameters are selected from a large number of parameters, the most significant of which represent the key parameters by which distance and run time calculations can be made.
As shown in fig. 3, the shuttle car operates in a single garage. The single warehousing is that the shuttle transports the material box conveyed by the conveyor to the designated goods position, and the empty vehicle returns to continue warehousing until all tasks are completed.
Performing the avoidance scheduling in the case of the path collision means, as shown in fig. 5: when 2 or more than 2 shuttle vehicles exist, selecting the shuttle vehicle for executing the instruction according to the real-time position and the state of the shuttle vehicle, firstly judging whether the state of the shuttle vehicle has the instruction or not, if no instruction exists, then judging whether the direction of the shuttle vehicle is nearest to the X axis direction of the target position or not, if yes, selecting the shuttle vehicle for planning and executing, if not, judging whether the direction of the shuttle vehicle is nearest to the Y axis direction of the target position or not, if yes, selecting the shuttle vehicle for planning and executing, and if not, reselecting the shuttle vehicle. When the state of the shuttle vehicle is judged, if an instruction is judged, whether the instruction is a charging instruction is judged, if yes, the shuttle vehicle is reselected, if not, whether the electric quantity is enough to finish the task is judged, if yes, the distance from the target position is judged, and if not, the shuttle vehicle is reselected; and planning after selecting the shuttle car, taking the occupied points of other vehicles or the paths of tasks being executed by other vehicles for avoiding, judging whether the paths exist, if so, issuing the execution, and if not, reselecting the shuttle car or waiting.
Further, the time consuming method of calculating the individual logistics task is:
(1) according to the parameter information of the material box and the goods shelf and the parameter information of the shuttle car, the lifting machine and the conveyor, the distance S of the movement route of the equipment is obtained by combining the row and the layer of the target goods location of the logistics task;
(2) then according to the input maximum speed Vmax and the input acceleration A of the shuttle vehicle;
the time-consuming formula can be derived as follows:
S≤Vmax21/2A T at/2A2= S, X-axis running time T is obtainedxOr Y-axis running time Ty。
S≤Vmax2at/2A, Vmax2(v 2A + Vmax (T-Vmax/A) = S), obtaining TxOr Ty。
(3) The travel path of the shuttle car is combined, and the time for taking and unloading goods by the equipment is added to obtain the time consumption and the total time consumption T of the final single logistics taskGeneral assembly=Tx+Ty+TRail changing+TGoods taking device+TUnloading+TLifting of+TTransport ofAnd the time units are all seconds. As shown in fig. 7, obtaining a single task through simulation is time consuming.
The simulation calculated warehouse efficiency =3600 x the sum of the number of logistics tasks/total consumed time of all logistics tasks, and the unit is Torr/hour.
Furthermore, the dispatching control server draws a dynamic graph according to the data simulated by the simulation automation equipment controller, and tests whether the paths conflict or not through the position data and the state information displayed by the dynamic graph. The situation of path conflict can be intuitively observed through the motion picture.
Example 2
The path planning method can adopt a general method, for example, assuming that distances between nodes are equal, paths of 4 transverse lines and 4 longitudinal lines have 16 nodes in total, nodes from left to right and from top to bottom are respectively nodes from number 1 to number 16, and an optimal path from point 1 to point 16 needs to be found, and the basic idea of the algorithm is as follows: 1. set the starting point 1 as accessed and put it on the stack. 2. See if the top node V has a node that is reachable and not pushed and has not been visited from this node. 3. If so, the node found is pushed. 4. If not, the value of each element in the set of the node V accessed to the next node is zero, and V is popped. 5. And when the stack top element is the end point, setting that the end point is not accessed, printing the element in the stack, and popping up the stack top node. 6. The execution of 1-5 is repeated until the elements in the stack are empty. The path search algorithm can be used for obtaining the optimal path in the field of vehicle scheduling, and certainly, other common path algorithms can be used due to the fact that branches of each node need to be searched, the path search algorithm belongs to blind search and is relatively time-consuming.
On the basis, the node in embodiment 1 obtains the optimal path by adopting the algorithm as shown in fig. 6.
Claims (8)
1. A dispatching simulation method based on a multilayer shuttle car intelligent stereoscopic warehouse is characterized by comprising the following steps:
(1) initialization: the method comprises the steps that signal communication is established between a dispatching control server and an analog automation equipment controller, the dispatching control server has the functions of inputting, calculating and displaying, the analog automation equipment controller is loaded with actually-measured parameter information of logistics equipment operation, the operation is carried out according to the instruction of the dispatching control server, and the operated data are fed back to the dispatching control server in real time;
(2) establishing a model: editing and establishing a logistics simulation model on a dispatching control server, wherein the logistics simulation model corresponds to an intelligent stereoscopic warehouse based on a multilayer shuttle car, at least comprises information of a bin, size information of a shelf, parameter information of the shuttle car, a lifter and a conveyor and the number of the shuttle car;
(3) route calculation: the dispatching control server loads different logistics tasks, the logistics tasks are converted into the workload of a shuttle car, a lifting machine and a conveyor, and the workload is the work load of conveying a specified number of material boxes and the determined warehousing equipment ports and ex-warehousing equipment ports; calculating and planning the route of the logistics task of each logistics device according to the parameter information of the shuttle, the hoister and the conveyor and the information of the material box, and performing avoidance scheduling when the route conflicts;
(4) and (3) simulation execution: the scheduling control server sends the path scheduling instruction to the analog automation equipment controller, and the analog automation equipment controller starts simulation execution and feeds back information in real time;
(5) and (4) calculating a conclusion: the dispatching control server counts and analyzes all the logistics task simulation logs, and calculates the time consumption of a single logistics task; the warehouse efficiency based on the intelligent stereoscopic warehouse of the multilayer shuttle can be calculated by the time consumption of a single logistics task and the number of the material boxes entering and exiting the warehouse.
2. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle car as claimed in claim 1, wherein the parameter information of the bin comprises dimensions in an X-axis direction and a Y-axis direction.
3. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle car as claimed in claim 2, wherein the parameter information of the shuttle car, the hoister and the conveyor comprises: the operation mode of the shuttle car, the maximum speed of the shuttle car in the X-axis direction, the acceleration/deceleration in the X-axis direction, the maximum speed of the trolley in the Y-axis direction, the acceleration/deceleration in the Y-axis direction, the goods taking/unloading time, the rail changing time, the first-layer operation time of the elevator, the second-layer operation time of the elevator, the sectional operation time of the conveyor and the complete operation time of the conveyor.
4. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle car as claimed in claim 3, wherein the operation mode of the shuttle car is that the shuttle car enters the warehouse singly, leaves the warehouse singly or enters and exits the warehouse alternately.
5. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle vehicle as claimed in claim 2, wherein the avoiding dispatching during the path conflict is as follows: when 2 or more than 2 shuttle vehicles exist, selecting the shuttle vehicle for executing the instruction according to the real-time position and the state of the shuttle vehicle, firstly judging whether the state of the shuttle vehicle has the instruction or not, if no instruction exists, then judging whether the direction of the shuttle vehicle is nearest to the X axis direction of a target position or not, if yes, selecting the shuttle vehicle for planning and executing, if not, judging whether the direction of the shuttle vehicle is nearest to the Y axis direction of the target position or not, if yes, selecting the shuttle vehicle for planning and executing, otherwise, reselecting the shuttle vehicle;
when the state of the shuttle vehicle is judged, if an instruction is judged, whether the instruction is a charging instruction is judged, if yes, the shuttle vehicle is reselected, if not, whether the electric quantity is enough to finish the task is judged, if yes, the distance from the target position is judged, and if not, the shuttle vehicle is reselected; and planning after selecting the shuttle car, taking the occupied points of other vehicles or the paths of tasks being executed by other vehicles for avoiding, judging whether the paths exist, if so, issuing the execution, and if not, reselecting the shuttle car or waiting.
6. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle vehicle as claimed in claim 5, wherein the calculated time-consuming method of the single logistics task is as follows:
(1) according to the parameter information of the material box and the goods shelf and the parameter information of the shuttle car, the lifting machine and the conveyor, the distance S of the movement route of the equipment is obtained by combining the row and the layer of the target goods location of the logistics task;
(2) then according to the input maximum speed Vmax and the input acceleration A of the shuttle vehicle;
the time-consuming formula can be derived as follows:
S≤Vmax21/2A T at/2A2= S, X-axis running time T is obtainedxOr Y-axis running time Ty；
S≤Vmax2at/2A, Vmax2(T-Vmax/A) = S) of/2A + Vmax, and the X-axis operation time T is obtainedxOr Y-axis running time Ty；
(3) The travel path of the shuttle car is combined, and the time for taking and unloading goods by the equipment is added to obtain the time consumption and the total time consumption T of the final single logistics taskGeneral assemblyEqual to X-axis run time Tx、Y-axis running time TyShuttle rail changing time TRail changingShuttle car goods taking time TGoods taking deviceUnloading time T of shuttle carUnloadingRunning time T of hoisterLifting ofConveyor run time TTransport ofAnd the time units are all seconds.
7. The dispatching simulation method based on the intelligent stereoscopic warehouse with the multi-layer shuttle cars as claimed in claim 6, wherein the calculated warehouse efficiency =3600 x sum of the number of logistics tasks/total consumed time of all logistics tasks in unit of torr/hour.
8. The dispatching simulation method based on the intelligent stereoscopic warehouse of the multi-layer shuttle car according to claim 1 or 7, wherein the dispatching control server draws an image according to data simulated by the simulation automation equipment controller, and tests whether paths conflict through position data and state information displayed by the image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911126892.9A CN110716452A (en) | 2019-11-18 | 2019-11-18 | Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911126892.9A CN110716452A (en) | 2019-11-18 | 2019-11-18 | Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110716452A true CN110716452A (en) | 2020-01-21 |
Family
ID=69215167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911126892.9A Pending CN110716452A (en) | 2019-11-18 | 2019-11-18 | Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110716452A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112434875A (en) * | 2020-12-03 | 2021-03-02 | 浙江明度智控科技有限公司 | Equipment path management method, system and server for intelligent warehousing |
| CN112632798A (en) * | 2021-01-05 | 2021-04-09 | 上海品顺信息科技有限公司 | Simulation test method, device, equipment and storage medium of warehouse management system |
| CN113436463A (en) * | 2021-06-28 | 2021-09-24 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
| CN113525990A (en) * | 2021-07-30 | 2021-10-22 | 广州佳帆计算机有限公司 | Method and device for warehousing commodities based on shuttle path |
| CN113885466A (en) * | 2021-11-15 | 2022-01-04 | 意欧斯物流科技(上海)有限公司 | AGV scheduling algorithm simulation system |
| CN114626794A (en) * | 2022-05-17 | 2022-06-14 | 山东西曼克技术有限公司 | Internet of things-based warehousing vertical warehouse shuttle vehicle path planning method and system |
| CN115352785A (en) * | 2022-08-18 | 2022-11-18 | 安歌科技(集团)股份有限公司 | Logistics simulation system for carrying annular RGVs |
| CN115793496A (en) * | 2022-12-05 | 2023-03-14 | 珠海创智科技有限公司 | Dispatching simulation method and system for AGV logistics system |
| CN115829175A (en) * | 2022-11-10 | 2023-03-21 | 太原福莱瑞达物流设备科技有限公司 | Goods storage operation route selection method, device, system and medium for dense warehouse |
| CN116238834A (en) * | 2022-12-08 | 2023-06-09 | 湖北凯乐仕通达科技有限公司 | Method and device for planning working path of stereoscopic warehouse system and computer equipment |
| CN117556637A (en) * | 2023-12-29 | 2024-02-13 | 珠海格力智能装备有限公司 | Method, device, equipment and storage medium for simulating operation of feed bin library shuttle |
| CN118154104A (en) * | 2024-05-11 | 2024-06-07 | 中科微至科技股份有限公司 | Logistics management method of stereoscopic warehouse system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008009818A (en) * | 2006-06-30 | 2008-01-17 | Mitsubishi Heavy Ind Ltd | Storehouse simulation system and method |
| CN101369291A (en) * | 2008-09-09 | 2009-02-18 | 清华大学深圳研究生院 | Storage simulator |
| CN105858043A (en) * | 2016-05-27 | 2016-08-17 | 陕西科技大学 | Lifter and shuttle vehicle combined warehousing system dispatch optimizing method |
| CN109190840A (en) * | 2018-09-21 | 2019-01-11 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of freezer shuttle dispatching management information system and dispatching method |
| CN109933813A (en) * | 2017-12-15 | 2019-06-25 | 北京京东尚科信息技术有限公司 | Efficiency calculation method and device based on emulation, storage medium, electronic equipment |
-
2019
- 2019-11-18 CN CN201911126892.9A patent/CN110716452A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008009818A (en) * | 2006-06-30 | 2008-01-17 | Mitsubishi Heavy Ind Ltd | Storehouse simulation system and method |
| CN101369291A (en) * | 2008-09-09 | 2009-02-18 | 清华大学深圳研究生院 | Storage simulator |
| CN105858043A (en) * | 2016-05-27 | 2016-08-17 | 陕西科技大学 | Lifter and shuttle vehicle combined warehousing system dispatch optimizing method |
| CN109933813A (en) * | 2017-12-15 | 2019-06-25 | 北京京东尚科信息技术有限公司 | Efficiency calculation method and device based on emulation, storage medium, electronic equipment |
| CN109190840A (en) * | 2018-09-21 | 2019-01-11 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of freezer shuttle dispatching management information system and dispatching method |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112434875A (en) * | 2020-12-03 | 2021-03-02 | 浙江明度智控科技有限公司 | Equipment path management method, system and server for intelligent warehousing |
| CN112434875B (en) * | 2020-12-03 | 2021-07-30 | 浙江明度智控科技有限公司 | Equipment path management method, system and server for intelligent warehousing |
| CN112632798A (en) * | 2021-01-05 | 2021-04-09 | 上海品顺信息科技有限公司 | Simulation test method, device, equipment and storage medium of warehouse management system |
| CN113436463A (en) * | 2021-06-28 | 2021-09-24 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
| CN113436463B (en) * | 2021-06-28 | 2022-05-20 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
| CN113525990A (en) * | 2021-07-30 | 2021-10-22 | 广州佳帆计算机有限公司 | Method and device for warehousing commodities based on shuttle path |
| CN113885466A (en) * | 2021-11-15 | 2022-01-04 | 意欧斯物流科技(上海)有限公司 | AGV scheduling algorithm simulation system |
| CN114626794B (en) * | 2022-05-17 | 2022-08-09 | 山东西曼克技术有限公司 | Internet of things-based warehousing vertical warehouse shuttle vehicle path planning method and system |
| CN114626794A (en) * | 2022-05-17 | 2022-06-14 | 山东西曼克技术有限公司 | Internet of things-based warehousing vertical warehouse shuttle vehicle path planning method and system |
| CN115352785A (en) * | 2022-08-18 | 2022-11-18 | 安歌科技(集团)股份有限公司 | Logistics simulation system for carrying annular RGVs |
| CN115829175A (en) * | 2022-11-10 | 2023-03-21 | 太原福莱瑞达物流设备科技有限公司 | Goods storage operation route selection method, device, system and medium for dense warehouse |
| CN115829175B (en) * | 2022-11-10 | 2023-11-24 | 太原福莱瑞达物流设备科技有限公司 | Goods storage operation route selection method, device, system and medium for dense warehouse |
| CN115793496A (en) * | 2022-12-05 | 2023-03-14 | 珠海创智科技有限公司 | Dispatching simulation method and system for AGV logistics system |
| CN115793496B (en) * | 2022-12-05 | 2023-10-13 | 珠海创智科技有限公司 | Scheduling simulation method and system of AGV logistics system |
| CN116238834A (en) * | 2022-12-08 | 2023-06-09 | 湖北凯乐仕通达科技有限公司 | Method and device for planning working path of stereoscopic warehouse system and computer equipment |
| CN116238834B (en) * | 2022-12-08 | 2024-01-02 | 湖北凯乐仕通达科技有限公司 | Method and device for planning working path of stereoscopic warehouse system and computer equipment |
| CN117556637A (en) * | 2023-12-29 | 2024-02-13 | 珠海格力智能装备有限公司 | Method, device, equipment and storage medium for simulating operation of feed bin library shuttle |
| CN118154104A (en) * | 2024-05-11 | 2024-06-07 | 中科微至科技股份有限公司 | Logistics management method of stereoscopic warehouse system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110716452A (en) | Dispatching simulation method based on intelligent stereoscopic warehouse of multilayer shuttle | |
| da Costa Barros et al. | Robotic mobile fulfillment systems: A survey on recent developments and research opportunities | |
| Lee et al. | Robotics in order picking: evaluating warehouse layouts for pick, place, and transport vehicle routing systems | |
| CN107512515A (en) | Unmanned intelligent compact storage management method and warehousing system | |
| CN105446343B (en) | A kind of dispatching method and device of robot | |
| CN105836356B (en) | A kind of intensive warehousing system hybrid optimization dispatching method | |
| Koster et al. | Routing orderpickers in a warehouse: a comparison between optimal and heuristic solutions | |
| CN103942670B (en) | Steel strand finished product storage and distribution method | |
| CN107678433B (en) | Loading and unloading equipment scheduling method considering AGV collision avoidance | |
| CN104346658B (en) | System dynamic dispatching method is accessed based on the automatic vehicle for improving banker's algorithm | |
| KR101660162B1 (en) | Automated guided vehicle system based on autonomous mobile technique and a method for controlling the same | |
| CN110817223A (en) | Scheduling simulation method based on intelligent three-dimensional warehouse of stacker | |
| Vasili et al. | Automated storage and retrieval systems: a review on travel time models and control policies | |
| CN106773686A (en) | With piler scheduling path model method for building up under the double car operational modes of rail | |
| Angra et al. | Comparison and evaluation of job selection dispatching rules for integrated scheduling of multi-load automatic guided vehicles serving in variable sized flexible manufacturing system layouts: A simulation study | |
| Uludağ | GridPick: A high density puzzle based order picking system with decentralized control | |
| Zammori et al. | Cycle time calculation of shuttle-lift-crane automated storage and retrieval system | |
| Saravanan et al. | An artificial bee colony algorithm for design and optimize the fixed area layout problems | |
| AU2021308322B2 (en) | A controller and method for transporting devices | |
| Kluska | Support the decision processes in management through the automatic generation of simulation models of warehouses | |
| CN114399247A (en) | Task allocation method, electronic device, storage medium, and computer program product | |
| Siciliano et al. | Synergy between Shuttles and Stacker Cranes in Dynamic Hybrid Pallet Warehouses: Control Strategies and Performance Evaluation | |
| Lupin et al. | Data Structure and Simulation of the Centralized Control System for Transport Robots | |
| JP6887041B1 (en) | Warehouse control generalization methods, equipment, systems, programs, and recording media | |
| CN208790626U (en) | Materials handling system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200121 |
|
| RJ01 | Rejection of invention patent application after publication |