WO2022262863A1

WO2022262863A1 - Shelf moving method, warehousing system, and computer storage medium

Info

Publication number: WO2022262863A1
Application number: PCT/CN2022/099566
Authority: WO
Inventors: 冯雄锋; 王元元
Original assignee: 上海快仓智能科技有限公司
Priority date: 2021-06-18
Filing date: 2022-06-17
Publication date: 2022-12-22
Also published as: CN113306947B; CN113306947A

Abstract

A shelf moving method, comprising: S11, calculating, on the basis of initial parameter configuration of shelves and storage points, a popularity attribute value of each shelf; S12, determining the popularity attribute of each shelf on the basis of the arrangement sequence of the popularity attribute values of the shelves and proportions of storage points; S13, calculating moving gains of the shelves on the basis of the degree of mismatch between the popularity attributes of the shelves and popularity attributes of the storage points and moving distances of the shelves; S14, formulating a global moving scheme of the shelves on the basis of the moving gains of the shelves; and S15, assigning moving tasks to transport vehicles on the basis of the global moving scheme. According to the method, the movement distances of the shelves can be reduced, the operation time can be shortened, and accurate and efficient shelf moving can be implemented.

Description

货架移位方法、仓储***以及计算机存储介质Shelf shifting method, storage system and computer storage medium

相关申请的交叉引用Cross References to Related Applications

本申请要求享有于2021年06月18日提交的名称为“货架移位方法、仓储***以及计算机存储介质”的中国专利申请202110676329.X的优先权，该申请的全部内容通过引用并入本文中This application claims priority to Chinese patent application 202110676329.X filed on June 18, 2021, entitled "Shelf Shifting Method, Storage System, and Computer Storage Medium", the entire content of which is incorporated herein by reference

技术领域technical field

本公开涉及仓储管理技术领域，尤其涉及一种货架移位方法、仓储***以及计算机可读存储介质。The present disclosure relates to the technical field of storage management, in particular to a shelf shifting method, a storage system and a computer-readable storage medium.

背景技术Background technique

仓储是物流中的重要环节，直接反映着物资在流通前及流通中的状况，是企业判断生产销售情况的依据。Warehousing is an important link in logistics, which directly reflects the status of materials before and during circulation, and is the basis for enterprises to judge production and sales.

仓库的主要作业是货品的入库、在库管理和出库作业。入库、出库的作业时间一般较短，而货品在库时间较长，因此货品的在库管理是仓库的重要工作。货位管理就是指在货品进入仓库之后，对货品如何处理、如何放置、放置在何处等进行合理有效的规划和管理。现代仓储业的发展越来越要求仓库职能由原来的重视商品保管转变为重视商品的流通，因此进货、配货、出货的储位管理环节就显得十分关键，对仓库中货品的流动性控制要求也很高。良好的储存策略和布局可以减少入库移动的距离、缩短作业时间、保障货品品质，甚至能够充分利用储存空间。The main operations of the warehouse are the warehousing, inventory management and outbound operations of goods. The operation time of storage and delivery is generally short, but the storage time of goods is longer, so the management of goods in storage is an important task of the warehouse. Location management refers to the reasonable and effective planning and management of how to handle, how to place, and where to place the goods after they enter the warehouse. The development of the modern warehousing industry increasingly requires that the function of the warehouse be changed from the original emphasis on commodity storage to the circulation of commodities. Therefore, the storage management link of purchase, distribution, and shipment is very critical, and the flow control of goods in the warehouse It is also very demanding. A good storage strategy and layout can reduce the moving distance of storage, shorten the operation time, ensure the quality of goods, and even make full use of storage space.

背景技术部分的内容仅仅是公开人所知晓的技术，并不当然代表本领域的现有技术。The content in the background section is only the technology known to the public, and does not necessarily represent the prior art in the field.

发明内容Contents of the invention

本申请的目的之一是提供一种货架移位方法，至少解决仓库的货架的移位管理的问题。One of the purposes of the present application is to provide a shelf shifting method, which at least solves the problem of shelf shift management in a warehouse.

本申请实施例第一方面提供一种货架移位方法，包括：The first aspect of the embodiment of the present application provides a shelf shifting method, including:

S11：基于货架和存储点的初始参数配置，计算每个货架热度属性的值；S11: Calculate the value of the heat attribute of each shelf based on the initial parameter configuration of the shelf and storage point;

S12：基于货架热度属性的值的排列顺序以及存储点占比，确定每个货架的热度属性；S12: Determine the heat attribute of each shelf based on the arrangement order of the value of the shelf heat attribute and the proportion of storage points;

S13：基于货架的热度属性与存储点的热度属性的不匹配度以及货架的移位距离，计算货架的移位增益；S13: Calculate the displacement gain of the shelf based on the mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf;

S14：基于货架的移位增益，制定货架的全局移位方案；和S14: Based on the shift gain of the shelf, formulate a global shift scheme for the shelf; and

S15：基于全局移位方案，向搬运车分配移位任务。S15: Based on the global shifting scheme, assign shifting tasks to the transport vehicles.

本申请实施例第二方面提供一种仓储***,包括多个存储点、多个货架、搬运车和控制装置每个存储点具有热度属性；多个货架分布在存储点，每个货架具有热度属性；控制装置与搬运车通讯，并且配置成可获知货架的位置，并可执行如上的货架移位方法。The second aspect of the embodiment of the present application provides a storage system, which includes multiple storage points, multiple shelves, transport vehicles and control devices. Each storage point has a heat attribute; multiple shelves are distributed in the storage point, and each shelf has a heat attribute. ; The control device communicates with the transport vehicle, and is configured to know the position of the shelf, and execute the above shelf shifting method.

本申请实施例还提供一种计算机可读存储介质，包括存储于其上的计算机可执行指令，可执行指令在被处理器执行时实施如上的货架移位方法。The embodiment of the present application also provides a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above shelf shifting method when executed by a processor.

采用本申请的技术方案，计算货架的热度属性值并确定货架的热度属性，然后衡量货架与存储点的热度属性不匹配度以计算货架的移位收益，制定全局移位方案并向搬运车分配移位任务，实现准确高效的货架移位。Using the technical solution of this application, calculate the heat attribute value of the shelf and determine the heat attribute of the shelf, then measure the mismatch degree of the heat attribute between the shelf and the storage point to calculate the shifting income of the shelf, formulate a global shifting plan and distribute it to the truck shifting tasks to achieve accurate and efficient shelf shifting.

附图说明Description of drawings

图1a示出了本申请一个实施例的存储点包括2种热度属性的示意图；Figure 1a shows a schematic diagram of a storage point including two heat attributes according to an embodiment of the present application;

图1b示出了本申请一个实施例的存储点包括3种热度属性的示意图；Figure 1b shows a schematic diagram of a storage point including three heat attributes in an embodiment of the present application;

图1c示出了本申请一个实施例的货架移动距离的示意图；Figure 1c shows a schematic diagram of the moving distance of the shelf according to one embodiment of the present application;

图1d示出了本申请一个实施例的存储点坐标系的示意图；Figure 1d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application;

图2示出了本申请一个实施例的货架移位方法流程图；Fig. 2 shows the flow chart of the shelf shifting method of one embodiment of the present application;

图3示出了本申请一个实施例的货架移位方法之S13的流程图；Fig. 3 shows the flow chart of S13 of the shelf shifting method of one embodiment of the present application;

图4示出了本申请一个实施例的货架移位方法之S14的流程图；Fig. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application;

图5示出了本申请一个实施例的货架移位方法之S15的流程图；Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application;

图6示出了本申请另一个实施例的货架移位方法流程图；FIG. 6 shows a flowchart of a shelf shifting method according to another embodiment of the present application;

图7a示出了本申请一个实施例的存储点到工作站距离的示意图；Figure 7a shows a schematic diagram of the distance from a storage point to a workstation according to an embodiment of the present application;

图7b示出了本申请一个实施例的存储点热度属性分布示意图；Fig. 7b shows a schematic diagram of distribution of heat attributes of storage points according to an embodiment of the present application;

图7c示出了本申请一个实施例的移位前货架热度属性与存储点热度属性的对比示意图；Fig. 7c shows a schematic diagram of the comparison between the heat attribute of the shelf before shifting and the heat attribute of the storage point according to an embodiment of the present application;

图7d示出了本申请一个实施例的存储点坐标系示意图；Fig. 7d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application;

图7e示出了本申请一个实施例的移位后货架热度属性与存储点热度属性的对比示意图。Fig. 7e shows a schematic diagram of the comparison between the heat attribute of the shelf after shifting and the heat attribute of the storage point according to an embodiment of the present application.

具体实施方式detailed description

在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本发明申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个特征。在本发明申请的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。在本发明申请的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明申请中的具体含义。In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined. In the description of the application of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection: it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the mutual communication of two components role relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the application of the present invention according to specific situations.

下文的公开提供了许多不同的实施方式或例子用来实现本发明申请的不同结构。为了简化本发明申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明申请。此外，本发明申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different implementations or examples for realizing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the application of the invention. Furthermore, the present application may repeat reference numerals and/or reference letters in different instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. Additionally, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

仓储***包括存储点、货架和商品，分别对应不同的热度属性。其中，存储点的热度属性可由客户指定，一般根据存储点与工作站的距离确定，或者说根据存储点到工作站的距离，将全场的存储点分成指定类别的热度属性。为方便描述，将存储区域划分为网格，每个网格对应一个存储点。图1a示出了***中存储点的热度属性共有2种，例如热度属性A和热度属性B，其中热度属性为A的存储点距离工作站较近，热度较高；热度属性为B的存储点距离工作站较远，热度较低；图1b示出了***中存储点的热度属性共有3种，例如热度属性A、热度属性B和热度属性C，其中热度属性为A的存储点距离工作站最近，热度最高；热度属性为C的存储点距离工作站最远，热度最低。参考图1c，网格中的数字代表到工作站的移动距离，移动距离为1或2的存储点的热度最高(红色区域)，移动距离为3的存储点的热度其次(黄色区域)，移动距离为4-6的存储点的热度最低(蓝色区域)。商品的热度可由客户指定，或者可以根据商品的历史拣选数据计算得到。而货架的热度则需要根据货架上存放的商品热度和商品数量来决定，货架上存放的商品随着拣选和补货不断变化，合理地计算货架的热度能够使得货架热度移位更加准确，进一步提高热度移位对拣选效率提升。The storage system includes storage points, shelves and commodities, which correspond to different heat attributes. Among them, the heat attribute of the storage point can be specified by the customer, and is generally determined according to the distance between the storage point and the workstation, or in other words, according to the distance between the storage point and the workstation, the storage points in the whole site are divided into specified categories of heat attributes. For the convenience of description, the storage area is divided into grids, and each grid corresponds to a storage point. Figure 1a shows that there are two heat attributes of storage points in the system, such as heat attribute A and heat attribute B, where the heat attribute is A storage point is closer to the workstation, and the heat is higher; the heat attribute is B The storage point distance The workstation is far away and the heat is low; Figure 1b shows that there are three heat attributes of storage points in the system, such as heat attribute A, heat attribute B, and heat attribute C. The highest; the storage point whose heat attribute is C is the farthest from the workstation, and the heat is the lowest. Referring to Figure 1c, the numbers in the grid represent the moving distance to the workstation. The storage point with a moving distance of 1 or 2 has the highest heat (red area), and the storage point with a moving distance of 3 has the second heat (yellow area). Storage points 4-6 have the lowest heat (blue area). The heat of the product can be specified by the customer, or can be calculated based on the historical picking data of the product. The heat of the shelf needs to be determined according to the heat and quantity of the goods stored on the shelf. The goods stored on the shelf are constantly changing with the selection and replenishment. Reasonable calculation of the heat of the shelf can make the heat shift of the shelf more accurate and further improve Heat shift improves picking efficiency.

以下结合附图对本申请的可选实施例进行说明，应当理解，此处所描述的可选实施例仅用于说明和解释本申请，并不用于限定本申请。The optional embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be understood that the optional embodiments described here are only used to illustrate and explain the present application, and are not intended to limit the present application.

本申请实施例第一方面提供的一种货架移位方法，如图2所示，货架移位方法10包括：A rack shifting method provided in the first aspect of the embodiment of the present application, as shown in FIG. 2 , the rack shifting method 10 includes:

在S11：基于货架和存储点的初始参数配置，计算每个货架的热度属性值。In S11: Based on the initial parameter configuration of the shelves and storage points, calculate the heat attribute value of each shelf.

根据本申请的一个可选实施例，其中货架和存储点的初始参数配置包括货架的数量、存储点的数量、每种热度属性的值或每种热度属性的存储点占比中的一项或多项。According to an optional embodiment of the present application, wherein the initial parameter configuration of shelves and storage points includes one of the number of shelves, the number of storage points, the value of each thermal attribute or the proportion of storage points of each thermal attribute multiple.

具体地，仓储***中商品、货架和存储点的热度属性共有m种，第i种热度属性的值为w _i，其中i∈(1,2,…,m)。根据本申请的一个可选实施例，热度属性值越大，热度越高。 Specifically, there are m types of heat attributes of commodities, shelves, and storage points in the storage system, and the value of the i-th heat attribute is w _i , where i∈(1,2,...,m). According to an optional embodiment of the present application, the greater the heat attribute value, the higher the heat.

一种方法是由用户设定每种热度属性的值w，以确保热度越高的属性的w值越大。例如，m＝3时，i∈(1,2,3)，设第1种热度属性为A，w ₁设为6；设第2种热度属性为B，w ₂设为4；设第3种热度属性为C，w ₃设为2。 One method is to set the value w of each heat attribute by the user, so as to ensure that the value of w is larger for the attribute with higher heat. For example, when m=3, i∈(1,2,3), set the first heat attribute as A, set w ₁ as 6; set the second heat attribute as B, set w ₂ as 4; set the third The heat attribute is C, and w ₃ is set to 2.

以仓储点的热度属性的值为例，热度属性A的w ₁值最大，热度最高，距离工作站最近(参考图1b中热度属性为A的存储点)；热度属性C的w ₃值最小，热度最低，距离工作站最远(参考图1b中热度属性为C的存储点)。 Taking the value of the heat attribute of a storage point as an example, the w1 value of heat attribute _A is the largest, the heat is the highest, and is the closest to the workstation (refer to the storage point whose heat attribute is _A in Figure 1b); the heat attribute C has the smallest w3 value, and the heat The lowest and the farthest away from the workstation (refer to the storage point whose heat attribute is C in Figure 1b).

对于商品的热度属性的值，可由客户指定，或者可以根据商品的历史拣选数据计算得到。例如对于被拣选频率或数量最高的商品，其热度属性的值最大；被拣选频率或数量最低的商品，其热度属性的值最低。The value of the heat attribute of the product can be specified by the customer, or can be calculated based on the historical picking data of the product. For example, the product with the highest picking frequency or quantity has the largest heat attribute value; the product with the lowest picking frequency or quantity has the lowest heat attribute value.

根据热度高低对热度属性值从大到小排序的话，另一种设定热度属性的值的方法如下：If you sort the value of the heat attribute from large to small according to the heat level, another way to set the value of the heat attribute is as follows:

第i种热度属性的值w _i＝m-i+1，例如m＝3，i＝1时，第1种热度属性为A，计算w ₁＝3-1+1＝3；i＝2时，第2种热度属性为B，计算w ₂＝3-2+1＝2；i＝3时，第3种热度属性为C，计算w ₃＝3-3+1＝1。亦即，热度属性A的w ₁值最大，热度最高，距离工作站最近(参考图1b中热度属性为A的存储点)或者拣选频率最高；热度属性C的w ₃值最小，热度最低，距离工作站最远(参考图1b中热度属性为C的存储点)或者拣选频率最高。 The value of the i-th heat attribute w _i =m-i+1, for example, when m=3, i=1, the first heat attribute is A, calculate w ₁ =3-1+1=3; when i=2 , the second heat attribute is B, and w ₂ =3-2+1=2 is calculated; when i=3, the third heat attribute is C, and w ₃ =3-3+1=1 is calculated. That is, the w ₁ value of heat attribute A is the largest, the heat is the highest, and it is the closest to the workstation (refer to the storage point with heat attribute A in Figure 1b) or the picking frequency is the highest; the heat attribute C has the smallest w ₃ value, the lowest heat, and the distance from the workstation The furthest (refer to the storage point whose heat attribute is C in Figure 1b) or the highest picking frequency.

以上介绍了两种设置热度属性的值的方法，根据本申请的一个可选实施例，接下来介绍另一种设置货架的热度属性的值的方法。由于货架的热度主要根据货架上存放的商品热度和商品数量来决定，而不同商品的单位体积相差很大，直接通过商品的数量来衡量商品对货架的热度属性的值的影响程度不是十分合理。因为货架中存放商品的最小存储单元为库位(例如货架上的托盘)，可选地，可以通过商品所占用的库位数来衡量商品对货架的热度属性的值的影响程度。当一个库位内存放多种商品时，该库位内存放的不同商品平分该库位，例如，某个库位中存放了3种商品，则不论这3种商品在库位中的占用体积是多大，它们均占用该库位的1/3，以此类推。Two methods for setting the value of the heat attribute are introduced above. According to an optional embodiment of the present application, another method for setting the value of the heat attribute of the shelf is introduced next. Since the heat of the shelf is mainly determined by the heat and quantity of the goods stored on the shelf, and the unit volume of different goods varies greatly, it is not very reasonable to directly measure the influence of the goods on the value of the heat attribute of the shelf by the number of goods. Because the minimum storage unit for storing commodities in a shelf is a storage location (for example, a pallet on the shelf), optionally, the degree of influence of the commodity on the value of the thermal attribute of the shelf can be measured by the number of storage spaces occupied by the commodity. When multiple commodities are stored in one storage location, the different commodities stored in this location will share the location equally. For example, if there are 3 kinds of commodities stored in a certain location, regardless of the volume occupied by these 3 kinds of commodities in the location How big is it, they all occupy 1/3 of the location, and so on.

根据本申请的一个可选实施例，基于货架上每种商品的热度属性的值以及该商品占用的库位数的比例，计算该货架的热度属性的值。According to an optional embodiment of the present application, the value of the heat attribute of the shelf is calculated based on the value of the heat attribute of each commodity on the shelf and the ratio of the number of storages occupied by the commodity.

首先，初始化货架中每一种热度属性的商品占用货架的库位数K _i＝0，(i＝1,2,..,m)；然后，遍历货架中所有非空库位，统计库位中商品的种类数q；接着，遍历库位中每一种商品，该商品所属的热度属性i的货架占用库位数K _i增加1/q；最后，根据如下公式计算货架的热度属性值V： First, initialize the number of shelves occupied by each heat attribute commodity in the shelf K _i =0, (i=1,2,...,m); then, traverse all non-empty locations in the shelf, and count the locations The number of types of commodities in q; Next, traverse each commodity in the storage location, and the number of shelves occupied by the shelf with the heat attribute _i to which the commodity belongs increases by 1/q; finally, calculate the heat attribute value V of the shelf according to the following formula :

其中，w _i是每种商品的热度属性的值，V值越大表示货架的热度属性值越大，货架的热度越高，空货架的热度属性值最低为0。 Among them, w _i is the value of the heat attribute of each commodity. The larger the value of V, the greater the value of the heat attribute of the shelf, the higher the heat of the shelf, and the lowest value of the heat attribute of an empty shelf is 0.

以上对单个货架的热度属性值的计算方法进行了说明，假设全场有N个货架，依次计算出每个货架的热度属性的值后，可选地，制作货架热度属性的值的信息表，当货架上的商品种类、数量或占用的库位数发生变化时，更新货架的热度属性的值以维护该信息表。The calculation method of the heat attribute value of a single shelf is explained above. Assuming that there are N shelves in the whole field, after calculating the value of the heat attribute of each shelf in turn, optionally, make an information table of the value of the heat attribute of the shelf. When the product type, quantity, or occupied storage space on the shelf changes, update the value of the heat attribute of the shelf to maintain the information table.

在S12：基于货架的热度属性的值的排序以及存储点占比，确定每个货架的热度属性。In S12: Determine the heat attribute of each shelf based on the sorting of the value of the heat attribute of the shelves and the proportion of storage points.

根据本申请的一个可选实施例，基于货架的热度属性的值从大到小对货架进行排序，再结合存储点占比确定货架的热度属性。According to an optional embodiment of the present application, the shelves are sorted from the largest to the smallest based on the value of the heat attribute of the shelves, and the heat attribute of the shelf is determined in combination with the proportion of storage points.

具体地，基于货架和存储点的初始参数配置，假设货架的数量为N，根据N个货架的热度属性的值从大到小对全场的货架进行排序，例如次序从1开始，依次为第1个货架、第2个货架……第N个货架，然后根据排序计算每种热度属性对应的货架数量。Specifically, based on the initial parameter configuration of shelves and storage points, assuming that the number of shelves is N, sort the shelves in the whole field from large to small according to the value of the heat attribute of N shelves, for example, the order starts from 1, followed by the first 1 shelf, the 2nd shelf...the Nth shelf, and then calculate the number of shelves corresponding to each heat attribute according to the sorting.

根据本申请的一个可选实施例，其中每种热度属性对应的货架数量与货架总数以及每种热度属性的存储点占比相关，根据热度属性的存储点占比分配货架，优先满足热度大的热度属性。According to an optional embodiment of the present application, the number of shelves corresponding to each heat attribute is related to the total number of shelves and the storage point ratio of each heat attribute, and the shelves are allocated according to the storage point ratio of the heat attribute, and priority is given to those with high heat Heat property.

具体地，当货架的热度属性的值的次序落在(lb _i,ub _i],i＝1,2,…,m的左开右闭区间内时，货架的热度属性为第i类，其中， Specifically, when the value order of the heat attribute of the shelf falls within the left open and right closed interval of (lb _i ,ub _i ], i=1,2,...,m, the heat attribute of the shelf is the i-th class, where ,

lb _i＝0，lb _i＝ub _i-1，ub _i＝lb _i+[p _i*N]， lb _i =0, lb _i =ub _i -1, ub _i =lb _i +[p _i *N],

其中区间长度为货架总数N与热度属性的存储点占比p _i之积的向上取整，亦即区间长度为该热度属性对应的货架数量。采用左开右闭区间，并且lb ₁＝0，是为了保证存储点占比p _i大于0且热度最高的热度属性(即次序1的热度属性值)至少有一个货架。例如，全场共有N＝5个货架，共有i＝3种热度属性，即热度属性A/B/C，设热度属性A的存储点占比p _i＝5％，热度属性B的存储点占比p _i＝85％，热度属性C的存储点占比p _i＝10％，则三种热度属性的货架数量分别： The length of the interval is rounded up from the product of the total number of shelves N and the proportion of storage points p _i of the heat attribute, that is, the length of the interval is the number of shelves corresponding to the heat attribute. The left-open and right-close interval is used, and lb ₁ =0, to ensure that the storage point ratio p _i is greater than 0 and the heat attribute with the highest heat (that is, the heat attribute value of order 1) has at least one shelf. For example, there are N=5 shelves in the whole venue, and there are i=3 heat attributes in total, that is, heat attribute A/B/C. Let the storage points of heat attribute A account for p _i =5%, and the storage points of heat attribute B account for Ratio p _i =85%, and the storage points of heat attribute C account for p _i =10%, then the number of shelves of the three heat attributes are respectively:

当i＝1时，热度属性为A，lb ₁＝0，ub ₁＝lb ₁+[p ₁*N]＝0+[5％*5]＝[0.25]＝1，则热度属性为A的货架的热度属性的值的取值区间为(0,1]，即热度属性为A的货架数量为1，包括第1个货架。 When i=1, the heat attribute is A, lb ₁ =0, ub ₁ =lb ₁ +[p ₁ *N]=0+[5%*5]=[0.25]=1, then the heat attribute is A The value range of the heat attribute of the shelf is (0,1], that is, the number of shelves with heat attribute A is 1, including the first shelf.

当i＝2时，热度属性为B，lb ₂＝ub ₂-1＝ub ₁＝1，ub ₂＝lb ₂+[p ₂*N]＝1+[85％*5]＝1+[4.25]＝1+5＝6，则热度属性为B的货架的热度属性的值的取值区间为(1,6]，理论上，热度属性为B的货架数量为5，包括第2-6个货架。因为一共只有5个货架，且热度属性A分到1个货架，所以热度属性B的货架数量只能为4个，即热度属性B的货架为第2个～第5个货架。 When i=2, the heat attribute is B, lb ₂ =ub ₂ -1=ub ₁ =1, ub ₂ =lb ₂ +[p ₂ *N]=1+[85%*5]=1+[4.25 ]=1+5=6, then the value interval of the value of the heat attribute of the shelf whose heat attribute is B is (1,6], theoretically, the number of shelves whose heat attribute is B is 5, including the 2nd to 6th Shelf. Because there are only 5 shelves in total, and heat attribute A is allocated to 1 shelf, so the number of shelves for heat attribute B can only be 4, that is, the shelves for heat attribute B are the second to fifth shelves.

当i＝3时，热度属性为C，lb3＝ub3-1＝ub2＝6，ub ₃＝lb ₃+[p ₃*N]＝6+[10％*5]＝6+[0.5]＝6+1＝7，则热度属性C的货架数量的取值区间为(6,7]，理论上，热度属性C的货架数量为1，包括第7个的货架，但因为一共只有5个货架，热度属性A分到1个货架，热度属性B分到4个货架时，热度属性C的货架数量只能为0。 When i=3, the heat attribute is C, lb3=ub3-1=ub2=6, ub ₃ =lb ₃ +[p ₃ *N]=6+[10%*5]=6+[0.5]=6 +1=7, then the value range of the number of shelves of heat attribute C is (6,7], theoretically, the number of shelves of heat attribute C is 1, including the 7th shelf, but because there are only 5 shelves in total, When the popularity attribute A is allocated to 1 shelf, and the popularity attribute B is allocated to 4 shelves, the number of shelves for the popularity attribute C can only be 0.

以上通过可选实施例对货架的热度属性的值的计算方法，以及确定每个货架的热度属性的方法进行了介绍，以下继续介绍货架移位方法10的其它步骤。The method for calculating the value of the heat attribute of the shelf and the method for determining the heat attribute of each shelf have been introduced through optional embodiments above, and other steps of the shelf shifting method 10 will be described below.

在S13：基于货架的热度属性与存储点的热度属性的不匹配度以及货架的移位距离，计算货架的移位增益。In S13 : based on the degree of mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf, the displacement gain of the shelf is calculated.

货架的移位增益是判断货架是否需要移位、对目标移位存储点的选择以及多货架相互移位的整体最优性的指标。对于单个货架的移位，如果移位增益大于0，说明移位是有利的；如果移位增益小于0，说明移位是无用的。同样地，对于多货架的相互移位，如果移位总增益是大于0的，说明整体移位是有利的；如果移位总增益小于0，说明整体移位是不合理的。The shifting gain of the shelf is an index to judge whether the shelf needs to be shifted, the selection of the target shifting storage point, and the overall optimality of mutual shifting of multiple racks. For the displacement of a single shelf, if the displacement gain is greater than 0, it means that the displacement is beneficial; if the displacement gain is less than 0, it means that the displacement is useless. Similarly, for the mutual shift of multiple shelves, if the total gain of the shift is greater than 0, it means that the overall shift is beneficial; if the total gain of the shift is less than 0, it means that the overall shift is unreasonable.

首先，需要把货架与存储点对应起来。对于每一种热度属性的货架，可以按照用户指定的存放位置的热度属性的优先级顺序存放，例如，指定的优先级顺序为{B:[B,A,C,D]}时，表示热度属性为B的货架优先存放在热度属性为B的存储点，其次是存放在热度属性为A的存储点，然后存放在是热度属性为C的存储点，最后存放在是热度属性为D的存储点。优先级顺序的集合也可称为货架可存放的存储点热度属性候选集。First of all, it is necessary to correspond the shelves with the storage points. For the shelf of each heat attribute, it can be stored according to the priority order of the heat attribute of the storage location specified by the user. For example, when the specified priority order is {B:[B,A,C,D]}, it means heat The shelf with the attribute B is first stored in the storage point with the heat attribute B, followed by the storage point with the heat attribute A, then the storage point with the heat attribute C, and finally the storage point with the heat attribute D point. The set of priority order can also be referred to as a candidate set of storage point heat attributes that can be stored on the shelf.

存储点的热度属性除用户指定外，还可以根据存储点与工作站的距离确定。根据本申请的一个可选实施例，根据存储点到工作站的距离，将全场存储点按照热度属性以及存储点占比分区并建立存储点坐标系。参考图1b，以左下存储点为原点建立存储点坐标系，即左下存储点的坐标为(0,0)，右上存储点的坐标为(4,3)，可以理解为，从原点开始向右移动4个存储点的距离，再向上移动3个存储点的距离。In addition to being specified by the user, the heat attribute of the storage point can also be determined according to the distance between the storage point and the workstation. According to an optional embodiment of the present application, according to the distance from the storage point to the workstation, the storage points in the whole field are partitioned according to the heat attribute and the proportion of the storage points, and the coordinate system of the storage points is established. Referring to Figure 1b, the storage point coordinate system is established with the lower left storage point as the origin, that is, the coordinates of the lower left storage point are (0,0), and the coordinates of the upper right storage point are (4,3), which can be understood as starting from the origin and moving to the right Move the distance of 4 storage points, and move up the distance of 3 storage points.

根据本申请的一个可选实施例，其中货架与存储点的热度属性不匹配度与货架可存放的存储点的热度属性的优先级顺序相关。为方便描述，以一个存储点存放一个货架为例，根据货架所在存储点的热度属性在优先级排序中的次序值，亦即，货架可存放位置热度属性候选集中的次序值(从0开始)，获取货架与其存储点的热度属性不匹配度。例如，候选集为{B:[B,A,C,D]}，其中第一个字母B代表货架的热度属性，中括号里的四个字母代表该货架可存放的存储点热度属性集合，四个字母的先后顺序代表优先级顺序。当热度属性为B的货架存放在热度属性为B的存储点时，次序值为0，不匹配度为0，即是相匹配的；存放在热度属性为A的存储点时，次序值为1，不匹配度为1；存放在热度属性为C的存储点时，次序值为2，不匹配度为2；存放在热度属性为D的存储点时，次序值为3，不匹配度为3。特别地，如果存储点上没有货架，存储点的热度属性在货架可存放位置热度属性候选集中的次序值记为0。According to an optional embodiment of the present application, the degree of mismatch between the heat attributes of the shelf and the storage point is related to the priority order of the heat attributes of the storage points that the shelf can store. For the convenience of description, take a storage point to store a shelf as an example, according to the order value of the heat attribute of the storage point where the shelf is located in the priority sorting, that is, the order value of the heat attribute candidate set of the storage position of the shelf (starting from 0) , to obtain the degree of mismatch between the heat attribute of the shelf and its storage point. For example, the candidate set is {B:[B,A,C,D]}, where the first letter B represents the heat attribute of the shelf, and the four letters in square brackets represent the set of heat attributes of the storage points that the shelf can store. The order of four letters represents the order of priority. When the shelf with heat attribute B is stored in the storage point with heat attribute B, the order value is 0, and the mismatch degree is 0, that is, it matches; when it is stored in the storage point with heat attribute A, the order value is 1 , the mismatch degree is 1; when it is stored in a storage point with a heat attribute of C, the order value is 2, and the mismatch degree is 2; when it is stored in a storage point with a heat attribute of D, the order value is 3, and the mismatch degree is 3 . In particular, if there is no shelf on the storage point, the order value of the heat attribute of the storage point in the candidate set of heat attribute of the storage position of the shelf is recorded as 0.

图3示出了本申请一个实施例的货架移位方法之S13的流程图，上述S13包括：Fig. 3 shows the flow chart of S13 of the shelf shifting method of an embodiment of the present application, and above-mentioned S13 comprises:

在S13-1：计算两个货架交换位置前，两个货架与各自存储点的热度属性不匹配度之和g1。移位前，根据两个货架各自在可存放的存储点热度属性候选集中的次序值，分别获取两个货架与其存储点的热度属性不匹配度，然后求和得到g1。In S13-1: before calculating the exchange positions of the two shelves, the sum g1 of the thermal attribute mismatch between the two shelves and their respective storage points. Before shifting, according to the order values of the two shelves in the heat attribute candidate set of storage points that can be stored, respectively obtain the degree of mismatch between the heat attributes of the two shelves and their storage points, and then sum them to obtain g1.

在S13-2：计算两个货架交换位置后，两个货架与各自新的存储点的热度属性不匹配度之和g2。移位后，再根据两个货架各自在可存放的存储点热度属性候选集中的次序值，分别获取两个货架与其存储点的热度属性不匹配度，然后求和得到g2。In S13-2: after calculating the exchange position of the two shelves, the sum g2 of the heat attribute mismatch between the two shelves and their respective new storage points. After shifting, according to the sequence values of the two shelves in the storage point heat attribute candidate set that can be stored, respectively obtain the mismatch degree of the heat attribute of the two shelves and the storage point, and then sum to obtain g2.

通过S13-1和S13-2获得两个货架交换位置前和交换位置后，与各自存储点之间的热度属性不匹配度的减少值(g1-g2)，不匹配度减少的越多(大于0)，移位越有益，移位增益越高。Obtain the reduction value (g1-g2) of the heat attribute mismatch degree between the two shelves before and after the exchange position through S13-1 and S13-2 with the respective storage points, the more the mismatch degree is reduced (greater than 0), the more beneficial the shift, the higher the shift gain.

在S13-3：基于存储点坐标系，计算两个货架交换位置后，两个货架的移位距离之和d。例如，左下存储点(0,0)存放的货架与右上存储点(4,3)存放的货架交换位置，左下存储点存放的货架移动到右上存储点时，移位距离为4+3＝7；右上存储点存放的货架移动到左下存储点时，移位距离为4+3＝7；两个货架的移位距离之和d＝7+7＝14。两个货架交换位置所需的移位距离越小，移位增益越大。In S13-3: Based on the storage point coordinate system, calculate the sum d of the displacement distances of the two shelves after the positions of the two shelves are exchanged. For example, the shelf stored in the lower left storage point (0,0) is exchanged with the shelf stored in the upper right storage point (4,3). When the shelf stored in the lower left storage point is moved to the upper right storage point, the shift distance is 4+3=7 ; When the shelves stored in the upper right storage point are moved to the lower left storage point, the displacement distance is 4+3=7; the sum of the displacement distances of the two shelves is d=7+7=14. The smaller the displacement distance required for two racks to exchange positions, the greater the displacement gain.

在S13-4：计算两个货架的移位增益h＝(g1-g2)-d/(2*d_max)，其中d_max为全场最大移位距离。In S13-4: Calculate the displacement gain h=(g1-g2)-d/(2*d_max) of the two shelves, where d_max is the maximum displacement distance of the whole field.

根据本申请的一个可选实施例，当移位后货架与存储点之间的热度属性不匹配度减少，移位收益大于0时，移位是有益的。According to an optional embodiment of the present application, when the heat attribute mismatch between the shelf and the storage point decreases after the shift, and the shift benefit is greater than 0, the shift is beneficial.

以上，基于移位前后货架和存储点的热度属性的不匹配度和移位距离计算出两个货架交换位置的移位增益。根据两个货架交换位置的移位增益计算方法可知，热度移位的第一优先级目标为减少货架与存储点之间的热度属性不匹配度，第二优先级目标为减少货架的移位距离。实际应用时，还需要将全场货架的位置交换综合考虑，以寻找移位增益最大的全局移位方案。Above, based on the mismatch degree of the thermal attributes of the shelf and the storage point before and after the shift and the shift distance, the shift gain of the exchange position of the two racks is calculated. According to the calculation method of the displacement gain of the exchange position of two shelves, it can be seen that the first priority goal of heat displacement is to reduce the thermal attribute mismatch between the shelf and the storage point, and the second priority goal is to reduce the displacement distance of the shelf . In practical applications, it is also necessary to comprehensively consider the position exchange of the entire field of shelves to find the global displacement scheme with the largest displacement gain.

在S14：基于货架的移位增益，制定货架的全局移位方案。In S14: based on the shift gain of the rack, formulate a global shift scheme for the rack.

当货架热度属性与存储点热度属性相同时，货架已达到最优位置，亦即，货架与存储点的热度属性不匹配度为0，不需要参与移位。图4示出了本申请一个实施例的货架移位方法的S14的流程图，上述S14包括：When the heat attribute of the shelf is the same as that of the storage point, the shelf has reached the optimal position, that is, the mismatch degree between the heat attributes of the shelf and the storage point is 0, and there is no need to participate in the shift. Fig. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application, and above-mentioned S14 comprises:

在S14-1：将货架热度属性的值大于存储点热度属性的值的存储点作为集合E。以一个存储点存放一个货架为例，假设热度属性为A/B/C/D，按照热度属性值的大小排序为A>B>C>D。将需要移位的货架按照不匹配度分组，货架热度属性的值大于存储点热度属性的值时，将符合条件的存储点分到集合E中。In S14-1: set the storage points whose value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point as the set E. Taking a storage point to store a shelf as an example, assuming that the heat attribute is A/B/C/D, the order of heat attribute values is A>B>C>D. The shelves that need to be shifted are grouped according to the degree of mismatch. When the value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point, the storage points that meet the conditions are divided into the set E.

在S14-2：将货架热度属性的值小于存储点热度属性的值的存储点作为集合F。亦即，将需要移位的货架按照不匹配度分组，货架热度属性的值小于存储点热度属性的值时，将符合条件的存储点分到集合F中。In S14-2: the storage points whose value of the heat attribute of the shelf is smaller than the value of the heat attribute of the storage point are set as set F. That is, the shelves that need to be shifted are grouped according to the degree of mismatch, and when the value of the heat attribute of the shelf is less than the value of the heat attribute of the storage point, the storage points that meet the conditions are divided into the set F.

在S14-3：将空闲存储点分别加入集合E和集合F。将没有存放货架的存储点分别加入到集合E和集合F中。可选地，为方便集合E和集合F中的货架相互移位，可以在分配空闲存储点时保证两个集合中存储点的数量大致相同。In S14-3: add free storage points to set E and set F respectively. Add storage points without storage shelves to set E and set F respectively. Optionally, in order to facilitate the mutual displacement of the shelves in the set E and the set F, it is possible to ensure that the number of storage points in the two sets is roughly the same when allocating free storage points.

在S14-4：计算集合E中任意一个存储点与集合F中任意一个存储点之间的匹配增益。根据本申请的一个可选实施例，计算集合E中任意一个存储点与集合F中任意一个存储点之间的匹配增益的方法包括：当集合E中的存储点和集合F中的存储点上均有货架时，两个存储点之间的匹配增益为两个货架的移位增益；当其中一个存储点为空闲时，两个存储点之间的匹配增益为一个货架移到另一个存储点的移位增益；当两个存储点均为空闲时，两点之间的匹配增益设为负无穷。In S14-4: Calculate the matching gain between any storage point in the set E and any storage point in the set F. According to an optional embodiment of the present application, the method for calculating the matching gain between any storage point in the set E and any storage point in the set F includes: when the storage point in the set E and the storage point in the set F When there are shelves, the matching gain between two storage points is the shift gain of the two shelves; when one of the storage points is free, the matching gain between the two storage points is a shelf moving to another storage point The shift gain of ; when both storage points are free, the matching gain between the two points is set to negative infinity.

在S14-5：采用KM算法将集合E和集合F中的存储点进行匹配，获得匹配增益之和最大的全局移位方案。基于在S13-4中获得的匹配增益，通过算法将集合E中的存储点和集合F中的存储点进行匹配，匹配目标为总匹配增益的最大化，从而得出多个移位方案，每个移位方案包括多组匹配结果，取消匹配增益小于或等于0的匹配结果，保留匹配增益大于0的匹配结果。然后，将每个移位方案中的多组匹配结果的匹配增益求和，从中选择匹配增益之和最大的移位方案作为最优的全局移位方案。其中，采用的算法例如KM算法，其它可用于匹配的算法也在本申请的保护范围内。In S14-5: use the KM algorithm to match the storage points in the set E and the set F, and obtain the global shifting scheme with the largest sum of matching gains. Based on the matching gain obtained in S13-4, the storage points in the set E are matched with the storage points in the set F through the algorithm, and the matching target is the maximization of the total matching gain, so as to obtain multiple shifting schemes, each A shifting scheme includes multiple sets of matching results, canceling the matching results whose matching gain is less than or equal to 0, and retaining the matching results whose matching gain is greater than 0. Then, the matching gains of multiple sets of matching results in each shifting scheme are summed, and the shifting scheme with the largest sum of matching gains is selected as the optimal global shifting scheme. Wherein, the adopted algorithm is such as the KM algorithm, and other algorithms that can be used for matching are also within the protection scope of the present application.

以上制定的全局移位方案是基于两个集合中的货架两两相互匹配并互换存放位置来实现的，此外，也可以将全场存储点分为多个集合，例如分为三个集合，基于三个集合中的货架互相之间环形匹配并互换存放位置，此外，将全场存储点划分为两个或多个集合的操作也可以在S13中执行，这些都在本申请的保护范围内。The above-mentioned global shifting scheme is realized based on pairwise matching of the shelves in the two sets and exchanging storage positions. In addition, the storage points of the whole field can also be divided into multiple sets, for example, divided into three sets, Based on the circular matching of the shelves in the three sets and the exchange of storage positions, in addition, the operation of dividing the entire storage point into two or more sets can also be performed in S13, which are all within the scope of protection of this application Inside.

根据本申请的一个可选实施例，货架全局移位方案包括生成移位任务：当匹配成功的两个存储点上均有货架时，交换两个货架的位置，此时产生两个移位任务，由于两个任务的起终点互为对方的终起点，这种类型的任务记为环形任务组，亦即生成交换两个货架位置的环形移位任务；当匹配成功的两个存储点上只有一个货架，将该货架移到另一个存储点，此时产生一个移位任务，记为单边移位任务。基于生成的移位任务，再向搬运车分配移位任务，此处的搬运车可以为自动导引车(Automatic Guided Vehicle；AGV)。其中，单边移位任务可以随时被一台搬运AGV执行，而包括两个移位任务的环形任务组则需要同时被两台搬运AGV去执行，因为其中一个移位任务到达目标存储点时，如果另一个移位任务还未执行，继续占用存储点，会导致到达的货架无限等待，并且占用了搬运AGV的资源。According to an optional embodiment of the present application, the shelf global shifting scheme includes generating a shifting task: when there are shelves on the two storage points that are successfully matched, the positions of the two shelves are exchanged, and two shifting tasks are generated at this time , since the start and end points of two tasks are the end points of each other, this type of task is recorded as a circular task group, that is, a circular shift task that exchanges the positions of two shelves is generated; when there are only two storage points that match successfully A shelf, move the shelf to another storage point, at this time a shift task is generated, which is recorded as a single-side shift task. Based on the generated shift task, the shift task is assigned to the transport vehicle, where the transport vehicle can be an automatic guided vehicle (Automatic Guided Vehicle; AGV). Among them, the unilateral shift task can be performed by one handling AGV at any time, and the ring task group including two shift tasks needs to be performed by two handling AGVs at the same time, because when one of the shift tasks reaches the target storage point, If another shift task has not been executed, continuing to occupy the storage point will cause the arriving shelves to wait indefinitely and occupy the resources of the AGV.

在S14：基于制定的货架全局移位方案，向搬运车分配移位任务。In S14: based on the formulated global rack shifting scheme, assign shifting tasks to the transport vehicles.

图5示出了本申请一个实施例的货架移位方法的S15的流程图，上述S15包括：Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application, and above-mentioned S15 comprises:

在S15-1：获取可以执行移位任务的空闲搬运车的数量n；In S15-1: Obtain the number n of idle transport vehicles that can perform shifting tasks;

在S15-2：优先分配环形任务组的任务，此步骤包括三个判断条件：当环形移位任务的数量小于或等于n时，所有环形移位任务均参与分配搬运车；当环形移位任务的数量大于n时，并且n为偶数，随机选择n/2个环形移位任务参与分配搬运车；当环形移位任务的数量大于n时，并且n为奇数，随机选择(n-1)/2个环形移位任务参与分配搬运车。重复此步骤直到所有环形任务组的任务均被分配In S15-2: assign priority to the tasks of the circular task group, this step includes three judgment conditions: when the number of circular shift tasks is less than or equal to n, all circular shift tasks participate in the distribution of transport vehicles; when the circular shift task When the number is greater than n, and n is an even number, randomly select n/2 circular shift tasks to participate in the distribution of trucks; when the number of circular shift tasks is greater than n, and n is an odd number, randomly select (n-1)/ 2 circular shifting tasks participate in the distribution of trucks. Repeat this step until all tasks of the ring task group are assigned

在S15-3：所有环形移位任务完成后，再将单边移位任务分配给空闲的搬运车。为平衡执行任务的效率和提高搬运车的利用率，一个搬运车可能对应多个移位任务，亦即每个搬运车或被分时复用。In S15-3: after all the circular shifting tasks are completed, the unilateral shifting tasks are assigned to idle transport vehicles. In order to balance the efficiency of task execution and improve the utilization rate of the transport vehicle, one transport vehicle may correspond to multiple shifting tasks, that is, each transport vehicle may be time-division multiplexed.

以上通过S11-S15对货架移位方法10进行了说明，本领域技术人员可以理解，本申请不对步骤的执行顺序做限定。为更理解本申请的技术方案，以下通过一个完整的实施例进一步解释。The shelf shifting method 10 has been described above through S11-S15, and those skilled in the art can understand that the present application does not limit the execution order of the steps. In order to better understand the technical solution of the present application, a complete example is further explained below.

图6示出了本申请一个实施例的货架移位方法的流程图，货架移位方法20包括：Fig. 6 shows the flowchart of the shelf shifting method of an embodiment of the present application, and the shelf shifting method 20 includes:

在S21：获得货架和存储点的初始参数配置。仓库包括1个工作站、20个货架以及20个存储点，商品/货架/存储点的热度属性共有3种，按照热度从高到低排序为：A＞B＞C。In S21: Obtain initial parameter configurations of shelves and storage points. The warehouse includes 1 workstation, 20 shelves, and 20 storage points. There are 3 types of heat attributes for commodities/shelves/storage points, sorted from high to low by heat: A>B>C.

设置A、B、C三种热度属性的存储点占比p _i分别为20％、25％、55％，对应的三种热度属性的值w _i分别为3、2、1。一般来说，热度越高的属性，其存储点占比越小，不同存储点热度可根据需要做相应调整。 Set the proportions p _i of the storage points of the three heat attributes of A, B, and C to 20%, 25%, and 55% respectively, and the corresponding values w _i of the three heat attributes are 3, 2, and 1, respectively. Generally speaking, the higher the popularity of an attribute, the smaller the proportion of its storage points, and the popularity of different storage points can be adjusted accordingly as needed.

获得全场初始参数配置后，在S22中计算每个货架的热度属性的值并确定货架的热度属性。After obtaining the initial parameter configuration of the whole field, in S22, the value of the heat attribute of each shelf is calculated and the heat attribute of the shelf is determined.

假设某个货架中有6个库位，共存放6种商品，商品种类名称为Sku1，Sku2……Sku6，商品种类名称后面的数字代表商品的数量，每个库位存放的商品及数量如表1所示：Assume that there are 6 locations in a certain shelf, and 6 kinds of commodities are stored in total. The commodity category names are Sku1, Sku2...Sku6, and the numbers behind the commodity category names represent the quantity of commodities. 1 shows:

表1Table 1

以上，仅为本其中商品Sku1的热度属性为A，商品Sku2和商品Sku3的热度属性均为B，商品Sku4、商品Sku5以及商品Sku6的热度属性均为C。The above is only for this purpose. The popularity attribute of commodity Sku1 is A, the popularity attributes of commodity Sku2 and commodity Sku3 are both B, and the popularity attributes of commodity Sku4, commodity Sku5 and commodity Sku6 are all C.

库位内存放的不同商品平分该库位，计算货架的三种热度属性所占用的库位数Ki，从左到右、从上到下遍历货架中的每一个库位：The different commodities stored in the storage location are equally divided into the storage location, and the storage number Ki occupied by the three heat attributes of the shelf is calculated, and each location in the shelf is traversed from left to right and from top to bottom:

当i＝1时，计算热度属性A占用的库位数K ₁，因为商品Sku1的热度属性为A，独占第1库位并占用1/2的第2库位，不占用其它库位，按照第1～第6库位求和，则K ₁＝1+1/2+0+0+0+0＝3/2； When i=1, calculate the number of warehouses K ₁ occupied by the hotness attribute A, because the hotness attribute of commodity Sku1 is A, which exclusively occupies the first warehouse and occupies 1/2 of the second warehouse, and does not occupy other warehouses. According to The sum of the 1st to 6th storage locations, then K ₁ =1+1/2+0+0+0+0=3/2;

当i＝2时，计算热度属性B占用的库位数K ₂，因为商品Sku2和商品Sku3的热度属性为B，其中，商品Sku2占用1/2的第2库位并占用1/3的第3库位，不占用其它库位；商品Sku3占用1/3的第3库位，不占用其它库位，按照第1～第6库位求和，则K ₂＝0+1/2+2*1/3+0+0+0＝7/6； When i=2, calculate the number of storage units K ₂ occupied by the hotness attribute B, because the hotness attribute of commodity Sku2 and commodity Sku3 is B, wherein, commodity Sku2 occupies 1/2 of the second warehouse location and occupies 1/3 of the second warehouse 3 storage locations, do not occupy other storage locations; commodity Sku3 occupies 1/3 of the 3rd storage location, does not occupy other storage locations, according to the sum of the 1st to 6th storage locations, then K ₂ =0+1/2+2 *1/3+0+0+0=7/6;

当i＝3时，计算热度属性C占用的库位数K ₃，因为商品Sku4、商品Sku5以及商品Sku6的热度属性为C，其中，商品Sku4占用1/3的第3库位并独占第4库位，不占用其它库位；商品Sku5占用1/2的第5库位，不占用其它库位；商品Sku6占用1/2的第5库位并独占第6库位，不占用其它库位，按照第1～第6库位求和，则K ₃＝0+0+1/3+1+2*1/2+1＝10/3； When i=3, calculate the number of warehouses K ₃ occupied by the popularity attribute C, because the popularity attribute of commodity Sku4, commodity Sku5 and commodity Sku6 is C, and commodity Sku4 occupies 1/3 of the third warehouse location and exclusively occupies the fourth The warehouse location does not occupy other warehouse locations; commodity Sku5 occupies 1/2 of the fifth warehouse location and does not occupy other warehouse locations; commodity Sku6 occupies 1/2 of the fifth warehouse location and exclusively occupies the sixth warehouse location, and does not occupy other warehouse locations , according to the sum of the 1st to 6th storage locations, then K ₃ =0+0+1/3+1+2*1/2+1=10/3;

根据如下公式计算货架的热度属性值V：Calculate the heat attribute value V of the shelf according to the following formula:

其中，i＝1,2,3，w _i＝3,2,1，则 Among them, i=1,2,3, w _i =3,2,1, then

从而得到该货架的热度属性值。

Thus, the heat attribute value of the shelf is obtained.

依次计算出每一个货架的热度属性值，并根据货架的热度属性值从大到小的顺序对货架进行排序。当货架的热度属性值的次序落在(lb _i,ub _i]，i＝1,2,3的左开右闭区间内时，其中， The thermal attribute value of each shelf is calculated in turn, and the shelves are sorted according to the order of the thermal attribute values of the shelves from large to small. When the order of the heat attribute values of the shelf falls within (lb _i , ub _i ], i=1, 2, 3 in the left-open and right-close interval, wherein,

lb ₁＝0，lb _i＝ub _i-1，ub _i＝lb _i+[p _i*N]，其中，N＝20，p _i＝20％、25％、55％，则三种热度属性的货架数量分别： lb ₁ =0, lb _i =ub _i -1, ub _i =lb _i +[p _i *N], wherein, N=20, p _i =20%, 25%, 55%, then the three heat attributes The number of shelves are:

当i＝1时，热度属性为A，lb ₁＝0，ub ₁＝lb ₁+[p ₁*N]＝0+[20％*20]＝[4]＝4，则热度属性A的货架热度属性值的取值区间为(0,4]，即热度属性A的货架数量为4，包括第1个～第4个货架。 When i=1, the heat attribute is A, lb ₁ =0, ub ₁ =lb ₁ +[p ₁ *N]=0+[20%*20]=[4]=4, then the shelf of heat attribute A The value range of the popularity attribute value is (0,4], that is, the number of shelves for the popularity attribute A is 4, including the first to fourth shelves.

当i＝2时，热度属性为B，lb ₂＝ub ₂-1＝ub ₁＝4，ub ₂＝lb ₂+[p ₂*N]＝4+[25％*20]＝4+[5]＝9，则热度属性B的货架热度属性值的取值区间为(4,9]，即热度属性B的货架数量为5个，包括第5个～第9个货架。 When i=2, the heat attribute is B, lb ₂ =ub ₂ -1=ub ₁ =4, ub ₂ =lb ₂ +[p ₂ *N]=4+[25%*20]=4+[5 ]=9, then the value range of the shelf heat attribute value of heat attribute B is (4,9], that is, the number of shelves of heat attribute B is 5, including the 5th to 9th shelves.

当i＝3时，热度属性为C，lb ₃＝ub ₃-1＝ub ₂＝9，ub ₃＝lb ₃+[p ₃*N]＝9+[55％*20]＝9+[11]＝20，则热度属性C的货架热度属性值的取值区间为(9,20]，即热度属性C的货架数量为11个，包括第10个～第20个货架。通过以上方法得到各存储点上货架的热度属性，结果如图7c所示。 When i=3, the heat attribute is C, lb ₃ =ub ₃ -1=ub ₂ =9, ub ₃ =lb ₃ +[p ₃ *N]=9+[55%*20]=9+[11 ]=20, then the value range of the shelf heat attribute value of heat attribute C is (9,20], that is, the number of shelves of heat attribute C is 11, including the 10th to 20th shelves. Through the above method, each The heat properties of the shelves on the storage point, the results are shown in Figure 7c.

具体地，如图7a所示，首先，将全场存放位置划分为20个网格，每个网格对应一个存储点，网格中的数字代表该存储点到工作站的距离d；然后，参考图7b将全场网格按照存储点占比p _i分成指定类别的热度，其中热度属性A的存储点共4个，热度最高，距离工作站最近，设置为红色；热度属性B的存储点共5个，热度中等，距离工作站次之，设置为黄色；热度属性C的存储点共11个，热度最低，距离工作站最远，设置为蓝色；接着，一个存储点存放一个货架，根据当前货架上存放的商品热度、商品数量以及热度属性，计算该货架的热度属性的值，根据全部货架热度属性的值的排列顺序和存储点占比确定货架的热度属性，将每一个存储点的热度属性和对应货架的热度属性填到网格中，假设最后结果如图7c所示，其中第一字母代表货架的热度属性，第二个字母代表存储点的热度属性，例如左下网格中填入的货架和存储点的热度属性为C/B，则C为货架的热度属性，B为存储点的热度属性；最后，以左下存储点为原点建立坐标系，各存储点的坐标如图7d所示，例如左下网格的坐标为(0,0)，右上网格的坐标为(4,3)。 Specifically, as shown in Figure 7a, firstly, divide the entire field storage location into 20 grids, each grid corresponds to a storage point, and the number in the grid represents the distance d from the storage point to the workstation; then, refer to Figure 7b divides the whole field grid into specified categories of heat according to the proportion of storage points p _i , among which there are 4 storage points of heat attribute A, the heat is the highest, and it is the closest to the workstation, which is set to red; the heat attribute B has a total of 5 storage points There are 11 storage points with heat attribute C, the lowest temperature and the farthest distance from the workstation, and they are set to blue; then, a storage point stores a shelf, according to the current storage point on the shelf. Stored product heat, product quantity, and heat attribute, calculate the value of the heat attribute of the shelf, determine the heat attribute of the shelf according to the arrangement order of the value of the heat attribute of all shelves and the proportion of storage points, and calculate the heat attribute of each storage point and Fill in the grid with the heat attribute of the corresponding shelf, assuming that the final result is shown in Figure 7c, where the first letter represents the heat attribute of the shelf, and the second letter represents the heat attribute of the storage point, such as the shelf filled in the lower left grid and the heat attribute of the storage point is C/B, then C is the heat attribute of the shelf, and B is the heat attribute of the storage point; finally, a coordinate system is established with the lower left storage point as the origin, and the coordinates of each storage point are shown in Figure 7d. For example, the coordinates of the lower left grid are (0,0), and the coordinates of the upper right grid are (4,3).

在S23计算货架的移位增益。参考图7c，部分存储点的热度属性与货架的热度属性不匹配，需要进行移位。The shift gain of the shelf is calculated at S23. Referring to Figure 7c, the thermal properties of some storage points do not match the thermal properties of the shelves, and need to be shifted.

具体地，例如三种热度属性的货架的存储点热度属性的优先级顺序为：热度属性为A的货架优先存放的存储点热度属性候选集为[A,B,C]，热度属性为B的货架优先存放的存储点热度属性候选集为[B,A,C]，热度属性C的货架优先存放的存储点热度属性候选集为[C,B,A]。Specifically, for example, the priority order of the storage point heat attributes of shelves with three heat attributes is as follows: the heat attribute candidate set of the storage point stored first on the shelf with heat attribute A is [A, B, C], and the heat attribute is B. The storage point heat attribute candidate set for shelf priority storage is [B,A,C].

根据每种热度属性的货架优先存放的存储点的热度属性的顺序，可计算当前货架与存储点之间的热度属性不匹配度，结合图7d和图7c，例如，坐标(0，0)点的货架和存储点热度属性为C/B，热度属性不匹配度为1，坐标(3，2)点的货架和存储点热度属性为A/C，热度属性不匹配度为2。即，交换位置前，每个货架与各自存储点的热度属性不匹配度之和g1＝1+2。如果将(0，0)点的货架和(3，2)点的货架交换位置，则交换位置后(0，0)点的货架和存储点热度属性为(A/B)，热度属性不匹配度为1，(3，2)点的货架和存储点热度属性为C/C，热度属性不匹配度为0。即，交换位置后，每个货架与各自存储点的热度属性不匹配度之和g2＝1+0。According to the order of the heat attributes of the storage points that are stored preferentially on the shelves of each heat attribute, the heat attribute mismatch between the current shelf and the storage point can be calculated. Combined with Figure 7d and Figure 7c, for example, the coordinate (0, 0) point The heat attribute of the shelf and storage point is C/B, and the heat attribute mismatch degree is 1. The heat attribute of the shelf and storage point at coordinate (3, 2) is A/C, and the heat attribute mismatch degree is 2. That is, before the position is exchanged, the sum of the heat attribute mismatches between each shelf and the respective storage point is g1=1+2. If the shelf at point (0, 0) and the shelf at point (3, 2) are swapped, the shelf at point (0, 0) and the storage point will have the heat attribute of (A/B) after the exchange, and the heat attributes will not match The degree is 1, the heat attribute of the shelf and storage point at point (3, 2) is C/C, and the heat attribute mismatch degree is 0. That is, after the location is exchanged, the sum of the heat attribute mismatches between each shelf and the respective storage point g2=1+0.

结合图7c和图7a，(0，0)点的货架和(3，2)点的货架交换位置所需的货架移动总距离为d＝5+5。Combining Fig. 7c and Fig. 7a, the rack at point (0, 0) and the rack at point (3, 2) need to exchange positions, and the total moving distance of the rack is d=5+5.

全场最大移位距离d_max＝7，即根据(0,0)点到(4,3)点的移位距离，计算得到(0，0)点的货架和(3，2)点的货架移位增益h为：The maximum displacement distance of the whole field d_max=7, that is, according to the displacement distance from (0,0) point to (4,3) point, the shelf displacement at point (0,0) and the shelf displacement at point (3,2) are calculated. The bit gain h is:

h＝(g1-g2)-d/(2*d_max)＝[(1+2)-(1+0)]-(5+5)/2*7＝9/7h=(g1-g2)-d/(2*d_max)=[(1+2)-(1+0)]-(5+5)/2*7=9/7

移位增益大于0，表示移位是有益的，可以降低货架与存储点之间的不匹配度。A shift gain greater than 0 indicates that shifting is beneficial and can reduce the mismatch between shelves and storage points.

在S24制定全局移位方案。In S24, a global shifting scheme is formulated.

筛选出货架热度属性大于存储点热度属性的存储点作为集合E，参考图7c和图7d，集合E包含的坐标点为：(0,1)，(1,1)，(1,3)，(3,2)，(4,0)。Filter out the storage points whose heat attribute of the shelf is greater than the heat attribute of the storage point as the set E, refer to Figure 7c and Figure 7d, the coordinate points included in the set E are: (0,1), (1,1), (1,3), (3,2), (4,0).

筛选出货架热度属性小于存储点热度属性的存储点作为集合F，参考图7c和图7d，集合F包含的坐标点为：(0,0)，(1,0)，(2,1)，(2,2)，(3,0)。Filter out the storage points whose heat attribute of the shelf is smaller than the heat attribute of the storage point as the set F, refer to Figure 7c and Figure 7d, the coordinate points included in the set F are: (0,0), (1,0), (2,1), (2,2), (3,0).

计算集合E中任意一个存储点与集合F中任意一个存储点交换货架的移位增益，记为存储点E和存储点F的匹配增益。采用KM算法将集合E中的存储点和集合F中的存储点进行匹配，匹配目标为总匹配增益的最大化。集合E中的存储点与集合F中的存储点全部匹配成功时，最大总匹配增益为13，最优的匹配结果为：Calculate the shift gain of exchanging shelves between any storage point in set E and any storage point in set F, and record it as the matching gain between storage point E and storage point F. The KM algorithm is used to match the storage points in the set E with the storage points in the set F, and the matching goal is to maximize the total matching gain. When the storage points in set E are all successfully matched with the storage points in set F, the maximum total matching gain is 13, and the optimal matching result is:

即将存储点(0,1)的货架与存储点(0,0)的货架交换位置；

The shelf of the storage point (0,1) will be exchanged with the shelf of the storage point (0,0);

即将存储点(1,1)的货架与存储点(1,0)的货架交换位置；

The shelf of the storage point (1,1) is about to exchange the position of the shelf of the storage point (1,0);

即将存储点(1,3)的货架与存储点(2,2)的货架交换位置；

The shelf of the storage point (1,3) will be exchanged with the shelf of the storage point (2,2);

即将存储点(3,2)的货架与存储点(2,1)的货架交换位置；

The shelf of the storage point (3,2) will be exchanged with the shelf of the storage point (2,1);

即将存储点(4,0)的货架与存储点(3,0)的货架交换位置。

The shelf at storage point (4,0) is swapped with the shelf at storage point (3,0).

在S25向搬运AGV分配移位任务。In S25, the transfer task is assigned to the transfer AGV.

若全场可分配的空闲搬运AGV数量大于或等于10，则全部移位任务均可分配搬运AGV。If the number of idle handling AGVs that can be allocated in the whole field is greater than or equal to 10, all moving tasks can be allocated to handling AGVs.

若全场可分配的空闲搬运AGV数量小于10，且为偶数，假设为6，则可随机选择3对需要交换位置的货架参与分配搬运AGV。If the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an even number, assuming it is 6, then 3 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.

若全场可分配的空闲搬运AGV数量小于10，且为奇数，假设为5，则可随机选择2对需要交换位置的货架参与分配搬运AGV。If the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an odd number, assuming it is 5, then 2 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.

重复以上分配搬运AGV的过程，直到所有的移位任务都已完成搬运。Repeat the above process of assigning and handling AGVs until all the shifting tasks have been completed.

全局热度移位完成后，全场的货架和存储点的热度属性分布如图7e所示，可以看出，此时所有货架的热度属性均与其所在存储点的热度属性相同，达到高效准确移动货架的目的。After the global heat shift is completed, the heat attribute distribution of the shelves and storage points in the whole venue is shown in Figure 7e. It can be seen that the heat attributes of all shelves are the same as those of the storage points where they are located, achieving efficient and accurate moving of shelves the goal of.

本申请还涉及一种仓储***,包括：多个存储点、多个货架、搬运车和控制装置，每个存储点具有热度属性；多个货架分布在存储点，每个货架具有热度属性；控制装置与搬运车通讯，并且配置成可获知货架的位置，并可执行如上述的货架移位方法。The present application also relates to a storage system, including: multiple storage points, multiple shelves, transport vehicles and control devices, each storage point has a heat attribute; multiple shelves are distributed at the storage point, each shelf has a heat attribute; control The device communicates with the truck and is configured to know the position of the rack and to perform the rack shifting method as described above.

本申请还涉及一种计算机可读存储介质，包括存储于其上的计算机可执行指令，该可执行指令在被处理器执行时实施如上述的货架移位方法。The present application also relates to a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above-mentioned shelf shifting method when executed by a processor.

最后应说明的是：以上仅为本申请的可选实施例而已，并不用于限制本申请，尽管参照前述实施例对本申请进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。Finally, it should be noted that: the above are only optional embodiments of the application, and are not intended to limit the application. Although the application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

一种货架移位方法，包括：A rack shifting method, comprising:

S11：基于货架和存储点的初始参数配置，计算每个货架热度属性的值；S11: Calculate the value of the heat attribute of each shelf based on the initial parameter configuration of the shelf and storage point;

S12：基于货架热度属性的值的排列顺序以及存储点占比，确定每个货架的热度属性；S12: Determine the heat attribute of each shelf based on the arrangement order of the value of the shelf heat attribute and the proportion of storage points;

S13：基于货架的热度属性与存储点的热度属性的不匹配度以及货架的移位距离，计算货架的移位增益；S13: Calculate the displacement gain of the shelf based on the mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf;

S14：基于货架的移位增益，制定货架的全局移位方案；和S14: Based on the shift gain of the shelf, formulate a global shift scheme for the shelf; and

S15：基于所述全局移位方案，向搬运车分配移位任务。S15: Based on the global displacement scheme, assign a displacement task to the transport vehicle.
如权利要求1所述的货架移位方法，其中，所述S11包括：基于货架上每种商品的热度属性的值以及该商品占用的库位数，计算该货架热度属性的值。The shelf shifting method according to claim 1, wherein said S11 includes: calculating the value of the shelf heat attribute based on the value of the heat attribute of each commodity on the shelf and the number of storages occupied by the commodity.
如权利要求1所述的货架移位方法，其中，所述热度属性的值越大，热度越高。The shelf shifting method according to claim 1, wherein the greater the value of the heat attribute, the higher the heat.
如权利要求1所述的货架移位方法，其中，货架和存储点的初始参数配置包括货架的数量、存储点的数量、每种热度属性的值或每种热度属性的存储点占比中的一项或多项。The shelf shifting method according to claim 1, wherein the initial parameter configuration of shelves and storage points includes the number of shelves, the number of storage points, the value of each thermal attribute or the proportion of storage points of each thermal attribute one or more.
如权利要求4所述的货架移位方法，其中，所述S12包括：基于货架热度属性的值从大到小对货架进行排序，再结合存储点占比确定货架的热度属性。The shelf shifting method according to claim 4, wherein said S12 includes: sorting the shelves from large to small based on the value of the heat attribute of the shelves, and then determining the heat attribute of the shelf in combination with the proportion of storage points.
如权利要求1所述的货架移位方法，其中，该货架移位方法还包括：根据存储点到工作站的距离，将全场存储点按照热度属性以及存储点占比分区并建立存储点坐标系。The shelf shifting method according to claim 1, wherein the shelf shifting method further comprises: according to the distance from the storage point to the workstation, dividing the storage points in the whole field according to the heat attribute and the proportion of the storage points and establishing a storage point coordinate system .
如权利要求6所述的货架移位方法，其中，所述S13包括：The shelf shifting method according to claim 6, wherein said S13 comprises:

S13-1：计算两个货架交换位置前，两个货架与各自存储点的热度属性不匹配度之和g1；S13-1: Calculate the sum g1 of the heat attribute mismatch between the two shelves and their respective storage points before the two shelves are exchanged;

S13-2：计算两个货架交换位置后，两个货架与各自新的存储点的热度属性不匹配度之和g2；S13-2: Calculate the sum g2 of the heat attribute mismatch between the two shelves and their new storage points after the positions of the two shelves are exchanged;

S13-3：基于所述存储点坐标系，计算两个货架交换位置后，两个货架的移位距离之和d；和S13-3: Based on the storage point coordinate system, calculate the sum d of the displacement distances of the two shelves after the positions of the two shelves are exchanged; and

S13-4：计算所述两个货架的移位增益h＝(g1-g2)-d/(2*d_max)，其中d_max为全场最大移位距离。S13-4: Calculate the displacement gain h=(g1-g2)-d/(2*d_max) of the two shelves, where d_max is the maximum displacement distance in the whole field.
如权利要求7所述的货架移位方法，其中，货架与存储点的热度属性不匹配度与货架可存放的存储点热度属性的优先级顺序相关。The shelf shifting method according to claim 7, wherein the degree of mismatch between the heat attributes of the shelf and the storage point is related to the priority order of the heat attributes of the storage points that the shelf can store.
如权利要求7所述的货架移位方法，其中，移位后货架与存储点的热度属性不匹配度减少，移位增益大于0时，移位是有益的。The shelf shifting method according to claim 7, wherein after shifting, the degree of mismatch between the heat attributes of the shelf and the storage point decreases, and when the shifting gain is greater than 0, the shifting is beneficial.
如权利要求1-9中任一项所述的货架移位方法，其中，所述S14包括：The shelf shifting method according to any one of claims 1-9, wherein said S14 comprises:

S14-1：将货架热度属性的值大于存储点热度属性的值的存储点作为集合E：S14-1: Set the storage points whose value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point as a set E:

S14-2：将货架热度属性的值小于存储点热度属性的值的存储点作为集合F：S14-2: Take the storage points whose value of the heat attribute of the shelf is smaller than the value of the heat attribute of the storage point as a set F:

S14-3：将空闲存储点分别加入集合E和集合F；S14-3: Add free storage points to set E and set F respectively;

S14-4：计算集合E中任意一个存储点与集合F中任意一个存储点之间的匹配增益；和S14-4: Calculate the matching gain between any storage point in the set E and any storage point in the set F; and

S14-5：采用KM算法将集合E和集合F中的存储点进行匹配，获得匹配增益之和最大的全局移位方案。S14-5: Use the KM algorithm to match the storage points in the set E and the set F, and obtain the global shifting scheme with the largest sum of matching gains.
如权利要求10所述的货架移位方法，其中，所述S14-4包括：The shelf shifting method according to claim 10, wherein said S14-4 comprises:

当两个存储点上均有货架时，两个存储点之间的匹配增益为两个货架的移位增益；当其中一个存储点为空闲时，两个存储点之间的匹配增益为一个货架移到另一个存储点的移位增益；当两个存储点均为空闲时，两点之间的匹配增益设为负无穷。When there are shelves on both storage points, the matching gain between the two storage points is the shift gain of two shelves; when one of the storage points is free, the matching gain between the two storage points is one shelf The shift gain for moving to another memory point; when both memory points are free, the match gain between the two points is set to negative infinity.
如权利要求10所述的货架移位方法，其中，所述全局移位方案包括环形移位任务和单边移位任务，所述S14-5包括：当匹配成功的两个存储点上均有货架时，生成交换两个货架位置的环形移位任务；当匹配成功的两个存储点上只有一个货架，生成将该货架移到另一个存储点的单边移位任务。The shelf shifting method according to claim 10, wherein said global shifting scheme includes circular shifting tasks and unilateral shifting tasks, and said S14-5 includes: when two storage points that are successfully matched have When storing shelves, generate a circular shift task to exchange the positions of two shelves; when there is only one shelf on the two storage points that are successfully matched, generate a unilateral shift task that moves the shelf to another storage point.
如权利要求12所述的货架移位方法，其中，所述S15包括：The shelf shifting method according to claim 12, wherein said S15 comprises:

S15-1：获取可以执行移位任务的空闲搬运车的数量n；S15-1: Obtain the number n of idle transport vehicles that can perform shifting tasks;

S15-2：当环形移位任务的数量小于或等于n时，所有环形移位任务均参与分配搬运车；S15-2: When the number of circular shifting tasks is less than or equal to n, all circular shifting tasks participate in the distribution of the transport vehicles;

当环形移位任务的数量大于n时，如果n为偶数，随机选择n/2个环形移位任务参与分配搬运车；如果n为奇数，随机选择(n-1)/2个环形移位任务参与分配搬运车；和When the number of circular shifting tasks is greater than n, if n is an even number, randomly select n/2 circular shifting tasks to participate in the distribution of trucks; if n is an odd number, randomly select (n-1)/2 circular shifting tasks Participate in the distribution of vans; and

S15-3：所有环形移位任务分配完成后，再将单边移位任务分配给空闲的搬运车。S15-3: After all the circular shifting tasks are assigned, the unilateral shifting tasks are assigned to the idle trucks.
一种仓储***，包括：A storage system comprising:

多个存储点，每个存储点具有热度属性；Multiple storage points, each storage point has a heat attribute;

多个货架，分布在所述存储点，每个货架具有热度属性；A plurality of shelves, distributed in the storage point, each shelf has a heat attribute;

搬运车；和trucks; and

控制装置，所述控制装置与所述搬运车通讯，并且配置成可获知所述货架的位置，并可执行如权利要求1-13中任一项所述的货架移位方法。A control device, the control device communicates with the transport vehicle, and is configured to know the position of the rack, and execute the rack shifting method according to any one of claims 1-13.
一种计算机可读存储介质，包括存储于其上的计算机可执行指令，所述可执行指令在被处理器执行时实施如权利要求1-13中任一项所述的货架移位方法。A computer-readable storage medium, comprising computer-executable instructions stored thereon, the executable instructions implement the shelf shifting method according to any one of claims 1-13 when executed by a processor.