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CN112875112A - Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method - Google Patents

Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method Download PDF

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Publication number
CN112875112A
CN112875112A CN202011639292.5A CN202011639292A CN112875112A CN 112875112 A CN112875112 A CN 112875112A CN 202011639292 A CN202011639292 A CN 202011639292A CN 112875112 A CN112875112 A CN 112875112A
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order
goods
lane
warehousing
cargo
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CN112875112B (en
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严都喜
刘强
赖苑鹏
赵荣丽
冷杰武
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Guangdong University of Technology
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Guangdong University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)

Abstract

本发明公开了基于数字孪生的高密度立体仓库库位分配与调度方法。基于最短入库与调度路径原则进行入库规划，且入库规划的每一步都判断是否与目标巷道已存储货物的出货时间冲突，有效解决订单拥堵和库位分配与设备调度出现冲突的问题。本发明提供的基于数字孪生的高密度立体仓库库位分配与调度方法，利用实物仿真平台提前获取订单信息进行库位与设备的提前规划，实现高密度立体仓库数字化模型与现场实物设备之间的指令同步与信息传输，真实模拟实际的生产过程，使得仿真分析与验证测试结果具有足够的可信度和说服力，进而为真实的高密度立体仓库库位分配及设备调度提供有效指导，有助于分析解决库位分配与设备调度中出现冲突以及订单拥堵的问题。

Figure 202011639292

The invention discloses a storage location allocation and scheduling method for high-density stereoscopic warehouses based on digital twins. Warehousing planning is carried out based on the principle of the shortest warehousing and scheduling path, and each step of the warehousing planning determines whether it conflicts with the delivery time of the stored goods in the target aisle, effectively solving the problems of order congestion and conflict between storage location allocation and equipment scheduling. . The digital twin-based storage location allocation and scheduling method for high-density three-dimensional warehouses provided by the present invention utilizes a physical simulation platform to obtain order information in advance to carry out advance planning of storage locations and equipment, and realizes the connection between the digital model of the high-density three-dimensional warehouse and on-site physical equipment. Synchronization of instructions and transmission of information can truly simulate the actual production process, so that the simulation analysis and verification test results are sufficiently credible and convincing, thereby providing effective guidance for real high-density three-dimensional warehouse location allocation and equipment scheduling. It is used to analyze and solve the problems of conflicts and order congestion in the allocation of warehouse locations and equipment scheduling.

Figure 202011639292

Description

Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method
Technical Field
The invention relates to the technical field of warehouse management, in particular to a digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method.
Background
At present, in a common stereoscopic warehouse, a stacker is used between two single-row shelves for warehousing and warehousing, for example, 5 single-row shelves are needed, and 4 stackers are needed for warehousing and warehousing. With the development of the logistics industry, high-density stereoscopic warehouses appear. The high-density stereoscopic warehouse combines the goods shelves, the shuttle type goods shelves in the middle are managed in and out by the shuttle cars and the stacking machines together, and the single-row goods shelves on both sides are managed in and out by the corresponding stacking machines, so that the space utilization rate of the stereoscopic warehouse can be greatly improved.
In the high-density stereoscopic warehouse in the prior art, the warehouse positions of the warehouse-in orders are distributed and the related equipment is scheduled mainly through related offline rules in a management and control system. The biggest defects are as follows: (1) the existing system is basically in a real-time order demand response state, order information cannot be obtained in batches in advance and library positions and equipment can not be planned in advance, various production emergencies easily occur, so that production tasks cannot be completed on time, and the system is poor in flexibility; (2) the existing system lacks an efficient warehouse location allocation and equipment scheduling algorithm and also lacks a feasibility and efficiency analysis method of a scheduling scheme, so that the equipment cannot respond to warehouse entry and exit requirements in time to cause order congestion; (3) the existing design method fails to integrate the digital model of the high-density stereoscopic warehouse with an upper management and control system, and cannot realize dynamic simulation operation test of issuing production instruction drive to the digital model of the high-density stereoscopic warehouse by the management and control system; meanwhile, the instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment cannot be realized, and the actual production process cannot be simulated really, so that the simulation analysis and verification test result does not have enough credibility and persuasion.
Disclosure of Invention
The invention aims to provide a digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method, which solves the defects.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a high-density stereoscopic warehouse storage space distribution and scheduling method based on digital twinning, which is applied to a high-density stereoscopic warehouse consisting of single storage space shelves at two sides, a shuttle-type storage shelf in the middle, two stackers between the middle shuttle-type storage shelf and the single storage space shelves at two sides and a plurality of shuttle cars; the high-density stereoscopic warehouse is divided into a plurality of goods positions by taking the upright posts and the cross beams as boundaries, and each goods position has a unique shelf number, a unique goods position number and a unique layer number as identifiers; the method comprises the following steps:
constructing a real object simulation platform which is synchronous in virtuality and reality and is provided with an upper MES layer;
acquiring warehousing order data from an upper MES, simulating warehousing order delivery according to the warehousing time sequence, and distributing idle stackers;
if the warehousing order is a single goods order, retrieving all tunnels with vacant positions and no task sequence, sequencing the retrieved tunnels from short to long according to the length of a scheduling path, and taking out one tunnel from the retrieved tunnels according to the sequence to judge whether the tunnel is a vacant tunnel:
if the tunnel is empty, further judging whether the tunnel is the last retrieval result; if not, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if the result is the last retrieval result, determining the entry roadway as an empty roadway with the shortest scheduling path; the goods position is the first goods position in the warehousing direction of the roadway, the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number are output, and the physical simulation platform performs warehousing actions;
if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;
if the warehousing order is a multi-goods order, judging whether the warehousing order is the first goods of the warehousing order;
if the goods are not the first goods of the warehousing order, warehousing according to a specified task sequence, outputting a warehousing stacker, a shuttle car, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;
if the first goods of the warehousing order is available, all tunnels with vacant positions and no task sequence are searched, and whether the searched tunnels have tunnels with vacant positions larger than the quantity of the goods of the warehousing order is judged;
if the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order exist, the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order are sequenced from short to long according to the length of a scheduling path, and one tunnel is taken out in sequence to judge whether the tunnel is an empty tunnel; if the roadway is empty, determining the roadway as a warehousing roadway; the goods position is the first goods position in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;
if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next roadway with the empty space larger than the goods quantity of the warehousing order to judge whether the roadway is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;
if no laneway with the vacancy larger than the quantity of the goods in the warehousing order exists, judging whether a laneway cluster meeting the quantity condition of the goods in the warehousing order exists in the retrieved laneway, wherein the laneway cluster is a cluster consisting of a plurality of laneways with the goods shelf numbers and the layer numbers within 3 difference between the laneways;
if the tunnel clusters meeting the warehousing order goods quantity condition exist, the tunnel clusters meeting the warehousing order goods quantity condition are sequenced from short to long according to the length of a total scheduling path, and one tunnel cluster is taken out in sequence to judge whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of goods orders stored in the tunnel of the tunnel cluster; if not, the tunnels in the tunnel cluster are sequenced from short to long according to the length of a scheduling path, the warehousing order is sequentially divided into a plurality of sub-orders according to the vacancy of the tunnels, and a task sequence of the warehousing order is arranged for a corresponding stacker and a shuttle vehicle; determining a tunnel corresponding to each sub-order as a warehousing tunnel, wherein the goods position of each tunnel is a next goods position of the last goods in the warehousing direction of the tunnel, and if the tunnel is an empty tunnel, the goods position is a first goods position in the warehousing direction of the tunnel; outputting a warehousing stacker, a shuttle vehicle, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by a physical simulation platform; if yes, further judging whether the roadway cluster is the last roadway cluster meeting the condition of warehousing order goods quantity; if the tunnel cluster is not the last tunnel cluster meeting the warehouse entry order goods quantity condition, taking out the next tunnel cluster meeting the warehouse entry order goods quantity condition in sequence, and judging whether the warehouse entry order goods delivery time conflicts with the warehouse delivery time of goods orders stored in the tunnel of the tunnel cluster; if the last lane cluster meeting the goods quantity condition of the warehousing order is the lane cluster, sorting the retrieved lanes from short to long according to the length of a scheduling path, and taking one lane out of the retrieved lanes in sequence to judge whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of the goods order stored in the lane; if so, sequentially taking down a retrieved tunnel to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, sequentially judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway from one residual roadway, and if so, taking the next residual roadway to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;
if the tunnel clusters meeting the goods quantity condition of the warehousing order do not exist, sorting the retrieved tunnels from short to long according to the length of a scheduling path, and taking one tunnel out of the retrieved tunnels in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods order stored in the tunnel; if so, sequentially taking down a retrieved tunnel to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, sequentially judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway from one residual roadway, and if so, taking the next residual roadway to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;
and after the physical simulation platform finishes the warehousing action, outputting the warehousing scheme.
Preferably, the method further comprises the following steps:
after the physical simulation platform finishes warehousing actions, acquiring order data from an upper MES, simulating order delivery according to the warehouse-out time sequence, and distributing idle stackers;
judging whether goods which are not delivered are available before or after the delivery order: if the goods which are not delivered from the warehouse still exist, judging whether the time for storing the orders in the roadway where the delivery orders exist is increased progressively or not, if so, allocating the warehouse stacker as a right stacker, and if so, allocating the warehouse stacker as a left stacker; if no goods which are not delivered from the warehouse still exist, distributing idle stackers;
allocating an idle shuttle car with the shortest scheduling distance, judging whether the ex-warehouse order is a multi-cargo order, if so, arranging an ex-warehouse task sequence of the stacker and the shuttle car, and outputting the ex-warehouse stacker, the shuttle car, the ex-warehouse cargo shelf number, the cargo level number and the floor number according to the ex-warehouse task sequence; if not, directly outputting the ex-warehouse stacker, the shuttle machine, the ex-warehouse goods shelf number, the goods position number and the layer number;
the physical simulation platform starts the delivery action according to the output delivery stacker, the shuttle, the delivery goods shelf number, the goods position number and the layer number;
and after the physical simulation platform finishes the warehouse-out action, outputting a warehouse-out scheme.
Preferably, after all orders are subjected to warehouse entry and exit simulation, the warehouse entry and exit stacker, the warehouse entry and exit shuttle number and the storage warehouse bit data of each cargo are obtained, and the running performance data of the whole line of the high-density stereoscopic warehouse is also obtained; and according to the obtained operation data, carrying out iterative optimization on the warehousing scheme and the ex-warehousing scheme aiming at the problems of long warehousing time and congestion, and then carrying out warehousing and ex-warehousing simulation on all orders until an optimal warehousing scheme is obtained.
Preferably, the high-density stereoscopic warehouse takes the lower right side of a top view as an original point, the goods position numbers and the goods shelf numbers are gradually increased towards two sides, the small side of the goods position number is the right side, the large side of the goods position number is the left side, the ground is taken as the original point of the layer number, the goods position numbers are gradually increased towards the upper layer, a roadway refers to a middle shuttle type goods shelf, the goods shelf numbers are the same as the layer number, and the goods position numbers are arranged from small to large, namely a group of goods positions of the shuttle car which freely move along the direction of the goods position numbers;
the method for calculating the length of the scheduling path comprises the following steps:
acquiring a target roadway goods shelf number, a layer number and a current goods shelf number, layer number and goods position number of an idle shuttle vehicle;
adding the target roadway shelf number and the target roadway layer number, and calculating to obtain the length of the target roadway warehousing path;
judging whether the stacker distributed by the warehousing order is a left stacker or not, if so, calculating the sum of the absolute value of the shuttle car obtained by subtracting the target tunnel goods shelf number from the current goods shelf number, the absolute value of the target tunnel goods shelf number subtracted from the current layer number of the shuttle car and the absolute value of the shuttle car obtained by subtracting the absolute value of the current goods level number from the maximum value of the goods level number to obtain the length of the dispatching path of the shuttle car; if not, calculating the sum of the shuttle car current goods shelf number minus the absolute value of the target roadway goods shelf number, the shuttle car current layer number minus the absolute value of the target roadway goods shelf number and the shuttle car current goods position number to obtain the shuttle car dispatching path length;
calculating the sum of the length of a target roadway warehousing path and the length of a shuttle vehicle dispatching path to obtain the length of the dispatching path;
and returning the length of the dispatching path and the number of the corresponding shuttle car.
Preferably, the high-density stereoscopic warehouse specifies that the storage order warehouse-out time in one lane can only be monotonically increased or decreased, namely, if the storage order warehouse-out time in the same lane is monotonically increased along the positive direction of the goods position number, the stored order warehouse-out time in the lane is increased; if the time for taking out the stored order in the same tunnel monotonically decreases along the positive direction of the goods space number, the time for taking out the stored order in the tunnel is decreased;
the method for judging whether the order delivery time conflicts with the delivery time of the goods orders stored in the roadway comprises the following steps:
judging whether the stored order delivery time of the target roadway is increased progressively or not:
if the stored order delivery time of the target roadway is increased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is earlier than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is later than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions;
if the stored order delivery time of the target roadway is decreased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is later than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; and if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is earlier than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions.
In the invention, warehousing planning is carried out based on the principle of shortest warehousing and scheduling path, and each step of warehousing planning judges whether the conflict with the delivery time of stored goods in a target roadway exists, so that the problems of order congestion and conflict between warehouse location allocation and equipment scheduling are effectively solved. When the single goods orders are put in storage, the empty roadway is removed as a target roadway for planning, if the target roadway which meets the conditions does not exist, the empty roadway with the shortest scheduling path is selected as a storage roadway, the single goods orders are selected from the stored roadways preferentially, if the conditions do not meet the conditions, the empty roadway is selected as the storage roadway, the utilization rate of the high-density stereoscopic warehouse is improved beneficially, and order congestion is avoided. When multiple goods orders are put in a warehouse and the roadway does not have enough empty spaces for placing all goods, whether a proper roadway cluster exists or not is found out firstly, if so, the orders are divided into a plurality of sub-orders to be planned in the roadway corresponding to the roadway cluster respectively, and the multiple goods are stacked in the similar roadway dispersedly so as to be beneficial to the subsequent shipment of the multiple goods orders. If not, arranging the multiple goods orders into a roadway meeting the order delivery time condition according to the shortest warehousing and scheduling path principle, and arranging a task sequence until all goods of the orders are allocated good positions, thereby realizing the reasonable design of warehousing planning of the multiple goods orders.
According to the digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method, the physical simulation platform is used for acquiring order information in advance to plan the storage location and equipment in advance, instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment are achieved, the actual production process is simulated really, the simulation analysis and verification test result has enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse storage location allocation and equipment scheduling, and the problems of conflict and order congestion in the storage location allocation and the equipment scheduling are solved.
Drawings
FIG. 1 is a schematic flow diagram of order warehousing in one embodiment of the invention;
FIG. 2 is a schematic flow diagram of block A of FIG. 1;
FIG. 3 is a schematic flow diagram of block B of FIG. 2;
FIG. 4 is a schematic flow diagram of block C of FIG. 2;
FIG. 5 is a flow chart illustrating the calculation of the length of a dispatch path in one embodiment of the present invention;
FIG. 6 is a flow chart of determining whether an order pull time conflicts with a pull time of a stored goods order for the roadway in one embodiment of the invention;
FIG. 7 is a flow diagram illustrating the flow of order warehousing in one embodiment of the present invention;
fig. 8 is a schematic structural view of a high-density stereoscopic warehouse according to an embodiment of the present invention;
fig. 9 is a schematic top view of a high-density stereoscopic warehouse according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1 to 9, the invention discloses a high-density stereoscopic warehouse storage allocation and scheduling method based on digital twinning, which is applied to a high-density stereoscopic warehouse consisting of single-storage-space shelves at two sides, a shuttle-type shelf in the middle, two stackers between the shuttle-type shelf in the middle and the single-storage-space shelves at two sides, and a plurality of shuttle cars 100; the high-density stereoscopic warehouse is divided into a plurality of goods positions by taking the upright posts and the cross beams as boundaries, and each goods position has a unique shelf number, a unique goods position number and a unique layer number as identifiers. The method comprises the following steps:
and constructing a virtual-real synchronous physical simulation platform with an upper MES (Manufacturing Execution System). Specifically, a digital model of the high-density stereoscopic warehouse is established, wherein the stacker is a general three-dimensional CAD model and has a clear product structure, and moving parts of the stacker can be independently represented and identified. Then an open information integration platform capable of carrying out three-dimensional near physical virtual simulation design is constructed, virtual equipment of a loader high-density stereoscopic warehouse and a corresponding conveying line is loaded, the action of equipment or the motion of products in the process can be controlled through scripts, and the soft PLC function is achieved. And then a virtual control network, namely a workshop internet of things, is built, and a virtual-real synchronous physical simulation platform is built by using a digital twin technology, so that the action synchronization of the single machine physical model and the corresponding single machine digital model on the digital warehouse can be realized, and the virtual-real synchronization of the warehouse line with the high-density stereoscopic warehouse as the core is realized. And finally, integrating an upper MES to realize that the whole line runs under the MES instruction generation, and simultaneously feeding back the execution conditions of the whole line digital twin model, such as work order completion information, random faults and the like, to the upper MES to realize online simulation running, thereby constructing a virtual-real synchronous physical simulation platform with the upper MES.
Referring to fig. 1-4, warehouse entry order data is acquired from an upper MES, warehouse entry order delivery is simulated according to the warehouse entry time sequence, and idle stackers are distributed.
If the warehousing order is a single goods order, retrieving all tunnels with vacant positions and no task sequence, sequencing the retrieved tunnels according to the length of a scheduling path from short to long, and taking out one tunnel from the retrieved tunnels according to the sequence to judge whether the tunnel is a vacant tunnel. And if the tunnel is empty, further judging whether the tunnel is the last retrieval result. And if the search result is not the last search result, taking out the next search result to judge whether the next search result is an empty roadway. And if the result is the last retrieval result, determining the entry roadway as an empty roadway with the shortest scheduling path. The goods position is the first goods position in the warehousing direction of the roadway, the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number are output, and the physical simulation platform performs warehousing actions. If the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel. And if so, taking out the next retrieved roadway to judge whether the roadway is an empty roadway. If not, determining that the roadway is a warehousing roadway, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform.
And if the warehousing order is a multi-goods order, judging whether the warehousing order is the first goods of the warehousing order.
If the goods are not the first goods of the warehousing order, warehousing according to the specified task sequence, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.
And if the first goods of the warehousing order are available, all the tunnels with the vacant positions and without the task sequence are searched, and whether the searched tunnels have tunnels with the vacant positions larger than the number of the goods of the warehousing order or not is judged. If the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order exist, the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order are sequenced from short to long according to the length of the dispatching path, and one tunnel is taken out in sequence to judge whether the tunnel is an empty tunnel. And if the tunnel is an empty tunnel, determining that the tunnel is a warehousing tunnel, and the goods position is the first goods position of the warehousing direction of the tunnel. And outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the cargo space number, and performing warehousing actions by the physical simulation platform. If the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel. And if so, taking out the next roadway with the empty space larger than the goods quantity of the warehousing order to judge whether the roadway is an empty roadway. If not, determining that the roadway is a warehousing roadway, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform.
If no laneway with the vacancy larger than the quantity of the goods in the warehousing order exists, judging whether a laneway cluster meeting the quantity condition of the goods in the warehousing order exists in the retrieved laneway, wherein the laneway cluster is a cluster consisting of a plurality of laneways with the goods shelf numbers and the layer numbers within 3 difference between the laneways;
if the tunnel clusters meeting the warehousing order goods quantity condition exist, the tunnel clusters meeting the warehousing order goods quantity condition are sequenced from short to long according to the length of a total scheduling path, and one tunnel cluster is taken out in sequence to judge whether the warehousing-in order delivery time conflicts with the delivery time of the goods orders stored in the tunnel of the tunnel cluster. If no conflict exists, the tunnels in the tunnel cluster are sequenced from short to long according to the length of a scheduling path, the warehousing order is sequentially divided into a plurality of sub-orders according to the vacancy of the tunnels, and the task sequence of the warehousing order is arranged for the corresponding stacker and shuttle 100. And determining a tunnel corresponding to each sub-order as a warehousing tunnel, wherein the goods position of each tunnel is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position in the warehousing direction of the tunnel, outputting a warehousing stacker, a shuttle car 100, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform. And if so, further judging whether the roadway cluster is the last roadway cluster meeting the condition of the quantity of goods in the warehousing order. If the tunnel cluster is not the last tunnel cluster meeting the warehouse entry order goods quantity condition, taking out the next tunnel cluster meeting the warehouse entry order goods quantity condition in sequence, and judging whether the warehouse entry order goods delivery time conflicts with the warehouse delivery time of goods orders stored in the tunnel of the tunnel cluster. And if the last lane cluster meeting the goods quantity condition of the warehousing order is the lane cluster, sequencing the retrieved lanes from short to long according to the length of a scheduling path, and taking one lane out of the retrieved lanes in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods order stored in the lane. If the conflict exists, taking down a retrieved tunnel in sequence to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehouse entry is the lane, dividing the warehouse entry order into a sub order according to the vacant position of the lane, and arranging a task sequence of the sub order for the corresponding stacker and shuttle 100, wherein the goods position is a next goods position of the last goods in the warehouse entry direction of the lane, and if the lane is an empty lane, the goods position is a first goods position of the lane. And then judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway. If the conflict exists, taking the next residual tunnel to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods order stored in the tunnel. If the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car 100, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.
If the tunnel clusters meeting the goods quantity condition of the warehousing orders do not exist, the retrieved tunnels are sequenced from short to long according to the length of the scheduling path, and one tunnel is taken out in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods orders stored in the tunnel. If the conflict exists, taking down a retrieved tunnel in sequence to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehouse entry is the lane, dividing the warehouse entry order into a sub order according to the vacant position of the lane, and arranging a task sequence of the sub order for the corresponding stacker and shuttle 100, wherein the goods position is a next goods position of the last goods in the warehouse entry direction of the lane, and if the lane is an empty lane, the goods position is a first goods position of the lane. And then judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway. If the conflict exists, taking the next residual tunnel to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods order stored in the tunnel. If the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car 100, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.
And after the physical simulation platform finishes the warehousing action, outputting the warehousing scheme.
In the invention, warehousing planning is carried out based on the principle of shortest warehousing and scheduling path, and each step of warehousing planning judges whether the conflict with the delivery time of stored goods in a target roadway exists, so that the problems of order congestion and conflict between warehouse location allocation and equipment scheduling are effectively solved. When the single goods orders are put in storage, the empty roadway is removed as a target roadway for planning, if the target roadway which meets the conditions does not exist, the empty roadway with the shortest scheduling path is selected as a storage roadway, the single goods orders are selected from the stored roadways preferentially, if the conditions do not meet the conditions, the empty roadway is selected as the storage roadway, the utilization rate of the high-density stereoscopic warehouse is improved beneficially, and order congestion is avoided. When multiple goods orders are put in a warehouse and the roadway does not have enough empty spaces for placing all goods, whether a proper roadway cluster exists or not is found out firstly, if so, the orders are divided into a plurality of sub-orders to be planned in the roadway corresponding to the roadway cluster respectively, and the multiple goods are stacked in the similar roadway dispersedly so as to be beneficial to the subsequent shipment of the multiple goods orders. If not, arranging the multiple goods orders into a roadway meeting the order delivery time condition according to the shortest warehousing and scheduling path principle, and arranging a task sequence until all goods of the orders are allocated good positions, thereby realizing the reasonable design of warehousing planning of the multiple goods orders.
According to the digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method, the physical simulation platform is used for acquiring order information in advance to plan the storage location and equipment in advance, instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment are achieved, the actual production process is simulated really, the simulation analysis and verification test result has enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse storage location allocation and equipment scheduling, and the problems of conflict and order congestion in the storage location allocation and the equipment scheduling are solved.
Further, the method for allocating and scheduling the warehouse location of the high-density stereoscopic warehouse based on the digital twin further comprises the following steps:
after the physical simulation platform finishes warehousing actions, acquiring order data from an upper MES, simulating order delivery according to the warehouse-out time sequence, and distributing idle stackers;
judging whether goods which are not delivered are available before or after the delivery order: if the goods which are not delivered from the warehouse still exist, judging whether the time for storing the orders in the roadway where the delivery orders are located is increased progressively or not, if so, allocating the stacker out of the warehouse as a right stacker 200, and if so, allocating the stacker out of the warehouse as a left stacker 300; if no goods which are not delivered from the warehouse still exist, distributing idle stackers;
allocating an idle shuttle car 100 with the shortest scheduling distance, judging whether the ex-warehouse order is a multi-cargo order, if so, arranging an ex-warehouse task sequence of a stacker and the shuttle car 100, and outputting an ex-warehouse stacker, a shuttle, an ex-warehouse cargo shelf number, a cargo position number and a layer number according to the ex-warehouse task sequence; if not, directly outputting the ex-warehouse stacker, the shuttle machine, the ex-warehouse goods shelf number, the goods position number and the layer number;
the physical simulation platform starts the delivery action according to the output delivery stacker, the shuttle, the delivery goods shelf number, the goods position number and the layer number;
and after the physical simulation platform finishes the warehouse-out action, outputting a warehouse-out scheme.
Therefore, whether the order which is not delivered is available before or after the delivery order is judged. If not, indicating that the order can be delivered before and after the delivery order, and distributing idle stackers; if yes, the warehouse-out order is indicated to be blocked in one direction before or after the warehouse-out order, and only the warehouse-out order can be taken out from the other direction, so that whether the warehouse-out time of the order stored in the roadway where the warehouse-out order is located is increased progressively is judged, if so, the warehouse-out stacker is allocated to be the right stacker 200, and if so, the warehouse-out stacker is allocated to be the left stacker 300. And then distributing the idle shuttle car 100 with the shortest scheduling distance, judging whether the warehouse-out order is a multi-cargo order, and if the warehouse-out order is the multi-cargo order, arranging a warehouse-out task sequence of the stacker and the shuttle car 100 to prevent the warehouse-out task sequence from being occupied by other warehouse-in and warehouse-out processes. And finally, outputting the serial numbers of the ex-warehouse stacker and the shuttle car 100, and the shelf number, the position number and the layer number of the ex-warehouse goods, and starting an ex-warehouse action by the simulation system to realize the ordered ex-warehouse planning of the order.
Further, after the simulation of all orders entering and exiting the warehouse is completed, the entering and exiting stacker, the entering and exiting shuttle car 100 number and the storage warehouse bit data of each cargo are obtained, and the operation performance data of the whole line of the high-density stereoscopic warehouse is also obtained; and according to the obtained operation data, carrying out iterative optimization on the warehousing scheme and the ex-warehousing scheme aiming at the problems of long warehousing time and congestion, and then carrying out warehousing and ex-warehousing simulation on all orders until an optimal warehousing scheme is obtained. The optimal warehousing scheme is obtained through multiple iterative optimization, so that simulation analysis and verification test results have enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse location allocation and equipment scheduling, and the problems of conflict and order congestion in the location allocation and the equipment scheduling are facilitated to be analyzed and solved.
Further, as shown in fig. 8-9, the high-density stereoscopic warehouse takes the lower right side of the top view as the origin, the cargo space number and the shelf number gradually increase to both sides, the smaller side of the cargo space number is the right side, the larger side is the left side, the ground is taken as the origin of the layer number, the cargo space number gradually increases to the upper layer number, the roadway refers to the middle shuttle type shelf, the shelf number is the same as the layer number, and the cargo space numbers are arranged from small to large, namely, the shuttle car 100 can freely move along the direction of the cargo space number;
the method for calculating the length of the scheduling path comprises the following steps: acquiring a target roadway goods shelf number, a layer number and a current goods shelf number, layer number and goods position number of an idle shuttle car 100; adding the target roadway shelf number and the target roadway layer number, and calculating to obtain the length of the target roadway warehousing path; judging whether the stacker allocated to the warehousing order is the left stacker 300 or not, if so, calculating the sum of the absolute value of the current goods shelf number of the shuttle car 100 minus the goods shelf number of the target roadway, the absolute value of the current layer number of the shuttle car 100 minus the goods shelf number of the target roadway and the absolute value of the maximum value of the goods space number minus the current goods space number of the shuttle car 100 to obtain the dispatching path length of the shuttle car 100; if not, calculating the sum of the current goods shelf number of the shuttle car 100 minus the absolute value of the goods shelf number of the target roadway, the current layer number of the shuttle car 100 minus the absolute value of the goods shelf number of the target roadway and the current goods position number of the shuttle car 100 to obtain the dispatching path length of the shuttle car 100; calculating the sum of the length of the warehousing path of the target roadway and the length of the dispatching path of the shuttle car 100 to obtain the length of the dispatching path; the return dispatch path length is associated with the corresponding shuttle 100 number. Therefore, the sum of the length of the warehousing path of the target roadway and the length of the dispatching path of the shuttle car 100 is used for obtaining the length of the dispatching path, so that the roadways can be sequenced from short to long according to the length of the dispatching path, and warehousing planning is realized on the basis of the shortest warehousing and dispatching path principle.
Further, the high-density stereoscopic warehouse stipulates that the time for storing the orders in one tunnel to leave the warehouse can only be monotonically increased or decreased, namely if the time for storing the orders in the same tunnel to leave the warehouse monotonically increases along the positive direction of the goods position number, the time for the stored orders in the tunnel to leave the warehouse is increased; if the time for taking out the stored order in the same tunnel monotonically decreases along the positive direction of the goods space number, the time for taking out the stored order in the tunnel is decreased; the method for judging whether the order delivery time conflicts with the delivery time of the goods orders stored in the roadway comprises the following steps: judging whether the stored order delivery time of the target roadway is increased progressively or not: if the stored order delivery time of the target roadway is increased progressively, judging whether the warehousing order is distributed to the left stacker 300, if so, judging whether the warehousing order delivery time is earlier than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker 200 is in the warehouse-in direction, judging whether the warehouse-in order delivery time is later than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions; if the time for the stored orders to leave the warehouse of the target roadway is decreased progressively, judging whether the warehousing orders are distributed to the left stacker 300, if so, judging whether the time for the warehousing orders to leave the warehouse is later than the time for the last goods to leave the warehouse in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker 200 is in the right position, judging whether the warehouse-in order delivery time is earlier than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions. Therefore, whether the warehouse-in order warehouse-out time is increased progressively or not is judged, whether the warehouse-in order warehouse-out time is later than or earlier than the warehouse-out time of the last goods in the warehouse-in direction is judged according to the stacker distributed by the warehouse-in order, whether the order warehouse-out time conflicts with the warehouse-out time of the stored goods in the target roadway or not is judged, the judgment is simple, the goods are arranged in each roadway in an increasing or decreasing manner according to the warehouse-out time, and the problem that the warehouse space distribution conflicts with the equipment scheduling.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (5)

1.基于数字孪生的高密度立体仓库库位分配与调度方法，应用在由两侧的单一货位货架、中间的穿梭式货架、中间穿梭式货架与两侧单一货位货架之间的两台堆垛机与数辆穿梭车组成的高密度立体仓库；所述高密度立体仓库以立柱和横梁为界限，分隔成一个个货位，每个货位具有唯一的货架号、货位号、层号作为标识；其特征在于，所述方法包括：1. The high-density three-dimensional warehouse location allocation and scheduling method based on digital twins is applied to two sets of single-space shelves on both sides, a shuttle-type shelf in the middle, a shuttle-type shelf in the middle and a single-space shelf on both sides. A high-density three-dimensional warehouse composed of stackers and several shuttle vehicles; the high-density three-dimensional warehouse is divided into one cargo space with columns and beams as the boundary, and each cargo space has a unique shelf number, cargo space number, floor No. as an identification; it is characterized in that, described method comprises: 构建虚实同步且具有上层MES的实物仿真平台；Build a physical simulation platform with virtual and real synchronization and upper-layer MES; 从上层MES获取入库订单数据，按入库时间顺序模拟入库订单投放，分配空闲堆垛机；Obtain warehousing order data from the upper MES, simulate the placing of warehousing orders according to the warehousing time sequence, and allocate idle stackers; 若入库订单为单货物订单，则检索所有有空位且没有任务序列的巷道，将检索出的巷道按调度路径长短从短到长进行排序，并按顺序从中取出一个巷道判断其是否为空巷道：If the inbound order is a single-goods order, retrieve all the lanes with vacancies and no task sequence, sort the retrieved lanes according to the length of the scheduling path from short to long, and take out one lane in order to determine whether it is an empty lane : 若是空巷道，则进一步判断其是否为最后一个检索结果；若不是最后一个检索结果，则取出下一个检索结果判断其是否为空巷道；若是最后一个检索结果，则确定入库巷道为调度路径最短的空巷道；货位为该巷道入库方向的第一个货位，输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If it is an empty lane, it is further judged whether it is the last retrieval result; if it is not the last retrieval result, the next retrieval result is taken out to determine whether it is an empty lane; if it is the last retrieval result, it is determined that the storage lane is the shortest scheduling path the empty lane; the cargo slot is the first cargo slot in the storage direction of the lane, and the storage stacker, shuttle car, shelf number, floor number and cargo slot number are output, and the physical simulation platform performs the storage action; 若不是空巷道，则进一步判断入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若冲突，则取出下一个检索结果判断其是否为空巷道；若不冲突，则确定该巷道为入库巷道，货位为该巷道入库方向最后一个货物的后一个货位；输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If it is not an empty aisle, further judge whether the delivery time of the inbound order conflicts with the delivery time of the goods order stored in the aisle; if there is a conflict, take out the next retrieval result to determine whether it is an empty aisle; Then determine that the roadway is the inbound roadway, and the cargo position is the next cargo position of the last cargo in the inbound direction of the roadway; output the inbound and outbound stacker, shuttle car, shelf number, floor number and cargo location number, and the physical simulation platform will carry out warehousing action; 若入库订单为多货物订单，则判断是否为入库订单的第一个货物；If the inbound order is a multi-goods order, determine whether it is the first commodity of the inbound order; 若不是入库订单的第一个货物，则按指定任务序列入库，依据任务序列输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If it is not the first item of the warehousing order, it will be warehousing according to the specified task sequence, and according to the task sequence, the warehousing stacker, shuttle car, shelf number, floor number and cargo slot number will be output, and the physical simulation platform will perform the warehousing action; 若是入库订单的第一个货物，则检索所有有空位且没有任务序列的巷道，判断检索出的巷道是否存在空位大于入库订单货物数量的巷道；If it is the first cargo of the inbound order, search all the lanes with vacancies and no task sequence, and judge whether the retrieved lanes have lanes with vacancies greater than the number of goods in the inbound order; 若存在空位大于入库订单货物数量的巷道，则将空位大于入库订单货物数量的巷道按调度路径长短从短到长进行排序，并按顺序从中取出一个巷道判断其是否为空巷道；若是空巷道，则确定该巷道为入库巷道；货位为该巷道入库方向的第一个货位；输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If there are lanes with vacancies greater than the quantity of goods in the inbound order, sort the lanes with vacancies greater than the quantity of goods in the inbound order according to the length of the dispatch path from short to long, and take out one lane in order to determine whether it is an empty lane; if it is empty If there is a roadway, it is determined that the roadway is the inbound roadway; the cargo location is the first cargo location in the inbound direction of the roadway; the inbound and outbound stacker, shuttle car, shelf number, floor number and cargo location number are output, and the physical simulation platform is carried out. warehousing action; 若不是空巷道，则进一步判断入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若冲突，则取出下一个空位大于入库订单货物数量的巷道判断其是否为空巷道；若不冲突，则确定该巷道为入库巷道，货位为该巷道入库方向最后一个货物的后一个货位；输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If it is not an empty lane, then further judge whether the outgoing time of the inbound order conflicts with the outgoing time of the goods order stored in the lane; if there is a conflict, take out the lane with the next vacancy greater than the quantity of goods in the inbound order to determine whether it is Empty lane; if there is no conflict, it is determined that the lane is the inbound lane, and the cargo position is the cargo position after the last cargo in the inbound direction of the lane; Tag, the physical simulation platform to carry out the storage action; 若不存在空位大于入库订单货物数量的巷道，则判断检索出的巷道是否存在满足入库订单货物数量条件的巷道集群，巷道集群是指巷道之间货架号与层号均需要相差3以内的多个巷道组成的集群；If there is no lane with vacancy greater than the quantity of goods in the inbound order, it is judged whether the retrieved lanes have lane clusters that meet the condition of the quantity of goods in the inbound order. The lane clusters refer to the difference between the shelf numbers and the floor numbers of the lanes within 3. A cluster composed of multiple lanes; 若存在满足入库订单货物数量条件的巷道集群，则将满足入库订单货物数量条件的巷道集群按总调度路径长短从短到长进行排序，并按顺序从中取出一个巷道集群判断该入库订单出库时间是否与该巷道集群的巷道已存储的货物订单的出库时间有冲突；若不冲突，则将该巷道集群中的巷道按调度路径长短从短到长进行排序，入库订单按顺序地依据巷道的空位分割成若干个子订单，并给对应堆垛机、穿梭车安排该入库订单的任务序列；确定各个子订单对应的巷道作为入库巷道，各巷道的货位为该巷道入库方向最后一个货物的后一个货位，若巷道为空巷道，则货位为该巷道入库方向的第一个货位；依据任务序列输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；若冲突，则进一步判断该巷道集群是否为最后一个满足入库订单货物数量条件的巷道集群；若不是最后一个满足入库订单货物数量条件的巷道集群，则按顺序取出下一个满足入库订单货物数量条件的巷道集群判断该入库订单出库时间是否存在与该巷道集群的巷道已存储的货物订单的出库时间有冲突；若是最后一个满足入库订单货物数量条件的巷道集群，则将检索出的巷道按调度路径长短从短到长进行排序，按顺序从中取出一个巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若冲突，则按顺序取下一个检索出的巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若不冲突，则确定入库巷道为该巷道，入库订单按照该巷道的空位分割出一个子订单，并给对应堆垛机、穿梭车安排该子订单的任务序列，货位为该巷道的入库方向最后一个货物的后一个货位，若该巷道为空巷道，则货位为该巷道的第一个货位；再判断检索出的剩余的巷道是否存在巷道空位大于剩余入库订单货物数量，若不存在，则取出下一个检索出巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若存在，则将剩余巷道按照调度路径长短从短至长进行排序，按顺序从中取一个剩余巷道判断该入库订单出货时间是否与该巷道已存储的货物订单的出库时间冲突，若冲突，则取下一个剩余巷道判断该入库订单出货时间是否与该巷道已存储的货物订单的出库时间有冲突；若不冲突，则确定入库订单剩余货物的入库巷道为该剩余巷道，给对应堆垛机、穿梭车安排该入库订单剩余货物的任务序列，货位为该巷道的入库方向最后一个货物的后一个货位，若该巷道为空巷道，则货位为该巷道的第一个货位，依据任务序列输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If there are roadway clusters that meet the condition of the quantity of goods in the inbound order, the roadway clusters that meet the condition of the quantity of goods in the inbound order will be sorted according to the total scheduling path length from short to long, and an aisle cluster will be taken out in order to judge the inbound order. Whether the delivery time conflicts with the delivery time of the goods orders stored in the lanes of the lane cluster; if not, the lanes in the lane cluster are sorted according to the length of the scheduling path from short to long, and the inbound orders are in order According to the vacancy of the roadway, it is divided into several sub-orders, and the task sequence of the inbound order is arranged for the corresponding stacker and shuttle; The cargo position after the last cargo in the warehouse direction, if the roadway is empty, the cargo position is the first cargo position in the inbound direction of the aisle; according to the task sequence, output the inbound stacker, shuttle car, shelf number, floor The physical simulation platform performs the warehousing action; if there is a conflict, it is further judged whether the lane cluster is the last lane cluster that satisfies the condition of the quantity of goods in the warehousing order; For the lane cluster, the next lane cluster that satisfies the condition of the quantity of goods in the inbound order is taken out in order to determine whether the outgoing time of the inbound order conflicts with the outgoing time of the goods orders stored in the lanes of the lane cluster; if the last one For the roadway cluster that meets the condition of the quantity of goods in the inbound order, the retrieved roadways are sorted according to the length of the dispatching path from short to long, and one roadway is taken out in order to determine whether the outgoing time of the inbound order is the same as the goods stored in the roadway. The delivery time of the order is in conflict; if there is a conflict, take the next retrieved aisle in order to determine whether the delivery time of the inbound order conflicts with the delivery time of the goods order stored in the aisle; if not, then Determine the storage lane as the lane, divide the storage order into a sub-order according to the vacancy of the lane, and arrange the task sequence of the sub-order for the corresponding stacker and shuttle, and the cargo position is the last one in the storage direction of the lane. The next cargo space of the goods, if the lane is empty, the cargo position is the first cargo position of the lane; then judge whether there is a lane vacancy in the remaining lanes retrieved that is greater than the remaining quantity of goods in the storage order, if not , then take out the next retrieval roadway to determine whether the outgoing time of the inbound order conflicts with the outgoing time of the goods order stored in the alley; Take one of the remaining lanes in order to determine whether the delivery time of the incoming order conflicts with the outgoing time of the goods orders stored in the lane. There is a conflict in the delivery time of the goods orders stored in the lane; if there is no conflict, the storage lane of the remaining goods in the storage order is determined to be the remaining lane, and the corresponding stacker and shuttle are arranged for the remaining goods in the storage order. Sequence, the cargo position is the next cargo position of the last cargo in the inbound direction of the lane. If the lane is an empty lane, the cargo position is the first cargo position of the lane. According to the task sequence Input the warehousing stacker, shuttle car, shelf number, floor number and location number, and the physical simulation platform performs warehousing action; 若不存在满足入库订单货物数量条件的巷道集群，则将检索出的巷道按调度路径长短从短到长进行排序，按顺序从中取出一个巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若冲突，则按顺序取下一个检索出的巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若不冲突，则确定入库巷道为该巷道，入库订单按照该巷道的空位分割出一个子订单，并给对应堆垛机、穿梭车安排该子订单的任务序列，货位为该巷道的入库方向最后一个货物的后一个货位，若该巷道为空巷道，则货位为该巷道的第一个货位；再判断检索出的剩余的巷道是否存在巷道空位大于剩余入库订单货物数量，若不存在，则取出下一个检索出巷道判断该入库订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突；若存在，则将剩余巷道按照调度路径长短从短至长进行排序，按顺序从中取一个剩余巷道判断该入库订单出货时间是否与该巷道已存储的货物订单的出库时间冲突，若冲突，则取下一个剩余巷道判断该入库订单出货时间是否与该巷道已存储的货物订单的出库时间有冲突；若不冲突，则确定入库订单剩余货物的入库巷道为该剩余巷道，给对应堆垛机、穿梭车安排该入库订单剩余货物的任务序列，货位为该巷道的入库方向最后一个货物的后一个货位，若该巷道为空巷道，则货位为该巷道的第一个货位，依据任务序列输出入库堆垛机、穿梭车、货架号、层号和货位号，实物仿真平台进行入库动作；If there is no lane cluster that meets the condition of the quantity of goods in the warehousing order, sort the retrieved lanes according to the length of the scheduling path from short to long, and take out an lane in order to determine whether the outgoing time of the warehousing order is the same as that of the lane. The delivery time of the stored goods order is in conflict; if there is a conflict, take the next retrieved aisle in order to determine whether the delivery time of the inbound order conflicts with the delivery time of the stored goods order in the aisle; if not If there is a conflict, it is determined that the storage lane is the lane, the storage order is divided into a sub-order according to the vacancy of the lane, and the task sequence of the sub-order is arranged for the corresponding stacker and shuttle, and the cargo position is the storage of the lane. To the next cargo space of the last cargo, if the lane is empty, the cargo position is the first cargo position of the lane; and then judge whether there is a lane vacancy in the remaining lanes retrieved that is greater than the remaining quantity of goods in the storage order, If it does not exist, take out the next retrieval lane to determine whether the outgoing time of the inbound order conflicts with the outgoing time of the goods order stored in the lane; Sort, take one of the remaining lanes in order to determine whether the delivery time of the inbound order conflicts with the outbound time of the goods orders stored in the lane. If there is a conflict, take the next remaining lane to determine the delivery time of the inbound order. Whether there is a conflict with the delivery time of the goods order stored in the aisle; if there is no conflict, then determine the storage lane of the remaining goods in the storage order as the remaining lane, and arrange the remaining goods in the storage order for the corresponding stacker and shuttle. The task sequence of the cargo, the cargo position is the next cargo position of the last cargo in the inbound direction of the lane, if the lane is an empty lane, the cargo position is the first cargo position of the lane, and the incoming and outgoing stack is output according to the task sequence Stacker, shuttle, shelf number, layer number and location number, the physical simulation platform performs warehousing actions; 实物仿真平台完成入库动作后，输出入库方案。After the physical simulation platform completes the warehousing action, it outputs the warehousing plan. 2.根据权利要求1所述的基于数字孪生的高密度立体仓库库位分配与调度方法，其特征在于，还包括：2. The high-density three-dimensional warehouse storage location allocation and scheduling method based on digital twin according to claim 1, is characterized in that, also comprises: 实物仿真平台完成入库动作后，从上层MES获取订单数据，按出库时间顺序模拟订单投放，分配空闲堆垛机；After the physical simulation platform completes the warehousing action, it obtains order data from the upper MES, simulates order placement in the order of delivery time, and allocates idle stackers; 判断出库订单前或后是否有仍未出库的货物：若有仍未出库的货物，则判断出库订单所在巷道存储订单出库时间是否为递增，若是递增，则分配出库堆垛机为右堆垛机，若是递减，则分配出库堆垛机为左堆垛机；若无仍未出库的货物，则分配空闲堆垛机；Determine whether there are goods that have not been shipped out before or after the outbound order: If there are goods that have not been out of the warehouse, then determine whether the outbound time of the aisle storage order where the outbound order is located is increasing, and if so, assign the outbound stacking The stacker is the right stacker. If it is decreasing, the stacker will be assigned to the left stacker; if there is no goods that have not yet been shipped, the idle stacker will be assigned. 分配调度距离最短的空闲穿梭车，并判断出库订单是否为多货物订单，若是，则安排堆垛机与穿梭车的出库任务序列，依据出库任务序列输出出库堆垛机、穿梭机、出库货物货架号、货位号和层号；若否，则直接输出出库堆垛机、穿梭机、出库货物货架号、货位号和层号；Allocate the idle shuttle with the shortest scheduling distance, and determine whether the outbound order is a multi-cargo order. If so, arrange the outbound task sequence of the stacker and the shuttle, and output the outbound stacker and shuttle according to the outbound task sequence. , Shelf number, location number and layer number of outbound goods; if not, output the outbound stacker, shuttle, shelf number, location number and layer number of outbound goods directly; 实物仿真平台根据输出的出库堆垛机、穿梭机、出库货物货架号、货位号和层号开始出库动作；The physical simulation platform starts the outbound action according to the output of the outbound stacker, shuttle machine, outbound cargo shelf number, cargo slot number and layer number; 实物仿真平台完成出库动作后，输出出库方案。After the physical simulation platform completes the outbound action, it outputs the outbound plan. 3.根据权利要求2所述的基于数字孪生的高密度立体仓库库位分配与调度方法，其特征在于，完成全部订单出入库仿真之后，得到每个货物的出入库堆垛机、出入库穿梭车编号以及存储库位数据，还得到高密度立体仓库整线的运行性能数据；根据得出的运行数据，针对入库时间长和出现拥堵情况的问题对入库方案和出库方案进行迭代优化，再进行全部订单的出入库仿真，直至得出最优的入库方案。3. The digital twin-based high-density three-dimensional warehouse location allocation and scheduling method according to claim 2, characterized in that, after completing the in-out and out-of-warehouse simulation of all orders, the in-out and out-of-storage stacker, in-out and out-of-warehouse shuttle of each cargo is obtained The vehicle number and storage location data, and the operation performance data of the entire line of the high-density three-dimensional warehouse are also obtained; according to the obtained operation data, the storage plan and the storage plan are iteratively optimized for the problems of long storage time and congestion. , and then carry out the warehousing simulation of all orders until the optimal warehousing scheme is obtained. 4.根据权利要求1所述的基于数字孪生的高密度立体仓库库位分配与调度方法，其特征在于，4. the high-density three-dimensional warehouse location allocation and scheduling method based on digital twin according to claim 1, is characterized in that, 高密度立体仓库以俯视图右下侧为原点，货位号与货架号向两侧逐渐增大，货位号小一侧为右，大一侧为左，以地面作为层号原点，向上层号逐渐增大，巷道指的是中间穿梭式货架上，货架号与层号相同，而货位号从小到大排列的一组货位，即穿梭车沿货位号方向自由运动的一组货位；The high-density three-dimensional warehouse takes the lower right side of the top view as the origin, and the slot number and shelf number gradually increase to both sides. Gradually increase, the roadway refers to the intermediate shuttle rack, the rack number is the same as the floor number, and the slot number is arranged from small to large, that is, the shuttle car moves freely in the direction of the slot number. ; 计算调度路径长度的方法是：The way to calculate the length of the scheduling path is: 获取目标巷道货架号、层号以及空闲的穿梭车当前的货架号、层号和货位号；Obtain the shelf number, floor number of the target aisle and the current shelf number, floor number and cargo space number of the idle shuttle; 将目标巷道货架号和目标巷道层号相加，计算得到目标巷道入库路径长度；Add the shelf number of the target roadway and the layer number of the target roadway, and calculate the length of the storage path of the target roadway; 判断入库订单分配的堆垛机是否为左堆垛机，若是，则计算穿梭车当前货架号减去目标巷道货架号的绝对值、穿梭车当前层号减去目标巷道货架号的绝对值以及货位号最大值减去穿梭车当前货位号的绝对值的三者之和，得到穿梭车调度路径长度；若否，则计算穿梭车当前货架号减去目标巷道货架号的绝对值、穿梭车当前层号减去目标巷道货架号的绝对值以及穿梭车当前货位号的三者之和，得到穿梭车调度路径长度；Determine whether the stacker assigned by the inbound order is a left stacker, and if so, calculate the absolute value of the current shelf number of the shuttle minus the shelf number of the target lane, the current layer number of the shuttle minus the absolute value of the shelf number of the target lane, and The maximum value of the slot number minus the sum of the absolute value of the current slot number of the shuttle vehicle is the sum of the three to obtain the length of the dispatching path of the shuttle vehicle; The current floor number of the vehicle minus the absolute value of the shelf number of the target roadway and the sum of the current storage number of the shuttle vehicle, the length of the shuttle vehicle dispatching path is obtained; 计算目标巷道入库路径长度与穿梭车调度路径长度之和，得到调度路径长度；Calculate the sum of the length of the inbound path of the target roadway and the length of the dispatching path of the shuttle to obtain the length of the dispatching path; 返回调度路径长度与对应穿梭车编号。Returns the dispatch path length and the corresponding shuttle number. 5.根据权利要求1所述的基于数字孪生的高密度立体仓库库位分配与调度方法，其特征在于：5. high-density stereoscopic warehouse storage location allocation and scheduling method based on digital twin according to claim 1, is characterized in that: 高密度立体仓库规定一个巷道中存储订单出库时间只能为单调增加或减少，即若同一巷道中存储订单出库时间沿着货位号正方向单调增加，则该巷道已存储订单出库时间为递增；若同一巷道中存储订单出库时间沿着货位号正方向单调减少，则该巷道已存储订单出库时间为递减；The high-density three-dimensional warehouse stipulates that the delivery time of storage orders in an aisle can only increase or decrease monotonically, that is, if the delivery time of storage orders in the same aisle increases monotonically along the positive direction of the location number, the delivery time of the stored orders in the aisle has been stored. is increasing; if the delivery time of the stored order in the same lane decreases monotonically along the positive direction of the location number, the delivery time of the stored order in this lane is decreasing; 判断订单出库时间是否与该巷道已存储的货物订单的出库时间有冲突的方法是：The method for judging whether the delivery time of the order conflicts with the delivery time of the goods orders stored in the aisle is as follows: 判断目标巷道已存储订单出库时间是否为递增：Determine whether the delivery time of the stored order in the target lane is increasing: 若目标巷道已存储订单出库时间是递增，则判断入库订单是否分配左堆垛机，若是左堆垛机，则判断入库订单出库时间是否早于该入库方向最后一个货物的出库时间，若是，则返回满足条件；若否，则返回不满足条件；若是右堆垛机，则判断入库订单出库时间是否晚于该入库方向最后一个货物的出库时间，若是，则返回满足条件，若否，则返回不满足条件；If the delivery time of the stored order in the target aisle is increasing, it will be judged whether the warehousing order is allocated with a left stacker. If it is a left stacker, it will be judged whether the delivery time of the warehousing order is earlier than the delivery of the last cargo in the warehousing direction. Warehouse time, if it is, return the condition that meets the condition; if not, return the condition that does not satisfy; if it is a right stacker, then judge whether the outgoing time of the inbound order is later than the outgoing time of the last cargo in the inbound direction, if so, Return if the condition is met, if not, return if the condition is not met; 若目标巷道已存储订单出库时间是递减，则判断入库订单是否分配左堆垛机，若是左堆垛机，则判断入库订单出库时间是否晚于该入库方向最后一个货物的出库时间，若是，则返回满足条件；若否，则返回不满足条件；若是右堆垛机，则判断入库订单出库时间是否早于该入库方向最后一个货物的出库时间，若是，则返回满足条件，若否，则返回不满足条件。If the outgoing time of the stored order in the target lane is decreasing, it is judged whether the incoming order is allocated a left stacker, and if it is a left stacker, it is determined whether the outgoing time of the incoming order is later than the outgoing time of the last cargo in the incoming direction. Warehouse time, if yes, return the condition that satisfies the condition; if not, return the condition that does not meet; if it is a right stacker, judge whether the outgoing time of the inbound order is earlier than the outgoing time of the last cargo in the inbound direction, if so, Returns if the condition is met, if not, returns if the condition is not met.
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