CN111776565A - Method for realizing goods allocation by stacker and computer program product - Google Patents
Method for realizing goods allocation by stacker and computer program product Download PDFInfo
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- CN111776565A CN111776565A CN202010581700.XA CN202010581700A CN111776565A CN 111776565 A CN111776565 A CN 111776565A CN 202010581700 A CN202010581700 A CN 202010581700A CN 111776565 A CN111776565 A CN 111776565A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention discloses a method for realizing goods allocation by a stacker and a computer program product. The method comprises the following steps: setting a warehouse management information system and a stacker system; the warehouse management information system completes the internal business processing of material management, goods receiving and dispatching management and the like; the stacker system is used as an execution system of automatic logistics and manages goods positions in the roadway; when the warehouse management information system reaches the warehousing task, the target goods location address of the task is not distributed, and the stacker system automatically generates a discharging address; after the warehousing task is finished, feeding back the goods location information to a warehouse management information system; when the warehouse management information system reaches the warehouse-out task, the source goods location address of the task is issued; the stacker system determines a task execution path according to the execution efficiency; and after the execution task is finished, stopping to a rest point for standby according to the task cache condition. The invention solves the problems of low distribution efficiency of goods positions in an automatic elevated warehouse mode, low operation efficiency of the warehouse caused by unreasonable distribution and the like.
Description
Technical Field
The invention relates to the technical field of automatic logistics, in particular to a method for realizing allocation of warehousing goods positions by the participation of a stacker and a computer program product, and particularly relates to a method for realizing allocation of warehousing goods positions by the participation of stacker equipment used in an automatic elevated warehouse and a computer program product.
Background
Along with the rapid development of Chinese economy, the construction is accelerated in intelligent manufacturing engineering, numerous novel automatic logistics technical equipment are applied in a large range, and the demand for effective management of an intelligent automatic overhead warehouse is continuously increased.
The information management control system of the conventional automatic elevated warehouse is divided into two levels. The upper-layer warehouse management information system is mainly responsible for functions of warehouse service realization, warehouse area goods location management, task collaboration and the like; and the bottom layer equipment control system is mainly used for completing the conveying of the materials according to the task instruction.
The automatic elevated warehouse has different overall process layouts according to factory planning and process setting. In the warehouse in various layout modes, the dynamic change of the warehouse in and out frequency and the uncertainty of warehouse in and out materials, and the goods location distribution of the warehouse management information system only can consider the average distribution of goods or the operation efficiency of equipment, so that the flexibility, stability and flexibility of the stereoscopic warehouse cannot be really realized. Only if the bottom equipment control system stacker also bears the responsibility of goods allocation, the equipment layer control program is optimized, the upper and lower interconnections are realized, and the stacker is self-decision-making self-execution based on the operation data, the operation efficiency of the automatic elevated warehouse can be effectively improved, and the intelligent degree is improved.
At present, under the automatic elevated warehouse mode, the warehouse management information system completely manages the distribution of the goods positions, the distribution efficiency of the goods positions is not high, the distribution of the goods positions is unreasonable, and the problems of low operation efficiency of the whole warehouse and the like are easy to occur.
Disclosure of Invention
The invention aims to provide a stacker for assuming the function of warehousing goods allocation management and optimizing a task execution method, so as to solve the problems that goods allocation in an automatic elevated warehouse mode completely depends on a warehouse management information system, the flexibility of warehouse operation is not high, the overall operation efficiency of a warehouse is not high, the optimization is limited and the like.
The main idea of the method for realizing the allocation of goods space by the stacker of the invention comprises the following contents:
1. establishing several data models in a stacker system, including:
(1) cargo space information
And defining the information of loading and unloading goods positions of the stacker, including the address code of the goods positions, the running time of the goods positions and the idle goods loading state of the goods positions.
(2) Task buffer queue
And defining an in-warehouse task buffer queue and an out-warehouse task buffer queue according to the overall layout mode.
The stacker has how many loading platforms at the road junction and how many warehousing tasks are cached in queues; and as many gateway discharge stations as there are outbound task buffer queues.
And setting a threshold value for each warehousing task buffer queue to control the task to be removed from the queue. The threshold value is equal to the quantity of the material containers which can be cached between the entry platform of the warehousing and conveying area and the loading platform of the road junction. And setting a buffer time for each warehousing task buffer queue, and controlling the task in which the container is in place to be removed from the queue when the buffer time is exceeded.
And each ex-warehouse task cache queue is provided with a threshold value to control the warehouse management information system to issue the number of tasks to the stacker system at one time.
Each task buffer queue is provided with a polling sequence. The method is used for the stacker system to poll the scanning queue sequence.
(3) Task execution queue
A task execution queue is defined. The task execution queue is a list of tasks that can be executed that satisfy the condition. And when the task in the task buffer queue meets the condition, moving the task to a task execution queue.
The task execution queue can be set to be two, and each queue is set to be four states of idle, preparation completion and execution.
The stacker system alternately polls the two queues to execute the tasks in the queues.
(4) Stacker rest point
The stacker rest point is its parking waiting position when it is not tasked.
And setting a plurality of warehousing rest points, associating the warehousing rest points with the warehousing task cache queues, and setting a rest point in the warehouse.
2. And information interaction between the warehouse management information system and the stacker system is realized, including warehouse entry and exit tasks, goods location information, task execution feedback, equipment state feedback and the like.
3. The warehouse management information system distributes tasks to the stacker system, and the stacker system conveys materials to a goods position according to the principle of efficiency priority to achieve material warehousing or takes the materials out of the goods position to achieve material warehouse-out.
4. And stopping the stacker at the current position to wait for the next instruction after the stacker executes the task, starting the stacker to return to a rest point instruction when the task execution queue of the stacker is empty, controlling the stacker to operate to the rest point for standby, and determining the specific judgment of the rest point according to the selection process of the stacker returning to the rest point.
The application effect of the invention is as follows:
according to the method for realizing allocation of the goods space by the stacker, information interaction can be carried out between the PLC in the stacker and a warehouse management information system computer according to the real-time position of the stacker, the stacker PLC autonomously allocates the goods space to be put in storage in real time according to the method, the self-decision management of the stacker to the goods space to be put in storage is realized, the problem that the stacker is low in execution efficiency due to the fact that the warehouse management information system obtains the real-time information of the stacker and delays, the goods space is allocated in advance is solved, and the operation efficiency of an automatic three-dimensional warehouse and the intelligence degree of the stacker are effectively improved.
Drawings
The background art and the embodiment of the method of the invention are shown in the attached drawings:
FIG. 1: setting a task execution queue and a state transition diagram;
FIG. 2: a schematic plan view of a roadway;
FIG. 3: the information flow between the warehouse management information system and the stacker system of the method is shown schematically;
FIG. 4: the method comprises the steps of selecting a warehouse entry task goods space flow chart;
FIG. 5: the stacker of the method of the invention returns to the rest point and selects the flow chart;
FIG. 6: compared with the traditional method, the method of the invention has the advantages that the solution of the warehousing process is compared;
FIG. 7: the method of the invention is compared with the ex-warehouse flow solution of the traditional method;
FIG. 8: compared with the stacker feedback rest point solution of the traditional method, the method provided by the invention has the advantages that the method is simple and convenient to operate, and the problem of low cost is solved.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood by those skilled in the art, the present invention is further described with reference to the accompanying drawings and examples.
Referring to fig. 2, in the present embodiment, a row of shelves is disposed on both sides of the lane, each row of shelves has a plurality of rows along the shelf lane, each row of shelves has a plurality of layers from bottom to top, and each layer of each row represents a cargo space of a shelf. The in-lane stacker system needs to manage the allocation of the cargo space in all lanes. The goods position information is defined in the stacker system and is represented by a continuous data block. A double-character goods space, wherein the first character represents a goods space address, the first digit represents the left side or the right side of the goods shelf, the last 7 digits represent the column number of the goods shelf, and the last 8 digits represent the layer number of the goods shelf; the first bit of the second word indicates that the cargo space is free or occupied, and the remaining bits indicate the time to travel from the origin of the stacker to the cargo space.
Referring to fig. 2, in the present embodiment, the warehouse management information system performs warehouse internal business processes such as material management, goods receiving and dispatching management, and the like. The stacker system is used as an execution system of automatic logistics to manage the goods space in the tunnel (the figure shows the situation that one stacker works from left to right in the tunnel). When the warehouse management information system reaches the warehousing task, the target goods location address of the task is not reached, the stacker system automatically generates a discharging address, and after the warehousing task is completed, the goods location information is fed back to the warehouse management information system. And when the warehouse management information system reaches the warehouse-out task, the source goods position and the target platform of the task are assigned. And the stacker system determines a task execution path according to the execution efficiency. And after the execution task is finished, stopping to a rest point for standby according to the task cache condition.
The method for realizing the distribution of the warehousing goods space by the stacker is used for distributing tasks to the stacker by a warehouse management information system, and the stacker conveys materials to the goods space or takes the materials out of the goods space according to the principle of efficiency priority to realize the delivery of the materials out of the warehouse.
Referring to fig. 4, fig. 6 and fig. 7, the method for realizing allocation of goods space by the stacker of the present invention includes two parts of selection of goods space of warehousing task and selection of rest point for returning the stacker.
The warehousing task goods space selection part comprises the following steps:
step S1, the warehousing task generation: when the material container is stored in the platform, the warehouse management information system generates a warehousing task.
Step S2, lane allocation: and the warehouse management information system distributes tasks to the corresponding stacker system according to the principle of uniform distribution of warehousing tasks and the like.
Step S3, the task enters the task buffer queue: the task enters a storage task buffer queue of the stacker, and the execution threshold value of the storage task buffer queue means the number of buffer stations from an entrance to a loading station of the stacker. As shown in fig. 2, there are two inbound task buffer queues (101 entry, 201 entry) and one outbound task buffer queue (301 exit), where the task buffer queue execution threshold of 101 entry is set to 2, and the task buffer queue execution threshold of 201 entry is set to 3.
Step S4, the material container is in place: the material container arrives at a loading platform at the road junction, the warehouse management information system informs the stacker system that the material container can be carried, and the stacker caches the material container in position corresponding to the warehousing task buffer queue.
In step S5, the task enters the task execution queue: and the task meeting the condition in the buffer queue enters a task execution queue.
And the stacker system checks the task buffer queues in sequence according to the buffer queue polling sequence at regular time, and moves the task to a task execution queue if the queue reaches a threshold value and the task with the material container in place exists for the task buffer queue in storage. And for the ex-warehouse task cache queue, if the preamble is the in-warehouse cache queue, extracting the number of tasks according to the preamble, moving the tasks with the same number to a task execution queue, and if the preamble is not the in-warehouse task cache queue or the preamble in-warehouse task cache queue does not extract the tasks, moving the tasks which do not exceed the threshold value of the out-warehouse queue to the task execution queue.
Step S6: determining a target goods position of the warehousing task: if the warehousing task has no target goods position, calculating the time of the stacker running to all idle goods positions of the address according to the source address of the subsequent task, and selecting the goods position with the minimum time as the target goods position of the warehousing task. For example, if the subsequent task is an ex-warehouse task, the time of the goods location address corresponding to the ex-warehouse task is inquired, the time of all idle goods locations in the goods location model is subtracted, the absolute value is taken, and the goods location with the minimum absolute value and the minimum layer number is determined to be the target goods location.
And step S7, cargo space information feedback: after the stacker finishes the loading or unloading action, the goods position information is fed back to the warehouse management information system in time.
And step S8, task information feedback: and after the stacker finishes the warehousing task, feeding back the task execution information to the warehouse management information system in time.
Referring to fig. 5 and 8, after the stacker finishes executing the task, the stacker stops waiting for the next instruction at the current position, when the stacker task execution queue is empty, the stacker is started to return to the rest point instruction, the stacker is controlled to operate to the rest point for standby, and the judgment of the rest point is obtained according to the stacker return to the rest point selection process, and the steps are as follows:
step S1, starting the stacker to return to a rest point: and when the stacker finishes executing all tasks and the task execution queue is empty, starting a rest point returning program.
Step S2, selecting a warehouse rest point: and when the warehousing task buffer queues are not empty, comparing the difference value between the number of the tasks in each warehousing buffer queue and the queue threshold value, and selecting the rest point corresponding to the warehousing buffer queue with the minimum difference value. For example, suppose that there are 1 task in the 101 task buffer queue, there are 1 task in the 201 task buffer queue, the difference of the 101 task buffer queue is 1, and the difference of the 201 task buffer queue is 2. The system selects 101 a rest point corresponding to the task buffer queue.
Step S3, selecting a warehouse-out rest point: and when the buffer queues of the warehousing tasks are empty, selecting rest points in the warehouse.
Step S4, the stacker operates to a rest point: and moving the stacker to a rest point for standby.
A method of a stacker participating in achieving allocation of a cargo space and a computer program product, the computer program product comprising a non-transitory readable storage medium and a computer program, the computer program being tangibly stored on the non-transitory readable storage medium, the computer program being executable by a processor in a computer to perform steps of the method of the stacker participating in achieving allocation of a cargo space.
Further, the computer is composed of a warehouse management information system computer and a stacker PLC, and the warehouse management information system computer executes the steps finished by the warehouse management information system in the method for realizing the allocation of the goods space by the stacker; the stacker PLC executes the steps finished by the stacker system in the method for realizing the allocation of the goods space by the stacker.
Claims (7)
1. A method for realizing goods allocation by a stacker is characterized by comprising the following steps:
step one, a warehouse management information system and a stacker system are arranged, wherein the warehouse management information system completes warehouse internal business processing such as material management, goods receiving and dispatching management and the like; the stacker system is used as an execution system of automatic logistics, manages the goods positions in the roadway and controls the stacker;
step two, establishing a plurality of data models in the stacker system, wherein the data models comprise:
(1) cargo space information
Defining the information of loading and unloading goods positions of the stacker, including the address code of the goods positions, the running time of the goods positions and the idle goods carrying state of the goods positions;
(2) task buffer queue
And defining an in-warehouse task buffer queue and an out-warehouse task buffer queue according to the overall layout mode.
The stacker has how many loading platforms at the road junction and how many warehousing tasks are cached in queues; the number of the unloading platforms at the road junction is the number of the outbound task buffer queues;
and setting a threshold value for each warehousing task buffer queue to control the task to be removed from the queue. The threshold value is equal to the quantity of the material containers which can be cached between an entrance platform of the warehousing and conveying area and a loading platform of the road junction, each warehousing task cache queue is provided with a cache time, and the task in which the containers are positioned is removed from the queue after the cache time is exceeded;
setting a threshold value for each ex-warehouse task cache queue, and controlling the warehouse management information system to issue the number of tasks to the stacker system at one time;
each task buffer queue is provided with a polling sequence. Polling and scanning queue sequence for the stacker system;
(3) task execution queue
A task execution queue is defined. The task execution queue is a task list which can be executed according to the requirements, and when the tasks in the task cache queue meet the requirements, the tasks are moved to the task execution queue;
the number of the task execution queues can be two, and each queue is provided with four states of idle, preparation completion and execution;
the stacker system alternately polls the two queues and executes tasks in the queues;
(4) stacker rest point
The rest point of the stacker is a stop waiting position when the stacker does not have a task;
setting a plurality of warehousing rest points, associating the warehousing rest points with a warehousing task cache queue, and setting a warehouse rest point;
step three, realizing information interaction between a warehouse management information system and a stacker system, wherein the information interaction comprises warehouse entry and exit tasks, goods location information, task execution feedback and equipment state feedback;
step four, the warehouse management information system distributes the task assignment to a stacker system, and the stacker system conveys materials to a goods position according to the principle of efficiency priority to realize material warehousing or takes the materials out of the goods position to realize material ex-warehouse;
and step five, stopping the stacker system at the current position for waiting for the next instruction after the stacker executes the task, starting the stacker to return to a rest point instruction when the stacker task execution queue is empty, controlling the stacker to operate to the rest point for standby, and judging the specific operation to the rest point according to the stacker return to the rest point selection process.
2. The method of cargo space allocation according to claim 1, wherein:
in the fourth step, when the warehouse management information system is used for distributing the warehousing tasks, the target goods location address of the tasks is not distributed to the stacker system, and the stacker system automatically generates the unloading address and controls the stacker; after the stacker finishes warehousing tasks, the stacker system feeds back the goods position information to the warehouse management information system;
when the warehouse management information system issues the distributed ex-warehouse tasks, the source goods location addresses of the tasks are issued to the stacker system; and the stacker system determines a task execution path according to the execution efficiency and controls the stacker.
3. The method according to claim 1 or 2, wherein the warehouse management information system in the fourth step further comprises the following steps when the warehouse task is allocated and taken out:
s3.1, generating a warehousing task: when the material container is stored in the base station, the warehouse management information system generates a warehousing task;
s3.2, roadway allocation: the warehouse management information system distributes tasks to corresponding stacker systems according to the principle of warehousing task equal distribution and the like;
s3.3, the task enters a task buffer queue: the warehousing tasks enter a task buffer queue of the stacker system, and the execution threshold value of the warehousing queue is set to be not less than 2;
s3.4, positioning a material container: the material container arrives at a loading platform at the road junction, and the warehouse management information system informs the stacker system that the material container can be carried;
s3.5, the task enters a task execution queue: moving the tasks meeting the conditions in the buffer queue of the stacker system into a task execution queue of the stacker;
the stacker system checks the buffer queues in sequence at regular time according to the polling sequence of the buffer queues, and moves a task to a task execution queue if the queue reaches a threshold value and the task with a material container in place exists for the storage buffer queue; for the ex-warehouse cache queue, if the preamble is the in-warehouse cache queue, extracting the number of tasks according to the preamble, moving the tasks with the same number to a task execution queue, and if the preamble is not the in-warehouse cache queue or the preamble is not extracted by the in-warehouse cache, moving the tasks which do not exceed the threshold value of the out-warehouse queue to the task execution queue;
s3.6, determining a target goods position of the warehousing task: if the warehousing task has no target goods location, calculating the time of the stacker running to all idle goods locations of the address according to the target address of the subsequent task, and selecting the goods location with the least time and the least number of layers of the stacker as the target goods location of the warehousing task;
s3.7, feeding back goods position information: after the stacker finishes the loading or unloading action, the stacker system feeds back the goods position information to the warehouse management information system in time;
s3.8, task information feedback: and after the stacker finishes the warehousing task, feeding back the task execution information to the warehouse management information system in time.
4. The method according to claim 1 or 2, wherein the selection process in the fifth step further comprises the following steps:
s4.1, starting the stacker to return to a rest point: when the stacker finishes executing all tasks and the task execution queue is empty, starting a rest point returning program;
s4.2, selecting a warehousing rest point: when the warehousing buffer queues are not empty, comparing the difference value between the task quantity in each warehousing buffer queue and the queue threshold value, and selecting a rest point corresponding to the warehousing buffer queue with the minimum difference value;
s4.3, selecting a warehouse-out rest point: when the warehousing buffer queues are empty, selecting rest points in the warehouse;
s4.4, the stacker operates to a rest point: and moving the stacker to a rest point for standby.
5. The method of cargo space allocation according to claim 3, wherein:
the execution threshold of the warehousing queue is set to 3.
6. A computer program product for a palletizer to participate in a method for implementing a cargo space allocation, said computer program product comprising a non-transitory readable storage medium and a computer program, said computer program being tangibly stored on said non-transitory readable storage medium, characterized in that:
the computer program being executed by a processor in a computer for carrying out the steps of the method of cargo space allocation according to any one of claims 1 to 5.
7. The computer program product of a method of implementing allocation of cargo space involving a stacker according to claim 6, wherein: the computer consists of a warehouse management information system computer and a stacker PLC;
the warehouse management information system computer executes the steps completed by the warehouse management information system in the goods space allocation method;
the stacker PLC executes the steps finished by the stacker system in the cargo space allocation method.
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