CN109292343A - Multi-storey shuttle vehicle storage conveying system and conveying method based on storage robot - Google Patents
Multi-storey shuttle vehicle storage conveying system and conveying method based on storage robot Download PDFInfo
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- CN109292343A CN109292343A CN201811361299.8A CN201811361299A CN109292343A CN 109292343 A CN109292343 A CN 109292343A CN 201811361299 A CN201811361299 A CN 201811361299A CN 109292343 A CN109292343 A CN 109292343A
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- 238000004458 analytical method Methods 0.000 claims description 9
- 238000002716 delivery method Methods 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—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
本发明公开了一种基于仓储机器人的多层穿梭车仓储输送系统及输送方法，该系统包括：用于存放货物的立体仓库、用于运输货物的仓储机器人以及用于实现货物存取控制的仓储智能控制系统。本发明建立开环排队网络模型对系统的性能进行分析，分析影响订单时效的设备因素，计算订单服务时间、仓储机器人等待时间和仓储机器人利用率，并进行订单到达率和仓储机器人数量敏感度分析，发现当存储容量越大，订单到达率越高或变动幅度越大时，仓储机器人的多层穿梭车存储输送系统的优势更加明显。
The invention discloses a multi-storey shuttle vehicle storage conveying system and conveying method based on a storage robot. The system includes: a three-dimensional warehouse for storing goods, a storage robot for transporting goods, and a storage for realizing goods access control. Intelligent control system. The invention establishes an open-loop queuing network model to analyze the performance of the system, analyzes the equipment factors affecting the order timeliness, calculates the order service time, the waiting time of the storage robot and the utilization rate of the storage robot, and analyzes the order arrival rate and the sensitivity of the number of storage robots. , it is found that when the storage capacity is larger, the order arrival rate is higher or the fluctuation range is larger, the advantages of the multi-storey shuttle vehicle storage and conveying system of the warehousing robot are more obvious.
Description
Technical field
This disclosure relates to field of storing in a warehouse, and in particular to a kind of Multilayer shuttle car storage transportation system based on storage robot
And delivery method.
Background technique
Recent years, favor of the Multilayer shuttle car warehousing system by vast electric business platform wear system with its height storage more
Density and high sorting efficiency, show the unique advantage different from automatic stereowarehouse.
Existing Multilayer shuttle car warehousing system is made of shelf, shuttle, elevator and pipeline system, each layer
There is a shuttle.For executing Delivery, this layer of shuttle level run utilizes itself goods to corresponding outbound goods yard
Fork out inventory's case, then level run to the layer first to elevator application dispatch service, elevator responds the dispatch service
Request, vertical movement to the layer, and then complete inventory's case with shuttle and exchange, then cargo unit is transported to I/O by elevator
Cargo is transported to sorting table by pipeline by platform.Main advantage be can with the shuttle and elevator of flexible allocation different number,
Major defect is the lasting flow path vertically and horizontally advanced.When going out to be put in storage frequent, elevator I/O platform and sorting are connected
The pipeline of platform, often since elevator task is excessive or pipeline faults itself results in blockage, along with service equipment waits
Time causes the activity duration to increase.
In conclusion reducing the waiting time of equipment for the waiting time for how avoiding pipeline blocking from generating at present
The problem of, still lack effective solution scheme.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of Multilayer shuttle cars based on storage robot
Transportation system of storing in a warehouse and delivery method.
Technical solution used by the disclosure is:
A kind of Multilayer shuttle car storage transportation system based on storage robot, which includes: for storing cargo
Tiered warehouse facility, the storage robot for transporting cargo and for realizing the storage intelligence control system of cargo access control.
Further, the tiered warehouse facility is made of multistoried storehouse, and every layer of warehouse includes shelf, positioned at the lane of shelf side
Road, several storage units on shelf and inventory's case in each storage unit of shelf, the tiered warehouse facility
Lower part is provided with I/O platform；Shuttle is configured on every tunnel in every layer of warehouse.
It is provided on each column shelf for the storage elevator of goods warehousing and for the outbound elevator of cargo outbound,
Joining place in every layer of warehouse and storage elevator is provided with storage buffer area, the joining place in every layer of warehouse and outbound elevator
It is provided with outbound buffer area.
Further, the storage robot includes robot body and the control being arranged on robot body dress
It sets, the robot body includes chassis and the shelf that are arranged on mobile chassis；The shelf include longitudinal extension arm and consolidate
Dingan County is mounted in two groups of goods yards of longitudinal extension arm two sides.
The control device includes: the central processing unit for controlling storage robot work；According to the center
The electric-motor drive unit of the order driving of the processor storage robot work；For guiding the storage Robot target
The mobile infrared sensor in track；The bar code reader of the barcode data of bottom buffer area for identification；For detecting storage machine
The ultrasonic sensor of Obstacle Position in device people traveling；For providing the power management list of working power for storage robot
Member, for judging the whether vacant pressure sensor in the goods yard on shelf, and for establishing storage robot and external control institute
State the communication connection wireless communication unit between the robotically-driven module of storage of storage robot；The infrared sensor surpasses
Sonic sensor, pressure sensor, power supply unit and wireless communication unit are respectively connected to the central processing unit.
Further, the storage intelligence control system includes storage control server, shuttle execution module, elevator
Drive module and robotically-driven module of storing in a warehouse；The storage control server connects shuttle by communication unit and executes mould
Block, storage elevator drive module, outbound elevator drive module and the robotically-driven module of storage, for being executed to shuttle
Module, storage elevator drive module, outbound elevator drive module and the robotically-driven module of storage send mission bit stream.
A kind of Multilayer shuttle car storage delivery method based on storage robot, method includes the following steps:
Picking task information is generated according to operational order；
Picking task information is handled, corresponding shuttle mission bit stream, corresponding elevator task letter are parsed
Breath and corresponding storage robotic delivery mission bit stream；
Whether detection shuttle is in idle condition, if shuttle is busy, by shuttle mission bit stream storage to shuttle
In task list, shuttle is waited；If idle, shuttle respond request, shuttle execution module control corresponding shuttle from
It is run at stop to the address of shuttle task requests, carries out picking operation, after taking out inventory's case, inventory's case is transported to outbound
Buffer area, if outbound buffer area has been expired, shuttle waits buffer area to leave room, and otherwise outbound case is placed on caching by shuttle
Area；Shuttle, which is hugged, to be taken into inventory's case in banked cache area and is transported to the specified address Hui Ku and puts down.
Whether in running order detect outbound elevator, if outbound elevator is idle, outbound elevator respond request, control
Library elevator is produced to send outbound buffer area inventory's case to the buffer area of I/O platform, if the buffer area of I/O platform has been expired, outbound
Elevator waits buffer area to leave room, and otherwise inventory's case is placed on buffer area by outbound elevator, waits storage robot manipulating task；
Whether in running order detect the robot that needs to be stored in a warehouse, the robot that stores in a warehouse if it exists is idle, and storage machine is rung
It should request, control storage robot will be travelled to the I/O mouth where task requests, by inventory's case of the buffer area of I/O platform
It send to sorting table.
Further, further includes:
Open queuing network model is established, order placement service time and equipment waiting time are calculated.
The calculation method of the equipment waiting time are as follows:
Open queuing network is divided into shuttle, elevator, storage four queues of robot and sorting table；
The order for calculating shuttle, elevator, storage robot and sorting table reaches rate and service rate；
The average queue length of shuttle, elevator, store in a warehouse robot and sorting table is calculated using Allen method；
The average latency that each service organization is calculated according to Little's formula generates including shuttle Service Order
Average latency, the average latency that elevator service generates, pick the average latency that storage robot service generates
The average latency that channel selection service generates.
Further, further includes:
By changing order arrival rate and storage robot quantity, analysis different scenes place an order service time, storage machine
Device people's waiting time and storage robot utilization rate, obtain the quantity optimal value of storage robot.
The beneficial effect of the disclosure is:
(1) in the case where system goes out the limited situation of storage ability, the Multilayer shuttle car storehouse based on storage robot of the disclosure
Storing up transportation system has biggish flexibility, can increase storage robot by using storage robot and in a certain range
Quantity reduces the order placement service time, improves and sorts efficiency；
(2) disclosure Multilayer shuttle car storage transportation system in when order arrival rate (the unit time order amount of reaching) no
When change, there are optimal values for storage robot quantity, and when being optimal, the increase of storage robot quantity will not to system effectiveness
It has an impact.
(3) disclosure establishes Open queuing network model, analyzes order placement service time, equipment waiting time, equipment utilization
The system performances such as rate, and order arrival rate, storage robot quantity are summarized to the affecting laws of system performance, to order in satisfaction
In the case that single timeliness requires, reach the balance of efficiency and cost.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the application.
Fig. 1 is the structure chart of Multilayer shuttle car storage transportation system；
Fig. 2 is the flow chart of Multilayer shuttle car storage delivery method；
Fig. 3 is the structure chart of Open queuing network model；
Fig. 4 is the storage robot quantity variation of A scene to order placement service time, storage robot waiting time and storage machine
The influence schematic diagram of device people's utilization rate；
Fig. 5 is the storage robot quantity variation of B scene to order placement service time, storage robot waiting time and storage machine
The influence of device people's utilization rate；
Fig. 6 is the storage robot quantity variation of C scene to order placement service time, storage robot waiting time and storage machine
The influence of device people's utilization rate.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms that the disclosure uses have logical with disclosure person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique introduction, there are pipeline congestions for current Multilayer shuttle car warehousing system, lead to inventory's case
The longer problem of residence time on the conveyor line, in order to solve the technical problem, the disclosure provides a kind of based on storage machine
The Multilayer shuttle car storage transportation system and delivery method of people, solves pipeline bring congestion problems, reduces inventory's case defeated
Residence time in line sending improves and sorts efficiency.
One or more embodiments provide a kind of Multilayer shuttle car storage transportation system based on storage robot, such as Fig. 1
Shown, which includes tiered warehouse facility 1, shuttle 2, storage elevator 3, outbound elevator 4, storage robot 5 and storage intelligence
It can control system.
Specifically, the tiered warehouse facility 1 is made of multistoried storehouse, and every layer of warehouse includes shelf, positioned at the lane of shelf side
Road, several storage units on shelf and inventory's case in each storage unit of shelf, the goods in every layer of warehouse
Object is stored in inventory's case, and a shuttle 2 is configured on every tunnel in every layer of warehouse, and shuttle 2 is walked in tunnel, is used for
The storage and outbound of cargo.
In the present embodiment, the storage unit can be goods yard.
The shelf are 5-20 layers, and specific 2-100 goods yards on each layer of shelf, each column shelf have 10-100
A goods yard.
It is provided on each column shelf for the storage elevator 3 of goods warehousing and for the outbound elevator of cargo outbound
4, storage elevator 3 and outbound elevator 4 are located at shelf the same side, are put in storage the entering freight lifting to every layer of warehouse of elevator 3
Inventory's case of outbound buffer area is transported to I/O platform by banked cache area, outbound elevator 4.It is promoted by rising elevator 3 and decline
Machine 4 realizes that inventory's case cross-layer is mobile.
Joining place in every layer of warehouse and storage elevator is provided with storage buffer area, and storage buffer area includes 1-4 goods
Position, the joining place in every layer of warehouse and outbound elevator are provided with outbound buffer area, and outbound buffer area includes 1-4 goods yards.
The storage robot, for inventory's case of I/O platform to be delivered to sorting table.The storage robot includes machine
Device human agent and the control device being arranged on robot body, the robot body include chassis and setting at mobile bottom
The chassis of shelf on disk, the robot that stores in a warehouse can be rotated with 360 degrees omnidirection, and target goods yard is rotated to target bearing；It is described
Control device includes: the central processing unit for controlling storage robot work；Order according to the central processing unit
The electric-motor drive unit for driving the storage robot to work；For guiding the red of the storage Robot target trajectory movement
Outer sensor；The bar code reader of the barcode data of bottom buffer area for identification；For detecting in the traveling of storage robot
The ultrasonic sensor of Obstacle Position；For providing the Power Management Unit of working power for storage robot, and for building
Communication connection wireless communication unit between vertical storage robot and the PLC control cabinet of the external control storage robot；Institute
It states infrared sensor, ultrasonic sensor, power supply unit and wireless communication unit and is connected respectively to the central processing unit.
The shelf of storage robot are made of longitudinal extension arm and 1-6 goods yards, and longitudinal extension arm is located at robot body
Centre, goods yard mean allocation are fixedly installed 1-3 goods yards in longitudinal extension arm two sides, the every side of telescopic arm, and each goods yard is by roller
Formula pipeline is composed, and is moved up and down by the upper and lower flexible realization goods yard of longitudinal extension arm.It stands when robot is run to I/O
When at platform or sorting table, goods yard is adjusted to I/O platform or sorting table height by longitudinal extension arm, realizes inventory's case in level
From I/O platform to storage robot goods yard or storage robot goods yard to the conveying of elevator on face.On each goods yard respectively
For judging that the whether vacant pressure sensor in goods yard, the pressure sensor and longitudinal extension arm connect with central processing unit respectively
It connects.
On the running track that storage transfer robot will advance, secret note band can be set in advance, be convenient for infrared sensing
Device identifies path, can reduce the pre-track layout difficulty in warehouse in this way.In at least one embodiment, the infrared sensing
The quantity of device is 4, and the adjustable range of distance of reaction, in 3cm to 80cm, this 4 infrared sensors can be evenly distributed on storage
The front end of robot guarantees that storage robot tracks accurately.
When the ultrasonic sensor detects that there is barrier in storage transfer robot traveling front, centre is informed in time
Device is managed, changes working line so that central processing unit controls electric-motor drive unit in time, avoids knocking barrier.
In at least one embodiment, the electric-motor drive unit includes telescope motor drive module, for being lifted inventory
Case is to realize the carrying of inventory's case；Decelerating motor drive module is for driving storage robot motion.
Unit can more easily realize the communication between storage robot and peripheral control unit by wireless communication, complete
The functions such as starting, stopping and target information interaction.In at least one embodiment, wireless communication unit specifically uses cc2530's
Zigbee wireless module is conducive to further promote freedom degree when operator operates peripheral control unit, expands control range.
The power supply unit is used to give the power supply of storage robot.In at least one embodiment, the power supply unit includes
Main battery and reserve battery, central processing unit monitor the electricity of main battery, judge whether the main battery electricity is lower than preset value,
If main battery electricity is lower than preset value, start reserve battery power supply, and send charge request, storehouse to storage intelligence control system
Charge position information idle and that electricity is met the requirements is sent to the central processing of storage robot by storage intelligence control system
Device, central processing unit control electric-motor drive unit driving storage robot are moved to charge position.
In at least one embodiment, central processing unit 1 specifically uses single-chip microcontroller, is conducive to further increase intelligent control
Processing procedure degree, further increases working efficiency.
In at least one embodiment, the artificial wheeled storage robot of the storage machine.
The storage intelligence control system includes storage control server, shuttle execution module, elevator drive module
With robotically-driven module of storing in a warehouse.
The storage control server, by communication unit connect shuttle execution module, storage elevator drive module,
Outbound elevator drive module and robotically-driven module of storing in a warehouse, for driving mould to shuttle execution module, storage elevator
Block, outbound elevator drive module and the robotically-driven module of storage send mission bit stream.
Shuttle execution module, the mission bit stream sent for receiving storage control server, parses shuttle task
Information controls corresponding shuttle and carries out stock or picking operation to cargo.
Elevator drive module, the mission bit stream sent for receiving storage control server, parses elevator task
Information controls corresponding storage elevator and carries out inventory operations to the cargo of storage buffer area；And the corresponding outbound of control mentions
The machine of liter carries out picking operation to the cargo of outbound buffer area.
Robotically-driven module of storing in a warehouse parses storage machine for receiving the mission bit stream of storage control server transmission
Device people conveys mission bit stream, and control storage robot carries out picking operation to the cargo of I/O platform buffer area.
In at least one embodiment, the communication unit uses ethernet switch hub, and the shuttle execution module enters
PLC control cabinet is respectively adopted in library elevator drive module, outbound elevator drive module and the robotically-driven module of storage.
It is respectively arranged with bar code reader on rising elevator, decline elevator and storage robot, for identification goods
Bar code on object.
As shown in Fig. 2, the work for the Multilayer shuttle car storage transportation system based on storage robot that the present embodiment proposes
Method are as follows:
S101, storage control server issue picking task information, shuttle execution module, elevator drive module and storehouse
It stores up robotically-driven module and receives picking task information, parse corresponding shuttle mission bit stream, corresponding elevator task
Information and corresponding storage robotic delivery mission bit stream.
Whether S102, shuttle execution module detection shuttle are in idle condition, if shuttle is busy, shuttle are appointed
Information of being engaged in storage waits shuttle into shuttle task list；If idle, shuttle respond request, shuttle execution module
It controls corresponding shuttle to run from stop place to the address of shuttle task requests, carries out picking operation, after taking out inventory's case,
Inventory's case is transported to outbound buffer area, if outbound buffer area has been expired, shuttle waits buffer area to leave room, otherwise shuttle
Outbound case is placed on buffer area.
Shuttle can execute input work while executing Delivery, i.e., after outbound case being placed on buffer area, hug and take
Inventory's case of storage buffer area, which returns to, specifies back warehouse compartment to set.
The specific implementation of the step 102 are as follows:
S102-1, address procedures: shuttle respond task requests, retrieval tasks request address, by stop run to
Commodity storage location；
S102-2, transmission process: after shuttle reaches the address of task requests, carrying out picking operation, after taking out inventory's case,
It is transported to outbound buffer area；
S102-3, return library process: shuttle is hugged from storage buffer area and takes inventory's case, and inventory operations are carried out, and is transported to corresponding
Goods yard at.
S103, whether elevator drive module detects outbound elevator in running order, if outbound elevator is idle, out
Library elevator respond request, control outbound elevator send outbound buffer area inventory's case to the buffer area of I/O platform, if I/O stands
The buffer area of platform has been expired, and outbound elevator waits buffer area to leave room, and otherwise inventory's case is placed on buffer area by outbound elevator,
Wait storage robot manipulating task.
The specific implementation of the step S103 are as follows:
S103-1, address procedures: outbound elevator is run by stop (generally I/O platform) to task requests layer；
S103-2, transmission process: outbound elevator send inventory's case of outbound buffer area to the buffer area of I/O platform.
S104, whether the robotically-driven module of the storing in a warehouse detection robot that needs to be stored in a warehouse is in running order, if it exists storehouse
It is idle to store up robot, machine respond request of storing in a warehouse, control storage robot will be travelled to the I/O mouth where task requests, will
Inventory's case of the buffer area of I/O platform is sent to sorting table.
The present embodiment also proposes a kind of open loop Queuing network of Multilayer shuttle car storage transportation system based on storage robot
Network model, by switch, queueing network analyzes order placement service time and equipment waiting time.
The Open queuing network model is by shuttle system, elevator system, storage robot system and sorting table system
System composition, as shown in Figure 3.
The order clothes of shuttle system, elevator system and robot system of storing in a warehouse are solved by switch queueing network
Be engaged in the time the step of include:
(1) service time of shuttle system
Consider the mechanical properties such as device rate and acceleration, the runing time formula of shuttle in the first stage are as follows:
Wherein, i is task initial position, and j is task termination position, CdIndicate that shuttle accelerates to maximum speed process
Columns, tpIndicate the time of picking or goods putting, WSFor the width for individually storing goods yard, aVFor the acceleration-deceleration of shuttle,For
The maximum speed of shuttle, C are storage columns.
Since order taking responsibility is random, goods yard is random, therefore all column become stage starting final position with equal probabilities,
Then shuttle second stage and service time phase III are equal, it may be assumed that
The then service time of shuttle system are as follows:
Similarly, the method for solving of storage robot system service time is consistent with the service time of shuttle system, at this
It is repeated no more in embodiment.
(2) service time of elevator system are as follows:
Due to the randomness of task requests, elevator two stage service time is equal, so the service time of elevator
It is indicated by following formula:
Wherein, i is task initial position, and j is task termination position, TdIndicate that elevator accelerates to maximum speed process
The number of plies, tpIndicate the time of picking or goods putting；HSFor the height for individually storing goods yard；aLFor the acceleration-deceleration of elevator；
For the maximum speed of elevator.
Include: by the step of Open queuing network model solution equipment waiting time
(1) Open queuing network is divided into shuttle, elevator, storage four queues of robot and sorting table.
(2) order for calculating shuttle, elevator, storage robot and sorting table reaches rate and average service rate；
The order arrival rate of shuttle are as follows:
Wherein, A is that system stores tunnel number, and T is the storage number of plies, and λ is order arrival rate (the unit time order amount of reaching).
Shuttle average service rateWith the service time of itselfBe distributed it is related, are as follows:
The order arrival rate of elevator and storage robot is respectively as follows:
Wherein, A is that system stores tunnel number, and M is storage robot quantity, and λ is that (unit time order reaches order arrival rate
To amount).
The average service rate of elevator and storage robot is obtained by the weighting of all types of order arrival rate:
The order arrival rate of sorting table and the order arrival rate of elevator are identical, are as follows:
The service rate of sorting tableIt is related with the efficiency of staff is sorted, therefore the utilization of sorting table
Rate are as follows:
Shuttle, elevator, the robot that stores in a warehouse utilization rate be that order reaches the ratio of rate and service rate.
(3) the average service time coefficient of variation of shuttle, elevator, store in a warehouse robot and sorting table is calculated
(4) the order interarrival time coefficient of variation of shuttle, elevator, store in a warehouse robot and sorting table is calculated
(5) the average queue length Q of shuttle, elevator, store in a warehouse robot and sorting table is calculated using Allen method；
The average latency that each service organization is calculated according to Little's formula, the average waiting generated including shuttle Service Order
TimeThe average latency that elevator service generatesThe average latency that robot service of storing in a warehouse generatesIt picks
The average latency that channel selection service generates
The present embodiment, which also passes through, changes order arrival rate and storage robot quantity, and analysis different scenes place an order when servicing
Between, storage the robot waiting time and storage robot utilization rate.Fig. 4 is that the storage robot quantity variation of A scene takes order
The influence of business time, storage robot waiting time and robot utilization rate of storing in a warehouse.Fig. 5 is that B scene storage robot quantity becomes
Change the influence to order placement service time, storage robot waiting time and robot utilization rate of storing in a warehouse.Fig. 6 is C scene storage machine
Influence of the device number amount variation to order placement service time, storage robot waiting time and robot utilization rate of storing in a warehouse.
By changing order arrival rate and storage robot quantity, analysis different scenes place an order service time, storage machine
Device people's waiting time and storage robot utilization rate the specific implementation process is as follows:
(1) order placement service time analysis
In Fig. 4 (a), (a) in Fig. 5, (a) when order arrival rate is lower, increases storage it is found that under same scene in Fig. 6
Influence of the robot quantity to the order placement service time is smaller；When order arrival rate is gradually increasing, increase storage robot quantity, energy
Order placement service time and storage robot waiting time is enough effectively reduced, and reduced rate is as the increase of order arrival rate is in rising
Trend；When storage robot quantity is more and more, influence of the robot quantity of storing in a warehouse to the order placement service time is smaller and smaller, finally
Tend to 0, be further added by storage robot quantity at this time and be not worth for system, main cause is when storage robot can expire
When the demand of sufficient current order arrival rate, being further added by storage robot quantity will increase storage robot free time, reduce storehouse
Robot utilization rate is stored up, the storage robot waiting time for waiting storage robot to generate without reducing order.
In A scene, in Fig. 3 (a) it is found that with order arrival rate increase, 2 storage robots are relative to 1
Store in a warehouse robot reduction the order placement service time it is more and more, if continue growing storage robot quantity, the order placement service time
Rate of descent is lower and lower and tends to 0, and the order placement service time is minimum value at this time, if only considering order placement service time minimum principle,
Storage robot quantity is optimal.
Similarly, in scenario B when order arrival rate is in 800-1000/h, 6-12 storage robots are corresponding to be ordered
Single service time is not much different, and reduced rate is basically unchanged；When order arrival rate is in 1000-1400/h, 7 storages
The order placement service time that than 6 storage robots of robot save increases with the increase of order arrival rate, uses 8-12 storehouses
Storage robot and smaller using the order placement service time phase difference of 7 storage robots and reach unanimity.
In scene C when order arrival rate is in 1800-2000/h, the corresponding order of 14-18 storage robots
Service time is not much different, and reduced rate is basically unchanged；When order arrival rate is in 2000-2200/h, 15 storage machines
The order placement service time that than 14 storage robots of device people save increases with the increase of order arrival rate, uses 15-18 storehouses
The order placement service time phase difference for storing up robot is smaller, and reduced rate is almost the same；When order arrival rate be in 2200-2300/
When h, the order placement service time that than 14 storage robots of 15 storage robots save increases with the increase of order arrival rate,
The order placement service time that than 15 storage robots of 16 storage robots save also increases with the increase of order arrival rate, makes
Order placement service time phase difference with 16-18 storage robots is smaller, and reduced rate is almost the same.
(2) storage robot waiting time analysis
In Fig. 4 (b), (b) in Fig. 5, in Fig. 6 (b) it is found that when order arrival rate is increasing, robot quantity of storing in a warehouse
Constant, the storage robot waiting time rises with it, and main cause is when order taking responsibility amount increases, and order waits storage robot
The storage robot waiting time of generation increases；When order arrival rate is constant, the storage robot waiting time is with storage robot
The increase of quantity is constantly reduced.
(3) storage robot Utilization Ratio Analysis
In Fig. 4 (c), (c) in Fig. 5, in Fig. 6 (c) it is found that when order arrival rate is increasing, robot quantity of storing in a warehouse
Constant, storage robot utilization rate rises with it；When order arrival rate is constant, since the increase of storage robot quantity leads to storehouse
Storage robot free time increases, and storage robot utilization rate constantly reduces.
According to order placement service time, storage robot waiting time and storage robot Utilization Ratio Analysis, it can be deduced that with
Draw a conclusion:
When order taking responsibility increases, order arrival rate rises, the Multilayer shuttle car storage transportation system based on storage robot
The order placement service time of system can be reduced by being continuously increased storage robot, improve system effectiveness, tradition is avoided to wear more
The sorting bottleneck generated due to pipeline blocking that system occurs, high degree increase the flexibilities for wearing system, system storage more
Capacity is bigger, and order arrival rate is higher, and the advantage for the robot that stores in a warehouse is more obvious, but the robot that ought store in a warehouse increases to certain amount,
Order placement service time reduced rate reaches saturation, cannot improve sorting efficiency by storage robot quantity is increased again at this time.
In the case where system goes out the limited situation of storage ability, the Multilayer shuttle car storage transportation system tool based on storage robot
There is biggish flexibility, can increase storage robot quantity by using storage robot and in a certain range reduces order
Service time improves and sorts efficiency.
It can be seen from the above description that above-mentioned one or more embodiments realize following technical effect:
(1) in the case where system goes out the limited situation of storage ability, the Multilayer shuttle car storage delivery system based on storage robot
System has biggish flexibility, and can be increased storage robot quantity by using storage robot and in a certain range is reduced
The order placement service time improves and sorts efficiency；
(2) there are optimal values for storage robot quantity in Multilayer shuttle car storage transportation system, when being optimal, storage
The increase of robot quantity will not have an impact system effectiveness.
(3) Open queuing network model is established, analysis order placement service time, equipment waiting time, utilization rate of equipment and installations etc. are
It unites performance, and summarizes order arrival rate, storage robot quantity to the affecting laws of system performance, thus meeting order timeliness
In the case where it is required that, reach the balance of efficiency and cost.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
- The transportation system 1. a kind of Multilayer shuttle car based on storage robot is stored in a warehouse, characterized in that include: for storing cargo Tiered warehouse facility, the storage robot for transporting cargo and for realizing the storage intelligence control system of cargo access control.
- The transportation system 2. Multilayer shuttle car according to claim 1 based on storage robot is stored in a warehouse, characterized in that described Tiered warehouse facility is made of multistoried storehouse, and every layer of warehouse includes shelf, several positioned at the tunnel of shelf side, on shelf Storage unit and inventory's case in each storage unit of shelf, the lower part of the tiered warehouse facility are provided with I/O platform；Every layer Shuttle is configured on every tunnel in warehouse.
- The transportation system 3. Multilayer shuttle car according to claim 1 based on storage robot is stored in a warehouse, characterized in that each column Be provided on shelf for the storage elevator of goods warehousing and for the outbound elevator of cargo outbound, every layer of warehouse with enter The joining place of library elevator is provided with storage buffer area, and the joining place of every layer of warehouse and outbound elevator is provided with out banked cache Area.
- The transportation system 4. Multilayer shuttle car according to claim 1 based on storage robot is stored in a warehouse, characterized in that described Storage robot includes robot body and the control device that is arranged on robot body, and the robot body includes bottom Disk and the shelf being arranged on mobile chassis；The shelf include longitudinal extension arm and are fixedly mounted on longitudinal extension arm two sides Two groups of goods yards.
- The transportation system 5. Multilayer shuttle car according to claim 4 based on storage robot is stored in a warehouse, characterized in that described Control device includes: the central processing unit for controlling storage robot work；Order according to the central processing unit The electric-motor drive unit for driving the storage robot to work；For guiding the red of the storage Robot target trajectory movement Outer sensor；The bar code reader of the barcode data of bottom buffer area for identification；For detecting in the traveling of storage robot The ultrasonic sensor of Obstacle Position；For providing the Power Management Unit of working power for storage robot, for judging The whether vacant pressure sensor in goods yard on shelf, and for establishing storage robot and external controlling the storage robot The robotically-driven module of storage between communication connection wireless communication unit；The infrared sensor, ultrasonic sensor, pressure Force snesor, power supply unit and wireless communication unit are respectively connected to the central processing unit.
- The transportation system 6. Multilayer shuttle car according to claim 1 based on storage robot is stored in a warehouse, characterized in that described Intelligence control system of storing in a warehouse includes storage control server, shuttle execution module, elevator drive module and storage robot Drive module；The storage control server by communication unit connect shuttle execution module, storage elevator drive module, Outbound elevator drive module and robotically-driven module of storing in a warehouse, for driving mould to shuttle execution module, storage elevator Block, outbound elevator drive module and the robotically-driven module of storage send mission bit stream.
- The delivery method 7. a kind of Multilayer shuttle car based on storage robot is stored in a warehouse, characterized in that method includes the following steps:Picking task information is generated according to operational order；Picking task information is handled, parse corresponding shuttle mission bit stream, corresponding elevator mission bit stream and Corresponding storage robotic delivery mission bit stream；Whether detection shuttle is in idle condition, if shuttle is busy, by shuttle mission bit stream storage to shuttle task In list, shuttle is waited；If idle, shuttle respond request, shuttle execution module controls corresponding shuttle from stop Place's operation carries out picking operation, after taking out inventory's case, inventory's case is transported to out banked cache to the address of shuttle task requests Area, if outbound buffer area has been expired, shuttle waits buffer area to leave room, and otherwise outbound case is placed on buffer area by shuttle；Whether in running order detect outbound elevator, if outbound elevator is idle, outbound elevator respond request is controlled out Library elevator send outbound buffer area inventory's case to the buffer area of I/O platform, if the buffer area of I/O platform has been expired, outbound is promoted Machine waits buffer area to leave room, and otherwise inventory's case is placed on buffer area by outbound elevator, waits storage robot manipulating task；Whether in running order detect the robot that needs to be stored in a warehouse, the robot that stores in a warehouse if it exists is idle, and storage machine response is asked Ask, control storage robot will be travelled at the I/O mouth where task requests, by inventory's case of the buffer area of I/O platform send to Sorting table.
- 8. according to the method described in claim 7, it is characterized in that, further include establishing Open queuing network model, calculate order clothes It is engaged in time and equipment waiting time.
- 9. according to the method described in claim 8, it is characterized in that, the calculation method of the equipment waiting time are as follows:Open queuing network is divided into shuttle, elevator, storage four queues of robot and sorting table；The order for calculating shuttle, elevator, storage robot and sorting table reaches rate and service rate；The average queue length of shuttle, elevator, store in a warehouse robot and sorting table is calculated using Allen method；The average latency that each service organization is calculated according to Little's formula is averaged including what shuttle Service Order generated Waiting time, the average latency that elevator service generates, the average latency that storage robot service generates, sorting table Service the average latency generated.
- 10. according to the method described in claim 7, it is characterized in that, further includes: pass through change order arrival rate and storage robot Quantity, analysis different scenes place an order service time, store in a warehouse robot waiting time and storage robot utilization rate, are stored in a warehouse The quantity optimal value of robot.
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