摘要
在立体仓库的高密度、高动态作业场景中,多个堆垛机需同时访问共享存储区域,货位空间资源与任务时间资源的双重锁定,致使堆垛机存在资源竞争非线性的特点,易产生作业冲突。故提出一种基于动态优先级的立体仓库堆垛机自动化控制方法。首先,建立包含订单紧急度、货物存储位置、运行速度和当前位置等多维度指标的动态优先级计算模型,并通过模糊逻辑实现指标的非线性映射与软决策融合,再引入熵权法动态调整指标权重,使优先级评估能够自适应反映堆垛机的实时负荷状态。然后,引入冲突检测与再规划机制,利用遗传算法二次规划堆垛机的控制策略,确保高峰时段多个堆垛机协同作业安全,从而实现立体仓库堆垛机自动化控制。实验结果表明,该方法能够显著提升立体仓库堆垛机在高峰时段的工作能力,冲突解决率达到99%,可以为现代化智能仓库的自动化设备集群控制提供新的技术实现路径。
In the high-density and high dynamic operation scenario of the three-dimensional warehouse,multiple stacker cranes need to access the shared storage area simultaneously,and the double locking of cargo space resources and task time resources makes the stacker cranes have the characteristics of nonlinear resource competition,which is prone to operation conflicts.Therefore,this study proposes an automatic control method for the stacker crane in the three-dimensional warehouse based on dynamic priority.Firstly,a dynamic priority calculation model including multi-dimensional indicators such as order urgency,cargo storage location,running speed and current location is established,and the nonlinear mapping and soft decision fusion of indicators are realized through fuzzy logic.Then the entropy weight method is introduced to dynamically adjust the index weight,so that the priority evaluation can adaptively reflect the real-time load state of the stacker crane.Then,the conflict detection and re-planning mechanism is introduced,and the genetic algorithm is used to re-plan the control strategies of the stacker crane,thus ensuring the safety of multiple stacker cranes'collaborative operation during peak hours,so as to realize the automatic control of the stacker crane in the three-dimensional warehouse.The experimental results show that this method can significantly improve the working ability of the stacker in the three-dimensional warehouse during the peak hours,and the conflict resolution rate can reach 99%,indicating that this method can provide a new technical implementation path for the automatic equipment cluster’s control of the modern intelligent warehouse.
作者
熊紫腾
杨立行
赵震宇
谢智华
胡涛
XIONG Ziteng;YANG Lixing;ZHAO Zhenyu;XIE Zhihua;HU Tao(Power Supply Service Management Center,State Grid Jiangxi Electric Power Co.,Ltd.,Nanchang 330000,China)
出处
《机械与电子》
2025年第12期31-37,共7页
Machinery & Electronics
基金
国网江西省电力有限公司科技项目(521852250008)。
关键词
堆垛机控制
堆垛机作业
动态优先级
自动化控制
堆垛机
立体仓库
stacker crane control
stacker crane operation
dynamic priority
automated control
stacker crane
three-dimensional warehouse
