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Stereoscopic warehouse three-dimensional space path optimization method based on ant colony algorithm

A three-dimensional warehouse and path optimization technology, applied in the direction of navigation calculation tools, etc., can solve problems such as unsuitable three-dimensional space path optimization, and achieve the effect of optimizing the path.

Inactive Publication Date: 2020-04-10
ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0005] The invention provides a three-dimensional warehouse path optimization method based on ant colony algorithm, which solves the problem that traditional methods are not suitable for three-dimensional space path optimization

Method used

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  • Stereoscopic warehouse three-dimensional space path optimization method based on ant colony algorithm
  • Stereoscopic warehouse three-dimensional space path optimization method based on ant colony algorithm
  • Stereoscopic warehouse three-dimensional space path optimization method based on ant colony algorithm

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Embodiment Construction

[0023] Such as figure 2 As shown, a three-dimensional warehouse includes several rows of shelves. Since each AGV trolley is only responsible for one row of shelves, this application only provides a schematic structural diagram of a single row of shelves. Each row of shelves includes 12 shelves 1 arranged in parallel, each shelf 1 includes 4 layers, each layer has 30 storage positions, a total of 1440 storage positions, each layer is provided with a cargo lane 2 between two adjacent shelves 1, the goods Outside the road 1, there is a roadway 4 for the stacker 3 to walk. The stacker 3 has a lifting device, which can lift the AGV trolley to the required height, or move it to the corresponding cargo lane.

[0024] Under normal circumstances, the AGV car stays on the stacker 3. After receiving the order, it first performs path planning, and returns to the stacker after traversing each target point. Generally, the stacker is also connected to the conveyor belt. Because the positio...

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Abstract

The invention provides a stereoscopic warehouse three-dimensional space path optimization method based on an ant colony algorithm. The stereoscopic warehouse comprises a plurality of goods shelves arranged in parallel. A single goods shelf is provided with a plurality of layers, goods channels are arranged between adjacent goods shelves, roadways are arranged outside the goods channels, and stacking machines used for horizontally moving and lifting AGVs are arranged on the roadways. The path optimization method comprises the following steps: establishing a coordinate system, the X axis being parallel to the goods channels, the Y axis being parallel to the goods channels, the Z axis being perpendicular to the ground, and determining coordinates of all target points; and adopting ant colonyalgorithm function iteration to obtain an optimal path. By reasonably arranging the shelf structure, the AGV can move in three dimensions, the distance between two points is easy to calculate, and thepath of a three-dimensional space is optimized by combining an ant colony algorithm.

Description

technical field [0001] The invention relates to an AGV trolley path optimization method, in particular to a three-dimensional warehouse path optimization method based on an ant colony algorithm. Background technique [0002] Intelligent Storage System (ISS) is a management system that can fully grasp the real-time capacity of the warehouse and the location of the goods through computer control. It mainly realizes the automatic entry and exit of goods through freight trolleys and related handling equipment. and warehouse management. In the intelligent warehousing system of manufacturing enterprises, the transfer of goods is the most common operation method in the intelligent warehousing system, and it is also the most critical point in its efficiency. Selecting the optimal three-dimensional running path between warehouses is an effective way to improve the overall operating efficiency of the intelligent storage system. [0003] At present, the mainstream path planning algor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐兴钱誉钦
Owner ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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