智能叉车密集仓储系统料框出库翻箱问题研究

doi:10.3785/j.issn.1008-973X.2025.10.003

浙江大学学报(工学版)

2025, Vol. 59

Issue (10): 2023-2033 DOI: 10.3785/j.issn.1008-973X.2025.10.003

机械工程

智能叉车密集仓储系统料框出库翻箱问题研究

李子龙1,2(

),程天健3,金波4,程文明1,2,曹轶伦1,2,郭鹏1,2,*(

)

1. 西南交通大学机械工程学院，四川成都 610031
2. 轨道交通运维技术与装备四川省重点实验室，四川成都 610031
3. 西南交通大学地球科学与工程学院，四川成都 611756
4. 深圳大学管理学院，广东深圳 518055

Study on bin relocation problem during outbound operation in intelligent forklift-based dense storage system

Zilong LI1,2(

),Tianjian CHENG3,Bo JIN4,Wenming CHENG1,2,Yilun CAO1,2,Peng GUO1,2,*(

)

1. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
2. Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province, Chengdu 610031, China
3. Faculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu 611756, China
4. College of Management, Shenzhen University, Shenzhen 518055, China

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摘要：

为了提高智能叉车密集仓储系统作业效率，针对出库作业时的料框翻箱问题，以最小化料框翻箱次数为目标，定义相关约束条件并构建数学规划模型，提出快速求解料框翻箱方案的启发式方法. 给出该问题下界的计算方法，构建分支定界算法以求得理论最优解. 在堆料区布局和出库量不同的情况下，随机生成大量算例进行数值分析. 计算结果表明，在小规模算例中，启发式方法和分支定界算法都具有高效求解能力；在中大规模算例中，启发式方法能够快速获得较为合理的可行解，分支定界算法能够在较短时间内对初始翻箱方案进行优化并给出近似最优解. 相比随机翻箱策略，分支定界算法在翻箱次数上平均减少了43.32%，验证了该算法的有效性和实用性. 通过对比不同仓储设备的性能发现，前移式叉车比普通叉车平均减少了8.59%的翻箱次数.

关键词： 智能叉车密集仓储系统; 料框翻箱问题; 数学规划模型; 启发式方法; 分支定界算法

Abstract:

The bin relocation problem during outbound operations was studied to improve the operational efficiency of the intelligent forklift-based dense storage system. A mathematical programming model was developed with defined constraints, aiming to minimize the number of bin relocations. A heuristic method was proposed to generate bin relocation strategies rapidly. A method for obtaining the lower bound was provided, and a branch-and-bound algorithm was constructed to achieve the theoretically optimal solution. Numerical experiments were conducted based on numerous instances generated under different storage area layouts and retrieval volumes. Results showed that both the heuristic method and the branch-and-bound algorithm were highly efficient for small-scale cases. For medium and large-scale cases, the heuristic method promptly generated reasonably feasible solutions, while the branch-and-bound algorithm effectively optimized the initial relocation scheme within a short timeframe, yielding near-optimal solutions. Compared with random relocation strategies, the branch-and-bound algorithm reduced the number of relocations by an average of 43.32%, verifying the effectiveness and practicability of the algorithm. A performance analysis of different warehousing equipment revealed that forward-moving forklifts reduced the number of relocations by an average of 8.59% compared to ordinary forklifts.

Key words: intelligent forklift-based dense storage system bin relocation problem mathematical programming model heuristic method branch-and-bound algorithm

收稿日期: 2024-09-06 出版日期: 2025-10-27

CLC:

TP 391

基金资助: 教育部人文社科项目（21YJC630034）；国家自然科学基金青年科学基金资助项目（72101160）.

通讯作者: 郭鹏 E-mail: 2548383665@qq.com;pengguo318@swjtu.edu.cn

作者简介: 李子龙（2000—），男，硕士生，从事仓储物流调度研究. orcid.org/0009-0001-1231-3587. E-mail：2548383665@qq.com

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引用本文:

李子龙,程天健,金波,程文明,曹轶伦,郭鹏. 智能叉车密集仓储系统料框出库翻箱问题研究[J]. 浙江大学学报(工学版), 2025, 59(10): 2023-2033.

Zilong LI,Tianjian CHENG,Bo JIN,Wenming CHENG,Yilun CAO,Peng GUO. Study on bin relocation problem during outbound operation in intelligent forklift-based dense storage system. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2023-2033.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.10.003 或 https://www.zjujournals.com/eng/CN/Y2025/V59/I10/2023

图 1 智能叉车密集仓储系统仓库布局示意图

图 2 堆料区料框堆存状态示意图

图 3 出库路径选取示意图

表 1 智能叉车密集仓储系统翻箱问题的模型符号定义

表 2 中小规模算例下2种算法的求解结果与耗时

表 3 大规模算例下2种算法的求解结果与耗时

图 4 不同规模算例下4种翻箱方法的性能对比

图 5 不同规模算例下2种仓储设备的性能对比

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