智能叉车密集仓储系统料框出库翻箱问题研究

李子龙,程天健,金波,程文明,曹轶伦,郭鹏

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

Zilong LI,Tianjian CHENG,Bo JIN,Wenming CHENG,Yilun CAO,Peng GUO

表 2 中小规模算例下2种算法的求解结果与耗时

Tab.2 Solution results and runtime of two algorithms for medium and small-scale cases

编号 堆料区布局 料框数量 出库需求 阻塞料框数量 下界 启发式 分支定界 topt/s R ta/s R ta/s 1 3×3×5 27 15 7.7 8.0 8.6 0.000 8.6 0.000 0.000 2 3×4×5 36 15 11.5 12.0 12.2 0.000 12.2 0.000 0.000 3 3×4×5 36 20 12.8 13.7 14.8 0.000 14.4 0.009 0.009 4 3×5×5 45 20 13.5 13.6 15.7 0.001 15.2 4.041 4.041 5 3×5×5 45 30 15.2 16.6 18.1 0.001 17.7 2.013 2.013 6 3×5×5 60 30 25.6 27.8 30.8 0.001 29.5 45.294 15.303 7 3×6×5 54 30 20.8 21.5 24.3 0.001 23.0 62.408 2.445 8 3×7×5 63 30 20.1 20.5 22.2 0.001 21.9 63.758 3.758 9 3×7×5 63 40 22.5 22.9 26.1 0.001 24.9 104.016 14.016 10 4×4×5 48 20 16.5 16.8 19.4 0.001 18.6 83.930 34.015 11 4×4×5 64 20 20.2 20.5 23.8 0.000 23.3 61.213 2.142 12 4×4×5 64 30 25.4 26.1 32.5 0.001 31.4 162.566 15.585 13 4×5×5 60 20 15.0 15.1 18.4 0.000 17.6 86.920 27.048 14 4×5×5 60 40 19.6 20.4 26.4 0.000 24.3 157.929 24.584