The first step, the reclaiming stacker, follows the principle of decentralized storage, that is, "storage strategy in separate lanes". In the warehousing process, when allocating the cargo space, firstly search in the order of the reclaimer number, whether there is the same attribute within its controllable shelf range (every 1 reclaimer stacker controls 2 rows of shelves) If there are no goods with the same attribute within the control range of the 4 stackers, it can be determined as the reclaimer stacker with the smallest sequence number as the target stacker. Otherwise, if there are goods of the same property in the shelf range controlled by a reclaimer, remove the stacker number, and in the remaining 3 stackers, calculate the current carrying weight of the controlled shelf respectively, and select the minimum total weight of the shelf. The stacker number is used as the target stacker.
The second step is to determine the roadway and row. In order to distribute the weight evenly within the range of one stacker, select the row with the lightest weight as the target row within the range of 4 rows of shelves controlled by one stacker. If the weights of the 4 rows are the same, select the minimum row number as the target row . Taking the No. 1 reclaimer stacker as an example, it is responsible for two lanes No. 1 and No. 2, with a total of 4 rows of shelves, of which No. 1 lane corresponds to the 1st and 2nd rows of shelves, and No. 2 lane corresponds to the 3rd and 4th rows of shelves. The row is to determine the lane number.
The third step is to determine the columns and layers. On the basis of the target row, in order to make each row of shelves bear even force, the column is divided into several areas before selecting the column (for example, there are 50 columns in a three-dimensional warehouse, and every 5 columns can be divided into one area and 10 areas). ), select the lightest area, if the lightest target area is not unique, select the area closest to the front area of the library. The division of regions helps to distribute the overall weight evenly, which is better than determining the target column only from the lightest column. On the basis of the target area, the weight of each column is calculated, and the column with the lightest weight is selected as the target column. On the basis of the target column, in order to make the shelf bear good force and ensure the stability of the shelf structure, the center of gravity is at the lower layer, and the bottom layer is selected as the target layer, so as to obtain the final target cargo location address (the cargo location address is determined by row- Column-level uniquely determined).
