机器人物流系统中在线托盘装载方法研究及其仿真

建立了机器人物流系统在线托盘装载问题中子域的概念,将托盘装载问题转化为子域装载问题,对子域装载时完全填充和部分填充的情形进行了分析总结。在此基础上,建立了包含子域约束、托盘约束、缓冲区约束的在线托盘装载问题模型以及在线箱料优选的三条优先级启发式规则,即最小子域总数、最大余域容载值、最小余域零值。最后通过算例及其仿真研究验证了模型的有效性,为机器人物流系统中在线托盘装载的工程实施提供了理论依据。

On-line Pallet Loading Method and Simulation of Robotic Logistic System

A new concept of sub-cube in the on-line pallet loading problem of robotic logistic system was built,which successfully translated pallet loading problem into sub-cube loading problem.Many situations including full and partial filling of sub-cube were analyzed.Based upon this,the on-line pallet loading model which consists of sub-cube constraint,pallet constraint and buffer constraint was established,and three heuristic rules to determine priority for the on-line feeding materials were proposed,that is minimum amount of sub-cube,maximum loading value of residual zone,and minimum zero-countering value of residual zone.In addition,a case and its simulation were used to check the validity of the model.Thus the useful theoretic basis for pallet loading application of robotic logistic system was provided.