Compound Operation Task Allocation in Double-depth Four-way Shuttle Based Storage and Retrieval System

WU Zhaoyun; HE Xuewu; SHEN Fasheng; LI Li; ZHANG Yehao; ZHANG Zhongwei

doi:10.19554/j.cnki.1001-3563.2026.01.015

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (1) : 132-142. DOI: 10.19554/j.cnki.1001-3563.2026.01.015

Automatic and Intelligent Technology

Compound Operation Task Allocation in Double-depth Four-way Shuttle Based Storage and Retrieval System

WU Zhaoyun¹, HE Xuewu¹, SHEN Fasheng², LI Li¹, ZHANG Yehao¹, ZHANG Zhongwei^1,*

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Abstract

The work aims to enhance the efficiency of inbound and outbound operations in a double-depth four-way shuttle based storage and retrieval system and minimize equipment idle rates. Considering the acceleration/deceleration dynamics of multiple devices, the characteristics of parallel operations, and probabilistic scenarios where outbound tasks might trigger box-turning operations, with the objective of minimizing the total completion time of inbound/outbound task allocation, the integrated operational processes of multiple four-way shuttles and elevators were analyzed, and a corresponding mathematical model was constructed. A multi-strategy improved Harris Hawk optimization algorithm (MHHO) was proposed for model solution. Discrete event simulation was employed to record the total operation time of each shuttle, while Python-based process simulation was utilized to derive the optimal task scheduling scheme and the shortest total completion time. Three task examples of varying scales were selected to compare the performance of the multi-strategy improved Harris hawk optimization algorithm proposed in this work against the standard Harris Hawk optimization algorithm, genetic algorithm, and particle swarm optimization algorithm. The improved algorithm yielded superior solution quality across all task scales. The proposed compound task allocation method effectively enhances the operational efficiency of the double-depth four-way shuttle based storage and retrieval system.

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double-depth four-way shuttle based storage and retrieval system / compound operations / task allocation / discrete event simulation / Harris Hawk optimization

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WU Zhaoyun, HE Xuewu, SHEN Fasheng, LI Li, ZHANG Yehao, ZHANG Zhongwei. Compound Operation Task Allocation in Double-depth Four-way Shuttle Based Storage and Retrieval System[J]. Packaging Engineering. 2026, 47(1): 132-142 https://doi.org/10.19554/j.cnki.1001-3563.2026.01.015

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