CN104616128B - A kind of Optimization Scheduling and system based on RFID - Google Patents

A kind of Optimization Scheduling and system based on RFID Download PDF

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CN104616128B
CN104616128B CN201510037895.0A CN201510037895A CN104616128B CN 104616128 B CN104616128 B CN 104616128B CN 201510037895 A CN201510037895 A CN 201510037895A CN 104616128 B CN104616128 B CN 104616128B
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fork truck
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CN104616128A (en
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袁巍
刘开元
刘勇
万建伟
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Huazhong University of Science and Technology
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Abstract

The invention discloses a kind of Optimization Scheduling and system based on RFID, belong to RFID technical field of RFID.Optimization Scheduling of the present invention is used as the benchmark for estimating fork truck job costs f using the distance between fork truck and goods d and the rated load weight w of fork truck product dw, the Mission Scheduling of fork truck is abstracted as to the Assignment Problems of m fork truck and n item tasks, calculates the minimum optimal scheduling scheme of all fork truck twcs.The present invention realizes the optimization to conventional forklift scheduling problem, it can be accurately positioned more in real time using RFID technique, the module more science of algorithm so that factory's fork truck scheduling more systematization, the operating efficiency of fork truck is improved, while reduces the job costs of fork truck.

Description

A kind of Optimization Scheduling and system based on RFID
Technical field
The invention belongs to RFID technical field of RFID, more particularly, to a kind of Optimized Operation side based on RFID Method and system.
Background technology
In current most domestic industrial processes workshop, the operation such as handling stacking for product object, pitched using machinery Car turns into main flow.With the continuous development of interchangeable manufacturing, and the raising of quality of production quantitative requirement, to mechanical forklift Rationalize management and running and propose higher requirement.
In current large-scale processing enterprise workshop, more by the way of multiple fork truck joint operations use, and it is assigned corresponding Fork truck administrative staff be responsible for the running of fork truck and scheduling.But many production plants are not pitched clearly when using fork truck Car dispatching principle, the scheduling of fork truck, which uses, has larger randomness.Task, i.e. root are assigned using principle " nearby " more during scheduling Come to carry out task distribution to fork truck according to distance.On the one hand only consider distance, and have ignored different fork truck unit distance costs Difference, algorithm is not scientific and effective enough；On the other hand, factory uses more and simply dispatched nearby, and lacks the entirety to system Scheduling, often occurs situation as shown in Figure 1：Two tasks 1,2 are completed by two fork trucks A, B, if most short according to tradition Distance algorithm, due to fork truck A apart from task 1 than near, the i.e. disA apart from task 21＜ disA2, then fork truck A can select execution task 1, fork truck B can only then select execution task 2, and that two fork trucks work is then disA apart from sum1+disB2, it is clear that this is not most Short path, i.e., the total working distance that traditional algorithm is difficult to all fork trucks are most short.
In current enterprise workshop, the positioning and range measurement of fork truck and goods, it is more using range estimation estimate etc. some compared with For traditional mode so that range error is often very big.When task amount and the fork truck of work in a large number, error can progressively tire out Product causes the operating efficiency of fork truck relatively low, can not realize Optimized Operation, is unfavorable for effective distribution of fork truck resource and shares, to work The productivity effect of factory brings detrimental effect.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the present invention provides one kind and is based on radio frequency identification (Radio Frequency Identification, hereinafter referred to as RFID) technology fork truck Optimization Scheduling, be directed to reasonable distribution fork Carfare source, improve the operating efficiency of fork truck and the efficiency of management of factory.The present invention enters fork using RFID technique and positioned, simultaneously Consider many factors of fork truck, the optimal scheduling of fork truck is realized from the angle of system optimization.
According to an aspect of the present invention, there is provided a kind of fork truck Optimization Scheduling based on RFID, including：
The display device that step 1 operates fork truck when using fork truck carries out register, while scans fork truck location The positioning RFID label tag in domain, the positional information in the positioning RFID label tag and the fork truck self information are sent to service Device；
Step 2 sends the ready instruction of goods, institute after inspection goods operation is completed to goods to the server Server is stated in real time to count the idle fork truck of current time and ready goods；
Server described in step 3 will be abstracted as mathematical modulo according to statistical information to the task assignment problem of goods and fork truck Type, an integer programming problem is drawn, and draw optimal solution, wherein, show that the optimal solution includes following sub-step：
(3-1) assumes current time fork truck LiApart from task TjDistance be dij, the fork truck LiRated load weight be wi, the task TjWeight be tj, remember the fork truck LiComplete the task TjRequired expense is fij=dijwi, then target Function is the minimum optimal solution of demand expense, is designated as equation below：
Wherein, i=1,2...m, represent that the fork truck quantity that current time is in idle condition is m；J=1,2...n, table Being shown with n items task need to complete to assign；
(3-2) sets following constraints：
WXij≥TXij
Wherein, W is rated load weight matrix, and T is goods weight matrix；
(3-3) uses classical solution branch and bound method, is constantly detected to improve lower bound, reduces the upper bound, constantly reduces Hunting zone, and then draw the optimal solution；
Server described in step 4 then parses to the optimal solution, draws specific tasks corresponding to each fork truck, and right Answer ground that assignment instructions are sent into corresponding fork truck；
Step 5 fork truck goes to position corresponding to cargo destined, the fork truck scanning according to the assignment instructions received Cargo RFID tag, corresponding operating is carried out again after confirmation is consistent with the assignment instructions；
Step 6 sends operation after cargo operation is completed, to the server and completes instruction, and the server is sent out fork truck The operation sent is completed instruction and checked, and storage is into the server after confirmation.
According to another aspect of the present invention, there is provided a kind of fork truck Optimal Scheduling based on RFID, including：Data communicate Module, database module, algoritic module, task assignment module and Error Control module, wherein, the data communication module, For completing to communicate with the data between handhold RFID read write line, fork truck RFID reader and forklift operator display screen with handing over Mutually；The database module receive the data communication module uploads in real time its acquired in record information, and information is deposited Storage；The algoritic module receives the operation requests that fork truck subsystem is sent, and performs Optimization scheduling algorithm and calculate optimal scheduling As a result, and by result of calculation pass to the task assignment module；The task assignment module receives the optimal scheduling knot After fruit information, optimal scheduling object information parsing is reduced into specific task assignment and instructed, and is led to by the data Letter module will instruct biography to task corresponding execution fork truck；The Error Control module, for the safety and stability of maintenance system, it is responsible for The abnormal information that record system occurs, and the abnormal conditions of appearance are handled, wherein, the algoritic module includes：
First module, for assuming current time fork truck LiApart from task TjDistance be dij, the fork truck LiSpecified Weight is wi, the task TjWeight be tj, remember the fork truck LiComplete the task TjRequired expense is fij=dijwi, Then object function is the minimum optimal solution of demand expense, is designated as equation below：
Wherein, i=1,2...m, represent that the fork truck quantity that current time is in idle condition is m；J=1,2...n, table Being shown with n items task need to complete to assign；
Second unit, for setting following constraints：
WXij≥TXij
Wherein, W is rated load weight matrix, and T is goods weight matrix；And
Third unit, for using classical solution branch and bound method, constantly detected to improve lower bound, reduce the upper bound, Hunting zone is constantly reduced, and then draws the scheduling result
In general, by the contemplated above technical scheme of the present invention compared with prior art, have below beneficial to effect Fruit：
(1) system-wide Optimized Operation is realized
The present invention not only considers that fork truck is most short apart from the distance of a certain goods, but places it in system and integrated Consider, complete to the task assignment between multiple tasks and more fork trucks, find so that all fork truck operating distance sums are most short Optimal solution.
(2) more scientific module is used
Traditional algorithm is used as standards of measurement only with simple nearby principle using distance.And what enterprise was more concerned about Cost Problems are dispatched, it is not only related to distance, while the performance with fork truck in itself is relevant, such as the fork that rated load weight is bigger Car, the fuel consumption of its unit distance is more, i.e., cost is bigger.In the present invention, the difference between fork truck has been considered Factor, the base unit using the algorithm product of distance and the rated load weight of fork truck as the present invention, is more suitable for the present invention The needs of factory's actual production, and more science.
(3) real-time and accurately fork truck and goods are positioned
The method that the present invention pastes RFID label tag using FX, fast positioning can be carried out to fork truck and goods, and it is fixed The accuracy of position is higher.And because RFID label tag price is relatively inexpensive, the cost of production can be effectively reduced.
(4) optimize system administration, avoid the wrong generation for taking mispick and cheating event
Label is placed in the readable distance of read write line on fork truck, then can read information and upload onto the server, is carried out Record analysis and processing.Simultaneously because RFID label tag UID global uniqueness, can effectively by goods and goods, fork truck with Made a distinction between fork truck so that system can support the login of forklift operator personnel, and the accurate acquisition of goods information.Keep away Exempt from situation about being handled by operating personnel's maloperation false target task, while also allow for the management of factory, avoid the occurrence of The false operation of office worker does not operate and lies about the deceptive practices of operation note.
Brief description of the drawings
Fig. 1 is prior art fork truck nearby principle explanation figure；
Fig. 2 is the structured flowchart that fork truck of the present invention dispatches system；
Fig. 3 is the flow chart of fork truck Optimization Scheduling of the present invention；
Fig. 4 is the explanation schematic diagram of fork truck rated load weight problem of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below Conflict can is not formed each other to be mutually combined.
The Optimization Scheduling of the present invention is to be based on REID, wherein including two kinds of fork truck, goods roles, mesh Be that the integer programming problem of n item tasks is completed to m fork truck of workshop in order to realize.
Fig. 2 show the structured flowchart of fork truck scheduling system of the present invention, including label subsystem, fork truck subsystem and clothes Business device subsystem.
Wherein, label subsystem includes cargo RFID tag and positioning RFID label tag, and cargo RFID tag is used to record The information such as the weight of goods, title, position；Positioning RFID label tag is used for the position for obtaining fork truck.By the way that factory floor is divided For multiple intensive regions, posted in each region corresponding to positioning RFID label tag, to mark the position in the region, and in data Tag ID and its corresponding regional location are recorded in storehouse.Due to the global uniqueness of RFID label tag UID codes so that each region A specific label can be corresponded to.When the positioning RFID label tag of fork truck scanning to region, you can prelocalization will be worked as Information is uploaded onto the server, and server records fork truck current location information, is saved in database.
Fork truck subsystem includes handhold RFID read write line, fork truck RFID reader and forklift operator display screen.Each list The goods of bit quantity corresponds to a cargo RFID tag, and the weight of goods corresponding to the cargo RFID tag is stored with database Etc. status information.When goods inspection goods is completed, when waiting system distributes forklift operator, staff is swept using handhold RFID read write line Cargo RFID tag information is retouched, the positional information of goods is sent to server, server is by its input system.Every fork truck is matched somebody with somebody A fork truck RFID reader is had, and is wirelessly connected to the LAN where server.When fork truck is close to institute In the positioning RFID label tag in region, fork truck RFID reader believes the positional information positioned in RFID label tag and read write line itself Breath is sent to server, and server records fork truck current location and current state, and be stored into database by analyze data In.Every fork truck is further equipped with a forklift operator display screen, for showing the assignment instructions information received and command operating.
Server subsystem includes data communication module, database module, algoritic module, task assignment module and mistake Control module.Server subsystem is that maintenance system is stable, completes the core of system fork truck task scheduling, is responsible for processing fork truck The information that system uploads, handles the request of fork truck subsystem, and performs Optimization scheduling algorithm provided by the invention, makes optimal Fork truck task assignment.Wherein, data communication module, for completing to communicate with interacting with the data between fork truck subsystem；Data Library module receive data communication module uploads in real time its acquired in record information, and information is stored；Algoritic module receives The operation requests that fork truck subsystem is sent, and perform Optimization scheduling algorithm provided by the invention and calculate optimal scheduling result, and Result of calculation is passed into task assignment module；After task assignment module receives object information, object information is parsed and reduced Instructed into specific task assignment, and by data communication module biography will be instructed to task corresponding execution fork truck；Error Control mould Block, for the safety and stability of maintenance system, it is responsible for the abnormal information that record system occurs, and handle the abnormal conditions of appearance.This The core of invention fork truck scheduling system is algorithm processing module, and it is the module that a circulation performs, and is realized with RFID technique The information that state information acquisition module is obtained performs fork truck Optimization scheduling algorithm provided by the invention as input value, circulation, And result of calculation is output in task assignment module.
Fig. 3 is the flow chart of fork truck Optimization Scheduling of the present invention, specifically includes following steps：
The handhold RFID read write line of RFID reader and staff on step 1 fork truck is wirelessly connected on together with server In one LAN, and normal data communication can be established.Forklift operator personnel operate the display of fork truck when using fork truck Screen equipment, register is carried out, while scan the positioning FRID label information of fork truck region, by positioning RFID label tag Positional information and the current self information of fork truck are sent to server.
Step 2 staff sends the ready instruction of goods after the operations such as inspection goods are completed to goods, to server. Server reading database in real time, the idle fork truck of current time and ready goods are counted, statistical information is defeated Enter into dispatching algorithm processing module.
Task assignment problem is abstracted as by step 3 dispatching algorithm processing module using the Optimization Scheduling in the present invention Mathematical modeling, an integer programming problem is drawn, and draw optimal solution, sent to task assignment module.
The scheduling problem of fork truck is abstracted as with drag by the fork truck Optimization Scheduling of the present invention：
It is assumed that a factory floor sometime, is having n item tasks to be designated as T respectively1,T2,...,Tn, current time is in The fork truck quantity of idle condition is m, is designated as L1,L2,...,Lm.It is required that realize that the appointment that n item tasks are completed to m fork truck is asked Topic, and give tacit consent to a fork truck and accomplish a task.
It is assumed that current time fork truck LiApart from task (middle finger of embodiment of the present invention goods to be operated) TjDistance be dij, Fork truck LiRated load weight be wi, task TjWeight be tj.Remember fork truck LiCompletion task TjRequired expense is fij, and make Optimization problem variable：
Then object function is the minimum optimal solution of demand expense, is designated as equation below：
In view of the expense i.e. oil consumption that in reality, fork truck uses, the distance dependent not only travelled with fork truck, while volume It is also larger to determine the general unit distance fuel consumption of the larger fork truck of lifting capacity.Therefore consider fork truck LiCompletion task TjRequired expense is fij=dijwi, formula is updated in object function and obtained：
The formula (1) can produce benefit as shown in Figure 4：As three rated load weights difference three fork trucks A, B, C, away from Equal dis with a distance from from one goods1=dis2=dis3, its load capacity is respectively WA、WB、WC.In former algorithm, due to Only consider distance factor, then three fork trucks can be completing the task.In the present invention, distance and specified lifting are employed The method that is combined is measured, the rated load weight for not requiring nothing more than fork truck is greater than the weight T of goods, i.e., can for the model of the fork truck Complete the task (being provided by following restrictive conditions (5)).When there is WA＜ T ＜ WB＜ WCDuring situation, go out from cost-effective angle Hair, this algorithm preferentially meets mission requirements from rated load weight, and the smaller i.e. less fork truck of rated load weight of fuel consumption comes Completion task (realized) by formula (1), i.e. fork truck B rather than fork truck A complete task.
In view of that in actual conditions, may have the quantity of fork truck to be more than number of tasks (i.e. m ＞ n), the quantity of also goods is big In the situation of fork vehicle number (i.e. m ＜ n), that is, the fork truck that occurring has has no task assignment (corresponding to m ＞ n situations), Huo Zheyou Task have no fork truck to complete and (correspond to m ＜ n situations), then have following constraint：
And the maximization of efficiency is realized in the requirement of this optimized algorithm, when there are m ＞ n situations, then according to branch and bound method solution Go out optimal solution, default priority selects those lower-cost fork trucks to complete task in optimal solution；As m ＜ n, i.e. task amount More than current fork truck quantity, the forward n item tasks of selection time point, remaining m-n items task is delayed to appointing for future time point It is engaged in Assignment Problems.And then there is following constraints：
In this optimized algorithm, influence of the fork truck rated load weight to fork truck cost is not only creatively considered, simultaneously Consider in practical problem, go to complete for the enough fork trucks of the larger cargo requirement rated load weight of weight, i.e., fork truck is specified Lifting capacity is greater than the quality of goods.Then there is following constraints：
WXij≥TXij (5)
Wherein, W is rated load weight matrix, and T is goods weight matrix.
Then following integer programming problem is obtained：
Solve for the integer programming problem of particular problem, using classical solution branch and bound method, constantly detected To improve lower bound, the upper bound is reduced, constantly reduces hunting zone, and then find the optimal solution of problem.
Step 4 task assignment module then parses to the optimal solution of mathematics formula form, is embodied as real tool Body problem, that is, specific tasks corresponding to each fork truck are drawn, and be accordingly sent to assignment instructions accordingly by network service Fork truck.
Step 5 fork truck upon receipt of the instructions, it is included in the operating display of fork truck.Fork truck is according in instruction Hold, go to position corresponding to cargo destined.Fork truck scans cargo RFID tag, and whether confirmation is consistent with instructing, after confirmation Corresponding operating is carried out again.
Step 6 is after cargo operation is completed, and fork truck staff sends operation to server and completes instruction, and server enters one Step is checked the information that fork truck is sent, and storage is into database after confirmation.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included Within protection scope of the present invention.

Claims (9)

  1. A kind of 1. fork truck Optimization Scheduling based on RFID, it is characterised in that including：
    The display device that step 1 operates fork truck when using fork truck carries out register, while scans fork truck region RFID label tag is positioned, the positional information in the positioning RFID label tag and the fork truck self information are sent to server；
    Step 2 sends the ready instruction of goods, the clothes after inspection goods operation is completed to goods to the server Business device counts to the idle fork truck of current time and ready goods in real time；
    Server described in step 3 will be abstracted as mathematical modeling according to statistical information to the task assignment problem of goods and fork truck, obtain Go out an integer programming problem, and draw optimal solution, wherein, show that the optimal solution includes following sub-step：
    (3-1) assumes current time fork truck LiApart from task TjDistance be dij, the fork truck LiRated load weight be wi, institute State task TjWeight be tj, remember the fork truck LiComplete the task TjRequired expense is fij=dijwi, then object function be For the optimal solution that demand expense is minimum, equation below is designated as：
    <mrow> <mi>min</mi> <mi> </mi> <mi>f</mi> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>d</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <msub> <mi>w</mi> <mi>i</mi> </msub> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> </mrow>
    Wherein, i=1,2...m, represent that the fork truck quantity that current time is in idle condition is m；J=1,2...n, indicate N items task need to be completed to assign；
    (3-2) sets following constraints：
    <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mi>j</mi> <mo>=</mo> <mn>0</mn> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>n</mi> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>
    <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>0</mn> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>m</mi> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>
    <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mi>m</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>m</mi> <mo>,</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow>
    WXij≥TXij
    Wherein, W is rated load weight matrix, and T is goods weight matrix；
    (3-3) uses classical solution branch and bound method, is constantly detected to improve lower bound, reduces the upper bound, constantly reduces search Scope, and then draw the optimal solution；
    Server described in step 4 then parses to the optimal solution, draws specific tasks corresponding to each fork truck, and accordingly Assignment instructions are sent to corresponding fork truck；
    Step 5 fork truck goes to position corresponding to cargo destined, the fork truck scans goods according to the assignment instructions received RFID label tag, corresponding operating is carried out again after confirmation is consistent with the assignment instructions；
    Step 6 sends operation after cargo operation is completed, to the server and completes instruction, and the server is sent to fork truck The operation complete instruction checked, after confirmation storage into the server.
  2. 2. the method as described in claim 1, it is characterised in that in the step 3, as m ＞ n, then according to branch-and-bound Method draws the optimal solution, and prioritizing selection lower-cost fork truck completes task in the optimal solution；As m ＜ n, then select Time point forward n item tasks are selected, remaining m-n items task is delayed in the task assignment problem of future time point.
  3. 3. method as claimed in claim 1 or 2, it is characterised in that every fork truck includes fork truck RFID reader, for scanning The positioning RFID label tag, the fork truck RFID reader are connected in consolidated network with the server.
  4. 4. method as claimed in claim 3, it is characterised in that factory floor is divided into multiple intensive regions, Mei Gequ Positioning RFID label tag, for the position of marked region, and records each positioning in the server corresponding to being posted in domain The ID of RFID label tag and its corresponding regional location.
  5. 5. method as claimed in claim 1 or 2, it is characterised in that using handhold RFID read write line to goods in the step 2 Thing completes the inspection goods operation, and the handhold RFID read write line is connected in consolidated network with the server.
  6. 6. method as claimed in claim 5, it is characterised in that each goods includes cargo RFID tag, described for recording Weight, title and the positional information of goods.
  7. A kind of 7. fork truck Optimal Scheduling based on RFID, it is characterised in that including：Data communication module, database module, Algoritic module, task assignment module and Error Control module, wherein, the data communication module, for completing and holding Data between RFID reader, fork truck RFID reader and forklift operator display screen communicate with interacting；The database mould Block receive the data communication module uploads in real time its acquired in record information, and information is stored；The algoritic module The operation requests that fork truck subsystem is sent are received, and performs Optimization scheduling algorithm and calculates optimal scheduling result, and are tied calculating Fruit passes to the task assignment module；After the task assignment module receives the optimal scheduling object information, by described in The parsing of optimal scheduling object information is reduced into specific task assignment instruction, and will be instructed by the data communication module and pass group Fork truck is performed to corresponding；The Error Control module, for the safety and stability of maintenance system, it is responsible for the different of record system appearance Normal information, and the abnormal conditions of appearance are handled, wherein, the algoritic module includes：
    First module, for assuming current time fork truck LiApart from task TjDistance be dij, the fork truck LiRated load weight For wi, the task TjWeight be tj, remember the fork truck LiComplete the task TjRequired expense is fij=dijwi, then mesh Scalar functions are the minimum optimal solution of demand expense, are designated as equation below：
    <mrow> <mi>min</mi> <mi> </mi> <mi>f</mi> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>d</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <msub> <mi>w</mi> <mi>i</mi> </msub> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> </mrow>
    Wherein, i=1,2...m, represent that the fork truck quantity that current time is in idle condition is m；J=1,2...n, indicate N items task need to be completed to assign；
    Second unit, for setting following constraints：
    <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mi>j</mi> <mo>=</mo> <mn>0</mn> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>n</mi> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>
    <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>0</mn> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>m</mi> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>
    <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mi>m</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>m</mi> <mo>,</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow>
    WXij≥TXij
    Wherein, W is rated load weight matrix, and T is goods weight matrix；And
    Third unit, for using classical solution branch and bound method, constantly detected to improve lower bound, reduce the upper bound, constantly Hunting zone is reduced, and then draws the scheduling result.
  8. 8. fork truck Optimal Scheduling as claimed in claim 7, it is characterised in that every fork truck includes fork truck RFID read-write Device, for Scan orientation RFID label tag, the fork truck RFID reader is connected in consolidated network with server, each goods bag Cargo RFID tag is included, for recording the weight, title and positional information of the goods.
  9. 9. fork truck Optimal Scheduling as claimed in claim 7 or 8, it is characterised in that be divided into factory floor multiple close The region of collection, post in each region corresponding to positioning RFID label tag, for the position of marked region, and record in the server The ID and its corresponding regional location of each positioning RFID label tag.
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