CN107179759A - A kind of multiple AGV scheduling system operational efficiency evaluation method - Google Patents
A kind of multiple AGV scheduling system operational efficiency evaluation method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a kind of multiple AGV scheduling system operational efficiency evaluation method, it is in the case where AGV quantity and shipping task total amount are constant, the AGV average running speeds that different AGV dispatch system are gathered respectively, the average California bearing ratios of AGV, goods average operating time is used as operational efficiency affecting parameters, using Information Entropy and calculate obtaining according to the operational efficiency affecting parameters collected and can evaluate the operational efficiency synthetical evaluating coefficient of scheduling system, by the operational efficiency synthetical evaluating coefficient come the superiority-inferiority of the different scheduling systems of comparison, the AGV used to select most suitable specific plant dispatches system.
Description
Technical field
The present invention relates to Efficiency Evaluation method, especially a kind of multiple AGV scheduling system operational efficiency evaluation method.
Background technology
As Intelligent logistics and wisdom factory theory are proposed, self-navigation vehicle (Automated Guided
Vehicles, AGV) as the emerging technology of modern automation logistics system, goods in factory can be effectively improved remove and unload effect
Rate, both liberates manpower, and production efficiency can be improved again.AGV belongs to the robot of Intelligent mobile, is unloaded by removing for program setting
The instruction of goods and guiding route complete the cargo transport in factory.Many AGV system operations are generally required using complicated scheduling
Algorithm so that the average volume of goods transported is maximized in the AGV dolly unit interval.
The scheduling of AGV dollies is optimization problems, and conventional algorithm has genetic algorithm, particle cluster algorithm, simulated annealing
Algorithm etc., in addition with various blending algorithms.However, the influence factor of the actual operating efficiency of AGV system is numerous, such as line network
Conflict, the stand-by period of AGV handling goods between the complexity of network, many AGV etc., these factors disturb the optimal of optimized algorithm
Property.Accordingly, it would be desirable to the objective evaluation index system of a set of multiple AGV scheduling system operational efficiency be set up, for different scheduling systems
System quantifies its operational efficiency.
Information Entropy is a kind of systematic function method for objectively evaluating, and theoretical foundation is comentropy in information theory, comentropy it is big
The disordering degree of small reflection system variable, comentropy is bigger, then the uncertainty of system variable is bigger, therefore, the weight of variable
The property wanted is just smaller on the contrary, and corresponding weight also should be smaller.
The content of the invention
It is an object of the invention to provide a kind of multiple AGV scheduling system operational efficiency evaluation method, its collection scheduling system
In AGV average running speeds, AGV average running speeds and the goods average shipping time adopts as operational efficiency affecting parameters
Obtain with Information Entropy and according to operational efficiency affecting parameters the comprehensive evaluation index for being capable of evaluation system operational efficiency.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of multiple AGV scheduling system postitallation evaluation method, is keeping shipping task total amount and the constant situation of AGV quantity
Under, the efficiency affecting parameters that different AGV dispatch system are gathered respectively, then obtain operation effect effect according to the efficiency affecting parameters
Rate synthetical evaluating coefficient, superiority-inferiority between different AGV scheduling systems is realized by comparing the operational efficiency synthetical evaluating coefficient
Compare；Wherein, every AGV dispatches being comprised the following steps for the operational efficiency synthetical evaluating coefficient of system：
Step 1, the average California bearing ratio of AGV average running speeds, AGV, the goods of collection AGV scheduling system not in the same time are put down
The equal shipping time is used as operational efficiency affecting parameters；Sample matrix is constituted with the data collected：
Wherein, xi,jThe operational efficiency affecting parameters of a certain moment collection of system, i={ 1,2,3 }, x are dispatched for AGV1,j,
x2,j, x3,jRepresent that the average California bearing ratio of AGV average running speeds, AGV, the goods at AGV scheduling system a certain moment are averagely transported respectively
The time is sent, N is total sample number；
Step 2, operational efficiency affecting parameters are standardized, wherein, AGV average running speeds and the average load-carryings of AGV
Than being gain parameter, its standardization formula is：
And the goods average shipping time is cost parameter, its standardization formula is：
Wherein,WithIt is x respectivelyi,jMaximum and minimum value, yi,jIt is the parameter after standardization；
Step 3, the entropy for calculating each operational efficiency affecting parameters, entropy calculation formula is：
Step 4, calculating operational efficiency affecting parameters weight simultaneously make normalized, and weight calculation formula is：
Step 5, with reference to affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient, wherein, scheduling system it is a certain
The momentary efficiency of detection moment is：
Zj=w1y1,j+w2y2,j+w3y2,j
ZjValue is all Z between 0 to 1jThe average of valueThe operational efficiency overall merit system of system is dispatched for AGV
Number, is represented under specific shipping task and specific AGV quantity, dispatches the operational efficiency of system.
A kind of multiple AGV scheduling system operational efficiency evaluation method of the present invention is constant in AGV quantity and shipping task total amount
In the case of, the average California bearing ratio of AGV average running speeds, AGV, the goods that different AGV scheduling systems are gathered respectively are averagely run
Time, as operational efficiency affecting parameters, using Information Entropy and carries out calculating according to the operational efficiency affecting parameters collected and obtained
The operational efficiency synthetical evaluating coefficient of scheduling system can be evaluated by obtaining, different come comparison by the operational efficiency synthetical evaluating coefficient
The superiority-inferiority of scheduling system, the AGV used to select most suitable specific plant dispatches system.
Brief description of the drawings
Fig. 1 multiple AGV scheduling system operational efficiency evaluation method flow charts.
Embodiment
Shown in reference picture 1, keeping shipping task total present invention is disclosed a kind of multiple AGV scheduling system postitallation evaluation method
In the case that amount and AGV quantity are constant, the efficiency affecting parameters that different AGV dispatch system are gathered respectively, then according to the effect
Rate affecting parameters obtain operation effect efficiency synthetical evaluating coefficient, and difference is realized by comparing the operational efficiency synthetical evaluating coefficient
The superiority-inferiority of AGV scheduling systems compares, wherein, every AGV dispatches being included for the operational efficiency synthetical evaluating coefficient of system
Following steps：
Step 1, the average California bearing ratio of AGV average running speeds, AGV, the goods of collection AGV scheduling system not in the same time are put down
The equal shipping time is used as operational efficiency affecting parameters.
Above-mentioned AGV average running speeds refer in the unit interval, the average distance of AGV movements；The average California bearing ratios of AGV are
Refer to AGV average loading capacity and the ratio of nominal load capacity；The goods average shipping time refers to that all goods tasks are assigned and taken office
Total time and the ratio of quantity of goods that business is completed, these three affecting parameters can characterize the operation that AGV dispatches system well
Situation.
Sample matrix is constituted with the data collected：
Wherein, x1,j, x2,j, x3,jRepresent that AGV average running speeds, the AGV at AGV scheduling system a certain moment are average respectively
In California bearing ratio, the goods average shipping time, can respectively it be represented with i={ 1,2,3 }, N is total sample number.
Step 2, the standardization of operational efficiency affecting parameters, distinguish gain parameter and cost parameter, using different standardization
Formula.Because the dimension of each affecting parameters is different, it is therefore necessary to carry out standard parameter, [0,1] is uniformly turned to interval interior
Nondimensional amount.The average California bearing ratio of AGV average running speeds and AGV is that gain parameter i.e. value is bigger, and efficiency is higher, standardization public affairs
Formula is：
Wherein,WithIt is x respectivelyi,jMaximum and minimum value, can be tried to achieve by real data, and yi,jIt is standardization
Parameter afterwards.And the goods average shipping time is that cost parameter i.e. value is smaller, efficiency is higher, and its standardization formula is：
Step 3, the entropy for calculating operational efficiency affecting parameters, entropy characterize the otherness of the data of affecting parameters, difference
Property is bigger, and entropy is bigger.Entropy calculation formula is：
Step 4, calculating operational efficiency affecting parameters weight simultaneously make normalized, and weight is inversely proportional with entropy size, entropy
Value is bigger, then weight is just smaller.Weight calculation formula is：
Step 5, with reference to affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient,
Zj=w1y1,j+w2y2,j+w3y2,j
ZjValue is the momentary efficiency that a certain detection moment of scheduling system is represented between 0 to 1, using the time as transverse axis, Zj
It is worth for the longitudinal axis, scheduling running efficiency of system can be drawn and change over time trajectory.All ZjThe average of valueIt can represent
Under specific task condition (shipping task) and specific appointed condition (AGV quantity), the operational efficiency of system is dispatched,As
AGV dispatches the operational efficiency synthetical evaluating coefficient of system.
In actual mechanical process, thus it is possible to vary shipping task total amount, AGV quantity, as long as keeping each AGV scheduling system
Shipping task total amount and AGV quantity are constant, and the operational efficiency of different scheduling systems is then evaluated successively, are run by contrasting
Efficiency synthetical evaluating coefficient, selection is best suitable for the AGV scheduling systems that specific plant is used.
A kind of multiple AGV scheduling system operational efficiency evaluation method of the present invention is constant in AGV quantity and shipping task total amount
In the case of, the average California bearing ratio of AGV average running speeds, AGV, the goods that different AGV scheduling systems are gathered respectively are averagely run
Time, as operational efficiency affecting parameters, using Information Entropy and carries out calculating according to the operational efficiency affecting parameters collected and obtained
The system operational efficiency synthetical evaluating coefficient of scheduling system can be evaluated by obtaining, different come comparison by the operational efficiency synthetical evaluating coefficient
The superiority-inferiority of scheduling system, the AGV used to select most suitable specific plant dispatches system.
It is described above, only it is present pre-ferred embodiments, is not intended to limit the scope of the present invention, therefore
Any subtle modifications, equivalent variations and modifications that every technical spirit according to the present invention is made to above example, still belong to
In the range of technical solution of the present invention.
Claims (1)
1. a kind of multiple AGV scheduling system postitallation evaluation method, it is characterised in that：Keeping shipping task total amount and AGV quantity not
In the case of change, the efficiency affecting parameters that different AGV dispatch system are gathered respectively, are then obtained according to the efficiency affecting parameters
Operation effect efficiency synthetical evaluating coefficient, is realized between different AGV scheduling systems by comparing the operational efficiency synthetical evaluating coefficient
Superiority-inferiority compare；Wherein, every AGV dispatches being comprised the following steps for the operational efficiency synthetical evaluating coefficient of system：
Step 1, the average California bearing ratio of AGV average running speeds, AGV, the goods of collection AGV scheduling system not in the same time are averagely transported
Time is used as operational efficiency affecting parameters；Sample matrix is constituted with the data collected：
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Wherein, xi,jThe operational efficiency affecting parameters of a certain moment collection of system, i={ 1,2,3 }, x are dispatched for AGV1,j, x2,j,
x3,jWhen representing that the average California bearing ratio of AGV average running speeds, AGV, the goods at AGV scheduling system a certain moment are averagely transported respectively
Between, N is total sample number；
Step 2, operational efficiency affecting parameters are standardized, wherein, AGV average running speeds and the average California bearing ratios of AGV are
Gain parameter, its standardize formula be：
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And the goods average shipping time is cost parameter, its standardization formula is：
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Wherein,WithIt is x respectivelyi,jMaximum and minimum value, yi,jIt is the parameter after standardization；
Step 3, the entropy for calculating each operational efficiency affecting parameters, entropy calculation formula is：
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Step 4, calculating operational efficiency affecting parameters weight simultaneously make normalized, and weight calculation formula is：
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Step 5, with reference to affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient, wherein, dispatch a certain detection of system
The momentary efficiency at moment is：
Zj=w1y1,j+w2y2,j+w3y2,j
ZjValue is all Z between 0 to 1jThe average of valueThe operational efficiency synthetical evaluating coefficient of system, table are dispatched for AGV
Show under specific shipping task and specific AGV quantity, dispatch the operational efficiency of system.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109165830A (en) * | 2018-08-10 | 2019-01-08 | 安徽库讯自动化设备有限公司 | A kind of Intelligentized regulating and controlling system of AGV trolley travelling state |
| CN109189061A (en) * | 2018-08-10 | 2019-01-11 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley travelling condition regulation method with time error analytic function |
| CN109190185A (en) * | 2018-08-10 | 2019-01-11 | 安徽库讯自动化设备有限公司 | A kind of operating status regulation method of the AGV trolley with Parameter analysis function |
| CN109240283A (en) * | 2018-08-10 | 2019-01-18 | 安徽库讯自动化设备有限公司 | A kind of operating status Intelligentized regulating and controlling system based on the punctual rate analysis of AGV trolley |
| CN109254581A (en) * | 2018-08-10 | 2019-01-22 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley intelligence operation regulator control system based on running state analysis |
| CN109325654A (en) * | 2018-08-10 | 2019-02-12 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley travelling condition intelligent regulator control system based on efficiency analysis |
| CN110826942A (en) * | 2019-12-13 | 2020-02-21 | 上海中通吉网络技术有限公司 | Method, device and equipment for analyzing and monitoring efficiency of transfer center and storage medium |
| CN113110330A (en) * | 2021-04-15 | 2021-07-13 | 青岛港国际股份有限公司 | AGV dynamic scheduling management method based on global optimal matching |
| CN114077253A (en) * | 2021-11-18 | 2022-02-22 | 珠海格力智能装备有限公司 | Dispatching system integrating multiple AGV (automatic guided vehicles) of different types and using method thereof |
| CN115049347A (en) * | 2022-08-17 | 2022-09-13 | 成都秦川物联网科技股份有限公司 | Industrial Internet of things for AGV control and control method |
| CN118051036A (en) * | 2024-04-16 | 2024-05-17 | 合肥焕智科技有限公司 | Service scheduling control system based on task segmentation cooperation |
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| CN113110330A (en) * | 2021-04-15 | 2021-07-13 | 青岛港国际股份有限公司 | AGV dynamic scheduling management method based on global optimal matching |
| CN113110330B (en) * | 2021-04-15 | 2022-11-22 | 青岛港国际股份有限公司 | AGV dynamic scheduling management method based on global optimal matching |
| CN114077253A (en) * | 2021-11-18 | 2022-02-22 | 珠海格力智能装备有限公司 | Dispatching system integrating multiple AGV (automatic guided vehicles) of different types and using method thereof |
| CN114077253B (en) * | 2021-11-18 | 2024-03-19 | 珠海格力智能装备有限公司 | Scheduling system integrating multiple AGVs of different types and application method thereof |
| CN115049347A (en) * | 2022-08-17 | 2022-09-13 | 成都秦川物联网科技股份有限公司 | Industrial Internet of things for AGV control and control method |
| US11886175B2 (en) | 2022-08-17 | 2024-01-30 | Chengdu Qinchuan Iot Technology Co., Ltd. | Systems of industrial internet of things (IoT) for automated guided vehicle (AGV) control, methods, and media thereof |
| CN118051036A (en) * | 2024-04-16 | 2024-05-17 | 合肥焕智科技有限公司 | Service scheduling control system based on task segmentation cooperation |
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