CN107179759B - 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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- CN107179759B CN107179759B CN201710419210.8A CN201710419210A CN107179759B CN 107179759 B CN107179759 B CN 107179759B CN 201710419210 A CN201710419210 A CN 201710419210A CN 107179759 B CN107179759 B CN 107179759B
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Abstract
The invention discloses a kind of multiple AGV scheduling system operational efficiency evaluation methods, it is in the case where AGV quantity and constant freight transport task total amount, the AGV average running speed of different AGV scheduling systems is acquired respectively, AGV is averaged California bearing ratio, cargo average operating time is as operational efficiency affecting parameters, using Information Entropy and according to collected operational efficiency affecting parameters calculate obtaining 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, system is dispatched to select the AGV that most suitable specific plant uses.
Description
Technical field
The present invention relates to Efficiency Evaluation method, especially a kind of multiple AGV scheduling system operational efficiency evaluation method.
Background technique
As Intelligent logistics and wisdom factory theory propose, self-navigation vehicle (Automated Guided
Vehicles, AGV) emerging technology as modern automation logistics system, it cargo in factory can be effectively improved removes and unload effect
Rate not only liberates manpower, but also can improve production efficiency.AGV belongs to the robot of Intelligent mobile, is unloaded by removing for program setting
The instruction of cargo and guiding route complete the cargo transport in factory.More AGV system operations are generally required using complicated scheduling
Algorithm, so that the average volume of goods transported maximizes in the AGV trolley unit time.
The scheduling of AGV trolley is optimization problems, and common algorithm has genetic algorithm, particle swarm algorithm, simulated annealing
Algorithm etc., in addition there are various blending algorithms.However, the influence factor of the actual operating efficiency of AGV system is numerous, such as line network
Conflict, the waiting time of AGV handling goods between the complexity of network, more AGV etc., these factors disturb the optimal of optimization algorithm
Property.Therefore, it is necessary to establish a set of multiple AGV scheduling system operational efficiency to objectively evaluate index system, for different scheduling systems
System quantifies its operational efficiency.
Information Entropy is a kind of system performance method for objectively evaluating, and theoretical basis 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 instead, and corresponding weight also should be smaller.
Summary of the invention
The purpose of the present invention is to provide a kind of multiple AGV scheduling system operational efficiency evaluation method, collection scheduling systems
In AGV average running speed, AGV average running speed and cargo be averaged the shipping time as operational efficiency affecting parameters, adopt
It is capable of the comprehensive evaluation index of evaluation system operational efficiency with Information Entropy and according to the acquisition of operational efficiency affecting parameters.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of multiple AGV scheduling system postitallation evaluation method, in the situation that holding freight transport task total amount and AGV quantity are constant
Under, the efficiency affecting parameters of different AGV scheduling systems are acquired respectively, then obtain operational efficiency according to the efficiency affecting parameters
Synthetical evaluating coefficient realizes the superiority-inferiority ratio between different AGV scheduling systems by comparing the operational efficiency synthetical evaluating coefficient
Compared with；Wherein, the operational efficiency synthetical evaluating coefficient of every AGV scheduling system acquisition the following steps are included:
Step 1, acquisition AGV scheduling system different moments AGV average running speed, AGV be averaged California bearing ratio, cargo put down
The equal shipping time is as operational efficiency affecting parameters；Sample matrix is formed with collected data:
Wherein, xi,jThe operational efficiency affecting parameters of a certain moment acquisition of system, i={ 1,2,3 }, x are dispatched for AGV1,j,
x2,j, x3,jBe averaged California bearing ratio, the cargo of AGV average running speed, AGV for respectively indicating the AGV scheduling system a certain moment is averagely transported
The time is sent, N is total sample number；
Step 2 is standardized operational efficiency affecting parameters, wherein AGV average running speed and AGV are averaged load-carrying
Than being gain parameter, formula is standardized are as follows:
And cargo shipping time that is averaged is cost parameter, standardizes formula are as follows:
Wherein,WithIt is x respectivelyi,jMaximum value and minimum value, yi,jIt is the parameter after standardization；
Step 3, the entropy for calculating each operational efficiency affecting parameters, entropy calculation formula are as follows:
Step 4 calculates operational efficiency affecting parameters weight and makees normalized, weight calculation formula are as follows:
Step 5, in conjunction with affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient, wherein scheduling system it is a certain
The momentary efficiency of detection moment are as follows:
Zj=w1y1, j+w2y2, j+w3y3, j
ZjValue is all Z between 0 to 1jThe mean value of valueThe operational efficiency overall merit system of system is dispatched for AGV
Number indicates under specific freight transport 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 freight transport task total amount
In the case where, be averaged California bearing ratio, the cargo of AGV average running speed, AGV for acquiring different AGV scheduling systems respectively is averagely run
Time as operational efficiency affecting parameters, using Information Entropy and calculate according to the collected operational efficiency affecting parameters of institute and obtains
The operational efficiency synthetical evaluating coefficient that can evaluate scheduling system is obtained, it is different come comparison by the operational efficiency synthetical evaluating coefficient
The superiority-inferiority of scheduling system dispatches system to select the AGV that most suitable specific plant uses.
Detailed description of the invention
Fig. 1 multiple AGV scheduling system operational efficiency evaluation method flow chart.
Specific embodiment
Shown in referring to Fig.1, present invention discloses a kind of multiple AGV scheduling system postitallation evaluation methods to keep freight transport task total
In the case that amount and AGV quantity are constant, the efficiency affecting parameters of different AGV scheduling systems are acquired respectively, then according to the effect
Rate affecting parameters obtain operation effect efficiency synthetical evaluating coefficient, realize by comparing the operational efficiency synthetical evaluating coefficient different
The superiority-inferiority of AGV scheduling system compares, wherein the operational efficiency synthetical evaluating coefficient of every AGV scheduling system included
Following steps:
Step 1, acquisition AGV scheduling system different moments AGV average running speed, AGV be averaged California bearing ratio, cargo put down
The equal shipping time is as operational efficiency affecting parameters.
Above-mentioned AGV average running speed refers in the unit time, AGV mobile average distance；The AGV California bearing ratio that is averaged is
Refer to the average loading capacity of AGV and the ratio of nominal load capacity；Cargo shipping time that is averaged refers to that all cargo tasks are assigned and takes office
The ratio of total time and quantity of goods that business is completed, these three affecting parameters can characterize the operation of AGV scheduling system well
Situation.
Sample matrix is formed with collected data:
Wherein, x1,j, x2,j, x3,jAGV average running speed, the AGV for respectively indicating the AGV scheduling system a certain moment are average
California bearing ratio, cargo are averaged the shipping time, can be respectively indicated 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.Since the dimension of each affecting parameters is different, it is therefore necessary to carry out standard parameter, uniformly turn in [0,1] section
Nondimensional amount.AGV average running speed and the AGV California bearing ratio that is averaged are that gain parameter i.e. value is bigger, and efficiency is higher, and standardization is public
Formula are as follows:
Wherein,WithIt is x respectivelyi,jMaximum value and minimum value, can be acquired by real data, and yi,jIt is standardization
Parameter afterwards.And cargo is averaged that the shipping time, to be that cost parameter is worth smaller, efficiency is higher, standardizes formula are as follows:
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 are as follows:
Step 4 calculates operational efficiency affecting parameters weight and makees normalized, and weight is inversely proportional with entropy size, entropy
Value is bigger, then weight is with regard to smaller.Weight calculation formula are as follows:
Step 5, in conjunction with affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient,
Z7=w1y1, j+w2y2, j+w3y3, j
ZjValue is to indicate the momentary efficiency of a certain detection moment of scheduling system, using the time as horizontal axis, Z between 0 to 1j
Value is the longitudinal axis, can draw scheduling running efficiency of system and change over time trajectory line.All ZjThe mean value of valueIt can indicate
Under specific task condition (freight transport task) and specific appointed condition (AGV quantity), the operational efficiency of system is dispatched,As
The operational efficiency synthetical evaluating coefficient of AGV scheduling system.
In the actual operation process, thus it is possible to vary freight transport task total amount, AGV quantity, as long as keeping each AGV scheduling system
Freight transport task total amount and AGV quantity are constant, then successively evaluate the operational efficiency of different scheduling systems, are run by comparison
Efficiency synthetical evaluating coefficient selects to be most suitable for the AGV scheduling system that specific plant uses.
A kind of multiple AGV scheduling system operational efficiency evaluation method of the present invention is constant in AGV quantity and freight transport task total amount
In the case where, be averaged California bearing ratio, the cargo of AGV average running speed, AGV for acquiring different AGV scheduling systems respectively is averagely run
Time as operational efficiency affecting parameters, using Information Entropy and calculate according to the collected operational efficiency affecting parameters of institute and obtains
The system operational efficiency synthetical evaluating coefficient that can evaluate scheduling system is obtained, it is different come comparison by the operational efficiency synthetical evaluating coefficient
The superiority-inferiority of scheduling system dispatches system to select the AGV that most suitable specific plant uses.
The above is only present pre-ferred embodiments, is not intended to limit the scope of the present invention, therefore
Any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, 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 freight transport task total amount and AGV quantity not
In the case where change, the efficiency affecting parameters of different AGV scheduling systems are acquired respectively, are then obtained according to the efficiency affecting parameters
Operational efficiency synthetical evaluating coefficient is realized between different AGV scheduling systems by comparing the operational efficiency synthetical evaluating coefficient
Superiority-inferiority compares；Wherein, the operational efficiency synthetical evaluating coefficient of every AGV scheduling system acquisition the following steps are included:
Step 1, be averaged California bearing ratio, the cargo of AGV average running speed, AGV of acquisition AGV scheduling system different moments averagely transport
Time is as operational efficiency affecting parameters；Sample matrix is formed with collected data:
Wherein, xi,jThe operational efficiency affecting parameters of a certain moment acquisition of system, i={ 1,2,3 }, x are dispatched for AGV1,j, x2,j,
x3,jAGV average running speed, the AGV for respectively indicating the AGV scheduling system a certain moment are averaged California bearing ratio, cargo when averagely transporting
Between, N is total sample number；
Step 2 is standardized operational efficiency affecting parameters, wherein AGV average running speed and the AGV California bearing ratio that is averaged is
Gain parameter standardizes formula are as follows:
And cargo shipping time that is averaged is cost parameter, standardizes formula are as follows:
Wherein,WithIt is x respectivelyi,jMaximum value and minimum value, yi,jIt is the parameter after standardization；
Step 3, the entropy for calculating each operational efficiency affecting parameters, entropy calculation formula are as follows:
Step 4 calculates operational efficiency affecting parameters weight and makees normalized, weight calculation formula are as follows:
Step 5, in conjunction with affecting parameters value and weight calculation operational efficiency synthetical evaluating coefficient, wherein scheduling a certain detection of system
The momentary efficiency at moment are as follows:
Zj=w1y1, j+w2y2, j+w3y3, j
ZjValue is all Z between 0 to 1jThe mean value Z of value is the operational efficiency synthetical evaluating coefficient that AGV dispatches system, is indicated
Under specific freight transport task and specific AGV quantity, the operational efficiency of system is dispatched.
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| CN109325654B (en) * | 2018-08-10 | 2021-10-08 | 合肥哈工库讯智能科技有限公司 | AGV dolly running state intelligent regulation and control system based on efficiency analysis |
| 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 |
| 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 |
| CN109189061B (en) * | 2018-08-10 | 2021-08-24 | 合肥哈工库讯智能科技有限公司 | AGV trolley running state regulation and control method with time error analysis function |
| CN110826942B (en) * | 2019-12-13 | 2023-09-19 | 上海中通吉网络技术有限公司 | Method, device, equipment and storage medium for analyzing and monitoring efficiency of transportation center |
| 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 |
| 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 |
| CN115049347B (en) | 2022-08-17 | 2022-12-06 | 成都秦川物联网科技股份有限公司 | Industrial Internet of things system for AGV control and control method thereof |
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