CN110092158A - The dispatching method of crossed loops one-way circulation handling system - Google Patents
The dispatching method of crossed loops one-way circulation handling system Download PDFInfo
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- CN110092158A CN110092158A CN201810096992.0A CN201810096992A CN110092158A CN 110092158 A CN110092158 A CN 110092158A CN 201810096992 A CN201810096992 A CN 201810096992A CN 110092158 A CN110092158 A CN 110092158A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
Abstract
The present invention relates to a kind of dispatching methods of crossed loops one-way circulation handling system, belong to flexible robot manufacturing cell dispatching technique field.Crossed loops one-way circulation of the present invention is removed the following steps are included: trolley is after gatehead loads cargo, and dispatching algorithm is run first lap on crossed loops in order；Distribute operation JiTo website Sm(i)；Since the second circle, cargoBy trolleyIt is sent after loading to treatment station Su+1Upper processing, when l (l >=2), which are enclosed, to be recycled, first trolley V1In treating stations SuUpper processing；Dispatching algorithm successively sequentially arranges the subsequent trolley for loading cargo in order,Drain into treating stations SwUpper processing.Compared with prior art, the dispatching method of crossed loops one-way circulation handling system of the invention is in the case where handling time same case, exchange sequence dispatching method of the present invention is substantially better than Randomized scheduling algorithm and sequential scheduling algorithm, not only increase unit time carrying amount, and the entire handling system interference time is reduced, realize the purpose for improving system effectiveness.
Description
Technical field
The present invention relates to a kind of dispatching methods, more particularly, to a kind of dispatching party of crossed loops one-way circulation handling system
Method belongs to flexible robot manufacturing cell dispatching technique field.
Background technique
Semiconductor crystal wafer manufacture system (Semiconductor Wafer Fabrication System, abbreviation SWFS) is
Link the most complicated and expensive in semiconductor fabrication, advanced SWFS production scheduling technology is for semiconductor manufacturing industry institute
The economic benefit of generation is particularly important, the cost of millions of members on the one hand will be reduced in the horizontal every reduction by 1% of product, on the other hand
Manufacturing cycle, every shortening 1% will increase the output of tens million of members.
In semiconductor crystal wafer manufacture system, come into being automatic to improve handling efficiency, reduction manual handling etc.
Change materials conveying system (Automated Material Handling System, abbreviation AMHS) to play an important role.
Limited toilet's production space not only can be effectively utilized in AMHS system, can also improve the utilization rate of production equipment, subtract
Less in product amount, and shorten cycle time etc..
Monocycle one-way circulation handling system is not only typical case and the base of semiconductor crystal wafer manufacturing automation materials conveying system
This link, and be to put the important linking subsystem to tiered warehouse facility outbound point, storage point from handling in automatic integrated system,
It finds broad application in factory automation integrated system, foreign scholar Sandor Markon and Hiroshi Kise etc. is to it
Many theoretical researches are carried out, in such a system, a series of trolleies are run along a monocycle one-way circulation, load cargo
It is sent to the treatment station being arranged on path, cargo is sent to break bulk point along shortest path after being disposed.Trolley constantly recycles past
Again until all cargos all have been processed into, due to that cannot surmount between vehicle, in treatment station operation, subsequent trolley needs
It waits, so such system is difficult to avoid the occurrence of to interfere between trolley.
Therefore crossed loops is increased in the unidirectional handling system of monocycle, intersected at point, subsequent trolley can surpass
The more trolley traveling of front, in this way it is possible to prevente effectively from the small workshop unnecessary waiting time, mentions for the unidirectional handling system of monocycle
For shortcut.This circulatory system has the optimization of vehicle scheduling, raising handling efficiency, Waste reduction, reduction production cost
Very good effect, and to realize enterprise reduce at, improve efficiency and have great significance.
But the complexity of crossed loops one-way circulation handling system, be related to this systematic research compare again it is less.State
Outer scholar Che-Fu Hsueh etc. is studied the optimization in handling system path, and Cao Pingfang et al. is with branch definition method to vehicle
Routing problem carries out algorithm optimization.Just for facility layout optimization problem, Pierpaolo Caricato and Mahdi
Hamzeei etc. studies the orientation problem of optimal dress break bulk point；Ying-Chin Ho et al. proposes dynamic area strategy
To optimize AGV system.Research for semiconductor crystal wafer manufacture system scheduling problem, Wei Qin etc. propose integrated dispatch calculation
Method simultaneously combines genetic algorithm, increases the unit time output of semiconductor crystal wafer and reduces the processing cycle time；Zheng Wen, week
High-altitude Lifting Convey (OHT) anti-Deadlock is solved in the artificial semiconductor crystal wafer manufacture system such as bright sea, in conjunction with Hungary Algorithm
Propose optimal scheduling method.Liao Weizhi and Liu Xiaobin et al. effectively realize soft in conjunction with Petri net model and immune algorithm
Property manufacture system optimizing scheduling.But the above research all uses artificial intelligence approach for flexible manufacturing system or single loop system substantially
Solving vehicle route and its scheduling problem, calculating time length, avoided interference problem and using relatively difficult, multiple
It is miscellaneous.
Present patent application studies emphatically crossed loops one-way circulation handling system from the actual conditions of materials conveying system
Middle small workshop interference and Problems of Optimal Dispatch reduce the system intervention time, utilize tune to increase system unit time carrying amount
Algorithm and mathematical modeling etc. are spent as guidance, existing dispatching algorithm is analyzed, and obtain trolley tune in the case of being suitble to interfere
The optimal method of algorithm is spent, dispatching algorithm method is simple and easy, and calculation amount is small, provides theory for actual production scheduling and refers to
It leads.
As shown in Figure 1, being the one-way circulation handling system with crossed loops, crossed loops one-way circulation handling system is by length
It is L for the total loop wire and length of LbBranch line, nvTrolley (AGV), nsA treatment station with the same function is (for certainly
Dynamicization tiered warehouse facility is put in storage the working process of website access cargo processing or parallel machine out) and point I/O is loaded and unloaded (containing a loading depot
Point S0With a unloading website) constitute.nvThe collection of trolley (AGV) is combined into V={ V1,V2,......,Vnv, nsA processing
The collection stood is combined into SP={ S1,S2,......,Sns}。
In this system, nJThe set of a operation (or workpiece)According to S0Starting order come
It is encoded, each operation Ji(wherein: 1≤i≤nJ) in S0Position be loaded, then by vehicle conveying to some treatment station
Sm(wherein: 1≤m≤nS)) and handled or stored；It is transported to after the completion for the treatment of station is processed or sortsIt carries out
Unloading.Operation JiIn SmThe processing time of website is known as Pm(i).Since vehicle is during carrying, except in intersection point
Outside, it cannot be exceeded, be forced to wait so previous trolley latter vehicle while being handled in treatment station can be generated
The case where, that is, it interferes, generates certain interference time, to influence the handling efficiency of system.
Assuming that all treating stations (not including loading and discharge point) are owned by same function, each work in this case
The treatment process of industry is all identical.In general, this parallel system can provide highest system effectiveness and highest system
System reliability.Especially when assuming that processing time Pm(i) independent of website SmWith operation Ji, in other words, if operation JiIn SmQuilt
It handles, then Pm(i)=Pp(constant), not so Pm(i)=0.According to actual production, in the unloading time of break bulk pointThen never occurs bottleneck between gatehead and unloading point, without loss of generality, if Po(i)=0,
When this situation only does cargo outbound work suitable for each operation.
The application by analyzing interference mechanism, by as shown in Figure 2, Figure 3 and Figure 4 shown in interference type divided
Analysis, first assumes the acceleration of vehicle and deceleration is unlimited, and the distance between any two points are by continuous service
Chronomere needed for trolley is measured.Assuming that each car is run with identical invariable speed, plan is controlled using region
Slightly, at least d between two Adjacent vehicles is keptBDistance avoid collision, and assume when vehicle is when first lap leaves I/O website,
The distance between every two Adjacent vehicles are dB, dBThe as minimum departure interval.
It is illustrated in figure 2 serial type interference type, if Sm(k)For vehicle VkThe treatment station for delivering cargo, if m (k)=m (k+
1), then VkAnd Vk+1Interference between two vehicles is known as serial interference；It is illustrated in figure 3 parallel interference type, wherein if m (k) > m (k
+ 1), then the interference between two vehicles is known as parallel interference；It is illustrated in figure 4 non-parallel interference type, wherein if m (k) < m (k+1),
Then the interference between two vehicles is known as non-parallel interference.Notice that the interference occurred between I/O website, each car is serial interference.
In the operational process of crossed loops one-way circulation handling system, small workshop can also be interfered intersecting point, referred to as be intersected
Point interference.
For the dispatching method of trolley, Randomized scheduling algorithm and sequential scheduling algorithm are generallyd use.The random schedule is calculated
Method refers to identical probability (1/ns) be randomly assigned an operation to any one treatment station this vehicle scheduling principle
Referred to as Randomized scheduling algorithm (Random rule).Under Randomized scheduling algorithm, interference may occur in any one treating stations
Point.Another kind be sequential scheduling algorithm, in particular to: if distribution operation JiTo website Sm(i), meet condition:
The inside is set as X, indicates that the maximum integer for being no more than x, this vehicle scheduling principle are referred to as sequential scheduling algorithm
(Order rule), i.e., withSequence duplicate allocation operation
To each website, until all operations are assigned.Sequential scheduling algorithm can make operation by treatment station sequence according to
Secondary to be handled, will not occur serially to interfere in processing time identical situation can only send out with parallel interference, non-parallel interference
Life is in first treatment station S1And all there is interference possibility occurrence phase in any one treatment station in Randomized scheduling algorithm
Than the unnecessary waiting time between vehicle when can reduce operation processing.With vehicle number nv=4, treatment station ns=6, cargo number nJ
=12, for processing time equal condition, it is as shown in Figure 5 that sequential scheduling operation handles the method for salary distribution: four trolleies of first lap
Sequentially into S6、S5、S4、S3Website processing, processing time will not occur serial with parallel interference when identical；Second circle trolley V1、V2
To S2、S1Website is handled, at this time trolley V3、V4The non-parallel interference to be generated such as it is forced, to trolley V1,V2After the completion of processing, V3,V4
Again to S6,S5Website processing；Third circle continues distribution trolley to website processing, any one treatment station in order and is not present dry
It relates to, circuits sequentially until all operation completions are handled.
The generation that above-mentioned dispatching method all cannot be avoided interference with effectively.The application mainly from vehicle routing optimization,
Facility layout optimization and vehicle scheduling improve flexible manufacturing system or semiconductor crystal wafer manufacture system.
Summary of the invention
In view of the foregoing, it is an object of the invention to overcome above-mentioned the shortcomings of the prior art, sequential scheduling is reduced
Algorithm is in S1Non-parallel interference caused by treatment station, and a kind of dispatching party of crossed loops one-way circulation handling system is provided
Method changes the treatment station sequence that non-parallel interference operation occurs on the basis of said sequence scheduling, when a situation arises for interference
The new optimal scheduling method of lower trolley, i.e. exchange sequence dispatching algorithm, schedulable method can effectively reduce sequential scheduling algorithm
In S1Non-parallel interference caused by treatment station.
In order to solve the above technical problems, technical scheme is as follows: crossed loops one-way circulation handling system of the present invention
Dispatching method, comprising the following steps:
Step A: trolley is after gatehead loads cargo, and dispatching algorithm is run first lap on crossed loops in order；Distribution
Operation JiTo website Sm(i), and meet the following conditions:
Step B: since the second circle, cargoBy trolleyIt is sent after loading to treatment station Su+1Upper processing, then its
In,
Wherein l is circulating ring number, when l (l >=2), which are enclosed, to be recycled, first trolley V1In treating stations SuUpper processing；
Step C: in first trolley V of step B1In treating stations SuAfter upper processing, the subsequent trolley for loading cargo is in order
Dispatching algorithm successively sequentially arranges,Drain into treating stations SwUpper processing, wherein
Further, as u < w -1: distributing to working terminal SmThe number of vehicles ratio of (m=u+1, u+2 ..., w -1) is to every
The number of vehicles of a residue work station is 1 few.
Further, as u=w -1: each working terminal is assigned equal number of trolley.
Further, as u=w -1: each working terminal is assigned equal number of trolley, nVIt is nSMultiple.
Further, work as u > w -1: distributing to working terminal SmThe number of vehicles ratio of (m=w, w+1 ..., u) is to each surplus
The number of vehicles of remaining work station is 1 more.
Further, the dispatching method includes transformation rule and constant rule.
Further, the transformation rule is slave siteStart, nVThe subset application order dispatching algorithm of vehicle.
Further, the constant rule is slave site SuStart, if u is not less than the vehicle number in this subset, nV?
The subset application order dispatching algorithm of vehicle.
Further, slave site SuStart, if u=nS, slave siteStart, nVThe subset application order of vehicle, which is dispatched, to be calculated
Method.
Further, if u≤w -1: preceding (nV- u) vehicle,Using rule change；U vehicle afterwards,Using constant rule.
Further, if u > w -1: preceding (nV- u+w -1) vehicle,Using rule change；(u-w+1) afterwards
Vehicle,Using constant rule, and wherein,
The beneficial effects of the present invention are: compared with prior art, crossed loops one-way circulation handling system of the invention is wide
Apply in flexible manufacturing system and semiconductor crystal wafer manufacture system generally.It the interference time that handling system can be reduced, mentions
High system effectiveness, the application analyze the interference mechanism of its handling system, establish the mathematical model of handling system, and be based on two
The basic dispatching algorithm (Random Randomized scheduling algorithm and Order sequential scheduling algorithm) of kind is analyzed and researched, and proposes dry
Optimal scheduling algorithm-exchange sequence scheduling E-order algorithm of vehicle scheduling under a situation arises is related to, and is carried out by experiment
Optimizing research.In the case where handling time same case, E-order exchange sequence dispatching method is substantially better than the calculation of Random random schedule
Method and Order sequential scheduling algorithm not only increase unit time carrying amount, but also make entire handling system interference time drop
It is low, realize the purpose for improving system effectiveness.Actual production tune of the proposition of the algorithm to crossed loops one-way circulation handling system
Degree has certain theoretical direction effect.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to which the above objects, features and advantages of the present invention can be become apparent from
It is understandable, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of crossed loops one-way circulation handling system model；
Fig. 2 is that interference type is the pattern schematic diagram serially interfered；
Fig. 3 is that interference type is the pattern schematic diagram interfered in parallel；
Fig. 4 is that type is interfered to be the pattern schematic diagram of non-parallel interference；
Fig. 5 is sequential scheduling algorithm process distribution diagram；
Fig. 6 is that exchange sequence dispatching method of the present invention handles distribution diagram；
Fig. 7 is exchange sequence dispatching method flow chart of the present invention；
Fig. 8 is system unit time carrying magnitude relation figure under different dispatching algorithms；
Fig. 9 is system intervention time chart under different dispatching algorithms.
Specific embodiment:
Further to illustrate the present invention to reach the technical means and efficacy that predetermined purpose is taken, below in conjunction with attached drawing
And preferred embodiment, to the specific embodiment party of the dispatching method of crossed loops one-way circulation handling system proposed according to the present invention
Formula, structure, feature and its effect, detailed description are as follows.
The dispatching method of crossed loops one-way circulation handling system of the invention, refers to exchange sequence dispatching algorithm
(Exchange-order rule, abbreviation E-order dispatching algorithm).The present invention is in order to reduce sequential scheduling algorithm in S1Processing
Non-parallel interference caused by website, the treatment station for changing generation non-parallel interference operation on the basis of sequential scheduling are suitable
Sequence proposes a kind of as interference optimal scheduling algorithm-exchange sequence dispatching algorithm (Exchange- that a situation arises descends trolley new
Order rule, abbreviation E-order dispatching algorithm).
As shown in fig. 6, exchange sequence dispatching method handles distribution diagram, with vehicle number nv=4, treatment station ns=6, cargo
Number nJFor=12, it is as shown in Figure 4 that E-order operation handles the method for salary distribution: four trolley V of first lap1、V2、V3、V4In sequence
Dispatching algorithm is sequentially into S6、S5、S4、S3Website processing；Unlike sequential scheduling, the second circle trolley V1、V2With trolley V3、V4
Exchange sequence, trolley V1、V2To S6、S5Website processing, trolley V3、V4To S2、S1Website processing, can avoid in website S in this way1
Place generates non-parallel interference；Third circle continues dispatching algorithm in order and distributes trolley to website processing, circuits sequentially until all
Operation completion processing.
And be to reduce to generate non-parallel interference at treatment station S1 as far as possible, each treatment station load equilibrium is kept,
The dispatching sequence that vehicle is adjusted on the basis of sequential scheduling algorithm, obtains new optimal exchange dispatching algorithm.
Step A: trolley is after gatehead loads cargo, and dispatching algorithm is run first lap on crossed loops in order；Distribution
Operation Ji to website Sm (i), meets the following conditions:
The circle of step B: the second starts, cargoBy trolleyIt is sent after loading to treatment station Su+1Upper processing, then wherein,
Gained is derived by formula 1；When l (l >=2) circle circulation, first trolley V1In treating stations SuUpper processing, subsequent dress
Carrying the trolley of cargo, dispatching algorithm successively sequentially arranges in order,Drain into treating stations SwUpper processing, wherein
U, w is working terminal, in order to reduce interference, while keeping the harmony of each treatment station load, exchange sequence
Dispatching method is to be adjusted to get based on sequential scheduling algorithm.
In order to keep load balance same with sequential scheduling, following three conditions of particular application are set up:
(1) u < w -1: working terminal S is distributed tomThe number of vehicles ratio of (m=u+1, u+2 ..., w -1) is to each remaining work
It is 1 few to make the number of vehicles stood.
(2) u=w -1: each working terminal is assigned equal number of trolley and (works as nVIt is nSMultiple).
(3) u > w -1: the number of vehicles of working terminal Sm (mS w, w+1, S, u) is distributed to than to each remaining work station
Number of vehicles is 1 more.
Since dispatching method execute enclosing number (l=1), and trolley uses two kinds be introduced below in next l circle
Sub-rule is rule change and constant rule.
Rule change refers to slave siteStart, nVThe subset application order dispatching algorithm of vehicle.Rule change is for this
Subset is optimal, because it is in addition to inevitably interfering (for example, if nV>nS, (the n under any ruleV–nS) trolley quilt
It is blocked in S1Other interference are not generated afterwards).
Constant rule refers to slave site SuStart, nVThe subset application order dispatching algorithm of vehicle.If u is not less than herein
Vehicle number in subset, constant rule are optimal, because it does not interfere generation, and if u=nS, then it is degenerated to variation rule
Then.
The use of exchange sequence (E-order) dispatching method is based on following two rule.
The first: is as u≤w -1: preceding (nV- u) vehicle,Using rule change；U vehicle afterwards,Using constant rule.It can be seen that vehicleIn SwIt is upper processing and vehicleIn SuUpper processing, thus it is full
Sufficient above-mentioned condition (1) and (2).
Second: working as u > w -1: preceding (nV- u+w -1) vehicle,Using rule change；(u-w+1) afterwards
Vehicle,Using constant rule.Wherein,
For nsMultiple.I.e. every station is by preceding (nV- u+w -1) vehicle handles equal number of cargo and from SuAfter setting out
The scheduling of (u-w+1) vehicle meets condition (3), therefore E-order exchange sequence dispatching method keeps such as Order dispatching algorithm one
The load balance of sample.With reference to exchange sequence dispatching algorithm flow chart as shown in Figure 7.
Below by system unit time carrying amount under experimental verification difference dispatching algorithm.As shown in Figure 8.
Most important performance indicators first is that unit time carrying amount (T in logistics handling systemp), this is by the unit time
It is interior to be transported to the cargo number for the treatment of station from loading point or be transported to the cargo number decision of break bulk point from treatment station.If Fmax
To complete to handle nJThe total complete time of a cargo, then unit time carrying amount is defined as
Tp≡nJ/Fmax (5)
Another important index is that system always interferes the time (Total Interference Time, abbreviation TIT), is
The system interference time interferes temporal summation to be generated in addition to the runing time that trolley is normally carried and (do not interfered) in system.
Based on two above measurement index, this research realizes proposed dispatching algorithm herein using C language, calculates different scheduling
Crossed loops one-way circulation handling system operating mechanism under method is tested.Experiment condition and result are as follows:
Specific experiment condition and parameter are as follows:
(1) system cargo number nJ: 600；
(2) treating stations points ns: 6；
(3) AGV trolley loads cargo number every time: 1；
(4) the cargo time is unloaded1s；
(5) AGV speed: 1m/s；Acceleration/deceleration: ∞；
(6) cargo processing time Pp: 50s.
(7) vehicle number nv: 2-12
According to above-mentioned experiment condition, by establishing the mathematical model of crossed loops one-way circulation handling system, calculating is analyzed
Relationship out under different dispatching algorithms between vehicle number and unit time carrying amount is as shown in Figure 8.
Thus the system unit time carries magnitude relation figure to find out under different dispatching algorithms in Fig. 8: adjusting at random in Random
It spends under algorithm, with increasing for vehicle number, unit time carrying amount is gradually increased, but since interference can occur at any one
Website is managed, vehicle number reaches vehicle number and reaches nvWhen=8 or so, unit time carrying amount is not further added by substantially；Order scheduling is calculated
In method, only S when time phase is handled1There is a possibility that interfering, the carrying of system unit time in treatment station
Amount is in the trend that rises overally with the increase of vehicle number, and there are certain fluctuations, but the whole Random that is substantially better than is dispatched
Algorithm；And unit time carrying amount is incremented by with the increase of vehicle number close to linear relationship in E-order exchange sequence dispatching algorithm,
It is optimal in three kinds of algorithms.
Although as the increase of vehicle number, the carrying amount of system unit time increases therewith, but vehicle number increases meeting
The interference situation generated between aggravation vehicle, system intervention time also increase with it.Vehicle number and system under three kinds of dispatching algorithms
Total interference time relationship is as shown in Figure 9:
From it can be seen that under Random Randomized scheduling algorithm, with the increase of vehicle number, interfering the time in experimental result
Exponentially type is being continuously increased；In Order sequential scheduling algorithm, always interferes with the increase system of vehicle number and is also increasing,
There is certain fluctuation, but whole better than Random Randomized scheduling algorithm；In E-order exchange sequence dispatching algorithm,
The interference time increases slowly with the increase of vehicle number, and the interference time is significantly less than Random Randomized scheduling algorithm and Order
The interference time under sequential scheduling algorithm.In general, E-order exchanges the unit time carrying amount under dispatching algorithm most
Greatly, the interference time is minimum, and Order sequential scheduling algorithm takes second place, not only unit time carrying amount under Random Randomized scheduling algorithm
Less and the interference time is maximum.In systems, unit time carrying amount is bigger, and the interference time is smaller, and the operational efficiency of system is higher.
E-order exchange sequence dispatching algorithm is better than Random Randomized scheduling algorithm and Order sequential scheduling algorithm, both improves system
Unit time carrying amount, and reduce interference, improve system effectiveness.
The above, the only detailed description and schema of the realization specific embodiment of the invention of description of the invention description,
It for illustration rather than limits, but feature of the invention is not limited thereto, those skilled in the art obviously understand, institute of the invention
Have subject to range Ying Yiqi scope of protection of the claims, in the spirit and hair defined without departing substantially from the appended claims
Under the premise of bright range, the variation similar with its of all spirit according to the present invention and the other embodiments implemented should all be included in this
Among the protection category of invention.
Claims (11)
1. the dispatching method of crossed loops one-way circulation handling system, it is characterised in that: the following steps are included:
Step A: trolley is after gatehead loads cargo, and dispatching algorithm is run first lap on crossed loops in order；Distribute operation Ji
To website Sm(i), and meet the following conditions:
Step B: since the second circle, cargoBy trolleyIt is sent after loading to treatment station Su+1Upper processing, then wherein,
Wherein l is circulating ring number, when l (l >=2), which are enclosed, to be recycled, first trolley V1In treating stations SuUpper processing；
Step C: in first trolley V of step B1In treating stations SuAfter upper processing, the subsequent trolley for loading cargo is dispatched in order
Algorithm successively sequentially arranges,Drain into treating stations SwUpper processing, wherein
2. the dispatching method of crossed loops one-way circulation handling system according to claim 1, it is characterised in that: as u < w -1:
Distribute to working terminal SmThe number of vehicles of (m=u+1, u+2 ..., w -1) is fewer by 1 than the number of vehicles to each remaining work station
?.
3. the dispatching method of crossed loops one-way circulation handling system according to claim 1, it is characterised in that: as u=w-
1: each working terminal is assigned equal number of trolley.
4. the dispatching method of crossed loops one-way circulation handling system according to claim 1, it is characterised in that: as u=w-
1: each working terminal is assigned equal number of trolley, nVIt is nSMultiple.
5. the dispatching method of crossed loops one-way circulation handling system according to claim 1, it is characterised in that: work as u > w -1:
Distribute to working terminal SmThe number of vehicles of (m=w, w+1 ..., u) is 1 more than the number of vehicles to each remaining work station.
6. the dispatching method of crossed loops one-way circulation handling system according to claim 1, it is characterised in that: the scheduling
Method includes transformation rule and constant rule.
7. the dispatching method of crossed loops one-way circulation handling system according to claim 6, it is characterised in that: the transformation
Rule is slave siteStart, nVThe subset application order dispatching algorithm of vehicle.
8. the dispatching method of crossed loops one-way circulation handling system according to claim 6, it is characterised in that: described constant
Rule is slave site SuStart, if u is not less than the vehicle number in this subset, nVThe subset application order dispatching algorithm of vehicle.
9. the dispatching method of crossed loops one-way circulation handling system according to claim 6, it is characterised in that: slave site Su
Start, if u=nS, slave siteStart, nVThe subset application order dispatching algorithm of vehicle.
10. the dispatching method of crossed loops one-way circulation handling system according to claim 6, it is characterised in that: if u≤w-
1: preceding (nV- u) vehicle,Using rule change；U vehicle afterwards,Using constant rule.
11. the dispatching method of crossed loops one-way circulation handling system according to claim 6, it is characterised in that: if u > w-
1: preceding (nV- u+w -1) vehicle,Using rule change；(u-w+1) vehicle afterwards,Using constant
Rule, and wherein,
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110850819A (en) * | 2019-10-24 | 2020-02-28 | 江西理工大学 | Single-arm combination equipment scheduling method, system, mobile terminal and storage medium |
| CN112830147A (en) * | 2020-12-31 | 2021-05-25 | 深圳市海柔创新科技有限公司 | Cargo handling method, warehouse management equipment, warehousing system, medium and product |
| WO2023082378A1 (en) * | 2021-11-09 | 2023-05-19 | 南京航空航天大学 | Anti-deadlock dispatching method for oht system |
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