CN111062646B - Multi-level nested circulation task dispatching method - Google Patents
Multi-level nested circulation task dispatching method Download PDFInfo
- Publication number
- CN111062646B CN111062646B CN201911417884.XA CN201911417884A CN111062646B CN 111062646 B CN111062646 B CN 111062646B CN 201911417884 A CN201911417884 A CN 201911417884A CN 111062646 B CN111062646 B CN 111062646B
- Authority
- CN
- China
- Prior art keywords
- point
- auxiliary
- site
- path
- task
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004458 analytical method Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 23
- 238000010862 gear shaping Methods 0.000 claims description 13
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 238000012882 sequential analysis Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 14
- 238000010187 selection method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0633—Workflow analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06316—Sequencing of tasks or work
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
-
- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-level nested circulation task dispatching method, which comprises the steps of analyzing a plurality of tasks which are sequentially executed according to dispatching information sent by a dispatching system, wherein each task corresponds to a plurality of subtasks; executing control instructions corresponding to each task in turn in an outer loop nesting mode; when each task is executed, the control instructions corresponding to the plurality of subtasks are sent to the pallet truck through the inner nesting loop. The invention has the advantages that: the method can realize the analysis of the scheduling information of the scheduling system and convert the scheduling information into corresponding instructions to be sent to the pallet truck circularly and reliably, and is simple, convenient, reliable and efficient; the method can realize the nested sequential analysis and transmission of the tasks to the pallet truck, and can realize the analysis and transmission of a single task comprising a plurality of subtasks and the analysis and dispatch of multiple tasks.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a multi-level nested circulation task dispatching method.
Background
In the logistics industry, forklift control is an important research direction, and how to convert scheduling information into information for identifying a pallet truck and ensure the correctness and the integrity of the scheduling information becomes a difficulty. The real-time performance, the universality and the priority design of the analysis method of how two kinds of information are designed and the mutual conversion of the two kinds of information are important to the research of the design method. In the prior art, the pallet truck is directly taught, so that a control command is given only according to teaching position information before a target point, the teaching of the method of the type is complicated, a teaching program is directly fixed in the pallet truck, the replacement and modification are troublesome, and different teaching is required by using a single different scene, so that the universality cannot be ensured; moreover, the control information is directly given to the forklift, so that the overall safety and feedback detection of the control system cannot be realized; secondly, each time separate recording control is needed, unification and standardization of the pallet truck cannot be achieved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-level nested circulation task dispatching method which is used for reliably and completely sending tasks of a dispatching system to a pallet truck.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a multi-level nested loop task dispatch method comprises the following steps of
Analyzing a plurality of tasks which are sequentially executed according to scheduling information sent by a scheduling system, wherein each task corresponds to a plurality of subtasks;
executing control instructions corresponding to each task in turn in an outer loop nesting mode; when each task is executed, the control instructions corresponding to the plurality of subtasks are sent to the pallet truck through the inner nesting loop.
In the outer loop nesting mode, whether the execution is finished or not is confirmed by the received feedback information of the pallet truck, and the next task is sequentially switched after the execution is confirmed by the feedback information.
And if the last sub task has an executing action in a plurality of sub tasks at the corresponding analysis position of the task, selecting an auxiliary point beside the end point of the sub task as an operation target point of the pallet truck, forming an auxiliary operation path from the start point of the last sub task to the operation target point and a goods inserting path from the operation target point to the goods inserting point, and sending the auxiliary operation path, the goods inserting path and a control signal to the pallet truck.
The auxiliary site is an auxiliary operation target point which is arranged beside the site and used when the sub-task is in end point execution, and when the last sub-task needs to execute the action, the auxiliary site is confirmed and selected according to the type of the site, the position of the auxiliary point, the starting point and the end point position of the path of the last task, and an auxiliary path is formed.
The execution action information of the paths and the analysis positions corresponding to each subtask is transmitted to the pallet truck through information of a structural body, and the structural body comprises a site position, a walking state, a pallet truck gear shaping effective position, a gear shaping elevation and a gear shaping descending elevation.
After the subtasks are sent, waiting for feedback information of the pallet truck and sending control information of the next subtask after feedback conditions are met.
The invention has the advantages that: the method can realize the analysis of the scheduling information of the scheduling system and convert the scheduling information into corresponding instructions to be sent to the pallet truck circularly and reliably, and is simple, convenient, reliable and efficient; the method can realize the nested sequential analysis and transmission of the tasks to the pallet truck, and can realize the analysis and transmission of a single task comprising a plurality of subtasks and the analysis and dispatch of multiple tasks.
Drawings
The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
FIG. 1 is a flow chart of the task dispatch cycle of the present invention;
fig. 2 is a schematic diagram of a site design of the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
The method for dispatching the multi-level nested loop task shown in fig. 1 is used for analyzing a dispatching instruction of a dispatching system and then dispatching the task to a pallet truck, and comprises the following steps: analyzing a plurality of tasks which are sequentially executed according to scheduling information sent by a scheduling system, wherein each task corresponds to a plurality of subtasks; executing control instructions corresponding to each task in turn in an outer loop nesting mode; when each task is executed, the control instructions corresponding to the plurality of subtasks are sent to the pallet truck through the inner nesting loop.
In the external circulation nesting mode, for circulation is adopted to switch and circularly execute each task, and the upper computer software confirms whether the execution is completed or not according to the received feedback information of the pallet truck, and sequentially switches to the next task after the feedback information confirms that the execution is completed until all the tasks are completely executed.
And if the last sub-task in the analyzed sub-tasks is an executing action, wherein the executing action is generally a gear shaping, goods inserting and goods placing instruction action of the pallet truck, the upper computer selects an auxiliary point beside the end point of the sub-task as a running target point of the pallet truck, forms an auxiliary running path from the start point of the last sub-task to the running target point and a goods inserting path from the running target point to the goods inserting point, and sends the auxiliary running path, the goods inserting path and a control signal to the pallet truck.
The auxiliary site is an auxiliary operation target point which is arranged beside the site and used when the sub-task is in end point execution, and when the last sub-task needs to execute the action, the auxiliary site is confirmed and selected according to the type of the site, the position of the auxiliary point, the starting point and the end point position of the path of the last task, and an auxiliary path is formed.
As shown in fig. 2, schematic diagrams of the site and the auxiliary site (black dots represent sites, and others are auxiliary dots), first, the site types are divided into three types: straight wayside stations, T-wayside stations, ten wayside stations; the types of the sites are predefined and stored in a database, and the data such as the number of auxiliary points and the positions of the auxiliary points corresponding to each site are pre-stored. The auxiliary site of each site has a preset insertion point. When the internal circulation nested analysis sending is executed, each analyzed subtask control instruction is sequentially sent to the pallet truck, when the last subtask is sent, whether the last subtask has an execution action is firstly confirmed, if the execution action exists, the site type of a target point of the last subtask is judged, then the position information of auxiliary points around the site is obtained according to the site type, one auxiliary site is selected to serve as a target operating point, then a planned path is analyzed to be a path from the starting point of the last subtask to the target operating point, and the path from the target operating point to the insertion point is added. The path and associated control signals are then sent into the pallet truck.
When the last subtask executes the action, and the site type of the target point corresponding to the analysis position task is a linear roadside site, the selected target point running method is as follows: except for the auxiliary points corresponding to the inserting points, the auxiliary points with the farthest distance from the starting point of the last subtask, which are reached by the rest auxiliary points, are taken as running target points and corresponding auxiliary paths are planned; then planning a goods inserting path from the running target point to a goods inserting point, and sending the path and a control instruction to the pallet truck; when the site type is a T-shaped roadside site, the rest auxiliary points are taken as running target points except auxiliary points corresponding to the insertion points, and the rest auxiliary points reach a point with the farthest straight line distance from the starting point of the last subtask to the target point path. When the site types are: and the ten-type roadside stations are used for respectively calculating the sum of the distances from the auxiliary point to the last subtask starting point and the distance between the auxiliary point and the terminal except for the auxiliary point corresponding to the insertion point, respectively comparing the sum of the calculated distances of the auxiliary point stations, and taking the auxiliary point with the longer distance as the running target point.
The execution action information of the path and the analysis position corresponding to each subtask is transmitted to the pallet truck through information of a structural body, and the structural body at least comprises a site position, a walking state, a pallet truck gear shaping effective position, a gear shaping elevation and a gear shaping descending elevation. After the subtasks are sent, waiting for feedback information of the pallet truck and sending control information of the next subtask after feedback conditions are met.
The invention solves the technical problem of how to use a circulation mode to realize the analysis and transmission of a single task comprising a plurality of subtasks and the analysis and dispatch of a plurality of tasks. Each dispatch message also needs to be checked to see if the pallet truck lower computer has successfully received and then continued to dispatch.
When the task analysis dispatch is carried out, because the planned path is controlled by adopting the sites and the auxiliary points, each site and each auxiliary point are corresponding to a fixed position, and the corresponding position is found according to the site name, thus completing the action. So the site type needs to be designed, which is specifically as follows:
database design:
site design: the single site includes site location information and information of a plurality of auxiliary points, the number of which is determined by the type of site. Wherein the site type is designed as follows: roadside stations, i.e. stations beside a pass-through line; the broken-end roadside site, namely the site is positioned beside the T-shaped intersection; the site beside the intersection, i.e. the site is located beside the intersection. In particular, schematic figure 2 is seen. The number of auxiliary points corresponding to the straight-line roadside station, the T-shaped roadside station and the ten-shaped roadside station is 3, 3 and 4 respectively; site name design it is particularly noted that several adjacent site names are designed to be similar, e.g. 1A, 1B, 1C. The name and position information of the station and the like can be stored in a database so as to facilitate the analysis and the calling and the use of the pallet truck and the control execution to run according to the path.
And (3) path design: the path is formed by combining stations, and the design of the path names is particularly careful, when the station information of the starting point or the end point in the path is the same, the two paths are similar in names, such as 1011, 1012 and 1013; the path is a path formed by combining the starting point and the end point in the subtask according to the analysis and each site in between.
And (3) auxiliary path design: the auxiliary path is formed by combining site auxiliary points and is used for realizing that when the last subtask needs to execute actions, the pallet truck needs to firstly run to the auxiliary points and then enter the goods inserting points corresponding to the auxiliary points so as to execute goods inserting or placing actions on goods at the end positions of the target points.
Three types of site assistance point selection methods:
if the last task in the inner loop nesting has the problem that the auxiliary point is selected if the execution action is involved, how to select the correct auxiliary point as the running target point is designed as follows: firstly, if the station is a common straight-line side station, selecting by directly using a method of directly separating two points from the distance, namely selecting an auxiliary point from the distance between the auxiliary point in the target point and the starting point of the ion task by the farthest distance, wherein the method is the simplest and most convenient; secondly, if the station is a T-shaped roadside station, the direct distance method can fail, and the distance from the auxiliary point to the straight line of the subtask path is used as a selection condition; third, since two auxiliary points for selection at the intersection are collinear with the straight line of the route, the auxiliary points are designed to be selected as the sum of the distances from the auxiliary points to the start point and the end point of the route.
The loop nesting design method comprises the following steps:
inner layer nesting: the sub-tasks in a single task are divided into three layers, namely a first cargo point auxiliary point of a starting site of a starting path; second, all other cases; third, end path end point and execution action. Interaction also exists among the three layers, namely a first layer and a second layer, when the first layer does not meet the condition, the second layer or the third layer is directly changed into the first layer, and the first layer enters the second layer or the third layer after the condition execution is finished, but the first layer is different from the second layer or the third layer, and a sign is designed to realize conversion under the condition;
outer layer nesting: the outer layer nest is used for completing the sequential execution of a plurality of tasks, traversing all path names by using a for loop according to a sequence container for searching the path names, and transmitting the path names to the inner layer nest. In addition, the outer layer for loop controls the progress of traversal according to feedback information instead of one-time execution completion, so a while loop cannot be used. A specific control method is shown with reference to flowchart 1.
Terminal pallet truck control information and feedback mechanism design:
the execution of all target points or paths of the Startpath, the Turn path and the end path is finally analyzed and the information of the structure is transmitted to a lower computer of the pallet truck, and the information is the same in type and comprises a site position, a walking state, a pallet truck gear shaping effective position, a gear shaping elevation and a gear shaping descending elevation. Wherein the valid bit may control the effectiveness of the entire message; and waiting for feedback signals of the lower computer between the sub-task sending, and carrying out analysis sending of the next sub-task under the condition that the conditions are met, so that the whole outer loop is completed.
The scheme has the advantages that site and path design is realized, the pallet truck can reach all types of scenes basically, the designed site auxiliary point selection method can ensure correct and rapid selection, simple point selection is realized, and complex point ingenious selection is realized; the analysis level is clear, simple and efficient, and can be expanded: the control information analysis method is not redundant and efficient through an ingenious design method; in addition, in theory, no matter how many turns the target point is, the loop nesting can be expanded, and the loop is used, so that the loop is interacted with the outside to form interaction which can not sink into dead loop and can respond and control rapidly; closed loop control effect: the effectiveness of controlling the pallet truck is ensured to the greatest extent, and the disorder of control information is avoided; a feedback type circulation method is added, so that dead circulation is avoided; ensuring information verification and self-updating iteration; according to the nested structure design method with the clear hierarchy, all task situations can be realized by using only one nest; and infinite nested structure expansion can be performed for different scenes. The different types of stations and the selection method of the station appointed auxiliary points ensure that the pallet truck correctly executes tasks and meet the requirements of all normal scene tasks.
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.
Claims (1)
1. A multi-level nested loop task dispatching method is characterized in that:
analyzing a plurality of tasks which are sequentially executed according to scheduling information sent by a scheduling system, wherein each task corresponds to a plurality of subtasks;
executing control instructions corresponding to each task in turn in an outer loop nesting mode; when each task is executed, the control instructions corresponding to the plurality of subtasks are sent to the pallet truck through the inner nested loop; in the outer loop nesting mode, whether the execution is finished or not is confirmed by the received feedback information of the pallet truck, and the next task is sequentially switched after the feedback information confirms the completion of the execution; in a plurality of subtasks at the corresponding analysis position of the task, if the last subtask has an executing action, selecting an auxiliary point beside the end point of the subtask as an operation target point of the pallet truck, forming an auxiliary operation path from the start point of the last subtask to the operation target point and a goods inserting path from the operation target point to the goods inserting point, and sending the auxiliary operation path, the goods inserting path and a control signal to the pallet truck; the auxiliary site is an auxiliary operation target point which is arranged beside the site and used when the sub-task end point executes the action, and when the last sub-task needs to execute the action, the auxiliary site is confirmed and selected according to the type of the site, the position of the auxiliary point, the starting point and the end point of the path of the last task, and an auxiliary path is formed; the corresponding path of each subtask and the execution action information of the analysis position are transmitted to the pallet truck through information of a structural body, wherein the structural body comprises a site position, a walking state, a pallet truck gear shaping effective position, a gear shaping elevation and a gear shaping descending elevation; after the subtasks are sent, waiting for feedback information of the pallet truck and sending control information of the next subtask after feedback conditions are met;
site types are first classified into three types: straight wayside stations, T-wayside stations, ten wayside stations; the types of all the sites are predefined and stored in a database, and the data such as the number of auxiliary points and the positions of the auxiliary points corresponding to each site are pre-stored; the auxiliary site of each site is provided with a preset inserting point; when executing inner loop nested analysis and transmission, sequentially transmitting each analyzed subtask control instruction to a pallet truck, when transmitting the last subtask, firstly confirming whether the last subtask has an execution action, judging the site type of a target point of the last subtask if the last subtask has the execution action, then acquiring the position information of auxiliary points around the site according to the site type, then selecting one of the auxiliary sites as a target operating point, then analyzing a planned path as a path from the starting point of the last subtask to the target operating point, and adding the path from the target operating point to the insertion point; then the path and related control signals are sent to the pallet truck;
when the last subtask executes the action, and the site type of the target point corresponding to the analysis position task is a linear roadside site, the selected target point running method is as follows: except for the auxiliary points corresponding to the inserting points, the auxiliary points with the farthest distance from the starting point of the last subtask, which are reached by the rest auxiliary points, are taken as running target points and corresponding auxiliary paths are planned; then planning a goods inserting path from the running target point to a goods inserting point, and sending the path and a control instruction to the pallet truck; when the site type is a T-shaped roadside site, the rest auxiliary points are taken as running target points except auxiliary points corresponding to the insertion points, and the rest auxiliary points reach a point with the farthest straight line distance from the starting point of the last subtask to the target point path; when the site types are: and the ten-type roadside stations are used for respectively calculating the sum of the distances from the auxiliary point to the last subtask starting point and the distance between the auxiliary point and the terminal except for the auxiliary point corresponding to the insertion point, respectively comparing the sum of the calculated distances of the auxiliary point stations, and taking the auxiliary point with the longer distance as the running target point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417884.XA CN111062646B (en) | 2019-12-31 | 2019-12-31 | Multi-level nested circulation task dispatching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417884.XA CN111062646B (en) | 2019-12-31 | 2019-12-31 | Multi-level nested circulation task dispatching method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111062646A CN111062646A (en) | 2020-04-24 |
| CN111062646B true CN111062646B (en) | 2023-11-24 |
Family
ID=70305838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911417884.XA Active CN111062646B (en) | 2019-12-31 | 2019-12-31 | Multi-level nested circulation task dispatching method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111062646B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5230053A (en) * | 1990-02-05 | 1993-07-20 | Matsushita Electric Industrial Co., Ltd. | Processor scheduling method for iterative loops |
| JP2003292167A (en) * | 2002-04-01 | 2003-10-15 | Mitsubishi Heavy Ind Ltd | Cargo handling method, transferring machine and cargo handling system |
| WO2009000866A1 (en) * | 2007-06-26 | 2008-12-31 | Telefonaktiebolaget L M Ericsson (Publ) | Data-processing unit for neste-loop instructions |
| CN103377035A (en) * | 2012-04-12 | 2013-10-30 | 浙江大学 | Pipeline parallelization method for coarse-grained streaming application |
| CN104616128A (en) * | 2015-01-26 | 2015-05-13 | 华中科技大学 | Method and system for optimizing dispatching based on RFID (Radio Frequency Identification Device) |
| CN105335226A (en) * | 2015-09-24 | 2016-02-17 | 合肥工业大学 | Iterative static task list scheduling algorithm for multi-processor system |
| CN107203190A (en) * | 2017-05-18 | 2017-09-26 | 广州智能装备研究院有限公司 | A kind of inertial navigation AGV dispatching methods and system based on pahtfinder hard |
| CN109190840A (en) * | 2018-09-21 | 2019-01-11 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of freezer shuttle dispatching management information system and dispatching method |
| CN109612483A (en) * | 2018-12-06 | 2019-04-12 | 熵智科技(深圳)有限公司 | A kind of Laser-guided automatic transporter path generating method |
-
2019
- 2019-12-31 CN CN201911417884.XA patent/CN111062646B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5230053A (en) * | 1990-02-05 | 1993-07-20 | Matsushita Electric Industrial Co., Ltd. | Processor scheduling method for iterative loops |
| JP2003292167A (en) * | 2002-04-01 | 2003-10-15 | Mitsubishi Heavy Ind Ltd | Cargo handling method, transferring machine and cargo handling system |
| WO2009000866A1 (en) * | 2007-06-26 | 2008-12-31 | Telefonaktiebolaget L M Ericsson (Publ) | Data-processing unit for neste-loop instructions |
| CN103377035A (en) * | 2012-04-12 | 2013-10-30 | 浙江大学 | Pipeline parallelization method for coarse-grained streaming application |
| CN104616128A (en) * | 2015-01-26 | 2015-05-13 | 华中科技大学 | Method and system for optimizing dispatching based on RFID (Radio Frequency Identification Device) |
| CN105335226A (en) * | 2015-09-24 | 2016-02-17 | 合肥工业大学 | Iterative static task list scheduling algorithm for multi-processor system |
| CN107203190A (en) * | 2017-05-18 | 2017-09-26 | 广州智能装备研究院有限公司 | A kind of inertial navigation AGV dispatching methods and system based on pahtfinder hard |
| CN109190840A (en) * | 2018-09-21 | 2019-01-11 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of freezer shuttle dispatching management information system and dispatching method |
| CN109612483A (en) * | 2018-12-06 | 2019-04-12 | 熵智科技(深圳)有限公司 | A kind of Laser-guided automatic transporter path generating method |
Non-Patent Citations (2)
| Title |
|---|
| 张小莉.集装箱码头连续泊位与岸桥联合调度优化研究.中国优秀硕士学位论文全文数据库 工程科技II辑.2016,(第undefined期),全文. * |
| 段红义 ; 王惠惠 ; .C语言循环嵌套结构教学设计探究.科技创新导报.2015,(第07期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111062646A (en) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102415096B1 (en) | Roadmap annotation for deadlock-free multi-agent navigation | |
| RU2589869C2 (en) | Method and system for efficient scheduling for plurality of automated nonholonomic vehicles using scheduler of coordinated routes | |
| CN107168316B (en) | Multi-AGV dispatching system based on single-direction and two-direction mixed paths | |
| CN111596658A (en) | Multi-AGV collision-free operation path planning method and scheduling system | |
| CN111353645B (en) | Automatic handling method and system for urban rail transit vehicle base driving plan | |
| CN105956739A (en) | Three-dimensional simulating system for scheduling demonstration and algorithm verification of automated guided vehicle | |
| Michalos et al. | Decision making logic for flexible assembly lines reconfiguration | |
| CA3138062A1 (en) | Systems and methods for optimizing route plans in an operating environment | |
| CN109976320A (en) | A kind of more AGV paths planning methods based on time window on-line amending | |
| CN111338343B (en) | Automatic guided vehicle dispatching method and device, electronic equipment and storage medium | |
| CN108427412A (en) | AGV dispatching methods, device, computer equipment and storage medium | |
| CN112083722A (en) | Multi-robot multi-floor scheduling system and scheduling method for mobile robot | |
| CN103197614B (en) | The automatic material conveyer controlled based on PLC and control method thereof | |
| AU2019290096A1 (en) | Robot scheduling and robot path control method, server and storage medium | |
| CN111444599A (en) | AGV project simulation and monitoring method and system | |
| Oleari et al. | Industrial AGVs: Toward a pervasive diffusion in modern factory warehouses | |
| CN109032135A (en) | A kind of dispatching method and system of automatic guide vehicle | |
| JP2021071891A (en) | Travel control device, travel control method, and computer program | |
| CN114281080B (en) | Method for deadlock removal in AMR scheduling system | |
| CN115271556B (en) | Robot task scheduling method and device, readable storage medium and electronic equipment | |
| CN111079988A (en) | Task execution method and device, storage medium and electronic device | |
| CN114330830A (en) | Operation method for cooperatively transporting same goods by multiple AGV and storage medium | |
| CN111062646B (en) | Multi-level nested circulation task dispatching method | |
| CN115981264A (en) | AGV scheduling and quantity combined optimization method considering conflicts | |
| Sharma | Control classification of automated guided vehicle systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |