CN112224245A - RGV scheduling method and system for one-rail multiple vehicles - Google Patents
RGV scheduling method and system for one-rail multiple vehicles Download PDFInfo
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Abstract
The invention relates to an RGV scheduling method and system for one-rail multiple vehicles. The RGV scheduling method for the one-rail multi-vehicle comprises the following steps: the method comprises the steps of obtaining a platform position of each platform, a task state of each platform and a vehicle position of each vehicle on a track, wherein the task state comprises an execution state of each task and task waiting time of each task; determining vehicles to be distributed at each platform according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles with the distance from the platform on the track within a set range; and distributing tasks for each vehicle to be distributed according to the task state. The invention solves the problems of low cost, high reliability, flexible scheme layout and high efficiency requirement which are difficult to achieve in the prior art.
Description
Technical Field
The invention relates to the technical field of vehicle scheduling, in particular to a one-rail multi-vehicle RGV scheduling method and system.
Background
With the rapid development of the logistics industry at home and abroad, the safe use and protection measures of the logistics equipment in the market are higher and higher. As shown in fig. 1, the Rail shuttle car is widely applied to a logistics system, has the characteristics of high speed, high reliability, low cost and the like, is mainly used in material transportation, workshop assembly and other scenes, and a linear reciprocating type general Rail Guided Vehicle (RGV) system comprises one or more RGVs for reciprocating motion, generally adopts a steel Rail as a Rail, and has low cost. The RGV system can be used as peripheral equipment of a stereoscopic warehouse and can also be an independent system. The tray conveying device has the advantages that the trays can be conveyed transversely and also can be conveyed longitudinally as required, multiple trays can work simultaneously, conveying capacity is high, conveying capacity is improved, and overall efficiency of a stereoscopic warehouse system is improved.
However, in general design, a system only includes one trolley, or when a plurality of vehicles run on one track simultaneously, different stations are transported by different vehicles, when one trolley initiates a tray transportation demand for a plurality of stations simultaneously, the efficiency is very limited, and the mode of transporting a plurality of stations by a plurality of vehicles greatly limits the design flexibility of the scheme.
Disclosure of Invention
The invention aims to provide a one-rail multi-vehicle RGV scheduling method and a system, which aim to solve the problems of low cost, high reliability, flexible scheme layout and high efficiency requirement which are difficult to achieve in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
a method for RGV scheduling of one-rail multiple vehicles comprises the following steps:
the method comprises the steps of obtaining a platform position of each platform, a task state of each platform and a vehicle position of each vehicle on a track, wherein the task state comprises an execution state of each task and task waiting time of each task;
determining vehicles to be distributed at each platform according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles with the distance from the platform on the track within a set range;
and distributing tasks for each vehicle to be distributed according to the task state.
Optionally, the allocating tasks to each vehicle to be allocated according to the task state specifically includes:
determining tasks which are not executed according to the execution state of each task;
calculating the task priority of each task which is not executed according to the task waiting time of the task which is not executed;
and distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
Optionally, the allocating the unexecuted task with the highest task priority to the vehicle to be allocated specifically includes:
judging whether mechanical interference exists between the vehicles to be distributed;
if the vehicles to be distributed do not have mechanical interference, distributing the unexecuted tasks with the highest task priority to the target vehicle; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed;
if mechanical interference exists among the vehicles to be distributed, dividing the unexecuted task with the highest task priority into N subtasks;
sequencing the vehicles to be distributed from small to large according to the distance between the vehicles to be distributed and the platform to obtain a vehicle priority sequence;
determining the front N vehicles to be distributed in the vehicle priority sequence as a target vehicle set;
assigning N of the subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
Optionally, after allocating a task to each vehicle to be allocated according to the task state, the method further includes:
when the vehicles to be distributed at all the stations execute the current task, determining all the vehicles to be distributed as executing vehicles;
judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles;
if so, determining the vehicle with the longest execution time length in the execution vehicles as an optimal running vehicle, and determining the vehicle with the execution time length lower than the execution time length of the optimal running vehicle in the execution vehicles as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle;
and controlling the optimal running vehicle to continuously execute the current task, and controlling the secondary execution vehicle to stop executing the current task.
Optionally, the calculating the task priority of each unexecuted task according to the task waiting duration of the unexecuted task specifically includes:
the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
An RGV dispatch system for one-rail multiple cars comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the platform position of each platform, the task state of each platform and the vehicle position of each vehicle on a track, and the task state comprises the execution state of each task and the task waiting time of each task;
the vehicle to be distributed determining module is used for determining vehicles to be distributed at each platform according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles with the distance from the platform on the track within a set range;
and the task allocation module is used for allocating tasks to the vehicles to be allocated according to the task states.
Optionally, the task allocation module includes:
an unexecuted task determination unit configured to determine an unexecuted task according to an execution state of each of the tasks;
the task priority determining unit is used for calculating the task priority of each unexecuted task according to the task waiting time of the unexecuted task;
and the task distribution unit is used for distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
Optionally, the task allocation unit includes:
the mechanical interference judging subunit is used for judging whether mechanical interference exists between the vehicles to be distributed;
the first task allocation subunit is used for allocating the unexecuted task with the highest task priority to the target vehicle if mechanical interference does not exist between the vehicles to be allocated; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed;
the task dividing subunit is used for dividing the unexecuted task with the highest task priority into N subtasks if mechanical interference exists between the vehicles to be distributed;
the vehicle priority sequence determining subunit is used for sequencing the vehicles to be distributed from small to large according to the distance between the vehicles and the platform to obtain a vehicle priority sequence;
the target vehicle set determining subunit is used for determining the front N vehicles to be allocated in the vehicle priority sequence as a target vehicle set;
a second task allocation subunit for allocating the N subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
Optionally, the RGV dispatching system for one-rail multiple vehicles further includes:
the execution vehicle determining module is used for determining all vehicles to be distributed as execution vehicles when the vehicles to be distributed at all the stations execute the current task;
the abnormal state determining module is used for judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles;
an optimal running vehicle determining module, configured to determine, if the abnormal state determining module results in yes, a vehicle with the longest execution duration among the execution vehicles as an optimal running vehicle, and determine, among the execution vehicles, a vehicle with an execution duration lower than the execution duration of the optimal running vehicle as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle;
and the task execution module is used for controlling the optimal running vehicle to continuously execute the current task and controlling the secondary execution vehicle to stop executing the current task.
Optionally, the task priority determining module specifically includes: the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention distributes tasks to each vehicle according to the vehicle position, the platform position and the task state, provides a system which allows a plurality of vehicles to run on the same track at the same time and different vehicle task regions can be mutually overlapped, and brings great improvement on cost, reliability, scheme flexibility and efficiency by controlling through a PLC.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of the structural components of a conventional linear reciprocating RGV system;
fig. 2 is a flowchart of an RGV scheduling method for one-track multiple vehicles according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an RGV dispatch system for one-track multiple vehicles according to an embodiment of the present invention;
fig. 4 is an information diagram of the status and tasks of the sta obtained through the CVS/MC standard interface according to an embodiment of the present invention;
FIG. 5 is a diagram of information on the status, position, and speed of each vehicle obtained via an RGV/MC standard interface according to an embodiment of the present invention;
FIG. 6 is a diagram of data written to a station via the MC/CVS standard interface according to an embodiment of the present invention;
FIG. 7 is a data diagram of target locations and commands written to vehicles via the MC/RGV standard interface according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 2, the present embodiment provides a method for RGV scheduling for one-rail multiple vehicles, the method including:
101: and acquiring the platform position of each platform, the task state of each platform and the vehicle position of each vehicle on the track. The task state comprises the execution state of each task and the task waiting time of each task.
102: and determining the vehicles to be distributed at each platform according to the platform positions and the vehicle positions. The vehicles to be distributed are vehicles on the track, and the distance between the vehicles to be distributed and the platform is within a set range.
103: and distributing tasks for each vehicle to be distributed according to the task state.
103, specifically:
and determining the tasks which are not executed according to the execution state of each task.
And calculating the task priority of each task which is not executed according to the task waiting time of the task which is not executed.
And distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
The method for allocating the unexecuted task with the highest task priority to the vehicle to be allocated specifically comprises the following steps:
and judging whether mechanical interference exists between the vehicles to be distributed.
If the vehicles to be distributed do not have mechanical interference, distributing the unexecuted tasks with the highest task priority to the target vehicle; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed.
And if mechanical interference exists among the vehicles to be distributed, dividing the unexecuted task with the highest task priority into N subtasks.
And sequencing the vehicles to be distributed from small to large according to the distance between the vehicles to be distributed and the platform to obtain a vehicle priority sequence.
And determining the front N vehicles to be distributed in the vehicle priority sequence as a target vehicle set.
Assigning N of the subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
After allocating tasks to each vehicle to be allocated according to the task state, the method further comprises the following steps:
and when the vehicles to be distributed of all the platforms execute the current task, determining all the vehicles to be distributed as executing vehicles.
And judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that the running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles.
If so, determining the vehicle with the longest execution time length in the execution vehicles as an optimal running vehicle, and determining the vehicle with the execution time length lower than the execution time length of the optimal running vehicle in the execution vehicles as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle.
And controlling the optimal running vehicle to continuously execute the current task, and controlling the secondary execution vehicle to stop executing the current task.
Calculating the task priority of each unexecuted task according to the task waiting time of the unexecuted task, specifically:
the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
As shown in fig. 3, the present embodiment further provides an RGV dispatching system for one-rail multiple vehicles corresponding to the above method, the system includes:
the obtaining module a1 is configured to obtain a platform position of each platform, a task state of each platform, and a vehicle position of each vehicle on the track, where the task state includes an execution state of each task and a task waiting duration of each task.
A to-be-distributed vehicle determination module A2, configured to determine to-be-distributed vehicles at each of the platforms according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles on the track, and the distance between the vehicles to be distributed and the platform is within a set range.
And the task allocation module A3 is used for allocating tasks to the vehicles to be allocated according to the task states.
As an optional implementation, the task allocation module includes:
an unexecuted task determining unit configured to determine an unexecuted task according to an execution state of each of the tasks.
And the task priority determining unit is used for calculating the task priority of each task which is not executed according to the task waiting time of the task which is not executed.
And the task distribution unit is used for distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
As an optional implementation, the task allocation unit includes:
and the mechanical interference judging subunit is used for judging whether mechanical interference exists between the vehicles to be distributed.
The first task allocation subunit is used for allocating the unexecuted task with the highest task priority to the target vehicle if mechanical interference does not exist between the vehicles to be allocated; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed.
And the task dividing subunit is used for dividing the unexecuted task with the highest task priority into N subtasks if mechanical interference exists between the vehicles to be distributed.
And the vehicle priority sequence determining subunit is used for sequencing the vehicles to be distributed from small to large according to the distance between the vehicles to be distributed and the platform to obtain a vehicle priority sequence.
And the target vehicle set determining subunit is used for determining the front N vehicles to be allocated in the vehicle priority sequence as a target vehicle set.
A second task allocation subunit for allocating the N subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
As an optional implementation manner, the RGV dispatching system for one-rail multiple vehicles further includes:
and the execution vehicle determining module is used for determining all the vehicles to be distributed as execution vehicles when the vehicles to be distributed at all the stations execute the current task.
And the abnormal state determining module is used for judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that the running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles.
An optimal running vehicle determining module, configured to determine, if the abnormal state determining module results in yes, a vehicle with the longest execution duration among the execution vehicles as an optimal running vehicle, and determine, among the execution vehicles, a vehicle with an execution duration lower than the execution duration of the optimal running vehicle as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle.
And the task execution module is used for controlling the optimal running vehicle to continuously execute the current task and controlling the secondary execution vehicle to stop executing the current task.
As an optional implementation manner, the task priority determining module specifically includes: the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
The embodiment provides a more specific RGV dispatching system with one rail and multiple vehicles; the system is communicated with the platform conveyor PLC through the ground station program module to obtain the states and task lists of all platforms, arranges and plans all the tasks obtained currently, issues the tasks to the vehicles according to the task regions and the vehicle states, and performs unified coordination and control in the task execution process of the vehicles, so that the synchronous transmission of materials and information is realized, and the maximum operation efficiency (namely the passing capacity of the pallet) of the system is improved as much as possible.
The ground station program module may be divided into an external communication module, a task planning module, a system control module, a vehicle management module, a task management module, and an HMI management module.
The external communication module is connected with the platform conveyor PLC, as shown in figures 4-7, the state and task data of each platform are read through the CVS/MC standard interface, and are sent to the relevant state and task data of each platform through the MC/CVS standard interface according to the current position of each vehicle, and are connected with each vehicle, the information such as the speed and the position of each vehicle is read through the RGV/MC standard interface, the task area among each vehicle is coordinated, and the current target position and the loading and unloading instruction of each vehicle are sent through the MC/RGV standard interface.
A task planning module: the system is responsible for dividing a part of tasks which can not be reached by mechanical interference into different subtasks (for example, a task initiated at one platform crosses a jurisdiction managed by a plurality of vehicles, the task is divided into a plurality of subtasks which are respectively a starting point- > a transition point 1, a transition point 1- > a transition point 2 and a transition point 2- > an end point), and different subtasks are executed by different vehicles to finish connection and transportation.
A system control module: and the system is responsible for controlling the starting, stopping, inching operation and the like of the whole system.
A vehicle management module: the vehicle management system is responsible for the management of vehicles and jurisdictions, commands such as forward, backward, loading, unloading and target walking positions are sent to the vehicles by calling packaged vehicle subprograms, when overlapping or mechanical interference occurs in a task area (the two vehicles are respectively distributed with two different tasks, but the areas where the tasks run are overlapped or mechanically interfered; the task areas of overlapping fingers are crossed; the task areas of mechanical interference do not cross; when the two vehicles run to the positions respectively, the vehicles collide due to the length of the vehicles), priority sequencing is carried out according to the task execution time of the vehicles, the unit is s, the vehicles with lower priority are driven to the areas occupied by the tasks with high priority when the execution time is increased by 100ms and the priority is +1, the priority occupation is released after the tasks with high priority are completed, the priority sequencing is carried out again according to the task execution time of the vehicles, and driving the vehicles with lower priorities out of the task occupation area with high priorities, and releasing the priority occupation of the vehicles after the tasks with high priorities are completed.
A task management module: the system is responsible for distributing tasks to different vehicles, reading all platform states, writing the platform states into a platform state table, inquiring the platform with a task initiating request in the platform state table, inquiring a task list updated by a task planning module according to the platform number, sequencing the waiting time of each platform, and dividing the platform tasks into different task lists according to the current jurisdiction of the vehicles (sequencing the platform tasks according to the waiting time, then determining the vehicles responsible for the tasks according to the platform positions, and storing the vehicles and the corresponding tasks into the task lists). Each task list corresponds to a current RGV, and the tasks are integrated to wait for execution time to be sequenced according to the position and busy-idle state of the current RGV. The sorting mode is as follows: the task priority is the task waiting time, the time weight and the route weight/route, wherein the time unit is s, the route unit is m, the initial time weight is 1, and when the waiting time exceeds 10min, the time weight is 10000. The initial distance is weighted to be 1000, the distance is increased by 1m, the distance is weighted to be-1, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the unexecuted task. The track length should not exceed the initial weight value following the principle, so the setting of the initial course weight defaults to 10 times the track length. And secondly, inquiring a state table corresponding to the target platform in the task list, and if the target platform is not idle, marking the state of the target platform as busy. Querying all tasks currently executed by each vehicle, if a task initiated by a source station (a station to be got by an RGV) in a task list is already allocated to a vehicle for execution (already allocated to a certain vehicle and is being executed or not yet executed), forcing the priority of the current task of the source station to be-1; and secondly, the vehicle is assigned to the task being executed by the vehicle, and the target platform state is marked to be blocked according to the pointing of the task to the target platform. And fourthly, sorting according to the task priority data, and locking the marked target station with the priority of-1 (unavailable) for busy and blocked. Distributing tasks, and distributing the task with the highest priority preferentially.
HMI management module: the system is connected with the external communication module, the task planning module, the system control module, the vehicle management module and the task management module, acquires and displays data and states in the external communication module, the task planning module, the system control module, the vehicle management module and the task management module, and is responsible for providing a convenient vehicle state query interface, a task query interface, a vehicle relative coordinate position and vehicle alarm information for a user, providing a jog operation window and facilitating manual operation and exception handling.
According to the invention, the operation of the x-direction coordinates of each vehicle is uniformly controlled and coordinated, so that the vehicles can avoid each other on one track at the same time, and the conveying requirement that the task areas are crossed and overlapped is met.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A method for RGV scheduling for one-rail multiple vehicles, the method comprising:
the method comprises the steps of obtaining a platform position of each platform, a task state of each platform and a vehicle position of each vehicle on a track, wherein the task state comprises an execution state of each task and task waiting time of each task;
determining vehicles to be distributed at each platform according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles with the distance from the platform on the track within a set range;
and distributing tasks for each vehicle to be distributed according to the task state.
2. The RGV dispatching method for one-rail multiple vehicles according to claim 1, wherein the allocating tasks to each vehicle to be allocated according to the task status specifically comprises:
determining tasks which are not executed according to the execution state of each task;
calculating the task priority of each task which is not executed according to the task waiting time of the task which is not executed;
and distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
3. The RGV scheduling method for one-rail multiple vehicles according to claim 2, wherein the step of allocating the unexecuted task with the highest task priority to the vehicle to be allocated specifically comprises:
judging whether mechanical interference exists between the vehicles to be distributed;
if the vehicles to be distributed do not have mechanical interference, distributing the unexecuted tasks with the highest task priority to the target vehicle; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed;
if mechanical interference exists among the vehicles to be distributed, dividing the unexecuted task with the highest task priority into N subtasks;
sequencing the vehicles to be distributed from small to large according to the distance between the vehicles to be distributed and the platform to obtain a vehicle priority sequence;
determining the front N vehicles to be distributed in the vehicle priority sequence as a target vehicle set;
assigning N of the subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
4. The method of claim 1, further comprising, after the allocating the task to each of the vehicles to be allocated according to the task status, the step of:
when the vehicles to be distributed at all the stations execute the current task, determining all the vehicles to be distributed as executing vehicles;
judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles;
if so, determining the vehicle with the longest execution time length in the execution vehicles as an optimal running vehicle, and determining the vehicle with the execution time length lower than the execution time length of the optimal running vehicle in the execution vehicles as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle;
and controlling the optimal running vehicle to continuously execute the current task, and controlling the secondary execution vehicle to stop executing the current task.
5. The RGV scheduling method for one-rail multiple vehicles according to claim 2, wherein the task priority of each of the unexecuted tasks is calculated according to the task waiting time of the unexecuted tasks, specifically:
the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
6. An RGV dispatch system for one-rail multiple cars, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the platform position of each platform, the task state of each platform and the vehicle position of each vehicle on a track, and the task state comprises the execution state of each task and the task waiting time of each task;
the vehicle to be distributed determining module is used for determining vehicles to be distributed at each platform according to the platform positions and the vehicle positions; the vehicles to be distributed are vehicles with the distance from the platform on the track within a set range;
and the task allocation module is used for allocating tasks to the vehicles to be allocated according to the task states.
7. The RGV dispatching system for one-rail multiple vehicles according to claim 6, wherein the task allocation module comprises:
an unexecuted task determination unit configured to determine an unexecuted task according to an execution state of each of the tasks;
the task priority determining unit is used for calculating the task priority of each unexecuted task according to the task waiting time of the unexecuted task;
and the task distribution unit is used for distributing the unexecuted task with the highest task priority to the vehicle to be distributed.
8. The RGV dispatching system for one-rail multiple vehicles according to claim 7, wherein the task assigning unit comprises:
the mechanical interference judging subunit is used for judging whether mechanical interference exists between the vehicles to be distributed;
the first task allocation subunit is used for allocating the unexecuted task with the highest task priority to the target vehicle if mechanical interference does not exist between the vehicles to be allocated; the target vehicle is the vehicle which is the shortest from the platform among the vehicles to be distributed;
the task dividing subunit is used for dividing the unexecuted task with the highest task priority into N subtasks if mechanical interference exists between the vehicles to be distributed;
the vehicle priority sequence determining subunit is used for sequencing the vehicles to be distributed from small to large according to the distance between the vehicles and the platform to obtain a vehicle priority sequence;
the target vehicle set determining subunit is used for determining the front N vehicles to be allocated in the vehicle priority sequence as a target vehicle set;
a second task allocation subunit for allocating the N subtasks to the set of target vehicles; one of the subtasks corresponds to one of the vehicles to be allocated in the target vehicle set.
9. The RGV dispatch system for one or more railcars of claim 6, further comprising:
the execution vehicle determining module is used for determining all vehicles to be distributed as execution vehicles when the vehicles to be distributed at all the stations execute the current task;
the abnormal state determining module is used for judging whether abnormal states exist among all execution vehicles, wherein the abnormal states are that running areas of the execution vehicles are overlapped or mechanical interference exists among the execution vehicles;
an optimal running vehicle determining module, configured to determine, if the abnormal state determining module results in yes, a vehicle with the longest execution duration among the execution vehicles as an optimal running vehicle, and determine, among the execution vehicles, a vehicle with an execution duration lower than the execution duration of the optimal running vehicle as a secondary execution vehicle; the execution duration is the duration of the current task executed by the execution vehicle;
and the task execution module is used for controlling the optimal running vehicle to continuously execute the current task and controlling the secondary execution vehicle to stop executing the current task.
10. The RGV dispatching system for one rail with multiple vehicles as claimed in claim 7, wherein the task priority determining module is specifically: the task priority is the task waiting time length multiplied by the time weight and the distance weight/distance, wherein the time weight is the task waiting time length/the first set time length, and the distance is the distance between the current vehicle position of the vehicle to be distributed and the platform corresponding to the task which is not executed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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