CN112288270B - Scheduling method for complex rail transmission system - Google Patents
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Abstract
The invention discloses a scheduling method for a complex track transmission system, which comprises the steps of representing and modeling a track network in the complex track transmission system by using an undirected graph; adding the newly initiated transmission task into a task list when the newly initiated transmission task is initiated; distributing a transmission body to all tasks in the obtained task list; judging the task and the transmission body; judging the safety of the task and the transmission body; obtaining a corresponding task scheduling path according to the safety judgment result, and completing the task scheduling; and repeating the steps to finish the dispatching of the complex track transmission system. The invention judges the system safety state according to the property and the capacity of the chain, thereby obtaining the optimal scheduling solution of the system planning, more efficiently and conveniently avoiding the deadlock problem in the complex rail transmission system, improving the operation efficiency, the resource utilization rate and the flexibility of the system and realizing the safe and stable operation of the whole complex rail transmission system; and the reliability is high, the practicality is good, and the efficiency is higher.
Description
Technical Field
The invention belongs to the field of dispatching of a track-based transmission system, and particularly relates to a dispatching method for a complex track-based transmission system.
Background
Along with the development of economic technology and the improvement of living standard of people, the complex rail transmission system is widely applied to the production of people, and brings endless convenience to the production of people. The complex rail transmission system is a complex rail material transmission comprehensive system, and typical applications of the complex rail transmission comprehensive system include an automatic parcel sorting system of a regional sorting center in the logistics industry, an intelligent storage trolley (AGV trolley) in an intelligent storage system, a rail transportation system represented by a tramcar, a subway or a high-speed rail in the public transportation field, and the like.
In complex rail transport systems, transport carts (such as AGV carts) are constrained to move on rails; the guide rail is divided into sections of a section, the sections are taken as edges, section endpoints are taken as nodes, and the whole guide rail system forms a network. Each transfer cart loads material from one node as needed and then delivers it to another node for unloading. In a complex track-mounted transmission system, a plurality of transmission trolleys generally work simultaneously, which requires a plurality of transmission trolleys to cooperatively control: at any time, only at most one transfer trolley is allowed to enter a section to avoid collision with each other. In this manner, only the edges are allocated as resources, and nodes are not. In order for the transport trolley to run on the guideway network, it is necessary to allocate it with contiguous resources uninterruptedly and orderly.
A critical issue in the scheduling of a rail transport system is how to avoid deadlocks. A class of techniques known as deadlock prevention is widely used at present: a typical implementation of this technique is to design the guideway network as a plurality of loops that are not in communication with each other and on which the vehicle is only allowed to run in one fixed direction, thereby avoiding the occurrence of deadlocks. However, this approach is inefficient and its topology places high demands on space, limiting the application of the rail transport system in some applications. Meanwhile, the systems which can be applied in the current research are very small, the number of edges of the complex rail transmission system network reaches hundreds of thousands of orders, and the control algorithm which is applicable to the 'small system' in the current research cannot be applicable to the complex system.
Disclosure of Invention
The invention aims to provide a scheduling method for a complex rail transmission system, which is applicable to the complex rail transmission system and has the advantages of high reliability, good practicability and higher efficiency.
The scheduling method for the complex track transmission system provided by the invention comprises the following steps:
s1, representing a track network in a complex track transmission system by using an undirected graph and modeling;
s2, when a newly initiated transmission task exists, adding the newly initiated transmission task into a task list;
s3, distributing a transmission body to all tasks in the task list obtained in the step S2;
s4, judging the task obtained in the step S3 and the corresponding transmission body;
s5, according to the judgment result of the step S4, carrying out safety judgment on the task and the corresponding transmission body;
s6, according to the safety judgment result obtained in the step S5, a corresponding task scheduling path is obtained, and the task scheduling is completed;
s7, repeating the steps S2 to S6 to finish the dispatching of the complex track transmission system.
And (3) representing and modeling the track network in the complex track-based transmission system by using an undirected graph, specifically, representing the track network in the complex track-based transmission system by using an undirected graph G= (V, E, W), wherein V is a node set, E is a continuous edge set, and W is a weight set corresponding to the continuous edge.
The weight corresponding to the continuous edge is specifically the length of the continuous edge.
The transmission task in step S2 specifically includes a transmission destination point, a task priority, and a task status definition.
And step S3, distributing a transmission body to all the tasks in the task list obtained in the step S2, wherein the transmission body is distributed by adopting the following steps:
A. traversing all tasks in the task list;
B. matching the transmission body for each traversed task; matching is carried out according to the task priority, the distance between the transmission body and the point of the task object and the current state of the transmission body;
C. removing the matched task from the task list, forming a binary pair by the matched task and the corresponding transmission body, and adding the binary pair into the task-transmission body list; at the same time, the status of the task newly added to the task-transport list is marked as a new task.
The step S4 is to judge the task and the corresponding transporter obtained in the step S3, specifically, for all the binary pairs in the task-transporter list, judge whether the following situations exist:
case 1: the task state is a new task;
case 2: the task state is a suspended task, and at least one transmission body exists in the system from the last judgment to the current judgment, and the position of the transmission body is changed;
case 3: the task state is the task being executed, the transmission body corresponding to the task is on any one side of the undirected graph obtained in the step S1, and the percentage of the distance that the transmission body has traveled on the side to the total length of the side reaches a set threshold.
The step S5 of performing security judgment on the tasks and their corresponding transports according to the judgment result of the step S4, specifically, performing security judgment on each task and its corresponding transports that need to perform security judgment according to the judgment result of the step S4 by adopting the following steps:
a. obtaining a judgment result in the step S4:
if the judgment result of the current task in the step S4 is not in any one of the situations 1 to 3, judging that the current task does not need to be scheduled;
if the judgment result of the current task in the step S4 is any one of the situations 1 to 3, judging that the current task needs to carry out security judgment;
b. aiming at a transmission body corresponding to the current task, planning the shortest k paths from the current point to the transmission destination point; wherein k is a set positive integer; the definition of the current point is: if the transmission body is on a certain node in the undirected graph obtained in the step S1, the current point is considered as the node; if the transmission body is on a certain side of the undirected graph obtained in the step S1, the current point is considered as an end node on the certain side; an end node is defined as a node to which a transport travels on a certain side;
c. the method comprises the steps of representing a track network in a complex track transmission system in a current state by using an undirected graph, and converting the undirected graph into a mixed graph by replacing edges already allocated to a transmission body and edges occupied by the transmission body with directed edges, wherein the direction of the directed edges is the travelling direction of the transmission body, and simultaneously acquiring all maximum chains in the mixed graph;
d. and c, judging the safety of the transmission body travelling along the current path by adopting the following rule for each path of the k paths obtained in the step b:
1) In the current path, if the first edge or the end node on the first edge is occupied, judging that the current path is in an unsafe state;
2) In the current state, if the current position of the transmission body is in any maximum chain on the hybrid graph and the first edge in the current path is also in any maximum chain, judging whether the chain is kept after occupying the first edge in the current path: if the chain cannot be maintained, judging that the chain is in an unsafe state;
3) In the current state, if the current position of the transmission body is in any maximum chain on the mixed graph and the first edge in the current path is not in the maximum chain, acquiring the edge of the first edge in any maximum chain in the current path, and classifying the current path by taking the edge as a boundary edge: the path before the boundary and not containing the boundary is marked as an out-of-chain path of the current path, the path after the boundary is marked as an in-chain path of the current path, the in-chain path is allowed to be an empty set, and the first largest chain where the current path is located is marked as a nearest chain; when any one edge on the out-of-chain path is occupied by other tasks and the occupied direction is opposite to the current path direction, judging that the out-of-chain path is in a non-safety state;
4) Traversing all the transmission bodies in the current state, and recording the number of the transmission bodies in the nearest chain in the current state and the number of the transmission bodies which are not in the nearest chain and take a path to enter the nearest chain in the current state; when the sum of the numbers of the transmission bodies in the two recorded cases is larger than the capacity of the nearest chain, judging the transmission bodies to be in an unsafe state;
5) If the intra-link path is a non-empty set, determining whether a first edge in the intra-link path is occupied and a link structure of a nearest link after the task occupies the first edge can be maintained: if the first edge in the intra-chain path is occupied or the chain structure of the nearest chain cannot be maintained after the task occupies the first edge, judging that the intra-chain path is in an unsafe state;
6) If none of cases 1) to 5) is determined to be in the unsafe state, the safe state is determined.
The track network in the complex track-bound transmission system in the current state is represented by an undirected graph in the step c, and the undirected graph is converted into a hybrid graph by replacing the edges already allocated to the transmission body and the edges occupied by the transmission body with directed edges, wherein the direction of the directed edges is the travelling direction of the transmission body, and meanwhile, the chain structure diagram corresponding to the hybrid graph is obtained, so that the maximum chain in the chain structure diagram is obtained, specifically, the maximum chain is obtained by adopting the following steps:
(1) The complex track transmission system for acquiring the current state is expressed as a hybrid diagram P by adopting the following rule: in the undirected graph obtained in the step S1, the current edge occupied by the task is replaced by a directed edge, and the direction is the direction of the edge occupied by the task; while defining the chains in the graph as the sequences ch≡ { c 1 ,π 2 ,c 2 ,π 3 ,c 3 ,......,π n ,c n }, wherein c i Is a ring, pi i Is a simple path and pi i Is ring c i-1 And ring c i A common edge therebetween;
(2) Replacing each undirected edge in the mixed graph P in the step (1) with two directed edges with opposite directions, thereby obtaining a directed graph G';
(3) Extracting a strong connected subgraph G from the directed graph G' obtained in the step (2) 1 ,G 2 ,...,G m ；
(4) The strong connected subgraph G obtained in the step (3) is processed 1 ,G 2 ,...,G m A pair of directed edges in (a) are replaced by a single undirected edge, thereby forming a strongly connected sub-graph G 1 ,G 2 ,...,G m Conversion to a strongly connected hybrid map G' 1 ,G' 2 ,...,G' m ；
(5) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Repeating deleting all the vertexes with the degree of 1 and the corresponding inbound edges until no vertexes with the degree of 1 remain, thereby obtaining a chain structure diagram G' corresponding to the mixed diagram P " i ；
(6) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Deleting all bridge edges, thereby strongly connecting the mixed graph G' i Dividing the chain into a plurality of strong connected subgraphs so as to obtain the maximum chain of the plurality of strong connected subgraphs, and defining the capacity of the chain as the number of undirected edges on the chain.
And step S6, according to the safety judgment result obtained in the step S5, obtaining a corresponding task scheduling path to complete the task scheduling, specifically, obtaining the corresponding task scheduling path by adopting the following steps:
if all the k paths are judged to be in the unsafe state, the corresponding task is suspended, and the corresponding transmission body is stopped;
if a safe path exists, marking the path as a path adopted by a transmission body, marking a first edge in the path as occupied by a current task, marking the occupied direction as consistent with the direction of the safe path, and judging whether other paths planned by the transmission body are safe or not;
checking if there is an end node where the transport travels to the edge: if so, the edge is released.
The scheduling method for the complex rail transmission system provided by the invention judges the safety state of the system according to the property and the capacity of the chain, so that the optimal scheduling solution of the system planning is obtained, the deadlock problem in the complex rail transmission system is avoided more efficiently and conveniently, the operation efficiency, the resource utilization rate and the flexibility of the system are improved, and the safe and stable operation of the whole complex rail transmission system is realized; the method has the advantages of high reliability, good practicability and higher efficiency.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a schematic view of a conveyor system rail according to an embodiment of the method of the present invention.
Detailed Description
A schematic process flow diagram of the method of the present invention is shown in fig. 1: the scheduling method for the complex track transmission system provided by the invention comprises the following steps:
s1, representing a track network in a complex track transmission system by using an undirected graph and modeling; the method specifically comprises the steps of representing a track network in a complex track transmission system by using an undirected graph G= (V, E, W), wherein V is a node set, E is a connecting edge set, and W is a weight set corresponding to the connecting edge; the weight corresponding to the connecting edge can be set as the length of the connecting edge;
s2, when a newly initiated transmission task exists, adding the newly initiated transmission task into a task list L; the transmission task specifically comprises a transmission destination point, a task priority and a task state definition;
s3, distributing a transmission body to all tasks in the task list L obtained in the step S2; the method comprises the following steps of:
A. traversing all tasks in the task list according to the task priority;
B. matching the transmission body for each traversed task; the transmission body is defined by the current position (the current position corresponds to the edge or the point on the graph G) of the transmission body, and the transmission body is matched with the current state of the transmission body according to the distance between the transmission body and the point of the transmission destination;
C. removing the matched task from the task list, and adding the matched task and the corresponding transmission body into a task-transmission body list to form a binary pair (task); meanwhile, marking the state of the task newly added into the task-transmission body list as a new task; task represents a task, and entity represents a transmission body corresponding to the task;
s4, judging the task obtained in the step S3 and the corresponding transmission body; specifically, for all binary pairs in the task-transmitting body list, judging whether the following situations exist or not:
case 1: the task state is a new task;
case 2: the task state is a suspended task, and at least one transmission body is arranged in the system from the last judgment to the current judgment, and the position of the transmission body is changed;
case 3: the task state is the task being executed, the transmission body corresponding to the task is on any one side of the undirected graph obtained in the step S1, and the percentage of the distance traveled by the transmission body on the side to the total length of the side reaches a set threshold value; the set threshold value is estimated according to the side length, the speed of the transmission body and the travelling time;
s5, according to the judgment result of the step S4, carrying out safety judgment on the task and the corresponding transmission body; specifically, according to the judgment result of step S4, for each task and its corresponding transmission body that needs to be subjected to security judgment, the following steps are adopted to perform security judgment:
a. obtaining a judgment result in the step S4:
if the judging result of the current task in the step S4 is not in any one of the situations 1 to 3, judging that the current task does not need to be scheduled, ending the round of scheduling, and entering a new round of scheduling;
if the judgment result of the current task in the step S4 is any one of the situations 1 to 3, judging that the current task needs to carry out security judgment;
b. for the transmission body corresponding to the current task, the shortest k paths (route) from the current point vertex to the transmission destination point are planned 1 ～route k ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein k is a set positive integer; the definition of the current point vertex is: if the transmission body is on a certain node in the undirected graph obtained in the step S1, the current point is considered as the node; if the transmission body is on a certain side of the undirected graph obtained in the step S1, the current point is considered as an end node on the certain side; an end node is defined as a node towards and towards which a transport body travels on a certain side;
c. the method comprises the steps of representing a track network in a complex track transmission system in a current state by using an undirected graph, and converting the undirected graph into a mixed graph by replacing edges allocated to a transmission body and occupied by the transmission body with directed edges, wherein the direction of the directed edges is the travelling direction of the transmission body, and simultaneously acquiring a chain structure diagram corresponding to the mixed graph, so as to acquire a maximum chain in the chain structure diagram; the method comprises the following steps of obtaining a chain structure diagram and a corresponding maximum chain:
(1) The complex track transmission system for acquiring the current state is expressed as a hybrid diagram P by adopting the following rule: in the undirected graph obtained in the step S1, the current edge occupied by the task is replaced by a directed edge, and the direction is the direction of the edge occupied by the task; while defining the chains in the graph as the sequences ch≡ { c 1 ,π 2 ,c 2 ,π 3 ,c 3 ,......,π n ,c n }, wherein c i Is a ring, pi i Is a simple path and pi i Is ring c i-1 And ring c i A common edge therebetween;
(2) Replacing each undirected edge in the mixed graph P in the step (1) with two directed edges with opposite directions, thereby obtaining a directed graph G';
(3) Extracting a strong connected subgraph G from the directed graph G' obtained in the step (2) 1 ,G 2 ,...,G m ；
(4) The strong connected subgraph G obtained in the step (3) is processed 1 ,G 2 ,...,G m A pair of directed edges in (a) are replaced by a single undirected edge, thereby forming a strongly connected sub-graph G 1 ,G 2 ,...,G m Conversion to a strongly connected hybrid map G' 1 ,G' 2 ,...,G' m ；
(5) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Deleting all the vertexes with the degree of 1 and the corresponding incoming degree edges until no vertexes with the degree of 1 remain, thereby obtaining a chain structure diagram G' corresponding to the mixed diagram P " i ；
(6) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Deleting all bridge edges, thereby mixing strong connectivityGraph G' i Dividing the chain into a plurality of strong connected subgraphs so as to obtain a maximum chain of the plurality of strong connected subgraphs, and defining the capacity of the chain as the number of undirected edges on the chain;
d. route for each of the k paths obtained in step b i Judging the safety of the transmission body travelling along the current path by adopting the following rules:
1) Current path route i If the first edge or the end node on the first edge is occupied, judging that the first edge or the end node on the first edge is in an unsafe state;
2) In the current state, if the current position of the transmission body is in any maximum chain on the hybrid diagram and the current path route i If the first edge in the current path is also within any maximum chain, judging whether the chain is kept after occupying the first edge in the current path (whether the part of the subgraph is still the chain or not): if the chain cannot be maintained, judging that the chain is in an unsafe state;
3) In the current state, if the current position of the transmission body is in any maximum chain on the mixed graph and the current path route i If the first edge in the current path is not in the maximum chain, acquiring the edge of the first edge in any maximum chain in the current path, and classifying the current path by taking the edge as a boundary edge: the path before the boundary and not containing the boundary is recorded as the external path route of the current path i(out) The path after the boundary is recorded as the internal path route of the current path i(in) And internal path route i(in) Allowing the current path to be an empty set, and marking the maximum chain where the first edge is located in the current path as a threshold chain ch; when external route i(out) Any one side is occupied by other tasks, the occupied direction is opposite to the path direction of the current path, and the state is judged to be an unsafe state;
4) Under the current state, traversing all the transmission bodies and the states of the transmission bodies, and recording the number of the transmission bodies in the threshold chain ch in the current state and the number of the transmission bodies which are not in the threshold chain ch in the current state and take a path which is about to enter the threshold chain ch; when the sum of the numbers of the transmission bodies in the two recorded cases is larger than the capacity of the threshold chain ch, judging the transmission bodies to be in an unsafe state;
5) If in the interiorRoute i(in) If the first edge is not the empty set, judging whether the first edge in the inner path is occupied or not and the chain structure of the threshold chain after the task occupies the first edge can be maintained: if the first edge in the inner path is occupied or the link structure of the threshold link cannot be maintained after the task occupies the first edge, judging that the inner path is in an unsafe state;
6) If none of cases 1) to 5) is determined to be in the unsafe state, determining to be in the safe state;
s6, according to the safety judgment result obtained in the step S5, a corresponding task scheduling path is obtained, and the task scheduling is completed; the method specifically comprises the following steps of obtaining a corresponding task scheduling path and completing task scheduling:
if all the k paths are judged to be in the unsafe state, the corresponding task is suspended, and the corresponding transmission body is stopped;
if a safe path exists, marking the path as a path adopted by a transmission body, marking a first edge in the path as occupied by a current task, marking the occupied direction as consistent with the direction of the safe path, and judging whether other paths planned by the transmission body are safe or not;
checking if there is an end node where the transport travels to the edge: if so, the edge is released (the state of the edge is marked as unoccupied);
s7, repeating the steps S2 to S6 to finish the dispatching of the complex track transmission system.
The method of the invention is further described below in connection with a specific example:
an example rail network model circuit diagram of a rail transmission system is shown in fig. 2, assuming that a transmission body is limited to move on a rail, the rail is divided into a section of sections, the sections are taken as edges and section endpoints as nodes, the whole rail system forms a network, the transmission body loads articles from one node according to task requirements and then is conveyed to another node for unloading, and only the connected edges are allocated as resources;
at this time, it is assumed that a new task exists, (task, entity) indicates that task point 6 is transmitted to point 3 and the transmitter entityty(h 3 ) Matching;
at this time, the task is scheduled:
for the transmission body entity (h 3 ) Planning k shortest paths from the point 6 to the point 3;
judging whether the task is safe to travel along the path for each of the k paths, and selecting the transmission entity (h 3 ) In the planned path (6, 7, 3), the judgment method is as follows:
judging whether the first edge (6, 7) in the path is occupied or not, and if so, not being occupied;
the state of the current moment of the system is represented by a mixed graph P, and the maximum chain on the graph is obtained;
judging the available transmission body identity (h) 3 ) The current position is in the maximum chain and the first step in the path is also in the maximum chain, so that whether the first side occupies the rear chain is judged to be kept or not, the chain is kept at the moment, and the return system is in a safe state;
marking the path as transport entity (h) 3 ) The method comprises the steps of adopting a path, marking a first edge in the path as occupied by a task, and marking the occupied direction as consistent with the path; judging the end;
then check if the entity has traveled to the end node of the edge e where it was originally located, if so, release the edge, where the entity (h 3 ) None;
and finally repeating the steps, and continuously scheduling.
Claims (7)
1. A scheduling method for a complex rail transport system, comprising the steps of:
s1, representing a track network in a complex track transmission system by using an undirected graph and modeling;
s2, when a newly initiated transmission task exists, adding the newly initiated transmission task into a task list;
s3, distributing a transmission body to all tasks in the task list obtained in the step S2;
s4, judging the task obtained in the step S3 and the corresponding transmission body; specifically, for all binary pairs in the task-transmitting body list, judging whether the following situations exist or not:
case 1: the task state is a new task;
case 2: the task state is a suspended task, and at least one transmission body exists in the system from the last judgment to the current judgment, and the position of the transmission body is changed;
case 3: the task state is the task being executed, the transmission body corresponding to the task is on any one side of the undirected graph obtained in the step S1, and the percentage of the distance traveled by the transmission body on the side to the total length of the side reaches a set threshold value;
s5, according to the judgment result of the step S4, carrying out safety judgment on the task and the corresponding transmission body; specifically, according to the judgment result of step S4, for each task and its corresponding transmission body that needs to be subjected to security judgment, the following steps are adopted to perform security judgment:
a. obtaining a judgment result in the step S4:
if the judgment result of the current task in the step S4 is not in any one of the situations 1 to 3, judging that the current task does not need to be scheduled;
if the judgment result of the current task in the step S4 is any one of the situations 1 to 3, judging that the current task needs to carry out security judgment;
b. aiming at a transmission body corresponding to the current task, planning the shortest k paths from the current point to the transmission destination point; wherein k is a set positive integer; the definition of the current point is: if the transmission body is on a certain node in the undirected graph obtained in the step S1, the current point is considered as the node; if the transmission body is on a certain side of the undirected graph obtained in the step S1, the current point is considered as an end node on the certain side; an end node is defined as a node towards and towards which a transport body travels on a certain side;
c. the track network in the complex track transmission system in the current state is represented by an undirected graph and is converted into a mixed graph, and meanwhile, a chain structure diagram corresponding to the mixed graph is obtained, so that the maximum chain in the chain structure diagram is obtained;
d. and c, judging the safety of the transmission body travelling along the current path by adopting the following rule for each path of the k paths obtained in the step b:
1) In the current path, if the first edge or the end node on the first edge is occupied, judging that the current path is in an unsafe state;
2) In the current state, if the current position of the transmission body is in any maximum chain on the hybrid graph and the first edge in the current path is also in any maximum chain, judging whether the chain is kept after occupying the first edge in the current path: if the chain cannot be maintained, judging that the chain is in an unsafe state;
3) In the current state, if the current position of the transmission body is in any maximum chain on the mixed graph and the first edge in the current path is not in the maximum chain, acquiring the edge of the first edge in any maximum chain in the current path, and classifying the current path by taking the edge as a boundary edge: the path before the boundary and not containing the boundary is marked as an outer path of the current path, the path after the boundary is marked as an inner path of the current path, the inner path is allowed to be an empty set, and the maximum chain where the first edge in the current path is located is marked as the nearest chain; when any one edge on the outer path is occupied by other tasks and the occupied direction is opposite to the path direction of the current path, judging that the outer path is in a non-safety state;
4) Under the current state, traversing all the transmission bodies and the states of the transmission bodies, and recording the number of the transmission bodies in the nearest chain in the current state and the number of the transmission bodies which are not in the nearest chain in the current state and take a path which is about to enter the nearest chain; when the sum of the numbers of the transmission bodies in the two recorded cases is larger than the capacity of the nearest chain, judging the transmission bodies to be in an unsafe state;
5) If the inner path is a non-empty set, determining whether the first edge in the inner path is occupied and the link structure of the nearest link after the task occupies the first edge can be maintained: if the first edge in the inner path is occupied or the link structure of the nearest link cannot be maintained after the task occupies the first edge, judging that the inner path is in an unsafe state;
6) If none of cases 1) to 5) is determined to be in the unsafe state, determining to be in the safe state;
s6, according to the safety judgment result obtained in the step S5, a corresponding task scheduling path is obtained, and the task scheduling is completed;
s7, repeating the steps S2 to S6 to finish the dispatching of the complex track transmission system.
2. The scheduling method for a complex rail transmission system according to claim 1, wherein in step S1, the track network in the complex rail transmission system is represented by an undirected graph and modeled, specifically, the track network in the complex rail transmission system is represented by an undirected graph g= (V, E, W), where V is a node set, E is a joint set, and W is a weight set corresponding to the joint set.
3. The scheduling method for a complex rail transport system according to claim 2, wherein the weight corresponding to the bordering is specifically the length of the bordering.
4. The scheduling method for a complex rail transport system according to claim 1, wherein the transport tasks of step S2 specifically include a transport destination point, a task priority, and a task status definition.
5. The scheduling method for a complex track-bound transmission system according to claim 1, wherein the step S3 is characterized in that the transmission body is allocated to all tasks in the task list obtained in the step S2, specifically, the transmission body is allocated by adopting the following steps:
A. traversing all tasks in the task list according to the task priority;
B. matching the transmission body for each traversed task; the transmission body is defined by the current position of the transmission body, and the distance from the transmission object point to the transmission body is matched with the current state of the transmission body;
C. removing the matched task from the task list, forming a binary pair by the matched task and the corresponding transmission body, and adding the binary pair into the task-transmission body list; at the same time, the status of the task newly added to the task-transport list is marked as a new task.
6. The scheduling method for a complex rail transport system according to claim 5, wherein in the step c, the track network in the complex rail transport system in the current state is represented by an undirected graph, and the undirected graph is converted into a hybrid graph by replacing edges already allocated to the transport and occupied by the transport with directed edges, wherein the direction of the directed edges is the traveling direction of the transport, and the chain structure diagram corresponding to the hybrid graph is obtained at the same time, so as to obtain the largest chain in the chain structure diagram, specifically, the chain structure diagram and the corresponding largest chain are obtained by adopting the following steps:
(1) The complex track transmission system for acquiring the current state is expressed as a hybrid diagram P by adopting the following rule: in the undirected graph obtained in the step S1, the current edge occupied by the task is replaced by a directed edge, and the direction is the direction of the edge occupied by the task; while defining the chains in the graph as the sequences ch≡ { c 1 ,π 2 ,c 2 ,π 3 ,c 3 ,......,π n ,c n }, wherein c i Is a ring, pi i Is a simple path and pi i Is ring c i-1 And ring c i A common edge therebetween;
(2) Replacing each undirected edge in the mixed graph P in the step (1) with two directed edges with opposite directions, thereby obtaining a directed graph G';
(3) Extracting a strong connected subgraph G from the directed graph G' obtained in the step (2) 1 ,G 2 ,...,G m ；
(4) The strong connected subgraph G obtained in the step (3) is processed 1 ,G 2 ,...,G m A pair of directed edges in (a) are replaced by a single undirected edge, thereby forming a strongly connected sub-graph G 1 ,G 2 ,...,G m Conversion to a strongly connected hybrid map G' 1 ,G′ 2 ,...,G′ m ；
(5) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Deleting all the vertexes with the degree of 1 and the corresponding incoming degree edges until no vertexes with the degree of 1 remain, thereby obtaining a mixed graph PCorresponding chain structure G' i ；
(6) Traversing each strong-connectivity mixture graph G 'obtained in the step (4)' i Deleting all bridge edges, thereby strongly connecting the mixed graph G' i Dividing the chain into a plurality of strong connected subgraphs so as to obtain the maximum chain of the plurality of strong connected subgraphs, and defining the capacity of the chain as the number of undirected edges on the chain.
7. The scheduling method for a complex rail transmission system according to claim 6, wherein the security judgment result obtained in step S5 in step S6 is used for obtaining a scheduling path of a corresponding task, completing the scheduling of the task, specifically, the following steps are used for obtaining the scheduling path of the corresponding task, completing the scheduling of the task:
if all the k paths are judged to be in the unsafe state, the corresponding task is suspended, and the corresponding transmission body is stopped;
if a safe path exists, marking the path as a path adopted by a transmission body, marking a first edge in the path as occupied by a current task, marking the occupied direction as consistent with the direction of the safe path, and judging whether other paths planned by the transmission body are safe or not;
checking if there is an end node where the transport travels to the edge: if so, the edge is released.
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