CN112950060A - Scheduling method and device of annular RGV, electronic equipment and storage medium - Google Patents

Scheduling method and device of annular RGV, electronic equipment and storage medium Download PDF

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CN112950060A
CN112950060A CN202110324157.XA CN202110324157A CN112950060A CN 112950060 A CN112950060 A CN 112950060A CN 202110324157 A CN202110324157 A CN 202110324157A CN 112950060 A CN112950060 A CN 112950060A
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scheduled
available
task
pairing
rgv
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邵文
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • 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
    • 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
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/04—Manufacturing
    • 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
    • Y02P90/30—Computing systems specially adapted for manufacturing

Abstract

The invention provides a scheduling method, a scheduling device, electronic equipment and a storage medium of an annular RGV, wherein the method comprises the following steps: determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs; calculating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result of the pairing combination aiming at each pairing combination, and accumulating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result to obtain the total cost of the pairing combination; and determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGVs in the pairing result so that the available RGVs in the pairing result execute the task to be scheduled in the pairing result.

Description

Scheduling method and device of annular RGV, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of automatic logistics, in particular to a scheduling method and device of a Ring Guided Vehicle (RGV), electronic equipment and a storage medium.
Background
Annular RGVs are more common in the side stream of manufacturing lines, and the general operation process is as follows: the RGV moves along a loop track, takes goods at a material wharf, sends the goods to a processing workstation for processing, and takes out finished products after processing from the processing workstation and sends the finished products to a finished product wharf.
The conventional annular RGV scheduling scheme is mainly divided into regular scheduling and optimized scheduling, wherein the regular scheduling generally performs task allocation of the annular RGV according to a nearest/farthest principle, the speed of solving a task allocation result is high by the scheduling scheme, but global tasks are not comprehensively considered, and the problems of more idle running, RGV parking waiting and the like exist, so that the resource waste is caused, and the cost is high. The optimized scheduling is mainly to perform task assignment of the annular RGV by means of heuristic algorithms such as a genetic algorithm, the algorithm of the scheduling scheme has high complexity, the speed of solving the task assignment result is low, and the optimal task assignment result cannot be obtained, so that the problem of high cost also exists.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for scheduling a ring RGV, an electronic device, and a storage medium, which can reduce the cost.
In order to achieve the purpose, the invention provides the following technical scheme:
a scheduling method of annular RGV, apply to the control server in the side-by-side logistics system of the line, the said side-by-side logistics system also includes the work station, RGV and annular orbit for RGV operation; the method comprises the following steps:
determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
calculating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result of the pairing combination aiming at each pairing combination, and accumulating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result to obtain the total cost of the pairing combination;
and determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGVs in the pairing result so that the available RGVs in the pairing result execute the task to be scheduled in the pairing result.
A scheduling device of annular RGV is applied to a control server in a line-side logistics system, the line-side logistics system also comprises a workstation, an RGV and an annular track for the RGV to run; the device includes:
the system comprises a pairing unit, a scheduling unit and a scheduling unit, wherein the pairing unit is used for determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
the computing unit is used for computing the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result of each pairing combination aiming at each pairing combination, and accumulating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result to obtain the total cost of the pairing combination;
and the assigning unit is used for determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGV in the pairing result so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; the at least one processor, when executing the one or more computer programs, implements the steps in the method of scheduling of ring RGVs described above.
A computer readable storage medium storing one or more computer programs which, when executed by a processor, implement the steps in the method of scheduling of ring RGVs described above.
According to the technical scheme, all pairing combinations of the tasks to be scheduled and the available RGVs in the line side logistics system are determined exhaustively, the total cost of each pairing combination is calculated, the tasks to be scheduled in each pairing result of the pairing combination with the minimum total cost are assigned to the available RGVs in the pairing result, and the available RGVs in the pairing result execute the tasks to be scheduled in the pairing result. It can be seen that the present invention performs task assignment of the ring RGV according to the pairing combination with the smallest total cost, which can effectively reduce the cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of a line-side logistics scenario in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a method for scheduling ring RGVs according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for scheduling two-ring RGVs according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for scheduling three-ring RGVs according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method for scheduling a four-ring RGV in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart of a method for scheduling a five-ring RGV according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a scheduling apparatus of a ring RGV according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Referring to fig. 1, fig. 1 is a schematic view of a line-side logistics scene according to an embodiment of the present invention, as shown in fig. 1, the line-side logistics scene includes an annular track, on which a work station, an RGV, a material dock (also referred to as a raw material dock) for storing materials required by the work station, a finished product dock, and the like are respectively disposed, wherein the RGV is responsible for transporting the materials to the work station, and after the materials are processed into finished products by the work station, the finished products are transported to the finished product dock by the RGV. In practical implementation, the operation of the whole line-side logistics can be controlled by the control server, specifically, the workstation can send out an instruction, such as an instruction for transporting materials to the workstation, an instruction for transporting finished products to a finished product dock, and the like, after the control server receives the instruction sent out by the workstation, the control server can assign a task to an available RGV, and the available RGV executes corresponding operation according to the instruction, for example, when the instruction is an instruction for transporting materials to the workstation, the materials are taken from the material dock and transported to the workstation; when the command is a command to transport the finished product to a finished product terminal, the finished product is retrieved from the workstation and transported to the finished product terminal.
In the embodiment of the present invention, a scheduling scheme of an annular RGV is provided for the above-mentioned sideline logistics system composed of a control server, a workstation, an RGV, an annular track for the RGV to run, a material dock, a finished product dock, and the like, and the following detailed description is made with reference to specific embodiments.
Referring to fig. 2, fig. 2 is a flowchart of a method for scheduling an annular RGV according to an embodiment of the present invention, the method is applied to a control server in a line-side logistics system, the line-side logistics system further includes a workstation, an RGV, and an annular track for the RGV to run; as shown in fig. 2, the method comprises the steps of:
step 201, determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
step 202, for each pairing combination, calculating the cost for the available RGVs in each pairing result of the pairing combination to execute the task to be scheduled in the pairing result, and accumulating the cost for the available RGVs in each pairing result to execute the task to be scheduled in the pairing result to obtain the total cost of the pairing combination;
step 203, determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
As can be seen from the method shown in fig. 2, in this embodiment, the control server exhaustively determines all pairing combinations of tasks to be scheduled and available RGVs in the edge logistics system, and calculates the total cost of each pairing combination, so as to assign the tasks to be scheduled in each pairing result of the pairing combination with the smallest total cost to the available RGVs in the pairing result, so that the available RGVs in the pairing result execute the tasks to be scheduled in the pairing result. Since the task assignment of the ring RGV is performed according to the pairing combination with the minimum total cost in the present embodiment, the cost can be effectively reduced.
Referring to fig. 3, fig. 3 is a flowchart of a scheduling method of a two-ring RGV according to an embodiment of the present invention, which is applied to a control server in a line-side logistics system, the line-side logistics system further including a workstation, an RGV, and a ring track for the RGV to run; as shown in fig. 3, the method comprises the steps of:
3011, determining the priority of each task to be scheduled according to the waiting time of each task to be scheduled and the workstation to which the task to be scheduled belongs;
3012, sort the tasks to be scheduled from high to low according to priority, pair the k tasks to be scheduled with the highest rank with the available RGV, and obtain all possible pairing combinations; each pairing combination comprises pairing results of k available RGVs and tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
in this embodiment, the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other, which means that the available RGVs in the two pairing results are different from each other, and the tasks to be scheduled are also different from each other.
The above steps 3011 to 3012 are detailed refinements of step 201 shown in fig. 2.
Step 302, for each pairing combination, calculating the cost of executing the task to be scheduled in the pairing result by the available RGV in each pairing result of the pairing combination, and accumulating the cost of executing the task to be scheduled in the pairing result by the available RGV in each pairing result to obtain the total cost of the pairing combination;
step 303, determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to an available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
As can be seen from the method shown in fig. 3, in this embodiment, the control server exhaustively determines all pairing combinations of the k tasks to be scheduled and the available RGVs with higher priority in the edge logistics system, and calculates the total cost of each pairing combination, so as to assign the task to be scheduled in each pairing result of the pairing combination with the smallest total cost to the available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result. In addition, the task to be scheduled with higher priority is preferentially dispatched, so that the task to be scheduled with higher priority can be preferentially executed.
Referring to fig. 4, fig. 4 is a flowchart of a scheduling method of a three-ring RGV according to an embodiment of the present invention, which is applied to a control server in a line-side logistics system, where the line-side logistics system further includes a workstation, an RGV, and a ring track for the RGV to run; as shown in fig. 4, the method comprises the steps of:
step 4011a, determining a first path length from an origin of the circular track to a workstation to which the task to be scheduled belongs along an RGV running direction;
in this embodiment, the workstation to which the task to be scheduled belongs refers to a workstation that generates the task to be scheduled.
In practical application, the origin of the circular track is a position point preset on the circular track, and is mainly used for measuring the absolute position of each work station on the circular track. When the RGV runs along the circular track, the running direction of the RGV is clockwise or counterclockwise, and is also constant.
In this embodiment, the first path length from the origin of the circular orbit to a certain workstation along the RGV running direction (e.g. clockwise) is referred to as the distance between the origin of the circular orbit and the workstation, and the absolute position of the workstation on the circular orbit can be determined according to the distance.
Step 4011b, determining the priority of the task to be scheduled according to the principle that the priority of the task to be scheduled is in direct proportion to the length of the first path and the waiting time of the task to be scheduled;
in this embodiment, formula 1 or formula 2 may be adopted to determine the priority of the task j to be scheduled:
TPj＝SLj+L×DTj(formula 1)
Figure BDA0002993924850000071
In the above equations 1 and 2, TPjThe priority of the task j to be scheduled; SL (Long-side)jThe length of a first path from the origin of the circular track to a work station to which a task j to be scheduled belongs along the RGV running direction; l is a preset value and is a constant larger than 0; DTjTo be produced in reserveThe waiting time of the task j can be the difference value between the current time and the generation time of the task j to be scheduled as the waiting time of the task j to be scheduled; TS is a time threshold set in advance.
The above steps 4011a to 4011b are a specific refinement of step 3011 shown in fig. 3.
Step 4012, the tasks to be scheduled are ranked from high to low according to priority, and the k tasks to be scheduled with the highest ranking are paired with the available RGVs to obtain all possible pairing combinations; each pairing combination comprises pairing results of k available RGVs and tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
the above steps 4011a to 4012 are a detailed refinement of step 201 shown in fig. 2.
Step 402, calculating, for each pairing combination, a cost for executing the task to be scheduled in the pairing result by the available RGV in each pairing result of the pairing combination, and accumulating the cost for executing the task to be scheduled in the pairing result by the available RGV in each pairing result to obtain a total cost of the pairing combination;
step 403, determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to an available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
As can be seen from the method shown in fig. 4, in this embodiment, the control server exhaustively determines all pairing combinations of the k tasks to be scheduled and the available RGVs with higher priority in the edge logistics system, and calculates the total cost of each pairing combination, so as to assign the task to be scheduled in each pairing result of the pairing combination with the smallest total cost to the available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result. In addition, in the embodiment, the priority of the tasks to be scheduled is determined according to the waiting time of the tasks to be scheduled and the length of the first path from the origin of the circular track to the workstation to which the tasks to be scheduled belong along the running direction of the RGV, so that the tasks to be scheduled with higher priority are preferentially dispatched, and the tasks to be scheduled with higher priority can be preferentially executed.
Referring to fig. 5, fig. 5 is a flowchart of a scheduling method of a four-ring RGV according to an embodiment of the present invention, which is applied to a control server in a line-side logistics system, where the line-side logistics system further includes a workstation, an RGV, and a circular track for the RGV to run; as shown in fig. 5, the method comprises the steps of:
step 501, determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
step 5021, for each pairing combination, executing steps 5022 to 5024;
step 5022, determining a second path length from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and judging whether the available RGV is available for the task to be scheduled;
in this embodiment, the available RGVs refer to RGVs without assigned tasks to be scheduled, and have a single station or multiple stations, where a station without a device loaded with materials is an idle station, and a station loaded with materials is a non-idle station.
In this embodiment, the determining whether the available RGV is available for the task to be scheduled includes: and if the available RGV has an idle station or any station of the available RGVs is loaded with materials required by the task to be scheduled, determining that the available RGV is available for the task to be scheduled, otherwise, determining that the available RGV is not available for the task to be scheduled.
Step 5023, determining the cost of the available RGV for executing the task to be scheduled according to the length of a second path from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the judgment result whether the available RGV is available for the task to be scheduled.
The above steps 5022 to 5023 are specific refinements of "calculating the cost of the available RGVs in each pairing result of the pairing combination to perform the task to be scheduled in the pairing result" in step 202 shown in fig. 2.
Step 5024, accumulating the cost of the available RGVs in each pairing result for executing the tasks to be scheduled in the pairing result to obtain the total cost of the pairing combination;
the above steps 5021 to 5024 are specific refinements of the step 202 shown in fig. 2.
Step 503, determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to an available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
As can be seen from the method shown in fig. 5, in this embodiment, the control server determines all pairing combinations of tasks to be scheduled and available RGVs in the edge logistics system through exhaustion, and calculating the cost of the pairing result according to the length of a second path from the available RGV to the workstation belonging to the task to be scheduled along the circular track in each pairing result of each pairing combination, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation belonging to the task to be scheduled along the circular track, and the judgment result whether the available RGV is available for the task to be scheduled, and accumulating the total cost of the pairing combination, so that the task to be scheduled in each pairing result of the pairing combination with the minimum total cost is allocated to the available RGV in the pairing result, and the available RGV in the pairing result executes the task to be scheduled in the pairing result. Since the task assignment of the ring RGV is performed according to the pairing combination with the minimum total cost in the present embodiment, the cost can be effectively reduced.
Referring to fig. 6, fig. 6 is a flowchart of a scheduling method of a five-ring RGV according to an embodiment of the present invention, where the method is applied to a control server in a line-side logistics system, where the line-side logistics system further includes a workstation, an RGV, a ring track for the RGV to run, and a material dock for storing materials required by the workstation; as shown in fig. 6, the method comprises the steps of:
601, determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combinations are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
step 6021, for each pairing combination, performing the following steps 6022 to 6024;
step 6022, determining a second path length from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and judging whether the available RGV is available for the task to be scheduled;
step 6023a, when the available RGV is available for the task to be scheduled, determining the cost of the available RGV for executing the task to be scheduled according to the principle that the cost of the available RGV for executing the task to be scheduled is in direct proportion to the second path length and the cost of the available RGV for executing the task to be scheduled is in inverse proportion to the number of the workstations;
in the embodiment of the present invention, when the available RGV i is available for the task j to be scheduled, the following formula 3 may be adopted to calculate and determine the cost for the available RGV i to execute the task j to be scheduled:
Cij＝α×Dij-γ×Nij(formula 3)
In the above formula 3, CijIs the cost of executing task j to be scheduled with RGV i; dijIs the length of a second path from the available RGV i to the workstation to which the task j to be scheduled belongs along the circular track; n is a radical ofijThe number of the workstations with the tasks to be scheduled, which can be operated by the RGV i along the circular track to the workstation to which the task j to be scheduled belongs, passes through; alpha and gamma are preset adjusting coefficients which are both larger than 0.
And 6023b, when the available RGV is not available for the task to be scheduled, determining the cost of the available RGV for executing the task to be scheduled according to the principle that the cost of the available RGV for executing the task to be scheduled is in direct proportion to the second path length and the time required for the available RGV to run to the material wharf along the circular track, and the cost of the available RGV for executing the task to be scheduled is in inverse proportion to the number of the workstations.
In the embodiment of the present invention, when the available RGV i is unavailable for the task j to be scheduled, the following formula 4 may be adopted to calculate and determine the cost for the available RGV i to execute the task j to be scheduled:
Cij＝α×Dij+β×Uij-γ×Nij(formula 4)
In the above formula 3, CijIs the cost of executing task j to be scheduled with RGV i; dijIs the length of a second path from the available RGV i to the workstation to which the task j to be scheduled belongs along the circular track; u shapeijIs the time required for the available RGV i to travel along the circular track to the material dock; n is a radical ofijThe number of the workstations with the tasks to be scheduled, which can be operated by the RGV i along the circular track to the workstation to which the task j to be scheduled belongs, passes through; alpha, beta and gamma are preset regulating coefficients which are all larger than 0.
Steps 6023a and 6023b above are a detailed refinement of step 5023 shown in fig. 5.
The above steps 6022 to 6023b are specific refinements of "calculating the cost of the available RGVs in each pairing result of the pairing combination to perform the task to be scheduled in the pairing result" in step 202 shown in fig. 2.
Step 6024, accumulating the cost of the RGV in each pairing result for executing the task to be scheduled in the pairing result, and obtaining the total cost of the pairing combination;
the above steps 6021 to 6024 are specific refinements of the step 202 shown in fig. 2.
Step 603, determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
As can be seen from the method shown in fig. 6, in this embodiment, the control server determines all pairing combinations of tasks to be scheduled and available RGVs in the edge logistics system through exhaustion, and calculating the cost of the pairing result according to the length of a second path from the available RGV to the workstation belonging to the task to be scheduled along the circular track in each pairing result of each pairing combination, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation belonging to the task to be scheduled along the circular track, and the judgment result whether the available RGV is available for the task to be scheduled, and accumulating the total cost of the pairing combination, so that the task to be scheduled in each pairing result of the pairing combination with the minimum total cost is allocated to the available RGV in the pairing result, and the available RGV in the pairing result executes the task to be scheduled in the pairing result. Since the task assignment of the ring RGV is performed according to the pairing combination with the minimum total cost in the present embodiment, the cost can be effectively reduced.
The foregoing describes in detail a scheduling method of a ring RGV according to an embodiment of the present invention, and the embodiment of the present invention further provides a scheduling apparatus of a ring RGV, which is described in detail below with reference to fig. 7.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a scheduling apparatus for an annular RGV according to an embodiment of the present invention, which is applied to a control server in a line-side logistics system, the line-side logistics system further including a workstation, an RGV, and an annular track for the RGV to run; as shown in fig. 7, the apparatus includes:
a pairing unit 701, configured to determine pairing combinations of tasks to be scheduled and available RGVs in the line-side logistics system, where each pairing combination includes pairing results of k available RGVs and tasks to be scheduled, and available RGVs and tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
a calculating unit 702, configured to calculate, for each pairing combination, a cost for executing the task to be scheduled in the pairing result by the available RGV in each pairing result of the pairing combination, and accumulate the cost for executing the task to be scheduled in the pairing result by the available RGV in each pairing result to obtain a total cost of the pairing combination;
the assigning unit 703 is configured to determine a pairing combination with the smallest total cost, and assign the task to be scheduled in each pairing result of the pairing combination to the available RGV in the pairing result, so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
In the arrangement shown in figure 7 of the drawings,
the pairing unit 701 determines a pairing combination of a task to be scheduled and an available RGV in the line side logistics system, and includes:
determining the priority of each task to be scheduled according to the waiting time of each task to be scheduled and the workstation to which the task to be scheduled belongs;
and (4) sequencing the tasks to be scheduled from high to low according to the priority, and pairing the k tasks to be scheduled with the highest sequence with the available RGVs to obtain all possible pairing combinations.
In the arrangement shown in figure 7 of the drawings,
the pairing unit 701 determines the priority of each task to be scheduled according to the waiting time of each task to be scheduled and the workstation to which the task to be scheduled belongs, and includes:
determining a first path length from the origin of the circular track to a work station to which the task to be scheduled belongs along the RGV running direction;
and determining the priority of the task to be scheduled according to the principle that the priority of the task to be scheduled is in direct proportion to the length of the first path and the waiting time of the task to be scheduled.
In the arrangement shown in figure 7 of the drawings,
the calculating unit 702, calculating the cost of the available RGVs in each pairing result of the pairing combination to execute the task to be scheduled in the pairing result, includes:
determining a second path length from the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and judging whether the available RGV is available for the task to be scheduled;
and determining the cost of executing the task to be scheduled by the available RGV according to the length of a second path from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the judgment result of whether the available RGV is available for the task to be scheduled.
In the arrangement shown in figure 7 of the drawings,
the available RGVs are not assigned with tasks to be scheduled and have single stations or multiple stations, wherein the stations without materials are idle stations, and the stations with materials are non-idle stations;
the calculating unit 702, determining whether the available RGV is available for the task to be scheduled, includes:
and if the available RGV has an idle station or any station of the available RGVs is loaded with materials required by the task to be scheduled, determining that the available RGV is available for the task to be scheduled, otherwise, determining that the available RGV is not available for the task to be scheduled.
In the arrangement shown in figure 7 of the drawings,
the line-edge logistics system further comprises: the material wharf is used for storing materials required by the workstation;
the determining unit 702 determines the cost of the available RGV for executing the task to be scheduled according to the second path length from the available RGV to the workstation to which the task to be scheduled belongs along the circular track, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular track, and the determination result of whether the available RGV is available for the task to be scheduled, including:
when the judgment result is available, determining the cost of the available RGV for executing the task to be scheduled according to the principle that the cost of the available RGV for executing the task to be scheduled is in direct proportion to the second path length and the cost of the available RGV for executing the task to be scheduled is in inverse proportion to the number of the workstations;
and when the judgment result is that the RGV is unavailable, determining the cost of the RGV for executing the task to be scheduled according to the principle that the cost of the RGV for executing the task to be scheduled is directly proportional to the length of the second path and the time required by the RGV to move to the material wharf along the circular track, and the cost of the RGV for executing the task to be scheduled is inversely proportional to the number of the workstations.
An embodiment of the present invention further provides an electronic device, as shown in fig. 8, where the electronic device includes: at least one processor 801, and a memory 802 connected to the at least one processor 801 via a bus; the memory 802 stores one or more computer programs executable by the at least one processor 801; the at least one processor 801, when executing the one or more computer programs, implements the steps in the method of scheduling of ring RGVs as shown in any of the flowcharts of fig. 2-6.
Embodiments of the present invention also provide a computer-readable storage medium storing one or more computer programs which, when executed by a processor, implement the steps in the scheduling method of ring RGVs as shown in any of the flowcharts of fig. 2-6.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The method for dispatching the annular RGV is applied to a control server in a line-edge logistics system, wherein the line-edge logistics system further comprises a workstation, the RGV and an annular track for the RGV to run; the method comprises the following steps:
determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, wherein each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
calculating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result of the pairing combination aiming at each pairing combination, and accumulating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result to obtain the total cost of the pairing combination;
and determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGVs in the pairing result so that the available RGVs in the pairing result execute the task to be scheduled in the pairing result.
2. The method of claim 1,
determining a pairing combination of a task to be scheduled and an available RGV in a line side logistics system, comprising:
determining the priority of each task to be scheduled according to the waiting time of each task to be scheduled and the workstation to which the task to be scheduled belongs;
and (4) sequencing the tasks to be scheduled from high to low according to the priority, and pairing the k tasks to be scheduled with the highest sequence with the available RGVs to obtain all possible pairing combinations.
3. The method of claim 2,
determining the priority of each task to be scheduled according to the waiting time of each task to be scheduled and the workstation to which the task to be scheduled belongs, wherein the priority comprises the following steps:
determining a first path length from the origin of the circular track to a work station to which the task to be scheduled belongs along the RGV running direction;
and determining the priority of the task to be scheduled according to the principle that the priority of the task to be scheduled is in direct proportion to the length of the first path and the waiting time of the task to be scheduled.
4. The method of claim 1,
calculating the cost of the available RGVs in each pairing result of the pairing combination for executing the task to be scheduled in the pairing result, comprising:
determining a second path length from the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and judging whether the available RGV is available for the task to be scheduled;
and determining the cost of executing the task to be scheduled by the available RGV according to the length of a second path from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the judgment result of whether the available RGV is available for the task to be scheduled.
5. The method of claim 4,
the available RGVs are not assigned with tasks to be scheduled and have single stations or multiple stations, wherein the stations without materials are idle stations, and the stations with materials are non-idle stations;
determining whether the available RGV is available for the task to be scheduled, including:
and if the available RGV has an idle station or any station of the available RGVs is loaded with materials required by the task to be scheduled, determining that the available RGV is available for the task to be scheduled, otherwise, determining that the available RGV is not available for the task to be scheduled.
6. The method of claim 4,
the line-edge logistics system further comprises: the material wharf is used for storing materials required by the workstation;
determining the cost of executing the task to be scheduled by the available RGV according to the second path length from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the judgment result of whether the available RGV is available for the task to be scheduled, wherein the cost comprises the following steps:
when the judgment result is available, determining the cost of the available RGV for executing the task to be scheduled according to the principle that the cost of the available RGV for executing the task to be scheduled is in direct proportion to the second path length and the cost of the available RGV for executing the task to be scheduled is in inverse proportion to the number of the workstations;
and when the judgment result is that the RGV is unavailable, determining the cost of the RGV for executing the task to be scheduled according to the principle that the cost of the RGV for executing the task to be scheduled is directly proportional to the length of the second path and the time required by the RGV to move to the material wharf along the circular track, and the cost of the RGV for executing the task to be scheduled is inversely proportional to the number of the workstations.
7. The dispatching device of the annular RGV is applied to a control server in a line-side logistics system, wherein the line-side logistics system further comprises a workstation, the RGV and an annular track for the RGV to run; the device includes:
the system comprises a pairing unit, a scheduling unit and a scheduling unit, wherein the pairing unit is used for determining pairing combinations of tasks to be scheduled and available RGVs in the line side logistics system, each pairing combination comprises pairing results of k available RGVs and the tasks to be scheduled, and the available RGVs and the tasks to be scheduled in any two pairing results in the pairing combination are different from each other; wherein k is the minimum value of the number of tasks to be scheduled and the number of available RGVs in the line-side logistics system;
the computing unit is used for computing the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result of each pairing combination aiming at each pairing combination, and accumulating the cost of executing the tasks to be scheduled in the pairing result by the available RGVs in each pairing result to obtain the total cost of the pairing combination;
and the assigning unit is used for determining a pairing combination with the minimum total cost, and assigning the task to be scheduled in each pairing result of the pairing combination to the available RGV in the pairing result so that the available RGV in the pairing result executes the task to be scheduled in the pairing result.
8. The apparatus of claim 7,
the calculating unit calculates the cost of the available RGVs in each pairing result of the pairing combination for executing the tasks to be scheduled in the pairing result, and comprises the following steps:
determining a second path length from the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation belonging to the task to be scheduled along the circular orbit, and judging whether the available RGV is available for the task to be scheduled;
and determining the cost of executing the task to be scheduled by the available RGV according to the length of a second path from the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, the number of workstations with the task to be scheduled, which are passed by the available RGV to the workstation to which the task to be scheduled belongs along the circular orbit, and the judgment result of whether the available RGV is available for the task to be scheduled.
9. An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; wherein the at least one processor, when executing the one or more computer programs, implements the steps in the method of scheduling a ring RGV of any of claims 1-5.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores one or more computer programs which, when executed by a processor, implement the steps in the scheduling method of a ring RGV of any one of claims 1-5.
CN202110324157.XA 2021-03-26 2021-03-26 Scheduling method and device of annular RGV, electronic equipment and storage medium Pending CN112950060A (en)

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