CN115783602A - Annular shuttle vehicle scheduling system and method based on dynamic task allocation - Google Patents
Annular shuttle vehicle scheduling system and method based on dynamic task allocation Download PDFInfo
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Abstract
The invention relates to the field of logistics scheduling, in particular to an annular shuttle vehicle scheduling system and method based on dynamic task allocation, which comprises the following steps: the WCS issues a trolley task; receiving the trolley tasks, and performing overall distribution on all the trolley tasks; optimizing and issuing the overall distributed trolley tasks; and receiving the trolley information transmitted by the PLC and carrying out visual presentation. According to the method, the tasks are dynamically distributed according to the dynamic task distribution method, and are optimized and then sent to the annular shuttle car, so that the reasonability and efficiency of task distribution are improved, and the overall working efficiency of the annular shuttle car system is greatly improved; the states of the annular shuttle vehicles are collected and reported through the communication alarm module, the current positions, speeds, states and current tasks of the trolleys are displayed through the task visualization module, the annular shuttle vehicles can be conveniently and better dispatched, the tasks of the annular shuttle vehicles can be modified through the offline operation module, and logistics tasks can be conveniently and efficiently completed.
Description
Technical Field
The invention relates to the field of logistics scheduling, in particular to an annular shuttle vehicle scheduling system and method based on dynamic task allocation.
Background
With the development of science and technology and the addition of WTO in China, the modern logistics concept is deeply popular, and a great number of users have common understanding on the promotion effect of the logistics storage system in the development of various industries, and the development of an automatic logistics system and an automatic warehouse follows. With the development of automation logistics systems and automation warehouses in China and even the world, many defects of general automation systems and warehouses are exposed, and in order to make up for the defects, an RGV (rail guided shuttle car) is generated, and can be very conveniently and automatically connected with other logistics systems, such as an exit/entry platform, various buffer stations, a conveyor, a lifter, a robot and the like, so that materials can be conveyed according to a plan. In addition, the automatic control system does not need to be operated by personnel and has high running speed. Therefore, the workload of warehouse management personnel is obviously reduced, the labor productivity is improved, and meanwhile, the application of the shuttle vehicle can enable a logistics system to be very simple and convenient. The circular shuttle vehicle usually runs on a circular track by a plurality of vehicles in sequence to form a complete system. The purpose of the scheduling method is to assign the handling tasks to the appropriate vehicles for execution. The existing annular shuttle dispatching systems all use a static dispatching algorithm. The static state is mainly embodied in two aspects: 1. assignment of tasks is done when the vehicle arrives past a sensor, and is static over the time of assignment. 2. After assignment of a task to a vehicle, unless the vehicle fails, the assigned vehicle cannot be modified until the vehicle has not reached the pick-up station, and is static in the assignment of the task.
Disclosure of Invention
The invention aims to solve the defects in the background technology by providing an annular shuttle vehicle dispatching system based on dynamic task allocation and a method thereof.
The technical scheme adopted by the invention is as follows:
the method for dispatching the annular shuttle car based on dynamic task allocation comprises the following steps:
s1.1: the WCS issues a trolley task;
s1.2: receiving the trolley tasks, and performing overall distribution on all the trolley tasks;
s1.3: optimizing and issuing the overall distributed trolley tasks;
s1.4: and receiving the trolley information transmitted by the PLC and carrying out visual presentation.
As a preferred technical scheme of the invention: and S1.2, receiving the trolley task, and establishing a task model according to the trolley task issued by the WCS:
wherein U is a time objective function,
the total number of the trolleys is the total number,
the total number of tasks of the trolley is,
show the trolley performs the first
The time spent for each task is,
for the introduced decision variables, the first
The first vehicle to carry out
The success rate of each task is 0 or 1, V is the task priority objective function,
denotes the first
The priority of each task;
the constraints of the task model are as follows:
and Q is the maximum capacity of the trolley for executing the tasks.
As a preferred technical scheme of the invention: the scheduling system in S1.2 receives the trolley task and then passes through the dynamic exploration factor
Performing dynamic allocation of the dynamic exploration factor
The following:
wherein the content of the first and second substances,
to explore factors
The step size of the change is such that,
which indicates the number of times the task was performed,
representing the total number of times the task was performed.
As a preferred technical scheme of the invention: the dynamic task allocation algorithm is as follows;
wherein the content of the first and second substances,
an objective function is assigned to the dynamic.
As a preferred technical scheme of the invention: the task optimization algorithm is as follows:
wherein the content of the first and second substances,
、
all are proportionality coefficients.
As a preferred technical scheme of the invention: the trolley information received in the S1.4 comprises the current position, the speed, the state and the current task of the trolley, wherein the current task comprises a pallet stacking platform, a goods taking platform and a goods placing platform.
As a preferred technical scheme of the invention: and in the S1.4, trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to carry out visual display.
Provided is a circular shuttle dispatching system based on dynamic task allocation, comprising:
a task issuing module: the system is used for the WCS to issue the trolley task;
a task receiving module: the system is used for receiving a trolley task issued by the WCS;
the task overall planning module is: the system is used for carrying out overall task planning according to the received trolley tasks;
the task optimization module: the system is used for optimizing the overall planned trolley tasks;
and the task redistribution module is used for: the system is used for redistributing the optimized trolley tasks;
a task visualization module: and the trolley information receiving module is used for receiving the trolley information and carrying out visual display.
As a preferred technical scheme of the invention: the trolley monitoring system also comprises a communication alarm module and an off-line operation module, wherein the communication alarm module is used for collecting alarm information of the trolley and reporting the alarm information to an upper computer; the off-line operation module is used for manually filling data.
As a preferred technical scheme of the invention: the scheduling system is divided into a body page and a webpage version, the scheduling system is deployed on a server, the body page is viewed on the server, and the webpage version is connected with an intranet after service is started and is logged in and viewed through a user account.
Compared with the prior art, the annular shuttle vehicle dispatching system and the method thereof based on dynamic task allocation have the beneficial effects that:
according to the method, the tasks are dynamically distributed according to the dynamic task distribution method, optimized and then issued to the annular shuttle vehicle, so that the reasonability and efficiency of task distribution are improved, and the overall working efficiency of the annular shuttle vehicle system is greatly improved; the communication alarm module is used for collecting and reporting the state of the annular shuttle car, the task visualization module is used for displaying the current position, the speed, the state and the current task of the trolley, the annular shuttle car can be conveniently and better dispatched, the task of the annular shuttle car can be modified through the offline operation module, and the logistics task can be conveniently and efficiently completed.
Drawings
FIG. 1 is a flow chart of a method of a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a system in accordance with a preferred embodiment of the present invention;
FIG. 3 is a page view of the ontology in the preferred embodiment of the present invention.
The meaning of each label in the figure is: 100. a task issuing module; 200. a task receiving module; 300. a task overall planning module; 400. a task optimization module; 500. a task redistribution module; 600. a task visualization module; 700. a communication alarm module; 800. and an off-line operation module.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and the features in the embodiments may be combined with each other, and the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a preferred embodiment of the present invention provides a method for dispatching a circular shuttle vehicle based on dynamic task allocation, which includes the following steps:
s1.1: the WCS issues a trolley task;
s1.2: receiving the trolley tasks, and performing overall distribution on all the trolley tasks;
s1.3: optimizing and issuing the overall distributed trolley tasks;
s1.4: and receiving the trolley information transmitted by the PLC and carrying out visual presentation.
S1.2, receiving the trolley task, and establishing a task model according to the trolley task issued by the WCS:
wherein U is a time objective function,
the total number of the trolleys is the total number,
the total number of tasks of the trolley is,
show the trolley performs the first
The time spent for each task is the time spent,
for the introduced decision variables, denote
Vehicle to vehicle carried out
The success rate of each task is 0 or 1, V is the task priority objective function,
is shown as
The priority of each task;
the constraints of the task model are as follows:
and Q is the maximum capacity of the trolley for executing the tasks.
S1.2, after receiving the trolley task, the scheduling system passes through the dynamic exploration factor
Dynamically allocating, dynamically exploring factors
The following were used:
wherein, the first and the second end of the pipe are connected with each other,
for exploring the factor
The step size of the change is such that,
which indicates the number of times the task was performed,
representing the total number of times the task was performed.
The dynamic task allocation algorithm is as follows;
wherein, the first and the second end of the pipe are connected with each other,
an objective function is dynamically assigned.
The task optimization algorithm is as follows:
wherein, the first and the second end of the pipe are connected with each other,
、
all are proportionality coefficients.
And S1.4, the trolley information received in the S1.4 comprises the current position, the speed, the state and the current task of the trolley, and the current task comprises a pallet stacking platform, a goods taking platform and a goods placing platform.
And in the S1.4, trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to carry out visual display.
Referring to fig. 2, there is provided a circular shuttle dispatching system based on dynamic task allocation, comprising:
the task issuing module 100: the WCS is used for issuing a trolley task;
the task receiving module 200: the system is used for receiving the trolley tasks issued by the WCS;
task orchestration module 300: the system is used for carrying out overall task planning according to the received trolley tasks;
the task optimization module 400: the system is used for optimizing the overall planned trolley tasks;
task reassignment Module 500: the system is used for redistributing the optimized trolley tasks;
the task visualization module 600: and the trolley information receiving module is used for receiving the trolley information and carrying out visual display.
The trolley alarm system further comprises a communication alarm module 700 and an off-line operation module 800, wherein the communication alarm module 700 is used for collecting alarm information of the trolley and reporting the alarm information to an upper computer; offline operations module 800 is used to manually fill in data.
The scheduling system is divided into a body page and a webpage version, the scheduling system is deployed on the server, the body page is viewed on the server, and the webpage version is connected with the intranet after being started up for service and is logged in and viewed through the user account.
In this embodiment, the WCS is a warehouse control system, the PLC is a programmable logic controller, the WCS in the task issuing module 100 issues the cart task, the task receiving module 200 receives the cart task issued by the WCS, and the task orchestration module 300 establishes the task model according to the cart task issued by the WCS:
wherein U is a time objective function,
the total number of the trolleys is the total number,
the total number of tasks of the trolley is,
show the car performs
The time spent for each task is the time spent,
for the introduced decision variables, the first
Vehicle to vehicle carried out
The success rate of each task is 0 or 1, V is the task priority objective function,
is shown as
The priority of each task;
the constraints of the task model are as follows:
wherein Q is the maximum capacity of the trolley to execute the tasks.
And by constructing a task allocation model, the task can be conveniently reallocated in the later period.
Overall distribution of all the trolley tasks through dynamic exploration factors
Dynamically allocating, dynamically exploring factors
The following were used:
wherein the content of the first and second substances,
to explore factors
The step size of the change is such that,
which indicates the number of times the task was performed,
representing the total number of times the task was performed.
Establishing a dynamic task allocation algorithm according to the dynamic exploration factors as follows;
wherein, the first and the second end of the pipe are connected with each other,
an objective function is assigned to the dynamic.
And the self-adaptive task dynamic allocation is carried out through a dynamic allocation algorithm, so that the task allocation efficiency is improved.
For efficiency and different functional requirements, the task optimization module 400 optimizes task assignments:
wherein the content of the first and second substances,
、
all are proportionality coefficients.
The task allocation reasonableness is improved through the task allocation optimization.
The task redistribution module 500 redistributes the optimized cart tasks, specifically to which cart, which task, and which pallet to receive. In the process, the task visualization module 600 reads and receives cart information from the PLC, and reports the cart information to the WCS, and the WCS compiles and converts the cart information, and presents the cart information to the user in the case of page visualization.
For the scheduling system, the scheduling system is divided into 2 parts, one part is an ontology page, and the other part is a webpage version. All the pages are deployed on a server, and the body pages refer to the figure 3 and can be directly viewed on the server; after the webpage version starts the service, the intranet can be connected, and login and check can be performed through the user account.
Referring to fig. 3, a connection button is clicked on the upper left corner of the client of the scheduling system, an ip address of a port provided by the PLC is filled in an input box to connect the PLC and the WCS, and the upper left of a page prompts the connection state of the scheduling system and the WCS. The "WCS connected" green display indicates that communications with the WCS have been connected.
By switching the online mode, the WCS is informed whether to be online, the PLC connection state of each car is in the middle of the page, green is written, and "PLC1 is connected" is written, which indicates that the RG01 first car is connected, otherwise, the red is not connected.
The function of the off-line operation module 800 of the system is to fill out data manually, including: current position of the tray, number, destination, etc. After the allocated trolley data is filled, the action button beside the trolley can be clicked to issue the task to the trolley. These actions include: a transport task, a destination of a modification task, a cancellation task, a designated cart transport, and the like.
The upper right corner of the page is a ring-through alarm communication service, and the communication alarm module 700 collects alarm information of the ring-shaped shuttle and reports the alarm information to the upper computer.
And the middle of the page is the current position, speed, state and current task of all the trolleys read by the scheduling system. Wherein the current tasks include: pallet stacking, a goods taking platform and a goods placing platform.
The bottom of the page is a general task list, and a deleting button is provided at the leftmost part of the list, so that the task deleting operation can be performed. The list content includes: task _ id Task number; a PalletCode pallet code; source location, i.e., pick-up station; destination target location; priority task Priority; task _ Status Task state; create time creation time; update _ time Update time; update _ by creator; rgvnum car number.
As a version of the web page RGVDispatching System, the top of the page is the connection status of all carts. And a locking button and an unlocking button are respectively arranged below each trolley: reset, lock. A specific trolley can be locked, and when a task is allocated, the task cannot be issued to the trolley. The following are the status descriptions and alarm states of the cart and are interpreted so that the user can more intuitively see the specific status of the cart.
The RGVTask is a task list of the trolley, and compared with the body page, the upper left corner of the webpage version has one more History function. The function can check which trolley does what task when, and the specific time and place can be deleted and derived by the excel form.
The Pointinformation is arranged at the lower right part of the page, and can be used for editing, deleting and other operations on point positions such as a goods receiving platform and a discharging platform of the trolley.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (10)
1. A method for dispatching an annular shuttle vehicle based on dynamic task allocation is characterized in that: the method comprises the following steps:
s1.1: the WCS issues a trolley task;
s1.2: receiving the trolley tasks, and performing overall distribution on all the trolley tasks;
s1.3: optimizing and issuing the overall distributed trolley tasks;
s1.4: and receiving the trolley information transmitted by the PLC and carrying out visual presentation.
2. The method for dispatching the ring-shaped shuttle based on the dynamic task allocation as claimed in claim 1, wherein: and S1.2, receiving the trolley task, and establishing a task model according to the trolley task issued by the WCS:
wherein U is a time objective function,
the total number of the trolleys is the total number of the trolleys,
the total number of tasks of the trolley is,
show the car performs
The time spent for each task is the time spent,
for the introduced decision variables, denote
Vehicle to vehicle carried out
The success rate of each task is 0 or 1, V is the task priority objective function,
is shown as
The priority of each task;
the constraints of the task model are as follows:
and Q is the maximum capacity of the trolley for executing the tasks.
3. The method for dispatching the ring-shaped shuttle based on the dynamic task allocation as claimed in claim 2, wherein: in S1.2, after receiving the trolley task, the dynamic exploration factor is passed
Performing dynamic allocation of the dynamic exploration factor
The following:
wherein, the first and the second end of the pipe are connected with each other,
for exploring the factor
The step size of the change, T represents the number of times the task is performed, and T represents the total number of times the task is performed.
4. The method for dispatching the ring-shaped shuttle based on the dynamic task allocation as claimed in claim 3, wherein: the dynamic task allocation algorithm is as follows;
wherein Y is a dynamic allocation objective function.
5. The method for dispatching the ring-shaped shuttle based on the dynamic task allocation as claimed in claim 4, wherein: the task optimization algorithm is as follows:
wherein the content of the first and second substances,
、
all are proportionality coefficients.
6. The method for dispatching the ring-shaped shuttle car based on the dynamic task allocation as claimed in claim 1, wherein: the trolley information received in the S1.4 comprises the current position, the speed, the state and the current task of the trolley, wherein the current task comprises a pallet stacking platform, a goods taking platform and a goods placing platform.
7. The method for dispatching the ring-shaped shuttle based on the dynamic task allocation as claimed in claim 6, wherein: and in the S1.4, trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to carry out visual display.
8. An annular shuttle dispatching system based on dynamic task allocation is characterized in that: the method comprises the following steps:
task issuing module (100): the system is used for the WCS to issue the trolley task;
task reception module (200): the system is used for receiving the trolley tasks issued by the WCS;
task orchestration module (300): the system is used for carrying out overall task planning according to the received trolley tasks;
task optimization module (400): the system is used for optimizing the overall planned trolley tasks;
task reassignment module (500): the system is used for redistributing the optimized trolley tasks;
task visualization module (600): and the trolley information receiving module is used for receiving the trolley information and carrying out visual display.
9. The circular shuttle vehicle dispatching system based on dynamic task allocation as claimed in claim 8, wherein: the trolley monitoring system further comprises a communication alarm module (700) and an off-line operation module (800), wherein the communication alarm module (700) is used for collecting alarm information of the trolley and reporting the alarm information to an upper computer; the offline operational module (800) is used for manually filling in data.
10. The circular shuttle dispatching system based on dynamic task allocation as claimed in claim 9, wherein: the scheduling system is divided into a body page and a webpage version, the scheduling system is deployed on a server, the body page is viewed on the server, and the webpage version is connected with an intranet after service is started and is logged in and viewed through a user account.
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