CN115783602B - Annular shuttle scheduling system and method based on dynamic task allocation - Google Patents
Annular shuttle 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 scheduling system and method based on dynamic task allocation, comprising the following steps: the WCS issues a trolley task; the method comprises the steps of receiving trolley tasks and overall distributing all the trolley tasks; optimizing and then 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 allocated according to the dynamic task allocation method, and the tasks are optimized and then issued to the annular shuttle, so that the rationality and efficiency of task allocation are improved, and the overall working efficiency of the annular shuttle system is greatly improved; the annular shuttle state is collected and reported through the communication alarm module, the current position, speed, state and current task of the trolley are displayed through the task visualization module, the annular shuttle can be conveniently and better scheduled, the annular shuttle task can be modified through the off-line operation module, and the logistics task can be conveniently and efficiently completed.
Description
Technical Field
The invention relates to the field of logistics scheduling, in particular to an annular shuttle scheduling system and method based on dynamic task allocation.
Background
With the development of scientific technology and the addition of WTO in China, modern logistics concepts are deep, so that wide users have common knowledge 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 is followed. With the development of automated logistics systems and automated warehouses in China or even the world, many disadvantages of general automation systems and warehouses are exposed, and in order to be able to compensate for these disadvantages, RGV (rail shuttle car) is generated, which can be very conveniently and automatically connected with other logistics systems, such as an out/in warehouse platform, various buffer stations, a conveyor, a lifter, a robot and the like, so as to carry out the conveying of materials according to a plan. In addition, the device does not need personnel to operate, and has high running speed. Therefore, the workload of warehouse management staff is obviously reduced, the labor productivity is improved, and meanwhile, the application of the shuttle can lead the logistics system to be very simple. The annular shuttle is usually operated by a plurality of vehicles running on an annular track 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. Existing ring shuttle scheduling systems all use a static scheduling algorithm. The static state is mainly manifested in two aspects: 1. the task allocation is performed when the vehicle arrives past a sensor, and is static in allocation time. 2. After a task is assigned to a vehicle, unless the vehicle fails, the assigned vehicle cannot be changed until the vehicle has not arrived at the receiving station, and is static in task assignment.
Disclosure of Invention
The invention aims to solve the defects in the background technology by providing a ring-shaped shuttle scheduling system and a method based on dynamic task allocation.
The technical scheme adopted by the invention is as follows:
the annular shuttle scheduling method based on dynamic task allocation comprises the following steps:
s1.1: the WCS issues a trolley task;
s1.2: the method comprises the steps of receiving trolley tasks and overall distributing all the trolley tasks;
s1.3: optimizing and then 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: the trolley task is received in the S1.2, and a task model is built according to the trolley task issued by the WCS:
wherein U is a time objective function,for the total number of carts,for the total number of tasks of the trolley,indicating that the trolley is executingThe time it takes for the tasks to be performed,for introduced decision variables, represent the firstVehicle trolley execution of the firstThe success rate of each task is 0 or 1, V is the task priority objective function,represent the firstPriority of the individual tasks;
the constraint conditions of the task model are as follows:
wherein Q is the maximum capacity of the trolley to execute the task.
As a preferred technical scheme of the invention: the scheduling system in S1.2 receives the trolley task and then dynamically explores factorsDynamic allocation of the dynamic exploration factorsThe following are provided:
wherein,to explore factorsThe step size of the change is chosen,indicating the number of times a task is performed,indicating 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 objective function is dynamically allocated.
As a preferred technical scheme of the invention: the task optimization algorithm is as follows:
wherein,、are all proportionality coefficients.
As a preferred technical scheme of the invention: the trolley information received in the step S1.4 comprises the current position, speed, state and current task of the trolley, wherein the current task comprises a tray code, a pick-up station and a put-in station.
As a preferred technical scheme of the invention: and S1.4, the trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to perform visual display.
Provided is a ring-shaped shuttle scheduling system based on dynamic task allocation, comprising:
the task issuing module: the method is used for WCS issuing of the trolley task;
a task receiving module: the method comprises the steps of receiving a trolley task issued by the WCS;
and a task orchestration module: the system is used for carrying out task overall planning according to the received trolley task;
task optimization module: the method is used for optimizing the overall planning trolley task;
task reassignment module: the method comprises the steps of carrying out reassignment on an optimized trolley task;
and a task visualization module: and the device is used for receiving the trolley information and visually displaying the trolley information.
As a preferred technical scheme of the invention: the 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 the upper computer; the off-line operation module is used for manually filling in 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 checked on the server, the webpage version is connected with an intranet after the service is started, and login check is performed through a user account.
Compared with the prior art, the annular shuttle scheduling system and the annular shuttle scheduling method based on dynamic task allocation have the beneficial effects that:
according to the method, the tasks are dynamically allocated according to the dynamic task allocation method, and the tasks are optimized and then issued to the annular shuttle, so that the rationality and efficiency of task allocation are improved, and the overall working efficiency of the annular shuttle system is greatly improved; the annular shuttle state is collected and reported through the communication alarm module, the current position, speed, state and current task of the trolley are displayed through the task visualization module, the annular shuttle can be conveniently and better scheduled, the annular shuttle task can be modified through the off-line operation module, and the logistics task can be conveniently and efficiently completed.
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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 an ontology page diagram in a 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 orchestration module; 400. a task optimization module; 500. a task reassignment module; 600. a task visualization module; 700. a communication alarm module; 800. and (5) an offline operation module.
Detailed Description
It should be noted that, under the condition of no conflict, the embodiments of the present embodiments and features in the embodiments may be combined with each other, and the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides a ring-shaped shuttle scheduling method based on dynamic task allocation, including the following steps:
s1.1: the WCS issues a trolley task;
s1.2: the method comprises the steps of receiving trolley tasks and overall distributing all the trolley tasks;
s1.3: optimizing and then issuing the overall distributed trolley tasks;
s1.4: and receiving the trolley information transmitted by the PLC and carrying out visual presentation.
S1.2, a trolley task is received, and a task model is built according to the trolley task issued by the WCS:
wherein U is a time objective function,for the total number of carts,for the total number of tasks of the trolley,indicating that the trolley is executingThe time it takes for the tasks to be performed,for introduced decision variables, represent the firstVehicle trolley execution of the firstThe success rate of each task is 0 or 1, V is the task priority objective function,represent the firstPriority of the individual tasks;
constraint conditions of the task model are as follows:
wherein Q is the maximum capacity of the trolley to execute the task.
S1.2, after the dispatching system receives the trolley task, the dispatching system dynamically explores factorsDynamic allocation and dynamic exploration factorsThe following are provided:
wherein,to explore factorsThe step size of the change is chosen,indicating the number of times a task is performed,indicating the total number of times the task was performed.
The dynamic task allocation algorithm is as follows;
wherein,the objective function is dynamically allocated.
The task optimization algorithm is as follows:
wherein the method comprises the steps of，、Are all proportionality coefficients.
The trolley information received in S1.4 includes the current position, speed, status and current task of the trolley, the current task including a pallet code, a pick-up station and a drop-out station.
And S1.4, the trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to perform visual display.
Referring to fig. 2, there is provided a ring-shaped shuttle scheduling system based on dynamic task allocation, including:
task issuing module 100: the method is used for WCS issuing of the trolley task;
task receiving module 200: the method comprises the steps of receiving a trolley task issued by the WCS;
task orchestration module 300: the system is used for carrying out task overall planning according to the received trolley task;
task optimization module 400: the method is used for optimizing the overall planning trolley task;
task reassignment module 500: the method comprises the steps of carrying out reassignment on an optimized trolley task;
task visualization module 600: and the device is used for receiving the trolley information and visually displaying the trolley information.
The system also comprises a communication alarm module 700 and an offline 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 operation module 800 is used for manually filling in data.
The dispatching system is divided into a body page and a webpage version, the dispatching system is deployed on a server, the body page is checked on the server, the webpage version is connected with an intranet after the service is started, and login check is performed through a 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 a trolley task, the task receiving module 200 receives the trolley task issued by the WCS, and the task orchestration module 300 builds a task model according to the trolley task issued by the WCS:
wherein U is a time objective function,for the total number of carts,for the total number of tasks of the trolley,indicating that the trolley is executingThe time it takes for the tasks to be performed,for introduced decision variables, represent the firstVehicle trolley execution of the firstThe success rate of each task is 0 or 1, V is the task priority objective function,represent the firstPriority of the individual tasks;
constraint conditions of the task model are as follows:
wherein Q is the maximum capacity of the trolley to execute the task.
By constructing the task allocation model, the task allocation model is convenient for the later reassignment of the task.
Overall allocation of all trolley tasks is achieved through dynamic exploration factorsDynamic allocation and dynamic exploration factorsThe following are provided:
wherein,to explore factorsThe step size of the change is chosen,indicating the number of times a task is performed,indicating the total number of times the task was performed.
The dynamic task allocation algorithm is established according to the dynamic exploration factors as follows;
wherein,the objective function is dynamically allocated.
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 allocation:
wherein,、are all proportionality coefficients.
The rationality of task allocation is improved by task allocation optimization.
The task reassignment module 500 reassigns the optimized trolley task, specifically to which vehicle, which task to do, which tray to take. In this process, the task visualization module 600 will always read and receive the trolley information transmitted from the PLC, and report the same to the WCS, where the WCS compiles and converts the information, and presents the same to the user in the case of page visualization.
For a dispatch system, it is divided into 2 parts, one is an ontology page and the other is a web page version. The ontology page is deployed on the server, and referring to fig. 3, the ontology page can be directly checked on the server; after the webpage version starts the service, the webpage version can be connected with an intranet and can be logged in and checked through a user account.
Referring to fig. 3, a connection button is clicked at the upper left corner of a client of the dispatching system, an ip address of a port provided by the PLC is filled in an input box, the PLC and the WCS are connected, and the upper left side of a page prompts the connection state of the dispatching system and the WCS. The "WCS connected" green display, the description and communications of the WCS are connected.
By switching the online mode, the WCS is informed of whether the online mode is realized, the PLC connection state of each trolley is in the middle of the page, the green state is written with the 'PLC 1 connected', the fact that the RG01 first trolley is connected is indicated, and otherwise, the red display is not connected.
The system offline operation module 800 beside the system has the functions of manually filling in data, including: the current position, number, destination, etc. of the tray. After filling the allocated trolley data, the next action button can be clicked again to issue the task to the trolley. These actions include: a transport task, modifying the destination of a task, canceling a task, designating a dolly transport, and so forth.
The upper right corner of the page is the ring-through alarm communication service, and the communication alarm module 700 collects the alarm information of the ring-shaped shuttle and reports the alarm information to the upper computer.
The middle of the page is the current position, speed, state and current task of all the trolleys read by the dispatching system. Wherein the current tasks include: tray code, pick-up station and put-in station.
The lowest part of the page is a total task list, and the leftmost part of the list is provided with a deleting button, so that the task deleting operation can be executed. The list content includes: task_id Task number; palettcode tray 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 web page RGVDispatching System, the uppermost part of the page is the connection state of all trolleys. The locking and unlocking buttons are respectively arranged below each trolley: reset, lock. A specific trolley can be locked, and when tasks are distributed, the trolley cannot be issued. The following is a state description and alarm state of the trolley, and the state description is performed, so that a user can more intuitively see the specific state of the trolley.
RGVTask is the task list of dolly, compares the body page, and the upper left corner of webpage version has more a History function. The function can check which trolley does what task when, specifically to time and place, and can perform condition deletion and then derive from an excel table.
The lower right part of the page is the PointInformation, which can edit and delete the points of the receiving platform, the unloading platform and the like 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 characteristics 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 disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. A ring-shaped shuttle scheduling method 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: the method comprises the steps of receiving trolley tasks and overall distributing all the trolley tasks;
s1.3: optimizing and then issuing the overall distributed trolley tasks;
s1.4: receiving trolley information transmitted by a PLC and performing visual presentation; the trolley task is received in the S1.2, and a task model is built according to the trolley task issued by the WCS:
wherein U is the order of timeThe standard function, n is the total number of trolleys, m is the total number of trolley tasks, T j Representing the time spent by the trolley in performing the j-th task, A ij For the introduced decision variables, represent the success rate of the j-th task executed by the i-th trolley, the value is 0 or 1, V is the task priority objective function, and P j Representing the priority of the j-th task;
the constraint conditions of the task model are as follows:
wherein Q is the maximum capacity of the trolley to execute the task; and after receiving the trolley task in the S1.2, dynamically distributing the trolley task through a dynamic exploration factor gamma, wherein the dynamic exploration factor gamma is as follows:
wherein step is the step length of the change of the exploration factor gamma, T represents the number of times of executing the task, and T represents the total number of times of executing the task; the dynamic task allocation algorithm is as follows;
wherein Y is a dynamic allocation objective function; the task optimization algorithm is as follows:
wherein alpha is 1 、α 2 Are all proportionality coefficients.
2. The annular shuttle scheduling method based on dynamic task allocation according to claim 1, wherein the method comprises the following steps: the trolley information received in the step S1.4 comprises the current position, speed, state and current task of the trolley, wherein the current task comprises a tray code, a pick-up station and a put-in station.
3. The annular shuttle scheduling method based on dynamic task allocation according to claim 2, wherein: and S1.4, the trolley information transmitted by the PLC is reported to the WCS, and the WCS compiles and converts the trolley information to perform visual display.
4. The annular shuttle scheduling system based on dynamic task allocation of the annular shuttle scheduling method according to claim 1, wherein: comprising the following steps:
task issuing module (100): the method is used for WCS issuing of the trolley task;
task receiving module (200): the method comprises the steps of receiving a trolley task issued by the WCS;
task orchestration module (300): the system is used for carrying out task overall planning according to the received trolley task;
task optimization module (400): the method is used for optimizing the overall planning trolley task;
task reassignment module (500): the method comprises the steps of carrying out reassignment on an optimized trolley task;
task visualization module (600): and the device is used for receiving the trolley information and visually displaying the trolley information.
5. The annular shuttle scheduling system based on dynamic task allocation according to claim 4, wherein: the system also 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 operation module (800) is used for manually filling in data.
6. The annular shuttle scheduling system based on dynamic task allocation according to claim 5, 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 checked on the server, the webpage version is connected with an intranet after the service is started, and login check is performed through a user account.
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