CN116523433A - Four-way vehicle scheduling method and system based on bidirectional dynamic side weight - Google Patents
Four-way vehicle scheduling method and system based on bidirectional dynamic side weight Download PDFInfo
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Abstract
The invention belongs to the field of warehouse conveying, and particularly provides a four-way vehicle scheduling method and system based on bidirectional dynamic side weights, wherein the bidirectional dynamic weights of all road sections are updated in real time; and adding weights to the road sections on the optimal path according to the node groups and the bidirectional dynamic weights of each road section, releasing the weights of the passed road sections along with the running process of the newly added four-way vehicle, and updating the dynamic weights of the non-passed road sections in the corresponding directions. And deleting the goods, the nodes where the static four-way vehicle is located and the connected road sections from the topology model, and avoiding selecting the resources when distributing the road section resources so as to avoid generating an unvented path. The nodes are grouped, the same group of resources ensure the consistency allocation, and the nodes can only be allocated and released at the same time. The resources in the same dead are divided into a group, so that the four-way vehicle is prevented from being jammed in the same dead.
Description
Technical Field
The invention relates to the field of warehouse conveying, in particular to a four-way vehicle scheduling method and system based on bidirectional dynamic side weights.
Background
The traditional track four-way vehicle path planning scheme generally takes the reachable position of a four-way shuttle vehicle in a three-dimensional warehouse as a node, wherein the node for the transportation and running of the four-way vehicle is a cross node, the goods space for placing goods is a goods space node, the connecting line of adjacent nodes is a road section, and a four-way shuttle vehicle running map is constructed based on the node and the road section; and taking the current node of the four-way shuttle or the closest node which can be reached by the road section of the four-way shuttle as an initial node, taking a target cross node or a cargo space node as a target node, taking the running time or the running distance of the four-way shuttle as a cost function, and carrying out path searching among the nodes under the constraint of the cost function to form a planning path of the four-way shuttle.
In an actual intensive warehouse operation scene, the four-way shuttle is required to improve the operation efficiency as much as possible, and reduce the invalid carrying distance and time in the path. Since the length of the distance between nodes is fixed and the running speed of the four-way vehicle can be considered as a constant in practical application, the path planning of the same start point and end point with the running time or running distance as the cost function is the same in any case based on static weights.
The unknown conditions such as the load state of the four-way vehicle, the position information of the four-way vehicle, the cargo space cargo carrying state and the like which are changed in real time in the dense warehouse are required to have the flexibility of changing in real time according to the warehouse information, so that the method is suitable for the complex and changeable conditions in the dense warehouse, and the transportation efficiency is improved as much as possible.
The existing path planning mode only assumes that under a certain constant condition, the optimal solution of the path distance dimension is selected. Indeed, the efficiency is the highest in this case, but when the actual situation changes, a constant path plan will appear that the path is blocked or even dead-locked due to cargo loading, other four-way vehicles, etc., and the working efficiency will be greatly compromised or even the working process falls into a dead state.
Meanwhile, the four-way shuttle in the dense library runs bidirectionally, and the traditional path planning mode does not consider the path difference of two directions in actual running. No accurate control of the path and planning can be made. The existing path planning scheme is unique in shortest path, lacks of perception and consideration of dynamic information, cannot predictively judge and actively avoid blockage, is easy to cause congestion in a hot spot working area, cannot automatically schedule after congestion, and needs to be manually participated in the rear part to be relieved.
Based on the above problems, the existing path planning technical scheme often has the following defects when being applied: the path obtained by applying the shortest path algorithm based on the static data and the weight is unique, and flexibility is not available; the shortest path has a cargo point or a stationary four-way vehicle, so that the path cannot smoothly pass; the multiple vehicles on the same path move in opposite directions, so that deadlock is caused; after the path is locked, the vehicle cannot be communicated in both directions; multiple vehicles are blocked at the path junction.
The above problems are currently in need of solution.
Disclosure of Invention
The invention aims to provide a four-way vehicle scheduling method based on bidirectional dynamic edge weights.
In order to solve the technical problems, the invention provides a four-way vehicle scheduling method based on bidirectional dynamic edge weights, which comprises the following steps:
abstracting a channel for four-way vehicle passing and a goods channel for placing goods in the dense library into different nodes, forming road sections between the communicated nodes, wherein the distance between each road section is the same for the four-way vehicle to travel, so that a topology model of the dense library is built;
grouping nodes in the topology model;
updating the bidirectional dynamic weights of all road sections in real time;
calculating the optimal path of the newly added four-way vehicle according to the node group and the bidirectional dynamic weight of each road section, and occupying the nodes and road sections between the current node of the newly added four-way vehicle and the node of the terminal point along the optimal path to finish the dispatching of the newly added four-way vehicle;
and adding weight to the road sections on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road sections, and updating the dynamic weight of the non-passed road sections in the corresponding direction.
Further, the channel for four-way vehicle passing and the channel for placing goods in the dense warehouse are abstracted into different nodes, namely:
abstracting a channel into a four-way running node or a two-way running node, wherein the four-way running node allows the four-way vehicle to freely move in four directions, and the two-way running node allows the four-way vehicle to freely move in two directions;
the cargo way is abstracted into a bi-directional travel cargo space node, the bi-directional travel cargo space node allows bi-directional movement of the four-way vehicle, and the bi-directional travel cargo space node sometimes does not allow the loaded four-way vehicle to pass through.
Further, the step of grouping nodes in the topology model includes:
static resource groups, namely, goods lanes with only one outlet in a topology model are respectively divided into a group, only one four-way vehicle is allowed to park in each group of resources, and when the initial position of the four-way vehicle is in the goods lanes, the resources of the corresponding group are occupied by the four-way vehicle;
and when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dynamic dead-beards are formed or not, dividing the resources in the corresponding dead-beards into a group if the dynamic dead-beards are formed, and when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dead-beards are removed or not, and if the dead-beards are removed, removing the corresponding resource groups, wherein each node and each road section in the resource groups are independently managed.
Further, the step of updating the bidirectional dynamic weights of all road sections in real time includes:
setting initial weight item for each road sectiona 0 At this time, weight of each road sectionw= a 0 ；
Blocking occurs in the running process of the four-way vehicle, the weight coefficient r of the road section is increased, and after blocking, the weight coefficient is increasedr=1+mWherein, the method comprises the steps of, wherein,mis a configurable coefficient, is set according to the blocking state, and when the blocking is released,rthe influence of blocking on the path is eliminated after the preset time is elapsed as the time is decreased, and the formula is as follows;
；
in the method, in the process of the invention,tto generate the time elapsed after the blocking, the updated weights of the blocked road segments are then usedw= ra 0
When the road section is occupied by the four-way vehicle, a weight item is added to the road section in the opposite path of the occupied road section along the driving direction of the four-way vehicle ia i ，a i The calculation formula is as follows;
；
in the method, in the process of the invention,ithe number of the ith four-way vehicle which needs to pass through the road section for the current time,v i for the speed of the ith four-way vehicle,kas a result of the fact that the scaling factor is configurable,lthe number of road sections which need to be walked by the nodes which indicate that the four-way vehicle reaches the destination;
when the road section is occupied by a plurality of equidirectional driving four-way vehicles, the weight item is correspondingly added to the road section in the opposite path of the driving direction, and the updated weight is addedwThe method comprises the following steps:
；
in the method, in the process of the invention,iis the serial number of the four-way vehicle,a 1 representing an added weight term for the first four-way vehicle,a i represent the firstiThe weight items added to the four-way vehicle,a n represent the firstnAnd adding weight items to the four-way vehicle.
Further, the step of calculating the optimal path of the newly added four-way vehicle according to the node grouping and the bidirectional dynamic weight of each road section comprises the following steps:
generating a real-time topology model according to the cargo state of the four-way vehicle;
integrating the real-time topology model into a weighted directed graph;
calculating an optimal path by using a Di Jie St-Tesla shortest path algorithm based on the weighted directed graph;
weights of the pathWWeights for each road segmentwThe sum is given by:
；
in the method, in the process of the invention,mrepresenting the fourth pass of the vehiclemThe number of road segments is one,Nindicating the total number of road segments that have been traversed,w m representing the passing firstmWeights of the individual road segments.
Further, the four-way vehicle scheduling method based on the bidirectional dynamic edge weight further comprises the following steps:
scheduling the congested four-way vehicle;
the step of scheduling the congested four-way vehicle comprises the following steps:
the optimal path overlapping ratio of two newly added four-way vehicles exceedsqWhen the four-way vehicles at the overlapped part have opposite driving directions, marking the newly added four-way vehicle as a congestion risk four-way vehicle;
the marked four-way vehicle recalculates the optimal path according to the updated bidirectional dynamic weight of the road section.
Further, the four-way vehicle scheduling method based on the bidirectional dynamic edge weight further comprises the following steps:
scheduling the blocked four-way vehicle;
the step of scheduling the jammed four-way vehicle comprises:
the method comprises the steps of detecting blocking, when a four-way vehicle requests a resource, judging that two vehicles are blocked if the resource is occupied by other four-way vehicles and the request times exceed K (K is configurable), and putting the blocked four-way vehicle into a corresponding blocking set;
the blocking is released, the degree of freedom d represents the number of directions in which the four-way vehicle can move up and down and left and right, and the blocked four-way vehicle is scheduled according to the degree of freedom d to complete the blocking release;
and (3) blocking alarm, wherein the alarm is sent when the blocking set still exists within the time T.
The invention also provides a four-way vehicle dispatching system based on the bidirectional dynamic edge weight, which comprises:
the building module is suitable for abstracting a channel for four-way vehicle passing and a goods channel for placing goods in the dense library into different nodes, road sections are formed between the communicated nodes, the distance of each road section is the same, and the road sections are used for four-way vehicle running, so that a topology model of the dense library is built;
the grouping module is suitable for grouping the nodes in the topology model;
the weight updating module is suitable for updating the bidirectional dynamic weights of all road sections in real time;
the path calculation module is suitable for calculating the optimal path of the newly added four-way vehicle according to the node grouping and the bidirectional dynamic weight of each road section, occupying the nodes and road sections between the current node of the newly added four-way vehicle and the node of the terminal point along the optimal path, and completing the dispatching of the newly added four-way vehicle;
the releasing module is suitable for adding weight to the road sections on the optimal path, releasing the weight to the passed road sections along with the running process of the newly added four-way vehicle, and updating the dynamic weight of the non-passed road sections in the corresponding direction.
The invention also provides a computer readable storage medium, at least one instruction is stored in the computer readable storage medium, and the instruction is executed by a processor to realize the four-way vehicle scheduling method based on the bidirectional dynamic edge weight.
The invention also provides an electronic device, which comprises a memory and a processor; at least one instruction is stored in the memory; the processor loads and executes the at least one instruction to realize the four-way vehicle scheduling method based on the bidirectional dynamic edge weight.
The invention provides a four-way vehicle scheduling method and a system based on bidirectional dynamic side weights, wherein the four-way vehicle scheduling method based on the bidirectional dynamic side weights comprises the following steps: establishing a topology model of the dense library; grouping nodes in the topology model; updating the bidirectional dynamic weights of all road sections in real time; according to the node grouping and the bidirectional dynamic weight of each road section, calculating the optimal path of the newly added four-way vehicle, adding weight to the road section on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road section, and updating the dynamic weight of the non-passed road section in the corresponding direction. And deleting the goods, the nodes where the static four-way vehicle is located and the connected road sections from the topology model, and avoiding selecting the resources when distributing the road section resources so as to avoid generating an unvented path. The nodes are grouped, the same group of resources ensure the consistency allocation, and the nodes can only be allocated and released at the same time. The resources in the same dead are divided into a group, so that the four-way vehicle is prevented from being jammed in the same dead. The bidirectional path weight occupied by the four-way vehicle in the movement is dynamically modified, and the corresponding path is avoided from being selected as much as possible during path planning, so that the purposes of predicting deadlock and avoiding deadlock are achieved.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a flowchart of a four-way vehicle scheduling method based on bidirectional dynamic edge weights provided by the invention.
Fig. 2 is a schematic diagram of a topology model provided by the present invention.
Fig. 3 is a schematic block diagram of a four-way vehicle dispatching system based on bidirectional dynamic edge weights provided by the invention.
Fig. 4 is a schematic view of a part of the structure of an electronic device provided by the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
In embodiment 1, the dense warehouse comprises two parts of carrying equipment and a goods shelf, wherein the goods shelf consists of point positions with identification codes and track connection. The goods shelf is further divided into a channel for four-way vehicle passing and a roadway for placing goods.
Referring to fig. 1, the present embodiment provides a bidirectional dynamic edge weight-based four-way vehicle scheduling method, in which a node where a cargo, a static four-way vehicle are located, and a link are deleted from a topology model, and a resource is avoided being selected when the resource is allocated to the link, so as to avoid generating an unvented path. The nodes are grouped, the same group of resources ensure the consistency allocation, and the nodes can only be allocated and released at the same time. The resources in the same dead are divided into a group, so that the four-way vehicle is prevented from being jammed in the same dead. The bidirectional path weight occupied by the four-way vehicle in the movement is dynamically modified, and the corresponding path is avoided from being selected as much as possible during path planning, so that the purposes of predicting deadlock and avoiding deadlock are achieved.
Specifically, the four-way vehicle scheduling method based on the bidirectional dynamic edge weight comprises the following steps:
s110: the navigation channel for four-way vehicle passing and the goods channel for placing goods in the dense library are abstracted into different nodes, road sections are formed between the communicated nodes, the distance between each road section is the same, and the road sections are used for four-way vehicle running, so that a topology model of the dense library is built.
Specifically, the channel for four-way vehicle passing and the channel for placing goods in the dense warehouse are abstracted into different nodes, the channel is abstracted into four-way running nodes or two-way running nodes, the four-way running nodes allow the four-way vehicle to freely move in four directions, and the two-way running nodes allow the four-way vehicle to freely move in two directions; the cargo way is abstracted into a bi-directional travel cargo space node, the bi-directional travel cargo space node allows bi-directional movement of the four-way vehicle, and the bi-directional travel cargo space node sometimes does not allow the loaded four-way vehicle to pass through. As shown in fig. 2. If the four-way vehicle runs on one path, other road sections which are opposite to the road sections are avoided, so that the blocking condition of the four-way vehicle is avoided, but the four-way vehicle is allowed to jointly plan one path in the same direction, resources are used in sequence, and blocking is avoided.
S120: nodes in the topology model are grouped.
Specifically, it is divided into a static resource group, a dynamic resource group, and an independent management resource.
Static resource groups, namely, the goods lanes with only one outlet in the topology model are respectively divided into one group, only one four-way vehicle is allowed to park in each group of resources, and when the initial position of the four-way vehicle is in the goods lane, the resources of the corresponding group are occupied by the four-way vehicle.
And when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dynamic dead-beards are formed or not, dividing the resources in the corresponding dead-beards into a group if the dynamic dead-beards are formed, and when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dead-beards are removed or not, and if the dead-beards are removed, removing the corresponding resource groups, wherein each node and each road section in the resource groups are independently managed.
S130: and updating the bidirectional dynamic weights of all the road sections in real time.
Wherein, each road section is provided with a plurality of road sections,
specifically, step S130 includes the steps of:
setting initial weight item for each road sectiona 0 At this time, weight of each road sectionw= a 0 The method comprises the steps of carrying out a first treatment on the surface of the It should be noted that each road section has weights in two directions, and initial weight terms are allw= a 0 。
Blocking occurs in the running process of the four-way vehicle, the weight coefficient r of the road section is increased, and after blocking, the weight coefficient is increasedr=1+mWherein, the method comprises the steps of, wherein,mis a configurable coefficient, is set according to the blocking state, and when the blocking is released,rthe influence of blocking on the path is eliminated after the preset time is elapsed as the time is decreased, and the formula is as follows;
；
in the method, in the process of the invention,tto generate the time elapsed after the blocking, the updated bidirectional dynamic weights of the blocked road segments are used at this timew= ra 0 It will be appreciated that when a congestion occurs, the weight coefficient r is added to the bi-directional dynamic weight of the corresponding road segment.
In actual production operations, road sections closer to the four-way vehicle should be avoided as much as possible when planning paths for other four-way vehicles, because the road sections will be more urgent to be occupied by the four-way vehicle; while the farther from the four-way vehicle the relatively lower the road segment urgency, which may be considered as appropriate in planning. Because of the difference in speed of each vehicle, theoretically, the faster the speed is, the higher the urgency of road segment use is.
When the road section is occupied by the four-way vehicle, a weight item is added to the road section in the opposite path of the occupied road section along the driving direction of the four-way vehicle ia i ，a i The calculation formula is as follows;
；
in the method, in the process of the invention,ithe number of the ith four-way vehicle which needs to pass through the road section for the current time,v i for the speed of the ith four-way vehicle,kas a result of the fact that the scaling factor is configurable,lindicating the number of road segments that the four-way vehicle needs to travel to reach the destination node. It is thereby ensured that the closer the road section weight of the four-way vehicle is, the lower the road section weight of the road section farther from the vehicle is, and that the final value tends to 0 when the distance is elongated. The reverse direction of the path representing the planned use of the truck at the far side can be considered for use, and the reverse direction of the planned path at the near side can be avoided for use, thereby reducing congestion.
When the road section is occupied by a plurality of equidirectional driving four-way vehicles, the weight item is correspondingly added to the road section in the opposite path of the driving direction, and the updated weight is addedwThe method comprises the following steps:
；
in the method, in the process of the invention,iis the serial number of the four-way vehicle,a 1 representing an added weight term for the first four-way vehicle,a i represent the firstiThe weight items added to the four-way vehicle,a n represent the firstnAnd adding weight items to the four-way vehicle.
S140: and calculating the optimal path of the newly added four-way vehicle according to the node group and the bidirectional dynamic weight of each road section, and occupying the nodes and road sections between the current node of the newly added four-way vehicle and the node of the terminal point along the optimal path to finish the dispatching of the newly added four-way vehicle.
Specifically, the step of calculating the optimal path of the newly added four-way vehicle according to the node grouping and the bidirectional dynamic weight of each road section comprises the following steps:
s141: and generating a real-time topological model according to the cargo state of the four-way vehicle.
Specifically, if the four-way vehicle is not loaded, the nodes occupied by the idle four-way vehicle are removed from the topology map. And if the four-way vehicle carries cargo, removing the nodes occupied by the idle four-way vehicle and the nodes occupied by the cargo from the topological graph.
S142: integrating the real-time topology model into a weighted directed graph;
s143: calculating an optimal path by using a Di Jie St-Tesla shortest path algorithm based on the weighted directed graph;
s144: weights of the pathWWeights for each road segmentwThe sum is given by:
；
in the method, in the process of the invention,mrepresenting the fourth pass of the vehiclemThe number of road segments is one,Nindicating the total number of road segments that have been traversed,w m representing the passing firstmWeights of the individual road segments.
S150: and adding weight to the road sections on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road sections, and updating the dynamic weight of the non-passed road sections in the corresponding direction.
S160: and scheduling the congested four-way vehicle.
Specifically, step S160 includes the steps of:
s161: the optimal path overlapping ratio of two newly added four-way vehicles exceedsqAnd when the four-way vehicles in the overlapped part have opposite driving directions, marking the newly added four-way vehicle as a congestion risk four-way vehicle. Wherein, the liquid crystal display device comprises a liquid crystal display device,qis a configurable item that is positively correlated to the topology model size.
S162: the marked four-way vehicle recalculates the optimal path according to the updated bidirectional dynamic weight of the road section.
S170: and scheduling the blocked four-way vehicle.
Specifically, step S170 includes the steps of:
s171: the method comprises the steps of detecting blocking, when a four-way vehicle requests a resource, judging that two vehicles are blocked if the resource is occupied by other four-way vehicles and the request times exceed K (K is configurable), and putting the blocked four-way vehicle into a corresponding blocking set;
s172: and (3) the blockage is relieved, the degree of freedom d represents the number of directions in which the four-way vehicle can move up and down and left and right, and the blocked four-way vehicle is scheduled according to the degree of freedom d to finish the blockage relief.
Specifically, a four-way car with a degree of freedom d of 0 is screened out, since a degree of freedom of 0 indicates immobility. And the idle four-way vehicle avoids the four-way vehicle for executing the task. If the blocking set has idle four-way vehicles, the four-way vehicles are led to rest points which are defined manually, and the scheduling of the four-way vehicles is not affected. And the four-way vehicles with high degrees of freedom and low avoidance degrees of freedom are ranked from high to low according to the degrees of freedom of the four-way vehicles, and the optimal obstacle avoidance four-way vehicle is found. And calculating an optimal obstacle avoidance point with the shortest Manhattan distance, and avoiding the travelling paths of other four-way vehicles when the optimal obstacle avoidance point is selected. And the four-way vehicle is led to the optimal obstacle avoidance point. And after waiting for the other four-way vehicles to pass, the task of the four-way vehicle is continuously executed.
In the case of a plurality of vehicles blocking, if the blocking is still present after one vehicle is blocked, the blocking set is detected again, and one vehicle is selected from the set to move away according to the rules until the blocking completely disappears.
S173: and (3) blocking alarm, wherein the alarm is sent when the blocking set still exists within the time T.
Specifically, when each set of blocks is generated, the block start time t1 of the blocked vehicle is updated, and after the vehicle task is completed, the block start time is updated to be empty. And judging according to the starting time, if the current time T0-T1 is more than T, judging that the blockage is abnormal, prompting the blockage condition to a warehouse manager by the system, and carrying out manual operation by the warehouse manager to remove the blockage. T is a configurable parameter.
Referring to fig. 3, in embodiment 2, the present embodiment provides a four-way vehicle scheduling system based on bidirectional dynamic edge weights, including:
the building module is suitable for abstracting a channel for four-way vehicle passing and a goods channel for placing goods in the dense library into different nodes, road sections are formed between the communicated nodes, the distance between each road section is the same, and the road sections are used for four-way vehicle driving, so that a topology model of the dense library is built. For performing step S110 in embodiment 1.
And the grouping module is suitable for grouping the nodes in the topology model. For performing step S120 in embodiment 1.
And the weight updating module is suitable for updating the bidirectional dynamic weights of all road sections in real time. For performing step S130 in embodiment 1.
The path calculation module is adapted to calculate an optimal path of the newly added four-way vehicle according to the node group and the bidirectional dynamic weight of each road section, and occupy the nodes and road sections between the current node of the newly added four-way vehicle and the terminal node along the optimal path, so as to complete the dispatching of the newly added four-way vehicle for executing the step S140 in the embodiment 1.
The releasing module is suitable for adding weight to the road sections on the optimal path, releasing the weight to the passed road sections along with the running process of the newly added four-way vehicle, and updating the dynamic weight of the non-passed road sections in the corresponding direction. For performing step S150 in embodiment 1.
Embodiment 3 provides a computer readable storage medium, where at least one instruction is stored, where the instruction, when executed by a processor, implements the bidirectional dynamic edge weight-based four-way vehicle scheduling method provided in embodiment 1.
The four-way vehicle scheduling method based on the bidirectional dynamic edge weight comprises the following steps: establishing a topology model of the dense library; grouping nodes in the topology model; updating the bidirectional dynamic weights of all road sections in real time; according to the node grouping and the bidirectional dynamic weight of each road section, calculating the optimal path of the newly added four-way vehicle, adding weight to the road section on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road section, and updating the dynamic weight of the non-passed road section in the corresponding direction. And deleting the goods, the nodes where the static four-way vehicle is located and the connected road sections from the topology model, and avoiding selecting the resources when distributing the road section resources so as to avoid generating an unvented path. The nodes are grouped, the same group of resources ensure the consistency allocation, and the nodes can only be allocated and released at the same time. The resources in the same dead are divided into a group, so that the four-way vehicle is prevented from being jammed in the same dead. The bidirectional path weight occupied by the four-way vehicle in the movement is dynamically modified, and the corresponding path is avoided from being selected as much as possible during path planning, so that the purposes of predicting deadlock and avoiding deadlock are achieved.
Embodiment 4 referring to fig. 4, the present embodiment provides an electronic device, including: a memory 502 and a processor 501; at least one program instruction is stored in the memory 502; the processor 501 implements the mechanical arm movement process calculation method as provided in embodiment 1 by loading and executing the at least one program instruction.
The memory 502 and the processor 501 are connected by a bus, which may include any number of interconnected buses and bridges, which connect together the various circuits of the one or more processors 501 and the memory 502. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 501 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 501.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
In summary, the invention provides a four-way vehicle scheduling method and system based on bidirectional dynamic side weights, wherein the four-way vehicle scheduling method based on bidirectional dynamic side weights comprises the following steps: establishing a topology model of the dense library; grouping nodes in the topology model; updating the bidirectional dynamic weights of all road sections in real time; according to the node grouping and the bidirectional dynamic weight of each road section, calculating the optimal path of the newly added four-way vehicle, adding weight to the road section on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road section, and updating the dynamic weight of the non-passed road section in the corresponding direction. And deleting the goods, the nodes where the static four-way vehicle is located and the connected road sections from the topology model, and avoiding selecting the resources when distributing the road section resources so as to avoid generating an unvented path. The nodes are grouped, the same group of resources ensure the consistency allocation, and the nodes can only be allocated and released at the same time. The resources in the same dead are divided into a group, so that the four-way vehicle is prevented from being jammed in the same dead. The bidirectional path weight occupied by the four-way vehicle in the movement is dynamically modified, and the corresponding path is avoided from being selected as much as possible during path planning, so that the purposes of predicting deadlock and avoiding deadlock are achieved.
The components (components not illustrating specific structures) selected in the application are all common standard components or components known to those skilled in the art, and the structures and principles of the components are all known to those skilled in the art through technical manuals or through routine experimental methods. Moreover, the software programs referred to in the present application are all prior art, and the present application does not relate to any improvement of the software programs.
In the description of embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. A four-way vehicle scheduling method based on bidirectional dynamic edge weights is characterized by comprising the following steps:
abstracting a channel for four-way vehicle passing and a goods channel for placing goods in the dense library into different nodes, forming road sections between the communicated nodes, wherein the distance between each road section is the same for the four-way vehicle to travel, so that a topology model of the dense library is built;
grouping nodes in the topology model;
updating the bidirectional dynamic weights of all road sections in real time;
calculating the optimal path of the newly added four-way vehicle according to the node group and the bidirectional dynamic weight of each road section, and occupying the nodes and road sections between the current node of the newly added four-way vehicle and the node of the terminal point along the optimal path to finish the dispatching of the newly added four-way vehicle;
and adding weight to the road sections on the optimal path, following the running process of the newly added four-way vehicle, releasing the weight of the passed road sections, and updating the dynamic weight of the non-passed road sections in the corresponding direction.
2. The bidirectional dynamic edge weight-based four-way vehicle scheduling method according to claim 1, wherein the channel for four-way vehicle passing and the channel for goods placement in the dense store are abstracted into different nodes, namely:
abstracting a channel into a four-way running node or a two-way running node, wherein the four-way running node allows the four-way vehicle to freely move in four directions, and the two-way running node allows the four-way vehicle to freely move in two directions;
the cargo way is abstracted into a bi-directional travel cargo space node, the bi-directional travel cargo space node allows bi-directional movement of the four-way vehicle, and the bi-directional travel cargo space node sometimes does not allow the loaded four-way vehicle to pass through.
3. The bi-directional dynamic edge weight based four-way car scheduling method of claim 1, wherein the step of grouping nodes in the topology model comprises:
static resource groups, namely, goods lanes with only one outlet in a topology model are respectively divided into a group, only one four-way vehicle is allowed to park in each group of resources, and when the initial position of the four-way vehicle is in the goods lanes, the resources of the corresponding group are occupied by the four-way vehicle;
and when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dynamic dead-beards are formed or not, dividing the resources in the corresponding dead-beards into a group if the dynamic dead-beards are formed, and when the goods position goods taking event occurs in the topology model, dynamically detecting whether the dead-beards are removed or not, and if the dead-beards are removed, removing the corresponding resource groups, wherein each node and each road section in the resource groups are independently managed.
4. The bi-directional dynamic edge weight based four-way vehicle scheduling method of claim 1, wherein the step of updating the bi-directional dynamic weights of all road segments in real time comprises:
setting initial weight item for each road sectiona 0 At this time, weight of each road sectionw= a 0 ；
Blocking occurs in the running process of the four-way vehicle, the weight coefficient r of the road section is increased, and after blocking, the weight coefficient is increasedr=1+mWherein, the method comprises the steps of, wherein,mis a configurable coefficient, is set according to the blocking state, and when the blocking is released,rthe influence of blocking on the path is eliminated after the preset time is elapsed as the time is decreased, and the formula is as follows;
；
in the method, in the process of the invention,tto generate the time elapsed after the blocking, the road section is blocked at this timeUpdated weightsw= ra 0 ；
When the road section is occupied by the four-way vehicle, a weight item is added to the road section in the opposite path of the occupied road section along the driving direction of the four-way vehicle ia i ，a i The calculation formula is as follows;
；
in the method, in the process of the invention,ithe number of the ith four-way vehicle which needs to pass through the road section for the current time,v i for the speed of the ith four-way vehicle,kas a result of the fact that the scaling factor is configurable,lthe number of road sections which need to be walked by the nodes which indicate that the four-way vehicle reaches the destination;
when the road section is occupied by a plurality of equidirectional driving four-way vehicles, the weight item is correspondingly added to the road section in the opposite path of the driving direction, and the updated weight is addedwThe method comprises the following steps:
；
in the method, in the process of the invention,iis the serial number of the four-way vehicle,a 1 representing an added weight term for the first four-way vehicle,a i represent the firstiThe weight items added to the four-way vehicle,a n represent the firstnAnd adding weight items to the four-way vehicle.
5. The method for scheduling four-way vehicles based on bidirectional dynamic edge weights according to claim 4, wherein the step of calculating the optimal path of the newly added four-way vehicle according to the node group and the bidirectional dynamic weight of each road section comprises the following steps:
generating a real-time topology model according to the cargo state of the four-way vehicle;
integrating the real-time topology model into a weighted directed graph;
calculating an optimal path by using a Di Jie St-Tesla shortest path algorithm based on the weighted directed graph;
weights of the pathWWeights for each road segmentwThe sum is given by:
；
in the method, in the process of the invention,mrepresenting the fourth pass of the vehiclemThe number of road segments is one,Nindicating the total number of road segments that have been traversed,w m representing the passing firstmWeights of the individual road segments.
6. The bidirectional dynamic edge weight-based four-way car scheduling method as set forth in claim 1, further comprising:
scheduling the congested four-way vehicle;
the step of scheduling the congested four-way vehicle comprises the following steps:
the optimal path overlapping ratio of two newly added four-way vehicles exceedsqWhen the four-way vehicles at the overlapped part have opposite driving directions, marking the newly added four-way vehicle as a congestion risk four-way vehicle;
the marked four-way vehicle recalculates the optimal path according to the updated bidirectional dynamic weight of the road section.
7. The bidirectional dynamic edge weight-based four-way car scheduling method as set forth in claim 1, further comprising:
scheduling the blocked four-way vehicle;
the step of scheduling the jammed four-way vehicle comprises:
detecting blocking, namely when a four-way vehicle requests a resource, if the resource is occupied by other four-way vehicles and the request times exceed K, judging that two vehicles are blocked, and putting the blocked four-way vehicle into a corresponding blocking set;
the blocking is released, the degree of freedom d represents the number of directions in which the four-way vehicle can move up and down and left and right, and the blocked four-way vehicle is scheduled according to the degree of freedom d to complete the blocking release;
and (3) blocking alarm, wherein the alarm is sent when the blocking set still exists within the time T.
8. A bidirectional dynamic edge weight-based four-way vehicle scheduling system, comprising:
the building module is suitable for abstracting a channel for four-way vehicle passing and a goods channel for placing goods in the dense library into different nodes, road sections are formed between the communicated nodes, the distance of each road section is the same, and the road sections are used for four-way vehicle running, so that a topology model of the dense library is built;
the grouping module is suitable for grouping the nodes in the topology model;
the weight updating module is suitable for updating the bidirectional dynamic weights of all road sections in real time;
the path calculation module is suitable for calculating the optimal path of the newly added four-way vehicle according to the node grouping and the bidirectional dynamic weight of each road section, occupying the nodes and road sections between the current node of the newly added four-way vehicle and the node of the terminal point along the optimal path, and completing the dispatching of the newly added four-way vehicle;
the releasing module is suitable for adding weight to the road sections on the optimal path, releasing the weight to the passed road sections along with the running process of the newly added four-way vehicle, and updating the dynamic weight of the non-passed road sections in the corresponding direction.
9. A computer readable storage medium having stored therein at least one instruction, wherein the instructions when executed by a processor implement the bidirectional dynamic edge weight based four-way car scheduling method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor; at least one instruction is stored in the memory; the processor, by loading and executing the at least one instruction, implements the bidirectional dynamic edge weight-based four-way vehicle scheduling method of any one of claims 1-7.
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