CN109165834A - A kind of automated guided vehicle task matching process and system - Google Patents
A kind of automated guided vehicle task matching process and system Download PDFInfo
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Abstract
The invention discloses a kind of automated guided vehicle task matching process and systems, this method comprises: obtaining automated guided vehicle information list, the task list in preset time window ranges and multidate information list；It is that each task in the task list matches corresponding automated guided vehicle in the automated guided vehicle information list according to the automated guided vehicle information list, task list and multidate information list.The present invention has carried out time range restriction to task list, to improve computational efficiency；And multidate information list is used, improve the real-time of data；Different processing modes is used for different types of task, the accuracy rate of matching result is improved, meets the needs of Real-Time Scheduling.
Description
Technical field
The present invention relates to unmanned harbour field more particularly to a kind of automated guided vehicle task matching process and systems.
Background technique
AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ", is referred to equipped with electricity
Magnetically or optically equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and various transfer function
The transport vehicle of energy.
Automatic dock is to can all use AGV, traditional scheduler AGV to corresponding mesh in the loading of container, Discharging Process
Position freighted, the mode unloaded is according to quiet hour Matrix List (that is, the AGV pre-set reaches each mesh
Position time) least AGV of required time is transferred to corresponding destination locations.
But the quiet hour matrix stored in AGV refers to and is in needed for initial position to each destination locations from AGV
Time, and position of the AGV in scheduling process where it is to change, therefore, the time required for AGV to each destination locations
Exist with the time listed in quiet hour matrix and enter and leave, when scheduling, the ratio of AGV reaching on the time destination locations is lower, delay
Rate is higher.
Summary of the invention
The object of the present invention is to provide a kind of automated guided vehicle task matching process and systems, improve homing guidance fortune
Defeated vehicle reaches the punctuality rate of destination locations.
Technical solution provided by the invention is as follows:
A kind of automated guided vehicle task matching process, comprising: when obtaining automated guided vehicle information list, presetting
Between task list in window ranges and multidate information list；According to the automated guided vehicle information list, task list
It is corresponding in each task matching automated guided vehicle information list in the task list with multidate information list
Automated guided vehicle.
In the above-mentioned technical solutions, task to be matched is defined by preset time window, reduces calculation amount, is improved
Working efficiency；And the information of multidate information list has real-time and accuracy, matching result is more accurate.
Further, described according to the automated guided vehicle information list, task list and multidate information list, for institute
Stating corresponding automated guided vehicle in each task matching automated guided vehicle information list in task list includes:
When there are when at least one delay task, being transported according to the multidate information list and the homing guidance in the task list
Vehicle information list matches in the automated guided vehicle information list for each delay task and reaches the delay task
Destination locations the time required to least automated guided vehicle.
In the above-mentioned technical solutions, the delay task in task list is preferentially shone using preset time window
It cares for, allows nearest automated guided vehicle to reach destination locations as early as possible and work, delay task is made to be completed as early as possible.
Further, described according to the automated guided vehicle information list, task list and multidate information list, for institute
Stating corresponding automated guided vehicle in each task matching automated guided vehicle information list in task list includes:
When there are when at least one non-delayed task, being transported according to the multidate information list and the homing guidance in the task list
Defeated vehicle information list uses KM algorithm to match for each non-delayed task right in the automated guided vehicle information list
The automated guided vehicle answered.
In the above-mentioned technical solutions, the characteristic of KM algorithm is determined for each non-delayed task and automated guided vehicle
When each automated guided vehicle in information list matches, it can be accounted for from the overall situation, obtain the matching result of global optimum.
Further, the multidate information list includes: the list of electrical changing station multidate information and automated guided vehicle letter
Cease the dynamic time matrix information of each automated guided vehicle in list；It is described that there are at least one in the task list
When non-delayed task, according to the multidate information list and the automated guided vehicle information list, it is every for using KM algorithm
A non-delayed task matches corresponding automated guided vehicle in the automated guided vehicle information list specifically: when
There are when at least one non-delayed task in the task list, according to the automated guided vehicle information list, described change
The dynamic time square of each automated guided vehicle in power station multidate information list and the automated guided vehicle information list
Battle array information, calculates separately the expectation of each associated destination locations of automated guided vehicle in automated guided vehicle information list
Value；According to the desired value of the associated destination locations of each automated guided vehicle and the corresponding purpose position of each non-delayed task
It sets, KM algorithm is used to lead automatically to be corresponding in each non-delayed task matching automated guided vehicle information list
Draw transport vehicle.
In the above-mentioned technical solutions, different weight calculation desired values is used for different situations, considered from global situation
Optimum Matching result.
Further, the acquisition automated guided vehicle information list, the task list in preset time window ranges and
After multidate information list further include: be grouped to each task in the task list according to destination locations, obtain grouping task
List；It is described according to the automated guided vehicle information list, task list and multidate information list, be the task list
In each task match corresponding automated guided vehicle in the automated guided vehicle information list specifically: according to automatic
Guide transport lorry information list, the grouping task list and multidate information list are to appoint for every group in the grouping task list
Business matches corresponding automated guided vehicle in the automated guided vehicle information list.
In the above-mentioned technical solutions, each task in task list is grouped according to destination locations, further according to grouping
Task list is that the corresponding automated guided vehicle of every group task matching can allow same automated guided vehicle execution same
All tasks of destination locations reduce the time spent in distance, improve working efficiency.
The present invention also provides a kind of automated guided vehicle task matching systems, comprising: module is obtained, it is automatic for obtaining
Guide transport lorry information list, the task list in preset time window ranges and multidate information list；Matching module is used for root
It is each task in the task list according to the automated guided vehicle information list, task list and multidate information list
Match corresponding automated guided vehicle in the automated guided vehicle information list.
In the above-mentioned technical solutions, task to be matched is defined by preset time window, reduces calculation amount, is improved
Working efficiency；And the information of multidate information list has real-time and accuracy, matching result is more accurate.
Further, the matching module, for according to the automated guided vehicle information list, task list and dynamic
Information list is led automatically to be corresponding in each task matching automated guided vehicle information list in the task list
Drawing transport vehicle includes: delay matching submodule, for when in the task list there are when at least one delay task, according to institute
Multidate information list and the automated guided vehicle information list are stated, matches the homing guidance for each delay task
Least automated guided vehicle the time required to reaching the destination locations of the delay task in transport vehicle information list.
Further, the matching module, for according to the automated guided vehicle information list, task list and dynamic
Information list is led automatically to be corresponding in each task matching automated guided vehicle information list in the task list
Drawing transport vehicle includes: non-delayed matched sub-block, for when in the task list there are when at least one non-delayed task, root
According to the multidate information list and the automated guided vehicle information list, use KM algorithm for each non-delayed task
Match corresponding automated guided vehicle in the automated guided vehicle information list.
Further, the multidate information list includes: the list of electrical changing station multidate information and automated guided vehicle letter
Cease the dynamic time matrix information of each automated guided vehicle in list；The non-delayed matched sub-block, for when described
There are when at least one non-delayed task in task list, believed according to the multidate information list and the automated guided vehicle
Cease list, use KM algorithm be each non-delayed task match in the automated guided vehicle information list it is corresponding oneself
Dynamic guide transport lorry specifically: the non-delayed matched sub-block, for when non-prolonging in the task list there are at least one
When slow task, according to the automated guided vehicle information list, the electrical changing station multidate information list and the homing guidance
The dynamic time matrix information of each automated guided vehicle in transport vehicle information list calculates separately automated guided vehicle letter
Cease the desired value of each associated destination locations of automated guided vehicle in list；According to the associated purpose of each automated guided vehicle
The desired value of position and the corresponding destination locations of each non-delayed task, use KM algorithm for each non-delayed task
With corresponding automated guided vehicle in the automated guided vehicle information list.
Further, further includes: grouping module, for being grouped to each task in the task list according to destination locations,
Obtain grouping task list；The matching module is used for according to the automated guided vehicle information list, task list and moves
State information list is corresponding automatic in each task matching automated guided vehicle information list in the task list
Guide transport lorry specifically: the matching module, for according to automated guided vehicle information list, the grouping task list
It is right in every group task matching automated guided vehicle information list in the grouping task list with multidate information list
The automated guided vehicle answered.
Compared with prior art, automated guided vehicle task matching process of the invention and system beneficial effect are:
The present invention has carried out time range restriction to task list, to improve computational efficiency；And multidate information list is used,
Improve the real-time of data；Different processing modes is used for different types of task, improves the accuracy rate of matching result,
Meets the needs of Real-Time Scheduling.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of automated guided vehicle
Task matching process and above-mentioned characteristic, technical characteristic, advantage and its implementation of system are further described.
Fig. 1 is the flow chart of automated guided vehicle task matching process one embodiment of the present invention；
Fig. 2 is the flow chart of another embodiment of automated guided vehicle task matching process of the present invention；
Fig. 3 is the flow chart of another embodiment of automated guided vehicle task matching process of the present invention；
Fig. 4 is the structural schematic diagram of automated guided vehicle task matching system one embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another embodiment of automated guided vehicle task matching system of the present invention；
Fig. 6 is the structural schematic diagram of another embodiment of automated guided vehicle task matching system of the present invention.
Drawing reference numeral explanation:
10. module is obtained, 20. matching modules, 21. delay matching submodules, 22. non-delayed matched sub-blocks, 30. groupings
Module.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In automating unmanned harbour, each automated guided vehicle is uniformly to be managed, dispatched, platform by a platform
Loading, unloading can be gone according to certain each automated guided vehicle of rule-based scheduling, concrete mode please refers to following each embodiments.
In one embodiment of the invention, as shown in Figure 1, a kind of automated guided vehicle task matching process, comprising:
S101 obtains automated guided vehicle information list, task list and multidate information in preset time window ranges
List；
S102 is in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in each task matching automated guided vehicle information list.
Specifically, automated guided vehicle information list refers to several automated guided vehicles to be allocated, and, this
The current location of each automated guided vehicle and current electric quantity in a little automated guided vehicles.Automated guided vehicle information column
Table makes to be expressly understood that the automated guided vehicle that can specifically distribute task when task schedule, lays for the scheduling of follow-up work
Basis.
The setting of preset time window is limited at task in specific time range when scheduling, each calculated
Be engaged in corresponding automated guided vehicle accuracy rate is higher, information is more real-time.Preset time window is set according to actual use demand
It sets, such as: 1 hour, that when carrying out task matching, exactly needs to do according to current time within 1 hour of pusher every time
All tasks just obtained the task list in preset time window ranges.
Multidate information list refers to each automated guided vehicle in automated guided vehicle information list in the present embodiment
Dynamic time matrix information.The dynamic time matrix information of one automated guided vehicle includes: several temporal informations, each
Temporal information refers to the time according to needed for one destination locations of the current location of automated guided vehicle arrival.
Optionally, the dynamic time matrix information of an automated guided vehicle further include: several range informations, each
Range information refers to current location and the distance between the destination locations of the automated guided vehicle.
Preferably, a default arrival time is set to screen the dynamic time matrix information of each automated guided vehicle
In temporal information, reduce the complexity of data, be convenient for subsequent calculating.Default arrival time requires according to punctuality rate, calculates
The different factors such as real-time levels requirement voluntarily confirm and are arranged, i.e., according to actual use demand setting, are not limited thereto.Together
The distance letter in dynamic time matrix information of the pre-determined distance to screen each automated guided vehicle also can be set in reason
Breath.
Such as: default arrival time is 30 minutes, it is assumed that have 10 destination locations, automated guided vehicle 1 reach this 10
The time of a destination locations is respectively 3 minutes, 5 minutes, 10 minutes, 20 minutes, 15 minutes, 23 minutes, 50 minutes, 32 minutes,
36 minutes, 45 minutes, that 6 temporal information for getting the temporal information up to some destination locations less than 30 minutes are used as certainly
The dynamic time matrix information of dynamic guide transport lorry 1, the corresponding purpose position of temporal information in dynamic time matrix information
It sets and is associated with automated guided vehicle 1.
Being confirmed according to automated guided vehicle information list can be with matched automated guided vehicle, multidate information list
Confirmation can reach time, the distance of each associated destination locations with matched each automated guided vehicle, according to above- mentioned information come
Suitable automated guided vehicle is matched for task each in task list.
Optionally, automated guided vehicle information list, task list and dynamic in preset time window ranges are obtained
After information list further include:
Each task in task list is grouped according to destination locations, obtains grouping task list；
It is each in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in business matching automated guided vehicle information list specifically:
According to automated guided vehicle information list, grouping task list and multidate information list, to be grouped task list
In corresponding automated guided vehicle in every group task matching automated guided vehicle information list.
Specifically, each task in task list is grouped according to destination locations, it is further according to grouping task list
Every group task, which matches corresponding automated guided vehicle, can allow same automated guided vehicle to execute same destination locations
All tasks, reduction spend in the unnecessary time in distance, improve working efficiency.
Task to be matched is defined in the present embodiment by preset time window, reduces calculation amount, improves work effect
Rate；And the information of multidate information list has real-time and accuracy, matching result is more accurate.
In another embodiment of the present invention, as shown in Fig. 2, a kind of automated guided vehicle task matching process, packet
It includes:
S201 obtains automated guided vehicle information list, task list and multidate information in preset time window ranges
List；S202 is each in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in business matching automated guided vehicle information list.To avoid redundancy, with above-described embodiment phase
Same part is not repeated to describe.
S202 is in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle includes: in each task matching automated guided vehicle information list
S212 in task list according to multidate information list and homing guidance when there are when at least one delay task, transporting
Vehicle information list matches the destination locations institute that delay task is reached in automated guided vehicle information list for each delay task
Take time least automated guided vehicle.
Specifically, in the prior art, task list causes calculation amount huge, and can't there is no time window limitation
For task type difference and treat with a certain discrimination, can only traverse will be apart from most according to quiet hour Matrix List after all tasks
Close automated guided vehicle and task matching, punctuality rate is lower, is unable to satisfy actual demand.
It, can be according to the type of task in the present embodiment when matching automated guided vehicle for each task in task list
Using different matching ways.
Delay task is interpreted as emergency task, for delay task, can preferably be matched, directly match and prolong from this
The nearest automated guided vehicle of the corresponding destination locations of slow task, in other words, directly it is corresponding to reach this delay task for matching
Destination locations required for time least automated guided vehicle.Optionally, it is led automatically for delay task matching is corresponding
When drawing transport vehicle, matching primitives can be realized using greedy algorithm.
The delay task in task list is given priority to using preset time window, allows nearest homing guidance
Transport vehicle reaches destination locations as early as possible and works, and delay task is made to be completed as early as possible.
S202 is in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in each task matching automated guided vehicle information list further include:
S222 in task list according to multidate information list and homing guidance when there are when at least one non-delayed task, transporting
Defeated vehicle information list uses KM algorithm to match for each non-delayed task corresponding automatic in automated guided vehicle information list
Guide transport lorry.
Specifically, KM (Kuhn-Munkras) algorithm, is the maximum weight matching algorithm asked under Perfect matching.It is arranged for task
Non-delayed task in table uses KM algorithm to match the automated guided vehicle of global optimum for all non-delayed tasks.KM is calculated
The characteristic of method is determined for each automated guided vehicle in each non-delayed task and automated guided vehicle information list
Timing can be accounted for from the overall situation, obtain the matching result of global optimum.
In the present embodiment, multidate information list includes: the list of electrical changing station multidate information and automated guided vehicle information column
The dynamic time matrix information of each automated guided vehicle in table.
Electrical changing station multidate information list includes: the available number of batteries of each electrical changing station.Optionally, electrical changing station multidate information
List further include: each electrical changing station is changing the automated guided vehicle quantity of this electrical changing station of battery/coming.
The dynamic time matrix information of one automated guided vehicle includes: several temporal informations, each temporal information
Refer to the time needed for reaching a destination locations according to the current location of the automated guided vehicle.
Optionally, the dynamic time matrix information of an automated guided vehicle further include: several range informations, each
Range information refers to according to the distance between the current location of the automated guided vehicle and a destination locations.
Preferably, a default arrival time is set to screen the dynamic time matrix information of each automated guided vehicle
In temporal information, reduce the complexity of data, be convenient for subsequent calculating.Default arrival time requires according to punctuality rate, calculates
The different factors such as real-time levels requirement voluntarily confirm and are arranged, i.e., according to actual use demand setting, are not limited thereto.Together
The distance letter in dynamic time matrix information of the pre-determined distance to screen each automated guided vehicle also can be set in reason
Breath.
Preferably, S222 when in task list there are when at least one non-delayed task, according to multidate information list and from
Dynamic guide transport lorry information list uses KM algorithm to match for each non-delayed task right in automated guided vehicle information list
The automated guided vehicle answered specifically:
S2221 when in task list there are when at least one non-delayed task, according to automated guided vehicle information list,
The dynamic time matrix of each automated guided vehicle in the list of electrical changing station multidate information and automated guided vehicle information list
Information calculates separately the desired value of each associated destination locations of automated guided vehicle in automated guided vehicle information list；
S2222 is according to the desired value and the corresponding mesh of each non-delayed task of the associated destination locations of each automated guided vehicle
Position, use KM algorithm to match corresponding homing guidance fortune in automated guided vehicle information list for each non-delayed task
Defeated vehicle.
Specifically, KM algorithm is matched according to desired value progress of the side to another party.And it is led automatically in the present embodiment
Draw transport vehicle destination locations associated with it desired value be according to different parameter (such as: reach the time of destination locations, change
Power station multidate information list, each non-delayed task destination locations) be calculated.And the weight before each parameter also can be according to reality
The difference of border situation and change.
Such as: if current electric quantity is lower than certain value, the destination locations of non-delayed task are arranged apart from electrical changing station multidate information
The close task of electrical changing station in table accounts for biggish weight, and the followed by time of arrival destination locations calculates each homing guidance transport
The desired value of the associated destination locations of vehicle.If current electric quantity be not less than certain value, reach destination locations time account for it is biggish
Secondly weight can just consider electrical changing station.In other embodiments, other factors can be introduced to calculate desired value, do not made herein
Limitation.
In actual use, the quantity of the automated guided vehicle in automated guided vehicle information list can achieve
150, task is maximum up to 2000 in the task list in preset time window ranges, and the time solved using KM algorithm is multiple
Miscellaneous degree is 0NM, calculated result in 1 second it can be concluded that, quickly, accurate, meet Real-Time Scheduling demand.
In the present embodiment, different processing modes is used for different types of task, keep delay task timely
To giving priority to, and global consideration is carried out to non-delayed task, obtains the automated guided vehicle of global optimum, improve matched
Accuracy is met the actual needs.
In yet another embodiment of the present invention, as shown in figure 3, a kind of automated guided vehicle task matching process, packet
It includes:
S301 obtains automated guided vehicle information list, task list and multidate information in preset time window ranges
List；
S302 is grouped each task in task list according to destination locations, obtains grouping task list；
It is each in task list according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in business matching automated guided vehicle information list specifically:
S303 is according to automated guided vehicle information list, grouping task list and multidate information list, to be grouped task
Corresponding automated guided vehicle in every group task matching automated guided vehicle information list in list.
S303 is according to automated guided vehicle information list, grouping task list and multidate information list, to be grouped task
Corresponding automated guided vehicle includes: in every group task matching automated guided vehicle information list in list
S313 is when being grouped in task list in the presence of at least one set of delay task, according to multidate information list and homing guidance
Transport vehicle information list is that every group of delay task matches the purpose position that delay task is reached in automated guided vehicle information list
Least automated guided vehicle the time required to setting.
S323 when be grouped there is at least one set of non-delayed task in task list when, lead according to multidate information list and automatically
Draw transport vehicle information list, uses KM algorithm to match for every group of non-delayed task corresponding in automated guided vehicle information list
Automated guided vehicle.
Multidate information list includes: each automatic in the list of electrical changing station multidate information and automated guided vehicle information list
The dynamic time matrix information of guide transport lorry.
S323 when be grouped there is at least one set of non-delayed task in task list when, lead according to multidate information list and automatically
Draw transport vehicle information list, uses KM algorithm to match for every group of non-delayed task corresponding in automated guided vehicle information list
Automated guided vehicle specifically:
S3231 is when being grouped in task list in the presence of at least one set of non-delayed task, according to automated guided vehicle information
The dynamic time of each automated guided vehicle in list, the list of electrical changing station multidate information and automated guided vehicle information list
Matrix information calculates separately the expectation of each associated destination locations of automated guided vehicle in automated guided vehicle information list
Value；
S3232 is corresponding according to the desired value and the non-delayed task of each group of the associated destination locations of each automated guided vehicle
Destination locations use KM algorithm to match corresponding homing guidance in automated guided vehicle information list for every group of non-delayed task
Transport vehicle.
Specifically, each task in task list is grouped according to destination locations, it is further according to grouping task list
Every group task, which matches corresponding automated guided vehicle, can allow same automated guided vehicle to execute same destination locations
All tasks reduce the time spent in distance, improve working efficiency.
The present invention has carried out time range restriction to task list, to improve computational efficiency；And multidate information list is used,
Improve the real-time of data；Different processing modes is used for different types of task, improves the accuracy rate of matching result,
Meets the needs of Real-Time Scheduling.
In one embodiment of the invention, as shown in figure 4, a kind of automated guided vehicle task matching system, comprising:
Module 10 is obtained, the task column for obtaining automated guided vehicle information list, in preset time window ranges
Table and multidate information list；
Matching module 20 is electrically connected, for according to automated guided vehicle information list, task list with module 10 is obtained
It is that each task in task list matches corresponding homing guidance in automated guided vehicle information list with multidate information list
Transport vehicle.
Specifically, automated guided vehicle information list refers to several automated guided vehicles to be allocated, and, this
The current location of each automated guided vehicle and current electric quantity in a little automated guided vehicles.Automated guided vehicle information column
Table makes to be expressly understood that the automated guided vehicle that can specifically distribute task when task schedule, lays for the scheduling of follow-up work
Basis.
The setting of preset time window is limited at task in specific time range when scheduling, each calculated
Be engaged in corresponding automated guided vehicle accuracy rate is higher, information is more real-time.Preset time window is set according to actual use demand
It sets, such as: 1 hour, that when carrying out task matching, exactly needs to do according to current time within 1 hour of pusher every time
All tasks just obtained the task list in preset time window ranges.
Multidate information list refers to each automated guided vehicle in automated guided vehicle information list in the present embodiment
Dynamic time matrix information.The dynamic time matrix information of one automated guided vehicle includes: several temporal informations, each
Temporal information refers to the time according to needed for one destination locations of the current location of automated guided vehicle arrival.
Optionally, the dynamic time matrix information of an automated guided vehicle further include: several range informations, each
Range information refers to current location and the distance between the destination locations of the automated guided vehicle.
Preferably, a default arrival time is set to screen the dynamic time matrix information of each automated guided vehicle
In temporal information, reduce the complexity of data, be convenient for subsequent calculating.Default arrival time requires according to punctuality rate, calculates
The different factors such as real-time levels requirement voluntarily confirm and are arranged, i.e., according to actual use demand setting, are not limited thereto.Together
The distance letter in dynamic time matrix information of the pre-determined distance to screen each automated guided vehicle also can be set in reason
Breath.
Such as: default arrival time is 30 minutes, it is assumed that have 10 destination locations, automated guided vehicle 1 reach this 10
The time of a destination locations is respectively 3 minutes, 5 minutes, 10 minutes, 20 minutes, 15 minutes, 23 minutes, 50 minutes, 32 minutes,
36 minutes, 45 minutes, that 6 temporal information for getting the temporal information up to some destination locations less than 30 minutes are used as certainly
The dynamic time matrix information of dynamic guide transport lorry 1, the corresponding purpose position of temporal information in dynamic time matrix information
It sets and is associated with automated guided vehicle 1.
Being confirmed according to automated guided vehicle information list can be with matched automated guided vehicle, multidate information list
Confirmation can reach time, the distance of each associated destination locations with matched each automated guided vehicle, according to above- mentioned information come
Suitable automated guided vehicle is matched for task each in task list.
Optionally, automated guided vehicle task matching system, further includes:
Grouping module obtains grouping task list for being grouped to each task in task list according to destination locations；
Matching module, for being task according to automated guided vehicle information list, task list and multidate information list
Corresponding automated guided vehicle in each task matching automated guided vehicle information list in list specifically:
Matching module, for being according to automated guided vehicle information list, grouping task list and multidate information list
Corresponding automated guided vehicle in every group task matching automated guided vehicle information list is grouped in task list.
Specifically, each task in task list is grouped according to destination locations, it is further according to grouping task list
Every group task, which matches corresponding automated guided vehicle, can allow same automated guided vehicle to execute same destination locations
All tasks, reduction spend in the unnecessary time in distance, improve working efficiency.
Task to be matched is defined in the present embodiment by preset time window, reduces calculation amount, improves work effect
Rate；And the information of multidate information list has real-time and accuracy, matching result is more accurate.
In another embodiment of the present invention, as shown in figure 5, a kind of automated guided vehicle task matching system, packet
It includes:
Module 10 is obtained, the task column for obtaining automated guided vehicle information list, in preset time window ranges
Table and multidate information list；
Matching module 20 is electrically connected, for according to automated guided vehicle information list, task list with module 10 is obtained
It is that each task in task list matches corresponding homing guidance in automated guided vehicle information list with multidate information list
Transport vehicle.
Matching module 20 is used for according to automated guided vehicle information list, task list and multidate information list, to appoint
Corresponding automated guided vehicle includes: in each task matching automated guided vehicle information list in business list
Delay matching submodule 21, for when in task list there are when at least one delay task, according to multidate information
List and automated guided vehicle information list match to reach in automated guided vehicle information list for each delay task and prolong
Least automated guided vehicle the time required to the destination locations of slow task.
Specifically, in the prior art, task list causes calculation amount huge, and can't there is no time window limitation
For task type difference and treat with a certain discrimination, can only traverse will be apart from most according to quiet hour Matrix List after all tasks
Close automated guided vehicle and task matching, punctuality rate is lower, is unable to satisfy actual demand.
It, can be according to the type of task in the present embodiment when matching automated guided vehicle for each task in task list
Using different matching ways.
Delay task is interpreted as emergency task, for delay task, can preferably be matched, directly match and prolong from this
The nearest automated guided vehicle of the corresponding destination locations of slow task, in other words, directly it is corresponding to reach this delay task for matching
Destination locations required for time least automated guided vehicle.Optionally, it is led automatically for delay task matching is corresponding
When drawing transport vehicle, matching primitives can be realized using greedy algorithm.
The delay task in task list is given priority to using preset time window, allows nearest homing guidance
Transport vehicle reaches destination locations as early as possible and works, and delay task is made to be completed as early as possible.
Matching module 20 is used for according to automated guided vehicle information list, task list and multidate information list, to appoint
Corresponding automated guided vehicle includes: in each task matching automated guided vehicle information list in business list
Non-delayed matched sub-block 22, for when in task list exist when at least one non-delayed task, according to dynamically
Information list and automated guided vehicle information list use KM algorithm to match automated guided vehicle for each non-delayed task
Corresponding automated guided vehicle in information list.
Specifically, KM (Kuhn-Munkras) algorithm, is the maximum weight matching algorithm asked under Perfect matching.It is arranged for task
Non-delayed task in table uses KM algorithm to match the automated guided vehicle of global optimum for all non-delayed tasks.KM is calculated
The characteristic of method is determined for each automated guided vehicle in each non-delayed task and automated guided vehicle information list
Timing can be accounted for from the overall situation, obtain the matching result of global optimum.
In the present embodiment, multidate information list includes: the list of electrical changing station multidate information and automated guided vehicle information column
The dynamic time matrix information of each automated guided vehicle in table.
Electrical changing station multidate information list includes: the available number of batteries of each electrical changing station.Optionally, electrical changing station multidate information
List further include: each electrical changing station is changing the automated guided vehicle quantity of this electrical changing station of battery/coming.
The dynamic time matrix information of one automated guided vehicle includes: several temporal informations, each temporal information
Refer to the time needed for reaching a destination locations according to the current location of the automated guided vehicle.
Optionally, the dynamic time matrix information of an automated guided vehicle further include: several range informations, each
Range information refers to according to the distance between the current location of the automated guided vehicle and a destination locations.
Preferably, a default arrival time is set to screen the dynamic time matrix information of each automated guided vehicle
In temporal information, reduce the complexity of data, be convenient for subsequent calculating.Default arrival time requires according to punctuality rate, calculates
The different factors such as real-time levels requirement voluntarily confirm and are arranged, i.e., according to actual use demand setting, are not limited thereto.Together
The distance letter in dynamic time matrix information of the pre-determined distance to screen each automated guided vehicle also can be set in reason
Breath.
Preferably, non-delayed matched sub-block 22, for when in task list there are when at least one non-delayed task, root
According to multidate information list and automated guided vehicle information list, KM algorithm is used to match homing guidance for each non-delayed task
Corresponding automated guided vehicle in transport vehicle information list specifically:
Non-delayed matched sub-block 22, for when in task list there are when at least one non-delayed task, according to automatic
Each homing guidance fortune in guide transport lorry information list, the list of electrical changing station multidate information and automated guided vehicle information list
It is associated to calculate separately each automated guided vehicle in automated guided vehicle information list for the dynamic time matrix information of defeated vehicle
The desired value of destination locations；
According to the desired value of the associated destination locations of each automated guided vehicle and the corresponding purpose position of each non-delayed task
It sets, KM algorithm is used to match corresponding homing guidance transport in automated guided vehicle information list for each non-delayed task
Vehicle.
Specifically, KM algorithm is matched according to desired value progress of the side to another party.And it is led automatically in the present embodiment
Draw transport vehicle destination locations associated with it desired value be according to different parameter (such as: reach the time of destination locations, change
Power station multidate information list, each non-delayed task destination locations) be calculated.And the weight before each parameter also can be according to reality
The difference of border situation and change.
Such as: if current electric quantity is lower than certain value, the destination locations of non-delayed task are arranged apart from electrical changing station multidate information
The close task of electrical changing station in table accounts for biggish weight, and the followed by time of arrival destination locations calculates each homing guidance transport
The desired value of the associated destination locations of vehicle.If current electric quantity be not less than certain value, reach destination locations time account for it is biggish
Secondly weight can just consider electrical changing station.In other embodiments, other factors can be introduced to calculate desired value, do not made herein
Limitation.
In actual use, the quantity of the automated guided vehicle in automated guided vehicle information list can achieve
150, task is maximum up to 2000 in the task list in preset time window ranges, and the time solved using KM algorithm is multiple
Miscellaneous degree is 0NM, calculated result in 1 second it can be concluded that, quickly, accurate, meet Real-Time Scheduling demand.
In the present embodiment, different processing modes is used for different types of task, keep delay task timely
To giving priority to, and global consideration is carried out to non-delayed task, obtains the automated guided vehicle of global optimum, improve matched
Accuracy is met the actual needs.
In yet another embodiment of the present invention, as shown in fig. 6, a kind of automated guided vehicle task matching system, packet
It includes:
Module 10 is obtained, the task column for obtaining automated guided vehicle information list, in preset time window ranges
Table and multidate information list；
Grouping module 30 is electrically connected with module 10 is obtained, for dividing according to destination locations each task in task list
Group obtains grouping task list；
Matching module 20 is electrically connected with grouping module 30, for according to automated guided vehicle information list, task list
It is that each task in task list matches corresponding homing guidance in automated guided vehicle information list with multidate information list
Transport vehicle specifically:
Matching module 20 is used for according to automated guided vehicle information list, grouping task list and multidate information list,
Corresponding automated guided vehicle in automated guided vehicle information list is matched for every group task in grouping task list.
Matching module 20 includes:
Delay matching submodule 21 is used for when being grouped in task list in the presence of at least one set of delay task, according to dynamic
Information list and automated guided vehicle information list are matched in automated guided vehicle information list for every group of delay task and are arrived
Up to the least automated guided vehicle of destination locations required time of delay task.
Non-delayed matched sub-block 22 is used for when being grouped in task list in the presence of at least one set of non-delayed task, according to
Multidate information list and automated guided vehicle information list use KM algorithm to match homing guidance fortune for every group of non-delayed task
Corresponding automated guided vehicle in defeated vehicle information list.
Multidate information list includes: each automatic in the list of electrical changing station multidate information and automated guided vehicle information list
The dynamic time matrix information of guide transport lorry.
Non-delayed matched sub-block 22 is used for when being grouped in task list in the presence of at least one set of non-delayed task, according to
Multidate information list and automated guided vehicle information list use KM algorithm to match homing guidance fortune for every group of non-delayed task
Corresponding automated guided vehicle in defeated vehicle information list specifically:
Non-delayed matched sub-block 22, when being grouped in task list in the presence of at least one set of non-delayed task, according to automatic
Each homing guidance fortune in guide transport lorry information list, the list of electrical changing station multidate information and automated guided vehicle information list
It is associated to calculate separately each automated guided vehicle in automated guided vehicle information list for the dynamic time matrix information of defeated vehicle
The desired value of destination locations；
And it is corresponding according to the desired value and the non-delayed task of each group of the associated destination locations of each automated guided vehicle
Destination locations use KM algorithm to match corresponding homing guidance in automated guided vehicle information list for every group of non-delayed task
Transport vehicle.
Specifically, each task in task list is grouped according to destination locations, it is further according to grouping task list
Every group task, which matches corresponding automated guided vehicle, can allow same automated guided vehicle to execute same destination locations
All tasks reduce the time spent in distance, improve working efficiency.
The present invention has carried out time range restriction to task list, to improve computational efficiency；And multidate information list is used,
Improve the real-time of data；Different processing modes is used for different types of task, improves the accuracy rate of matching result,
Meets the needs of Real-Time Scheduling.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of automated guided vehicle task matching process characterized by comprising
Obtain automated guided vehicle information list, the task list in preset time window ranges and multidate information list；
It is in the task list according to the automated guided vehicle information list, task list and multidate information list
Each task matches corresponding automated guided vehicle in the automated guided vehicle information list.
2. automated guided vehicle task matching process as described in claim 1, which is characterized in that described according to described automatic
Guide transport lorry information list, task list and multidate information list are that each task matching in the task list is described certainly
Corresponding automated guided vehicle includes: in dynamic guide transport lorry information list
When in the task list there are when at least one delay task, according to the multidate information list and the homing guidance
Transport vehicle information list matches in the automated guided vehicle information list for each delay task and reaches the delay
Least automated guided vehicle the time required to the destination locations of task.
3. automated guided vehicle task matching process as described in claim 1, which is characterized in that described according to described automatic
Guide transport lorry information list, task list and multidate information list are that each task matching in the task list is described certainly
Corresponding automated guided vehicle includes: in dynamic guide transport lorry information list
When there are when at least one non-delayed task, described being led according to the multidate information list and automatically in the task list
Draw transport vehicle information list, KM algorithm is used to match the automated guided vehicle information list for each non-delayed task
In corresponding automated guided vehicle.
4. automated guided vehicle task matching process as claimed in claim 3, it is characterised in that:
The multidate information list includes: each in the list of electrical changing station multidate information and the automated guided vehicle information list
The dynamic time matrix information of automated guided vehicle；
It is described when in the task list there are when at least one non-delayed task, according to the multidate information list and it is described from
Dynamic guide transport lorry information list uses KM algorithm to match the automated guided vehicle information for each non-delayed task
Corresponding automated guided vehicle in list specifically:
When in the task list there are when at least one non-delayed task, according to the automated guided vehicle information list,
The dynamic of each automated guided vehicle in the electrical changing station multidate information list and the automated guided vehicle information list
Time matrix information calculates separately each associated destination locations of automated guided vehicle in automated guided vehicle information list
Desired value；
According to the desired value of the associated destination locations of each automated guided vehicle and the corresponding purpose position of each non-delayed task
It sets, KM algorithm is used to lead automatically to be corresponding in each non-delayed task matching automated guided vehicle information list
Draw transport vehicle.
5. the automated guided vehicle task matching process as described in claim 1-4 any one, it is characterised in that:
Acquisition automated guided vehicle information list, the task list in preset time window ranges and the multidate information list
Later further include:
Each task in the task list is grouped according to destination locations, obtains grouping task list；
It is described according to the automated guided vehicle information list, task list and multidate information list, be the task list
In each task match corresponding automated guided vehicle in the automated guided vehicle information list specifically:
It is the grouping task according to automated guided vehicle information list, the grouping task list and multidate information list
Every group task matches corresponding automated guided vehicle in the automated guided vehicle information list in list.
6. a kind of automated guided vehicle task matching system characterized by comprising
Module is obtained, for obtaining automated guided vehicle information list, the task list in preset time window ranges and dynamic
State information list；
Matching module, for being described according to the automated guided vehicle information list, task list and multidate information list
Each task in task list matches corresponding automated guided vehicle in the automated guided vehicle information list.
7. automated guided vehicle task matching system as claimed in claim 6, which is characterized in that the matching module is used
According to the automated guided vehicle information list, task list and multidate information list, being each in the task list
Task matches corresponding automated guided vehicle in the automated guided vehicle information list
Delay matching submodule, for when in the task list exist when at least one delay task, according to the dynamic letter
List and the automated guided vehicle information list are ceased, matches the automated guided vehicle letter for each delay task
The least automated guided vehicle of destination locations required time of the delay task is reached in breath list.
8. automated guided vehicle task matching system as claimed in claim 6, which is characterized in that the matching module is used
According to the automated guided vehicle information list, task list and multidate information list, being each in the task list
Task matches corresponding automated guided vehicle in the automated guided vehicle information list
Non-delayed matched sub-block, for when in the task list exist when at least one non-delayed task, according to it is described move
State information list and the automated guided vehicle information list use KM algorithm for described in each non-delayed task matching
Corresponding automated guided vehicle in automated guided vehicle information list.
9. automated guided vehicle task matching system as claimed in claim 8, it is characterised in that:
The multidate information list includes: each in the list of electrical changing station multidate information and the automated guided vehicle information list
The dynamic time matrix information of automated guided vehicle；
The non-delayed matched sub-block, for when in the task list there are when at least one non-delayed task, according to institute
Multidate information list and the automated guided vehicle information list are stated, uses KM algorithm for each non-delayed task matching
Corresponding automated guided vehicle in the automated guided vehicle information list specifically:
The non-delayed matched sub-block, for when in the task list there are when at least one non-delayed task, according to institute
It states in automated guided vehicle information list, the electrical changing station multidate information list and the automated guided vehicle information list
The dynamic time matrix information of each automated guided vehicle is calculated separately and each in automated guided vehicle information list is led automatically
Draw the desired value of the associated destination locations of transport vehicle；
According to the desired value of the associated destination locations of each automated guided vehicle and the corresponding purpose position of each non-delayed task
It sets, KM algorithm is used to lead automatically to be corresponding in each non-delayed task matching automated guided vehicle information list
Draw transport vehicle.
10. automated guided vehicle task matching system as claimed in claim 6, which is characterized in that further include:
Grouping module obtains grouping task list for being grouped to each task in the task list according to destination locations；
The matching module, for being according to the automated guided vehicle information list, task list and multidate information list
Each task in the task list matches corresponding automated guided vehicle tool in the automated guided vehicle information list
Body are as follows:
The matching module, for being arranged according to automated guided vehicle information list, the grouping task list and multidate information
Table is that every group task matches corresponding homing guidance in the automated guided vehicle information list in the grouping task list
Transport vehicle.
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