CN116362652B - Transport allocation task scheduling method and system and storage medium - Google Patents
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The application provides a transportation allocation task scheduling method, a transportation allocation task scheduling system and a storage medium, wherein the method comprises the following steps: step S100, a task queue TQ is established according to the task sequence of taking the goods L, directly unloading, waiting for W, executing unloading after waiting for a goods placing point signal and returning the container R; step S200, judging whether the current discharging point state needs to wait for a discharging point signal and then executing a discharging task so as to adjust a task queue; step S300 converts the re-arrangement problem into a standard TSP problem solving path according to whether the adjusted task queue is subjected to picking, waiting and returning the container task, and rearranges the task queue according to the path, thereby optimizing the task queue to reduce the execution time required by the task while supporting the task to be allocated to be suspended and recovered at any time.
Description
Technical Field
The application relates to the technical field of warehouse transportation management, in particular to a scheduling method, a scheduling system and a storage medium for realizing transportation allocation tasks in a complex environment based on a real-time task queue and a TSP (traffic distribution platform) problem (Traveling Salesman Problem).
Background
In actual production of factories or warehouses, the allocation task is a common transportation task: and taking goods at one place, putting the goods at a plurality of places, taking out a part of the goods at each putting place, and returning the goods into a carrying container such as a material box, a goods shelf, a pallet and the like after the goods are put in a part of scenes.
In the existing warehouse truck dispatching system, most of allocation tasks determine the execution sequence when being established, and do not support suspending and recovering the goods placing tasks when running, so that automatic adjustment of the goods placing sequence and automatic waiting when goods placing cannot be realized.
In use, therefore, the delivery point of the allocated task may temporarily fail to deliver, requiring the warehouse truck scheduling system to schedule the warehouse truck being allocated to perform the subsequent delivery task first, and schedule the warehouse truck to wait until there are any more executable delivery tasks.
For example, when the materials in the production lines are distributed, the production speed of some production lines is temporarily slowed down, so that the material demand is reduced, at this time, the storage vehicle for distributing the materials should firstly distribute the other production lines requiring the materials for goods delivery, wait for the signals of the production lines, and then deliver the goods after receiving the signals capable of delivering the goods; if all the executable stocking tasks are executed and part of the stocking tasks are waiting for the signal, the warehouse truck needs to go to the waiting area to wait for the stocking signal.
The existing scheme is seen that if the warehouse vehicle is not arranged to wait at a waiting point when the warehouse vehicle cannot be put, traffic jam can be caused, and even equipment is damaged; if the warehouse vehicle is not arranged to execute the subsequent tasks when the warehouse vehicle cannot be put at the put point, the allocation efficiency is reduced and the traffic jam is caused. The art is therefore faced with a solution to this problem.
Disclosure of Invention
Therefore, the main purpose of the application is to provide a method and a system for dispatching transportation allocation tasks and a storage medium, so as to suspend and resume allocation tasks at any moment while supporting the allocation tasks, optimize the allocation task queue and reduce the execution time required by the allocation tasks.
In order to achieve the above object, the present application provides a method for scheduling a transport allocation task, comprising the steps of:
step S100, a task queue TQ is established according to the task sequence of taking the goods L, directly unloading, waiting for W, executing unloading after waiting for a goods placing point signal and returning the container R;
step S200, judging whether the current discharging point state needs to wait for a discharging point signal and then executing a discharging task so as to adjust a task queue;
step S300, converting the task queue into a standard TSP problem solving path according to whether the adjusted task queue carries out goods taking, waiting and returning container tasks to change into a re-arrangement problem, and rearranging the task queue according to the path;
the step of converting the rearrangement problem into the standard TSP method and solving in step S300 includes:
step S310, when judging L as NO, W as NO, R as NO, deforming the rearrangement problem into a path problem with unlimited starting point and ending point, and recording a set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S320G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a non-directional auxiliary side W1 with length of 0 and p connection, setting
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
let e=e 1 + W；
Step S330 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to get the path.
In a possibly preferred embodiment, the step of adjusting the task queue in step S200 includes:
step S210 will newU before And newU after Setting to be empty; judgment U before And U after If not currently being performed, adding the discharge task to the newU after Adding discharge tasks to newU if it can be performed before The method comprises the steps of carrying out a first treatment on the surface of the Wherein U is before Indicating the task of direct unloading, U after Representing discharge tasks to be performed after waiting for a discharge point signal, newU before Representing updated direct discharge tasks, newU after Representing the updated waiting-for-discharge-point signal and then executing the discharge task;
step S220 judges if newU after Is empty, TQ= { L, newU before R }, otherwise TQ = { L, newU before , W, newU after R adjusts the task queue accordingly.
In a possibly preferred embodiment, the step in which the rearrangement problem is converted into a standard TSP method and solved in step S300 includes:
in step S311, when judging that L is yes, W is no, and R is yes, the rearrangement problem is changed into a path problem with fixed starting point and end point, and the set of given points N is recorded 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S321 is to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
Adding undirected auxiliary edges of length 0, pointing from end point e to p and from p to start point s, i.e
The method comprises the steps of carrying out a first treatment on the surface of the Wherein C is ij The weight of the undirected edge between the point i and the point j is represented;
step S331 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to obtain a path.
In a possibly preferred embodiment, the step in which the rearrangement problem is converted into a standard TSP method and solved in step S300 includes:
in step S312, when judging that L is NO, W is NO, R is yes, the rearrangement problem is changed into a path problem with a fixed starting point and a fixed end point e, and the set of points N is recorded at the same time 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S322 adds G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(e, p), (p, q), (N, q), where N is N 1 Elements other than e, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S332 solves the standard TSP problem on g= (N, E, C), and p, q is removed in the solution to obtain a path.
In a possibly preferred embodiment, the step in which the rearrangement problem is converted into a standard TSP method and solved in step S300 includes:
step S313, when judging L as yes, W as no, R as no, deforming the rearrangement problem into a path problem with fixed starting point S and unlimited end point, and recording a set of given points at the same timeN 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S323 to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S333 solves the standard TSP problem on g= (N, E, C), and p, q is removed in the solution to obtain a path.
In a possibly preferred embodiment, the step in which the rearrangement problem is converted into a standard TSP method and solved in step S300 includes:
step S314, when judging L as NO, W as yes, R as yes/no, deforming the rearrangement problem into a path problem with an unlimited starting point and selecting one from available waiting points by the end point, and simultaneously recording a given point set N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a non-directional auxiliary side W1 with length of 0 and p connection, setting
Wherein C ij Representing undirected edges between points i and jWeights of (2);
let e=e 1 + W；
Step S334 converts the GTSP problem into a TSP problem for solving, and p is removed from the solution to obtain a path.
In a possibly preferred embodiment, the step in which the rearrangement problem is converted into a standard TSP method and solved in step S300 includes:
step S314, when judging that L is yes, W is yes, R is yes/no, deforming the rearrangement problem into a path problem with a fixed starting point S and an end point selected from available waiting points, and simultaneously recording a given point set N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S334 converts the GTSP problem into a TSP problem for solving, and removes p and q in the solution to obtain a path.
Corresponding to the method, the application also provides a transport allocation task scheduling system, which comprises:
the storage unit is used for storing a program comprising the steps of the transportation allocation task scheduling method, so that the signal acquisition unit, the processing unit and the communication unit can timely perform scheduling;
the signal acquisition unit is used for acquiring the current state of the goods placing point and feeding back to the processing unit;
the processing unit is used for establishing a task queue, executing a discharging task according to whether the current discharging point state needs to wait for a discharging point signal or not, adjusting the task queue, judging whether the task queue carries out the tasks of taking goods, waiting for returning a container to deform the problem of rearrangement, converting the task queue into a standard TSP problem solving path, and rearranging the task queue according to the path;
and the communication unit is used for sending the rearranged task queue to the transport end equipment.
In accordance with the above method, in another aspect of the present application, there is provided a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-described transportation allocation task scheduling methods.
According to the method, the system and the storage medium for dispatching the transportation allocation task, provided by the application, the allocation list function is realized by skillfully dividing the task queue into five stages, so that the whole allocation task can be logically supported to be suspended and recovered at any moment. In addition, the scheme further skillfully converts the problem of rearrangement of the allocation task queue into the problem of TSP, so that the transportation line of the allocation task queue is optimized while timely responding to the suspending task is met, thereby avoiding traffic jam, effectively improving allocation efficiency and reducing execution time required by the allocation task.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of steps of the method for scheduling transportation allocation tasks according to the present application;
FIG. 2 is a schematic diagram of allocation tasks in the transport allocation task scheduling method of the present application;
FIG. 3 is a schematic diagram of an allocation task queue in the transport allocation task scheduling method according to the present application;
FIG. 4 is a schematic diagram of a path for converting pathTSP to TSP in the transport allocation task scheduling method of the present application;
FIG. 5 is a schematic diagram of a path for converting FixedStartEndPathTSP to TSP in the transport allocation task scheduling method of the present application;
FIG. 6 is a schematic diagram of a path for converting fixedEndPathTSP to TSP in the transport allocation task scheduling method of the present application;
fig. 7 is a schematic structural diagram of a transport allocation task scheduling system according to the present application.
Detailed Description
In order that those skilled in the art can better understand the technical solutions of the present application, the following description will clearly and completely describe the specific technical solutions of the present application in conjunction with the embodiments to help those skilled in the art to further understand the present application. It will be apparent that the embodiments described herein are merely some, but not all embodiments of the application. It should be noted that embodiments of the present application and features of embodiments may be combined with each other by those of ordinary skill in the art without departing from the spirit of the present application and without conflicting with each other. All other embodiments, which are derived from the embodiments herein without creative effort for a person skilled in the art, shall fall within the disclosure and the protection scope of the present application.
Furthermore, the terms "first," "second," "S100," "S200," and the like in the description and in the claims and drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those described herein. Also, the terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. Unless specifically stated or limited otherwise, the terms "disposed," "configured," "mounted," "connected," "coupled" and "connected" are to be construed broadly, e.g., as being either permanently connected, removably 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 terms in this case will be understood by those skilled in the art in view of the specific circumstances and in combination with the prior art.
In order to support the suspending and recovering of the allocation task at any time, the allocation task queue is optimized to reduce the execution time required by the allocation task. As shown in fig. 1 to 6, the present application provides a method for scheduling a transport allocation task, which includes the steps of:
1. establishing an allocation task queue
Step S100, a task queue TQ is established according to the task sequence of taking the goods L, directly unloading, waiting for W, executing unloading after waiting for a goods placing point signal and returning the container R;
in particular, the present application contemplates the implementation of the dispatch singles function using a five-stage task queue, each of which is designed to: a picking stage, a pre-waiting put stage, a waiting stage, a post-waiting put stage and a returning stage.
According to the above concept, the present application thus establishes an initial task queue TQ (TaskQueue) = { L, U in turn 1 , ... , U i , W, U i+1 , ... , U n R, wherein the pick task is L, the wait task is W, the return container task is R, and U 1 To U (U) i Indicating the task of direct discharge, U i+1 To U (U) n Representing the discharge task to be performed after waiting for the discharge point signal.
2. Updating maintenance allocation task queues
Step S200 determines whether the current loading point state needs to wait for the loading point signal and then execute the loading task to adjust the task queue.
Specifically, in order to maintain and update the task queue TQ in step S100 according to different task states and conditions, in the present application, an example determines whether to execute the shipment after waiting according to the state of the shipment point, thereby adjusting the task queue, and performing path planning according to the content of the adjusted task queue.
For example, the step of adjusting the task queue in step S200 includes:
step S210 will newU before And newU after Setting to be empty; judgment U before And U after Is used for unloading all the tasks: if it is not currently possible to perform, the unloading task is added to the newU after Adding discharge tasks to newU if it can be performed before。
Wherein U is before Indicating the task of direct unloading, U after Representing discharge tasks to be performed after waiting for a discharge point signal, newU before Representing updated direct discharge tasks, newU after Representing the discharge tasks performed after the updated wait for discharge point signal.
Step S220 judges if newU after Is empty, TQ= { L, newU before R }, otherwise TQ = { L, newU before , W, newU after R adjusts the task queue accordingly.
3. Converting the allocation task queue rearrangement problem into a standard TSP problem
Step S300 is to change the task queue into a standard TSP problem solving path after the re-arrangement problem is changed according to whether the adjusted task queue is subjected to goods taking, waiting and returning container tasks, and to rearrange the task queue according to the path.
Specifically, since the position of the waiting task may be changed or the waiting task may be removed every time the task queue is updated, the optimal path needs to be recalculated every time the task queue is updated.
When calculating the path, the application divides the path into eight cases according to whether a goods taking task exists, whether a waiting task exists, whether a returning task exists or not, and the task which cannot be executed at present is not needed to be considered when the path is optimized, so that the path planning is not influenced by the returning task when the waiting task exists, and the six cases are respectively converted into different deformations of the TSP problem. As shown in table 1 below:
TABLE 1
The following will exemplify six cases of conversion to TSP, respectively.
The step of converting the rearrangement problem into the standard TSP method and solving in step S300 includes:
case 1
In step S310, when it is determined that L is no, W is no, and R is no, tq=pathtsp (TQ, G), the path problem pathTSP with unlimited starting point and ending point is deformed, and the pathTSP problem is noted as: set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G as shown in FIG. 4 1 =(N 1 ,E 1 ,C 1 ) The shortest path from any point to all points is obtained.
Step S320G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a length of 0 and a p-connected undirected auxiliary edge, and setting
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
let e=e 1 + W；
Step S330 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to get the path.
For example, as shown in fig. 4, there are four points in the point set {1,2,3,4}, the shortest path with unlimited starting point is found, and the path traverses all the points. Auxiliary points p are added, and p and {1,2,3,4} are connected by undirected edges of length 0, respectively. After adding the auxiliary points, the problem turns into: the point set has { p,1,2,3,4}, the shortest loop with unlimited starting point is found, and the loop traverses all points. I.e. the standard TSP problem. The shortest loop found is assumed to be 1- > p- >2- >4- >3- >1, i.e. the loop that starts from 1, passes through p,2,4,3 in order and returns to 1. After p is removed from the loop, 2- >4- >3- >1 is obtained, i.e. a path from 2 through 4,3,1 in sequence, which is a solution of the original problem. Referring to fig. 4, the broken line in the figure represents an auxiliary route which does not exist in the original problem.
Case 2
In step S311, when it is determined that L is yes, W is no, and R is yes, the path problem fixedStartEndPathTSP, in which the deformation is fixed as the start point and the end point, is recorded as follows: set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 ) The shortest path from the start point s to the end point e is obtained by traversing all points.
Step S321 is to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
Adding undirected auxiliary edges of length 0, pointing from end point e to p and from p to start point s, i.e
The method comprises the steps of carrying out a first treatment on the surface of the Wherein C is ij The weight of the undirected edge between the point i and the point j is represented;
step S331 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to obtain a path.
For example, as shown in FIG. 5, there are four points in the point set, {1,2,3,4}, find the shortest path with a starting point of 3 and an ending point of 2, and the path traverses all the points. An auxiliary point p and a directional edge with a length of 0 from 2 to p and a directional edge with a length of 0 from p to 3 are added. After adding auxiliary points and edges, the problem is converted into: the set of points is { p,1,2,3,4}, the shortest loop with unlimited starting points is found, and the loop traverses all points. I.e. the standard TSP problem. Since the length of 2- > p- >3 is 0 and no other edge is connected with p, it must exist in the shortest loop traversing all points, and the shortest loop is assumed to be 2- > p- >3- >1- >4- >2, p is removed, so that 3- >1- >4- >2 is obtained, namely the solution of the shortest path with the original problem, the starting point of 3 and the end point of 2. Referring to fig. 5, the dashed line represents the auxiliary route.
Case 3
Step S312 when judging that L is no, W is no, R is yes,
TQ = fixedEndPathTSP({U before ,U after r }, G), the deformation is not limited to the starting point, the path problem fixedEndPathTSP with fixed end point e, and the fixedEndPathTSP problem is noted as: set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 ) The shortest path from any point to the end point e is obtained by traversing all points.
Step S322 adds G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(e, p), (p, q), (N, q), where N is N 1 Elements other than e, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S332 solves the standard TSP problem on g= (N, E, C), and p, q is removed in the solution to obtain a path.
For example, as shown in fig. 6, there are four points in the point set {1,2,3,4}, the shortest path with the end point of 3 and the start point not limited is found, and the path traverses all the points. The auxiliary points p, q, and the directional edge with the length of 0 from 3 to p, the directional edge with the length of 0 from p to q, and the directional edge with the lengths of 1,2 and 4 to q are added, namely, all points except 3 can reach q, and the p point can only pass through the edge from 3 to p. After adding auxiliary points and edges, the problem is converted into: the point set is {1,2,3,4, p, q }, the shortest loop with unlimited starting point is found, and the path is changed through all points. I.e. the standard TSP problem. Since only the point q can be removed from the point p from the point 3 to the point p, the point q, the point 3- > p- > q must exist in the shortest loop traversing all the points, and the solution obtained is assumed to be 4- >2- >1- >3- > p- > q- >4, and the solution of the shortest path with the original problem, the end point of 3 and the starting point of unlimited is obtained by removing p and q. Referring to fig. 6, the dashed line represents the auxiliary route.
Case 4
Step S313 when judging that L is yes, W is no, R is no,
TQ = fixedStartPathTSP({L, U before , U after and G), the deformation is fixed as a starting point s, and the path problem fixedStartPathTSP with an unlimited end point is recorded as follows: set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 ) The shortest route from the start point S to the end point is obtained by traversing all points.
Step S323 to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S333 solves the standard TSP problem on g= (N, E, C), and p, q is removed in the solution to obtain a path. Since the undirected graph is similar to fixedEndPathTSP, the endpoint is replaced with the start point, and thus will not be described again.
Case 5
Step S314 when judging whether L is no, W is yes, R is yes/no,
TQ = pathGTSP({U before ,W}, W, G) + U after +R, deformation is not limited to the starting point, and the end point is selected from available waiting pointsPath problem path gtsp of (a), while remembering path gtsp as: set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )。
The following method for converting the same pathTSP into TSP: auxiliary points with a distance of 0 from all points are added, and pathGTSP is converted into GTSP according to the method of document 1. ( Document 1: charles E. Noon & James C. Bean (1993) An Efficient Transformation Of The Generalized Traveling Salesman Problem, INFOR Information Systems and Operational Research,31:1, 39-44, DOI 10.1080/03155986.1993.11732212. )
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a non-directional auxiliary side W1 with length of 0 and p connection, setting
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
let e=e 1 + W；
Step S334 converts the GTSP problem into the TSP problem according to the scheme of document 1, and solves the problem, and p is removed from the solution to obtain a path.
Case 6
Step S314 when it is determined that L is yes, W is yes, R is yes/no,
TQ = fixedStartPathGTSP({L,U before ,w},W,G) + U after +R, the deformation is fixed to the starting point s, the end point selects one path problem from the available waiting points, and the set N of the points is recorded at the same time 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )。
Then the method of converting the fixedStartPathTSP into TSP is the same as that: adding an auxiliary point q with the distance from all points except the starting point being 0; auxiliary point p, which is not connected to other points and has a distance of 0 from the start point and q, converts fixedStartPathGTSP to standard GTSP, and then converts GTSP to TSP by the method in document 1.
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S334 converts the GTSP problem into a TSP problem for solving, and removes p and q in the solution to obtain a path.
Finally, after the above example is converted into the standard TSP problem, for example, an approximate solution is obtained by using a nearest neighbor algorithm, a Held-Karp algorithm, a Clark & Wright algorithm, a simulated annealing algorithm, or an accurate solution is obtained by using a branch-and-bound method, so that after the task sequence is optimized, the actual requirements can be met, for example:
support for hanging tasks:
1. a user initiates a request for suspending a goods placing task and designates a goods placing point;
2. after receiving the suspension request, the dispatching system puts the goods task corresponding to the goods point to be suspended into U after Namely, the goods placing task list which can be executed only by waiting for the release signal;
3. and updating the task queue and optimizing the put route.
Support recovery tasks:
1. a user initiates a request for recovering a goods placing task and designates a goods placing point;
2. after receiving the request for recovering release, the dispatching system puts the goods task corresponding to the goods point to be recoveredU in before Namely, the goods placing task list which can be executed without waiting;
3. updating a task queue and optimizing a goods placing route; if the goods are waiting for the goods at the moment, the waiting task is terminated, and the restored goods placing task is executed.
Therefore, when the allocation task is suspended and recovered at any time, the allocation task queue is optimized, and the execution time required by the allocation task is reduced.
On the other hand, as shown in fig. 7, corresponding to the above method, the present application further provides a transportation allocation task scheduling system, which includes:
the storage unit is used for storing a program comprising the steps of the transportation allocation task scheduling method, so that the signal acquisition unit, the processing unit and the communication unit can timely perform scheduling.
The signal acquisition unit is used for acquiring the current state of the goods placing point and feeding back to the processing unit.
The processing unit is used for establishing a task queue, executing a discharging task according to whether the current discharging point state needs to wait for a discharging point signal or not so as to adjust the task queue, judging whether the task queue carries out the tasks of taking goods, waiting and returning a container to deform the task queue into a re-discharging problem, converting the task queue into a standard TSP problem solving path, and rearranging the task queue according to the path.
And the communication unit is used for sending the rearranged task queue to the transport end equipment.
In accordance with the above method, in another aspect of the present application, there is provided a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-described transportation allocation task scheduling methods.
In summary, by the method, the system and the storage medium for dispatching the transportation allocation task, the allocation single function is realized by skillfully dividing the task queue into five stages, so that the whole allocation task can be supported to be suspended and restored at any moment logically. In addition, the scheme further skillfully converts the problem of rearrangement of the allocation task queue into the problem of TSP, so that the transportation line of the allocation task queue is optimized while timely responding to the suspending task is met, thereby avoiding traffic jam, effectively improving allocation efficiency and reducing execution time required by the allocation task.
The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. The preferred embodiments are not exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the application are intended to be included within the scope of the application.
It will be appreciated by those skilled in the art that the system, apparatus and their respective modules provided by the present application may be implemented entirely by logic programming method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except for implementing the system, apparatus and their respective modules provided by the present application in a purely computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present application may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
Furthermore, all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program, where the program is stored in a storage medium and includes several instructions for causing a single-chip microcomputer, chip or processor (processor) to execute all or part of the steps in the methods of the embodiments of the application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present application may be performed, so long as the concept of the embodiments of the present application is not violated, and the disclosure of the embodiments of the present application should also be considered.
Claims (3)
1. The transportation allocation task scheduling method comprises the following steps:
step S100, a task queue TQ is established according to the task sequence of taking the goods L, directly unloading, waiting for W, executing unloading after waiting for a goods placing point signal and returning the container R;
step S200, determining whether the current loading point state needs to wait for the loading point signal and then execute the loading task to adjust the task queue, where the steps include:
step S210 will newU before And newU after Setting to be empty; judgment U before And U after If not currently being performed, adding the discharge task to the newU after Adding discharge tasks to newU if it can be performed before The method comprises the steps of carrying out a first treatment on the surface of the Wherein U is before Indicating the task of direct unloading, U after Representing discharge tasks to be performed after waiting for a discharge point signal, newU before Representing updated direct discharge tasks, newU after Representing the updated waiting-for-discharge-point signal and then executing the discharge task;
step S220 judges if newU after Is empty, TQ= { L, newU before R }, otherwise TQ = { L, newU before , W, newU after R is used for adjusting the task queue;
step S300, converting the task queue into a standard TSP problem solving path according to whether the adjusted task queue carries out goods taking, waiting and returning container tasks to change into a re-arrangement problem, and rearranging the task queue according to the path;
the step of converting the rearrangement problem into the standard TSP method and solving in step S300 includes:
step S310, when judging L as NO, W as NO, R as NO, deforming the rearrangement problem into a path problem with unlimited starting point and ending point, and recording a set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S320G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a non-directional auxiliary side W1 with length of 0 and p connection, setting
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
let e=e 1 + W；
Step S330 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to obtain a path;
in step S311, when judging that L is yes, W is no, and R is yes, the rearrangement problem is changed into a path problem with fixed starting point and end point, and the set of given points N is recorded 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S321 is to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
Adding undirected auxiliary edges of length 0, pointing from end point e to p and from p to start point s, i.e
The method comprises the steps of carrying out a first treatment on the surface of the Wherein C is ij The weight of the undirected edge between the point i and the point j is represented;
step S331 solves the standard TSP problem on g= (N, E, C), and p is removed in the solution to obtain a path;
in step S312, when judging that L is NO, W is NO, R is yes, the rearrangement problem is changed into a path problem with a fixed starting point and a fixed end point e, and the set of points N is recorded at the same time 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S322 adds G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(e, p), (p, q), (N, q), where N is N 1 Elements other than e, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S332 solves the standard TSP problem on g= (N, E, C), and removes p, q in the solution to obtain a path;
step S313, when judging L as yes, W as no, R as no, deforming the rearrangement problem into a path problem with fixed starting point S and unlimited ending point, and recording a set of given points N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S323 to G 1 =(N 1 ,E 1 ,C 1 ) Converting to a standard TSP problem on g= (N, E, C), the steps comprising:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S333 solves the standard TSP problem on g= (N, E, C), and removes p, q in the solution to obtain a path;
step S314, when judging L as NO, W as yes, R as yes/no, deforming the rearrangement problem into a path problem with an unlimited starting point and selecting one from available waiting points by the end point, and simultaneously recording a given point set N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary point p, setting N=N 1 U {p}；
For each N 1 Adding a non-directional auxiliary side W1 with length of 0 and p connection, setting
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
let e=e 1 + W；
Step S334, converting the GTSP problem into the TSP problem to solve, and removing p in the solution to obtain a path;
step S314, when judging that L is yes, W is yes, R is yes/no, deforming the rearrangement problem into a path problem with a fixed starting point S and an end point selected from available waiting points, and simultaneously recording a given point set N 1 Edge set E 1 Edge weight C 1 Composition of graph G 1 =(N 1 ,E 1 ,C 1 )；
Step S324G 1 =(N 1 ,E 1 ,C 1 ) Converting to standard GTSP problem on g= (N, E, C), the steps include:
at N 1 Adding auxiliary points p, q, setting N=N 1 U {p,q}；
Add undirected edges of length 0 between the following pairs of points:
(s, p), (p, q), (N, q), where N is N 1 Elements other than s, i.e
Wherein C ij The weight of the undirected edge between the point i and the point j is represented;
step S334 converts the GTSP problem into a TSP problem for solving, and removes p and q in the solution to obtain a path.
2. A transportation allocation task scheduling system, comprising:
a storage unit, configured to store a program including the steps of the transportation allocation task scheduling method according to claim 1, so that the signal acquisition unit, the processing unit, and the communication unit perform timely scheduling;
the signal acquisition unit is used for acquiring the current state of the goods placing point and feeding back to the processing unit;
the processing unit is used for establishing a task queue, executing a discharging task according to whether the current discharging point state needs to wait for a discharging point signal or not, adjusting the task queue, judging whether the task queue carries out the tasks of taking goods, waiting for returning a container to deform the problem of rearrangement, converting the task queue into a standard TSP problem solving path, and rearranging the task queue according to the path;
and the communication unit is used for sending the rearranged task queue to the transport end equipment.
3. A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the transportation allocation task scheduling method of claim 1.
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