Research On Multi AGV And RGV Cooperative Scheduling For Dense Storage

With the implementation of the national "intelligent manufacturing" strategy,intelligent logistics is the core component of the logistics and warehousing is developing in the direction of intensive,automatic and intelligent.Efficient logistics delivery and storage has become an inevitable way for enterprises to improve their competitiveness.Intensive storage is a novel type of automatic logistics storage system which integrates dense shelf,conveyor belt,bar code automatic identification system,Automated Guided Vehicle(AGV),Rail Guided Vehicle(RGV)and dispatching control system.After the order inventory determines the location of the goods,the operation of the goods will be carried out through the cooperative operation of AGV and RGV.The optimized cooperative scheduling of AGV / RGV helps to improve the efficiency of warehouse operation.Therefore,this paper is related to the needs of automated dense warehouse collaborative scheduling,and carries out related research on the optimization technology of outgoing and warehousing multi AGV and RGV collaborative scheduling decisionmaking.The main research work is as follows:(1)Analysis and design of the general architecture of dense storage oriented dispatching system.Combined with the layout design of intensive storage,the business process of intensive warehousing is analyzed,and the overall architecture of intensive warehousing operation is set up,which includes order analysis,inventory,location distribution,warehouse and warehousing business.On the basis of functional analysis and collaborative scheduling demand analysis,the collaborative work flow of AGV and RGV is completed and the structure of the system function module.The design of the database provide the foundation for the realization of the optimization function of the collaborative scheduling decision.(2)Establish a scheduling model for job scheduling of AGV/RGV with multiple outgoing tasksIn order to carry out the warehouse operation,the rail vehicle that carries the goods needs shuttle bus to help realize the transfer between the shelves.When the shuttle bus sends the goods from the conveyor belt to the shelf,it needs the characteristics of the rail vehicle to complete the operation of the warehouse.The optimization model of task allocation for multi shuttle bus is proposed,which considers the balance of task and the shortest distance,and the optimal decision model of scheduling and the shortest total task completion time is proposed,which takes into account the selection of the rail vehicles,the path planning of the shuttle and the shortest total task completion time.(3)Propose an optimization decision method for AGV/RGV collaborative scheduling based on hybrid genetic algorithm.A shuttle assignment rule and a hybrid genetic algorithm adapted to the distribution of different warehouses are proposed,and the key operators of the hybrid genetic algorithm are designed.In view of the decoding process,a collaborative rail vehicle selection algorithm based on real-time status and a shuttle path planning algorithm based on Dijkstra algorithm are proposed.The problem of path collision is that the shuttle collision detection method and the path replanning method are designed to determine the sequence,path and time of the AGV and the RGV executing the warehousing task,which makes the total completion time shortest.(4)Develop a key modules of the collaborative scheduling prototype system and test the scheduling algorithm.On the basis of the overall design of the collaborative scheduling prototype system,the software implementation of the cooperative scheduling algorithm is implemented,which includes the development of key modules,such as the task management of the warehouse,the assignment of shuttle task and the decision of cooperative scheduling.The effectiveness of the cooperative scheduling algorithm is verified by the multi entry task scheduling test cases.The experimental results show that the proposed method can achieve a balanced assignment of shuttle tasks,multi AGV/RGV cooperative jobs,effective collision avoidance of the shuttle bus path,and the shortest overall task completion time,which is suitable for the intensive storage system.In order to improve the overall efficiency of warehousing and warehousing operation.