A cyclic picking path planning method considering three-dimensional packing

Abstract

The present invention relates to a circular pickup path planning method considering three-dimensional packing, comprising: obtaining order information, the order information including the manufacturer's location, at least two supplier's locations, the corresponding relationship between the target product and the supplier's location, the packaging information and the required quantity of the target product; determining the target pickup path according to the manufacturer's location, the supplier's location and the departure location of the vehicle; obtaining the available space of the vehicle at the initial moment; determining the corresponding three-dimensional packing method according to the packaging information of the target product; judging whether the target pickup path meets the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment, the corresponding relationship between the target product and the supplier's location, the three-dimensional packing method of the target product and the required quantity, and if so, loading all the target products according to the target pickup path and transporting them to the manufacturer. The target pickup path is obtained by considering the three-dimensional packing problem, thereby reducing the transportation cost while ensuring the loading rate of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics distribution, and in particular to a cyclic pickup path planning method considering three-dimensional packing. Background Art

[0002] In recent years, my country's automobile industry has developed rapidly. In the process of automobile manufacturing, in order to ensure the continuous and stable operation of the main engine factory, the transportation link of automobile parts into the factory is very important. Especially in the process of customized vehicle production, for the small-batch, multi-frequency, and timed material needs of automobile manufacturers, the traditional transportation mode has problems such as low loading rate, unreasonable loading, unreasonable vehicle path, and slow demand response. These problems will lead to high transportation costs for automobile manufacturing, which restricts the development of the automobile industry. Therefore, many automobile manufacturers have adopted a circular pickup mode for the logistics of parts entering the factory. The circular pickup mode is a transportation mode in which a freight vehicle arrives at multiple suppliers to pick up goods; that is, the truck departs from the carrier and goes to each supplier in turn according to the pre-set vehicle path to load the relevant materials, and then distributes them to the manufacturing plant. This process can reduce the waste of suppliers returning empty vehicles, increase the loading rate of transportation vehicles, reduce logistics transportation costs, and cooperate with the multi-frequency and small-batch production mode of the automobile industry to the greatest extent.

[0003] However, in actual operation, due to the packaging properties of auto parts, if only the route planning of cyclic pickup is considered, the plan for loading materials by trucks at suppliers may be unreasonable, or even the materials cannot be loaded into the truck box. In addition, during the vehicle transportation process, the space can meet the requirements of the box, but the higher the loading rate of the vehicle, the longer it will take to reach the corresponding OEM, which may cause the delivery time of the required materials to exceed the required time of the OEM order, and normal production operation cannot be guaranteed.

[0004] Therefore, it is necessary to provide a cyclic pickup path planning method that considers the three-dimensional packing problem to reduce logistics transportation costs and ensure that the required materials are delivered within a reasonable time to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method for planning a cyclic picking path considering three-dimensional packing. The method solves the technical problems that the prior art does not consider the packaging properties of the materials, resulting in unreasonable solutions for loading materials at the supplier, and even the inability to load the materials into the truck box, and that while increasing the loading rate, the time required for the delivery of the required materials may exceed the time required for the OEM order, and the normal production operation cannot be guaranteed.

[0006] The technical effects of the present invention are achieved as follows:

[0007] A method for planning a cyclic pickup path considering three-dimensional packing, the method comprising:

[0008] Acquire order information, wherein the order information includes a manufacturer location, at least two supplier locations, and target product information, wherein the target product information includes a correspondence between the target product and the supplier location, packaging information of the target product, and a required quantity;

[0009] determining a target pickup route based on the manufacturer's location, the supplier's location, and a departure location of the vehicle;

[0010] Acquiring vehicle information, wherein the vehicle information includes available space of the vehicle at an initial moment;

[0011] Determine the corresponding three-dimensional packing method according to the packaging information of the target product;

[0012] According to the available space of the vehicle at the initial moment, the correspondence between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, it is determined whether the target pickup path meets the three-dimensional packing constraint condition;

[0013] If the three-dimensional packing constraints are met, all target products are loaded according to the target pickup route and transported to the manufacturer.

[0014] Furthermore, the packaging information of the target product includes packaging methods of special type products, packaging methods of general type products and packaging methods of products that can be assembled into trays.

[0015] Further, the corresponding three-dimensional packing method is determined according to the packaging information of the target product, including:

[0016] When the packaging information of the target product is a packaging method of a special type of product, simplifying the three-dimensional packing method of the special type of product into a one-dimensional packing method;

[0017] When the packaging information of the target product is a packaging method of a general type of product, simplifying the three-dimensional packing method of the general type of packaging product into a center of gravity packing method;

[0018] When the packaging information of the target product is the packaging method of a palletizable product, the three-dimensional packing method of the palletizable product is simplified to a two-dimensional packing method. The corresponding three-dimensional packing method is determined by the packaging information of the target product, so that the calculation of the packing method of the target product and the packing space of the target product are standardized and normalized, and at the same time, the innovation of the spatial search strategy for the three-dimensional packing problem is completed, so that the calculation accuracy is guaranteed while reducing the calculation complexity. By simplifying the three-dimensional packing method of special types of products to a one-dimensional packing method, simplifying the three-dimensional packing method of general types of packaging products to a center of gravity packing method, and simplifying the three-dimensional packing method of palletizable products to a two-dimensional packing method, it is conducive to the subsequent stacking of heterogeneous packages in the vehicle box, avoiding unreasonable solutions for loading target products on the vehicle at the supplier, and ensuring the stability of transportation.

[0019] Furthermore, judging whether the target pickup path satisfies the three-dimensional packing constraint condition is performed based on the available space of the vehicle at the initial moment, the correspondence between the target product and the supplier location, the three-dimensional packing method of the target product, and the required quantity, including:

[0020] Obtain the order in which vehicles arrive at the supplier's location based on the target pickup route;

[0021] According to the correspondence between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, the target loading space required to load the corresponding target product at the supplier's location is obtained;

[0022] It is determined whether the target pickup path satisfies the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment and the target loading space.

[0023] Furthermore, according to the correspondence between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, the target loading space required for loading the corresponding target product at the supplier's location is obtained, including:

[0024] According to the correspondence between supplier locations and target products, the target products to be loaded at each supplier location are obtained;

[0025] The target loading space required for loading the corresponding target product at the supplier's location is obtained according to the three-dimensional packing method and the required quantity of the target product.

[0026] Further, judging whether the target pickup path satisfies the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment and the target loading space includes:

[0027] Obtain the remaining available space according to the available space of the vehicle at the initial moment and the target loading space corresponding to the first supplier location in the target pickup path, and set the remaining available space as the updated available space of the vehicle;

[0028] The updated available space of the vehicle is calculated based on the updated available space and the target loading space required for the target product corresponding to the next supplier location, until the target product of the last supplier location in the target pickup route is loaded to obtain the final remaining available space;

[0029] If the remaining available space is greater than or equal to zero, it is determined that the target pickup path meets the three-dimensional packing constraint. According to the three-dimensional packing method and required quantity of the corresponding target products at the supplier's location, the target loading space required to carry all target products is determined, and then compared with the available space of the vehicle at the initial moment, it is determined whether the vehicle meets the loading space requirement, avoiding the situation where the vehicle cannot load the target products into the vehicle.

[0030] Furthermore, it also includes:

[0031] Determine whether the available space after each vehicle update is greater than or equal to zero;

[0032] If so, the updated available space is calculated again according to the target loading space required by the target product corresponding to the next supplier location and the current available space;

[0033] If not, it is determined that the target pickup path does not meet the three-dimensional packing constraint condition, and the next supplier location and all subsequent supplier locations are removed from the target pickup path to obtain an updated target pickup path, so that the corresponding target products are loaded according to the updated target pickup path and then transported to the manufacturer. By calculating the updated available space obtained after loading the target product of each supplier location in real time, the supplier locations that do not meet the loading space are removed, thereby dynamically adjusting the target pickup path and improving the operating efficiency of the path planning algorithm.

[0034] Furthermore, the order information also includes the demand time of the target product, and judging whether the available space after each vehicle update is greater than or equal to zero, further includes:

[0035] Obtain the arrival time of the vehicle at the next supplier location based on the target pickup route;

[0036] According to the current supplier location, the next supplier location and the manufacturer location, the estimated travel time from the current supplier location to the next supplier location to pick up the goods and then to the manufacturer location is obtained;

[0037] Determine whether the target pickup route meets the demand time of the target product corresponding to the current supplier location based on the demand time of the target product corresponding to the current supplier location, the arrival time to the next supplier location, and the estimated travel time from the current supplier location to the next supplier location and then to the manufacturer location after picking up the product;

[0038] If yes, then continue to determine whether the demand time of the target product corresponding to the next supplier location is met according to the above method;

[0039] If not, it is determined that the target pickup path does not meet the three-dimensional packing constraint condition, and the next supplier location and all other subsequent supplier locations are removed from the target pickup path to obtain an updated target pickup path, so that the corresponding target products are loaded according to the updated target pickup path and then transported to the manufacturer. By considering the demand time of the target product in the planning problem of the target pickup path, it is ensured that the target product is delivered to the manufacturer's location within a reasonable time, solving the problem of simultaneously considering vehicle path planning with time windows and three-dimensional packing based on vehicle path planning.

[0040] Further, all target products are loaded and transported to the manufacturer according to the target pickup route, which includes:

[0041] Obtaining a destruction operator, wherein the destruction operator is a supplier location or a target product determined by a first preset condition;

[0042] Based on the ALNS algorithm, the destruction operator is removed from the target pickup path to obtain an optimal pickup path, and the optimal pickup path is set as the updated target pickup path.

[0043] Further, the optimal pickup route is set as the updated target pickup route, which previously includes:

[0044] Acquire a repair operator, where the repair operator is a supplier location to be inserted or a target product to be inserted determined by the second preset condition, and the supplier location to be inserted or the target product to be inserted is a supplier location or a target product determined by the first preset condition;

[0045] Based on the ALNS algorithm, the repair operator is added to the target pickup path to obtain the optimal pickup path. By setting the destruction operator and the repair operator, the target pickup path is corrected, so that the transportation route and loading plan of the vehicle can be manually adjusted according to the user's experience or needs to obtain a more reasonable target pickup path and loading plan.

[0046] As described above, the present invention has the following beneficial effects:

[0047] 1) The corresponding three-dimensional packing method is determined through the packaging information of the target product, so that the calculation of the target product's packing method and the target product's packing space is standardized and normalized. At the same time, the spatial search strategy for the three-dimensional packing problem is innovated, which ensures the calculation accuracy while reducing the calculation complexity.

[0048] 2) By simplifying the three-dimensional packing method of special types of products into a one-dimensional packing method, the three-dimensional packing method of general types of packaging products into a center of gravity packing method, and the three-dimensional packing method of palletizable products into a two-dimensional packing method, it is beneficial to the subsequent stacking of heterogeneous packages in the vehicle box, avoiding unreasonable plans for loading target products on the vehicle at the supplier's place, and ensuring the stability of transportation.

[0049] 3) According to the three-dimensional packing method and required quantity of the corresponding target products at the supplier's location, determine the target loading space required to carry all target products, and then compare it with the available space of the vehicle at the initial moment to determine whether the vehicle meets the loading space requirements, so as to avoid the situation where the vehicle cannot load the target products.

[0050] 4) By calculating the updated available space obtained after loading the target product at each supplier location in real time, the supplier locations that do not meet the loading space are removed, thereby dynamically adjusting the target pickup path and improving the operating efficiency of the path planning algorithm.

[0051] 5) By considering the demand time of the target product in the planning problem of the target pickup path, the target product can be delivered to the manufacturer's location within a reasonable time, solving the vehicle path planning with time windows and the three-dimensional packing problem based on vehicle path planning.

[0052] 6) By setting the destruction operator and the repair operator, the target pickup path is corrected, so that the vehicle's transportation route and loading plan can be manually adjusted according to the user's experience or needs to obtain a more reasonable target pickup path and loading plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0054] Figure 1 A flow chart of a method for planning a cyclic pickup path considering three-dimensional packing provided in an embodiment of this specification;

[0055] Figure 2 A schematic diagram of establishing a three-dimensional space coordinate system in a vehicle provided in an embodiment of this specification;

[0056] Figure 3A flowchart of the steps provided in the embodiment of this specification for determining whether the target pickup path meets the three-dimensional packing constraints based on the available space of the vehicle at the initial moment, the correspondence between the target product and the supplier location, the three-dimensional packing method of the target product, and the required quantity. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] Embodiment 1:

[0060] like Figure 1 As shown, the embodiment of this specification provides a method for planning a cyclic pickup path considering three-dimensional packing, and the method includes:

[0061] S100: Acquire order information, where the order information includes the manufacturer's location, at least two supplier locations, and target product information, where the target product information includes a correspondence between the target product and the supplier's location, packaging information of the target product, and a required quantity;

[0062] In this embodiment, the product refers to the material required by the manufacturer for the production process. The manufacturer notifies the corresponding supplier to transport the materials in the order to the manufacturer by placing an order. The order information includes one or two or more manufacturer locations and the supplier locations corresponding to each manufacturer location, that is, the manufacturer transports the materials through its corresponding supplier.

[0063] The order information also includes target product information, which includes the packaging information of the target product and the required quantity of the target product. In addition, the target product has attributes associated with the supplier, that is, the materials provided by each supplier in the order to the corresponding manufacturer are the target products required by the manufacturer, and each supplier provides at least one type and quantity of the target product.

[0064] S200: Determine a target pickup route according to the manufacturer location, the supplier location, and the departure location of the vehicle;

[0065] Among them, the target pickup path is determined by the vehicle path planning method in the prior art, and there is at least one target pickup path, that is, when there is one target pickup path, there is one manufacturer location in the order information, and one transport vehicle needs to be configured; when there are two or more target pickup paths, the number of manufacturer locations in the order information, the number of transport vehicles that need to be configured, and the number of target pickup paths are consistent, wherein different target pickup paths are randomly configured with corresponding transport vehicle models.

[0066] In this embodiment, for the business scenario of two or more target pickup routes, a simplified version of the transportation cost is defined from the perspectives of mileage and vehicle loading rate as the objective function of this application, that is, minimizing the transportation cost, as follows:

[0067]

[0068] Among them, c k is the transportation cost per unit distance and per unit volume of vehicle k, which is related to the specific vehicle model; d i,j is the driving distance from path i to path j; Li is the volume corresponding to the completed loading of all target products in path i.

[0069] S300: Acquire vehicle information, where the vehicle information includes available space of the vehicle at an initial moment;

[0070] Specifically, the corresponding available space is determined according to the model of the transport vehicle configured for different target pickup routes, wherein the available space can be the trunk volume corresponding to the vehicle of the model, that is, the trunk specifications, or it can be the available space obtained based on the carrying space already consumed by the vehicle and the trunk volume corresponding to the vehicle.

[0071] S400: determining a corresponding three-dimensional packing method according to packaging information of the target product;

[0072] Specifically, the packaging information of the target product includes packaging methods of special type products, packaging methods of general type products, and packaging methods of products that can be assembled into trays.

[0073] In a specific implementation, step S400 determines the corresponding three-dimensional packing method according to the packaging information of the target product, including:

[0074] When the packaging information of the target product is a packaging method of a special type of product, simplifying the three-dimensional packing method of the special type of product into a one-dimensional packing method;

[0075] When the packaging information of the target product is a packaging method of a general type of product, simplifying the three-dimensional packing method of the general type of packaging product into a center of gravity packing method;

[0076] When the packaging information of the target product is the packaging method of a palletizable product, the three-dimensional packing method of the palletizable product is simplified to a two-dimensional packing method.

[0077] For example, based on the specific scenario of car parts packaging, the material packaging is considered as the smallest cuboid that contains the actual packaging size. Figure 2 As shown, the lower left corner of the interior of the car is set as the coordinate origin, and a three-dimensional space coordinate system is established. Materials can be placed along the x-axis, y-axis, and z-axis.

[0078] First, for the packaging of special types of products, the three-dimensional packing problem is simplified to a one-dimensional packing problem to improve the computational efficiency of the algorithm. Specifically, material packaging with specific stacking requirements (for example, materials with casters such as wheeled racks and finished product placement racks) is screened and determined to be special types of products. To ensure the stability of stacking, the packaging of such materials can only be stacked of the same type when stacked up and down after packaging. The same type here refers to the same length and width dimensions and the same packaging attributes. Among them, packaging attributes include the type of material used for material packaging. For the packaging of such special types of products, priority is given to screening according to packaging attributes, and the three-dimensional packing problem is simplified to a one-dimensional packing problem stacked in sequence along the zxy direction. Here, the zxy direction sequence takes into account the stacking of heterogeneous packaging in the subsequent vehicle box and the transportation stability.

[0079] Second, for the packaging of general types of products, this application innovatively designs a method based on a spatial search strategy based on the center of gravity. This method does not require backtracking and can reduce the algorithm calculation time. Specifically, considering the heterogeneity of the material packaging in the car box and the stability of the transportation process, we divide the car box space according to stackable planes. Calculate the center of gravity corresponding to each stackable plane, start loading in order from the center of gravity of the plane from low to high, and obtain the stackable materials in the space corresponding to the plane until the sum of the materials stacked on each stackable plane is equal to or exceeds the available space in the car box.

[0080] Third, for the packaging of palletizable products, due to the standardized nature of automobile parts packaging, the packaging problem is first simplified to a two-dimensional packing problem considering the pallet bearing plane, and a linear programming model is established to solve the optimal number of single-layer palletizable pieces and pallet packaging type, that is, the pallet standard. Although this process takes a long time to solve, since the packaging size of automobile parts meets the standardized requirements, the pallet standard can be maintained in the database, and the result of the pallet standard can be directly called during the algorithm solution process.

[0081] S500: judging whether the target pickup path satisfies the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment, the correspondence between the target product and the supplier location, the three-dimensional packing method of the target product, and the required quantity;

[0082] S600: If the three-dimensional packing constraints are met, all target products are loaded according to the target pickup path and transported to the manufacturer.

[0083] In a first specific implementation:

[0084] like Figure 3 As shown, step S500 determines whether the target pickup path satisfies the three-dimensional packing constraint conditions according to the available space of the vehicle at the initial moment, the correspondence between the target product and the supplier location, the three-dimensional packing method of the target product, and the required quantity, including:

[0085] S510: Obtaining the order in which vehicles arrive at the supplier's location according to the target pickup route;

[0086] S520: Obtaining a target loading space required for loading the corresponding target product at the supplier's location according to the corresponding relationship between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity;

[0087] Step S520 obtains the target loading space required for loading the corresponding target product at the supplier's location according to the corresponding relationship between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, including:

[0088] According to the correspondence between supplier locations and target products, the target products to be loaded at each supplier location are obtained;

[0089] The target loading space required for loading the corresponding target product at the supplier's location is obtained according to the three-dimensional packing method and the required quantity of the target product.

[0090] S530: Determine whether the target pickup path satisfies the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment and the target loading space.

[0091] Step S530 determines whether the target pickup path satisfies the three-dimensional packing constraint condition according to the available space of the vehicle at the initial moment and the target loading space, including:

[0092] Obtain the remaining available space according to the available space of the vehicle at the initial moment and the target loading space corresponding to the first supplier location in the target pickup path, and set the remaining available space as the updated available space of the vehicle;

[0093] The updated available space of the vehicle is calculated based on the updated available space and the target loading space required for the target product corresponding to the next supplier location, until the target product of the last supplier location in the target pickup route is loaded to obtain the final remaining available space;

[0094] If the final remaining available space is greater than or equal to zero, it is determined that the target pickup path satisfies the three-dimensional packing constraint condition.

[0095] Specifically, the remaining available space is calculated after the vehicle loads the target products corresponding to each supplier location when arriving at the target pickup route, so as to update the available space of the vehicle. This calculation method can be used to determine whether the three-dimensional packing constraints are met in space when loading materials according to this target pickup route. If so, the materials are loaded and transported according to this target pickup route; if not, other target pickup routes are replanned.

[0096] In a second specific implementation:

[0097] Determine whether the available space after each vehicle update is greater than or equal to zero;

[0098] If so, the updated available space is calculated again according to the target loading space required by the target product corresponding to the next supplier location and the current available space;

[0099] If not, it is determined that the target pickup path does not meet the three-dimensional packing constraints, and the next supplier location and all subsequent supplier locations are removed from the target pickup path to obtain an updated target pickup path, so that the corresponding target products are loaded according to the updated target pickup path and transported to the manufacturer.

[0100] Specifically, when the vehicle arrives at each supplier location in the target pickup route and obtains remaining available space after loading the target products corresponding to the supplier location, the remaining available space is determined simultaneously. When the remaining available space is less than or equal to zero, it is determined that there is no space for loading the target products of the subsequent supplier locations. Therefore, all other subsequent supplier locations of this supplier location are removed from the target pickup route; when the remaining available space is greater than zero, the above-mentioned remaining available space calculation process and available space update process are continued.

[0101] In the third specific implementation mode:

[0102] The order information also includes the demand time of the target product, judging whether the available space after each vehicle update is greater than or equal to zero, and also includes:

[0103] Obtain the arrival time of the vehicle at the next supplier location based on the target pickup route;

[0104] According to the current supplier location, the next supplier location and the manufacturer location, the estimated travel time from the current supplier location to the next supplier location to pick up the goods and then to the manufacturer location is obtained;

[0105] Determine whether the target pickup route meets the demand time of the target product corresponding to the current supplier location based on the demand time of the target product corresponding to the current supplier location, the arrival time to the next supplier location, and the estimated travel time from the current supplier location to the next supplier location and then to the manufacturer location after picking up the product;

[0106] If yes, then continue to determine whether the demand time of the target product corresponding to the next supplier location is met according to the above method;

[0107] If not, it is determined that the target pickup path does not meet the three-dimensional packing constraints, and the next supplier location and all subsequent supplier locations are removed from the target pickup path to obtain an updated target pickup path, so that the corresponding target products can be loaded according to the updated target pickup path and then transported to the manufacturer.

[0108] Specifically, when the vehicle arrives at each supplier location in the target pickup path and obtains remaining available space after loading the target products corresponding to the supplier location, the current time is obtained, and the time from the current supplier location to the manufacturer location is synchronously calculated. If the current time plus the time from the current supplier location to the manufacturer location is earlier than the demand time of all target products corresponding to the current supplier, the current supplier location is determined to be a loading location and does not need to be removed from the target pickup path.

[0109] When considering the vehicle routing problem using this implementation, it is necessary to consider the demand time in the order information, that is, the time when the manufacturer requires materials, so as to ensure that the required materials are delivered to the manufacturer's location within a reasonable time to ensure the normal operation of production.

[0110] Among the above three implementations, the first and second implementations only consider the available space of the vehicle, that is, only judge whether the target pickup path in space meets the constraints based on the three-dimensional packing method; the third implementation considers the path planning problem with time window and the three-dimensional packing problem in space at the same time.

[0111] In a specific implementation manner, step S600 includes loading all target products according to the target pickup route and transporting them to the manufacturer, which includes:

[0112] Obtaining a destruction operator, wherein the destruction operator is a supplier location or a target product determined by a first preset condition;

[0113] Based on the ALNS algorithm, the destruction operator is removed from the target pickup path to obtain an optimal pickup path, and the optimal pickup path is set as the updated target pickup path.

[0114] In this embodiment, five types of destruction operators are included, namely:

[0115] 1) Count the similarities of materials between all target pickup routes, select the target pickup route with lower similarity, and remove the corresponding materials.

[0116] Similarity r is defined as:

[0117]

[0118] Among them, l, w, and h are the length, width, and height of the material packaging respectively.

[0119] 2) Count the similarities between the materials in each car box. The similarity is calculated in the same way as above. Filter the target pickup route with lower similarity (stronger heterogeneity) and remove the corresponding supplier in the route.

[0120] 3) Calculate the vehicle loading rate of each route, filter the route based on the vehicle loading rate p and remove all cargo from the route.

[0121] Vehicle loading rate p is defined as:

[0122]

[0123] Among them, l i , w i ,h i are the length, width and height of material package i respectively.

[0124] 4) Randomly select m vehicle routes, obtain the n suppliers that have the greatest impact on the vehicle's travel distance, and remove the corresponding suppliers and their corresponding goods.

[0125] 5) Randomly remove n suppliers from m vehicle routes.

[0126] The first destruction operator and the second destruction operator are determined in the following way: the corresponding similarity is calculated according to the size of the material packaging. When the similarity is lower than the preset similarity value, the material with low similarity to other materials is judged as the first destruction operator and the second destruction operator, that is, the similarity between the material packaging of the target pickup path is low or the similarity between the material packaging in the vehicle box is low. The low similarity corresponds to the fact that the materials between the vehicles are relatively different, or the materials in the vehicles are relatively different, resulting in low utilization of the vehicle loading space. Therefore, after removing these materials with low similarity to other materials from the target pickup path, the target products carried by the vehicle can be made closer in volume, thereby improving the utilization of space. Among them, the preset similarity value can be set by the user.

[0127] The third method of determining the destruction operator is: according to the calculation of the vehicle loading rate of each route, when the vehicle loading rate is lower than the preset value of the loading rate, it is considered that the materials loaded according to this target pickup route are not suitable for the vehicle model corresponding to the route, that is, the space corresponding to the vehicle model is too large, and the loaded materials are too few, resulting in the vehicle loading rate being too low. Therefore, it is necessary to remove all supplier locations on the route, that is, cancel the route. Among them, the preset value of the loading rate can be set by the user.

[0128] The fourth method of determining the destruction operator is: randomly select m vehicle routes, and calculate the ratio of the mileage after removing each supplier from the route to the mileage of the corresponding route. When the ratio exceeds the preset mileage ratio, it is considered that the supplier has a greater impact on the mileage of its route. Therefore, it is necessary to remove the supplier from the corresponding target pickup route to save transportation costs. The preset mileage ratio can be set by the user.

[0129] The fifth method of determining the destruction operator is: randomly selecting m vehicle routes and randomly removing n suppliers from the corresponding routes. The random removal method can be performed by a random algorithm in the prior art according to the number of removals set by the user.

[0130] Based on the ALNS algorithm, the above-mentioned destruction operator is removed from the target pickup path to obtain the optimal pickup path, and the optimal pickup path is set as the updated target pickup path. Among them, the ALNS algorithm is a prior art and will not be described in detail in this application.

[0131] In a specific implementation, the optimal pickup route is set as the updated target pickup route, which includes:

[0132] Acquire a repair operator, where the repair operator is a supplier location to be inserted or a target product to be inserted determined by the second preset condition, and the supplier location to be inserted or the target product to be inserted is a supplier location or a target product determined by the first preset condition;

[0133] Based on the ALNS algorithm, the repair operator is added to the target pickup path to obtain the optimal pickup path.

[0134] Specifically, in order to re-load and transport all target products or part of the corresponding target products at the supplier location corresponding to the above-mentioned removed destruction operator, it is necessary to convert the above-mentioned destruction operator into a repair operator and insert it into other target pickup paths. That is, after a supplier location or a target product is removed from its corresponding target pickup path, it needs to enter and exit other target pickup paths outside the target pickup path, or be inserted into a newly established target pickup path.

[0135] There are two types of repair operators, namely, the supplier location to be inserted and part of the target products of a supplier location to be inserted.

[0136] 1) Method for inserting the supplier location to be inserted: obtain the target supplier location whose distance to the supplier location to be inserted is within the preset distance, insert the supplier location to be inserted into the target pickup path where the target supplier location is located, and after the insertion, the supplier location to be inserted is used as the previous supplier location or the next supplier location adjacent to the target supplier location, calculate the updated path length of each target pickup path after the insertion, and select the target pickup path corresponding to the shortest path length as the insertion object of the supplier location to be inserted. The preset distance can be set by the user.

[0137] 2) Insertion method of the target product to be inserted: obtain all other target pickup paths other than the target pickup path where the supplier location corresponding to the target product to be inserted is located, obtain the remaining space in the car box corresponding to all other target pickup paths, insert the supplier location corresponding to the target product into other target pickup paths, and sort the supplier locations in the insertion order according to the method of obtaining the target pickup path in this application to obtain the updated target pickup path. Under the condition of satisfying the three-dimensional packing space and the demand time of the target product, calculate the objective function of the updated target pickup path after inserting the supplier location corresponding to the target product in each target pickup path, that is, the minimum transportation cost. When the minimum transportation cost is less than the preset cost, select the target pickup path corresponding to the lowest minimum transportation cost as the insertion object of the supplier location corresponding to the target product to be inserted. Among them, the preset cost can be set by the user.

[0138] At the same time, when the distance between the target supplier location closest to the supplier location to be inserted and the supplier location to be inserted is greater than or equal to the preset distance, or the target product to be inserted does not meet the conditions of three-dimensional packing space and target product demand time after being inserted into other target pickup paths, or the minimum transportation cost is greater than or equal to the preset cost, it is confirmed that these target products cannot be inserted into the planned target pickup paths, and the pickup paths are replanned to obtain one or two or more new target pickup paths, and the same number of vehicles as the target pickup paths are configured.

[0139] Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described herein but includes various changes and modifications that may be made without departing from the scope of the present invention.

[0140] In the absence of conflict, the above embodiments and features in the embodiments can be combined with each other.

[0141] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for planning a cyclic pickup path considering three-dimensional packing, characterized in that: The method comprises: Obtaining order information, wherein the order information includes the manufacturer's location, at least two supplier locations, target product information, and the demand time of the target product; the target product information includes the correspondence between the target product and the supplier's location, the packaging information of the target product, and the demand quantity; the packaging information of the target product includes the packaging method of special type products, the packaging method of general type products, and the packaging method of palletizable products; Determining a target pickup route based on the manufacturer's location, the supplier's location, and a departure location of the vehicle; Acquiring vehicle information, wherein the vehicle information includes available space of the vehicle at an initial moment; When the packaging information of the target product is the packaging method of the special type of product, the three-dimensional packing method of the special type of product is simplified to a one-dimensional packing method; when the packaging information of the target product is the packaging method of the general type of product, the three-dimensional packing method of the general type of packaging product is simplified to a center of gravity packing method; when the packaging information of the target product is the packaging method of the pallet-assembled product, the three-dimensional packing method of the pallet-assembled product is simplified to a two-dimensional packing method; Obtain the order in which vehicles arrive at the supplier's location based on the target pickup route; According to the correspondence between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, the target loading space required for loading the corresponding target product at the supplier's location is obtained; Obtaining a remaining available space according to the available space of the vehicle at the initial moment and the target loading space corresponding to the first supplier location in the target pickup path, and setting the remaining available space as the updated available space of the vehicle; Calculating the updated available space of the vehicle again according to the updated available space and the target loading space required for the target product corresponding to the next supplier location, until the target product of the last supplier location in the target pickup route is loaded to obtain the final remaining available space; If the final remaining available space is greater than or equal to zero, it is determined that the target pickup path satisfies the three-dimensional packing constraint condition; If the three-dimensional packing constraints are met, all the target products are loaded according to the target pickup route and transported to the manufacturer; The method further comprises: Determine whether the updated available space of the vehicle is greater than or equal to zero each time; if so, calculate the updated available space again according to the target loading space required by the target product corresponding to the next supplier location and the current available space; if not, determine that the target pickup path does not meet the three-dimensional packing constraint condition, remove the next supplier location and all other subsequent supplier locations from the target pickup path to obtain an updated target pickup path, so as to load the corresponding target product according to the updated target pickup path and then transport it to the manufacturer; Obtaining the arrival time of the vehicle at the next supplier location according to the target pickup route; According to the current supplier location, the next supplier location and the manufacturer location, the estimated travel time from the current supplier location to the next supplier location to pick up the goods and then to the manufacturer location is obtained; Whether the target pickup path meets the demand time of the target product corresponding to the current supplier location is determined based on the demand time of the target product corresponding to the current supplier location, the arrival time at the next supplier location, and the estimated driving time from the current supplier location to the next supplier location and then to the manufacturer location after picking up the goods; if so, whether the demand time of the target product corresponding to the next supplier location is met is determined in the above manner; if not, it is determined that the target pickup path does not meet the three-dimensional packing constraint condition, and the next supplier location and all other subsequent supplier locations are removed from the target pickup path to obtain an updated target pickup path, so that the corresponding target product is loaded according to the updated target pickup path and then transported to the manufacturer.

2. The method for planning a cyclic pickup path considering three-dimensional packing according to claim 1, characterized in that: According to the correspondence between the target product and the supplier's location, the three-dimensional packing method of the target product, and the required quantity, the target loading space required for loading the corresponding target product at the supplier's location is obtained, including: According to the correspondence between supplier locations and target products, the target products to be loaded at each supplier location are obtained; The target loading space required for loading the corresponding target product at the supplier's location is obtained according to the three-dimensional packing method and the required quantity of the target product.

3. The method for planning a cyclical pickup path considering three-dimensional packing according to claim 1, characterized in that: All target products are loaded and transported to the manufacturer according to the target pickup route, which previously included: Obtaining a destruction operator, wherein the destruction operator is a supplier location or a target product determined by a first preset condition; Based on the ALNS algorithm, the destruction operator is removed from the target pickup path to obtain an optimal pickup path, and the optimal pickup path is set as the updated target pickup path.

4. The method for planning a cyclic pickup path considering three-dimensional packing according to claim 3, characterized in that: The optimal pickup route is set as the updated target pickup route, which previously includes: Acquire a repair operator, where the repair operator is a supplier location to be inserted or a target product to be inserted determined by the second preset condition, and the supplier location to be inserted or the target product to be inserted is a supplier location or a target product determined by the first preset condition; Based on the ALNS algorithm, the repair operator is added to the target pickup path to obtain the optimal pickup path.

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