Maintenance man and agricultural machinery maintenance vehicle cooperative scheduling method with time window

Abstract

The invention discloses a maintenance man and agricultural machinery maintenance vehicle cooperative scheduling method with a time window, and relates to the field of agricultural machinery scheduling. The problem that a cooperative scheduling method for maintenance personnel and maintenance vehicles going to work is lacked aiming at the maintenance requirement of the agricultural machine with the fault is solved. In order to reduce the total scheduling time and reduce the total scheduling cost, the scheduling total objective function provides related parameters and constraint conditions; based on an optimization algorithm, the matching condition, the total scheduling time and the total scheduling cost of the maintenance personnel and the agricultural machinery maintenance vehicles and the optimal cooperative scheduling scheme that the agricultural machinery maintenance vehicles access all the fault points on the driving path in sequence are solved. The method is mainly applied to cooperative scheduling of a plurality of maintainers and a plurality of agricultural machinery maintenance vehicles.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery scheduling, and is a collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with a time window, with the goal of minimizing total scheduling cost and total scheduling time. Background Art

[0002] Smart agriculture refers to the perception, transmission, storage, processing, and control of the entire agricultural production process, supported by digital, networked, and intelligent technologies. This enables visualization of agricultural production processes, intelligent decision-making, precise operations, and information-based management. In modern agricultural production, the efficient operation of agricultural machinery and equipment is crucial to ensuring agricultural productivity. However, agricultural machinery and equipment are prone to malfunctions during operation, leading to production interruptions and reduced efficiency. Therefore, timely and appropriate dispatch of agricultural machinery maintenance vehicles and technicians to quickly repair faults can not only reduce agricultural machinery downtime, but also reduce maintenance costs and operational delay losses.

[0003] For agricultural machinery that has malfunctioned, the existing technology does not adopt a systematic scheduling solution. When a maintenance need arises, a maintenance personnel will be directly assigned to drive the corresponding type of maintenance vehicle to the location of the fault for repair. The coordinated scheduling process between the maintenance personnel and the corresponding type of agricultural machinery maintenance vehicle is complex, time-consuming, and has low maintenance efficiency.

[0004] With the rapid development of smart agriculture and sustainable farming, IoT-based agricultural machinery maintenance platforms offer an effective and practical solution for maintaining agricultural machinery that malfunctions during operation. However, existing technologies lack a collaborative scheduling method that allows agricultural machinery drivers to submit repair requests online through the platform, have maintenance service providers assign different repair personnel and agricultural machinery repair vehicles, and then coordinate the dispatch of these personnel and vehicles to the fault location within a specified timeframe. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem of lack of collaborative scheduling method for maintenance personnel and maintenance vehicles to go to the operation for the maintenance needs of agricultural machinery with faults, and provide a collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with a time window.

[0006] A collaborative scheduling method for repairmen and agricultural machinery repair vehicles with time windows. This collaborative scheduling method is based on multiple repairmen, various types of agricultural machinery repair vehicles, and multiple fault points. A fault point is the location where an agricultural machine breaks down, and each fault point corresponds to a maintenance requirement.

[0007] Each type of agricultural machinery maintenance vehicle is responsible for handling corresponding maintenance needs; each maintenance technician can operate multiple types of agricultural machinery maintenance vehicles, and each maintenance technician has a corresponding maintenance operation level for each type of agricultural machinery maintenance vehicle, and the maintenance operation level must meet the minimum maintenance requirements of the fault point;

[0008] The collaborative scheduling method comprises the following steps:

[0009] Each maintenance worker k operates a corresponding type of agricultural machinery maintenance vehicle v starting from the initial warehouse O, performs maintenance work at a fault point or between multiple fault points that match the type of agricultural machinery maintenance vehicle, and completes the maintenance needs of all fault points within the specified time window and returns to the final warehouse D. In this process, the overall scheduling objective function is constructed to minimize the total scheduling cost and the total scheduling time under the premise of meeting all maintenance needs within a scheduling plan; k and v are the indices of the maintenance worker and agricultural machinery maintenance vehicle respectively.

[0010] According to the set constraints, the optimization algorithm is used to optimize and solve the overall scheduling objective function, and the matching situation between maintenance personnel and agricultural machinery maintenance vehicles, the total scheduling time, the total scheduling cost, and the optimal collaborative scheduling plan for each agricultural machinery maintenance vehicle to sequentially visit all fault points on its driving path are solved.

[0011] Preferably, the total dispatch cost is the sum of the total travel cost and the total maintenance operation cost;

[0012] The total dispatch time is the sum of the total travel time, the total setup time, and the total maintenance operation time.

[0013] Preferably, the expression of the overall scheduling objective function is:

[0014]

[0015] The constraints are:

[0016]

[0017]

[0018]

[0019]

[0020]

[0021]

[0022]

[0023]

[0024]

[0025]

[0026]

[0027]

[0028]

[0029]

[0030]

[0031]

[0032] in,

[0033] Z is the overall scheduling objective function;

[0034] V is the set of agricultural machinery maintenance vehicles, v is the index of agricultural machinery maintenance vehicle, v∈V;

[0035] K is the set of maintenance personnel, k is the maintenance personnel index, k∈K;

[0036] O represents the initial garage and serves as a node;

[0037] D represents the termination garage and serves as a node;

[0038] S is the set of fault points, i′, j′, s′∈S, i′, j′ and s′ are all fault point indexes, each fault point is regarded as a node, and i′≠j′≠s′;

[0039] N = {O}∪S∪{D}, where N is the node set consisting of the initial garage, the terminal garage, and the set of fault points;

[0040] i is the node index in the node set N;

[0041] i″ and j″ are both node indices in the node set S∪{O};

[0042] α is the weight of scheduling time in the objective function;

[0043] β is the weight of the total maintenance operation time in the overall scheduling objective function;

[0044] t ijv is the travel time of agricultural machinery maintenance vehicle v from node i to node j;

[0045] t i′j′v is the travel time of the agricultural machinery maintenance vehicle v from the fault point i′ to the fault point j′;

[0046] is the setup time for the agricultural machinery maintenance vehicle v from node i to node j;

[0047] is the setup time for the agricultural machinery maintenance vehicle v to travel from fault point i′ to fault point j′;

[0048] τ jv is the maintenance operation time of agricultural machinery maintenance vehicle v at node j;

[0049] τ j′v is the maintenance operation time of agricultural machinery maintenance vehicle v at fault point j;

[0050] x ijv If the agricultural machinery maintenance vehicle v moves from node i to node j, the value is 1, otherwise it is 0;

[0051] x i′j′v If the agricultural machinery maintenance vehicle v moves from the fault point i′ to the fault point j′, the value is 1, otherwise it is 0;

[0052] x ij′v If the agricultural machinery maintenance vehicle v moves from node i to the fault point j′, the value is 1, otherwise it is 0;

[0053] x i″j″ν If the agricultural machinery maintenance vehicle v moves from node i″ to node j″, the value is 1, otherwise it is 0;

[0054] c ijv is the travel cost of agricultural machinery maintenance vehicle v from node i to node j;

[0055] λ jv is the maintenance cost of agricultural machinery maintenance vehicle v at node j;

[0056] r j′v If the agricultural machinery maintenance vehicle v visits the fault point j′, the value is 1, otherwise it is 0;

[0057] x Oj″v If the agricultural machinery maintenance vehicle v moves from the initial garage O to the node j″, the value is 1, otherwise it is 0;

[0058] x i″Dv If the agricultural machinery maintenance vehicle v moves from node i″ to the termination garage D, the value is 1, otherwise it is 0;

[0059] x i″j′ν If the agricultural machinery maintenance vehicle v moves from node i″ to the fault point j′, the value is 1, otherwise it is 0;

[0060] x j′s′v If the agricultural machinery maintenance vehicle v moves from the fault point j′ to the fault point s′, the value is 1, otherwise it is 0;

[0061] r j′v If the agricultural machinery maintenance vehicle v visits the fault point j, the value is 1, otherwise it is 0;

[0062] u vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v, the value is 1, otherwise it is 0;

[0063] y j′vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v to visit the fault point j′, the value is 1, otherwise it is 0;

[0064] μ j′v If the agricultural machinery maintenance vehicle v has the ability to operate at the fault point j, the value is 1, otherwise it is 0;

[0065] A fixed minimum operating level for all fault points;

[0066] The operating level of maintenance worker k in operating maintenance vehicle v;

[0067] M is an infinite constant;

[0068] t j′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point j′;

[0069] t i′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point i′;

[0070] e j′ and l j′ are the lower and upper limits of the time window of fault point j′ respectively.

[0071] Preferably, the optimization algorithm used is a particle swarm optimization algorithm.

[0072] On the second aspect, a device for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows includes a storage device, a processor, and a computer program stored in the storage device and runnable on the processor. The device is characterized in that the processor executes the computer program to implement the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows.

[0073] In a third aspect, a computer-readable storage device stores a computer program, and when the computer program is executed, the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows is implemented.

[0074] In a fourth aspect, a computer program product includes a computer program, which, when executed by a processor, implements the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows as described above.

[0075] Advantages of the present invention:

[0076] The present invention provides a method for collaboratively dispatching maintenance personnel and agricultural machinery maintenance vehicles with a time window, which can timely and reasonably dispatch agricultural machinery maintenance vehicles and maintenance personnel, quickly repair fault points, and can not only reduce agricultural machinery downtime, but also reduce maintenance costs and operation delay losses.

[0077] The scheduling problem involves multiple heterogeneous agricultural machinery maintenance vehicles, multiple agricultural machinery failure demand points, and multiple maintenance personnel. Each type of agricultural machinery maintenance vehicle handles a corresponding type of maintenance demand. Each maintenance personnel can operate multiple types of agricultural machinery maintenance vehicles and has a corresponding maintenance performance level for each type of agricultural machinery maintenance vehicle, and each maintenance performance level must meet the minimum maintenance demand of the failure point. The goal is to minimize the total working time and total working cost while satisfying constraints such as the failure point's time window performance level and operating capacity. An optimization algorithm is used to solve the problem, determining the matching of maintenance personnel and agricultural machinery maintenance vehicles, the total scheduling time, the total scheduling cost, and the optimal coordinated scheduling solution for each agricultural machinery maintenance vehicle to sequentially visit all failure points on its driving path. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a flow chart of the collaborative scheduling method of maintenance personnel and agricultural machinery maintenance vehicles with time windows of the present invention. DETAILED DESCRIPTION

[0079] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 any creative efforts shall fall within the scope of protection of the present invention.

[0080] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0081] The scheduling problem involves multiple heterogeneous agricultural machinery maintenance vehicles, multiple agricultural machinery failure demand points, and multiple maintenance personnel. The goal is to minimize the total working time and total working cost while meeting the constraints of the failure point time window, operation level and operation capacity.

[0082] The ideas come from the following sources:

[0083] First, the human-machine scheduling problem has the following characteristics:

[0084] 1. Multi-vehicle collaboration: There are multiple heterogeneous agricultural machinery maintenance vehicles, each with different working capabilities, setup times, and maintenance efficiency.

[0085] 2. Multiple maintenance worker dispatching: Multiple maintenance workers can operate different maintenance vehicles, and different maintenance workers have different levels of operation of maintenance vehicles.

[0086] 3. Time window constraint: There is a time window constraint on the fault point, and the maintenance vehicle must arrive and complete the repair within the specified time.

[0087] 4. Compatibility between vehicles and maintenance personnel: Maintenance vehicles can only operate at fault points with matching capabilities. Maintenance personnel driving a certain agricultural machinery maintenance vehicle must meet the minimum operating level to perform maintenance tasks.

[0088] Based on the above characteristics, a collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with time windows is provided. The specific implementation method is as follows:

[0089] Specific implementation method 1. Figure 1 This embodiment describes a collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with time windows. This collaborative scheduling method is implemented based on multiple maintenance personnel, multiple types of agricultural machinery maintenance vehicles, and multiple fault points. A fault point is the location where an agricultural machine breaks down, and each fault point corresponds to a maintenance requirement.

[0090] Each type of agricultural machinery maintenance vehicle is responsible for handling corresponding maintenance needs; each maintenance technician can operate multiple types of agricultural machinery maintenance vehicles, and each maintenance technician has a corresponding maintenance operation level for each type of agricultural machinery maintenance vehicle, and the maintenance operation level must meet the minimum maintenance requirements of the fault point;

[0091] The collaborative scheduling method comprises the following steps:

[0092] Each maintenance worker k operates a corresponding type of agricultural machinery maintenance vehicle v starting from the initial warehouse O, performs maintenance work at a fault point or between multiple fault points that match the type of agricultural machinery maintenance vehicle, and completes the maintenance needs of all fault points within the specified time window and returns to the final warehouse D. In this process, the overall scheduling objective function is constructed to minimize the total scheduling cost and the total scheduling time under the premise of meeting all maintenance needs within a scheduling plan; k and v are the indices of the maintenance worker and agricultural machinery maintenance vehicle respectively.

[0093] According to the set constraints, the optimization algorithm is used to optimize and solve the overall scheduling objective function, and the matching situation between maintenance personnel and agricultural machinery maintenance vehicles, the total scheduling time, the total scheduling cost, and the optimal collaborative scheduling plan for each agricultural machinery maintenance vehicle to sequentially visit all fault points on the driving path are solved to meet the maintenance needs of all fault points at the current moment.

[0094] This implementation proposes a method for collaboratively scheduling maintenance personnel and agricultural machinery repair vehicles with time windows, aiming to reduce both total scheduling time and total scheduling cost. Relevant parameters and constraints are proposed. Subsequently, the model's solution steps are designed based on an optimization algorithm, ultimately outputting an optimal scheduling solution and the corresponding objective function value. This method can generate an optimal collaborative scheduling solution for multiple maintenance personnel and multiple agricultural machinery repair vehicles, based on the dual objectives of minimizing total scheduling cost and total scheduling time.

[0095] When applying specifically,

[0096] Agricultural Machinery Maintenance Vehicle Set V: The maintenance vehicle is used for repair work at the fault point and has the following features:

[0097] (1) Each agricultural machinery maintenance vehicle has different working capacity, setup time and fixed operation time.

[0098] (2) When a maintenance vehicle moves between two fault points, it will generate travel time and setup time (such as refueling, lubrication, etc.), which is related to the type of maintenance vehicle and the location of the fault point.

[0099] (3) Each maintenance vehicle has a fixed operating time when performing maintenance work at different fault points.

[0100] (4) Each maintenance vehicle can only go to the fault point with matching capabilities to perform maintenance operations.

[0101] Maintenance Technician Set K: Maintenance technicians are responsible for operating agricultural machinery maintenance vehicles and performing maintenance tasks, and have the following characteristics:

[0102] (1) Maintenance personnel have different operating levels when operating different maintenance vehicles.

[0103] (2) When a maintenance worker operates a maintenance vehicle to repair a fault point, his or her operating level must meet the minimum requirements.

[0104] (3) During the operation, each maintenance vehicle can only be operated by one maintenance worker.

[0105] (4) During the operation, each maintenance worker can only operate one maintenance vehicle.

[0106] Fault point set S: Fault points represent agricultural equipment that requires maintenance and have the following characteristics:

[0107] (1) Each fault point has a fixed time window, and the maintenance vehicle must arrive and complete the operation within the time window.

[0108] (2) Each fault point can only be accessed once, and all requirements must be met.

[0109] (3) Each agricultural machinery maintenance vehicle has different maintenance costs and maintenance times when performing maintenance operations at any fault point.

[0110] Therefore, in the constructed scheduling objective function, first, the total scheduling cost is the sum of the total travel cost and the total maintenance operation cost; second, the total scheduling time is the sum of the total travel time, the total setup time and the total maintenance operation time.

[0111] Furthermore, the expression of the constructed scheduling overall objective function is:

[0112]

[0113] The constraints are:

[0114]

[0115]

[0116]

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129]

[0130] in,

[0131] Z is the overall scheduling objective function;

[0132] V is the set of agricultural machinery maintenance vehicles, v is the index of agricultural machinery maintenance vehicle, v∈V;

[0133] K is the set of maintenance personnel, k is the maintenance personnel index, k∈K;

[0134] O represents the initial garage and serves as a node;

[0135] D represents the termination garage and serves as a node;

[0136] S is the set of fault points, i′, j′, s′∈S, i′, j′ and s′ are all fault point indexes, each fault point is regarded as a node, and i′≠j′≠s′;

[0137] N = {O}∪S∪{D}, where N is the node set consisting of the initial garage, the terminal garage, and the set of fault points;

[0138] i is the node index in the node set N;

[0139] i″ and j″ are both node indices in the node set S∪{O};

[0140] α is the weight of scheduling time in the objective function;

[0141] β is the weight of the total maintenance operation time in the overall scheduling objective function;

[0142] t ijv is the travel time of agricultural machinery maintenance vehicle v from node i to node j;

[0143] t i′j′v is the travel time of the agricultural machinery maintenance vehicle v from the fault point i′ to the fault point j′;

[0144] is the setup time for the agricultural machinery maintenance vehicle v from node i to node j;

[0145] is the setup time for the agricultural machinery maintenance vehicle v to travel from fault point i′ to fault point j′;

[0146] τ jv is the maintenance operation time of agricultural machinery maintenance vehicle v at node j;

[0147] τ j′v is the maintenance operation time of agricultural machinery maintenance vehicle v at fault point j;

[0148] x ijv If the agricultural machinery maintenance vehicle v moves from node i to node j, the value is 1, otherwise it is 0;

[0149] x i′j′v If the agricultural machinery maintenance vehicle v moves from the fault point i′ to the fault point j′, the value is 1, otherwise it is 0;

[0150] xij′v If the agricultural machinery maintenance vehicle v moves from node i to the fault point j′, the value is 1, otherwise it is 0;

[0151] x i″j″ν If the agricultural machinery maintenance vehicle v moves from node i″ to node j″, the value is 1, otherwise it is 0;

[0152] c ijv is the travel cost of agricultural machinery maintenance vehicle v from node i to node j;

[0153] λ jv is the maintenance cost of agricultural machinery maintenance vehicle v at node j;

[0154] r j′v If the agricultural machinery maintenance vehicle v visits the fault point j′, the value is 1, otherwise it is 0;

[0155] x Oj″v If the agricultural machinery maintenance vehicle v moves from the initial garage O to the node j″, the value is 1, otherwise it is 0;

[0156] x i″Dv If the agricultural machinery maintenance vehicle v moves from node i″ to the termination garage D, the value is 1, otherwise it is 0;

[0157] x i″j′ν If the agricultural machinery maintenance vehicle v moves from node i″ to the fault point j′, the value is 1, otherwise it is 0;

[0158] x j′s′v If the agricultural machinery maintenance vehicle v moves from the fault point j′ to the fault point s′, the value is 1, otherwise it is 0;

[0159] r j′v If the agricultural machinery maintenance vehicle v visits the fault point j, the value is 1, otherwise it is 0;

[0160] u vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v, the value is 1, otherwise it is 0;

[0161] y j′vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v to visit the fault point j′, the value is 1, otherwise it is 0;

[0162] μ j′v If the agricultural machinery maintenance vehicle v has the ability to operate at the fault point j, the value is 1, otherwise it is 0;

[0163] A fixed minimum operating level for all fault points;

[0164] The operating level of maintenance worker k in operating maintenance vehicle v;

[0165] M is an infinite constant;

[0166] t j′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point j′;

[0167] t i′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point i′;

[0168] e j′ and l j′ are the lower and upper limits of the time window of fault point j′ respectively.

[0169] Among the constraints, formulas (2) to (3) are path closure constraints. Each maintenance vehicle starts from the starting warehouse and returns to the ending warehouse after completing the task.

[0170] In the constraint conditions, formulas (4) to (5) stipulate that each fault point can only be accessed once, and the number of inflows and outflows to each fault point is the same;

[0171] Formula (6) in the constraint condition is used to determine which maintenance vehicle visits each fault point;

[0172] In the constraint conditions, formulas (7) and (8) stipulate that each maintenance vehicle can only be operated by one maintenance worker, and each maintenance worker can only operate one maintenance vehicle;

[0173] In the constraint condition, formula (9) establishes a connection between the fault point, the agricultural machinery maintenance vehicle and the maintenance personnel;

[0174] Formula (10) in the constraint conditions ensures that the maintenance vehicle has the ability to operate at the fault point;

[0175] Formula (11) in the constraint condition stipulates that the operation can only be performed when the operation level of the maintenance vehicle operated by the maintenance worker is not less than the minimum operation level;

[0176] Formulas (12) to (14) in the constraint conditions ensure that the agricultural machinery maintenance vehicle follows the time window of the fault point.

[0177] Furthermore, the optimization algorithm used is the particle swarm optimization algorithm in the prior art. The solution steps of the particle swarm optimization algorithm include:

[0178] Problem formulation: For the problem of coordinated scheduling of maintenance personnel and agricultural machinery maintenance vehicles, the core idea of ​​this algorithm is to represent the scheduling plan of a group of maintenance vehicles, maintenance personnel, and fault points as a particle, and then move towards a better solution through position and velocity updates, ultimately finding the optimal scheduling plan.

[0179] Algorithm principle: Particle swarm optimization is an optimization algorithm based on swarm intelligence, simulating the foraging behavior of flocks of birds or schools of fish.

[0180] The algorithm iterates and optimizes through the following core elements:

[0181] 1. Particle: represents a solution, that is, a scheduling plan for a group of maintenance vehicles, maintenance personnel, and fault points.

[0182] 2. Speed: Indicates the direction and magnitude of the solution change, used to update the particle position.

[0183] 3. Position: represents the solution of the current particle.

[0184] 4. Global optimal position: the optimal solution currently found among all particles.

[0185] Solution steps:

[0186] Step 1: Initialize the basic parameters of the algorithm

[0187] Number of particles: N p ;

[0188] Maximum number of iterations: T max ;

[0189] Inertia weight: ω;

[0190] Learning factors: c1, c2;

[0191] Velocity of particle m: v m (t);

[0192] Current position of particle m: x m (t);

[0193] r1, r2: random numbers between 0 and 1;

[0194] pbest m : Individual optimal solution, that is, the best position that the mth particle has ever reached in the current search process.

[0195] gbest: global optimal solution, that is, the global optimal solution ever reached by all particles in the current population.

[0196] Initial particle position: Randomly generate a scheduling plan for agricultural machinery maintenance vehicle-maintenance personnel-fault point.

[0197] Initial particle speed: initialized to 0 or a random value.

[0198] Objective function calculation:

[0199]

[0200] Step 2: Particle position and velocity update

[0201] In each iteration:

[0202] 1. Calculate the particle speed according to the speed update formula:

[0203] v m (t+1)=ω·v m (t)+c1·r1·(pbest m -x m )+c2·r2·(gbest-x m );

[0204] 2. Calculate the next position of the particle according to the position update formula:

[0205] x m (t+1)=x m (t)+v m (t+1);

[0206] 3. Usage restriction fixes:

[0207] (1) If the particle position exceeds the boundary, it is restricted to the valid range.

[0208] (2) If the repair vehicle or repairman is assigned twice, repair it.

[0209] Step 3: Objective function calculation and constraint checking

[0210] Calculate the objective function value for each particle and check the constraints:

[0211] The constraints are checked as shown in formulas (2) to (17):

[0212] 1. Check whether each maintenance vehicle starts from the starting point and returns to the end point.

[0213] 2. Check whether the fault point is accessed and only accessed once.

[0214] 3. Check whether the time window constraints are met.

[0215] 4. Check the operating level constraints.

[0216] 5. Check operational capacity constraints.

[0217] Step 4: Update individual optimality and global optimality

[0218] 1. If the current particle's target value is better than the historical optimal value, update the optimal position of the particle:

[0219] if Z(x m )<Z(pbest m )then pbest m =x m ;

[0220] 2. If the current particle's target value is better than the global optimum, update the global optimum:

[0221] ifZ(x m )<Z(gbest)then gbest=x m ;

[0222] Step 5: Iteration termination condition

[0223] Reach the maximum number of iterations T max , then terminate.

[0224] Step 6: Output the optimal solution

[0225] Finally, the global optimal scheduling solution is output to minimize the total cost and maximize the satisfaction of the demand points:

[0226] 1. The driving path of the maintenance vehicle;

[0227] 2. Matching of maintenance personnel and maintenance vehicles;

[0228] 3. The order in which each maintenance vehicle visits the fault points;

[0229] 4. Total scheduling time and total scheduling cost.

[0230] Specific embodiment 2: The collaborative scheduling device for maintenance personnel and agricultural machinery maintenance vehicles with time windows described in this embodiment includes a storage device, a processor, and a computer program stored in the storage device and executable on the processor. The processor executes the computer program to implement the collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with time windows described in specific embodiment 1.

[0231] Specific embodiment 3: A computer-readable storage device stores a computer program, and when the computer program is executed, the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows as described in specific embodiment 1 is implemented.

[0232] Specific embodiment 4: A computer program product includes a computer program, which, when executed by a processor, implements the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows as described in specific embodiment 1.

[0233] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A collaborative scheduling method for maintenance personnel and agricultural machinery maintenance vehicles with time windows, which is based on multiple maintenance personnel, multiple types of agricultural machinery maintenance vehicles, and multiple fault points; it is characterized by: A fault point is the location where an agricultural machine breaks down, and one fault point corresponds to one maintenance requirement; Each type of agricultural machinery maintenance vehicle is responsible for handling corresponding maintenance needs; each maintenance technician can operate multiple types of agricultural machinery maintenance vehicles, and each maintenance technician has a corresponding maintenance operation level for each type of agricultural machinery maintenance vehicle, and the maintenance operation level must meet the minimum maintenance requirements of the fault point; The collaborative scheduling method comprises the following steps: Each maintenance worker k operates a corresponding type of agricultural machinery maintenance vehicle v starting from the initial warehouse O, performs maintenance work at a fault point or between multiple fault points that match the type of agricultural machinery maintenance vehicle, and completes the maintenance needs of all fault points within the specified time window and returns to the final warehouse D. In this process, the overall scheduling objective function is constructed to minimize the total scheduling cost and the total scheduling time under the premise of meeting all maintenance needs within a scheduling plan; k and v are the indices of the maintenance worker and agricultural machinery maintenance vehicle respectively. According to the set constraints, the optimization algorithm is used to optimize and solve the overall scheduling objective function, and the matching situation between maintenance personnel and agricultural machinery maintenance vehicles, the total scheduling time, the total scheduling cost, and the optimal collaborative scheduling plan for each agricultural machinery maintenance vehicle to sequentially visit all fault points on its driving path are solved.

2. The method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows according to claim 1 is characterized in that: The total dispatch cost is the sum of the total travel cost and the total maintenance operation cost; The total dispatch time is the sum of the total travel time, the total setup time, and the total maintenance operation time.

3. The method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows according to claim 2, characterized in that: The expression of the overall scheduling objective function is: The constraints are: in, Z is the overall scheduling objective function; V is the set of agricultural machinery maintenance vehicles, v is the index of agricultural machinery maintenance vehicle, v∈V; K is the set of maintenance personnel, k is the maintenance personnel index, k∈K; O represents the initial garage and serves as a node; D represents the termination garage and serves as a node; S is the set of fault points, i′, j′, s′∈S, i′, j′ and s′ are all fault point indexes, each fault point is regarded as a node, and i′≠j′≠s′; N = {O}∪S∪{D}, where N is the node set consisting of the initial garage, the terminal garage, and the set of fault points; i is the node index in the node set N; i″ and j″ are both node indices in the node set S∪{O}; α is the weight of scheduling time in the objective function; β is the weight of the total maintenance operation time in the overall scheduling objective function; t ijv is the travel time of agricultural machinery maintenance vehicle v from node i to node j; t i′j′v is the travel time of the agricultural machinery maintenance vehicle v from the fault point i′ to the fault point j′; is the setup time for the agricultural machinery maintenance vehicle v from node i to node j; is the setup time for the agricultural machinery maintenance vehicle v to travel from fault point i′ to fault point j′; τ jv is the maintenance operation time of agricultural machinery maintenance vehicle v at node j; τ j′v is the maintenance operation time of agricultural machinery maintenance vehicle v at fault point j; x ijv If the agricultural machinery maintenance vehicle v moves from node i to node j, the value is 1, otherwise it is 0; x i′j′v If the agricultural machinery maintenance vehicle v moves from the fault point i′ to the fault point j′, the value is 1, otherwise it is 0; x ij′v If the agricultural machinery maintenance vehicle v moves from node i to the fault point j′, the value is 1, otherwise it is 0; x i″j″ν If the agricultural machinery maintenance vehicle v moves from node i″ to node j″, the value is 1, otherwise it is 0; c ijv is the travel cost of agricultural machinery maintenance vehicle v from node i to node j; λ jv is the maintenance cost of agricultural machinery maintenance vehicle v at node j; r j′v If the agricultural machinery maintenance vehicle v visits the fault point j′, the value is 1, otherwise it is 0; x Oj″v If the agricultural machinery maintenance vehicle v moves from the initial garage O to the node j″, the value is 1, otherwise it is 0; x i″Dv If the agricultural machinery maintenance vehicle v moves from node i″ to the termination garage D, the value is 1, otherwise it is 0; x i″j′ν If the agricultural machinery maintenance vehicle v moves from node i″ to the fault point j′, the value is 1, otherwise it is 0; x j′s′v If the agricultural machinery maintenance vehicle v moves from the fault point j′ to the fault point s′, the value is 1, otherwise it is 0; r j′v If the agricultural machinery maintenance vehicle v visits the fault point j, the value is 1, otherwise it is 0; u vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v, the value is 1, otherwise it is 0; y j′vk If the maintenance worker k operates the agricultural machinery maintenance vehicle v to visit the fault point j′, the value is 1, otherwise it is 0; μ j′v If the agricultural machinery maintenance vehicle v has the ability to operate at the fault point j, the value is 1, otherwise it is 0; A fixed minimum operating level for all fault points; The operating level of maintenance worker k in operating maintenance vehicle v; M is an infinite constant; t j′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point j′; t i′v is the time when the agricultural machinery maintenance vehicle v arrives at the fault point i′; e j′ and l j′ are the lower and upper limits of the time window of fault point j′ respectively.

4. The method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows according to claim 1, characterized in that: The optimization algorithm used is the particle swarm optimization algorithm.

5. A device for coordinating the dispatch of maintenance personnel and agricultural machinery maintenance vehicles with a time window, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that: The processor executes the computer program to implement the collaborative scheduling method between maintenance personnel and agricultural machinery maintenance vehicles with time windows as described in any one of claims 1 to 4.

6. A computer-readable storage device storing a computer program, characterized in that: When the computer program is executed, the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows as claimed in any one of claims 1 to 4 is implemented.

7. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for collaborative scheduling of maintenance personnel and agricultural machinery maintenance vehicles with time windows as described in claims 1 to 4 is implemented.

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