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integrated-scheduling
Commit 43fcb027 authored by Allvey's avatar Allvey
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add path plan module

parent 35b28e4c
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Showing with 142 additions and 33 deletions
path_plannner.py
View file @ 43fcb027
......@@ -9,35 +9,124 @@
import numpy
from settings import *
from static_data_process import *
from settings import *
load_area_uuid_to_index_dict, unload_area_uuid_to_index_dict, \
load_area_index_to_uuid_dict, unload_area_index_to_uuid_dict = build_work_area_uuid_index_map()
park_uuid_to_index_dict, park_index_to_uuid_dict = build_park_uuid_index_map()
load_area_num, unload_area_num = len(load_area_uuid_to_index_dict), len(unload_area_uuid_to_index_dict)
truck_uuid_to_name_dict, truck_name_to_uuid_dict = build_truck_uuid_name_map()
M = 1000000
class PathPlanner:
def __init__(self):
# 路线行驶成本
self.rout_cost = np.array((unload_area_num, load_area_num))
# 路段集合
self.lane_set = {}
# 车辆长度
self.truck_length = 10
# 车辆长度(暂)
self.truck_length = 113
# 装载区数量
self.num_of_load_area = len(set(update_load_area()))
# 卸载区数量
self.num_of_unload_area = len(set(update_unload_area()))
# 备停区数量
self.num_of_park_area = len(set(update_park_area()))
# 路网信息
self.walk_time_to_load_area = np.full((self.num_of_unload_area, self.num_of_load_area), M)
self.walk_time_to_unload_area = np.full((self.num_of_unload_area, self.num_of_load_area), M)
# 路网信息（备停区）
self.walk_time_park = np.full((self.num_of_park_area, self.num_of_load_area), M)
def path_cost_generate(self, load_area_id, unload_area_id, is_park):
to_unload_blockage_cost = 0
to_load_blockage_cost = 0
to_unload_cost = 0
to_load_cost = 0
if is_park:
path = session_postgre.query(WalkTimePark).filter_by(park_area_id=unload_area_id,
load_area_id=load_area_id).first()
for lane_id in path.park_load_lanes:
to_load_blockage_cost = to_load_blockage_cost + self.lane_cost_generate(lane_id)
to_load_cost = to_load_blockage_cost + path.park_load_distance
else:
path = session_postgre.query(WalkTime).filter_by(load_area_id=load_area_id,
unload_area_id=unload_area_id).first()
for lane_id in path.to_unload_lanes:
to_unload_blockage_cost = to_unload_blockage_cost + self.lane_cost_generate(lane_id)
for lane_id in path.to_load_lanes:
to_load_blockage_cost = to_load_blockage_cost + self.lane_cost_generate(lane_id)
print(to_unload_blockage_cost, to_load_blockage_cost)
def path_cost_generate(self, path_id):
pass
to_unload_cost = to_unload_blockage_cost + path.to_unload_distance
to_load_cost = to_load_blockage_cost + path.to_load_distance
return to_unload_cost, to_load_cost
def lane_cost_generate(self, lane_id):
lane = session_postgre.query(Lane).filter_by(Id=lane_id).first()
# 道路长度
lane_length = 100
# 路段实际矿卡速度
actual_speed = 20
lane_length = lane.Length
# 车辆自由行驶时的速度
clear_speed = 25
clear_speed = lane.MaxSpeed
# 1. 计算阻塞时车辆密度
truck_density = lane_length / self.truck_length
# 2. 读取实际车流速度
actual_speed = 20
# 2. 读取实际车流速度(暂)
actual_speed = clear_speed
# 3. 计算路段阻塞程度
lane_blockage = (1 - actual_speed / clear_speed) * truck_density
return lane_blockage
def walk_cost(self):
for walk_time in session_postgre.query(WalkTime).all():
unload_area_index = unload_area_uuid_to_index_dict[str(walk_time.unload_area_id)]
load_area_index = load_area_uuid_to_index_dict[str(walk_time.load_area_id)]
self.walk_time_to_load_area[unload_area_index][load_area_index], \
self.walk_time_to_unload_area[unload_area_index][load_area_index] = \
self.path_cost_generate(walk_time.load_area_id, walk_time.unload_area_id, False)
for walk_time_park in session_postgre.query(WalkTimePark).all():
park_area_index = park_uuid_to_index_dict[str(walk_time_park.park_area_id)]
load_area_index = load_area_uuid_to_index_dict[str(walk_time_park.load_area_id)]
_, self.walk_time_park[park_area_index][load_area_index] = \
self.path_cost_generate(walk_time_park.load_area_id, walk_time_park.park_area_id, True)
print(self.walk_time_to_unload_area)
print(self.walk_time_to_load_area)
print(self.walk_time_park)
def update_truck_speed(self):
truck_speed_dict = {}
device_name_set = redis2.keys()
for item in device_name_set:
item = item.decode(encoding='utf-8')
json_value = json.loads(redis2.get(item))
device_type = json_value.get('type')
if device_type == 1:
truck_speed = json_value.get('speed')
truck_speed_dict[truck_name_to_uuid_dict[item]] = truck_speed
return truck_speed_dict
planner = PathPlanner()
planner.walk_cost()
planner.update_truck_speed()
realtime_dispatch.py
View file @ 43fcb027
......@@ -31,10 +31,6 @@ from traffic_flow_planner import *
from settings import *
from static_data_process import *
# item = session_postgre.query(Lane).first()
#
# print(item.LaneIds)
# 全局参数设定
# 空载任务集合
......@@ -91,11 +87,6 @@ dynamic_excavator_set = set(update_autodisp_excavator())
dynamic_dump_set = set(update_autodisp_dump())
item = session_postgre.query(Lane).first()
print(item.LaneIds)
# 设备映射类, 存储除工作区以外的映射关系
# 其余设备类继承该类
class DeviceMap:
......@@ -428,7 +419,7 @@ class WalkManage(DeviceMap):
try:
for item in session_postgre.query(WalkTimePort).all():
for item in session_postgre.query(WalkTimePark).all():
load_area = str(item.load_area_id)
park_area = str(item.park_area_id)
load_area_index = load_area_uuid_to_index_dict[load_area]
......
static_data_process.py
View file @ 43fcb027
......@@ -51,7 +51,7 @@ def build_park_uuid_index_map():
park_num = 0
try:
for item in session_postgre.query(WalkTimePort).all():
for item in session_postgre.query(WalkTimePark).all():
park = str(item.park_area_id)
if park not in park_uuid_to_index_dict:
park_uuid_to_index_dict[park] = park_num
......@@ -223,3 +223,9 @@ def update_unload_area():
for walk_time in session_postgre.query(WalkTime).all():
unload_area_list.append(walk_time.unload_area_id)
return unload_area_list
def update_park_area():
park_area_list = []
for walk_time_park in session_postgre.query(WalkTimePark).all():
park_area_list.append(walk_time_park.park_area_id)
return park_area_list
\ No newline at end of file
tables.py
View file @ 43fcb027
......@@ -119,15 +119,19 @@ class WalkTime(Base):
unload_area_name = Column(VARCHAR(30))
to_unload_distance = Column(Float(10))
to_load_distance = Column(Float(10))
to_unload_lanes = Column(VARCHAR(100))
to_load_lanes = Column(VARCHAR(100))
def __init__(self, load_area_id, unload_area_id, load_area_name, unload_area_name, to_load_distance,
to_unload_distance):
to_unload_distance, to_unload_lanes, to_load_lanes):
self.load_area_id = load_area_id
self.unload_area_id = unload_area_id
self.load_area_name = load_area_name
self.unload_area_name = unload_area_name
self.to_load_distance = to_load_distance
self.to_unload_distance = to_unload_distance
self.to_unload_lanes = to_unload_lanes
self.to_load_lanes = to_load_lanes
# Rid = Column(VARCHAR(36), primary_key=True)
# load_area_id = Column(VARCHAR(36))
......@@ -209,15 +213,27 @@ class EquipmentPair(Base):
self.isdeleted = isdeleted
self.createtime = createtime
# class Lane(Base):
# # 表的名字
# __tablename__ = 'Geo_Node'
# Id = Column(VARCHAR(36), primary_key=True)
# LaneIds = Column(VARCHAR(100))
#
# def __init__(self, Id, LaneIds):
# self.Id = Id
# self.LaneIds = LaneIds
class Lane(Base):
# 表的名字
__tablename__ = 'Geo_Node'
__tablename__ = 'Geo_Lane'
Id = Column(VARCHAR(36), primary_key=True)
LaneIds = Column(VARCHAR(100))
Length = Column(Float)
MaxSpeed = Column(Float)
def __init__(self, Id, LaneIds):
def __init__(self, Id, Length, MaxSpeed):
self.Id = Id
self.LaneIds = LaneIds
self.Length = Length
self.MaxSpeed = MaxSpeed
class Dispatch(Base):
# 表的名字:
......@@ -259,7 +275,7 @@ class Dispatch(Base):
self.deletor = deletor
self.deletetime = deletetime
class WalkTimePort(Base):
class WalkTimePark(Base):
__tablename__ = 'park_load_distance'
park_area_id = Column(VARCHAR(36), primary_key=True)
......@@ -267,13 +283,15 @@ class WalkTimePort(Base):
park_area_name = Column(VARCHAR(36))
load_area_name = Column(VARCHAR(36))
park_load_distance = Column(Float(10))
park_load_lanes = Column(VARCHAR(100))
def __init__(self, park_area_id, load_area_id, park_area_name, load_area_name, park_load_distance):
def __init__(self, park_area_id, load_area_id, park_area_name, load_area_name, park_load_distance, park_load_lanes):
self.park_area_id = park_area_id
self.load_area_id = load_area_id
self.park_area_name = park_area_name
self.load_area_name = load_area_name
self.park_load_distance = park_load_distance
self.park_load_lanes = park_load_lanes
class Equipment(Base):
__tablename__ = 'sys_equipment'
......
traffic_flow_planner.py
View file @ 43fcb027
......@@ -53,10 +53,14 @@ class TrafficProgPara(object):
self.grade_loading_array = np.zeros(num_of_excavator) # 用于保存挖机挖掘矿石的品位
self.dump_strength = np.zeros(num_of_dump) # 卸载点的工作强度，单位是t/h
self.dump_priority_coefficient = np.zeros(num_of_dump) # 每个卸载点的优先级系数
# 装载道路上，每提供1吨的装载能力需要一辆卡车运行时长,等于（该装载道路上车辆平均运行时长/卡车平均装载能力）
self.goto_unload_area_factor = np.full((num_of_load_area, num_of_unload_area), 10, dtype=float) # 卸载道路的运输系数
self.goto_unload_point_factor = np.full((num_of_excavator, num_of_dump), 10, dtype=float) # 逻辑卸载道路的运输系数
# 卸载道路上，每运输1吨货物需要一辆卡车运行时长,等于（该卸载道路上车辆平均运行时长/卡车平均实际装载量）
self.goto_load_area_factor = np.full((num_of_unload_area, num_of_load_area), 10, dtype=float) # 装载道路的运输系数
self.goto_excavator_factor = np.full((num_of_dump, num_of_excavator), 10, dtype=float) # 逻辑1装载道路的运输系数
self.goto_excavator_factor = np.full((num_of_dump, num_of_excavator), 10, dtype=float) # 逻辑装载道路的运输系数
self.priority_coefficient = np.zeros((num_of_excavator, num_of_dump)) # 卸载道路的优先级系数
self.grade_lower_dump_array = np.zeros(num_of_dump) # 卸载点矿石品位下限
self.grade_upper_dump_array = np.zeros(num_of_dump) # 卸载点矿石品位上限
......@@ -65,11 +69,11 @@ class TrafficProgPara(object):
self.heavy_speed = 22 # 重载矿卡平均时速
self.goto_load_area_distance = np.zeros((num_of_unload_area, num_of_load_area)) # 空载运输路线距离
self.goto_unload_area_distance = np.zeros((num_of_load_area, num_of_unload_area)) # 重载运输路线距离
# 装载道路上，每提供1吨的装载能力需要一辆卡车运行时长,等于（该装载道路上车辆平均运行时长/卡车平均装载能力）
self.avg_goto_excavator_weight = np.zeros((num_of_load_area, num_of_unload_area))
# 装载道路权重因子
# self.avg_goto_excavator_weight = np.zeros((num_of_load_area, num_of_unload_area))
self.avg_goto_excavator_weight = np.full((num_of_load_area, num_of_unload_area), 1)
# 卸载道路上，每运输1吨货物需要一辆卡车运行时长,等于（该卸载道路上车辆平均运行时长/卡车平均实际装载量）
self.avg_goto_unload_point_weight = np.zeros((num_of_load_area, num_of_unload_area))
# 卸载道路
# self.avg_goto_unload_point_weight = np.zeros((num_of_load_area, num_of_unload_area))
self.avg_goto_unload_point_weight = np.full((num_of_load_area, num_of_unload_area), 1)
self.goto_excavator_distance = np.zeros((num_of_dump, num_of_excavator)) # 逻辑空载运输路线距离
self.goto_dump_distance = np.zeros((num_of_excavator, num_of_dump)) # 逻辑重载运输路线距离
......
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