中国农业科技导报 ›› 2022, Vol. 24 ›› Issue (4): 93-106.DOI: 10.13304/j.nykjdb.2021.0723
黄凰1(
), 陈燕燕1, 陈鹏宇2, 罗锐3, 刘亚东1, 胡炜2
收稿日期:2021-08-20
接受日期:2022-01-18
出版日期:2022-04-15
发布日期:2022-04-19
作者简介:黄凰 E-mail：wmyhuang@qq.com
基金资助:
Huang HUANG1(), Yanyan CHEN1, Pengyu CHEN2, Rui LUO3, Yadong LIU1, Wei HU2
Received:2021-08-20
Accepted:2022-01-18
Online:2022-04-15
Published:2022-04-19
摘要：
构建合理的跨区域多农机调度服务作业系统可以减少传统农机作业调配方式的成本，避免多区域作业农机的盲目流动，提升农业机械的作业效率。目前，跨区域多农机调度服务作业是我国农业的主要作业方式，智能调度模型和优化算法被广泛应用到农机调度中。针对基于时间窗的农机智能调度技术的特点，综述了农机调度与传统车辆调度的区别，以及国内外学者对农机智能调度研究的现状，阐述了车辆调度领域硬时间窗、软时间窗和模糊时间窗问题；同时，对农机智能调度优化问题模型进行梳理分类，总结了农机调度问题单一智能算法以及多种算法结合的混合算法；最后，对国内外学者关于农机调度问题在作业聚焦点、模型搭建和调度算法上的现状进行了讨论和总结，并对未来的发展方向进行了展望。
中图分类号:
黄凰, 陈燕燕, 陈鹏宇, 罗锐, 刘亚东, 胡炜. 基于时间窗的农机调度技术研究进展[J]. 中国农业科技导报, 2022, 24(4): 93-106.
Huang HUANG, Yanyan CHEN, Pengyu CHEN, Rui LUO, Yadong LIU, Wei HU. Research Progress of Agricultural Machinery Scheduling Technology Based on Time Window[J]. Journal of Agricultural Science and Technology, 2022, 24(4): 93-106.
图1 智慧农机调配管理平台［13］
Fig. 1 Smart agricultural machinery deployment management platform［13］
农机调度系统类型 Agricultural machinery dispatching type | 系统功能 System function | 文献来源 Literature source |
|---|---|---|
农机作业监控管理平台 Agricultural machinery operation monitoring and management platform | 实现农机智能分配和作业监控管理的全流程服务 Realizing the whole process service of agricultural machinery intelligent distribution and operation monitoring management | ［ |
农机调度管理平台 Agricultural machinery scheduling management platform | 拓宽农场主和机手之间的信息共享渠道，实现了农机信息采集与智能调度 Broadening the information sharing channels between farmers and machine operators， and realizing agricultural machinery information collection and intelligent scheduling | ［ |
农机作业管理平台 Agricultural machinery operation management platform | 实现机手、农机信息在线远程管，为农机作业和农户提供管理服务 Realizing the online remote management of machine operators and agricultural machinery information， and providing management services for agricultural machinery operations and farmers | ［ |
农机信息化综合服务平台 Comprehensive service platform for agricultural machinery informatization | 实现农机作业数据的采集、农田地块规划、农机导航定位及信息反馈等综合智能化服务 Realizing comprehensive intelligent services such as the collection of agricultural machinery operation data， farmland plot planning， agricultural machinery navigation and positioning and information feedback | ［ |
表1 农机调度系统研究设计情况
Table 1 Research and design situation of agricultural machinery scheduling system
农机调度系统类型 Agricultural machinery dispatching type | 系统功能 System function | 文献来源 Literature source |
|---|---|---|
农机作业监控管理平台 Agricultural machinery operation monitoring and management platform | 实现农机智能分配和作业监控管理的全流程服务 Realizing the whole process service of agricultural machinery intelligent distribution and operation monitoring management | ［ |
农机调度管理平台 Agricultural machinery scheduling management platform | 拓宽农场主和机手之间的信息共享渠道，实现了农机信息采集与智能调度 Broadening the information sharing channels between farmers and machine operators， and realizing agricultural machinery information collection and intelligent scheduling | ［ |
农机作业管理平台 Agricultural machinery operation management platform | 实现机手、农机信息在线远程管，为农机作业和农户提供管理服务 Realizing the online remote management of machine operators and agricultural machinery information， and providing management services for agricultural machinery operations and farmers | ［ |
农机信息化综合服务平台 Comprehensive service platform for agricultural machinery informatization | 实现农机作业数据的采集、农田地块规划、农机导航定位及信息反馈等综合智能化服务 Realizing comprehensive intelligent services such as the collection of agricultural machinery operation data， farmland plot planning， agricultural machinery navigation and positioning and information feedback | ［ |
时间窗类型 Time window type | 国外研究情况 Foreign research situation | 文献来源 Literature source |
|---|---|---|
硬时间窗 Hard time window | 带硬时间窗车辆路径问题为NP难题 Vehicle routing problem with hard time windows was an NP problem | ［ |
结合引导式局部搜索算法和进化策略以及客户点集群建设，设计启发式算法 Combining guided local search algorithms and evolution strategies as well as customer point cluster construction to design heuristic algorithms | ［ | |
通过计算开始时间和车辆到达客户点时间的分布，验证该分布可以应用于多种算法进行求解 By calculating the distribution of the start time and the time when the vehicle arrives at the customer point， it was verified that the distribution can be applied to a variety of algorithms to solve the problem | ［ | |
以车辆路径数最少为目标，研究带硬时间窗的车辆调度问题 Aiming at minimizing the number of vehicle paths， the vehicle scheduling problem with hard time window was studied | ［ | |
将顺序插入的启发式算法与蚁群算法结合，解决硬时间窗问题 Sequential insertion heuristic algorithm was combined with ant colony algorithm to solve the hard time window problem | ［ | |
软时间窗 Soft time window | 明确了软时间窗和软旅行时间约束，并成功实现了向成本函数的转变 Soft time window and soft travel time constraints were defined， and the transformation to cost function was successfully realized | ［ |
利用两阶段方法对中等规模的带软时间窗的车辆调度问题进行求解 Two-stage method was used to solve the medium-sized vehicle scheduling problem with soft time window | ［ | |
提出列生成处理方法和分枝定价算法，解决带软时间窗和随机旅行时间的车辆路径问题 A column generation processing method and a branch pricing algorithm were proposed to solve the vehicle routing problem with soft time window and random travel time | ［ | |
研究运用空中机器人执行配送任务，无人操作的带软时间窗车辆路径问题 Research on the use of aerial robots to perform delivery tasks and unmanned vehicle routing problems with soft time windows | ［ | |
利用启发式算法来解决带软时间窗的多目标车辆路径问题 Heuristic algorithm was used to solve the multi-objective vehicle routing problem with soft time window | ［ | |
模糊时间窗 Fuzzy time window | 服务时间与客户时间窗口的偏差是反映客户满意度水平的参数，用模糊函数来确定与时间窗相关的服务水平 Deviation of the service time from the customer time window was a parameter that reflected the level of customer satisfaction， the fuzzy function was used to determine the service level related to the time window | ［ |
用模糊隶属函数来确定与时间窗相关的服务水平， 客户将在给定的服务时间窗口内得到服务 Fuzzy function was used to determine the service level related to the time window， and the customer would be served within the given service time window | ［ | |
引入模糊线性规划，求解有模糊时间窗约束的车辆路径问题 Fuzzy linear programming was introduced to solve the vehicle routing problem with fuzzy time window constraints | ［ | |
研究带模糊时间窗的多目标动态车辆路径问题，以行驶路径最短和客户满意度最大为目标 Multi-objective dynamic vehicle routing problem with fuzzy time windows was researched， aiming at the shortest driving path and maximum customer satisfaction | ［ |
表2 国外基于时间窗调度的研究情况
Table 2 Foreign research situation of scheduling time window
时间窗类型 Time window type | 国外研究情况 Foreign research situation | 文献来源 Literature source |
|---|---|---|
硬时间窗 Hard time window | 带硬时间窗车辆路径问题为NP难题 Vehicle routing problem with hard time windows was an NP problem | ［ |
结合引导式局部搜索算法和进化策略以及客户点集群建设，设计启发式算法 Combining guided local search algorithms and evolution strategies as well as customer point cluster construction to design heuristic algorithms | ［ | |
通过计算开始时间和车辆到达客户点时间的分布，验证该分布可以应用于多种算法进行求解 By calculating the distribution of the start time and the time when the vehicle arrives at the customer point， it was verified that the distribution can be applied to a variety of algorithms to solve the problem | ［ | |
以车辆路径数最少为目标，研究带硬时间窗的车辆调度问题 Aiming at minimizing the number of vehicle paths， the vehicle scheduling problem with hard time window was studied | ［ | |
将顺序插入的启发式算法与蚁群算法结合，解决硬时间窗问题 Sequential insertion heuristic algorithm was combined with ant colony algorithm to solve the hard time window problem | ［ | |
软时间窗 Soft time window | 明确了软时间窗和软旅行时间约束，并成功实现了向成本函数的转变 Soft time window and soft travel time constraints were defined， and the transformation to cost function was successfully realized | ［ |
利用两阶段方法对中等规模的带软时间窗的车辆调度问题进行求解 Two-stage method was used to solve the medium-sized vehicle scheduling problem with soft time window | ［ | |
提出列生成处理方法和分枝定价算法，解决带软时间窗和随机旅行时间的车辆路径问题 A column generation processing method and a branch pricing algorithm were proposed to solve the vehicle routing problem with soft time window and random travel time | ［ | |
研究运用空中机器人执行配送任务，无人操作的带软时间窗车辆路径问题 Research on the use of aerial robots to perform delivery tasks and unmanned vehicle routing problems with soft time windows | ［ | |
利用启发式算法来解决带软时间窗的多目标车辆路径问题 Heuristic algorithm was used to solve the multi-objective vehicle routing problem with soft time window | ［ | |
模糊时间窗 Fuzzy time window | 服务时间与客户时间窗口的偏差是反映客户满意度水平的参数，用模糊函数来确定与时间窗相关的服务水平 Deviation of the service time from the customer time window was a parameter that reflected the level of customer satisfaction， the fuzzy function was used to determine the service level related to the time window | ［ |
用模糊隶属函数来确定与时间窗相关的服务水平， 客户将在给定的服务时间窗口内得到服务 Fuzzy function was used to determine the service level related to the time window， and the customer would be served within the given service time window | ［ | |
引入模糊线性规划，求解有模糊时间窗约束的车辆路径问题 Fuzzy linear programming was introduced to solve the vehicle routing problem with fuzzy time window constraints | ［ | |
研究带模糊时间窗的多目标动态车辆路径问题，以行驶路径最短和客户满意度最大为目标 Multi-objective dynamic vehicle routing problem with fuzzy time windows was researched， aiming at the shortest driving path and maximum customer satisfaction | ［ |
时间窗类型 Time window type | 国内研究情况 Domestic research | 文献来源 Literature source |
|---|---|---|
硬时间窗 Hard time window | 在邮政车辆路径模型上加入硬时间窗约束，设计了多目标的遗传算法求解 A hard time window constraint was added to the mail vehicle routing model， and a multi-objective genetic algorithm was designed to solve it | ［ |
针对车辆配送和集货一体化问题，构建带硬时间窗约束的优化模型 Aiming at the integration of vehicle distribution and goods collection， an optimization model with hard time window constraints was constructed | ［ | |
建立了以配送总路程为目标函数的硬时间窗车辆路径模型，对搜索方式和信息素更新方式进行优化处理 A hard time window vehicle routing model with the total distribution distance as the objective function was established to optimize the search mode and pheromone update mode | ［ | |
软时间窗 Soft time window | 建立带软时间窗的多式联运路径优化模型 A multimodal transport route optimization model with soft time window was established | ［ |
引入车辆共享机制，保证货物准时送达客户点和服务质量 Vehicle sharing mechanism was introduced to ensure that goods arrive at customer points on time and service quality | ［ | |
基于改进的旁域更新算法设计带软时间窗车辆路径优化算法 Design of vehicle routing optimization algorithm with soft time window based on improved side domain update algorithm | ［ | |
研究智能水滴算法对软时间窗车辆路径问题的求解 Intelligent water drop algorithm was studied to solve the vehicle routing problem with soft time window | ［ | |
设计混合粒子群算法研究带软时间窗的配货车辆路径问题 A hybrid particle swarm optimization algorithm was designed to study the vehicle routing problem with soft time window | ［ | |
模糊时间窗 Fuzzy time window | 研究有新客户到达的动态车辆路径问题，得到能使客户整体满意度达到最大的服务时间调整方案 Dynamic vehicle routing problem with new customers was studied， and the service time adjustment scheme which can maximize the overall customer satisfaction was obtained | ［ |
通过时间窗模糊化处理将顾客服务的满意度量化为配送服务开始时间的模糊隶属度函数 Through time window fuzzification， customer service satisfaction was quantified as a fuzzy membership function of distribution service start time | ［ | |
考虑客户有多个服务时间窗可选择的情形，并将时间窗进行模糊处理 Consider the situation where the customer has multiple service time windows to choose from and obfuscated the time windows | ［ | |
构建带模糊时间窗的转运联盟和物料配送问题模型 Model of transshipment alliance and material distribution with fuzzy time window was constructed | ［ | |
建立基于时变交通流的多模糊时间差路径优化模型 A multi fuzzy time difference path optimization model based on time-varying traffic flow was established | ［ | |
解决基于时间窗和食物新鲜度形成的综合客户满意度 Comprehensive customer satisfaction based on time window and food freshness was solved | ［ |
表3 调度时间窗的国内研究情况
Table 3 Domestic research status of dispatch time window
时间窗类型 Time window type | 国内研究情况 Domestic research | 文献来源 Literature source |
|---|---|---|
硬时间窗 Hard time window | 在邮政车辆路径模型上加入硬时间窗约束，设计了多目标的遗传算法求解 A hard time window constraint was added to the mail vehicle routing model， and a multi-objective genetic algorithm was designed to solve it | ［ |
针对车辆配送和集货一体化问题，构建带硬时间窗约束的优化模型 Aiming at the integration of vehicle distribution and goods collection， an optimization model with hard time window constraints was constructed | ［ | |
建立了以配送总路程为目标函数的硬时间窗车辆路径模型，对搜索方式和信息素更新方式进行优化处理 A hard time window vehicle routing model with the total distribution distance as the objective function was established to optimize the search mode and pheromone update mode | ［ | |
软时间窗 Soft time window | 建立带软时间窗的多式联运路径优化模型 A multimodal transport route optimization model with soft time window was established | ［ |
引入车辆共享机制，保证货物准时送达客户点和服务质量 Vehicle sharing mechanism was introduced to ensure that goods arrive at customer points on time and service quality | ［ | |
基于改进的旁域更新算法设计带软时间窗车辆路径优化算法 Design of vehicle routing optimization algorithm with soft time window based on improved side domain update algorithm | ［ | |
研究智能水滴算法对软时间窗车辆路径问题的求解 Intelligent water drop algorithm was studied to solve the vehicle routing problem with soft time window | ［ | |
设计混合粒子群算法研究带软时间窗的配货车辆路径问题 A hybrid particle swarm optimization algorithm was designed to study the vehicle routing problem with soft time window | ［ | |
模糊时间窗 Fuzzy time window | 研究有新客户到达的动态车辆路径问题，得到能使客户整体满意度达到最大的服务时间调整方案 Dynamic vehicle routing problem with new customers was studied， and the service time adjustment scheme which can maximize the overall customer satisfaction was obtained | ［ |
通过时间窗模糊化处理将顾客服务的满意度量化为配送服务开始时间的模糊隶属度函数 Through time window fuzzification， customer service satisfaction was quantified as a fuzzy membership function of distribution service start time | ［ | |
考虑客户有多个服务时间窗可选择的情形，并将时间窗进行模糊处理 Consider the situation where the customer has multiple service time windows to choose from and obfuscated the time windows | ［ | |
构建带模糊时间窗的转运联盟和物料配送问题模型 Model of transshipment alliance and material distribution with fuzzy time window was constructed | ［ | |
建立基于时变交通流的多模糊时间差路径优化模型 A multi fuzzy time difference path optimization model based on time-varying traffic flow was established | ［ | |
解决基于时间窗和食物新鲜度形成的综合客户满意度 Comprehensive customer satisfaction based on time window and food freshness was solved | ［ |
图2 智能优化模型平台的系统框架图[28]
Fig. 2 System framework diagram of the intelligent optimization model platform
优化目标 Optimization objective | 农机调度模型 Agricultural machinery scheduling model | 文献来源 Literature source |
|---|---|---|
局部优化 Local optimization | 2阶段的农机调度模型 Two stage agricultural machinery scheduling model | ［ |
以容量限制、最短距离和最小作业时间为调度规则的路径规划模型 A path planning model with capacity constraints， shortest distance and minimum job time as scheduling rules | ［ | |
基于时间窗的农机资源时空调度数学模型 Mathematical model of agricultural machinery resources spatiotemporal scheduling based on time window | ［ | |
全局优化 Global optimization | 基于GIS、GPRS及GPS等技术的农机监控调度管理系统设计与开发 Design and development of agricultural machinery monitoring and dispatching management system based on GIS， GPRS and GPS technology | ［ |
多区互联 Multi-zone interconnection | 适用于智慧农业发展的多区域协调调度，多区互联的农机调度模型 Multi-region coordinated dispatching and multi-region interconnected agricultural machinery dispatching model suitable for the development of smart agriculture | ［ |
表4 农机调度模型的研究情况
Table 4 Research status of agricultural machinery scheduling models
优化目标 Optimization objective | 农机调度模型 Agricultural machinery scheduling model | 文献来源 Literature source |
|---|---|---|
局部优化 Local optimization | 2阶段的农机调度模型 Two stage agricultural machinery scheduling model | ［ |
以容量限制、最短距离和最小作业时间为调度规则的路径规划模型 A path planning model with capacity constraints， shortest distance and minimum job time as scheduling rules | ［ | |
基于时间窗的农机资源时空调度数学模型 Mathematical model of agricultural machinery resources spatiotemporal scheduling based on time window | ［ | |
全局优化 Global optimization | 基于GIS、GPRS及GPS等技术的农机监控调度管理系统设计与开发 Design and development of agricultural machinery monitoring and dispatching management system based on GIS， GPRS and GPS technology | ［ |
多区互联 Multi-zone interconnection | 适用于智慧农业发展的多区域协调调度，多区互联的农机调度模型 Multi-region coordinated dispatching and multi-region interconnected agricultural machinery dispatching model suitable for the development of smart agriculture | ［ |
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