Scheduling method and system for cooperatively loading multiple garbage cranes to warehouse

Abstract

The invention relates to the technical field of operation and transportation, in particular to a control system or device. According to the technical scheme, the method comprises the following steps: obtaining throwing information, and calculating and confirming throwing materials according to throwing conditions; according to the full capacity of the furnace inlet and the actual material amount, the feeding condition is evaluated, and the remaining maintainable time is calculated; the blending amount of each furnace inlet is determined, and garbage cranes are dispatched according to the operation state and the furnace inlet information; and generating scheduling operation according to the scheduling information and issuing the scheduling operation to the corresponding garbage crane. The problems that in the prior art, efficiency is low, tasks are difficult to optimize well and energy consumption is high are solved, the scheduling method and system for the multiple garbage cranes to go to the warehouse cooperatively are provided, and the purposes of being high in efficiency, high in automation level, efficient in task allocation and capable of saving energy are achieved.

Description

Technical Field

[0001] The present invention relates to the field of operation and transportation technology, and in particular to a control system or device. Background Art

[0002] In order to ensure the full fermentation of stock materials, current waste incineration power plants usually divide the waste pool into multiple areas to carry out the cycle of material fermentation to furnace feeding. In the daily operation of the garbage crane, the four furnace inlets need sufficient materials to ensure the combustion of the unit. Usually three garbage cranes are required to carry out furnace feeding operations at the same time. Because the area where materials can be fed into the furnace changes with time, it is particularly important to efficiently and reasonably allocate the operating tasks of different feeding areas. For example, the Chinese patent with publication number CN113516359 discloses a multi-tower crane transfer scheduling method and system, and provides the following technical solutions. This application relates to the field of construction engineering technology, and aims to provide a multi-tower crane transfer scheduling method and system, the method includes counting the number of cargo transfers of each tower crane; judging whether the number of cargo transfers of each tower crane is the same; when the number of cargo transfers of each tower crane is different, obtaining the position information of the transport starting point, the position information of the transport end point, and the information of the tower cranes that can be connected in sequence from the transport starting point to the transport end point, and using the information of the tower cranes that can be connected in sequence from the transport starting point to the transport end point as a tower crane combination, and then selecting a tower crane combination including tower cranes that are sorted in ascending order according to the number of cargo transfers and are ranked first from the tower crane combination; and selecting one tower crane combination from the obtained tower crane combination for cargo transportation. The problem of uneven use of multiple tower cranes available for scheduling within the specified service life due to unreasonable arrangement is solved. This application has the effect of making the use of multiple tower cranes within the specified service life more balanced and reducing maintenance costs. However, the above-mentioned multi-tower crane transfer scheduling method and system cannot be well applied to garbage cranes according to actual needs, cannot handle dry garbage and wet garbage accordingly, and lacks methods for predicting material quantity and optimizing task allocation. Summary of the invention

[0003] The present invention solves the problems of low efficiency, difficulty in optimizing tasks and high energy consumption in the prior art, and proposes a scheduling method and system for the coordinated loading of multiple garbage cranes, achieving the goals of high efficiency, high level of automation, efficient task allocation and energy saving.

[0004] To achieve the above object, the present invention adopts the following technical solution: A method for dispatching multiple garbage cranes to coordinate loading into a warehouse, comprising the following steps: S1: Obtain the information on available materials, calculate and confirm the materials that can be delivered according to the available delivery conditions; S2: Evaluate the feeding situation and calculate the remaining sustainable time according to the full capacity of the furnace inlet and the actual material quantity; S3: Determine the blending amount of each furnace inlet and dispatch the garbage crane according to the operation status and furnace inlet information; S4: Generate a scheduling job according to the scheduling information and send it to the corresponding garbage crane.

[0005] A dispatching system for multiple garbage cranes to coordinate loading into warehouses, comprising: A garbage crane, the garbage crane comprising a garbage crane body and a garbage crane control system, the garbage crane control system analyzing the working state of the garbage crane body, determining the best operation mode, and sending new work content to the garbage crane body; 3D laser scanning system, which scans the material information in the garbage pool and at the furnace entrance, and calculates the feeding data; The intelligent dispatching system is connected to the garbage crane and the three-dimensional laser scanning system for communication, analyzing the information detected by the three-dimensional laser scanning system, and generating and allocating work tasks to the garbage crane.

[0006] The advantage of this design is that it optimizes the task allocation of garbage cranes through position prediction and precise calculation, reducing idle and ineffective movement. At the same time, it monitors the materials entering the furnace in real time and accurately controls the feeding to avoid shutdown or waste. The coordinated scheduling of multiple cranes avoids conflicts, improves efficiency and reduces safety risks, and ultimately realizes the refined and automated management of garbage crane operations.

[0007] Preferably, step S2 comprises the following steps: S2.1: Determine the number of the furnace inlet and the required amount of material to be fed, and set the full capacity of the material inlet; S2.2: The intelligent scheduling system obtains the current amount of material entering the furnace, and uses the model to predict and determine the material consumption rate, that is, the material consumption volume per unit time, based on historical data and actual operation conditions; S2.3: Calculate the time it takes to reach the full threshold and calculate the remaining sustainable time of the material; S2.4: Determine whether the amount of material entering the furnace is greater than or equal to the full capacity of the material. If so, re-evaluate the material delivery situation and return to step S2.1. If not, proceed to step S3.

[0008] The advantage of this design is that it clearly evaluates the feeding situation and calculates the remaining sustainable time. By predicting the material consumption rate, the feeding rhythm can be controlled more accurately to avoid the furnace entrance being too full or too empty, thereby improving efficiency.

[0009] Preferably, step S4 comprises the following steps: S4.1: The system generates feeding tasks according to the feeding area, furnace inlet and garbage crane position, and calculates the path with the shortest travel distance and time to complete each task; S4.2: generating a stacking task according to the stacking area, the discharge port and the garbage crane position, and calculating relevant parameters, and the generated feeding task and the stacking task are merged into a complete task list; S4.3: The system assigns tasks to each idle garbage crane, calculates each possible assignment scheme, and evaluates them based on the total score and total distance. The system selects the scheme with the highest total score and the shortest distance; S4.4: Assign tasks to the first garbage crane, and after the assignment is completed, perform the first assignment to the second garbage crane; determine whether the current task assignment plan meets the conditions, if so, save the assignment plan and proceed to step S4.6; if not, proceed to step S4.5; S4.5: Go back to the allocation of the second garbage crane and make the next attempt; if all possible tasks have been tried and no suitable allocation is found, return to step S4.4 to re-allocate tasks and continue to try new allocation plans for the second garbage crane until the optimal task allocation plan that meets the conditions is found; S4.6: Record all eligible allocation plans and select the plan with the highest score and the shortest distance as the final task allocation result; S4.7: After the allocation is completed, the system will update the list of occupied furnace inlets, discharge ports and garbage cranes, and send the final task allocation to the corresponding garbage cranes.

[0010] The advantage of this design is that through task generation, allocation and optimization, distance, score and other parameters are calculated, and a backtracking algorithm is used to find the optimal allocation plan, thereby maximizing the collaborative work efficiency of the garbage crane.

[0011] Preferably, step S3 comprises the following steps: S3.1: Determine the amount of materials required for each furnace inlet and the amount of dry and wet garbage to be added; S3.2: The dispatching system marks the status of all garbage cranes; S3.3: The system calculates the time required for each garbage crane to complete the feeding task; S3.4: Determine the busy and idle equipment, select the idle equipment as the optimal equipment, and select the equipment with the shortest time required for feeding as the optimal condition; S3.5: Considering the avoidance situation, for multiple devices, calculate the duration of multiple feeding tasks.

[0012] The advantage of this design is that by specifying the scheduling process of the garbage crane, factors such as the mixing amount, garbage crane status, and completion time are taken into consideration, and the scheduling efficiency is improved by optimizing by selecting idle equipment and the shortest time.

[0013] Preferably, the system calculates the travel time for each garbage crane to reach the grabbing point, the time required for grabbing the materials, the spatial position restrictions of the garbage crane, the additional positioning time required for the side equipment, and calculates the running time from the grabbing point to the furnace entrance; for each garbage crane, if it is not selected and the current task status is not the avoidance status, it will be marked as an idle garbage crane. If the garbage crane is selected or its status does not meet the conditions, it will be removed from the idle garbage cranes; the system will check the status of all unloading ports and furnace entrances, and update the list of idle unloading ports and feeding ports.

[0014] The advantage of this design is that it more accurately calculates the time required for each garbage crane to complete the feeding, taking into account more practical factors, such as spatial location limitations and additional positioning time for side equipment, making scheduling more accurate and efficient; the system analyzes the grabbing points of the feeding task based on the material information of the feeding area in the garbage pool, meets the requirements of the grab bucket for full grabbing, and avoids excessive inclination angles when the grab bucket grabs materials.

[0015] Preferably, the status of the garbage crane includes an idle state and a busy state, and the busy state includes a material stacking state, a material throwing state and an avoidance state.

[0016] The advantage of this design is that it clearly defines the different states of the garbage crane, making it easier for the system to manage and schedule states and avoid conflicts and waste of resources.

[0017] Preferably, the intelligent scheduling system and the three-dimensional scanning device record and scan the information of the materials that can be put, analyze the information to determine the total amount of materials that can be put, and calculate the properties and flammability of each type of material; the materials that can be put according to the conditions for putting include determining whether the materials are dry garbage or wet garbage. If they are dry garbage, they are put directly. If they are wet garbage, it is necessary to determine whether the fermentation time is greater than or equal to the time for putting. If so, they can be put, otherwise continue to wait for fermentation.

[0018] The advantage of this design is that it clarifies how to obtain and process information on what can be put away, and makes judgments based on the nature of the material (dry garbage / wet garbage) and the length of fermentation time, ensuring that only materials that meet the conditions can be put away, thereby increasing the calorific value of the garbage and thus improving efficiency.

[0019] Preferably, the information on available disposal includes material properties and stacking information, the material properties include volume, weight and category, the stacking information includes stacking number and spatial geometric position, the categories include dry garbage and wet garbage, the information on wet garbage also includes fermentation time, and the available disposal time includes summer disposal time and winter disposal time.

[0020] The advantage of this design is that it defines in detail the specific content of the information that can be released, including material properties, stacking information, categories, fermentation time, etc., and takes into account the impact of seasonal factors on the release time, making the information more complete and practical.

[0021] Preferably, the garbage crane body includes a traveling mechanism, a garbage crane trolley mechanism and a grab mechanism; the three-dimensional laser scanning system is arranged above the unloading door and the furnace entrance of the garbage storage; the feeding data includes the location distance and running time of the feedable materials and the priority of feeding at the furnace entrance.

[0022] Compared with the prior art, the invention has the following beneficial effects.

[0023] 1. Through position prediction and calculation, the system of the present invention can accurately calculate the execution time of each operation process and assign the optimal task to each garbage crane. This scheduling method based on real-time data and algorithms minimizes the idle time and ineffective movement of the garbage crane, significantly improves operating efficiency and reduces energy consumption.

[0024] 2. The present invention monitors the amount of materials entering the furnace and the consumption rate in real time through the system, and arranges the garbage crane to carry out the feeding operation in advance according to the prediction model. This ensures sufficient supply of materials entering the furnace, avoids shutdown or reduced efficiency due to insufficient materials, and avoids waste caused by overfilling of materials.

[0025] 3. The present invention can effectively avoid conflicts and interferences between garbage cranes, such as path conflicts or resource competition, through real-time monitoring and coordination of multiple garbage cranes, thereby improving overall operating efficiency and reducing safety risks. This also makes task changes and execution connections more efficient, reducing delays and waiting time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The present invention is an overall flow chart of an embodiment of a method for dispatching multiple garbage cranes to coordinate loading into a warehouse.

[0027] Figure 2 This is a flow chart of step S4 of an embodiment of a method for scheduling multiple garbage cranes to coordinate loading into a warehouse according to the present invention.

[0028] Figure 3 The system block diagram of an embodiment of a dispatching system for coordinating the loading of multiple garbage cranes into a warehouse according to the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the accompanying drawings. The proportions of the components are not drawn according to the actual proportions, and the proportions and sizes shown in the accompanying drawings should not limit the substantial technical scheme of the present invention. These embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described.

[0030] See also Figures 1 to 3 As shown, a scheduling method for multiple garbage cranes to coordinate loading into a warehouse includes the following steps: S1: Obtain the information on available materials, calculate and confirm the materials that can be delivered according to the available delivery conditions; S2: Evaluate the feeding situation and calculate the remaining sustainable time according to the full capacity of the furnace inlet and the actual material quantity; S3: Determine the blending amount of each furnace inlet and dispatch the garbage crane according to the operation status and furnace inlet information; S4: Generate a scheduling job according to the scheduling information and send it to the corresponding garbage crane.

[0031] A dispatching system for multiple garbage cranes to coordinate loading into warehouses, comprising: A garbage crane, wherein the garbage crane comprises a garbage crane body and a garbage crane control system, wherein the garbage crane control mechanism analyzes the working state of the garbage crane body, determines the best operation mode, and sends new work content to the garbage crane body; 3D laser scanning system, which scans the material information in the garbage pool and at the furnace entrance, and calculates the feeding data; The intelligent dispatching system is connected to the garbage crane and the three-dimensional laser scanning system for communication, analyzing the information detected by the three-dimensional laser scanning system, and generating and allocating work tasks to the garbage crane.

[0032] like Figure 1 In one embodiment shown, Figure 1 This is an overall flow chart of an embodiment of a scheduling method for the coordinated storage of multiple garbage cranes of the present invention. In order to achieve efficient scheduling of the coordinated storage of multiple garbage cranes, the present invention first needs to obtain the information that can be put in, and through the close cooperation of the intelligent scheduling system and the three-dimensional scanning device, record and scan the information of the materials that can be put in, which includes the volume, weight, category (dry garbage or wet garbage), stacking number, spatial geometric position and fermentation time of the wet garbage. By analyzing these data, the system can determine the total amount of materials that can be put in, and calculate the properties and combustibility of each type of material. For dry garbage, since it has a high calorific value and can be put in directly without fermentation; while wet garbage needs to be fermented to increase the calorific value, the system will judge whether it can be put in according to its fermentation time and the set time that can be put in (adjusted according to the season). If the fermentation time meets the conditions, it will be marked as put in.

[0033] Next, the system needs to evaluate the feeding situation at the furnace inlet. First, the system determines the feeding inlet number and the required feeding amount through the intelligent scheduling system, and sets the full capacity of the material at the furnace inlet. The intelligent scheduling system obtains the current material quantity of each furnace inlet in real time, and combines historical data with actual operating conditions, and applies model prediction to determine the material consumption rate, that is, the volume of material consumed per unit time. Based on these data, the system calculates the time when the feeding reaches the full threshold, and further calculates the remaining sustainable time of the material. If the amount of material at the furnace inlet reaches or exceeds the full capacity, the system will re-evaluate the material feeding situation and return to recalculate as needed.

[0034] After determining the blending amount for each furnace inlet, the system starts to dispatch each garbage crane. First, the system calculates the time required for each garbage crane to complete the feeding according to the demand of the furnace inlet and the current operating status. This includes the time it takes for each garbage crane to reach the grabbing point, complete the grabbing, and run from the grabbing point to the furnace inlet. The status of the garbage crane is marked as idle or busy, and the busy state is further subdivided into stacking materials, feeding materials, and avoidance states. The system calculates all possible feeding paths and selects the idle equipment with the shortest feeding time as the optimal equipment for task allocation. When multiple devices are running at the same time, the system also needs to consider the avoidance of the equipment path and calculate the total duration of multiple feedings to ensure efficiency.

[0035] Finally, based on the calculated scheduling information, the system generates specific scheduling jobs and sends them to the corresponding garbage cranes. The system will check the status of the garbage cranes, discharge ports, and furnace inlets in real-time monitoring, and dynamically update the list of idle discharge ports and furnace inlets to ensure that all equipment operates in the best condition.

[0036] The advantage of the scheduling method designed in the present invention is that it realizes the efficient collaborative operation of the garbage crane through intelligent analysis and real-time data processing. The system can adjust the delivery strategy in real time according to the nature and state of the material to ensure the optimal efficiency and combustion effect of each delivery. This not only reduces the idle time and energy consumption of the garbage crane, but also improves the overall efficiency of waste incineration power generation. In addition, through accurate path calculation and status monitoring, the system effectively reduces the path conflict and avoidance time between equipment, ensuring smooth and efficient operation of scheduling. Such a design ultimately realizes the intelligence and automation of garbage crane operations, greatly improving the operating efficiency and management level of waste incineration power plants.

[0037] like Figure 2 In one embodiment shown, Figure 2This is a flowchart of step S4 of an embodiment of a scheduling method for the coordinated loading of multiple garbage cranes in the present invention. In the present invention, the design of step S4 is intended to improve overall efficiency by optimizing task allocation. First, the system generates a feeding task based on the positional relationship between the feeding area, the furnace inlet and the garbage crane. For each task, the system calculates its distance, midpoint and turning point to ensure the shortest task path and high efficiency. Similarly, the system will also generate a stacking task based on the positional relationship between the stacking area, the unloading port and the garbage crane, and calculate the relevant parameters. These generated feeding tasks and stacking tasks will be merged into a complete task list, laying the foundation for subsequent task allocation.

[0038] Next, the system assigns tasks to each idle crane. It calculates each possible task assignment scheme and evaluates it based on the total score and total distance. The score indicators include the importance, urgency and benefit of completing the task, while the distance indicator ensures the optimization of the path. The system selects the scheme with the highest total score and the shortest distance to achieve the best use of resources.

[0039] The task allocation process adopts a progressive allocation strategy. The system first allocates tasks to the first garbage crane, and then allocates tasks to the second garbage crane based on this. The system determines whether the current plan meets the conditions (such as no path conflict, high resource utilization, etc.). If it meets the conditions, the plan is saved. If it does not meet the conditions, it goes back to the task allocation of the second garbage crane for adjustment. The system continuously tries new allocation plans until it finds the best plan that meets the conditions.

[0040] After confirming all eligible allocation plans, the system selects the plan with the highest score and the shortest distance as the final task allocation result. This result not only ensures the efficient operation of the garbage crane, but also ensures the rational use of the furnace inlet and discharge port. Finally, the system updates the list of occupied furnace inlets, discharge ports and garbage cranes, and sends the final task allocation to the corresponding garbage crane for execution.

[0041] In step S4 of the present invention, the system effectively reduces the path conflicts and resource waste of the garbage crane through the precise calculation of the position relationship and the reasonable merging of tasks. Multiple attempts and backtracking of the allocation scheme ensure the optimality of the scheme, so that the overall system has high flexibility and adaptability in a dynamic environment. The dual evaluation mechanism of score and distance provides a more scientific scheme selection standard, which can not only ensure the efficient completion of the task, but also maximize the use of existing resources. In addition, the reasonable allocation and dynamic adjustment of tasks also improve the response speed and overall efficiency of the system, providing a strong guarantee for the efficient operation of waste incineration power generation. Through this refined scheduling management, the collaborative operation of the garbage crane is effectively optimized, which improves the efficiency and reliability of the entire operation process.

[0042] Reference Figure 1 and Figure 2 In one embodiment, the present invention is implemented as follows: A method for coordinated warehouse loading and dispatching of multiple garbage cranes, comprising the following steps: S1: Determine the range of materials that can be put into the furnace in the garbage storage: The intelligent scheduling system and 3D scanning device record and scan the fermentation time and stacking information of the materials. The system analyzes these data to determine the total amount of materials that can be put into the furnace, and calculates the properties and combustibility of each type of material, so as to determine which materials meet the conditions for putting into the furnace; S2: Determine the number of the furnace inlet and the required amount of material to be fed. Set the furnace inlet material Q 满 (Full capacity of the furnace inlet). When the amount of material at the furnace inlet reaches or exceeds this threshold, the system re-evaluates the use of the material. The intelligent scheduling system calculates the remaining sustainable time T1 of the material based on the amount of material at the furnace inlet (quantity M). 余 、T2 余 、T3 余 、T4 余... T M余 I can judge the use and replenishment time of materials; S3: Determine the amount of material required for M furnace inlets: W n额 Ensure that the load of the garbage crane during operation does not exceed its capacity, and optimize the amount of material fed into the furnace each time to improve efficiency and combustion effect; S4: Dispatch available garbage cranes; the system marks the operating status of N garbage cranes, and selects the garbage crane that meets the working conditions based on the furnace inlet, the remaining tasks of the garbage crane, etc. S5: Generate work tasks: Based on the material information at the furnace entrance, the intelligent scheduling system will generate work tasks. The tasks include scheduling each garbage crane to grab, transport and put materials to ensure that the furnace entrance operates in the best condition. The work tasks are sent to the host computer, and the host computer sends them to each garbage crane control system.

[0043] In step S1: Three-dimensional distribution map of garbage storage piles, with marked attributes: pile number (D), fermentation time (end-start), volume (V), weight (W), spatial geometric position, category (dry, wet). When stacking, the garbage in the warehouse is divided into dry garbage and wet garbage. The method of judging whether it can be thrown into the furnace is as follows: dry garbage pile, dry garbage has a high calorific value and can be thrown into the furnace directly without increasing the calorific value and reducing the moisture through fermentation; wet garbage pile, wet garbage can be thrown into the furnace only after the calorific value is increased through fermentation. The fermentation time is divided into winter time T 冬 、Summer investment duration T 夏 (According to the system statistics average time); The system determines the material as available for investment based on the material category and the fermentation time > standard fermentation time.

[0044] In step S2: When calculating the remaining sustainable time T1 of the material 余 、T2 余 、T3 余 、T4 余 The following steps are required: Obtain the current material quantity Qi at the furnace entrance through the intelligent scheduling system; Material consumption rate R, the volume of material consumed per unit time. Determined based on historical data, actual operation conditions, and model predictions; Calculate the time from feeding to full threshold; Calculate the remaining time: Ti 余 :The furnace entrance (M) reaches the threshold Q 满 The estimated actual. Formula Calculate, where R M It is based on the current consumption rate at the furnace inlet.

[0045] In the S3 step: The number of times dry and wet garbage are collected and thrown is determined based on the blending plan of the unit operation and the ratio of dry and wet garbage.

[0046] In step S4: The dispatching system marks the status of N garbage cranes, which are divided into "pile" (stacked materials), "throw" (throwing materials into the furnace), "empty" (idle) and "avoid" (avoiding other equipment or obstacles). Reasonably arrange the tasks of the garbage cranes to avoid conflicts and delays. Analyze the distance and time of the grabbing point: The system calculates the travel time (T a1 , T b1 , T c1 ), the time required for grabbing (T 抓 ), due to the spatial location limitations of multiple garbage cranes, the side equipment may need more time to locate (T0). Calculate the positioning time from the material grabbing point to the furnace entrance (T 投 ); Calculate the running time of the garbage crane: The dispatching system calculates the running time of the garbage crane (T1, T2, T3, T4) based on the distance between the grab point and the furnace feeding port to optimize the efficiency and timing of the feeding operation.

[0047] Determine the busy and idle equipment, and select the best equipment from the idle equipment. The optimal condition is the shortest feeding time. For multiple equipment, the time calculation method for multiple feedings should take into account the avoidance situation.

[0048] Among them, the position of the garbage crane: the current position P of each garbage crane affects the time to reach the grabbing point. The position of the grabbing point: the position of the grabbing point P is the target of the calculation time. Travel speed V: The travel speed of the garbage crane affects the time to reach the grabbing point. The calculation formula is the travel time to reach the grabbing point (Ta1, Tb1, Tc1): based on the distance D between the current position of the garbage crane and the grabbing point 抓 and travel speed. D 抓 Indicates the straight-line distance from the current position to the material grabbing point.

[0049] Time required for grabbing material T 抓 : The time required for each garbage crane to complete the grabbing operation, usually a fixed time. Positioning time T0 of the side equipment: Additional positioning time, used to ensure the accurate positioning of the equipment in a narrow space.

[0050] Distance D from the material grabbing point to the furnace entrance 投 : The actual travel distance from the grabbing point to the furnace entrance.

[0051] Positioning time from the material grabbing point to the furnace entrance T 投 : At the beginning of the garbage crane automatic furnace operation, the system always monitors the status of the garbage crane, materials, and furnace inlet, sorts the current position of the garbage crane when producing tasks, and checks the status of the garbage crane and furnace inlet in a loop. For each garbage crane, if it is not selected and the current task status is not the avoidance status, it will be marked as an idle garbage crane. If the garbage crane is selected or its status does not meet the conditions, it will be removed from the idle garbage crane list. Similarly, the system will check the status of all discharge ports and furnace inlets, and update the list of idle discharge ports and feed ports.

[0052] In S5, after determining the range, adjust the task priority according to the data: when the remaining material capacity Q1 at the furnace entrance 余 、Q2 余 、Q3 余 、Q4 余 Meeting the threshold Q 满 When the system automatically cancels the task priority of the furnace inlet, it can give priority to other tasks or adjust the operation strategy. This can ensure the overall operation efficiency of the system and the reasonable allocation of resources.

[0053] When selecting tasks, in addition to considering the priority of the tasks and trying to avoid unexpected situations where paths are intertwined, the solution with the smallest total running time is given priority.

[0054] The time for each car (A, B, C) to be put into the furnace individually is as follows: A1: T1+T grab+T1 throw; A2: T1+T grab+T2 throw; A3: T1 + T grab + T3 throw; A4: T1 + T grab + T4 throw; B1: T2 + T grab + T1 throw; B2: T2 + T grab + T2 throw; B3: T2 + T grab + T3 throw; B4: T2 + T grab + T4 throw; C1: T3 + T grab + T1 throw; C2: T3 + T grab + T2 throw; C3: T3 + T grab + T3 throw; C4: T3 + T grab + T4 throw; Among them, T2 = T0 + T1; T3 = T0 + T0 + T1; For the charging operation of Furnace No. 1, at this time A1 < B1 < C1; the charging task is executed by the A garbage crane.

[0055] Multiple charging ports require charging: (1) Material grabbing stage The time for each garbage crane to reach the material grabbing point depends on its starting position and traveling speed. The material grabbing time calculation for each garbage crane includes the traveling time (T1 or T0) from the current position to the material grabbing point plus the time required for actual grabbing (T grab).

[0056] The end time of material throwing is the total time from the completion of material grabbing to the material being thrown into the charging port, including the traveling time (T throw) and the possible avoidance time (T avoid).

[0057] When Vehicle A performs the charging at Charging Port No. 1, it needs to consider its own material grabbing time, material throwing time, and the avoidance time after completing the material throwing; When Vehicle B and Vehicle C perform tasks at different charging ports, the time calculation also includes their respective material grabbing time, material throwing time, and avoidance time; After Vehicle C finishes material grabbing, the total operation time of Vehicle A, Vehicle B, and Vehicle C comprehensively considers the time after all the above-mentioned tasks are completed.

[0058] 1. Optimization of cooperation between equipment; After Vehicle A finishes material grabbing, it quickly throws the material, and then needs to perform two avoidances (T avoid + T avoid), and then grabs and throws the material T2 (the new end time of material throwing for Vehicle A is: A1 + 2(T avoid) + T grab + T2 throw); After Vehicle B finishes material grabbing, it performs one avoidance, and then throws the material (the new time for Vehicle B is: T0 + T grab + A2 + T avoid); after Vehicle C finishes material grabbing, the avoidance time is less, and it directly completes the material throwing (the new time for Vehicle C is: T0 + T grab + T avoid + A3); after Vehicle C finishes the charging of Furnace No. 3, it still needs to perform the charging of Furnace No. 4, and during this period, Vehicle A and Vehicle B are in the state of avoiding Vehicle C.

[0059] 2. Scheduling priority adjustment Car A takes priority in handling the tasks of furnace entrance No. 1 and No. 2; Car B takes priority in handling the task of furnace entrance No. 3; Car C takes priority in handling the No. 4 furnace entrance task; After car A grabs the material, it completes the feeding of furnace inlet No. 1 and performs two avoidances, and then feeds the material to furnace inlet No. 2 (the final time of car A is: A1+2(T avoidance)+T grab+T2 feeding); After car B completes grabbing and feeding, it needs to take an avoidance time (the final time of car B is: T0+T grab+A3+T avoid); after car C completes grabbing, it directly feeds into the No. 4 furnace inlet (the final time of car C is: T0+T grab+T avoid+A4).

[0060] 3. Optimize avoidance time The avoidance time (T avoidance) is reduced by adjusting the equipment position and task sequence; After completing the task of car A, reduce the avoidance time and directly carry out the feeding of the No. 2 furnace entrance (the final time of car A is: A1+T avoidance+T grabbing+T2 feeding); The avoidance time of car B is also reduced (such as T avoidance), and changed to a more efficient feeding time (the final time of car B is: T0+T grab+A3+T avoidance); After completing the task, car C has the shortest avoidance time (T avoid), and directly delivers the material (the final time of car C is: T0+T grab+T avoid+A4); Although the avoidance of car C is the shortest, if car A directly starts the No. 2 furnace, the No. 1 furnace will have to wait for the completion of the starting of cars B and C before it can start the starting of furnace. The best solution is to adjust the task priority. After Car A feeds No. 1 furnace, it gives way to Car B to grab the materials. After Car B finishes grabbing the materials, it and Car B give way to Car C to grab the materials. When Car C finishes grabbing the materials and starts feeding, Cars A and B finish avoiding each other, Car B starts feeding, and Car A starts grabbing the materials (for Furnace No. 2).

[0061] Distribution of each feeding task: Car A: A1+A2; Car B: B3; Car C: C4; Avoidance during operation: Car A: A1+A2+T avoid+T avoid; B car: B3+T avoid+T avoid; C car: C4+T to avoid.

[0062] (2) Determine the garbage cranes that perform the feeding task as A, B, and C; Car A performs the feeding of furnace inlets 1 and 2, Car B performs the feeding of furnace inlet 3, and Car C performs the feeding of furnace inlet 4: Distribution of each feeding task: Car A: A1+A2; Car B: B3; Car C: C4; Avoidance during operation: Car A: A1+A2+T avoid+T avoid; B car: B3+T avoid+T avoid; C car: C4+T to avoid.

[0063] (3) Determine the garbage cranes that perform the feeding task as A, B, and C; Car A performs feeding at furnace inlet No. 1, Car B performs feeding at furnace inlet No. 2 and No. 3; Car C performs feeding at furnace inlet No. 4: Distribution of each feeding task: Car A: A1; Car B: B3+B2; Car C: C4; Avoidance during operation: Car A: A1+T to avoid; B car: B2+B3+T to avoid; C car: C4+T avoid+T avoid.

[0064] (4) Determine the garbage cranes that perform the feeding task as A, B, and C; Car A performs feeding at furnace inlet No. 1, Car B performs feeding at furnace inlet No. 2 and No. 3; Car C performs feeding at furnace inlet No. 4: Distribution of each feeding task: Car A: A1; Car B: B3+B2; Car C: C4; Avoidance during operation: Car A: A1; B car: B2+B3+T to avoid; C car: C4+T avoid+T avoid.

[0065] When optimizing the operation of the garbage cranes, the system first performs task sorting and path optimization to determine the best operation path and task logic, thereby minimizing the overlap of garbage crane paths and avoidance time. During the optimization process, the system prioritizes reducing conflicts between garbage cranes to shorten avoidance time and improve overall operation efficiency.

[0066] In terms of real-time processing and status monitoring, the system first sorts the garbage cranes according to their truck positions and sets travel limits based on the positions to ensure that each garbage crane operates within the specified range. Next, the program regularly checks the status of each garbage crane and discharge port, marks the garbage cranes that are not selected and whose current task status is not avoidance as idle, and removes the garbage cranes that are selected or whose status does not meet the conditions from the list of idle garbage cranes. At the same time, the system also checks the status of all discharge ports and furnace inlets, and updates the list of idle discharge ports and furnace inlets in a timely manner.

[0067] During the task generation and optimization phase, the system generates the feeding tasks based on the positional relationship between the feeding area, the furnace inlet, and the garbage crane, and calculates the distance, midpoint, and turning point of each task to optimize the task pairing. Similarly, the generation of the stacking tasks is also based on the positional relationship between the stacking area, the discharge port, and the garbage crane, and the relevant parameters are calculated. The generated feeding tasks and stacking tasks are then merged into a complete task list.

[0068] During the task allocation phase, the system attempts to assign tasks to each idle garbage crane. Each possible allocation scheme is calculated and evaluated based on the total score and total distance. In order to ensure the rationality of task allocation, the system will select the scheme with the highest total score and the shortest distance, thereby optimizing the overall operation efficiency and ensuring that the garbage crane works efficiently while minimizing the avoidance time.

[0069] During the task allocation process, the system not only ensures that each material port is handled by only one garbage crane, but also minimizes avoidance and path conflicts between tasks. To achieve this goal, the task allocation adopts a backtracking algorithm. The algorithm first assigns tasks to the first garbage crane, and after the assignment is completed, it attempts to make the first assignment for the second garbage crane. If the current task allocation plan meets the conditions, this assignment plan is saved; otherwise, it backtracks to the assignment of the second garbage crane and makes the next attempt. If all possible tasks have been tried and no suitable assignment is found, the system will backtrack to the first garbage crane, reassign tasks, and continue to try new assignment plans for the second garbage crane. This process will continue until the optimal task allocation plan that meets the conditions is found. The program will record all eligible assignment plans and select the plan with the highest score and the shortest distance as the final task allocation result. After the assignment is completed, the system will update the list of occupied furnace inlets, discharge ports and garbage cranes, and apply the final task allocation to actual operations. During the execution of tasks, the program constantly monitors the status of the garbage crane and the progress of tasks. If a task is completed, the system will remove the task from the task allocation list and mark the related garbage crane as idle for the next round of task allocation. In addition, the program also includes a function to handle task completion events, which is used to update the status of the garbage crane when the task is completed, ensuring that the system reflects the latest working status in real time.

[0070] like Figure 3 In one embodiment shown, Figure 3 The system block diagram of an embodiment of a dispatching system for multiple garbage cranes to coordinate loading into a warehouse according to the present invention. The dispatching system for multiple garbage cranes to coordinate loading into a warehouse according to the present invention comprises the following parts: a garbage crane system, which is composed of a garbage crane body and a garbage crane control system. The garbage crane control system is responsible for analyzing the working status of the garbage crane body to determine the best operating mode and sending new work tasks to the garbage crane body for execution.

[0071] The 3D laser scanning system is used to scan the material information of the garbage pool and the furnace entrance and calculate the feeding data. The 3D scanning technology ensures the accurate acquisition of material information.

[0072] The intelligent scheduling system is connected to the garbage crane and the 3D laser scanning system. It is responsible for analyzing the information detected by the 3D laser scanning system, generating work tasks based on it, and then assigning these tasks to the garbage crane.

[0073] The garbage crane body includes a driving mechanism, a garbage crane trolley mechanism and a grab mechanism to realize the specific operation of the task. The 3D laser scanning system is installed above the unloading door and the furnace entrance of the garbage storage to accurately obtain the feeding data. The feeding data includes the location, distance, running time and priority of the feeding materials at the furnace entrance. This information is used to optimize the scheduling and operation of the garbage crane and improve the overall work efficiency.

[0074] In one embodiment, the system of the present invention includes a garbage crane body, a garbage crane control system, a three-dimensional laser scanning system, and an intelligent scheduling system; the garbage crane body, the garbage crane control system, the three-dimensional laser scanning device, and the intelligent scheduling system communicate with each other via an Ethernet connection.

[0075] The garbage crane body includes a traveling mechanism, a garbage crane trolley mechanism, and a grab bucket mechanism; The garbage crane control system is used to analyze the working status of the garbage crane trolley, trolley and grab, analyze the collaborative relationship between the three, determine the best operating mode, and send new work content to the garbage crane trolley, garbage crane trolley and grab.

[0076] The 3D laser scanning system includes a 3D laser scanning device and 3D model software. The 3D laser scanning device is arranged above the unloading door of the garbage storage and above the furnace entrance. It is connected and communicated with the intelligent scheduling system through Ethernet. It is used to scan the material information in the garbage pool and the furnace entrance, and to calculate the distance and running time from the garbage crane to the position of the material that can be fed, and the priority of feeding into the furnace entrance.

[0077] The intelligent scheduling system is used to analyze the garbage storage material data scanned by the 3D laser scanning device, the furnace inlet material data, and the garbage crane operation task generation and allocation.

[0078] The present invention is not limited to the above-mentioned embodiments. No matter any changes are made in the shape or material composition, any structural design provided by the present invention is a variation of the present invention and should be considered to be within the protection scope of the present invention.

Claims

1. A method for dispatching multiple garbage cranes to coordinate loading, characterized in that: The following steps are involved: S1: Obtain the information on available materials, calculate and confirm the materials that can be delivered according to the available delivery conditions; S2: Evaluate the feeding situation and calculate the remaining sustainable time according to the full capacity of the furnace inlet and the actual material quantity; S3: Determine the blending amount of each furnace inlet and dispatch the garbage crane according to the operation status and furnace inlet information; S4: Generate a scheduling job according to the scheduling information and send it to the corresponding garbage crane.

2. A method for dispatching multiple garbage cranes to coordinate loading warehouses according to claim 1, characterized in that: The step S2 comprises the following steps: S2.1: Determine the number of the furnace inlet and the required amount of material to be fed, and set the full capacity of the material inlet; S2.2: The intelligent scheduling system obtains the current amount of material entering the furnace, and uses the model to predict and determine the material consumption rate, that is, the material consumption volume per unit time, based on historical data and actual operation conditions; S2.3: Calculate the time it takes to reach the full threshold and calculate the remaining sustainable time of the material; S2.4: Determine whether the amount of material entering the furnace is greater than or equal to the full capacity of the material. If so, re-evaluate the material delivery situation and return to step S2.

1. If not, proceed to step S3.

3. A method for dispatching multiple garbage cranes to coordinate loading warehouses according to claim 1 or 2, characterized in that: The step S4 comprises the following steps: S4.1: The system generates feeding tasks according to the feeding area, furnace inlet and garbage crane position, and calculates the path with the shortest travel distance and time to complete each task; S4.2: generating a stacking task according to the stacking area, the discharge port and the garbage crane position, and calculating relevant parameters, and the generated feeding task and the stacking task are merged into a complete task list; S4.3: The system assigns tasks to each idle garbage crane, calculates each possible assignment scheme, and evaluates them based on the total score and total distance. The system selects the scheme with the highest total score and the shortest distance; S4.4: Assign tasks to the first garbage crane, and after the assignment is completed, perform the first assignment to the second garbage crane; determine whether the current task assignment plan meets the conditions, if so, save the assignment plan and proceed to step S4.6; if not, proceed to step S4.5; S4.5: Go back to the allocation of the second garbage crane and make the next attempt; if all possible tasks have been tried and no suitable allocation is found, return to step S4.4 to re-allocate tasks and continue to try new allocation plans for the second garbage crane until the optimal task allocation plan that meets the conditions is found; S4.6: Record all eligible allocation plans and select the plan with the highest score and the shortest distance as the final task allocation result; S4.7: After the allocation is completed, the system will update the list of occupied furnace inlets, discharge ports and garbage cranes, and send the final task allocation to the corresponding garbage cranes.

4. A method for dispatching multiple garbage cranes to coordinate loading into warehouses according to claim 3, characterized in that: The step S3 comprises the following steps: S3.1: Determine the amount of materials required for each furnace inlet and the amount of dry and wet garbage to be added; S3.2: The dispatching system marks the status of all garbage cranes; S3.3: The system calculates the time required for each garbage crane to complete the feeding; S3.4: Determine the busy and idle equipment, select the idle equipment as the optimal equipment, and select the equipment with the shortest time required for feeding as the optimal condition; S3.5: Considering the avoidance situation, for multiple devices, calculate the duration of multiple feedings.

5. A method for dispatching multiple garbage cranes to coordinate loading into warehouses according to claim 4, characterized in that: In the step S3.3, the system calculates the travel time for each garbage crane to reach the grabbing point, the time required for grabbing, the spatial position limitation of the garbage crane, the additional positioning time required for the side equipment, and calculates the running time from the grabbing point to the furnace entrance; for each garbage crane, if it is not selected and the current task state is not the avoidance state, it will be marked as an idle garbage crane. If the garbage crane is selected or its state does not meet the conditions, it will be removed from the idle garbage cranes; the system will check the status of all unloading ports and furnace entrances, and update the list of idle unloading ports and feeding ports.

6. A method for dispatching multiple garbage cranes to coordinate loading warehouses according to claim 4 or 5, characterized in that: In the step S3.2, the state of the garbage crane includes an idle state and a busy state, and the busy state includes a material stacking state, a material delivery state, and an avoidance state.

7. A method for dispatching multiple garbage cranes to coordinate loading into warehouses according to claim 4 or 5, characterized in that: In the step S1, the intelligent scheduling system and the three-dimensional scanning device record and scan the information of the materials that can be put, analyze the information to determine the total amount of materials that can be put, and calculate the properties and combustibility of each type of materials; the confirmation of the materials that can be put according to the conditions for putting includes determining whether the materials are dry garbage or wet garbage. If they are dry garbage, they are put directly. If they are wet garbage, it is necessary to determine whether the fermentation time is greater than or equal to the time for putting. If so, they can be put, otherwise continue to wait for fermentation.

8. The method for dispatching multiple garbage cranes to coordinate loading into warehouses according to claim 7, characterized in that: The information that can be put out includes material attributes and stacking information. The material attributes include volume, weight and category. The stacking information includes stacking number and spatial geometric position. The category includes dry garbage and wet garbage. The information of wet garbage also includes fermentation time. The time that can be put out includes summer time and winter time.

9. A dispatching system for multiple garbage cranes to coordinate loading, adopting a dispatching method for multiple garbage cranes to coordinate loading as claimed in any one of claims 1 to 8, characterized in that: include: A garbage crane, the garbage crane comprising a garbage crane body and a garbage crane control system, the garbage crane control system analyzing the working state of the garbage crane body, determining the best operation mode, and sending new work content to the garbage crane body; 3D laser scanning system, which scans the material information in the garbage pool and at the furnace entrance, and calculates the feeding data; The intelligent dispatching system is connected to the garbage crane and the three-dimensional laser scanning system for communication, analyzing the information detected by the three-dimensional laser scanning system, and generating and allocating work tasks to the garbage crane.

10. A dispatching system for multiple garbage cranes to coordinate loading into warehouses according to claim 9, characterized in that: The garbage crane body includes a traveling mechanism, a garbage crane trolley mechanism and a grab mechanism; the three-dimensional laser scanning system is arranged above the unloading door and the furnace entrance of the garbage storage; the feeding data includes the location distance and running time of the feedable materials and the priority of feeding at the furnace entrance.

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