Instruction distributing and screening method under multi-field-bridge combined dispatching

Abstract

The invention discloses an instruction distribution screening method under multi-field-bridge joint scheduling. The method comprises the following steps: S1, obtaining an operation instruction set in a target box area; s2, obtaining a field bridge state in the target box area; s3, screening the instruction set obtained in the step S1 to obtain a to-be-allocated instruction set, and sorting the operation instructions in the to-be-allocated instruction set; s4, performing instruction distribution on the idle field bridges; s5, removing sets with conflicting instructions from the multiple groups of field bridge-to-be-distributed instruction sets; s6, scoring each group of field bridge-to-be-distributed instruction set, and selecting an optimal operation instruction base for operation according to a score; and S7, updating the operation instruction set in the target box area and the field bridge state in the target box area. According to the method, through two-layer screening and multi-condition constraint, instructions are distributed to multiple field bridges at a time at the same time, and the problems of locality of a scheduling result and randomness of a scheduling process in a traditional method are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of terminal automated yard bridge dispatching, and in particular relates to an instruction allocation and screening method under multi-yard bridge joint dispatching. Background Art

[0002] The yard crane includes tire-mounted gantry crane (RTG) and rail-mounted gantry crane (RMG), which are special machines for loading, unloading, handling and stacking operations in the container terminal yard. With the development of automation technology, the yard crane can be remotely controlled by arranging various devices on the yard crane equipment, which is called an automated yard crane. The yard of the container terminal is usually divided into multiple blocks (BLOCK), which constitute the container area of ​​the yard; each container area is divided into multiple bays (BAY), each bay can be divided into multiple rows (STACK), and each row has multiple layers (TIER). The automated yard crane travels in each yard block (container area), stops at a bay, and operates the container instructions of that bay.

[0003] In traditional technology, field bridge dispatching is mostly done by manually assigning instructions. Different people have different assignment results. The field bridge instruction assignment is unstable and uncertain, and it is difficult to achieve reasonable assignment, resulting in low efficiency of field bridge work. In order to adapt to the scene of automatic operation of automated field bridge, the invention patent "Field Bridge Dispatching Method, Device, Computer Equipment and Storage Medium", application number 201810055709.X, provides a field bridge to automatically find the most reasonable operation instruction. It first finds a subset of instructions for the field bridge according to the distance from the instruction to the field bridge among all instructions, and then finds the most suitable instruction from the instruction subset.

[0004] However, the above method has certain locality and randomness when performing instruction scheduling. First, when matching instructions and field bridges, the approach is to fix an instruction, combine multiple factors, and find a suitable field bridge for it, or fix a field bridge, and combine multiple factors to find a suitable instruction for it. It does not find multiple instructions for multiple field bridges at the same time and match them one by one, which lacks globality. Second, when matching instructions and field bridges, usually one instruction or field bridge is fixed, and other field bridges or instructions are combined with it, and the score is calculated according to the factors. The selection of this fixed instruction or field bridge is random, and cannot effectively avoid the extreme situation of field bridge clustering. Summary of the invention

[0005] The purpose of the present invention is to provide an instruction allocation screening method under multi-field bridge joint scheduling to solve the problems raised in the above background technology. It includes the following steps:

[0006] S1: Obtaining a job instruction set in a target box area, wherein the instruction set includes ongoing job instructions and job instructions to be assigned in the target box area, and the basic elements of the job instruction set include a job initial position, a job termination position, an instruction association flag, and an instruction scheduling factor;

[0007] S2: Obtaining the state of the field crane in the target container area, wherein the field crane state includes the field crane position, field crane operation range, and field crane current working state;

[0008] S3: Screening the instruction set obtained in step S1 to obtain an instruction set to be assigned, calculating the ranking value of each instruction according to the scheduling factor of the instruction, and sorting the job instructions in the instruction set to be assigned according to the ranking value to obtain an optimized instruction set to be assigned;

[0009] S4 allocates instructions to the idle field bridges, and the specific method is: set a basic search range for each idle field bridge, start from any idle field bridge, select the instructions to be allocated that meet the search range from the optimized instruction set to be allocated, and form multiple sets of field bridge-instruction sets to be allocated;

[0010] S5. Eliminate the set of conflicting instructions from the multiple sets of field bridges-to-be-allocated instructions. If there is no set of field bridges-to-be-allocated instructions that meets the conditions after the elimination, return to S4 to modify the basic search range and repeat steps S4 and S5.

[0011] S6 scores each set of field bridge-to-be-assigned instruction sets, and selects the best operation instruction base for operation according to the score;

[0012] S7 updates the job instruction set in the target box area and the field bridge status in the target box area, and repeats steps S3-S6 when there is an idle field bridge that needs to be assigned instructions.

[0013] Furthermore, the instruction association flag in step S1 is used to mark the existence of multiple job instructions in a fixed order, and only the job instruction with the frontmost flag is filtered into the instruction set to be assigned.

[0014] Furthermore, the instruction scheduling factor in step S1 includes a first scheduling factor unrelated to the field bridge and a second scheduling factor related to the field bridge;

[0015] The first scheduling factor includes the type of instruction, the operation line of the instruction, the waiting time of the instruction, and whether the instruction is the second instruction of the vehicle;

[0016] The second scheduling factor includes the distance between the instruction and each field bridge, and the correlation between the instruction and a specific field bridge.

[0017] Furthermore, the method of calculating the ranking value of each instruction according to the scheduling factor of the instruction in step S3 is to obtain it by weighted addition of each first scheduling factor of the instruction.

[0018] Furthermore, the minimum range of the basic search range set for the idle field bridge in step S4 is 1 beta, and the maximum range is the working range of the field bridge.

[0019] Furthermore, the method for eliminating the set of conflicting instructions is that when there are instructions with overlapping operating ranges in any set of field bridges-instructions to be assigned, it is determined that the set of field bridges-instructions to be assigned contains conflicting instructions.

[0020] Furthermore, the method for scoring each group of field bridge-to-be-assigned instruction sets is to perform weighted scoring based on the sum of the ranking values ​​of the instructions to be assigned in each group of field bridge-to-be-assigned instruction sets and the sum of the operating distances of the instructions to be assigned, and use the second scheduling factor of the instructions to be assigned as an adjustment coefficient to obtain a score for each group of field bridge-to-be-assigned instruction sets.

[0021] The present invention has the following beneficial effects:

[0022] In order to solve the problems of locality of scheduling results and randomness of scheduling process in field bridge scheduling, this patent proposes "a method for selecting instruction allocation under joint scheduling of multiple field bridges". The goal of this method is to find instructions to be executed for as many field bridges as possible at one time. These instructions to be executed are urgent enough and close enough to the location of the field bridges, which solves the problems of locality of scheduling results and randomness of scheduling process in traditional methods.

[0023] This method sets two levels of screening directions when searching for field bridge-instruction pairs. The first level is to prioritize searching for instructions for as many field bridges as possible at the same time. If no instructions are found, the number of field bridges is reduced and searched again. The second level of screening direction is the search range of the field bridge corresponding to the instruction. The search starts from a relatively close range. If no instructions are found, the search range is enlarged and searched again.

[0024] This method divides the scheduling factors of instructions into two categories. The first category is the scheduling factors that are not related to the field bridge, that is, the scheduling factors related to the attributes of the instruction itself, such as the type of instruction, the waiting time of the instruction, whether the instruction is the second instruction of the vehicle, etc. The second category is the scheduling factors related to the field bridge, that is, the distance and correlation between the instruction and the field bridge, etc. The intrinsic order of the instruction itself is obtained by the first type of scheduling factors as a constraint condition, and then combined with the constraints such as the field bridge operation range and safety distance, the field bridge-instruction screening and matching are performed from two screening directions, so as to achieve the global scheduling purpose of finding n instructions for n field bridges at the same time. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1:

[0027] This embodiment provides an instruction allocation screening method under multi-field bridge joint scheduling, and the specific steps are as follows:

[0028] S1: Obtaining a job instruction set in a target bin area, wherein the instruction set includes ongoing job instructions and job instructions to be assigned in the target bin area, and the basic elements of the job instruction set include a job initial position, a job termination position, an instruction association flag, and an instruction scheduling factor.

[0029] This step aims to obtain the basic information of each instruction to be assigned, where the initial operation position and the end operation position of the instruction determine the moving range of the instruction container; the instruction association flag is used to associate multiple instructions with a fixed sequence. For example, there are instructions a1, a2, and a3. Due to factors such as the stacking position of the container, the instruction operation sequence must be performed in the order of a1, a2, and a3. The association flags of the above instructions are (a, 0), (a, 1), and (a, 2), respectively. When the instruction is assigned, only the instruction a1 with the association flag (a, 0) participates in the assignment. After instruction a1 is assigned, the association flags of instructions a2 and a3 are updated to (a, 0) and (a, 1). The next time an instruction is assigned, instruction a2 can participate in the assignment.

[0030] The instruction scheduling factors include the first scheduling factors that are not related to the field bridge and the second scheduling factors that are related to the field bridge, where the first scheduling factors include the type of instruction, the operation line of the instruction, the waiting time of the instruction, whether the instruction is the second instruction of the vehicle, etc. The first scheduling factor is to pre-sort the instruction set to be assigned, so as to be closer to the optimal solution when assigning instructions to multiple field bridges at the same time in the future, and reduce the overall calculation amount.

[0031] The second dispatching factor includes the distance between the instruction and each crane and the correlation between the instruction and a specific crane. The second dispatching factor aims to highlight the special needs of the instruction. For example, a container needs to be operated by a crane first, and the crane should also give priority to containers closer to it, thereby reducing the moving range of the crane and avoiding instruction conflicts.

[0032] S2 obtains the state of the field crane in the target box area, where the field crane state includes the field crane position, field crane operation range, and field crane current working state.

[0033] In this step, the current working state of the yard crane is divided into idle and working, and the yard crane positions are divided into idle yard crane positions and working yard crane positions. Among them, the idle yard crane position is the position where the yard crane is located; the working yard crane position is based on its working instruction. When there is no subsequent movement of the yard crane, its yard crane position is the current position; when the subsequent instruction of the working yard crane requires movement, the yard crane needs to update its current position at each operation node. It should be noted that when any yard crane is assigned a specific working instruction, its movement range includes the path for the yard crane to move to the initial position of the instruction operation and the entire range required for the yard crane to move during operation. And a certain space needs to be reserved at both sides of the yard crane during operation as a safety space, so the operation range of the yard crane is the total range obtained by adding the safety distance to both sides of the yard crane movement range.

[0034] S3 Screen the instruction set obtained in step S1 to obtain the instruction set to be assigned. Calculate the sorting value of each instruction based on the scheduling factors of the instructions, and sort the operation instructions in the instruction set to be assigned according to the sorting value to obtain the optimized instruction set to be assigned.

[0035] This step aims to perform the initial optimization sorting on the instruction set to be assigned to reduce the computational complexity of subsequent instruction assignment. The screening in this step mainly targets the instructions with associated flag bits, removes the instructions with the later associated flag bits from this assignment, and adds the next-order instructions into the instruction set to be assigned each time an instruction with a forward associated flag bit is assigned. Then, weighted scoring is performed on each instruction in the instruction set to be assigned according to the first scheduling factor to obtain the sorting value of each instruction. The weight value of the first scheduling factor can be set based on experience or obtained through a machine learning algorithm.

[0036] For the instruction set to be assigned W = , the sorting value of each instruction can be expressed as .

[0037] S4 Perform instruction assignment for the idle yard cranes. The specific method is as follows: Set a basic search range for each idle yard crane. Starting from any idle yard crane, sequentially select the instructions to be assigned that meet the search range from the optimized instruction set to be assigned to form multiple sets of yard crane - instructions to be assigned.

[0038] For the idle yard crane set R and the idle instruction set W, assume the size of set R is m and the size of set W is n. Usually, m < n, that is, generally the number of instructions to be assigned is more than the number of idle yard cranes. Then, without loss of generality, let m < n.

[0039] At the same time, find suitable instructions for m idle yard cranes. Set the instruction search range at this time as r, and r can be an empirical value or start from 1 Bay. Set as the position of the yard crane, then the search instruction range of , search for instructions that meet the conditions in this search scope , then you can get multiple sets of field bridge-to-be-allocated instruction sets . r1, r2...rm refer to each field bridge, and w1, w2...wm refer to the instructions assigned by the aforementioned field bridge.

[0040] The above instructions The specific conditions that meet the search scope are: instructions The initial and final positions of the operation both fall into the field bridge Search scope Internal, while field bridge Search scope It is also necessary to meet the requirements of the field bridge The working range is as follows: When the search range r is at the center of its working range, the maximum value is obtained. Half of the working range.

[0041] S5: Eliminate the sets with conflicting instructions from the multiple sets of field bridges-to-be-allocated instructions. If there is no set of field bridges-to-be-allocated instructions that meets the conditions after elimination, return to S4 to modify the search range or reduce the number of idle field bridges to be allocated and repeat steps S4 and S5.

[0042] Considering that the field bridge cannot cross the adjacent field bridge to operate, it is necessary to screen the field bridge-to-be-allocated instruction set obtained in step S4 again. The screening method is: when there are instructions with overlapping field bridge operation ranges in the field bridge-to-be-allocated instruction set, it is determined that there are conflicting instructions in the field bridge-to-be-allocated instruction set, which need to be eliminated. This method can avoid field bridge conflicts to the greatest extent, reduce the instruction set that needs to be compared, and thus reduce the amount of calculation.

[0043] Considering the complexity of the field conditions where multiple field bridges simultaneously assign instructions, there may be a field bridge-to-assign instruction set that does not meet the above conditions. In this case, it is necessary to return to step S4 to modify the search conditions.

[0044] When performing the initial search in step S4, a smaller r value can be set, and the search range of r can be gradually increased after the search in S5 fails. When r increases to the upper limit value (or an upper limit value of r is set) and the instruction set that meets the conditions is still not found, the minimum value of r is returned, and the minimum number of field bridges is removed from the field bridge set to be allocated according to the number of instructions searched for each field bridge at the minimum r value, and the above search steps are repeated while the search range is gradually increased / the number of field bridges is reduced until a field bridge-instruction set to be allocated that meets the conditions is found.

[0045] S6 scores each set of field bridge-to-be-assigned instruction sets, and selects the optimal operation instruction base for operation based on the scoring values.

[0046] This step optimally selects the field bridge-to-be-assigned instruction set obtained in step S5. When only one set of instruction sets is obtained in step S5, it is directly determined as the optimal set. When there are multiple sets of instruction sets, it is necessary to score each set of instruction sets. The scoring function parameters used in the present invention include the ranking values ​​of the selected operation instructions, the sum of the operation distances of the instructions assigned by each field bridge, and the adjustment coefficient obtained by the second scheduling factor of the instruction to be assigned.

[0047] Take the instruction set of group j from all field bridge-to-be-allocated instruction sets , To follow the sequence of field bridges , … The m instructions allocated, then the instruction set has an adjustment coefficient determined by the second scheduling factor in Indicates that in the jth group combination, the adjustment coefficient of the xth instruction for the xth field bridge is determined by the instruction w jx Working position and field bridge The distance between and the correlation between the two determines the score of the j-th group of instructions from the instruction scheduling factor:

[0048] ;

[0049] For the jth group of command combinations, the total distance between each command and the corresponding field bridge is

[0050] ;

[0051] Then the scoring function of the jth group of instruction combinations can be expressed as:

[0052] .

[0053] in , are the weights of the two parameters respectively, Further affects the proportion of the ranking value in the overall score. In order to meet the purpose of the second scheduling factor to highlight the special needs of the instruction, when there is a correlation between instruction i and field bridge j, the greater the correlation, the higher the correlation. The smaller the value, the more likely it is that when instruction i cannot be handled by field bridge j, Take a sufficiently large value, The specific value of and the relationship between the associated requirements can be obtained through experience or machine learning; when instruction i has no associated requirements with field bridge j, Take 1. Under the above conditions, when scoring the whole, take a sufficiently large threshold , when instruction i cannot be handled by field bridge j, that is When the value is large enough, the overall score is greater than the threshold At this time, it is determined that the set of field bridge-to-be-allocated instruction sets does not meet the allocation conditions. If there is no other instruction set that meets the conditions, return to step S4 and search again.

[0054] S7 updates the job instruction set in the target box area and the field bridge status in the target box area, and repeats steps S3-S6 when there is an idle field bridge that needs to be assigned instructions.

[0055] This step updates the job instruction set and the field bridge status in the target box area when any field bridge is allocated, or before any idle field bridge needs to be allocated instructions.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for selecting instruction allocation under multi-field bridge joint scheduling, characterized in that: The steps include: S1: Obtaining a job instruction set in a target box area, wherein the instruction set includes ongoing job instructions and job instructions to be assigned in the target box area, and the basic elements of the job instruction set include a job initial position, a job termination position, an instruction association flag, and an instruction scheduling factor; S2: Obtaining the state of the field crane in the target container area, wherein the field crane state includes the field crane position, field crane operation range, and field crane current working state; S3: Screening the instruction set obtained in step S1 to obtain an instruction set to be assigned, calculating the ranking value of each instruction according to the scheduling factor of the instruction, and sorting the job instructions in the instruction set to be assigned according to the ranking value to obtain an optimized instruction set to be assigned; S4 allocates instructions to the idle field bridges, and the specific method is: set a basic search range for each idle field bridge, start from any idle field bridge, select the instructions to be allocated that meet the search range from the optimized instruction set to be allocated, and form multiple sets of field bridge-instruction sets to be allocated; S5: Eliminate the set of conflicting instructions from the multiple sets of field bridges-to-be-allocated instructions. If there is no set of field bridges-to-be-allocated instructions that meets the conditions after the elimination, return to S4 to modify the search range or reduce the number of idle field bridges to be allocated and repeat steps S4 and S5; S6 scores each set of field bridge-to-be-assigned instruction sets, and selects the best operation instruction base for operation according to the score; S7 updates the job instruction set in the target box area and the field bridge status in the target box area, and repeats steps S3-S6 when there is an idle field bridge that needs to be assigned instructions.

2. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 1, characterized in that: In step S1, the instruction association flag is used to mark the existence of multiple job instructions in a fixed order, and only the job instruction with the frontmost flag is filtered into the instruction set to be assigned.

3. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 1, characterized in that: The instruction scheduling factor in step S1 includes a first scheduling factor unrelated to the field bridge and a second scheduling factor related to the field bridge; The first scheduling factor includes the type of instruction, the operation line of the instruction, the waiting time of the instruction, and whether the instruction is the second instruction of the vehicle; The second scheduling factor includes the distance between the instruction and each field bridge, and the correlation between the instruction and a specific field bridge.

4. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 3, characterized in that: The method of calculating the ranking value of each instruction according to the scheduling factor of the instruction in step S3 is to obtain it by weighted addition of each first scheduling factor of the instruction.

5. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 3, characterized in that: The minimum range of the basic search range set for the idle field bridge in step S4 is 1 beta, and the maximum range is half of the field bridge working range.

6. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 3, characterized in that: The method for eliminating the set of conflicting instructions is that when there are instructions with overlapping operating ranges in any set of field bridges-instructions to be assigned, it is determined that the set of field bridges-instructions to be assigned contains conflicting instructions.

7. The method for selecting instruction allocation under multi-field bridge joint scheduling according to claim 3, characterized in that: The method for scoring each set of field bridges-instructions to be assigned is to perform weighted scoring based on the sum of the ranking values ​​of the instructions to be assigned in each set of field bridges-instructions to be assigned and the sum of the operating distances of the instructions to be assigned, and use the second scheduling factor of the instructions to be assigned as the adjustment coefficient to obtain the score of each set of field bridges-instructions to be assigned.