Method for dispatching multiple garbage cranes in garbage storage bin and garbage storage bin

Abstract

The invention discloses a scheduling method for multiple garbage cranes in a garbage storage bin and the garbage storage bin, and aims to solve the scheduling problem of the multiple garbage cranes in a garbage incineration plant so as to improve the operation efficiency. According to the scheduling method, the minimum total completion time is taken as a target, and a simulation-based adaptive genetic algorithm is adopted for solving. According to the method, a self-adaptive genetic algorithm is used as a main body framework, a scheduling scheme is generated through a task sequence and a task allocation method based on all garbage crane execution and avoidance distance minimization, and a proposed simulation module is used for simulating and operating the scheduling scheme to obtain a target function value. According to the method, the priority information of the task and the working state of the garbage crane are comprehensively considered, and scheduling schemes under different conditions can be generated. The method can effectively solve the problem of complex interference in scheduling of multiple garbage cranes, improves the operation efficiency and the resource utilization rate of a garbage incineration plant, and has high adaptability and popularization value.

Description

Technical Field

[0001] This application relates to the technical field of garbage treatment inside a garbage storage bin, and particularly to a multi-garbage crane scheduling method and a garbage storage bin for a garbage storage bin. Background Art

[0002] In a modern urban solid waste treatment system, a waste incineration plant plays a crucial role. It treats garbage through high-temperature incineration technology, which not only effectively reduces environmental pollution but also can generate a large amount of energy, realizing the resource utilization of waste. However, the efficient operation of a waste incineration plant depends on the coordinated operation of each link inside it. Especially for the garbage management problem in the garbage storage bin, a series of pretreatment operations need to be carried out using garbage cranes to ensure the quality of the garbage before it enters the furnace. Usually, multiple garbage cranes are used for garbage management in the garbage storage bin. These garbage cranes move along a common track and cannot cross each other. Therefore, when multiple garbage cranes are working, interference problems will inevitably occur, and it becomes particularly important to formulate a suitable garbage crane scheduling plan.

[0003] The scheduling of garbage cranes is a complex combinatorial optimization problem involving multiple factors. The core lies in the efficient allocation and coordination of the operation tasks of the common-track garbage cranes. Its main goal is to formulate a scientific and reasonable scheduling strategy on the basis of comprehensively considering the spatial interference between garbage cranes, resource availability, and other constraints, so as to minimize the completion time and improve the overall operation efficiency. Specifically, during the scheduling process, it is necessary to carefully analyze and accurately predict the movement trajectories of garbage cranes to avoid interference and collisions between garbage cranes. At the same time, it is also necessary to comprehensively evaluate the real-time availability of various resources to ensure the reasonable allocation and efficient utilization of resources. At present, the research on garbage crane scheduling is still in its initial stage, and there are few efficient algorithms for multi-garbage crane collaborative scheduling. Existing scheduling methods mostly adopt simple empirical rules or heuristic methods, which are difficult to handle complex interference problems and lack the global optimization ability for the coordination between garbage cranes. For this reason, the present invention proposes a multi-garbage crane scheduling method and a garbage storage bin for a garbage storage bin. Summary of the Invention

[0004] The embodiments of this application provide a multi-garbage crane scheduling method and a garbage storage bin for a garbage storage bin, which can effectively solve the spatial interference problem in multi-garbage crane scheduling, optimize the scheduling strategy, and thus improve the operation efficiency of the waste incineration plant.

[0005] The first aspect of this application provides a multi-garbage crane scheduling method for a garbage storage bin, including: S1. At the beginning of each scheduling cycle, obtain the task information of all tasks to be completed during the scheduling cycle and the position and status information of the garbage cranes;

[0006] S2. Randomly generate an initial task sequence according to the task information;

[0007] S3. Assign a garbage crane to each task in the task sequence through the task assignment scheme to generate a complete scheduling scheme;

[0008] S4. Simulate the operation of the scheduling scheme through the simulation module to obtain the running trajectory and completion time of the garbage crane under the scheduling scheme;

[0009] S5. Calculate the inversion number of the priority corresponding to the task sequence of each garbage crane, and multiply it by the completion time as the objective function of the algorithm;

[0010] S6. The genetic algorithm continuously optimizes the scheduling scheme through the roulette wheel selection operation, adaptive crossover operation, and adaptive mutation operation that incorporate the elitist retention strategy to optimize the objective function.

[0011] Optionally, in step S1, all tasks to be completed within the scheduling period include: feeding type tasks, transfer type tasks, and tipping type tasks;

[0012] The priority of the feeding type task is higher than that of the transfer type task, and the priority of the transfer type task is higher than that of the tipping type task;

[0013] The task information of the feeding type task includes the grabbing point position information and the target feeding port information;

[0014] The task information of the transfer type task includes the garbage grabbing position information and the placement position information;

[0015] The task information of the tipping type task includes the tipping point position information.

[0016] Optionally, in step S1, the status information of the garbage crane includes: the fatigue condition and the fault condition of the garbage crane;

[0017] When the garbage crane is fatigued, the task assignment scheme does not assign tasks to the fatigued garbage crane, and at the same time, when generating the running trajectory of the garbage crane trolley, the fatigued garbage crane will be operated to avoid;

[0018] When the garbage crane fails, the task assignment scheme will be adjusted according to the position of the faulty garbage crane. If the faulty garbage crane is parked on the left or right side without affecting the work of other garbage cranes, normal task assignment will be performed among the normally working garbage cranes. If the faulty garbage crane is parked in the middle, the fixed working areas of other garbage cranes will be divided according to its parking position, and task assignment will be carried out accordingly.

[0019] Optionally, in step S3, the task assignment scheme includes:

[0020] Assume that all garbage cranes serially execute the task sequence;

[0021] For each task in the task sequence, based on the current position of the garbage crane, calculate the total distance that each garbage crane needs to move when it executes the task and the other garbage cranes avoid it, and take the minimum value as the garbage crane responsible for the task;

[0022] After allocating a garbage crane for each task, update the position information of the garbage crane once;

[0023] Traverse all tasks until garbage cranes are allocated for all tasks.

[0024] Optionally, in step S4, in the simulation module, the operation rules of each garbage crane include:

[0025] Before each movement of the trolley of the garbage crane, it is necessary to determine whether there is another garbage crane between its current position and the target position. If not, it can move directly to the target position; if so, it is necessary to further predict the movement trajectory of the garbage crane according to the task information executed by the garbage crane. If there will be no collision during the movement, it can start to move, otherwise it cannot move, and at the same time request the interfering garbage crane to enter the avoidance state after completing its task;

[0026] The garbage crane cannot perform avoidance operations during the execution of its tasks, but before moving with load to the target position, if there is an interfering garbage crane, it can wait with load until the interfering garbage crane leaves or enters the avoidance state, and then move;

[0027] The garbage crane in the avoidance state needs to continuously detect the distance from other garbage cranes. If it is greater than the safe distance, it remains stationary. If the safe distance limit is reached, it moves in the same direction as the interfering garbage crane until the interference between the garbage cranes disappears.

[0028] Optionally, in the simulation module, when the garbage crane executes various types of tasks, the actions of the trolley of the garbage crane include:

[0029] When the garbage crane executes a feeding type task, the trolley of the garbage crane moves to the grabbing point, waits for a preset grabbing time, then moves to the left side of the corresponding feeding port, and then moves uniformly to the right side of the feeding port at a preset speed. After arriving, the task is completed;

[0030] When the garbage crane executes a material transfer type task, the trolley of the garbage crane moves to the grabbing point, waits for a preset grabbing time, then moves to the placement point, and then waits for a preset placement time to complete the task;

[0031] When the garbage crane executes a tipping type task, the trolley of the garbage crane moves to the tipping point, waits for a preset tipping time, and then completes the task.

[0032] The second aspect of the present application provides a garbage storage bin, which includes: a garbage pit, a track arranged above the garbage pit along the length direction, and multiple garbage cranes arranged on the track. The garbage pit is provided with a feeding port and a discharging port.

[0033] Optionally, the garbage crane is composed of a trolley, a carriage and a grab bucket.

[0034] Optionally, a control room for controlling the operation of the garbage crane is arranged on one side of the garbage pit, and a leachate tank for collecting the leachate generated in the garbage pit is arranged below the garbage pit.

[0035] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: The present application solves the target garbage crane scheduling scheme by integrating the task requirements of the garbage storage bin and the status information of the garbage crane. While ensuring the safety of the garbage crane operation, the two or more garbage cranes in the garbage storage bin are uniformly scheduled, so as to reasonably utilize resources, improve the garbage treatment efficiency, reduce the idle time of manpower and equipment, lower the working cost, and improve the resource utilization rate. Description of the Drawings

[0036] Figure 1 is a flowchart of the multi-garbage crane scheduling method for the garbage storage bin in the embodiment of the present application;

[0037] Figure 2 is a top view layout diagram of the garbage storage bin in the embodiment of the present application;

[0038] Figure 3 is a side view layout diagram of the garbage storage bin in the embodiment of the present application;

[0039] Figure 4 is a flowchart of the task allocation scheme in the embodiment of the present application;

[0040] Figure 5 is a garbage crane operation trajectory diagram under the optimal scheduling scheme in the embodiment of the present application;

[0041] Figure 6 is a garbage crane operation trajectory diagram of the scheduling scheme when the garbage crane in the middle position is fatigued in the embodiment of the present application;

[0042] Figure 7 is a garbage crane operation trajectory diagram of the scheduling scheme when the garbage crane in the middle position fails in the embodiment of the present application;

[0043] Among them, the reference numerals are:

[0044] 1 - garbage pit, 2 - leachate tank, 3 - feeding port, 4 - discharging port, 5 - control room, 6 - trolley, 7 - carriage, 8 - grab bucket. Detailed Embodiments

[0045] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0046] In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] Unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0048] This application provides an embodiment of a multi-gantry crane scheduling method for a garbage storage bin. For details, please refer to Figure 1 。

[0049] The multi-gantry crane scheduling method for a garbage storage bin in this embodiment includes:

[0050] S1. At the beginning of each scheduling period, obtain the task information of all tasks to be completed during the scheduling period, as well as the position and status information of the gantry cranes.

[0051] S2. Randomly generate an initial task sequence according to the task information.

[0052] S3. Assign gantry cranes to each task in the task sequence through a task allocation scheme to generate a complete scheduling scheme.

[0053] S4. Simulate the operation of the scheduling scheme through a simulation module to obtain the operation trajectory and completion time of the gantry cranes under the scheduling scheme.

[0054] S5. Calculate the inverse number of the priority corresponding to the task sequence of each garbage crane, and multiply it by the completion time as the objective function of the algorithm;

[0055] S6. The genetic algorithm continuously optimizes the scheduling scheme through the roulette wheel selection operation, adaptive crossover operation, and adaptive mutation operation that integrate the elite retention strategy to optimize the objective function.

[0056] It should be noted that: This application solves the target garbage crane scheduling scheme by integrating the task requirements of the garbage storage bin and the status information of the garbage crane. Under the condition of ensuring the safety of the garbage crane operation, it uniformly schedules two or more garbage cranes in the garbage storage bin, so as to reasonably utilize resources, improve the garbage treatment efficiency, reduce the idle time of manpower and equipment, lower the working cost, and improve the resource utilization rate.

[0057] The above is the first embodiment of a multi-garbage crane scheduling method for a garbage storage bin provided by this application. The following is the second embodiment of a multi-garbage crane scheduling method for a garbage storage bin provided by this application. For details, please refer to Figures 1 to 7 。

[0058] The multi-garbage crane scheduling method in this embodiment includes:

[0059] S1. At the beginning of each scheduling period, obtain the task information of all tasks to be completed during the scheduling period, as well as the position and status information of the garbage crane;

[0060] S2. Randomly generate an initial task sequence according to the task information;

[0061] S3. Assign garbage cranes to each task in the task sequence through the task assignment plan to generate a complete scheduling plan;

[0062] S4. Simulate the operation of the scheduling plan through the simulation module to obtain the operation trajectory and completion time of the garbage crane under the scheduling plan;

[0063] S5. Calculate the inverse number of the priority corresponding to the task sequence of each garbage crane, and multiply it by the completion time as the objective function of the algorithm;

[0064] S6. The genetic algorithm continuously optimizes the scheduling scheme through the roulette wheel selection operation, adaptive crossover operation, and adaptive mutation operation that integrate the elite retention strategy to optimize the objective function.

[0065] It should be noted that: after obtaining the task information of all tasks to be completed within each scheduling period, a task sequence is generated and waste handling cranes are assigned to the tasks. This task assignment scheme can reduce the frequency of interference between waste handling cranes, reduce the difficulty of solving the corresponding optimization problem, and improve the solution efficiency. Subsequently, the simulation module is called to simulate the operation of the scheduling scheme to obtain the completion time required for this scheduling scheme, and the objective function value of this scheduling scheme is determined considering the task priorities. Finally, the adaptive genetic algorithm is called to search for the optimal scheduling scheme through the search ability of the algorithm.

[0066] Specifically, in step S1, all tasks to be completed within the scheduling period include: feeding type tasks, material transfer type tasks, and material turning type tasks;

[0067] The priority of feeding type tasks is higher than that of material transfer type tasks, and the priority of material transfer type tasks is higher than that of material turning type tasks;

[0068] The task information of feeding type tasks includes the grabbing point position information and the target feeding port 3 information;

[0069] The task information of material transfer type tasks includes the garbage grabbing position information and the placement position information;

[0070] The task information of material turning type tasks includes the material turning point position information.

[0071] It can be understood that only the movement of the waste handling crane trolley 6 is considered in the scheduling process. Therefore, the above position information all represents the one-dimensional coordinate information of each position along the direction of the waste handling crane track.

[0072] In step S1, the status information of the waste handling crane includes: the fatigue condition and the fault condition of the waste handling crane; the genetic algorithm can make different scheduling schemes according to different situations:

[0073] When the waste handling crane is fatigued, the task assignment scheme does not assign tasks to the fatigued waste handling crane, and at the same time, when generating the running track of the waste handling crane trolley 6, the fatigued waste handling crane will be operated to avoid;

[0074] When the waste handling crane breaks down, the task assignment scheme will be adjusted according to the position of the faulty waste handling crane. If the faulty waste handling crane is parked on the left or right side without affecting the work of other waste handling cranes, normal task assignment will be performed among the normally working waste handling cranes. If the faulty waste handling crane is parked in the middle, the fixed working areas of other waste handling cranes will be divided according to its parking position, and task assignment will be carried out accordingly.

[0075] As Figure 4 shown, in this embodiment, for the task assignment scheme of assigning waste handling cranes to each task in the task sequence, assuming that all waste handling cranes serially execute the task sequence, the following steps are cycled until waste handling cranes are assigned to all tasks:

[0076] S301. Obtain task information;

[0077] S302. Calculate the total distance that each gantry crane needs to move when performing this task while other gantry cranes avoid;

[0078] S303. Select the gantry crane with the minimum total distance as the one responsible for this task;

[0079] S304. Update the position information of the gantry crane.

[0080] It can be understood that the safety distance constraint of the gantry crane and the relevant constraints of task allocation are important constraints for the multi-gantry crane scheduling problem. In the daily work of the gantry crane, some tasks require large-scale movement, which will inevitably cause interference problems among gantry cranes and affect work efficiency. Therefore, a suitable method is needed to solve this problem. This multi-gantry crane scheduling method for the garbage storage bin stipulates that when interference occurs, the gantry crane needs to perform an active avoidance operation. Considering the additional energy consumption and time cost brought by the active avoidance operation, it is necessary to minimize the frequency of interference among gantry cranes as much as possible. This method is allocated based on the principle of minimizing the execution and avoidance distances of all gantry cranes, and prefers to select gantry cranes that will not interfere, which can greatly reduce the frequency of interference among gantry cranes.

[0081] When all gantry cranes are working normally, the above task allocation scheme is executed. When some gantry cranes are fatigued, the above task allocation scheme is executed after excluding the fatigued gantry cranes. When some gantry cranes are faulty, if the faulty gantry crane is not the one parked in the middle position, the above task allocation scheme is executed after excluding the faulty gantry crane. If the faulty gantry crane is the one parked in the middle position, at this time, the gantry crane parked in the middle position will interfere with the operation of other gantry cranes. At this time, there will be no situation where the task crosses this position. Therefore, the task area can be directly divided with this position as the boundary. The tasks with position information on the left are divided among the left gantry cranes, and the ones on the right are divided among the right gantry cranes.

[0082] Due to the existence of the active avoidance operation, it will be difficult to calculate the corresponding completion time under the scheduling scheme by mathematical means. This multi-gantry crane scheduling method for the garbage storage bin uses a simulation module to simulate the operation of the scheduling scheme to obtain the completion time, and then optimize the scheduling scheme. In step S4, in the simulation module, the operation rules of each gantry crane include:

[0083] Before each movement of the garbage crane trolley 6, it is necessary to determine whether there are other garbage cranes between its current position and the target position. If not, it can move directly to the target position; if so, it is necessary to further predict the running trajectory of the garbage crane according to the task information executed by the garbage crane. If there will be no collision during the running process, it can start to move; otherwise, it cannot move, and at the same time, it requests to interfere with the garbage crane to enter the avoidance state after completing its task.

[0084] During the execution of its tasks, the garbage crane cannot perform avoidance operations. However, before moving with load to the target position, if there is an interfering garbage crane, it can wait with load until the interfering garbage crane leaves or enters the avoidance state, and then move.

[0085] The garbage crane that enters the avoidance state needs to detect the distance from other garbage cranes in real time. If the distance is greater than the safe distance, it remains stationary. If the safe distance limit is reached, it moves in the same direction as the interfering garbage crane until the interference between the garbage cranes disappears.

[0086] In the simulation module, when the garbage crane executes various types of tasks, the actions of the garbage crane trolley 6 include:

[0087] When the garbage crane executes the feeding type task, the garbage crane trolley 6 moves to the grabbing point, waits for the preset grabbing time, then moves to the left side of the corresponding feeding port 3, and then moves uniformly to the right side of the feeding port 3 at the preset speed. After arriving, the task is completed.

[0088] When the garbage crane executes the transfer type task, the garbage crane trolley 6 moves to the grabbing point, waits for the preset grabbing time, then moves to the placement point, and then waits for the preset placement time to complete the task.

[0089] When the garbage crane executes the tipping type task, the garbage crane trolley 6 moves to the tipping point and waits for the preset tipping time to complete the task.

[0090] Through the above handling of the problem, the adaptive genetic algorithm can be used to optimize the scheduling scheme. This method can obtain a better scheduling scheme in a relatively short time and has good robustness. For the adaptive genetic algorithm, in this embodiment, the following improvement methods are adopted for the algorithm to improve the optimization ability of the algorithm:

[0091] The roulette wheel selection strategy is used to increase the probability that individuals with high fitness are retained, which is beneficial to the evolution of the population in a better direction.

[0092] The elitist retention strategy effectively maintains the population quality, speeds up the optimization speed, and at the same time improves the quality and stability of the solution.

[0093] The adaptive crossover and mutation operations can dynamically adjust the probabilities of individuals for crossover and mutation according to the number of population iterations and the fitness values of individuals, optimizing the optimization process of the algorithm.

[0094] According to the above process, the optimal scheduling plan and the corresponding moving trajectory of the large vehicle 6 of the garbage crane can be obtained. Refer to the appendix Figure 5 , which shows the moving trajectory of the large vehicle 6 of the garbage crane corresponding to the optimal scheduling plan when all garbage cranes are working normally when the task information within a given scheduling period is shown. In this trajectory diagram, all large vehicles 6 of the garbage cranes can maintain a safe distance during operation, and the feeding type tasks are preferentially executed, meeting the requirements for the multi-garbage crane scheduling method for the garbage storage bin. Refer to the appendix Figure 6 , which shows the scheduling plan when the garbage crane in the middle position is fatigued. At this time, the garbage crane in the middle position can normally perform the avoidance operation. Refer to the appendix Figure 7 , which shows the scheduling plan when the garbage crane in the middle position fails. At this time, the middle garbage crane is parked in the middle position, and it is necessary to ensure that there is no situation of crossing this position for the tasks in this case.

[0095] As Figure 2 and Figure 3 shown, the present application also provides a garbage storage bin applicable to the above multi-garbage crane scheduling method for the garbage storage bin, which includes a garbage pool 1, a track arranged above the garbage pool 1 along the length direction, and multiple garbage cranes arranged on the track. The garbage pool 1 is provided with a feeding port 3 and a discharging port 4.

[0096] It should be noted that: the garbage in the garbage pool 1 is stored in a partitioned structure, mainly divided into a raw material area, a fermentation area, and a clinker area. The raw material area is used to store newly arrived garbage, and it is usually stacked in a terraced form. These garbage contain more moisture and cannot be directly fed into the boiler for incineration. The fermentation area is the area where garbage draining and fermentation operations are in progress. The clinker area is the area where garbage can be fed into the boiler for incineration. The positions of the three areas are not fixed, and each area will continuously rotate in the order of the raw material area, the fermentation area, and the clinker area. For the convenience of garbage treatment, the garbage in the garbage pool 1 in this embodiment is voxelized, and the garbage crane will grab it in blocks.

[0097] Specifically, usually three garbage cranes are equipped in the garbage storage bin, which span over the garbage pit 1 through rails and are used for various treatments of garbage. All garbage cranes adopt a common rail design, and a safe distance needs to be maintained between the trolleys 6 of the garbage cranes. Each garbage crane consists of three main parts: a trolley 6, a carriage 7, and a grab 8. The trolley 6 can move in the X direction along the preset rail, and there are restrictions on the operating range. The carriage 7 can move along the trolley 6 in the Y direction. An elevator is installed on the carriage 7, which can operate the grab 8 to move up and down in the Z direction. In this embodiment, it is assumed that the moving speed of the carriage 7 of the garbage crane is much greater than that of the trolley 6. Therefore, when scheduling, only the movement of the trolley 6 of the garbage crane is considered.

[0098] In the daily management of the garbage storage bin, usually different types of tasks need to be completed by the garbage crane. For example, the feeding type task is to grab the garbage in the clinker area and move it to the left side of the feeding port 3, and then uniformly feed the garbage from left to right. The transfer type task is to transfer the garbage at the discharge port 4 to the raw material area. The turning type task requires loosening the garbage on the surface of the fermentation area, that is, grabbing the garbage multiple times and then putting it down. Ditching is to dig the garbage near the discharge port 4 below the grille and transfer the garbage generated by ditching to the raw material area.

[0099] Specifically, a control room 5 for controlling the operation of the garbage crane is arranged on one side of the garbage pit 1, and a leachate tank 2 for collecting the leachate generated in the garbage pit 1 is arranged below the garbage pit 1.

[0100] In this embodiment, the length, width, and height of the garbage pit 1 are 76 meters, 25 meters, and 30 meters respectively, the number of feeding ports 3 is 3, and the number of discharge ports 4 is 9.

[0101] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for dispatching multiple garbage cranes in a garbage storage bin, characterized in that: include: S1. At the beginning of each scheduling cycle, obtain the task information of all tasks to be completed within the scheduling cycle and the location and status information of the garbage crane; S2. Randomly generate an initial task sequence according to the task information; S3, assigning garbage cranes to each task in the task sequence through a task assignment plan to generate a complete scheduling plan; S4, simulating and running the scheduling scheme through a simulation module to obtain the running trajectory and completion time of the garbage crane under the scheduling scheme; S5, calculating the inverse number of the priority of the task sequence of each garbage crane, and multiplying it by the completion time as the objective function of the algorithm; S6. The genetic algorithm continuously optimizes the scheduling scheme by integrating the roulette selection operation of the elite retention strategy, the adaptive crossover operation and the adaptive mutation operation to make the objective function optimal.

2. The method for dispatching multiple garbage cranes in a garbage storage bin according to claim 1, characterized in that: In step S1, all tasks to be completed within the scheduling period include: feeding type tasks, material transfer type tasks and material turning type tasks; The priority of the material feeding type task is higher than the priority of the material transfer type task, and the priority of the material transfer type task is higher than the priority of the material turning type task; The task information of the feeding type task includes the grabbing point position information and the target feeding port information; The task information of the material transfer task includes the grabbing position information and the placing position information of the garbage; The task information of the material turning type task includes the position information of the material turning point.

3. The method for dispatching multiple garbage cranes in a garbage storage bin according to claim 1, characterized in that: In step S1, the status information of the garbage crane includes: fatigue and fault conditions of the garbage crane; When the garbage crane is fatigued, the task allocation scheme will not allocate tasks to the fatigued garbage crane, and will operate the fatigued garbage crane to avoid when generating the running trajectory of the garbage crane trolley; When a garbage crane fails, the task allocation plan will be adjusted according to the position of the failed garbage crane. If the failed garbage crane is docked on the left or right side and does not affect the work of other garbage cranes, normal task allocation will be performed between the normally working garbage cranes. If the failed garbage crane is docked in the middle, the fixed working areas of other garbage cranes will be divided according to their docking positions, and task allocation will be performed accordingly.

4. The method for dispatching multiple garbage cranes in a garbage storage bin according to claim 1, characterized in that: In step S3, the task allocation scheme includes: Assume that all garbage cranes execute the task sequence serially; For each task in the task sequence, based on the current position of the garbage crane, calculate the total distance that each garbage crane needs to move when executing the task while other garbage cranes give way, and take the smallest one as the garbage crane responsible for the task; Each time a garbage crane is assigned to a task, the location information of the garbage crane is updated; Traverse all tasks until garbage cranes are assigned to all tasks.

5. The method for dispatching multiple garbage cranes in a garbage storage bin according to claim 1, characterized in that: In step S4, in the simulation module, the operation rules of each garbage crane include: Before the garbage crane truck moves each time, it needs to determine whether there are other garbage cranes between its current position and the target position. If not, it can move directly to the target position. If so, it needs to further predict the running trajectory of the garbage crane based on the task information performed by the garbage crane. If there is no collision during the operation, it can start to move, otherwise it cannot move, and at the same time request the interfering garbage crane to enter the avoidance state after completing its task. The garbage crane cannot perform avoidance operations during its mission. However, before moving to the target location with a load, if there is an interfering garbage crane, the load can be waited until the interfering garbage crane leaves or enters the avoidance state before moving; The garbage crane entering the avoidance state needs to detect the distance between it and other garbage cranes in real time. If it is greater than the safe distance, it will remain motionless. If it reaches the safe distance limit, it will move in the same direction as the interfering garbage crane until the interference between the garbage cranes disappears.

6. The method for dispatching multiple garbage cranes in a garbage storage bin according to claim 2, characterized in that: In the simulation module, when the garbage crane performs various types of tasks, the actions of the garbage crane truck include: When the garbage crane performs a feeding task, the garbage crane moves to the grabbing point, waits for the preset grabbing time, moves to the left side of the corresponding feeding port, and then moves evenly to the right side of the feeding port at a preset speed. After arriving, the task is completed; When the garbage crane performs a material transfer task, the garbage crane moves to the grabbing point, waits for the preset grabbing time, moves to the placement point, and waits for the preset placement time to complete the task; When the garbage crane performs a material turning task, the garbage crane truck moves to the material turning point and completes the task after waiting for the preset material turning time.

7. A garbage storage bin, characterized in that: include: A garbage pool, a track arranged above the garbage pool along the length direction, and a plurality of garbage cranes arranged on the track, wherein the garbage pool is provided with a feeding port and a discharging port.

8. The garbage storage bin according to claim 7, characterized in that: The garbage crane is composed of a large car, a small car and a grab bucket.

9. The garbage storage bin according to claim 7, characterized in that: A control room for controlling the operation of the garbage crane is arranged on one side of the garbage pool, and a leachate pool for collecting leachate generated in the garbage pool is arranged below the garbage pool.

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