CN105956695A - Circular and optimized planning method and system for garbage collection and transportation - Google Patents
Circular and optimized planning method and system for garbage collection and transportation Download PDFInfo
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- 238000004140 cleaning Methods 0.000 abstract 4
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a circular and optimized planning method and a system for garbage collection and transportation. Based on the following criteria as: area division, area path planning, transfer station setting, parking spot setting, and path re-planning, according to the required garbage collection spots and the amount of garbage generated in an area, and with the principle of cost optimization, the method and the system calculate the total number of the garbage cleaning vehicles and the type of these vehicles required to fulfill the cleaning task, plan the specifications, numbers and sites for transfer stations to be constructed, calculate the number of required transfer vehicles and arrange for the routine paths of all garbage cleaning vehicles and the transfer vehicles. According to the invention, the method and the system provide solutions to the planning of garbage cleaning and transferring in an area at a low cost and estimate the overall operation cost as well.
Description
Technical field
The present invention relates to the refuse collection transhipment method and system for planning of a kind of loop optimization.
Background technology
Along with the continuous quickening of Urbanization in China, urban environmental hygiene level is the most increasingly paid close attention to by society, and the quantity of refuse that resident produces is increasing, and garbage collecting and transferring pressure strengthens, it is desirable to have efficient algorithm and system improve garbage collecting and transferring efficiency.
Garbage collecting and transferring is divided into garbage collection points, refuse depot and refuse transfer station, and the above two are only rubbish intermediate collection facilities, and the latter is to possess the environment sanitation facility collected with process function.
Refuse collection typically uses fixing container collection method, dumper collect each point rubbish, until the heap(ed) capacity reaching dumper returns terminal or treatment plant, proceeds to next packaging point and collects, such as Fig. 1, so repeat refuse collection after empty litter car.Therefore, how in more excellent cost-range, in solution region, refuse collection transfer planning problem is the problem should paid attention to and solve during treatment of urban garbage.
Summary of the invention
The refuse collection transhipment method and system for planning that it is an object of the invention to provide a kind of loop optimization solves how in more excellent cost-range, solves refuse collection transfer planning problem in region.
The technical solution of the present invention is:
A kind of refuse collection transhipment planing method of loop optimization, including:
S1, sheet Division, to division section, garbage collection points, the quantity of refuse of the garbage collection points that each section comprises is completed to receive fortune by a coastiong；
S2, section path planning, press traveling salesman problem and calculate path each section, uses simulated annealing to realize, finds the more excellent solution of traveling salesman problem, estimate the operation time of each section garbage collecting and transferring；
S3, terminal are arranged, on cost economy principle, calculate terminal quantity and the position of planning；
S4, stop set, and according to parking lot practical situation, arrange some stops, calculate every route and taken time, and calculate required vehicle number, distribute stop for each car and clear region, terminal or disposal site；
S5, path are planned again, add stop, terminal, to each section again path planning, each starting point and end point position in determining section, again plan path in section according to traveling salesman problem.
Further, in step S1, sheet Division is specially
S11, initial plan section is set accounts for anharmonic ratio example；
S12, planning section, take partition garbage collection points the most far away, disposal site, progressively expand a little according to taking a rule, until the weight comprised reaches the loading capacity of a car；
When S13, remaining garbage collection points weight are less than idle ratio, according to nearby principle and and ensure each section weight not exceed standard each remaining garbage collection points to be divided into each section；
S14, deviation garbage collection points adjust, if garbage collection points are from section belonging to itself farther out, and close to other section, attempt incorporating garbage collection points into nearlyer section, after section enters new garbage collection points, if it is overweight, point minimum for one or more distance increments is replaced other section, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until all garbage collection points can not exchange, sheet Division terminates.
Further, in step S11, arrange that initial plan section accounts for that anharmonic ratio example is vehicle capacity 80%.
Further, in step S12, take a rule particularly as follows:
S121, with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively removal convex polygon summit, convex polygon summit is from planning region most distant point, until the most overweight；
S122, take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters S121.
Further, step S3 particularly as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to this terminal more cost-effective, arrange route terminal information, the maximum specification configuration that terminal needs in an amount；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
A kind of refuse collection transhipment planning system of loop optimization, including:
Sheet Division module: to division section, garbage collection points, the quantity of refuse of the garbage collection points that each section comprises is completed to receive fortune by a coastiong；
Section path planning module: each section is pressed traveling salesman problem and calculates path, uses simulated annealing to realize, finds the more excellent solution of traveling salesman problem, estimate the operation time of each section garbage collecting and transferring；
Terminal arranges module: on cost economy principle, calculates terminal quantity and the position of planning；
Stop setting module: according to parking lot practical situation, arranges some stops, calculates every route and is taken time, and calculates required vehicle number, distributes stop for each car and clear region, terminal or disposal site；
Path planning module again: add stop, terminal, to each section again path planning, each starting point and end point position in determining section, plans path in section again according to traveling salesman problem.
Further, sheet Division module is carried out divide section particularly as follows:
S11, initial plan section is set accounts for anharmonic ratio example；
S12, planning section, take partition garbage collection points the most far away, disposal site, progressively expand a little according to taking a rule, until the weight comprised reaches the loading capacity of a car；
When S13, remaining garbage collection points weight are less than idle ratio, according to nearby principle and and ensure each section weight not exceed standard each remaining garbage collection points to be divided into each section；
S14, deviation garbage collection points adjust, if garbage collection points are from section belonging to itself farther out, and close to other section, attempt incorporating garbage collection points into nearlyer section, after section enters new garbage collection points, if it is overweight, point minimum for one or more distance increments is replaced other section, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until all garbage collection points can not exchange, sheet Division terminates.
Further, take a rule particularly as follows:
S121, with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively removal convex polygon summit, convex polygon summit is from planning region most distant point, until the most overweight；
S122, take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters S121.
Further, carry out terminal setting during terminal arranges module particularly as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to this terminal more cost-effective, arrange route terminal information, the maximum specification configuration that terminal needs in an amount；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
The invention has the beneficial effects as follows: the refuse collection transhipment method and system for planning of this kind of loop optimization, according to needing the rubbish point cleared in a region and producing quantity of refuse, use cost optimization principle, garbage removing cart model and quantity that refuse collection required by task is wanted are calculated as it, planning needs terminal specification, quantity and the addressing built, the quantity of the transit wagon required for calculating, and arrange the daily route planning of each garbage removing cart and transit wagon.The present invention can solve refuse collection transfer planning problem in region, and calculate overall cost of operation in more excellent cost-range.The invention belongs to computer software and field of artificial intelligence, use neutral net, self adaptation concussion feedback mechanism, solve multiple shot array problem in planning algorithm.
Accompanying drawing explanation
Fig. 1 is the explanation schematic diagram of refuse collection and refuse collection.
Detailed description of the invention
Describe the preferred embodiments of the present invention below in conjunction with the accompanying drawings in detail.
Embodiment
A kind of refuse collection transhipment planing method of loop optimization, according to needing the rubbish point cleared in a region and producing quantity of refuse, use cost optimization principle, garbage removing cart model and quantity that refuse collection required by task is wanted are calculated as it, planning needs terminal specification, quantity and the addressing built, the quantity of the transit wagon required for calculating, and arrange the daily route planning of each garbage removing cart and transit wagon.Embodiment can solve refuse collection transfer planning problem in region, and calculate overall cost of operation in more excellent cost-range.The invention belongs to computer software and field of artificial intelligence, use neutral net, self adaptation concussion feedback mechanism, solve multiple shot array problem in planning algorithm.
The first step, according to all garbage collection points, divides section, and the quantity of refuse of the garbage collection points that each section comprises needs a coastiong to complete to receive fortune, and the geographical distribution of each garbage collection points close proximity to, to facilitate collection.
Sheet limited region dividing method is as follows:
Initial plan section is set and accounts for anharmonic ratio example, such as the 80% of vehicle capacity.
Planning section, takes disposal site partition setting the most far away, progressively expands a little, until the weight comprised reaches the loading capacity of a car.Take a rule: 1. with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively remove convex polygon summit (summit is from planning region most distant point), until the most overweight；2. take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters 1.
When remaining some weight is less than idle ratio, such as 15%, each point is divided into each section according to nearby principle, and each section weight does not exceeds standard；
Deviation point adjusts, if a point is from section belonging to itself farther out, and close to other section, can attempt incorporating into nearlyer section, after section enters new point, if it is overweight, the point looking for one or more distance increment minimum replaces other region, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until institute a little can not exchange, sheet Division terminates.
Second step, section path planning, to each section, calculate path by traveling salesman problem TSP problem, the present invention uses simulated annealing to realize, and can be quickly found out the more excellent solution of TSP problem.So can substantially estimate the operation time of each section garbage collecting and transferring.
3rd step, terminal is arranged, on cost economy principle, calculates the terminal quantity and position that can plan, step is as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to transfer more cost-effective, arrange route terminal information, can be empty, the maximum specification configuration that terminal needs in an amount, can configure multiple；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
4th step, stop sets, according to parking lot practical situation, manually arranges some stops, calculate every route and taken time, and calculates required vehicle number, distributes stop for each car and clear region, terminal or disposal site.
5th step, path plans again, adds stop, terminal, to each section again path planning, each starting point and end point position in determining section, again plan path in section according to TSP problem.
A kind of refuse collection transhipment planning system of loop optimization, including:
Sheet Division module: to division section, garbage collection points, the quantity of refuse of the garbage collection points that each section comprises is completed to receive fortune by a coastiong；
Section path planning module: each section is pressed traveling salesman problem and calculates path, uses simulated annealing to realize, finds the more excellent solution of traveling salesman problem, estimate the operation time of each section garbage collecting and transferring；
Terminal arranges module: on cost economy principle, calculates terminal quantity and the position of planning；
Stop setting module: according to parking lot practical situation, arranges some stops, calculates every route and is taken time, and calculates required vehicle number, distributes stop for each car and clear region, terminal or disposal site；
Path planning module again: add stop, terminal, to each section again path planning, each starting point and end point position in determining section, plans path in section again according to traveling salesman problem.
Sheet Division module is carried out divide section particularly as follows:
S11, initial plan section is set accounts for anharmonic ratio example；
S12, planning section, take partition garbage collection points the most far away, disposal site, progressively expand a little according to taking a rule, until the weight comprised reaches the loading capacity of a car；
When S13, remaining garbage collection points weight are less than idle ratio, according to nearby principle and and ensure each section weight not exceed standard each remaining garbage collection points to be divided into each section；
S14, deviation garbage collection points adjust, if garbage collection points are from section belonging to itself farther out, and close to other section, attempt incorporating garbage collection points into nearlyer section, after section enters new garbage collection points, if it is overweight, point minimum for one or more distance increments is replaced other section, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until all garbage collection points can not exchange, sheet Division terminates.
Take a rule particularly as follows:
S121, with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively removal convex polygon summit, convex polygon summit is from planning region most distant point, until the most overweight；
S122, take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters S121.
Terminal arrange module carries out terminal setting particularly as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to this terminal more cost-effective, arrange route terminal information, the maximum specification configuration that terminal needs in an amount；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
Claims (9)
1. the refuse collection transhipment planing method of a loop optimization, it is characterised in that including:
S1, sheet Division, to division section, garbage collection points, the quantity of refuse of the garbage collection points that each section comprises is completed to receive fortune by a coastiong；
S2, section path planning, press traveling salesman problem and calculate path each section, uses simulated annealing to realize, finds the more excellent solution of traveling salesman problem, estimate the operation time of each section garbage collecting and transferring；
S3, terminal are arranged, on cost economy principle, calculate terminal quantity and the position of planning；
S4, stop set, and according to parking lot practical situation, arrange some stops, calculate every route and taken time, and calculate required vehicle number, distribute stop for each car and clear region, terminal or disposal site；
S5, path are planned again, add stop, terminal, to each section again path planning, each starting point and end point position in determining section, again plan path in section according to traveling salesman problem.
2. the refuse collection transhipment planing method of loop optimization as claimed in claim 1, it is characterised in that: in step S1, sheet Division is specially
S11, initial plan section is set accounts for anharmonic ratio example；
S12, planning section, take partition garbage collection points the most far away, disposal site, progressively expand a little according to taking a rule, until the weight comprised reaches the loading capacity of a car；
When S13, remaining garbage collection points weight are less than idle ratio, according to nearby principle and and ensure each section weight not exceed standard each remaining garbage collection points to be divided into each section；
S14, deviation garbage collection points adjust, if garbage collection points are from section belonging to itself farther out, and close to other section, attempt incorporating garbage collection points into nearlyer section, after section enters new garbage collection points, if it is overweight, point minimum for one or more distance increments is replaced other section, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until all garbage collection points can not exchange, sheet Division terminates.
3. the refuse collection transhipment planing method of loop optimization as claimed in claim 2, it is characterised in that: in step S11, arrange that initial plan section accounts for that anharmonic ratio example is vehicle capacity 80%.
4. the refuse collection transhipment planing method of loop optimization as claimed in claim 2, it is characterised in that: in step S12, take a rule particularly as follows:
S121, with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively removal convex polygon summit, convex polygon summit is from planning region most distant point, until the most overweight；
S122, take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters S121.
5. the loop optimization as described in any one of claim 1-4 refuse collection transhipment planing method, it is characterised in that step S3 particularly as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to this terminal more cost-effective, arrange route terminal information, the maximum specification configuration that terminal needs in an amount；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
6. the refuse collection transhipment planning system of a loop optimization, it is characterised in that including:
Sheet Division module: to division section, garbage collection points, the quantity of refuse of the garbage collection points that each section comprises is completed to receive fortune by a coastiong；
Section path planning module: each section is pressed traveling salesman problem and calculates path, uses simulated annealing to realize, finds the more excellent solution of traveling salesman problem, estimate the operation time of each section garbage collecting and transferring；
Terminal arranges module: on cost economy principle, calculates terminal quantity and the position of planning；
Stop setting module: according to parking lot practical situation, arranges some stops, calculates every route and is taken time, and calculates required vehicle number, distributes stop for each car and clear region, terminal or disposal site；
Path planning module again: add stop, terminal, to each section again path planning, each starting point and end point position in determining section, plans path in section again according to traveling salesman problem.
7. the refuse collection transhipment planning system of loop optimization as claimed in claim 6, it is characterised in that: sheet Division module carries out divide section particularly as follows:
S11, initial plan section is set accounts for anharmonic ratio example；
S12, planning section, take partition garbage collection points the most far away, disposal site, progressively expand a little according to taking a rule, until the weight comprised reaches the loading capacity of a car；
When S13, remaining garbage collection points weight are less than idle ratio, according to nearby principle and and ensure each section weight not exceed standard each remaining garbage collection points to be divided into each section；
S14, deviation garbage collection points adjust, if garbage collection points are from section belonging to itself farther out, and close to other section, attempt incorporating garbage collection points into nearlyer section, after section enters new garbage collection points, if it is overweight, point minimum for one or more distance increments is replaced other section, until replacement completion, calculate the point that reduces away from, such as less than 0, reset into original region；Circular centrifugal point exchanges, until all garbage collection points can not exchange, sheet Division terminates.
8. the refuse collection transhipment planning system of loop optimization as claimed in claim 7, it is characterised in that: in step S12, take a rule particularly as follows:
S121, with one convex polygon of existing generation, the point not comprised in taking convex polygon, if after taking a little, overweight, progressively removal convex polygon summit, convex polygon summit is from planning region most distant point, until the most overweight；
S122, take from point set nearest a little add section, if weight is overweight, attempt adding apart from next follow-up 3 points, it is impossible to meeting, partition terminates, and otherwise enters S121.
9. the loop optimization as described in any one of claim 6-8 refuse collection transhipment planning system, it is characterised in that: terminal arrange module carries out terminal setting particularly as follows:
Traversal setting, takes one as terminal position, it is judged that all circuits are directly transported or to deliver to this terminal more cost-effective, arrange route terminal information, the maximum specification configuration that terminal needs in an amount；
Continue to increase terminal, until without cost-saved；
Calculate the terminal haulage vehicle to disposal site.
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| CN106503868A (en) * | 2016-11-15 | 2017-03-15 | 佛山市络思讯科技有限公司 | A kind of fleet's layout of roads method and relevant device |
| CN107169587A (en) * | 2017-03-31 | 2017-09-15 | 威德环境科技股份有限公司 | Garbage collecting and transportation method based on dustbin information |
| CN108170143A (en) * | 2017-12-27 | 2018-06-15 | 长沙硕博电子科技股份有限公司 | A kind of sanitation cart job control method and sanitation cart |
| CN109492895A (en) * | 2018-10-31 | 2019-03-19 | 北京摩拜科技有限公司 | Replace method, system, server and the storage medium of battery of electric vehicle |
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| CN111301896A (en) * | 2020-02-18 | 2020-06-19 | 东莞蜂巢智慧智能科技有限公司 | Efficient garbage collection method and system, computer and storage medium |
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| CN107169587A (en) * | 2017-03-31 | 2017-09-15 | 威德环境科技股份有限公司 | Garbage collecting and transportation method based on dustbin information |
| CN108170143A (en) * | 2017-12-27 | 2018-06-15 | 长沙硕博电子科技股份有限公司 | A kind of sanitation cart job control method and sanitation cart |
| CN110363455A (en) * | 2018-04-09 | 2019-10-22 | 株式会社日立制作所 | A kind of route planning method and system of article collection |
| CN112639904A (en) * | 2018-09-06 | 2021-04-09 | 本田技研工业株式会社 | Route subdividing device |
| CN112639904B (en) * | 2018-09-06 | 2022-10-11 | 本田技研工业株式会社 | Route subdividing device |
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