CN106647652B - The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm - Google Patents
The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm Download PDFInfo
- Publication number
- CN106647652B CN106647652B CN201611031106.3A CN201611031106A CN106647652B CN 106647652 B CN106647652 B CN 106647652B CN 201611031106 A CN201611031106 A CN 201611031106A CN 106647652 B CN106647652 B CN 106647652B
- Authority
- CN
- China
- Prior art keywords
- tower crane
- tower
- boom
- point
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm, the tower crane group has intersection region, and the dispatching method includes: step 1, is based on genetic algorithm, obtains initial population；Step 2 is based on MMAS algorithm, obtains initial path；In the intersection region of each task of tower crane group, initial path of the Path selection handling point as MMAS algorithm is dispatched for the selected D item；Step 3, according to the initial path of the initial population of the genetic algorithm selected in step 1 and step 2 and MMAS algorithm, decomposition tower group of planes multitask path is multiple double tower machine operation, time needed for calculating the multiple double tower machine operation, the deadline of the last one tower crane operation are the scheduling scheme total time-consuming；Step 4, using the scheduling scheme total time-consuming as the pheromones updated in MMAS algorithm, return step two starts iteration searching and is based on making the shortest optimal interface point of the scheduling scheme total time-consuming under degree of setting the tone path.
Description
Technical field
The present invention relates to tower crane control field, in particular to a kind of tower crane group more based on genetic algorithm and MMAS algorithm
The dispatching method of business.
Background technique
Tower crane is to build the prevailing traffic power tool in house and bridge.As the densification of constructions work develops, more
Tower crane operation region to be mutually covered as that tower crane brings while severe compromise be also that tower crane group's work compound brings can
Can, in the way of more tower cranes " cooperative delivery ", building material can be transported to farther place by we.However existing skill
How to utilize " cooperative delivery " to formulate perfect operation scheme for each tower crane in art not solving also, dangerous situation can not only be avoided
Generation, moreover it is possible to promote the operating efficiency of tower crane group.Meanwhile handling situations of the tower crane group under multitask environment are worth being examined
Consider, negative shadow very likely is generated to the executive condition of related another task for the execution efficiency lifting scheme of certain single task role
It rings.
Summary of the invention
The present invention provides a kind of dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm, solves existing
There is the technical issues of how making more tower crane cooperative deliveries in technology, has reached and provide one kind as tower crane formulation perfect scheme, conjunction
Make the technical effect of the tower crane dispatching method transported.
In order to solve the above technical problems, the present invention provides a kind of tower crane group's multitask based on genetic algorithm and MMAS algorithm
Dispatching method, the tower crane group has intersection region, and the dispatching method includes:
Step 1 is based on genetic algorithm, obtains initial population；Road is dispatched in each task choosing D item of the tower crane group at random
Initial population of the diameter as genetic algorithm, the tower crane group are denoted as { T1, T2... ..., Tn, TnFor n-th of tower crane；
Step 2 is based on MMAS algorithm, obtains initial path；In the intersection region of each task of tower crane group, for institute
State initial path of the D item scheduling Path selection handling point selected as MMAS algorithm；
Step 3, according to the initial road of the initial population of the genetic algorithm selected in step 1 and step 2 and MMAS algorithm
Diameter, decomposition tower group of planes multitask path are multiple double tower machine operation, the time needed for calculating the multiple double tower machine operation, finally
The deadline of one tower crane operation is the scheduling scheme total time-consuming；It is wherein described to calculate needed for the multiple double tower machine operation
Time is specially the time needed for multiple every, double tower machine scheduling independent in path is completed；
Step 4, using the scheduling scheme total time-consuming as the pheromones updated in MMAS algorithm, return step two starts
Iteration is found based on the shortest optimal interface point of the scheduling scheme total time-consuming is made under degree of setting the tone path, and the optimal interface point is
The handling in scheduling scheme total time-consuming shortest D item scheduling path when being terminated based on MMAS algorithm iteration to the first preset times
Point；
Step 5 is based on genetic algorithm, and shortest scheduling scheme total time-consuming will be obtained in step 4 as excellent with reference to retaining
Matter population eliminates poor quality population, intersects between high-quality population and generate new population to guarantee population quantity；Return step two
Start iteration and find optimal population, the optimal population is optimal kind when being terminated based on genetic algorithm iteration to the second preset times
Group is optimal scheduling scheme.
Preferably, before the step 4, after the step 3, the dispatching method further include:
When the tower crane group is more job parallelism situations, the time completed to tower crane operation based on anti-collision algorithm is to prolong
The mode waited late is modified, and the deadline for obtaining the last one tower crane operation is the scheduling scheme total time-consuming.
Preferably, decomposition tower group of planes multitask path described in the step 3 is multiple double tower machine operation, described in calculating
Time needed for multiple double tower machine operation, the deadline of the last one tower crane operation are the scheduling scheme total time-consuming, the tune
Degree scheme total time-consuming specifically:
Tj1=TX1+TX2+……+TXn-1+TN；
Wherein, Tj1For the scheduling scheme total time-consuming of task J1, X1, X2 ... ..., Xn-1 is the n- of the scheduling scheme of task J1
1 handling point, TX1、TX2、……、TXn-1、TNRespectively X1, X2 ... ..., the time-consuming in the n section path of Xn-1.
Preferably, decomposition tower group of planes multitask path described in the step 3 is multiple double tower machine operation, specifically:
The tower crane group multitask path is Tnum11 1→TNum12, num22 2→……→TNum1n, num2n n；
It is { (T by tower crane group's multitask path decomposingnum11 1→Tnum12 2), (Tnum22 2→Tnum13 3) ... ..., (Tnum1n-1 n-1
→Tnum1n n), Tnum2n n}；
Wherein, TNum1n, num2n nFor n-th of tower crane, and the boom tool of n-th of tower crane there are two direction of rotation num1n,
Num2n }, cw expression rotates clockwise, and aw indicates rotation counterclockwise, and wherein num1n and num2n can take cw and aw two
Value.
Preferably, in the time needed for the calculating multiple double tower machine operation described in the step 3, each double tower machine
Time needed for operation, circular are as follows:
Required time when the suitable direction of rotation of double tower machine boom is determined by calculation to obtain minimum scheduling duration.
Preferably, in the time needed for the calculating multiple double tower machine operation described in the step 3, each double tower machine
Time needed for operation, circular are as follows:
When double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2, tower crane T1And tower
Machine T2It is the handling point in the S of intersection region with an intersection region Q, X, the time needed for double tower machine operation depends on tower crane boom
The maximum value of rotational time, amplitude variation trolley traveling time and suspension hook raising/in the decentralization time.
Preferably, described when double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1It is higher than
T2When, tower crane T1With tower crane T2With an intersection region Q, X is the handling point in the S of intersection region, when needed for double tower machine operation
Between, circular are as follows:
As tower crane T1Boom direction of rotation be when rotating clockwise,
As tower crane T1Boom direction of rotation be counterclockwise rotation when,
If A, B are the endpoint apart from intersection region, A is less than or equal at a distance from B and X at a distance from X；When transporting cargo,
Tower crane T1Intersection region Q is left from B point, makes tower crane T2Intersection region Q can be entered；The double tower machine operation task is to need tower
Machine T1N point is transported to from the M point on ground；
t1Indicate tower crane T1From starting to cargo is transported from M point to handling point X point and leave the time span of intersection region Q；
Indicate tower crane T1From S1Position starts, tower crane T1Boom and suspension hook reach M point
Time, as tower crane T1Cargo is had been loaded into zero moment, thenTake 0；
S1Indicate tower crane T when zero moment1Boom where position；
S2Indicate tower crane T when zero moment2Boom where position；
ω1Indicate tower crane T1Angular velocity of rotation；
ω2Indicate tower crane T2Angular velocity of rotation；
νc1Indicate tower crane T1Boom on amplitude variation trolley the speed of service；
νc2Indicate tower crane T2Boom on amplitude variation trolley the speed of service；
lc1Indicate tower crane T1Boom on amplitude variation trolley operation amplitude；
lc2Indicate tower crane T2Boom on amplitude variation trolley operation amplitude；
νh1Indicate tower crane T1Suspension hook landing speed；
νh2Indicate tower crane T2Suspension hook landing speed；
lh1Indicate tower crane T1Height of the suspension hook apart from ground；
lh2Indicate tower crane T2Height of the suspension hook apart from ground；
lmFor M point and tower crane T1The distance at center；
lnFor N point and tower crane T2The distance at center；
lx1For handling point X and tower crane T1The distance at center；
lx2For handling point X and tower crane T2The distance at center；
For tower crane T1 boom from S1 to M ' the minor arc radian of point, it with the center tower crane T1 is round that M ' point, which be that M point maps,
The heart, the distance at the center tower crane T1 to S1 are the circumferential position on the circular arc of radius；
For minor arc radian of the boom from M ' to A of tower crane T1, by the distance of A to X；
For minor arc radian of the boom from M ' to B of tower crane T1, by the distance of B to X；
For distance of the boom from X to B of tower crane T1.
Preferably, described when double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1It is higher than
T2When, tower crane T1With tower crane T2With an intersection region Q, X is the handling point in the S of intersection region, when needed for double tower machine operation
Between, circular are as follows:
As tower crane T2Boom rotate clockwise to receive cargo, and tower crane T2In zero moment starting,
In t1Moment, tower crane T2Boom may beA little running on camber line, or shut down in B ' and wait tower crane
T1Boom exit intersection region, twIt indicates to shut down in B ' and waits tower crane T1Boom exit waiting time of intersection region；
In tower crane T1Operation circumference outside define a dotted line circular arc, the dotted line circular arc and the tower crane T1Operation circle
The safe distance of 2 meters of all distances, and A ', B ' they are tower crane T2Boom and the dotted line circular arc point of contact；
For tower crane T2Boom from S2The minor arc radian put to B '；
For tower crane T2Minor arc radian of the boom from B ' to X.
Preferably, described when double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1It is higher than
T2When, tower crane T1With tower crane T2With an intersection region Q, X is the handling point in the S of intersection region, when needed for double tower machine operation
Between, circular are as follows:
Cargo is from tower crane T1To T2Primary transmitting T1→T2 cwTime TxIt can be expressed as tower crane T2Waiting time twWith
Tower crane T2Suspension hook from S2Reach the time of X；
Wherein,Indicate tower crane T2Boom from S2To B ' point, then from B ' point to the minor arc radian of X；
Disposable passing time T of the cargo from X to NNAre as follows:
Or,
Wherein,Indicate tower crane T2Boom from X to B ' point, then from B ' point to N minor arc radian；Indicate tower
Machine T2Boom from X to A ' point, then from B ' point to N minor arc radian.
Preferably, described when double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1It is higher than
T2When, tower crane T1With tower crane T2With an intersection region Q, X is the handling point in the S of intersection region, when needed for double tower machine operation
Between, circular are as follows:
As tower crane T2Boom rotated counterclockwise to receive cargo, and tower crane T2In zero moment starting,
For tower crane T2Boom from S2The minor arc radian put to B '；
For tower crane T2Minor arc radian of the boom from A ' to X.
The application has the beneficial effect that:
The dispatching method of tower crane group's multitask provided by the invention based on genetic algorithm and MMAS algorithm is calculated in conjunction with heredity
Method and MMAS algorithm find optimal case, improve the efficiency of multitower machine Multi-Tasking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment.
Fig. 1 is the dispatching method of tower crane group multitask of the application better embodiment based on genetic algorithm and MMAS algorithm
Flow chart；
Fig. 2 is the schematic diagram of one embodiment of the application tower crane group multi-task scheduling；
Fig. 3 is the schematic diagram of one embodiment of the application double tower machine operation；
Fig. 4 is the schematic diagram for the embodiment that the application double tower machine operation high tower is dispatched to low tower；
Fig. 5 is the schematic diagram for the embodiment that the low tower of the application double tower machine operation is dispatched to high tower；
Fig. 6 is the schematic diagram that the application uses the first stage optimizing of MMAS algorithm；
Fig. 7 is the schematic diagram that the application uses the second stage optimizing of MMAS algorithm；
Fig. 8 is the schematic diagram of solution P { X } of the application ant in tower crane group's multitask problem.
Specific embodiment
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
A kind of dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm provided by the present application, the tower
A group of planes has intersection region, referring to Fig. 1, the dispatching method includes:
Step 1 is based on genetic algorithm, obtains initial population；Road is dispatched in each task choosing D item of the tower crane group at random
Initial population of the diameter as genetic algorithm, the tower crane group are denoted as { T1, T2... ..., Tn, TnFor n-th of tower crane；
Step 2 is based on MMAS algorithm, obtains initial path；In the intersection region of each task of tower crane group, for institute
State initial path of the D item scheduling Path selection handling point selected as MMAS algorithm；
Step 3, according to the initial road of the initial population of the genetic algorithm selected in step 1 and step 2 and MMAS algorithm
Diameter, decomposition tower group of planes multitask path are multiple double tower machine operation, the time needed for calculating the multiple double tower machine operation, finally
The deadline of one tower crane operation is the scheduling scheme total time-consuming；It is wherein described to calculate needed for the multiple double tower machine operation
Time is specially the time needed for multiple every, double tower machine scheduling independent in path is completed；
Wherein, referring to Fig. 2, Fig. 2 is an example in tower crane group multitask path, seven tower crane T1-T7 operations in Fig. 2
Range mutually intersects, and draws circle as radius based on each tower crane length of boom, circle inner region represents the operation coverage area of the tower crane.
Meanwhile there are three task J1, J2, J3, need cargo being transported to N1, N2, N3 from M1, M2, M3 respectively, each cargo is from starting point
It is transported to by the rotation of First tower crane boom and is unloaded with the certain point in other tower crane intersection regions, such as A, B, C institute in Fig. 2
Show, then come to load by second tower crane over time and continue to transport, until fulfiling assignment.
Decomposition tower group of planes multitask path described in the step 3 is multiple double tower machine operation, calculates the multiple double tower
The deadline of time needed for machine operation, the last one tower crane operation are the scheduling scheme total time-consuming, and the scheduling scheme is total
It is time-consuming specifically:
Tj1=TX1+TX2+……+TXn-1+TN；
Wherein, Tj1For the scheduling scheme total time-consuming of task J1, X1, X2 ... ..., Xn-1 is the n- of the scheduling scheme of task J1
1 handling point, TX1、TX2、……、TXn-1、TNRespectively X1, X2 ... ..., the time-consuming in the n section path of Xn-1.
Decomposition tower group of planes multitask path described in the step 3 is multiple double tower machine operation, specifically:
The tower crane group multitask path is Tnum11 1→TNum12, num22 2→……→TNum1n, num2n n；
It is { (T by tower crane group's multitask path decomposingnum11 1→Tnum12 2), (Tnum22 2→Tnum13 3) ... ..., (Tnum1n-1 n-1
→Tnum1n n), Tnum2n n}；
Wherein, TNum1n, num2n nFor n-th of tower crane, and the boom tool of n-th of tower crane there are two direction of rotation num1n,
Num2n }, cw expression rotates clockwise, and aw indicates rotation counterclockwise, and wherein num1n and num2n can take cw and aw two
Value.
In time needed for the calculating multiple double tower machine operation described in the step 3, needed for each double tower machine operation
Time, circular are as follows:
Required time when the suitable direction of rotation of double tower machine boom is determined by calculation to obtain minimum scheduling duration.
In time needed for the calculating multiple double tower machine operation described in the step 3, needed for each double tower machine operation
Time, circular are as follows:
When double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2, tower crane T1And tower
Machine T2It is the handling point in the S of intersection region with an intersection region Q, X, the time needed for double tower machine operation depends on tower crane boom
The maximum value of rotational time, amplitude variation trolley traveling time and suspension hook raising/in the decentralization time.
It is described when double tower machine operation be high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower
Machine T1With tower crane T2It is the handling point in the S of intersection region with an intersection region Q, X, the time needed for double tower machine operation, please refers to
Fig. 3, circular are as follows:
As tower crane T1Boom direction of rotation be when rotating clockwise,
As tower crane T1Boom direction of rotation be counterclockwise rotation when,
If A, B are the endpoint apart from intersection region, A is less than or equal at a distance from B and X at a distance from X；When transporting cargo,
Tower crane T1Intersection region Q is left from B point, makes tower crane T2Intersection region Q can be entered；The double tower machine operation task is to need tower
Machine T1N point is transported to from the M point on ground；
t1Indicate tower crane T1From starting to cargo is transported from M point to handling point X point and leave the time span of intersection region Q；
Indicate tower crane T1From S1Position starts, tower crane T1Boom and suspension hook reach M point
Time, as tower crane T1Cargo is had been loaded into zero moment, thenTake 0；
S1Indicate tower crane T when zero moment1Boom where position；
S2Indicate tower crane T when zero moment2Boom where position；
ω1Indicate tower crane T1Angular velocity of rotation；
ω2Indicate tower crane T2Angular velocity of rotation；
νc1Indicate tower crane T1Boom on amplitude variation trolley the speed of service；
νc2Indicate tower crane T2Boom on amplitude variation trolley the speed of service；
lc1Indicate tower crane T1Boom on amplitude variation trolley operation amplitude；
lc2Indicate tower crane T2Boom on amplitude variation trolley operation amplitude；
νh1Indicate tower crane T1Suspension hook landing speed；
νh2Indicate tower crane T2Suspension hook landing speed；
lh1Indicate tower crane T1Height of the suspension hook apart from ground；
lh2Indicate tower crane T2Height of the suspension hook apart from ground；
lmFor M point and tower crane T1The distance at center；
lnFor N point and tower crane T2The distance at center；
lx1For handling point X and tower crane T1The distance at center；
lx2For handling point X and tower crane T2The distance at center；
For tower crane T1 boom from S1 to M ' the minor arc radian of point, it with the center tower crane T1 is round that M ' point, which be that M point maps,
The heart, the distance at the center tower crane T1 to S1 are the circumferential position on the circular arc of radius；
For minor arc radian of the boom from M ' to A of tower crane T1, by the distance of A to X；
For minor arc radian of the boom from M ' to B of tower crane T1, by the distance of B to X；
For distance of the boom from X to B of tower crane T1.
It is described when double tower machine operation be high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower
Machine T1With tower crane T2It is the handling point in the S of intersection region with an intersection region Q, X, it is the time needed for double tower machine operation, specific to count
Calculation method are as follows:
As tower crane T2Boom rotate clockwise to receive cargo, and tower crane T2In zero moment starting,
In t1Moment, tower crane T2Boom may beA little running on camber line, or shut down in B ' and wait tower crane
T1Boom exit intersection region, twIt indicates to shut down in B ' and waits tower crane T1Boom exit waiting time of intersection region；
In tower crane T1Operation circumference outside define a dotted line circular arc, the dotted line circular arc and the tower crane T1Operation circle
The safe distance of 2 meters of all distances, and A ', B ' they are tower crane T2Boom and the dotted line circular arc point of contact；
For tower crane T2Boom from S2The minor arc radian put to B '；
For tower crane T2Minor arc radian of the boom from B ' to X.
It is described when double tower machine operation be high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower
Machine T1With tower crane T2It is the handling point in the S of intersection region with an intersection region Q, X, it is the time needed for double tower machine operation, specific to count
Calculation method are as follows:
Cargo is from tower crane T1To T2Primary transmitting T1→T2 cwTime TxIt can be expressed as tower crane T2Waiting time twWith
Tower crane T2Suspension hook from S2Reach the time of X；
Wherein,Indicate tower crane T2Boom from S2To B ' point, then from B ' point to the minor arc radian of X；
Disposable passing time T of the cargo from X to NNAre as follows:
Or,
Wherein,Indicate tower crane T2Boom from X to B ' point, then from B ' point to N minor arc radian；Indicate tower
Machine T2Boom from X to A ' point, then from B ' point to N minor arc radian.
Referring to Fig. 4, working as tower crane T2Boom rotated counterclockwise to receive cargo, and tower crane T2In zero moment starting,
For tower crane T2Boom from S2The minor arc radian put to B '；
For tower crane T2Minor arc radian of the boom from A ' to X.
It is the case where low tower is to high tower for double tower machine operation
It is described when double tower machine operation be low tower to when high tower operation, cargo is by tower crane T1Meet at T2, and T1Lower than T2When, tower
Machine T1With tower crane T2It is the handling point in the S of intersection region with an intersection region Q, X, the time needed for double tower machine operation, please refers to
Fig. 3, circular are as follows:
As tower crane T1Boom direction of rotation be when rotating clockwise,
As tower crane T1Boom direction of rotation be counterclockwise rotation when,
If A, B are the endpoint apart from intersection region, A is less than or equal at a distance from B and X at a distance from X；When transporting cargo,
Tower crane T1Intersection region Q is left from B point, makes tower crane T2Intersection region Q can be entered；The double tower machine operation task is to need tower
Machine T1N point is transported to from the M point on ground；
t1Indicate tower crane T1From starting to cargo is transported from M point to handling point X point and leave the time span of intersection region Q；
Indicate tower crane T1From S1Position starts, tower crane T1Boom and suspension hook reach M point
Time, as tower crane T1Cargo is had been loaded into zero moment, thenTake 0；
S1Indicate tower crane T when zero moment1Boom where position；
S2Indicate tower crane T when zero moment2Boom where position；
ω1Indicate tower crane T1Angular velocity of rotation；
ω2Indicate tower crane T2Angular velocity of rotation；
νc1Indicate tower crane T1Boom on amplitude variation trolley the speed of service；
νc2Indicate tower crane T2Boom on amplitude variation trolley the speed of service；
lc1Indicate tower crane T1Boom on amplitude variation trolley operation amplitude；
lc2Indicate tower crane T2Boom on amplitude variation trolley operation amplitude；
νh1Indicate tower crane T1Suspension hook landing speed；
νh2Indicate tower crane T2Suspension hook landing speed；
lh1Indicate tower crane T1Height of the suspension hook apart from ground；
lh2Indicate tower crane T2Height of the suspension hook apart from ground；
lmFor M point and tower crane T1The distance at center；
lnFor N point and tower crane T2The distance at center；
lx1For handling point X and tower crane T1The distance at center；
lx2For handling point X and tower crane T2The distance at center；
For tower crane T1Boom from S1 to M ' point minor arc radian, M ' point be M point map with tower crane T1Center is circle
The heart, the distance at the center tower crane T1 to S1 are the circumferential position on the circular arc of radius；
For tower crane T1Minor arc radian of the boom from M ' to A, by the distance of A to X；
For tower crane T1Minor arc radian of the boom from M ' to B, by the distance of B to X；
For tower crane T1Distance of the boom from X to B.
It is described when double tower machine operation be low tower to when high tower operation, cargo is by tower crane T1Meet at T2, and T1Lower than T2When, tower
Machine T1With tower crane T2It is the handling point in the S of intersection region with an intersection region Q, X, it is the time needed for double tower machine operation, specific to count
Calculation method is in two kinds of situation are as follows:
The first situation, as tower crane T2ThroughWhen reaching X counterclockwise, tower crane T2Needing will before boom reaches C point
Trolley is recovered to amplitude less than ls, thus the section transfer the time bySection boom and the moving of car time the larger value and
The larger value of section boom and moving of car time form, it is contemplated that the fall time of suspension hook, final T2X is loaded since starting to
Point cargo time can indicate are as follows: time are as follows:
C is tower crane T1With T2Center line and T2The intersection point of circumference；
For tower crane T2From S2To the radian of C；
For tower crane T2Radian from C to X；
lsFor tower crane T2Boom on amplitude variation trolley minimum allowable amplitude, i.e. tower crane T2Boom on amplitude variation trolley
At a distance from dotted line radian, the dotted line radian is in tower crane T1Operation circumference outside a dotted line circular arc defining, the void
Line circular arc and the tower crane T12 meters of operation circumferential distance of safe distance；
lc2Indicate tower crane T2Boom on amplitude variation trolley operation amplitude；
ω1Indicate tower crane T1Angular velocity of rotation；
νc1Indicate tower crane T1Boom on amplitude variation trolley the speed of service；
lx2For handling point X and tower crane T2The distance at center；
lh2Indicate tower crane T2Height of the suspension hook apart from ground；
νh2Indicate tower crane T2Suspension hook landing speed.
Use tcIndicate tower crane T2Boom on amplitude variation trolley from enter dashed region to arrive at X point time are as follows:
Similar high tower tower crane T into low tower situation2The analysis of delayed startup, by tower crane T2Boom on amplitude variation trolley exist
T is waited outside safety zone1The time t exitedw(if present) it is moved to T2Before starting, to guarantee T2Tower crane movement
Continuity.Delay time twIt can indicate are as follows:
Equally enable tw=(tw+|tw|)/2, from tower crane T in operation1→T2 awPassing time are as follows:
Tx=tw+tx。
Second situation, as tower crane T2ThroughWhen reaching X clockwise, spiral arm is without going past the two tower crane lines of centres, T2
Trolley does not have to be withdrawn into amplitude ls.But move to the l equidistant with Xx2, it is assumed thatA point D makes T on camber line2Boom is in D point
When trolley maximum margin of safety and the amplitude to X point be mutually all lx2, T2Trolley enters safety zone in the point.By T2Delay is opened
It is dynamic to guarantee the property that continuously moves, T at this time1Safety zone is just exited, then is had:
T1→T2 cwPassing time TxAre as follows:
For tower crane T2Boom from S2To the minor arc radian of B, by the distance of B to D；
For tower crane T2Radian from D to X.
Step 4, using the scheduling scheme total time-consuming as the pheromones updated in MMAS algorithm, return step two starts
Iteration is found based on the shortest optimal interface point of the scheduling scheme total time-consuming is made under degree of setting the tone path, and the optimal interface point is
The handling in scheduling scheme total time-consuming shortest D item scheduling path when being terminated based on MMAS algorithm iteration to the first preset times
Point；
Step 5 is based on genetic algorithm, and shortest scheduling scheme total time-consuming will be obtained in step 4 as excellent with reference to retaining
Matter population eliminates poor quality population, intersects between high-quality population and generate new population to guarantee population quantity；Return step two
Start iteration and find optimal population, the optimal population is optimal kind when being terminated based on genetic algorithm iteration to the second preset times
Group is optimal scheduling scheme.
Specifically, before the step 4, after the step 3, the dispatching method further include:
When the tower crane group is more job parallelism situations, the time completed to tower crane operation based on anti-collision algorithm is to prolong
The mode waited late is modified, and the deadline for obtaining the last one tower crane operation is the scheduling scheme total time-consuming.
For the scheduling Path selection of genetic algorithm, the application is explained using example.
Assuming that currently there is m platform tower crane to need to complete n operation, in terms of the tower crane combination of paths number to participate in a certain operation carries out
It calculates, if the operation that number is i has DiItem dispatches path, then the scheduling assembled scheme of n operation shares D=D1×D2×……×
DnKind.The initial population quantity that genetic algorithm is arranged is
GN=δ D
Wherein δ is the positive floating number less than 1, and suitable numerical value is arranged according to the size of D, generally takes 0.1-0.2.Each kind
Group includes n chromosome, and the gene of every chromosome is a scheduling path of corresponding operation.It can be simple by one
Rule dispatches the quality in path according to a preliminary estimate: every step joins reaches the nearest endpoint in next intersection region by current point, by
This obtains the reference time T in the pathR。TRTo a certain extent can be with the quality of response path, but be also not always in this way, outstanding
In the case that its a few tower cranes are especially busy.Therefore, different weights is assigned for the scheduling path of different length, can protected
The quality of initial population is effectively improved while long path is stayed by select probability.The setting j-th strip reference time is TRiScheduling road
The weight of diameter
The probability that then path is colored body selection can be obtained by the following formula:
One complete chromosome should also have in the intersection region Shang Ge of the path in addition to the scheduling path comprising the operation
Handover point set P { X }, n chromosome for representing n task so may make up the scheduling scheme of complete set.By asking
The fitness of the population can be obtained in the deadline for taking the scheduling scheme.If with P*{ X } indicates to make in the population complete
The set of portion's operation deadline shortest n P { X }, then obtain P*{ X } is optimal scheduling scheme.But due between multitask
Mutually constraint, is difficult to obtain the real shortest time in polynomial time.Therefore consider progressively to approach P using ant group algorithm*
{X}.The MMAS algorithm (minimax ant group algorithm) that the application uses carrys out asymptotics.
It will be explained in detail below for handling point position in MMAS algorithms selection intersection region.
According to problem scale, m ant is added for each population, each cross-connecting area of scheduling scheme is traversed from J1 to Jn
Domain, and a point is selected to access as possible optimum point wherein.By intersection region gridding as unit of rice, make on region
Infinite a point be able to it is discrete for the set comprising limited point.In general, when X is in the line direction of intersection region two-end-point
Two tower crane boom rotational times are mainly influenced when upper variation, thus are affected to the activity duration；And in the two tower crane lines of centres
The carriage amplitude varying time is mainly influenced when changing on direction and the activity duration is influenced relatively small.
Therefore, in order to promote the speed of searching optimization of ant, the searching process of ant is divided into two stages.First in initial rank
The accessible point of ant is limited within the scope of one meter of intersection region line or so by section.As shown in fig. 6, carving at the beginning, ant
Ant will not be attempted in the point on all grids, but the point set p in dotted line frame1-pkIn seek it is optimal in them
Solution.Assuming that iteration acquires pjFor the optimal solution that the point is concentrated, then continue the p on two tower crane center line connecting directionsjNeighborhood point is concentrated
Seek optimal solution, as shown in Figure 6 and Figure 7.
If precision prescribed is higher, after population inner iteration, can to output P { X } neighborhood once again discretization (with
0.5 meter of precision is smaller), P is more approached to obtain*The solution of { X }.Thus P will be solved*The optimizing of { X } in continuous domain is asked
Topic is changed into multi-level decision-making problem, and solution of the ant in the problem can be indicated with Fig. 8:
In the tower crane that angular speed is ω, the probability that two adjacent interface point Xi in same operation are transferred to Xj passes through following formula
It calculates:
Wherein pheromones τ (0)=C on each path of initial time, C are an arbitrary constant value.U indicates current optional point set
Capacity.The visibility η of Xi to Xjij=ω/XiXj.If Xi belongs to first interface point of the operation, ηij=ω/MXi。
Based on MMAS (Max-Min Ant System, maximum-minimum ant group algorithm), the pheromones on each paths are limited
System is in [τmin,τmax], τminIt is possible to prevente effectively from algorithm is stagnated, τmaxIt can be much larger than to avoid because of the pheromones on certain paths
His path and cause algorithm precocious.Only elitist ants (total activation time shortest ant) can leave information in all ants
Element, the pheromones intensity on path are updated according to the following formula:
τij(t+n)=ρ τij(t)+Δτij
ρ (0≤ρ < 1) is the residual coefficients of pheromones in formula, represents the persistence of track, Δ τijIndicate that elitist ants exist
Left pheromones on path (Xi, Xj), can be calculate by the following formula:
Wherein, Q is constant, and size determines convergence speed of the algorithm, but if value is excessive to be easy to make algorithm quickly
Fall into stagnation.TtotalIndicate the total activation time based on this path (i.e. whole operations are completed) of elitist ants.
Based on continuous domain function small range monotonic nature, to the neighbour of each X point in the set of paths P { X } of elitist ants
Domain scans for, if new disaggregation adopts new disaggregation better than current solution；If when new disaggregation and P { X } obtained total activation
Between it is identical, then be the regional scope add pheromones.
By NacoIt after the scheduling time that secondary iteration obtains the population, is compared with other populations, and it is longer to eliminate the time
Population.Mortality depends on the number of iterations of ant group algorithm inside population, if the number of iterations is less, mortality can also phase
To less than normal, to guarantee mistakenly eliminate outstanding population as far as possible.
Phase mutual cross between classic two populations after screening, i.e., randomly both exchanges are different in same operation
Path is dispatched, and generates new population.If the chromosome of preceding two populations is completely the same, a certain work of random variation can be passed through
The mode in industry scheduling path generates progeny population.Due to that can not judge the superiority and inferiority of filial generation in the short time, by progeny population with
It screens the parent left and participates in iteration together, by NgaOptimal solution is obtained after secondary circulation.The cycle-index of entire algorithm can be by
Formula NC=Nga×NacoIt indicates, NacoWith NgaSize depend on problem scale.
The application has the beneficial effect that:
The dispatching method of tower crane group's multitask provided by the invention based on genetic algorithm and MMAS algorithm is calculated in conjunction with heredity
Method and MMAS algorithm find optimal case, improve the efficiency of multitower machine Multi-Tasking.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to example, those skilled in the art should understand that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit and scope of the technical solution of the present invention, should all cover
In the scope of the claims of the present invention.
Claims (10)
1. a kind of dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm, the tower crane group has the zone of intersection
Domain, which is characterized in that the dispatching method includes:
Step 1 is based on genetic algorithm, obtains initial population；Make at random in each task choosing D item scheduling of tower crane group path
For the initial population of genetic algorithm, the tower crane group is denoted as { T1, T2... ..., Tn, TnFor n-th of tower crane；
Step 2 is based on MMAS algorithm, obtains initial path；It is the choosing in the intersection region of each task of tower crane group
Initial path of the D item scheduling Path selection handling point selected as MMAS algorithm；
Step 3, according to the initial path of the initial population of the genetic algorithm selected in step 1 and step 2 and MMAS algorithm,
Decomposition tower group of planes multitask path is multiple double tower machine operation, the time needed for calculating the multiple double tower machine operation, last
The deadline of a tower crane operation is the scheduling scheme total time-consuming；When wherein needed for the calculating multiple double tower machine operation
Between be specially it is multiple every, double tower machine scheduling independent in path complete needed for time；
Step 4, using the scheduling scheme total time-consuming as the pheromones updated in MMAS algorithm, return step two starts iteration
Find based on making the shortest optimal interface point of the scheduling scheme total time-consuming under degree of setting the tone path, the optimal interface point be based on
The handling point in scheduling scheme total time-consuming shortest D item scheduling path when MMAS algorithm iteration to the first preset times terminate；
Step 5 is based on genetic algorithm, and shortest scheduling scheme total time-consuming will be obtained in step 4 as with reference to high-quality kind of reservation
Group eliminates poor quality population, intersects between high-quality population and generate new population to guarantee population quantity；Return step two starts
Iteration finds optimal population, and optimal population is optimal scheduling scheme when being terminated based on genetic algorithm iteration to the second preset times.
2. dispatching method as described in claim 1, which is characterized in that before the step 4, after the step 3, institute
State dispatching method further include:
When the tower crane group is more job parallelism situations, the time completed to tower crane operation based on anti-collision algorithm is to postpone
To mode be modified, obtain the last one tower crane operation deadline be the scheduling scheme total time-consuming.
3. dispatching method as described in claim 1, which is characterized in that decomposition tower group of planes multitask road described in the step 3
Diameter is multiple double tower machine operation, the time needed for calculating the multiple double tower machine operation, when the completion of the last one tower crane operation
Between be the scheduling scheme total time-consuming, the scheduling scheme total time-consuming specifically:
Tj1=TX1+TX2+……+TXn-1+TN；
Wherein, Tj1For the scheduling scheme total time-consuming of task J1, X1, X2 ... ..., Xn-1 is n-1 of the scheduling scheme of task J1
Load and unload point, TX1、TX2、……、TXn-1、TNRespectively X1, X2 ... ..., the time-consuming in the n section path of Xn-1.
4. dispatching method as described in claim 1, which is characterized in that decomposition tower group of planes multitask road described in the step 3
Diameter is multiple double tower machine operation, specifically:
The tower crane group multitask path is Tnum11 1→TNum12, num22 2→……→TNum1n, num2n n；
It is { (T by tower crane group's multitask path decomposingnum11 1→Tnum12 2), (Tnum22 2→Tnum13 3) ... ..., (Tnum1n-1 n-1→
Tnum1n n), Tnum2n n}；
Wherein, TNum1n, num2n nFor n-th of tower crane, and the boom tool of n-th of tower crane is there are two direction of rotation { num1n, num2n },
Cw expression rotates clockwise, and aw indicates rotation counterclockwise, and wherein num1n and num2n can take two values of cw and aw.
5. dispatching method as described in claim 1, which is characterized in that the calculating multiple double tower machine described in the step 3
In time needed for operation, the time needed for each double tower machine operation, circular are as follows:
Required time when the suitable direction of rotation of double tower machine boom is determined by calculation to obtain minimum scheduling duration.
6. dispatching method as described in claim 1, which is characterized in that the calculating multiple double tower machine described in the step 3
In time needed for operation, the time needed for each double tower machine operation, circular are as follows:
When double tower machine operation is high tower to when low tower operation, cargo is by tower crane T1Meet at T2, and T1Higher than T2, tower crane T1With tower crane T2
It is the handling point in the Q of intersection region with an intersection region Q, X, the time needed for double tower machine operation rotates depending on tower crane boom
The maximum value of time, amplitude variation trolley traveling time and suspension hook raising/in the decentralization time.
7. dispatching method as claimed in claim 6, which is characterized in that described when double tower machine operation is high tower to low tower operation
When, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower crane T1With tower crane T2It is in the Q of intersection region with an intersection region Q, X
Handling point, the time needed for double tower machine operation, circular are as follows:
As tower crane T1Boom direction of rotation be when rotating clockwise,
As tower crane T1Boom direction of rotation be counterclockwise rotation when,
If A, B are respectively tower crane T1Maximum region is round and tower crane T2Maximum region circle infall crosspoint, B is at a distance from X
Less than or equal to A at a distance from X；When transporting cargo, tower crane T1Intersection region Q is left from B point, makes tower crane T2It can enter and intersect
Region Q；The double tower machine operation task is to need tower crane T1N point is transported to from the M point on ground；
t1Indicate tower crane T1From starting to cargo is transported from M point to handling point X point and leave the time span of intersection region Q；
Indicate tower crane T1From S1Position starts, tower crane T1Boom and suspension hook reach M point when
Between, as tower crane T1Cargo is had been loaded into zero moment, thenTake 0；
S1Indicate tower crane T when zero moment1Boom where position；
ω1Indicate tower crane T1Angular velocity of rotation；
νc1Indicate tower crane T1Boom on amplitude variation trolley the speed of service；
lc1Indicate tower crane T1Boom on amplitude variation trolley operation amplitude；
νh1Indicate tower crane T1Suspension hook landing speed；
lh1Indicate tower crane T1Height of the suspension hook apart from ground；
lmFor M point and tower crane T1The distance at center；
lx1For handling point X and tower crane T1The distance at center；
For tower crane T1Boom from S1The minor arc radian put to M ', M ' point are that M point is mapped with tower crane T1Center is the center of circle, tower
Machine T1Center is to S1Distance be radius circular arc on circumferential position；
For tower crane T1Minor arc radian of the boom from M ' to A, by the distance of A to X；
For tower crane T1Minor arc radian of the boom from M ' to B, by the distance of B to X；
For tower crane T1Distance of the boom from X to B.
8. dispatching method as claimed in claim 7, which is characterized in that described when double tower machine operation is high tower to low tower operation
When, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower crane T1With tower crane T2It is in the Q of intersection region with an intersection region Q, X
Handling point, the time needed for double tower machine operation, circular are as follows:
As tower crane T2Boom rotate clockwise to receive cargo, and tower crane T2In zero moment starting,
In t1Moment, tower crane T2Boom may beA little running on camber line, or shut down in B ' and wait tower crane T1Hang
Arm exits intersection region, twIt indicates to shut down in B ' and waits tower crane T1Boom exit waiting time of intersection region；
In tower crane T1Operation circumference outside define a dotted line circular arc, the dotted line circular arc and the tower crane T1Operation circumference away from
Safe distance from 2 meters, and A ', B ' they are tower crane T2Boom and the dotted line circular arc point of contact；
For tower crane T2Boom from S2The minor arc radian put to B '；
For tower crane T2Minor arc radian of the boom from B ' to X；
ω2Indicate tower crane T2Angular velocity of rotation；
νc2Indicate tower crane T2Boom on amplitude variation trolley the speed of service；
νh2Indicate tower crane T2Suspension hook landing speed；
lh2Indicate tower crane T2Height of the suspension hook apart from ground；
lx2For handling point X and tower crane T2The distance at center；
For tower crane T2Boom from S2To N, then from N to B ' minor arc radian.
9. dispatching method as claimed in claim 8, which is characterized in that described when double tower machine operation is high tower to low tower operation
When, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower crane T1With tower crane T2It is in the Q of intersection region with an intersection region Q, X
Handling point, the time needed for double tower machine operation, circular are as follows:
Cargo is from tower crane T1To T2Primary transmitting T1→T2Time TxIt can be expressed as tower crane T2Waiting time twWith tower crane T2
Suspension hook from S2Reach the time of X；
Wherein,Indicate tower crane T2Boom from S2To B ' point, then from B ' point to the minor arc radian of X；
Disposable passing time T of the cargo from X to NNAre as follows:
Or,
Wherein,Indicate tower crane T2Boom from X to B ' point, then from B ' point to N minor arc radian；Indicate tower crane T2's
Boom is from X to A ' point, then from A ' point to the minor arc radian of N；
lnFor N point and tower crane T2The distance at center.
10. dispatching method as claimed in claim 9, which is characterized in that described when double tower machine operation is high tower to low tower operation
When, cargo is by tower crane T1Meet at T2, and T1Higher than T2When, tower crane T1With tower crane T2It is in the Q of intersection region with an intersection region Q, X
Handling point, the time needed for double tower machine operation, circular are as follows:
As tower crane T2Boom rotated counterclockwise to receive cargo, and tower crane T2In zero moment starting,
For tower crane T2Boom from S2The minor arc radian put to A '；
For tower crane T2Minor arc radian of the boom from A ' to X；
For tower crane T2Boom from S2Minor arc radian to A ' point, then from A ' to X.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611031106.3A CN106647652B (en) | 2016-11-16 | 2016-11-16 | The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611031106.3A CN106647652B (en) | 2016-11-16 | 2016-11-16 | The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106647652A CN106647652A (en) | 2017-05-10 |
| CN106647652B true CN106647652B (en) | 2018-12-07 |
Family
ID=58808747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611031106.3A Active CN106647652B (en) | 2016-11-16 | 2016-11-16 | The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647652B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163718B (en) * | 2017-12-27 | 2019-06-18 | 西安理工大学 | Group's tower intelligent accurate hoist controlling method based on Internet of Things |
| CN111526495B (en) * | 2020-04-22 | 2021-03-26 | 华中科技大学 | Internet of vehicles AoI optimization task unloading method based on improved genetic algorithm |
| CN113158580B (en) * | 2021-05-10 | 2021-12-10 | 南京林业大学 | One-dimensional stock layout method for solid wood board |
| CN115936268B (en) * | 2023-03-10 | 2023-05-23 | 北京建筑大学 | Group tower multi-objective scheduling optimization method considering conflict task interval time |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281406A (en) * | 2008-05-09 | 2008-10-08 | 大连海事大学 | Tower crane automatic safety monitoring system and method based on WinMAX |
| CN101794146A (en) * | 2010-02-11 | 2010-08-04 | 浙江建机科技研发有限公司 | Management system used for tower type crane |
| CN101844732A (en) * | 2010-04-27 | 2010-09-29 | 西安丰树电子科技发展有限公司 | Distributed tower group anti-collision system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140031427A (en) * | 2012-08-28 | 2014-03-13 | 현대중공업 주식회사 | Realtime crane work performance processing system and method |
-
2016
- 2016-11-16 CN CN201611031106.3A patent/CN106647652B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281406A (en) * | 2008-05-09 | 2008-10-08 | 大连海事大学 | Tower crane automatic safety monitoring system and method based on WinMAX |
| CN101794146A (en) * | 2010-02-11 | 2010-08-04 | 浙江建机科技研发有限公司 | Management system used for tower type crane |
| CN101844732A (en) * | 2010-04-27 | 2010-09-29 | 西安丰树电子科技发展有限公司 | Distributed tower group anti-collision system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106647652A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106647652B (en) | The dispatching method of tower crane group's multitask based on genetic algorithm and MMAS algorithm | |
| Al-Dhaheri et al. | A simulation-based Genetic Algorithm approach for the quay crane scheduling under uncertainty | |
| Dulebenets | An adaptive island evolutionary algorithm for the berth scheduling problem | |
| Zhen et al. | Multi-period yard template planning in container terminals | |
| Carlo et al. | Storage yard operations in container terminals: Literature overview, trends, and research directions | |
| Malekahmadi et al. | Integrated continuous berth allocation and quay crane assignment and scheduling problem with time-dependent physical constraints in container terminals | |
| Niu et al. | Swarm intelligence algorithms for yard truck scheduling and storage allocation problems | |
| Zeng et al. | Disruption recovery model for berth and quay crane scheduling in container terminals | |
| CN110733982B (en) | Multi-tower crane transfer scheduling method and system | |
| Zhen | Storage allocation in transshipment hubs under uncertainties | |
| CN108596519A (en) | A kind of automatic dock ALV Optimization Schedulings | |
| CN111498696A (en) | Double-hanger yard bridge scheduling optimization method and device | |
| Yang et al. | Dynamic time estimation based AGV dispatching algorithm in automated container terminal | |
| CN104077638A (en) | Portal jib crane dispatching method | |
| CN113848970A (en) | Multi-target collaborative path planning method for vehicle and unmanned aerial vehicle | |
| CN112836974A (en) | DQN and MCTS based box-to-box inter-zone multi-field bridge dynamic scheduling method | |
| Siswanto et al. | Multi-heuristics based genetic algorithm for solving maritime inventory routing problem | |
| CN113342002B (en) | Multi-mobile-robot scheduling method and system based on topological map | |
| CN114707707A (en) | Method and system for scheduling AGV task based on improved genetic algorithm | |
| Msala et al. | A New Method for Improving the Fairness of Multi-Robot Task Allocation by Balancing the Distribution of Tasks | |
| Yin et al. | Integrated quay crane–shuttle vehicle scheduling problem capacitated by apron buffer | |
| Lv et al. | Pipe routing of reactor based on adaptive a* algorithm combined with genetic algorithm | |
| CN112764413A (en) | Robot path planning method | |
| Fang et al. | Research on Multi-AGV Autonomous Obstacle Avoidance Strategy Based on Improved A* Algorithm | |
| Liu et al. | Optimizing the container truck paths with uncertain travel time in container ports |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |