CN114355849A - RTG full-field scheduling method, device, equipment and computer storage medium - Google Patents

RTG full-field scheduling method, device, equipment and computer storage medium Download PDF

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CN114355849A
CN114355849A CN202111608856.3A CN202111608856A CN114355849A CN 114355849 A CN114355849 A CN 114355849A CN 202111608856 A CN202111608856 A CN 202111608856A CN 114355849 A CN114355849 A CN 114355849A
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rtg
information
instruction
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CN114355849B (en
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汪沛
卢赞新
张毅
周诗洋
晋峰
乐萌
赵红丽
丁胜培
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China Merchants International Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • 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]

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Abstract

The invention relates to the field of RTG control and discloses a full-field RTG scheduling method, which comprises the following steps: acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information, and acquiring operation instruction information according to the started hurdle allocation algorithm; acquiring RTG distribution current situation information, and determining RTG demand information according to the RTG distribution current situation information and the operation instruction information; and performing full-field scheduling on the RTG crane according to the RTG demand information. The invention also discloses an RTG full-field scheduling device, equipment and a computer storage medium. The invention improves the operation efficiency of RTG full-field scheduling and reduces the operation cost of RTG full-field scheduling.

Description

RTG full-field scheduling method, device, equipment and computer storage medium
Technical Field
The present invention relates to the field of RTG control, and in particular, to a method, an apparatus, a device, and a computer storage medium for RTG full-scale scheduling.
Background
With the development of wharf operating systems and automatic control technologies, more and more technologies are applied to the field of RTG (Rubber type Gantry crane) control, the traditional RTG full-field scheduling is gradually changed to the scheduling mode of automatically controlling RTG full-field scheduling by frequently transferring between different columns through manual work, and higher requirements are provided for the operating efficiency and operating cost of the RTG full-field scheduling. Under the condition that the number of columns of the container terminal is larger than the number of RTGs for attendance and the distribution of operations of the terminal is uneven, the RTG of the traditional container terminal is scheduled in a whole field, mainly by the manual experience of a driver, the order operation sequence is artificially judged and frequently transferred among different columns. The method has a great defect, in order to realize RTG full-field scheduling, the order operation sequence needs to be judged manually and frequently transited between different columns, so that the operation efficiency is reduced, and the operation cost is increased.
Disclosure of Invention
The invention mainly aims to provide an RTG full-field scheduling method, equipment and a storage medium, and aims to solve the technical problem of how to improve the operation efficiency of RTG full-field scheduling.
In order to achieve the above object, the present invention provides an RTG full-scale scheduling method, which comprises the following steps:
acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information, and acquiring operation instruction information according to the started hurdle allocation algorithm;
acquiring RTG distribution current situation information, and determining RTG demand information according to the RTG distribution current situation information and the operation instruction information;
and performing full-field scheduling on the RTG crane according to the RTG demand information.
Optionally, the step of acquiring the input parameter information includes:
determining preset polling time, RTG operation efficiency and RTG machine moving cost;
taking the product of the RTG operation efficiency and the polling time as the operation instruction number of the actual RTG, and adding the tolerance of a preset RTG dividing instruction and the operation instruction number to obtain a single RTG saturated instruction number; the parameter information comprises the polling time, the RTG machine-moving cost and the single RTG saturated instruction number.
Optionally, the step of obtaining the job instruction information according to the started hurdle allocation algorithm includes:
taking a current starting time node of the cross-column allocation algorithm as an ending time node, and taking a previous historical starting time node of the current starting time node as a starting time node;
taking a time range between the starting time node and the ending time node as a target time range for receiving a job instruction;
acquiring a card collecting instruction and a card non-collecting instruction in the target time range, and arranging the card collecting instruction and the card non-collecting instruction according to an instruction time sequence to obtain an instruction sequence table;
and dividing the instructions in the instruction sequence table according to column areas to obtain operation instruction information.
Optionally, the step of determining RTG requirement information according to the RTG distribution status information and the job instruction information includes:
acquiring the command stack field column number in the operation command information, and determining the actual RTG number of the command stack field column number in the RTG distribution status information;
obtaining the theoretical RTG number of finishing the operation instruction according to the operation instruction information;
calculating the difference between the theoretical RTG number and the actual RTG number;
if the theoretical RTG number is larger than the actual RTG number, taking the difference value as the requirement column information in the RTG requirement information;
and if the theoretical RTG number is smaller than the actual RTG number, taking the difference value as surplus column information in the RTG demand information.
Optionally, the step of obtaining the theoretical RTG number for completing the job instruction according to the job instruction information includes:
determining the total instruction number in the instruction stack field column number according to the operation instruction information;
determining the number of single RTG saturated instructions in the parameter information, and if the total number of instructions is less than the number of single RTG saturated instructions, determining the number of theoretical RTGs as one;
if the total instruction number is larger than the single RTG saturated instruction number, calculating an instruction number difference value between the total instruction number and the single RTG saturated instruction number, and determining the RTG number newly input into the RTG according to the instruction number difference value;
and determining the theoretical RTG number according to the RTG number and the RTG.
Optionally, the step of performing full-field scheduling on the RTG crane according to the RTG demand information includes:
determining demand bar information and surplus bar information in the RTG demand information;
determining RTG machine moving cost in the parameter information, constructing a pairing cost matrix according to the demand column information, the surplus column information and the RTG machine moving cost, and constructing an RTG scheduling list according to the pairing cost matrix;
and performing full-field scheduling on the RTG crane according to the RTG scheduling list.
Optionally, the step of constructing a pairing cost matrix according to the demand bar information, the surplus bar information, and the RTG shift cost includes:
taking columns in the required column information and the surplus column information as rows and columns of a matrix;
taking the machine shifting cost matched with the rows and the columns in the RTG machine shifting cost as a matrix element value;
taking a matrix constructed by the rows and the columns and the matrix element values as a pairing cost matrix
In addition, to achieve the above object, the present invention further provides an RTG full-field scheduling apparatus, including:
the acquisition module is used for acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information and acquiring operation instruction information according to the started hurdle allocation algorithm;
the detection module is used for acquiring RTG distribution current information and determining RTG demand information according to the RTG distribution current information and the operation instruction information;
and the processing module is used for carrying out full-field scheduling on the RTG crane according to the RTG demand information.
In addition, to achieve the above object, the present invention further provides an RTG full-scale scheduling apparatus, including: the RTG full-field scheduling method comprises a memory, a processor and an RTG full-field scheduling program which is stored on the memory and can run on the processor, wherein the RTG full-field scheduling program realizes the steps of the RTG full-field scheduling method when being executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a storage medium of an RTG full-scale scheduling computer, wherein the storage medium stores an RTG full-scale scheduling program, and the RTG full-scale scheduling program, when executed by a processor, implements the steps of the RTG full-scale scheduling method.
According to the method, input parameter information is obtained, a preset hurdle allocation algorithm is started according to the parameter information, and operation instruction information is obtained according to the started hurdle allocation algorithm; acquiring RTG distribution current situation information, and determining RTG demand information according to the RTG distribution current situation information and the operation instruction information; and finally, carrying out full-field scheduling on the RTG crane according to the RTG demand information. The controller determines RTG demand information according to RTG distribution current situation information and operation instruction information, and performs full-field scheduling on the RTG crane according to the RTG demand information. The phenomenon that the order operation sequence needs to be judged manually and the operation is frequently switched among different columns in the RTG full-field scheduling is avoided, and the operation efficiency of the RTG full-field scheduling is improved.
Drawings
FIG. 1 is a schematic structural diagram of an RTG full-field scheduling device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a RTG full-scale scheduling method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of an apparatus module of the RTG full field scheduling apparatus according to the present invention;
FIG. 4 is a schematic flow chart illustrating the process of obtaining the operation instruction in the RTG full-field scheduling method according to the present invention;
FIG. 5 is a schematic flow chart of determining actual RTG demand information of a bar region in the RTG full-scale scheduling method of the present invention;
FIG. 6 is a schematic flow chart of determining the theoretical RTG number in the RTG full-field scheduling method of the present invention;
FIG. 7 is a schematic flow chart of full-scale dispatching of RTGs according to RTG demand information in the RTG full-scale scheduling method of the present invention;
FIG. 8 is a schematic flow chart of constructing a pairing cost matrix in the RTG full-field scheduling method of the present invention;
fig. 9 is a schematic flow chart illustrating an implementation of the RTG full-scale scheduling method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an RTG full-field scheduling device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the RTG full-scale scheduling apparatus may include: a processor 0003, such as a Central Processing Unit (CPU), a communication bus 0001, an acquisition interface 0002, a Processing interface 0004, and a memory 0005. Wherein a communication bus 0001 is used to enable connection communication between these components. The acquisition interface 0002 may include an information acquisition device, an acquisition unit such as a sensor, and the optional acquisition interface 0002 may further include a standard wired interface, a wireless interface. The processing interface 0004 may optionally include standard wired, wireless interfaces. The Memory 0005 may be a Random Access Memory (RAM) Memory, or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 0005 may alternatively be a storage device separate from the processor 0003.
Those skilled in the art will appreciate that the architecture shown in fig. 1 does not constitute a limitation of an RTG full-scale scheduling apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, the memory 0005, which is a kind of computer storage medium, may include therein an operating system, a fetch interface module, an execution interface module, and an RTG full-field scheduler.
In the RTG full-field scheduling apparatus shown in fig. 1, a communication bus 0001 is mainly used for realizing connection communication between components; the acquisition interface 0002 is mainly used for receiving RTG distribution status information sent by the sensor, connecting the sensor device and carrying out data communication with the sensor device; the processing interface 0004 is mainly used for sending a processing result of the processor after executing the RTG full-field scheduling program in the memory to the production equipment, connecting the RTG and carrying out data communication with the RTG; the processor 0003 and the memory 0005 in the RTG full-scale scheduling device of the present invention may be arranged in the RTG full-scale scheduling device, and the RTG full-scale scheduling device invokes the RTG full-scale scheduling program stored in the memory 0005 through the processor 0003, and executes the RTG full-scale scheduling method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the RTG full-field scheduling method is provided.
An embodiment of the present invention provides an RTG full-scale scheduling method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of an RTG full-scale scheduling method according to the present invention.
In this embodiment, the RTG full-scale scheduling method includes:
step S10, acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information, and acquiring operation instruction information according to the started hurdle allocation algorithm;
in this embodiment, when the RTG is implemented with full-scale scheduling, it is first necessary to obtain input parameter information, where the input parameter information is a parameter for controlling the inside, and the RTG is a special machine for a rubber-tyred container gantry crane in a large specialized container yard, and is used to load and unload a standard container. The specific parameter information comprises polling time, RTG horizontal transition time, RTG vertical transition time, RTG oil-electricity switching time consumption, RTG operation efficiency, QC default operation efficiency and tolerance of RTG dividing instructions, wherein the polling time refers to the time interval of the query instruction service of the controller; the RTG horizontal transition time refers to the time when the RTG moves horizontally during transition; RTG vertical transition time RTG is the time of vertical movement of RTG during transition; the time consumed by RTG oil-electricity switching refers to the time for RTG oil-electricity switching; the RTG operation efficiency refers to the operation efficiency under the RTG ideal state; the QC default operation efficiency refers to the operation efficiency under the ideal condition of the loading and unloading ship RTG, wherein the QC refers to the loading and unloading ship RTG, and when the QC is not stopped, the operation efficiency of the QC can be obtained according to the following formula:
Nwork volume/((TLatest instruction acknowledgement time–TEarliest instruction acknowledgement time)＊24)
Wherein N isWork volumeRefers to the workload of QC, TLatest instruction acknowledgement timeRefers to the latest instruction confirmation time, T, of the QCEarliest instruction acknowledgement timeThe command confirmation time is the earliest command confirmation time of the QC, and the command operation time at the storage yard can be determined according to the operation efficiency of the QC.
The tolerance of RTG partition instructions refers to the maximum amount of work that can be added based on the amount of RTG ideal work. According to the tolerance of the RTG dividing instruction, the RTG operation efficiency and the polling time, the number of single RTG saturated instructions can be confirmed, the operation amount of the single RTG in an ideal state needs to be determined firstly, the operation amount is obtained mainly through the product of the RTG operation efficiency and the polling time, the tolerance of the RTG dividing instruction on the basis of the operation amount of the single RTG is continuously confirmed, and the number of the single RTG saturated instructions is obtained, wherein the single RTG refers to the ideal saturated instruction number of the first RTG, and the number of the single RTG saturated instructions refers to the instruction number completed to the maximum. According to the RTG horizontal transition time, the RTG vertical transition time, the RTG oil-electricity switching time consumption and the internally defined parameters, the machine moving cost can be confirmed, wherein the machine moving cost is determinedThe machine cost refers to the cost of resource and time for moving the RTG. COST for confirming moving COST from surplus column to demand columnXWhere the COST of moving is COSTXThis can be obtained according to the following formula:
COSTX＝λmachine moving adjusting parameter*RR_MOVE
RR_MOVE＝TRTG lane crossing time+N*TRTG replacement time
TRTG lane crossing time＝TRTG turn time+2*TRTG oil-to-electricity switching time
Wherein T isRTG turn timeRefers to the time of RTG turn, TRTG oil-to-electricity switching timeIs the RTG oil-to-electricity switching time, TRTG lane crossing timeIs the RTG lane crossing time, TRTG replacement timeIs RTG replacement time, RR _ MOVE is TRTG replacement timeAnd TRTG lane crossing timeA sum of (A)Machine moving adjusting parameterIs the transfer adjusting parameter of the RTG.
Reconfirming instruction COST COST in columnyIn which the instruction COST COST in the columnyThis can be obtained according to the following formula:
COSTy＝λinstruction type adjustment parameter*(μAdjacent timeout adjustment parameter*TTime-out proximity+μAdjusting parameters over time*TTime-out)
Wherein λInstruction type adjustment parameterAdjusting parameters, μ, for RTG instruction typesAdjacent timeout adjustment parameterIs the RTG time-out-of-day parameter, TTime-out proximityIs the RTG time-out time, μAdjusting parameters over timeIs the RTG time-out-of-day parameter, TTime-outIs the RTG proximity timeout.
According to COST COST of moving machine from surplus column to demand columnXAnd intra-column instruction COST COSTyTo determine the shift COST, wherein the instruction COST in the column can be obtained according to the following formula:
COST＝COSTy+COSTX
secondly, after the input parameters are acquired, a preset column-crossing allocation algorithm is started according to the polling time, wherein the column-crossing allocation algorithm is an RTG full-field scheduling algorithm, columns are formed in a container terminal yard, each column is composed of 20-30 field positions (shell positions), each shell has about 6 rows, and the height is 4-5 layers. After the polling time is confirmed, the time node of the last polling in the controller is obtained, the time node of the polling time is determined according to the time node of the last polling and the duration of the polling time, the controller continuously detects whether the current time node reaches the time node of the polling time, if the current time reaches the time node of the polling time, a preset cross-column allocation algorithm is started, and otherwise, the detection is continued. For example, the obtained time node B of the last polling, the duration C of the polling time, the time node D of the current polling time, and the current time node E are determined, and if it is detected that the current time node E does not reach the time node D of the current polling time, the preset cross-column allocation algorithm is not started and the detection is continued.
Finally, after the preset hurdle allocation algorithm is started, the operation instruction information is acquired, for example, as shown in fig. 4, where the step of acquiring the operation instruction information according to the started hurdle allocation algorithm includes:
step A11, using the current starting time node of the cross-column allocation algorithm as an ending time node, and using the previous historical starting time node of the current starting time node as a starting time node;
the method comprises the steps of obtaining an operation instruction on the premise of starting a preset hurdle allocation algorithm, determining a starting time node according to the starting of the preset hurdle allocation algorithm, and taking the starting time node as an end time node for obtaining the operation instruction, wherein the current starting time node is the time node of the current starting of the hurdle allocation algorithm. And acquiring a previous historical starting time node in the controller according to the started time node as a starting time node for acquiring the operation instruction, wherein the previous historical starting time node is the last starting time node of the cross-column allocation algorithm. For example, if the starting time node is D, and the last starting time node acquired by the controller is B, it can be determined that the starting time node for acquiring the job instruction is B and the ending time node is D.
A step a12 of setting a time range between the start time node and the end time node as a target time range for receiving a job instruction;
after determining the ending time node and the starting time node, the time range between the ending time node and the starting time node is taken as a target time range for receiving the operation instruction, in short, the controller only acquires the instruction in the time range and operates the instruction, and the controller does not operate the instruction beyond the time range. For example, if it is determined that the node at the start time of acquiring the job instruction is B and the node at the end time is D, the time between B and D is used as the time range for acquiring the job instruction, and the sending time of the instruction a is in the time range between B and D, the controller acquires the instruction a.
Step A13, acquiring a card collecting instruction and a card non-collecting instruction within the target time range;
after the time range of receiving the operation instruction is determined, a card collecting instruction and an instruction which is not collected and is confirmed in the time range are obtained, wherein the card collecting instruction refers to an instruction that a vehicle is allocated to load and unload a ship, the instruction which is not collected refers to an instruction that the vehicle is not allocated but the vehicle is confirmed, when the instruction which is not collected and is obtained, whether the instruction controls to complete the card collecting within the polling duration or not needs to be determined according to the operation efficiency of QC, if the card collecting can be completed within the polling duration, the instruction is obtained, and if the time for completing the card collecting exceeds the polling duration, the instruction does not need to be obtained. For example, the time from the start time node B to the end time node D is used as the time range for acquiring the instruction, and the truck instruction within the time range is acquired. And when the non-card-collecting instruction can finish the card collection before the end time node D, acquiring, otherwise, not acquiring, mainly judging the time for completing the card collection according to the operation efficiency of the QC, and detecting whether the time for completing the card collection is before the end time node D.
Step A14, arranging the card collecting instructions and the non-card collecting instructions according to an instruction time sequence to obtain an instruction sequence list;
after the card collecting instruction and the non-card collecting instruction in the time range are obtained, the obtained instructions are arranged according to the obtained time sequence to obtain an instruction sequence list, wherein the instruction sequence list is an instruction set obtained after the instructions are arranged. After the instructions are fetched, they are arranged according to time to facilitate the execution of the instructions and the actual progress needs. When the command is needed urgently, the user puts the command at the front position, and when the controller does not execute the command according to the time, scheduling delay can be caused, so that the obtained commands need to be arranged according to the time sequence.
And step A15, dividing the instructions in the instruction sequence table into columns to obtain the operation instruction information.
After the instructions are arranged in time sequence, the instructions need to be divided according to column regions to obtain required operation instruction information, wherein the operation instruction information is a set of instructions obtained by dividing an instruction sequence table according to the column regions. The significance of the column partitioning of the instruction is: after the command is divided into the field areas, the number of the required RTGs can be judged according to the number of the commands in the field areas, and the RTGs can be conveniently scheduled. And obtaining the operation instruction information according to the started hurdle allocation algorithm to obtain the instructions and the quantity of the instructions to be executed by the RTG.
In this embodiment, the target time range of the instruction is determined, and then the instruction in the range is acquired, the acquired instructions are arranged in time sequence and then are divided according to the field areas to obtain the required job instruction information, and then the instruction to be executed in the current polling time and the field area corresponding to the instruction are determined.
Step S20, obtaining RTG distribution status information, and determining RTG demand information according to the RTG distribution status information and the operation instruction information;
in this embodiment, the controller may obtain distribution status information of the RTGs, and determine RTG requirement information according to the distribution status information of the RTGs and the operation instruction information, where the distribution status information of the RTGs refers to distribution and positions of the RTGs on the actual code header, and the RTG requirement information refers to whether the RTGs in the column area are sufficient, and indicates that the RTGs need to be called in or out when the instruction is executed. For example, as shown in fig. 5, when determining the RTG requirement information, it is first necessary to determine the actual RTG number of the command stack field column number in the RTG distribution status information, where the command stack field column number is the column number of the column area command divided by the column area, and the actual RTG number is the actual RTG in the column number in the RTG distribution status information. For example, when the command field number is E and the actual RTG number of the actual field number E is F, the controller will find the actual RTG number F of the field number E in the RTG distribution status information.
Secondly, after the actual RTG number is obtained, the controller obtains the theoretical RTG number for completing the operation instruction according to the operation instruction information, and determines the difference value between the theoretical RTG number and the actual RTG number, wherein the theoretical RTG number is the RTG number theoretically required for completing all instructions in the field. For example, the actual RTG number of the column number E is F, the controller obtains the theoretical RTG number of the completed work instruction according to the work instruction information as G, and further subtracts the theoretical RTG number G from the actual RTG number F to obtain a difference H therebetween, where the difference is a positive number.
And finally, the controller detects whether the theoretical RTG number is smaller than the actual RTG number, when the theoretical RTG number is smaller, the difference value is used as surplus column information in the RTG demand information, otherwise, when the actual RTG number is smaller, the difference value is used as demand column information in the RTG demand information. For example, after the difference H between the theoretical RTG number G and the actual RTG number F is obtained by subtracting the theoretical RTG number G from the actual RTG number F, and it is detected that the theoretical RTG number is smaller than the actual RTG number, the redundant column information in the RTG requirement information is the column number E, and H RTGs can be called.
The controller may obtain a theoretical RTG number for completing the operation instruction according to the operation instruction information, for example, as shown in fig. 6, the controller may determine a total instruction number of the column number of the instruction stack, detect whether the total instruction number is greater than a single RTG saturated instruction number, when the total instruction number is smaller, may determine the theoretical RTG number as one, otherwise, when the single RTG saturated instruction number is smaller, may determine an instruction number difference between the total instruction number and the single RTG saturated instruction number, determine a new RTG number according to the instruction number difference, and finally add one to the new RTG number to determine the theoretical RTG number, where the required column information and the surplus column information refer to the column number corresponding to the column and a number of actually required RTGs or required RTGs. When the total instruction number is judged, whether the single RTG can complete the total instruction number in the column is determined according to the comparison between the total instruction number and the single RTG saturated instruction number, and when the total instruction number can be completed, the theoretical RTG number is determined to be one; when the number of the single RTG saturated instructions is smaller than the total number of the instructions, the fact that the single RTG cannot complete the planned total number of the instructions in the column number can be confirmed, the difference value of the total number of the instructions and the number of the single RTG saturated instructions needs to be confirmed, and the RTG needs to be invested for assisting. When an RTG is thrown in, the second RTG cannot reach the saturated instruction number of the single RTG due to practical factors such as the safety distance between the RTGs and the like, so the RTG is continuously thrown in according to the fact that the second RTG is saturated until the instruction number difference in the column is completely distributed, the RTG number needing to be thrown in is obtained, and the theoretical RTG number is obtained by adding one to the thrown RTG number. For example, the total instruction number of the column number E is I, the saturation instruction number J of a single RTG is J, and when I is smaller than J, the theoretical RTG number is one; otherwise, confirming the difference K between I and J, and then adding a second RTG to saturate the second RTG until K is distributed completely, and determining that the added RTG quantity F can distribute K completely, so that the theoretical RTG quantity of F +1 RTGs can be obtained. The RTG demand information is determined according to the RTG distribution current information and the operation instruction information, and each column number demand or surplus number is obtained specifically.
And step S30, performing full-field scheduling on the RTG crane according to the RTG demand information.
In this embodiment, after the RTG requirement information is obtained, the RTG crane is scheduled in a full field according to the RTG requirement information, where the full field scheduling of the RTG crane refers to moving the RTG on the dock to meet the RTG requirement of the hurdle area. For example, as shown in fig. 7, the step of performing full-field scheduling on the RTG crane according to the RTG demand information includes:
step A31, determining demand bar information and surplus bar information in the RTG demand information;
when the RTG crane is scheduled in the whole field, the demand column information and the surplus column information in the RTG demand information need to be determined, wherein the demand column information and the surplus column information not only contain column numbers, but also the RTG number required by the column numbers or the surplus RTG number. For example, the spare field information may be field number E, and K RTGs may be called up.
Step A32, determining the RTG mobile phone cost in the parameter information, and constructing a pairing cost matrix according to the demand bar information, the surplus bar information and the RTG mobile phone cost;
after the demand bar information and the surplus bar information in the RTG demand information are determined, the controller can obtain the RTG machine moving cost in the parameter information, a pairing cost matrix is built according to the demand bar information and the surplus bar information in the RTG demand information and the machine moving cost in the controller, and a Hungary algorithm is called for the pairing cost matrix to obtain the optimal scheme from the RTG to the demand bar of all the surplus bars. The optimal scheme is a scheduling list constructed by pairing cost matrixes, the Hungarian algorithm is to find the optimal matching scheme according to the matrixes, and other algorithms with similar functions to the Hungarian algorithm can be applied to the embodiment.
Step A33, constructing an RTG scheduling list according to the pairing cost matrix;
and calling a Hungarian algorithm according to the pairing cost matrix to schedule the RTG resources with the maximum efficiency, wherein the scheduling list refers to a set of specific mobile starting positions and ending positions of all RTGs to be scheduled. The Hungarian algorithm is mainly called to determine the scheduling of all RTGs needing scheduling, and the mobile cost can be reduced to the minimum. For example, the column 1, column 2 and column 3 need to be called in, the column number needs to be called out is column 5, column 6 and column 7, and the internal relocation cost is column 1 to column 5, and the relocation cost of column 6 and column 7 is 2,3 and 4; the shift cost of columns 2 to 5,6 and 7 is 3,4 and 6; the shift cost of columns 3 to 5,6, 7 is 5,6, 1; and after the pairing cost matrix is constructed, calling the Hungarian algorithm to obtain that the total machine moving cost of moving the 5RTG to the 1 column, moving the 6RTG to the 2 column and moving the 7RTG to the 3 column is the lowest, so as to obtain a scheduling list.
And A34, performing full-field scheduling on the RTG crane according to the RTG scheduling list.
And after the scheduling list is obtained, the controller can carry out full-field scheduling on the RTG crane according to the scheduling list. For example, the scheduling list is that the column 5RTG moves to the column 1, the column 6RTG moves to the column 2, and the column 7RTG moves to the column 3, the controller will control the corresponding RTG to move to the corresponding position, and complete the full-scale scheduling of the RTG.
In the embodiment, the demand column information and the surplus column information in the RTG demand information are determined, the RTG machine moving cost in the parameter information is determined, finally, a pairing cost matrix is constructed according to the demand column information, the surplus column information and the RTG machine moving cost, an RTG scheduling list is constructed through the pairing cost matrix, and the RTG crane is scheduled in a whole field according to the RTG scheduling list. The method and the device realize the process from the RTG requirement to the RTG full-field scheduling and improve the operation efficiency of the RTG full-field scheduling.
Further, after the demand column information, the surplus column information and the RTG shift cost in the RTG demand information are obtained, a pairing cost matrix is constructed. For example, as shown in fig. 8, the step of constructing a pairing cost matrix according to the demand bar information, the surplus bar information, and the RTG relocation cost includes:
step A321, taking columns in the required column information and the surplus column information as rows and columns of a matrix;
after the required column information and the redundant column information are determined, the column number in the redundant column information is used as the row of the matrix, the column number in the required column information is used as the column of the matrix, and conversely, the column number in the redundant column information is used as the column of the matrix, and the column number in the required column information is also used as the row of the matrix. Furthermore, the requirement of rows and columns requires columns in the column information to be used as rows or columns, and a part of columns in the column information is not suggested to be used as rows and another part of columns in the column information is not suggested to be used as columns. Secondly, when the fields in the spare field and the demand field are not equal, the fields in the spare field and the demand field only can form a determinant, and a new field number needs to be constructed to ensure the integrity of the matrix, rather than simply obtaining the determinant according to the actual situation. The rank of the matrix is obtained according to the number of the columns in the surplus column and the demand column information and the maximum value between the surplus column and the demand column information. For example, the number of columns in the spare column and demand column information is 5 and 8, respectively, and the matrix constructed from the columns in the spare column and demand column information is an 8-order matrix.
Step A322, taking the machine shifting cost matched with the rows and columns in the RTG machine shifting cost as a matrix element value;
after determining the matrix size, the matrix element values are obtained mainly by obtaining the internal shift cost of the controller, wherein the shift cost includes the shift cost between all the columns. After the column numbers of the spare column and the demand column are taken as the rows and the columns of the matrix, the relocation cost from the column number of the row to the column number of the column can be found out according to the column numbers of the row and the column, and the corresponding cost is confirmed. When the constructed matrix is a matrix with unequal rows and columns, the relocation cost at the increased row and column positions is P, wherein P refers to the maximum value of all relocation costs. For example, if column number E does not need to be called in and out, but there is the column number in the matrix, the matrix value of the column number is P.
Step A323, using a matrix constructed by the rows and the columns and the matrix element values as a pairing cost matrix.
Taking the redundant column number and the demand column number as rows and columns of a matrix, taking the corresponding matrix element value as the machine moving cost from the row to the column, and forming a complete pairing cost matrix, wherein the pairing cost matrix is a matrix constructed by the rows and the columns and the matrix element value. For example, when it is determined that the number of the margin columns is 5 and the number of the demand columns is 7, it is necessary to construct a matrix from the demand columns, and the margin columns and the demand columns are rows and columns, and further, it is determined that the matrix is a 7 × 7 matrix, and since there are no actual 6 and 7 rows, the values of the 6 and 7 rows are P.
In this embodiment, columns in the required column information and the redundant column information are used as rows and columns of a matrix, a machine-shifting cost matched with the rows and columns in the RTG machine-shifting cost is used as a matrix element value, and the constructed matrix is used as a pairing cost matrix. The construction of the pairing cost matrix is realized, and a basis is provided for obtaining an RTG deployment list.
In addition, to assist understanding of the RTG full-field scheduling in this embodiment, an implementation flow of this embodiment is illustrated below.
For example, as shown in fig. 9, after the controller is initialized, the query of the internal service is triggered at regular time, where the initialization is for initializing internal data parameters, and the triggering at regular time refers to that the controller starts a cross-column scheduling algorithm according to an initialized polling time, and if a current time node is a time node at the beginning of the polling time, an internal card collecting instruction and an instruction not collecting the card are obtained, and otherwise, the current time is detected continuously, where the obtaining of the instruction mainly includes taking a time for starting the cross-column scheduling algorithm this time as an end time node for obtaining the instruction, obtaining a time for starting the cross-column scheduling algorithm last time as a start time node for obtaining the instruction, and a precondition for obtaining the job instruction is that the instruction needs to be obtained, where the instruction must be in a time range between the start time node and the end time node. After the instruction is obtained, the instruction needs to be divided according to the column area, whether the RTG for completing the total instruction is sufficient or not is determined according to the actual RTG number in the actual column area, if the RTG resource is sufficient, the RTG resource needs to be called out, otherwise, the RTG requirement needs to be called in, and after the resource and the requirement are determined, the matching calculation of the base resource and the requirement is carried out, wherein, the matching calculation means determining the starting and ending column numbers of the RTG according to the resource and the requirement, and according to the transition cost defined inside the controller from the starting column number to the ending column number, establishing a matrix according to the moving cost, the starting column number and the ending column number, calculating an optimal scheme of RTG scheduling according to Hungarian algorithm, the optimal scheme is an RTG cross-column scheduling plan, RTG cross-column scheduling is achieved according to the RTG cross-column scheduling plan, scheduling of the RTG polling time is completed, whether next polling time is entered or not is detected again, and the RTG crane is scheduled in a whole field in a circulating mode sequentially.
In the embodiment, by acquiring input parameter information, a preset hurdle allocation algorithm is started according to the parameter information, and operation instruction information is acquired according to the started hurdle allocation algorithm; acquiring RTG distribution current situation information, and determining RTG demand information according to the RTG distribution current situation information and the operation instruction information; and finally, carrying out full-field scheduling on the RTG crane according to the RTG demand information. The controller determines RTG demand information according to RTG distribution current situation information and operation instruction information, and performs full-field scheduling on the RTG crane according to the RTG demand information. The phenomenon that the order operation sequence needs to be judged manually and the operation is frequently switched among different columns in the RTG full-field scheduling is avoided, and the operation efficiency of the RTG full-field scheduling is improved.
Further, based on the first embodiment of the RTG full-scale scheduling method of the present invention, a second embodiment of the RTG full-scale scheduling method of the present invention is provided, which includes:
step a, determining preset polling time, RTG operation efficiency and RTG machine moving cost;
when the RTG crane is scheduled in a whole field, polling time, RTG operation efficiency and RTG machine-moving cost which are defined in a controller are determined firstly, and the parameters are defined in the controller, wherein the polling time refers to a time interval of a controller inquiry command service, for example, the polling time can be the time defined in the controller, and can also be user-defined time.
Step b, taking the product of the RTG operation efficiency and the polling time as the operation instruction number of the actual RTG, and adding the tolerance of a preset RTG dividing instruction and the operation instruction number to obtain a single RTG saturated instruction number; the parameter information comprises the polling time, the RTG machine-moving cost and the single RTG saturated instruction number.
After the RTG operation efficiency and the polling time are determined, the operation amount of a single RTG in the polling time can be obtained according to the product of the operation efficiency of the RTG and the polling time, the controller can obtain the saturated instruction number of the single RTG according to the sum of the tolerance of an internal preset RTG dividing instruction and the operation amount of the single RTG in the polling time, wherein the tolerance of the RTG dividing instruction refers to the maximum operation amount which can be increased on the basis of the ideal operation amount of the RTG. The parameter information comprises the polling time, the RTG machine moving cost and the single RTG saturated instruction number.
In this embodiment, the basis for the full-field scheduling of the RTG is provided by confirming the parameter information, and the normal performance of the subsequent scheduling step is ensured.
Further, the step of determining the RTG demand information according to the RTG distribution status information and the job instruction information includes:
step f, acquiring the command stack field column number in the operation command information, and determining the actual RTG number of the command stack field column number in the RTG distribution status information;
after the command is divided into the column areas, the number of RTGs required by the column area to finish the command can be judged, and then the RTG crane is scheduled in the whole field. And acquiring the column number of the instruction stack field in the operation instruction information, and acquiring the actual central unit number of the column number of the instruction stack field according to the RTG issued status information. In short, the actual RTGs for the respective column regions are confirmed. When the actual RTG number is confirmed, the RTG number of the actual command stack field column number in the RTG distribution status information is determined mainly according to the command stack field column number of the operation command information. For example, when the command field number is E and the actual RTG number of the actual field number E is F, the controller will find the actual RTG number F of the field number E in the RTG distribution status information.
Step g, obtaining the theoretical RTG number of the finished operation instruction according to the operation instruction information; calculating the difference between the theoretical RTG number and the actual RTG number;
the controller can obtain the theoretical RTG number for completing the operation instruction according to the operation instruction information, and calculate the difference between the theoretical RTG number and the actual RTG number, namely, whether the RTG is needed in the fence area and the needed number are determined according to the difference between the theoretical RTG number and the actual RTG number, so that the RTG can be conveniently scheduled according to the fence area. Wherein, the definition of the difference between the two is positive number, and the difference between the actual RTG and the theoretical RTG is represented, and the quantity of the RTG needing to be scheduled in the column area can be confirmed according to the difference.
Step h, if the theoretical RTG number is larger than the actual RTG number, taking the difference value as the requirement column information in the RTG requirement information; and if the theoretical RTG number is smaller than the actual RTG number, taking the difference value as surplus column information in the RTG demand information.
After the difference value between the theoretical RTG number and the actual RTG number is determined, the controller detects the numerical values of the theoretical RTG number and the actual RTG number, and the actual column region information can be determined according to the numerical values between the theoretical RTG number and the actual RTG number. When the theoretical RTG number is larger than the actual RTG number value, the controller judges that the column area is a demand column, and the difference value is used as demand column information in RTG demand information; when the theoretical RTG number is detected to be smaller than the actual RTG number value, the controller judges that the column area is a surplus column, the difference value is used as surplus column information in RTG demand information, when the theoretical RTG number is detected to be equal to the actual RTG number, the difference value between the theoretical RTG number and the actual RTG number is 0, the column can be determined to be a satisfied column, and the RTG does not need to be called out or called in. For example, the difference between the theoretical RTG number and the actual RTG number of the column number E is 1, and when the values of the theoretical RTG number and the actual RTG number are detected, the theoretical RTG number is larger than the actual RTG number, and the controller determines that the column number E is a required column and the RTG is 1; and if the detection theoretical RTG number is equal to the actual RTG number, the redundant column information in the RTG demand information is the column number E which just meets the operation.
In this embodiment, by acquiring RTG distribution status information and determining RTG demand information according to the RTG distribution status information and the job instruction information, and further determining a scheduling demand of RTG full-scale scheduling, the RTG can be scheduled according to the scheduling demand, thereby implementing full-scale scheduling of the RTG.
Further, the step of obtaining the theoretical RTG number for completing the operation instruction according to the operation instruction information includes:
step i, determining the total instruction number in the instruction stack field column number according to the operation instruction information;
the controller can obtain the theoretical RTG number for completing the operation instruction according to the operation instruction information, and needs to confirm the total instruction number of the instruction stack field number in the operation instruction information, wherein the total instruction number is the instruction number needing to be completed in the field area. The target workload of the column area is determined by confirming the total number of the instructions in the column number of the instruction stack field to know the instructions needed to be completed in the column area.
J, determining the number of single RTG saturated instructions in the parameter information, and if the total number of instructions is less than the number of single RTG saturated instructions, determining the number of theoretical RTGs as one;
and determining the number of single RTG saturated instructions in the parameter information, wherein the number of the single RTG saturated instructions refers to the number of instructions completed to the maximum extent. And detecting the size of the single RTG saturated instruction number and the total instruction number, and determining the theoretical RTG number according to the size between the single RTG saturated instruction number and the total instruction number. When the total number of instructions is less than the number of saturated instructions of a single RTG, that is, to complete the operation instruction in the column region, it is not necessary for a single RTG to reach the number of saturated instructions, and it can be confirmed that the total number of instructions in the column region can be completed by one RTG, and the number of the obtained theoretical RTGs is one. For example, the total number of instructions I and the number of single RTG saturated instructions J, when I is smaller than J, the theoretical number of RTGs can be determined to be one.
Step k, if the total instruction number is larger than the single RTG saturated instruction number, calculating an instruction number difference value between the total instruction number and the single RTG saturated instruction number, and determining the RTG number newly input into the RTG according to the instruction number difference value; and determining the theoretical RTG number according to the RTG number and the RTG.
When the total instruction number is confirmed to be larger than the single RTG saturated instruction number, the instruction number difference between the total instruction number and the single RTG saturated instruction number is calculated. And inputting a new RTG, distributing a new RTG instruction, saturating the new RTG, determining the number of the input new RTG needed for completing the difference value of the instruction number, and adding 1 to the number of the RTG to be used as the theoretical RTG number. For example, when the total instruction number I and the saturation instruction number J of a single RTG are greater than J, the difference between the instruction numbers I and J is K, it is determined that the new RTG number required to complete the instruction number difference K is F, and the controller can obtain the theoretical RTG number of F +1 RTGs.
In this embodiment, the controller detects the number of the saturated instructions and the total number of the RTGs, and further determines the theoretical RTG number of the RTG full-field scheduling bar area, so that the RTG requirement information can be determined according to the difference between the theoretical RTG number and the actual RTG number.
The present invention also provides an RTG full-scale scheduling apparatus, referring to fig. 3, the RTG full-scale scheduling apparatus includes:
the acquisition module A01 is used for acquiring production data sent by an upper computer based on the control cabinet capacity of the control cabinet, and performing rehearsal on the production data to obtain rehearsal data;
the detection module A02 is used for acquiring RTG distribution status information and determining RTG demand information according to the RTG distribution status information and the operation instruction information;
and the processing module A03 is used for carrying out full-field scheduling on the RTG crane according to the RTG demand information.
Optionally, the obtaining module a01 is further configured to:
determining preset polling time, RTG operation efficiency and RTG machine moving cost;
taking the product of the RTG operation efficiency and the polling time as the operation instruction number of the actual RTG, and adding the tolerance of a preset RTG dividing instruction and the operation instruction number to obtain a single RTG saturated instruction number; the parameter information comprises the polling time, the RTG machine-moving cost and the single RTG saturated instruction number.
Optionally, the obtaining module a01 is further configured to:
taking a current starting time node of the cross-column allocation algorithm as an ending time node, and taking a previous historical starting time node of the current starting time node as a starting time node;
taking a time range between the starting time node and the ending time node as a target time range for receiving a job instruction;
acquiring a card collecting instruction and a card non-collecting instruction in the target time range, and arranging the card collecting instruction and the card non-collecting instruction according to an instruction time sequence to obtain an instruction sequence table;
and dividing the instructions in the instruction sequence table according to column areas to obtain operation instruction information.
Optionally, the detecting module a02 is further configured to:
acquiring the command stack field column number in the operation command information, and determining the actual RTG number of the command stack field column number in the RTG distribution status information;
obtaining the theoretical RTG number of finishing the operation instruction according to the operation instruction information;
calculating the difference between the theoretical RTG number and the actual RTG number;
if the theoretical RTG number is larger than the actual RTG number, taking the difference value as the requirement column information in the RTG requirement information;
and if the theoretical RTG number is smaller than the actual RTG number, taking the difference value as surplus column information in the RTG demand information.
Optionally, the detecting module a02 is further configured to:
determining the total instruction number in the instruction stack field column number according to the operation instruction information;
determining the number of single RTG saturated instructions in the parameter information, and if the total number of instructions is less than the number of single RTG saturated instructions, determining the number of theoretical RTGs as one;
if the total instruction number is larger than the single RTG saturated instruction number, calculating an instruction number difference value between the total instruction number and the single RTG saturated instruction number, and determining the RTG number newly input into the RTG according to the instruction number difference value;
and determining the theoretical RTG number according to the RTG number and the RTG.
Optionally, the processing module a03 is further configured to:
determining demand bar information and surplus bar information in the RTG demand information;
determining RTG machine moving cost in the parameter information, constructing a pairing cost matrix according to the demand column information, the surplus column information and the RTG machine moving cost, and constructing an RTG scheduling list according to the pairing cost matrix;
and performing full-field scheduling on the RTG crane according to the RTG scheduling list.
Optionally, the processing module a03 is further configured to:
taking columns in the required column information and the surplus column information as rows and columns of a matrix;
taking the machine shifting cost matched with the rows and the columns in the RTG machine shifting cost as a matrix element value;
and taking a matrix constructed by the rows and the columns and the matrix element values as a pairing cost matrix.
The method executed by each program unit can refer to each embodiment of the RTG full-field scheduling method of the present invention, and is not described herein again.
The invention also provides RTG full-field scheduling equipment.
The apparatus of the present invention comprises: the RTG full-field scheduling method comprises a memory, a processor and an RTG full-field scheduling program which is stored on the memory and can run on the processor, wherein the steps of the RTG full-field scheduling method are realized when the RTG full-field scheduling program is executed by the processor.
The invention also provides a computer storage medium.
The computer storage medium of the invention stores RTG full-field scheduling program, and the RTG full-field scheduling program realizes the steps of the RTG full-field scheduling method when being executed by a processor.
The method implemented when the RTG full-scale scheduling program running on the processor is executed may refer to various embodiments of the RTG full-scale scheduling method of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An RTG full-field scheduling method, characterized in that, the steps of the RTG full-field scheduling method include:
acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information, and acquiring operation instruction information according to the started hurdle allocation algorithm;
acquiring RTG distribution current situation information, and determining RTG demand information according to the RTG distribution current situation information and the operation instruction information;
and performing full-field scheduling on the RTG crane according to the RTG demand information.
2. The RTG full-field scheduling method of claim 1, wherein said step of obtaining the inputted parameter information comprises:
determining preset polling time, RTG operation efficiency and RTG machine moving cost;
taking the product of the RTG operation efficiency and the polling time as the operation instruction number of the actual RTG, and adding the tolerance of a preset RTG dividing instruction and the operation instruction number to obtain a single RTG saturated instruction number; the parameter information comprises the polling time, the RTG machine-moving cost and the single RTG saturated instruction number.
3. The RTG full-scale scheduling method of claim 1, wherein said step of obtaining job command information according to said initiated cross-column scheduling algorithm comprises:
taking a current starting time node of the cross-column allocation algorithm as an ending time node, and taking a previous historical starting time node of the current starting time node as a starting time node;
taking a time range between the starting time node and the ending time node as a target time range for receiving a job instruction;
acquiring a card collecting instruction and a card non-collecting instruction in the target time range, and arranging the card collecting instruction and the card non-collecting instruction according to an instruction time sequence to obtain an instruction sequence table;
and dividing the instructions in the instruction sequence table according to column areas to obtain operation instruction information.
4. The RTG full-scale scheduling method of claim 1, wherein the step of determining RTG requirement information according to the RTG distribution status information and the job instruction information comprises:
acquiring the command stack field column number in the operation command information, and determining the actual RTG number of the command stack field column number in the RTG distribution status information;
obtaining the theoretical RTG number of finishing the operation instruction according to the operation instruction information;
calculating the difference between the theoretical RTG number and the actual RTG number;
if the theoretical RTG number is larger than the actual RTG number, taking the difference value as the requirement column information in the RTG requirement information;
and if the theoretical RTG number is smaller than the actual RTG number, taking the difference value as surplus column information in the RTG demand information.
5. The RTG full-scale scheduling method of claim 4 wherein said step of deriving a theoretical RTG number to complete a job instruction based on said job instruction information comprises:
determining the total instruction number in the instruction stack field column number according to the operation instruction information;
determining the number of single RTG saturated instructions in the parameter information, and if the total number of instructions is less than the number of single RTG saturated instructions, determining the number of theoretical RTGs as one;
if the total instruction number is larger than the single RTG saturated instruction number, calculating an instruction number difference value between the total instruction number and the single RTG saturated instruction number, and determining the RTG number newly input into the RTG according to the instruction number difference value;
and determining the theoretical RTG number according to the RTG number and the RTG.
6. The RTG full-scale scheduling method of claim 1, wherein the step of scheduling RTG cranes full-scale according to the RTG demand information comprises:
determining demand bar information and surplus bar information in the RTG demand information;
determining RTG machine moving cost in the parameter information, constructing a pairing cost matrix according to the demand column information, the surplus column information and the RTG machine moving cost, and constructing an RTG scheduling list according to the pairing cost matrix;
and performing full-field scheduling on the RTG crane according to the RTG scheduling list.
7. The RTG full-scale scheduling method of claim 6, wherein said step of constructing a matching cost matrix according to said demand bar information, said surplus bar information and said RTG relocation cost comprises:
taking columns in the required column information and the surplus column information as rows and columns of a matrix;
taking the machine shifting cost matched with the rows and the columns in the RTG machine shifting cost as a matrix element value;
and taking a matrix constructed by the rows and the columns and the matrix element values as a pairing cost matrix.
8. An RTG full-field scheduling apparatus, comprising:
the acquisition module is used for acquiring input parameter information, starting a preset hurdle allocation algorithm according to the parameter information and acquiring operation instruction information according to the started hurdle allocation algorithm;
the detection module is used for acquiring RTG distribution current information and determining RTG demand information according to the RTG distribution current information and the operation instruction information;
and the processing module is used for carrying out full-field scheduling on the RTG crane according to the RTG demand information.
9. An RTG full-scale scheduling device, the RTG full-scale scheduling device comprising: memory, a processor and an RTG full-scale scheduler stored on the memory and operable on the processor, the RTG full-scale scheduler when executed by the processor implementing the steps of the RTG full-scale scheduling method of any one of claims 1 to 7.
10. A computer storage medium having stored thereon an RTG full-scale scheduler that, when executed by a processor, performs the steps of the RTG full-scale scheduling method of any one of claims 1 to 7.
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