CN101042743A - Container ship real time loading system and method based on bridge machine efficiency - Google Patents

Abstract

This invention relates to container shipment real time loading system and method based on bridge efficiency, which comprises load knowledge database, load operation sequence analysis engine, load dynamic database, pre-align plan, real align generation plan, establish container sequence list and sequence trace. The method comprises the following steps: reducing box number to avoid tire overlap transfer as basic principles; using linear module to determine each out area in current decision time section mask j number Q-Qutk; determining property tire hanging box strategy.

Description

Container ship real time loading system and method based on bridge machine efficiency

Technical field

The present invention relates to a kind of GEOMAP of container wharf, specifically is a kind of container ship real time loading system and method.

Background technology

The container ship prestowage is an important step in the management work of container wharf, also is a key link that improves harbour production efficiency.Along with the continuous increase of seaborne develop rapidly of container and container tonnage, artificial prestowage has been difficult to satisfy produces needs.Along with the continuous development of Computer Applied Technology, appliance computer realizes that automatic stowage is an effective solution.Prestowage should be considered the stockyard situation, improves the harbour operating efficiency, reduces the harbour operation cost; Consider course line and boats and ships requirement again, guarantee vessel stability and requirement of strength; And, because the port environmental limit needs repeatedly planning just can finish whole ship prestowage.Characteristics such as automatic stowage has the process complexity, restrictive condition is many and data processing amount is big, its realization is extremely difficult.

Find through literature search prior art, Dirk Steenken etc. are in OR Spectrum (2004) 26 (1): " the Container terminal operation and operationresearch-a classification and literature review " that delivers 3-49) (container wharf operation and operational research---classification and research review of literature, the operational research field, (2004) 26 (1): 3-49)), this article has been introduced the algorithm of external some realization automatic stowage plan.In recent years, the computing machine automatic stowage of container ship is explored and studied to everyway in effort, and developed some prestowage softwares based on MS Windows operating system, such as the CTMS loading system of this harbour use.These softwares mainly use the visual programming platform design, utilize help prestowage personnel such as window, image, form, file to carry out the selection of container space, and can carry out the accounting of the performance datas such as stability, intensity and trim of container ship.But because these softwares can't be handled the empirical knowledge in the prestowage process well, its degree of improving prestowage accuracy and rapidity is limited to.They have only alleviated container prestowage personnel's labour intensity to a certain extent, and final case position apolegamy still needs mechanical brains masterpiece industry, and the container ship prestowage still is in the semi-automatic stage at present.Be the working condition that adapts to existing container wharf and the development need of harbour digital management, press for a kind of automatic stowage algorithm of realizing apolegamy of case position and vanning order.

Summary of the invention

The present invention be directed to deficiency of the prior art, a kind of automatic stowage system and method that can realize apolegamy of case position and vanning order is provided.

The present invention is achieved by the following technical solutions:

A kind of container ship real time loading system based on bridge machine efficiency comprises following functional module: prestowage knowledge base, loading operation sequential analysis engine, the prestowage dynamic data base produces pre-prestowage plan, produces the real plan of joining, set up the vanning sequence table, vanning sequence real-time follow-up.

Each module functions of system and effect are as follows:

The prestowage knowledge base: according to produced on-site scheduling and operational administrative personnel's experience, and the production operation standard, set up each rule that allocate plan need be paid close attention to;

Loading operation sequential analysis engine: the vanning sequence is carried out real-time analysis,, whether the phenomenon of device conflict may take place in the prediction vanning sequence by analog computation;

The prestowage dynamic data base: carry the case ship for each, in case set up allocate plan for it, this database will produce, and finishes this database real time record allocate plan until shipment;

Produce pre-prestowage plan: allocate plan and various production constraint according to the shipowner provide prewired plan;

Produce the real plan of joining: according to each related constraint of shipment, and the case position that provides of ship and the container stacking state in stockyard, determine the actual load position of each container; This module is the primary module of system, finishes the algorithm of prestowage in this module automatically;

Set up the vanning sequence table: the vanning shellfish position that provides according to equipment such as bridge machine and ship, and join plan in fact, set up the loading sequence of container, i.e. the shipment order of each container;

Vanning sequence real-time follow-up: the state of real-time follow-up container shipment, virtual condition according to vanning, the instant actual load position of adjusting vanning sequence and container, and can analyze the progress of vanning in good time, contingent conflict in analysis and the discovery vanning process provides the scheme that manages conflict.

Application process of the present invention comprises following concrete steps:

(1) Container Weight is divided into some weight grades by certain limit, and is parameter-definition type identification sign indicating number-mask j (j is a variable), identify different classes of container with harbour, box, size and weight grade;

(2) the prestowage personnel provide bridge machine work program (CWP) task list of each bridge crane in detail, and the workload of each CWP is subdivided into each is the subtask of unit with the operation block, each operation block is lined up task list in order to be provided, and indicate the mutual order relation of operation block of same shellfish position, and indicate in each CWP task queue the zero-time of operation block task at first;

(3) system-computed each parameter of going out to make a strategic decision required, and beginning automatic decision, at first reducing rotation amount, and avoid tyre crane to stride the place being scheduling to cardinal rule, select block as outlet point for current operation block, the tyre crane that is current operation is determined the work box district that is about to;

(4) utilize linear programming model to determine that concrete each outlet district goes out the case amount Q_Out of mask j in current decision-making time section _{K, j}

(5) determine suitable tyre crane outlet strategy, with guarantee tyre crane that each bridge crane when section in office always has a respective number for its for case, and balanced each tyre crane work, the minimizing tyre crane moves.

The present invention is complete process complexity, restrictive condition prestowage how automatically, can improve the harbour operating efficiency, reduces the harbour operation cost; Be applicable to the port environmental limit, the port that needs repeatedly planning just can finish whole ship prestowage.

Description of drawings

Fig. 1 is the frame diagram of automatic decision of the present invention.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described:

System of the present invention comprises following functional module: the prestowage knowledge base, and loading operation sequential analysis engine, the prestowage dynamic data base produces pre-prestowage plan, produces in fact to join plan, sets up the vanning sequence table, vanning sequence real-time follow-up.

Each module functions of system and effect are as follows:

(1) prestowage knowledge base: according to produced on-site scheduling and operational administrative personnel's experience, and the production operation standard, each rule that the allocate plan of setting up need be paid close attention to.

(2) loading operation sequential analysis engine: the vanning sequence is carried out real-time analysis,, whether the phenomenon of device conflict may take place in the prediction vanning sequence by analog computation.

(3) prestowage dynamic data base: carry the case ship for each, in case set up allocate plan for it, this database will produce, and finishes until shipment.This database real time record allocate plan.

(4) produce pre-prestowage plan: allocate plan and various production constraint according to the shipowner provide prewired plan.

(5) produce the real plan of joining: according to each related constraint of shipment, and the case position that provides of ship and the container stacking state in stockyard, determine the actual load position of each container.

(6) set up the vanning sequence table: the vanning shellfish position that provides according to equipment such as bridge machine and ship, and join plan in fact, set up the loading sequence of container, just the shipment order of each container.

(7) vanning sequence real-time follow-up: the state of real-time follow-up container shipment, virtual condition according to vanning, the instant actual load position of adjusting vanning sequence and container, and can analyze the progress of vanning in good time, contingent conflict in analysis and the discovery vanning process provides the scheme that manages conflict.

It is as follows to implement concrete grammar of the present invention and step:

(1) Container Weight is divided into some weight grades by certain limit, and is parameter-definition mask j (j is a variable), identify different classes of container with harbour, box, size and weight grade;

(2) the prestowage personnel provide the CWP task list of each bridge crane in detail, and the workload of each CWP is subdivided into each is the subtask of unit with the operation block, operation block is lined up task list in order to be provided, and indicate the mutual order relation of operation block of same shellfish position, and indicate in each CWP task queue the zero-time of operation block task at first;

(3) finish above two the step after, system enters the automatic decision flow process, as shown in Figure 1:

Module one: definition: the zero-time (time span is identical with interior zero-time such as setting 15 minutes herein) that begins and contain the operation block of vanning in----all task queues of (a) current time at first; (b) current decision-making time section T----is from the current time, have at least in all parallel operation block task lists an end till; (c) operation block of current the consideration----operation block of task of in current decision-making time section, casing.

Be located in the current decision-making time section, the tyre crane number is n, and the operation block number that is under the vanning state is m, and its pairing mask and case amount thereof are made as S_M respectively _{I, j1}, S_M _{I, j2}... S_M _{M, js}S_M wherein _{I, j}The case amount of the mask j of the required dress of expression operation block i; If $S_i=\underset{j}{\mathrm{\Σ}}S\_M_{i,j}$ The total amount of the required vanning of expression operation block i makes S=S ₁=S ₂=S _mAnd only need guarantee the case amount of different mask under the same operation block this moment, and need not to guarantee that these mask case into the order of shellfish; If $M_j=\underset{i}{\mathrm{\Σ}}S\_M_{i,j}$ The header tank amount of representing the mask j of required dress in the operation block of current consideration.(annotate: because the setting of current decision-making time section, some nonsynchronous operation block can be cut apart, and therefore only considers the task amount of this operation block in the time period of current decision-making, comprises the case amount of its corresponding each mask.For the outlet ratio of current each mask is established threshold value, thus the case amount of each mask when guaranteeing that this operation block is finally finished.)。

Module two: select block as outlet point for the work at present piece, the tyre crane that is current operation is determined the work box district that is about to.Cardinal rule: (1) makes the task of each work at present piece share a plurality of places as far as possible, increasing its candidate's case district, thereby reduces mould turnover as far as possible; (2) selection can provide the place of certain case amount for the work at present piece, dispatches to avoid tyre crane to stride the place because of workload is few in for the case process; (3) select the block of the possible less and existing tyre crane work of rotation amount.

Embody above principle with following parameter: at first establishing putting of the contained mask j of block k, to close the case amount be Q_M _{K, j}(consider the mould turnover factor, revise this value) by the isoparametric weighting of this block outlet efficient.A), note $W_{k,j}=(Q\_M_{k,j}*2\left(1.5\right)*M_j\backslash S-M_j)^2/\underset{j}{\mathrm{\Σ}}{M}_j^2$ (if minuend is greater than subtrahend, W then _{K, j}=0); B), according to whether be the mask of emphasis case or in the work at present piece case amount ratio of each mask, be W _{K, j}Weighting gets $W_k=\underset{j}{\mathrm{\Σ}}{a}_j{W}_{k,j}$ (important more, the big more mask of case amount ratio, weights are more little); C), determine certain threshold value, with W _kBlock k greater than this value gets rid of outside candidate block (workload very little), in remaining candidate's case district, according to case district weights W _k, distribute tyre crane from little to big, less than the tyre crane number n, the tyre crane that then has more is still from W as if candidate's case district number _kThe minimum block of value begins, and distributes successively, and these case districts will have two tyre cranes to participate in vanning simultaneously this moment; The block close to weights can preferentially be selected those case districts at existing tyre crane of current time.

Module three: utilize following linear programming model to determine that concrete each block k goes out the case amount Q_Out of mask j in current decision-making time section _{K, j}

The object of planning $\mathrm{MAX}\underset{k}{\mathrm{\Σ}}\underset{j}{\mathrm{\Σ}}(Q\_{\mathrm{Out}}_{k,j\_}{X}_0+\underset{s,t}{\mathrm{\Σ}}\frac{t}{s+t}Q\_{\mathrm{Out}}_{k,j\_}{X}_{s,t})$

The planning constraint $s.t.\underset{k}{\mathrm{\Σ}}(Q\_\mathrm{Ou}{t}_{k,j\_}{X}_0+\underset{s,t}{\mathrm{\Σ}}t*Q\_\mathrm{Ou}{t}_{k,j\_}{X}_{s,t})=\mathrm{or}\≥M_j---\left(1\right)$

Q_Out _k，j_X _s，t≤F _k，j(a _s，t) (3)

Q_Out _k，j_X ₀≤NF _k，j (4)

Annotate: (a), Q_Out _{K, j}_ X ₀In current decision-making time section, go out the unconfined case amount of having put the pass of mask j for block k; Q_Out _{K, j}_ X _{S, t}Be block k required number of times that turns over the s obstruction box of mask j in current decision-making time section, and such s obstruction box just is t to the pass case number put between the s+1 obstruction box.

(b), on behalf of the case amount sum of the mask j that each block goes out, (1) formula should equal the header tank amount of the mask j of required dress in the work at present piece, in the operation block that some has been cut apart, is being no more than under the prerequisite of threshold value, perhaps for the emphasis case, uses the sign of inequality herein; (2) formula is represented all outlets of each block, and total action number of mould turnover should have the individual upper limit; (3) formula and (4) formula represent in each block that unrestricted case amount and various types of obstruction box amount have individual higher limit, wherein F _{K, j}(a _{S, t}) belong to the case amount of the s obstruction box of mask j among the expression block k, and such s obstruction box closes the case number to putting between the s+1 obstruction box and just is t, NF _{K, j}The unconfined mould turnover number that belongs to mask j among the expression block k.

Object of planning function table illustrates under above constraint, when various mould turnover types and its outlet efficient weighting sum are got maximal value, and the value of each variable.If planning has feasible solution, can further draw each block k goes out mask j in current decision-making time section case amount Q_Out _{K, j}In current decision-making time section, go out the case amount Q_Out of mask j according to block k _{K, j}, the further concrete container of determining this time period shipment.(if this stockyard is that single tire hangs operation, then concentrates on relatively and concentrate among the stack of some,, then it is separated as far as possible) if twin tires hangs operation.

Module four: when model three no feasible solutions, by the fault-tolerant factor of increase time, increase current decision-making time section T, thereby relax constraint, if those number of blocks that have two tyre cranes to work simultaneously simultaneously are more, can suitably adjust the order of operation block, or directly propose the formation of modification piece task scheduling.Module five: because the outlet of a plurality of operation block may be taken into account in the place that has, need to determine suitable tyre crane outlet strategy, with guarantee tyre crane that each bridge crane when section in office always has a respective number for its for case, and balanced each tyre crane work, the minimizing tyre crane moves.Specifically be calculated as follows:

(a), if case district y _jAt operation block x _iThe initial moment existing two tasks, then w (x _I1y _j)=w (x _I2y _jThe ∞ of)=-.(said here two tasks are meant at operation block x _iThe initial moment delay within 15 minutes)

(b), if case district y _jAt operation block x _iThe initial moment do not have task (yet referring within 15 minutes), establishing single tyre crane work efficiency is v ₁Individual action/hour, this moment T _iV ₁For in time T _iIn, the maximum actuation number that tyre crane can be finished.Close the case amount by accessible the putting that system provides previously, and the rotation amount of rotation amount matrix computations estimates at T jointly _iIn time, the maximum vanning amount that tyre crane can be finished is designated as x _I1y _jAnd x _I2y _jWeight.

(c), if case district y _jAt operation block x _iExisting task of the initial moment, the work efficiency of establishing two tyre cranes is v ₂Individual action/hour (v ₂＜v ₁).This moment T _iV ₂For in time T _iIn, the maximum actuation number that tyre crane can be finished, similar 2) in calculating, (at this moment the speed of tyre crane is v to calculate the maximum vanning amount that tyre crane can finish ₂, rather than v ₁) in this case, calculate another parameter again: promptly add new operation block x _iTask case district y constantly _j, the influence that the task of originally having arranged is finished.This influence is noted, as one of decision parameters.Such as: y _jArrange the task of a key hold, then do not allowed operation block x _iTask add.

The theoretical foundation of model of the present invention is as follows:

One, the hypothesis of model:

1. same case district at most only holds 2 tyre cranes and works simultaneously

2. bridge machine work efficiency known (in working order be by artificial input or this bridge machine of system default last hour work efficiency or av eff); The tyre crane work efficiency is known, and bridge machine and tyre crane ratio were made as 1: 2 or 1: 1.5.

3. the hypothesis tyre crane can provide at any time, offsets the time of tire hanging cart by the tyre crane work efficiency is given a discount.

4. the case in the same row should belong to same harbour, same box at least.

Two, the prerequisite of model

The prestowage personnel should be by the following CWP task list that at length provides each bridge crane, and the workload of each CWP is subdivided into each is the subtask of unit with the operation block; Operation block is still lined up task list in order and is provided, in operation block vanning order of each vanning with and position, case position in shellfish all can exchange.

1. should indicate order relation (some operation block must could begin, or can mutually adjust order between some operation block) each other between the operation block of same shellfish position after some operation block is finished.

2. operate as if the existing case that unloads in certain operation block, the vanning operation being arranged again, then should think to unload case this moment and case to walk abreast, promptly unmatched back order, otherwise must be divided into two operation block.

3. all mask that need case and adhere to separately of each operation block, with and case amount respectively; Each operation block belongs in the cabin operation or deck operation, with and respectively to dividing the difference restriction of mask weight grade.

4. indicate in each CWP task queue, at first the zero-time of operation block task.

Three, the required major parameter of decision-making:

(1) some parameters of the task queue that constitutes by operation block among the CWP.

A. the zero-time of initialization piece in the task queue.

B. bridge machine vanning speed is unloaded case speed.

C. the case amount of unloading, the vanning amount of each operation block comprise the vanning amount of each mask that it comprises

D. special shellfish position (driving cabin) or specific bin (household freezer, dangerous material case etc.) be converted to the case amount of unloading common case.

E. the bridge machine moves, loads and unloads required times such as hatchway cover.

(2) some parameters in its contained each mask each case district in the stockyard of the operation block of preceding consideration

A. contained each the mask correspondence of work at present piece is in the case amount of putting the pass in each case district, the case amount of not putting the pass, the unconfined case amount of closing (promptly pressing the case number of not putting the pass thereon is 0, and what do not need that mould turnover can adorn puts the case amount of closing case) of having put.

B. defining the i obstruction box is: in the same row from top to bottom i do not put the pass case

C. the estimation of each case district rotation amount: can by as the rotation amount matrix of giving a definition provide: F _k=(a _Ij) a wherein _{I, j}Be illustrated among the case district k, all just are the number of those i obstruction boxs of j from the i obstruction box to the pass case number put the i+1 obstruction box from top to bottom.Weigh the as above outlet efficient of situation with j/i+j, its outlet efficient of clog-free case is 1.

Speed when d. the tyre crane in case district works independently; And two tyre cranes speed after the conversion when same block work jointly, because tyre crane is by manual dispatching, system is difficult to know relevant information.We only are concerned about these two average velocitys of tyre crane in model.

Claims (2)

1. container ship real time loading system based on bridge machine efficiency, it is characterized in that, comprise following functional module: the prestowage knowledge base, loading operation sequential analysis engine, the prestowage dynamic data base produces pre-prestowage plan, produces the real plan of joining, set up the vanning sequence table, vanning sequence real-time follow-up;

Described prestowage knowledge base: according to produced on-site scheduling and operational administrative personnel's experience, and the production operation standard, set up each rule that allocate plan need be paid close attention to;

Described loading operation sequential analysis engine: the vanning sequence is carried out real-time analysis,, whether the phenomenon of device conflict may take place in the prediction vanning sequence by analog computation;

Described prestowage dynamic data base: carry the case ship for each, in case set up allocate plan for it, this database will produce, and finishes this database real time record allocate plan until shipment;

The pre-prestowage plan of described generation: allocate plan and various production constraint according to the shipowner provide prewired plan;

Describedly produce the real plan of joining: according to each related constraint of shipment, and the case position that provides of ship and the container stacking state in stockyard, determine the actual load position of each container; This module is the primary module of system, finishes the algorithm of prestowage in this module automatically;

Describedly set up the vanning sequence table: the vanning shellfish position that provides according to equipment such as bridge machine and ship, and join plan in fact, set up the loading sequence of container, i.e. the shipment order of each container;

Described vanning sequence real-time follow-up: the state of real-time follow-up container shipment, virtual condition according to vanning, the instant actual load position of adjusting vanning sequence and container, and can analyze the progress of vanning in good time, contingent conflict in analysis and the discovery vanning process provides the scheme that manages conflict.

2. an application rights requires 1 method, it is characterized in that comprising following concrete steps:

(1) Container Weight is divided into some weight grades by certain limit, and is parameter-definition type identification sign indicating number-mask j (j is a variable), identify different classes of container with harbour, box, size and weight grade;

(2) the prestowage personnel provide bridge machine work program (CWP) task list of each bridge crane in detail, and the workload of each CWP is subdivided into each is the subtask of unit with the operation block, each operation block is lined up task list in order provide, and indicate the mutual order relation of the operation block of same shellfish position and indicate in each CWP task queue the zero-time of operation block task at first;

(3) system-computed each parameter of going out to make a strategic decision required, and beginning automatic decision, at first reducing rotation amount, and avoid tyre crane to stride the place being scheduling to cardinal rule, select block as outlet point for current operation block, the tyre crane that is current operation is determined the work box district that is about to;

(4) utilize linear programming model to determine that concrete each outlet district goes out the case amount Q_Out of mask j in current decision-making time section _{K, j}

(5) determine suitable tyre crane outlet strategy, with guarantee tyre crane that each bridge crane when section in office always has a respective number for its for case, and balanced each tyre crane work, the minimizing tyre crane moves.

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