CN107909191A - Spacecraft loads the trim layout method of article - Google Patents
Spacecraft loads the trim layout method of article Download PDFInfo
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- CN107909191A CN107909191A CN201711023965.2A CN201711023965A CN107909191A CN 107909191 A CN107909191 A CN 107909191A CN 201711023965 A CN201711023965 A CN 201711023965A CN 107909191 A CN107909191 A CN 107909191A
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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Abstract
The present invention relates to the trim layout method that a kind of spacecraft loads article, comprise the following steps：A. analysis treats tote product and holds the filling structure for loading article, determines the load mode of article, and preliminary trim placement scheme is established according to the spatial correspondence for loading article and spacecraft；B. spacecraft centroid and rotary inertia are calculated；C. different trim distributing adjustment modes is defined for preliminary trim placement scheme；D. calculate and optimize each trim distributing adjustment mode；E. the set-up procedure of each trim distributing adjustment mode of comparative analysis, determines that spacefarer carries out the minimal action number of trim layout, chooses and determines preferred trim placement scheme；F. assess and correct preferred trim placement scheme.The trim layout method that spacecraft according to the present invention loads article can realize that the in-orbit loading quick trim of article is laid out and optimizes placement scheme, be applicable in different types of loading article.
Description
Technical field
The present invention relates to the trim layout method that a kind of spacecraft loads article, more particularly to a kind of spacecraft to load article
The optimization method of quick trim layout.
Background technology
Gesture stability during to ensure that cargo ship is separated with space station, cargo ship has mass property before leaving the right or normal track higher
It is required that.Cargo ship achievees the purpose that to optimize whole ship mass property by adjusting article layout in cabin.The problem belongs to Constrained
Three-dimensional layout's optimization problem.With ground stage layout compared with trim problem, in-orbit layout also has partly discarded with trim
Material flow characteristic is difficult to accurately to know, distributing adjustment operation is implemented by spacefarer is in-orbit, needed to tackle cargo ship and promptly leave the right or normal track
The difficult points such as situation, propose high request to layout and trim quality, efficiency, there is the difficulty for further increasing layout and trim.
There is such problem certain complexity, the unit such as challenge, NASA, ESA, JAXA to have put into a large amount of manpowers and wealth
Power carries out spacecraft loading layout optimizing research.ATV cargo ships employ auxiliary with trim dedicated for solving the problems, such as to be laid out
Design software CAST (Cargo Accommodation Support Tool) is helped, article can quickly be obtained based on heuritic approach
Layout and trim scheme.HTV has carried out numerous studies to cargo layout and trim optimization algorithm.It is at present, domestic that there has been no system
Solve the problems, such as the in-orbit layout of spacecraft and the method for trim, existing layout optimization method, which is difficult to use in, solves the in-orbit article of spacecraft
Location problem.With the development of China's manned spaceflight technology, spacecrafts rendezvous task number is continuously increased, and layout and trim are optimized
Demand will increasingly increase.It is quick to obtain the in-orbit layout of cargo ship and trim scheme, and its validity and optimality are carried out
Quantitative analysis, is current problem to be solved.
The content of the invention
It is an object of the present invention to solve the above problems, there is provided a kind of in-orbit article that loads of spacecraft quickly matches somebody with somebody plain cloth
Office and the method optimized.
To achieve the above object, the present invention provides the trim layout method that a kind of spacecraft loads article, including following step
Suddenly：
A. analysis treats tote product and holds the filling structure for loading article, the load mode of article is determined, according to loading
The spatial correspondence of article and spacecraft establishes preliminary trim placement scheme；
B. spacecraft centroid and rotary inertia are calculated；
C. different trim distributing adjustment modes is defined for preliminary trim placement scheme；
D. calculate and optimize each trim distributing adjustment mode；
E. the set-up procedure of each trim distributing adjustment mode of comparative analysis, determines that spacefarer carries out the minimum behaviour of trim layout
Make number, choose and determine preferred trim placement scheme；
F. assess and correct preferred trim placement scheme.
According to an aspect of the present invention, in a steps, the project bag of tote product and filling structure is treated in analysis
Include：Logic containment relationship, loading sequence relation and spatial correspondence.
According to an aspect of the present invention, in the b step, spacecraft centroid is by that will load article and spacecraft
Barycenter weighted average calculation obtain.
According to an aspect of the present invention, in the b step, when rotary inertia for calculating spacecraft, is needed to tote
Product carry out abbreviation, and simplifying method includes：Particle method and uniform density method.
According to an aspect of the present invention, in the Step d, trim placement scheme is optimized using optimization algorithm
Calculate, wherein optimization algorithm includes：Enumerative technique, heuritic approach and genetic algorithm.
According to an aspect of the present invention, in the step e, the performance indicator of competition trim placement scheme includes：Matter
Flow characteristic index, ergonomic's index and weighted comprehensive index.
According to an aspect of the present invention, in the f steps, preferred trim placement scheme is assessed as assessment spacecraft matter
The calculation error of flow characteristic.
According to an aspect of the present invention, in the f steps, the calculation error includes loading article measurement or estimates
Count error, tote product centroid measurement or evaluated error, load article error in mounting position and human error.
According to an aspect of the present invention, in the f steps, assessing the method for calculation error includes extremum method and probability
Analytic approach.
The trim layout method that spacecraft according to the present invention loads article adapts to different types of loading article, and optimization is searched
Rope can cover most of solution space.By two-stage optimizing, while consider that mass property optimizes and ergonomic's property, can be
Ensure spacecraft to leave the right or normal track on the premise of security and at utmost mitigate spacefarer's workload；
The trim layout method that spacecraft according to the present invention loads article uses Engineering Design, it is contemplated that in-orbit period
Part cargo shipment article quality characteristic inaccuracy situation, can quickly analyze spacecraft whole ship mass property satisfaction degree；
The trim layout method that spacecraft according to the present invention loads article uses modularized design, according to task feature tune
Whole optimization algorithm and optimization design variable, easily and flexibly in " optimization efficiency highest --- optimization is best in quality ", " spacecraft
Mass property is optimal --- and distributing adjustment workload is minimum " preference Sexual behavior mode is carried out between different evaluation standard.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 schematically shows that spacecraft according to the present invention loads the flow chart of the trim layout method of article.
Embodiment
The description of this specification embodiment should be combined with corresponding attached drawing, and attached drawing should be used as the one of complete specification
Part.In the accompanying drawings, the shape of embodiment or thickness can expand, and to simplify or conveniently indicate.Furthermore respectively tied in attached drawing
The part of structure will be to describe to illustrate respectively, it is notable that is not illustrated not shown in attached drawing or by word
Element, is the form known to a person of ordinary skill in the art in technical field.
The description of embodiments herein, any reference in relation to direction and orientation, is for only for ease of description, and cannot manage
Solve as any restrictions to the scope of the present invention.It can be related to the combination of feature below for the explanation of preferred embodiment,
These features may be individually present or combine presence, and the present invention is not defined in preferred embodiment especially.The present invention
Scope be defined by the claims.
Fig. 1 schematically shows that spacecraft according to the present invention loads the flow chart of the trim layout method of article.Such as Fig. 1 institutes
Show, the trim layout method that spacecraft according to the present invention loads article comprises the following steps：
A. analysis treats tote product and holds the filling structure for loading article, the load mode of article is determined, according to loading
The spatial correspondence of article and spacecraft establishes preliminary trim placement scheme；
B. spacecraft centroid and rotary inertia are calculated；
C. different trim distributing adjustment modes is defined for preliminary trim placement scheme；
D. calculate and optimize each trim distributing adjustment mode；
E. the set-up procedure of each trim distributing adjustment mode of comparative analysis, determines that spacefarer carries out the minimum behaviour of trim layout
Make number, choose and determine preferred trim placement scheme；
F. assess and correct preferred trim placement scheme.
A kind of embodiment according to the present invention, in above-mentioned a steps, analysis treats tote product and holds to treat tote product
Filling structure between relation.In the present embodiment, filling structure can be any contain things such as overhead baggage rack unit lattice
Structure.
In the present embodiment, analysis loads article and the project of filling structure and includes：Logic containment relationship, loading sequence
Relation and spatial correspondence.Wherein, logic containment relationship includes loading article and loads article, loads article and filling structure
Between containment relationship.For example, being a kind of equipment mounted in article, equipment is loaded into package, equipment or is mounted with equipment
Package be loaded into shelf load units lattice.Loading sequence relation：The loading sequence of the loading article of diverse location is different, takes
The workload for putting loading article has differences.For example, shelf pick and place more convenient close to the package of passage, shelf are close to spacecraft
The package of bulkhead needs the package that will be close to passage to remove before picking and placeing.Spatial correspondence：Article and trim are loaded in the present invention
, it is necessary to calculate the mass property of spacecraft during layout, to meet that spacecraft can be well when being separated with space station
Flight attitude is controlled, therefore accurate calculate is needed to the mass property of whole spacecraft.When calculating whole spacecraft mass characteristic,
The barycenter of article need to clearly be loaded relative to the coordinate value of space vehicle coordinates system.Article barycenter is relative to whole space vehicle coordinates system
Coordinate value be to be sat according to the order of " load article body coordinate system → filling structure coordinate system → space vehicle coordinates system "
What mark was converted to.
A kind of embodiment according to the present invention, in above-mentioned b step, spacecraft centroid is by that will load article and boat
What the barycenter weighted average calculation of its device obtained.In the present embodiment, the barycenter of whole spacecraft is according to principle of moment balance,
The barycenter weighted average calculation for loading article and spacecraft is obtained., it is necessary to loading article when calculating spacecraft rotary inertia
Abbreviation is carried out, simplifying method includes：Particle method and uniform density method.Wherein, particle method is：Load article quality and concentrate on barycenter
Place, is equivalent to particle and carries out rotary inertia calculating, suitable for all loading articles.Uniform density method is：It is equal to load article density
It is even, suitable for loading article known to shape.
A kind of embodiment according to the present invention, in above-mentioned step c, it is fixed to define different trim distributing adjustment modes
The selectable trim distributing adjustment mode of justice, while define the selection priority in different adjustment modes.In order to simplify spacefarer
Operation, simple and practicable distributing adjustment mode has higher priority, and typical priority adjustment mode operation is as follows：
(1) shelf load units lattice close to the item transfer of channel position to vacant load units lattice；
(2) shelf load units lattice carry out location swap close to two or more articles of channel position；
(3) article of same shelf load units lattice is loaded location swap.
A kind of embodiment according to the present invention, in above-mentioned Step d, using optimization algorithm to trim distributing adjustment mode
Calculating is optimized, wherein optimization algorithm includes：Enumerative technique, heuritic approach and genetic algorithm.Enumerative technique, heuritic approach and
Genetic algorithm is respectively：
Enumerative technique：Enumerative technique solves trim problem main flow to calculate the layout met the requirements in the range of global or local
Adjustment mode, calculates the centroid position of each feasible adjustment mode and is recorded, obtained by more all feasible adjustment modes
Go out optimal case, the enumerative technique in global scope can ensure the optimality of optimum results.
Heuritic approach：Heuritic approach is a kind of method that rule of thumb rule carrys out process problem, its main feature is that solving
Past experience is certainly utilized during problem, effective method seeks answer for selection.Give priority in arranging for during layout designs
Big goods and materials are influenced on spacecraft mass characteristic, assess current trim effect in real time, and carry out next step trim based on this
Layout.The advantages of heuritic approach, is efficient.
Genetic algorithm：Genetic algorithm is to simulate a kind of algorithm of nature biotechnology evolutionary mechanism, that is, follows the survival of the fittest, excellent
Win the bad rule eliminated.Genetic algorithm is a kind of global optimization's method, there is provided a kind of solving complexity system optimization problem is led to
With frame, there is very strong robustness to the species of problem.In calculating process, reflect dress to load order as chromosome coding
Load relation, using the inverse of barycenter deviation as fitness value, placement scheme is realized by the selection and Crossover Strategy of genetic algorithm
Evolve.Genetic algorithm is higher than enumerative technique in terms of efficiency, while can obtain close to optimal placement scheme.
A kind of embodiment according to the present invention, in above-mentioned step e, chooses the performance indicator bag of trim placement scheme
Include：Mass property index, ergonomic's index and weighted comprehensive index.Wherein, weighted comprehensive index considers that mass property meets
Situation and spacefarer's workload, by a certain percentage the factor take its balance, easy to scheme implement.
It is that the set-up procedure in preliminary trim placement scheme and each optimization in above-mentioned Step d are matched somebody with somebody in above-mentioned step e
Set-up procedure in plain cloth office adjustment mode compares analysis, so as to calculate and determine that spacefarer carries out trim distributing adjustment behaviour
Make required minimum number, so as to choose optimal trim placement scheme on the basis of preliminary trim placement scheme.
In present embodiment, the single operation step of spacefarer is defined as an article and is removed from former " loaded " position, and in subsequent operation
In be installed to original position or new position.
A kind of embodiment according to the present invention, in above-mentioned f steps, assesses preferred trim placement scheme as assessment space flight
The calculation error of device mass property.In the present embodiment, calculation error includes loading article measurement or evaluated error, loading
Article centroid measurement or evaluated error, load article error in mounting position and other artificial caused errors.In this implementation
In mode, assessing the method for calculation error includes extremum method and probability analysis method.Wherein, extremum method is：According to extreme case meter
Calculating article quality characteristic error causes the maximum of whole ship mass property calculation error, it is assumed that error tends to maximize.Probability point
Analysis method：According to article quality characteristic error excursion, the mass property error amount of each " loaded " position article is randomly assigned.Every time
Experiment calculates spacecraft mass characteristic error with definite Individual Items mass property error amount.By largely being repeated, with
Machine is tested, and result of the test is counted, and show that the probability of error is distributed.Based on 3 σ criterions (probability ＞ 99.7%) or 2 σ criterions
(probability ＞ 97%) determines the mass property calculation error of spacecraft.Can the side of learning by the error for assessing trim placement scheme
The unknown caused whole spacecraft mass property calculation error of part article quality characteristic, special according to the quality of spacecraft in case
Property calculation error is effectively corrected, so that optimization efficiency highest is obtained, the optimal trim placement scheme of loading pattern.
The trim layout method that spacecraft according to the present invention loads article adapts to different types of loading article, and optimization is searched
Rope can cover most of solution space.By two-stage optimizing, while consider that mass property optimizes and ergonomic's property, can be
Ensure spacecraft to leave the right or normal track on the premise of security and at utmost mitigate spacefarer's workload；
The trim layout method that spacecraft according to the present invention loads article uses Engineering Design, it is contemplated that in-orbit period
Part cargo shipment article quality characteristic inaccuracy situation, can quickly analyze spacecraft whole ship mass property satisfaction degree；
The trim layout method that spacecraft according to the present invention loads article uses modularized design, according to task feature tune
Whole optimization algorithm and optimization design variable, easily and flexibly in " optimization efficiency highest --- optimization is best in quality ", " spacecraft
Mass property is optimal --- and distributing adjustment workload is minimum " preference Sexual behavior mode is carried out between different evaluation standard.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention god.
Claims (9)
1. a kind of spacecraft loads the trim layout method of article, it is characterised in that comprises the following steps：
A. analysis treats tote product and holds the filling structure for loading article, determines the load mode of article, according to loading article
Preliminary trim placement scheme is established with the spatial correspondence of spacecraft；
B. spacecraft centroid and rotary inertia are calculated；
C. different trim distributing adjustment modes is defined for preliminary trim placement scheme；
D. calculate and optimize each trim distributing adjustment mode；
E. the set-up procedure of each trim distributing adjustment mode of comparative analysis, determines that spacefarer carries out the minimal action time of trim layout
Number, chooses and determines preferred trim placement scheme；
F. assess and correct preferred trim placement scheme.
2. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in a steps
In, analysis treats that the project of tote product and filling structure includes：Logic containment relationship, loading sequence relation and space, which correspond to, closes
System.
3. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in the b step
In, spacecraft centroid is by the way that the barycenter weighted average calculation for loading article and spacecraft is obtained.
4. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in the b step
In, need to carry out abbreviation to loading article when calculating the rotary inertia of spacecraft, simplifying method includes：Particle method and uniform density
Method.
5. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in the Step d
In, calculating is optimized to trim distributing adjustment mode using optimization algorithm, wherein optimization algorithm includes：It is enumerative technique, heuristic
Algorithm and genetic algorithm.
6. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in the step e
In, the performance indicator of competition trim placement scheme includes：Mass property index, ergonomic's index and weighted comprehensive index.
7. spacecraft according to claim 1 loads the trim layout method of article, it is characterised in that in the f steps
In, assess calculation error of the preferred trim placement scheme for assessment spacecraft mass characteristic.
8. spacecraft according to claim 7 loads the trim layout method of article, it is characterised in that in the f steps
In, the calculation error includes loading article measurement either evaluated error, tote product centroid measurement or evaluated error, loading
Article error in mounting position and human error.
9. spacecraft according to claim 8 loads the trim layout method of article, it is characterised in that in the f steps
In, assessing the method for calculation error includes extremum method and probability analysis method.
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| CN201711023965.2A CN107909191A (en) | 2017-10-27 | 2017-10-27 | Spacecraft loads the trim layout method of article |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112257167A (en) * | 2020-10-30 | 2021-01-22 | 贝壳技术有限公司 | Method and device for determining article placement scheme based on genetic algorithm |
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| CN101751622A (en) * | 2009-12-22 | 2010-06-23 | 武汉理工大学 | Pre-turning box finishing method of dock export carton of large-scale container before shipping |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112257167A (en) * | 2020-10-30 | 2021-01-22 | 贝壳技术有限公司 | Method and device for determining article placement scheme based on genetic algorithm |
| CN112257167B (en) * | 2020-10-30 | 2022-03-29 | 贝壳找房(北京)科技有限公司 | Method and device for determining article placement scheme based on genetic algorithm |
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