CN108182552A - Loading-unloading method, system, equipment and the storage medium of container ship - Google Patents

Loading-unloading method, system, equipment and the storage medium of container ship Download PDF

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CN108182552A
CN108182552A CN201810107096.XA CN201810107096A CN108182552A CN 108182552 A CN108182552 A CN 108182552A CN 201810107096 A CN201810107096 A CN 201810107096A CN 108182552 A CN108182552 A CN 108182552A
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formula group
container
axis
weight vectors
offset
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CN108182552B (en
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钟宏亮
俞铭琪
滕兴惠
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Shanghai Xijing Technology Co ltd
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Shanghai West Well Mdt Infotech Ltd
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract

The present invention provides the loading-unloading method of container ship, system, equipment and storage medium, wherein, method includes：Establish cartesian coordinate system, it demarcates land and refers to point coordinates O (0,0), X-axis is beam of hull direction, and Y-axis is hull height direction, initializes the reference point coordinates P (x of container, and the reference point coordinates O ' (x ' of cabin y), y '), ranks number (m, n) of each container on current shellfish position；If the vectorial θ of impact factor, and set weight vectors ω of the impact factor for X-axisxWith the weight vectors ω for Y-axisy, pass through the loss function l to X-axisεxWith the loss function l of corresponding Y-axisεyCalculating come to weight vectors ωxAnd ωyIt is modified, when get next container predicts the ranks number of the container in Bei Weishang in next period when putting coordinate position using about the formula group of m and n.The present invention can dynamically adjust offset, improve the accuracy of predicted value.

Description

Loading-unloading method, system, equipment and the storage medium of container ship
Technical field
The present invention relates to vehicle networked information sharing field, specifically, being related to the loading-unloading method of container ship, being System, equipment and storage medium.
Background technology
Existing STOWAGE PLAN system is to be carried out by under manpower at the scene operating environment by observing container stacking position What data record arranged, this process can cause the waste of human resources, operating efficiency not high and exist potential safe hidden The drawbacks such as trouble.The system of position is piled up therefore, it is necessary to a set of automatic identification container to substitute traditional record scheme.In reality Operation process in, the suspender of bridge crane can automatically generate a plc data when grasping movement carries out.And this data then wraps Reference distance information of the current suspender relative to bridge crane somewhere fixed position is contained.Our real-time STOWAGE PLAN system is just combined with What PLC information was judged and was predicted to the stacking position of container.(PLC is Programmable Logic The abbreviation of Controller, abbreviation programmable logic controller (PLC) is kind exclusively for the number applied and designed in industrial settings Arithmetic operation electronic system.It uses a kind of programmable memory, inside it storage perform logical operation, sequential control, Periodically, the instruction of the operations such as counting and arithmetical operation, is controlled various types of by digital or analog input and output Mechanical equipment or production process.)
However, PLC information is relatively-stationary for bridge crane, but also can be by extraneous ring for ship The interference in border and generate certain deviation, this deviation is enough to cause the error of prediction.For example, the variation of tide, stormy waves it is dry Disturb and hull movement etc..
Fig. 1 is the schematic diagram of the loading-unloading method of the container ship of the prior art.Fig. 2 is the container ship of the prior art Mobile schematic diagram occurs for container in oceangoing ship.As illustrated in fig. 1 and 2, after the container ship 10 on sea 20 pulls in shore, on land 30 Bridge crane 40 container 11 on container ship 10 is operated.But due to many factors (such as：The variation of tide, wind Wave interference and hull movement etc.) collective effect under, container ship 10 can have been at one shaking state in, example Such as, container ship is moved to the position of container ship 10 ' in rocking, then container can be driven also to be moved into 11 ' position.This The position that can cause plc data and practical container is inconsistent, and causes lifting operation that mistake etc. occurs.Moreover, because It is many factors collective effect, it is also difficult to be compensated by simple means.
Therefore, the present invention provides a kind of loading-unloading method of container ship, system, equipment and storage mediums.
Invention content
For the problems of the prior art, the purpose of the present invention is to provide the loading-unloading method of container ship, system, Equipment and storage medium, in order to avoid or reduce environment reason interference, can be by history by the function of self study Generated sample bias amount is learnt under various environment in data, real-time update system, and dynamic adjusts offset, is improved pre- The accuracy of measured value ensures that predicted value is in the rational scope of application.
The embodiment of the present invention also provides a kind of loading-unloading method of container ship, includes in the handling goods stage following Step：
S101, cartesian coordinate system is established, coordinate origin refers to point coordinates O (0,0) for calibration land, and X-axis is hull Width direction, Y-axis are hull height direction, initialize the reference point coordinates P (x, y) of container and the reference point coordinates O ' of cabin (x′,y′)；
Land is obtained with reference to point coordinates O, is adopted according to the present container shellfish position ranks number (m, n) artificially corrected and scene Reference coordinate P of the container of collection with respect to O calculates the coordinate for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' The formula group (1) of information：
Formula group (1) is
Wherein, w is the width of the container, and h is the height of the container；
S102, formula group (2) is obtained according to formula group (1)：
Formula group (2) is
S103, the vectorial θ=(θ for setting impact factor1,θ2,…,θn), wherein, θnCharacterization is n-th of impact factor；And And set weight vectors ω of the impact factor for X-axisx=(ωx,1,ωx,2,…,ωx,n) and impact factor for Y-axis weight Vectorial ωy=(ωy,1,ωy,2,…,ωy,n), ω during initializationxAnd ωyIn each value obtained at random in the range of [0,1] It takes；
Obtain the formula group (4) about offset：
Formula group (4) is
Wherein, ε 'xIt is offset of the impact factor in X-direction, ε 'yIt is offset of the impact factor in Y direction；
S104, after the action of handling goods terminates each time, the current offset for calculating handling goods action for obtain about The formula group (5) of real offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the offset of X-direction, εyIt is that current handling goods is acted in Y direction Offset；
S105, pass through formula group (4) and formula group (5), the loss function l of the corresponding X-axis of acquisitionεxWith the loss of corresponding Y-axis Function lεy：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy =0.5h；
S106, by two loss functions come to weight vectors ωxAnd ωyIt is modified；
S107, by obtaining the new newer expression formula of weight vectors in makeover process, such as formula group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
S108, the offset being calculated is introduced into formula group (2), obtains formula group (8)：
Formula group (8) is
S109, formula group (9) is obtained to formula (8) progress rounding：
S110, tripping action next time is corrected according to the result of formula group (9).
Preferably, the step S106 includes：
By two loss functions come to weight vectors ωxAnd ωyIt is modified, optimization method is formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0Be also one [0,1] in the range of it is random to Amount；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors；
The step S107 includes：
By being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7).
Preferably, in the handling goods stage, the value of container reference coordinate P (x, y) next time is brought into formula (9) ranks number of the result obtained in as the container position.
Preferably, the reference point of the container is the top center point of each container.
Preferably, the reference point of the cabin is the bottom central point of cabin.
Preferably, the impact factor include container total amount, the variation of tide, the interference of stormy waves and hull it is mobile, At least one of the interfering with each other during operation simultaneously of multiple shellfishes position.
The embodiment of the present invention also provides a kind of cargo loading system of container ship, is used to implement above-mentioned container ship The loading-unloading method of oceangoing ship, including：
Coordinate system module, establishes cartesian coordinate system, and coordinate origin is calibration land with reference to point coordinates O (0,0), X-axis For beam of hull direction, Y-axis is hull height direction, initializes the reference point coordinates P (x, y) of container and the reference point of cabin Coordinate O ' (x ', y ')；
Land is obtained with reference to point coordinates O, is adopted according to the present container shellfish position ranks number (m, n) artificially corrected and scene Reference coordinate P of the container of collection with respect to O calculates the coordinate for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' The formula group (1) of information：
Formula group (1) is
Wherein, w is the width of the container, and h is the height of the container；
Shellfish position prediction module obtains formula group (2) according to formula group (1)：
Formula group (2) is
Offset prediction module, if vectorial θ=(θ of impact factor1,θ2,…,θn), wherein, θnCharacterization is n-th of shadow Ring the factor；And set weight vectors ω of the impact factor for X-axisx=(ωx,1,ωx,2,…,ωx,n) and impact factor for Y The weight vectors ω of axisy=(ωy,1,ωy,2,…,ωy,n), ω during initializationxAnd ωyIn each value in [0,1] range Interior random acquisition；
Obtain the formula group (4) about offset：
Formula group (4) is
Wherein, ε 'xIt is offset of the impact factor in X-direction, ε 'yIt is offset of the impact factor in Y direction；
Real offset module, after the action of handling goods terminates each time, the current offset for calculating handling goods action To obtain the formula group (5) about real offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the offset of X-direction, εyIt is that current handling goods is acted in Y direction Offset；
Loss forecasting module by formula group (4) and formula group (5), obtains the loss function l of corresponding X-axisεxWith corresponding Y The loss function l of axisεy：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy =0.5h；
Correcting module is lost, by two loss functions come to weight vectors ωxAnd ωyIt is modified；
Weight vectors update module, by obtaining the new newer expression formula of weight vectors, such as formula in makeover process Group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
The offset being calculated is introduced into formula group (2) by offset update module, obtains formula group (8)：
Formula group (8) is
Floor module carries out rounding to formula (8) and obtains formula group (9)：
Correcting module is acted, tripping action next time is corrected according to the result of formula group (9).
Preferably, it is described to lose correcting module by two loss functions come to weight vectors ωxAnd ωyIt is modified, it is excellent Change equation is formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0Be also one [0,1] in the range of it is random to Amount；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors；
The step S107 includes：
By being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7).
The embodiment of the present invention also provides a kind of handling facilities of container ship, including：
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to perform the handling of above-mentioned container ship via the executable instruction is performed The step of pallet piling up method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held The step of loading-unloading method of above-mentioned container ship is realized during row.
Loading-unloading method, system, equipment and the storage medium of the container ship of the present invention increase the function of self study, Can be by learning to generated sample bias amount under environment various in historical data, real-time update system, dynamic is adjusted Whole offset improves the accuracy of predicted value, ensures that predicted value is in the rational scope of application.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon.
Fig. 1 is the schematic diagram of the loading-unloading method of the container ship of the prior art.
Fig. 2 be the prior art container ship in container mobile schematic diagram occurs.
Fig. 3 is that the loading-unloading method of the container ship of the present invention carries out implementation schematic diagram.
Fig. 4 is the module diagram of the cargo loading system of the container ship of the present invention.
Fig. 5 is the structure diagram of the handling facilities of the container ship of the present invention.And
Fig. 6 is the structure diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, these embodiments are provided so that the present invention will Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure Icon note represents same or similar structure, thus will omit repetition thereof.
Fig. 3 is that the loading-unloading method of the container ship of the present invention carries out implementation schematic diagram.As shown in figure 3, the present invention The loading-unloading method of container ship includes the following steps in the goods stage is loaded and unloaded：
S101, cartesian coordinate system is established, coordinate origin refers to point coordinates O (0,0) for calibration land, and X-axis is hull Width direction, Y-axis are hull height direction, initialize the reference point coordinates P (x, y) of container and the reference point coordinates O ' of cabin (x′,y′)；
Land is obtained with reference to point coordinates O, is adopted according to the present container shellfish position ranks number (m, n) artificially corrected and scene Reference coordinate P of the container of collection with respect to O calculates the coordinate for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' The formula group (1) of information：
Formula group (1) is
Wherein, w is the width of container, and h is the height of container.
S102, during container handling, mechanical system can suspender grab unload action generate when discharge PLC information, This information contains location information (x, y) of the current suspender relative to permanent datum O.Assuming that in other no disturbing factors Situation, the relative position information of our floating reference point O ' and permanent datum O do not shift, i.e. runout information ε is still (0,0).Column locations information where then we can calculate current work container by formula 2 on shellfish position.Root Formula group (2) is obtained according to formula group (1)：
Formula group (2) is
Further according to the naming rule of STOWAGE PLAN shellfish position corresponding number is assigned for m and n.In practical operation, we can find m and The value of n is not always integer, and according to actual conditions it is understood that container in the ranks number of Bei Weishang can only be integer.Institute With the present invention optimizes amendment by the unloading stage to m and n.
S103, the vectorial θ=(θ for setting impact factor1,θ2,…,θn), wherein, wherein, θ1Characterization be the 1st influence because Son, and so on θnCharacterization is n-th of impact factor, they are that hull can be caused mobile or cause floating reference point inclined The feature of shifting, while these impact factors must be the numerical value that can be quantized, such as container quantity of placement or unloading, stormy waves The factors such as size.These impact factors can be determined according to can actually be collected situation, once the scale of impact factor determines , then the model of this prediction drift amount also determines that.Meanwhile each factor is also for the influence degree of offset Inconsistent, so we also need to introduce weight vectors, if impact factor is for the weight vectors ω of X-axisx=(ωx,1, ωx,2,…,ωx,n) and impact factor for Y-axis weight vectors ωy=(ωy,1,ωy,2,…,ωy,n), ω during initializationxWith ωyIn each value obtained at random in the range of [0,1].In the present invention, due to initialization when this weight vectors In each value be to be obtained at random in the range of [0,1], to update this weight vectors by repeatedly learning later Value, and pass through and constantly optimize this weight vectors approaching to reality value.
After certain tripping action terminates, it is formula group (4) that we, which can calculate this time its prediction drift amount,：
Formula group (4) is
Wherein, ε 'xIt is prediction drift amount of the impact factor in X-direction, ε 'yIt is that impact factor is inclined in the prediction of Y direction Shifting amount；
S104, after the action of handling goods terminates each time, the current offset for calculating handling goods action for obtain about The formula group (5) of real offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the real offset of X-direction, εyIt is that current handling goods is acted in Y-axis side To real offset；
S105, pass through formula group (4) and formula group (5), the loss function l of the corresponding X-axis of acquisitionεx(being directed to transversal displacement) With the loss function l of corresponding Y-axisεy(being directed to vertical misalignment amount)：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy =0.5h,
S106, by two loss functions come to weight vectors ωxAnd ωyIt is modified, optimization method is formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0Be also one [0,1] in the range of it is random to Amount；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors.
S107, by being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
After multiple study, the weight vectors of model can gradually restrain and approaching to reality value, while loss function 0 will be always remained as, model is not updating at this time, and the relationship between there are several impact factors, which changes, to be destroyed Until balance originally, model will reenter learning state.
S108, the offset being calculated is introduced into formula group (2), obtains formula group (8)：
Formula group (8) is
S109, integer is reasonable for the numerical value ensured, carrying out rounding to formula (8) obtains formula group (9)：
S110, tripping action next time is corrected according to the result of formula group (9).
In the present embodiment, load and unload in the goods stage, the value of container reference coordinate P (x, y) next time is brought into formula (9) ranks number of the result obtained in as the container position.
In the present embodiment, by formula group (6) s.t.lεx (ωxThe mode solve of)=0 can be：
Set a new equation 11
Equation 11 is
It solves the equation and finds a ωxSo thatIt is minimum.
It is first rightIt asks about ωxPartial derivative, be shown below：
0=ωx-ωx,t-τ·sign(ε′x-εx)·θt；Wherein, sign (ε 'x-εxIf the ε ' of)=1x-εx>0, otherwise for- 1。
It obtains about ωxNew equation 12：ωx=ωx,t+τ·sign(εx-εx)·θt；
Equation 12 is updated in equation 11, obtains oneEquation about τ：
It solves the equation and finds a τ so thatIt is minimum.
It is rightSeek the local derviation about τ：
0=τ θt 2+lεx
It obtains
Finally willIt is updated in equation 11, obtains the final result of optimization method：
It similarly, can be in the hope of ωy,t+1=ωy,t+5ign(εy-ε′y)·τt,y·θt, details are not described herein again for derivation.
In the present embodiment, the reference point of container is the top center point of each container, and but not limited to this.
In the present embodiment, the reference point of cabin is the bottom central point of cabin, and but not limited to this.
In the present embodiment, impact factor include container total amount, the variation of tide, the interference of stormy waves and hull it is mobile, At least one of the interfering with each other during operation simultaneously of multiple shellfishes position, but not limited to this.
The operational process of the present invention is introduced below by way of a specific embodiment：
If land reference coordinate O is (0,0), the coordinate of current suspender is P (x, y)=[83.43, -0.65]；Last time meter Calculate reference coordinate point O ' (x ', y ')=[69.21, -10.08] relative to cabin obtained；
Current impact factor θt=[- 17.5,6,1,38], wherein, for -17.5t, (negative value is to carry to the weight of container Goods)；Wind scale is 6 grades；Tide is 1m；The shellfish bit quantity that operation ship only carries：38 shellfishes.More has an impact effect when having excavated Factor after, the dimension of this impact factor and corresponding weight also will accordingly increase in corresponding quantity.
The weighted value ω obtained after last time updatex=[0.460,0.451, -0.672,0.23] and ωy= [0.143,-0.129,1.532,0.022]；
The width of container and high respectively w=[2.35] and h=[2.35]；
The row and column that current container can be calculated by data above and equation 10 is respectively m=[5] and n=[4], I.e. the container lot is in the 5th row, the 4th row.
Weighted value is updated again further according to these data and equation 9
ωx,t+1=[0.459,0.451, -0.670,0.23]；
ωy,t+1=[0.153, -0.132,1.531,0.013]；
After successive ignition, ωxAnd ωyIt will tend towards stability.
The present invention can also pass through UI clients, real-time display STOWAGE PLAN information；According to actual conditions, generate what can be printed STOWAGE PLAN data；Generated STOWAGE PLAN information can be sent to system docking side with the form of message.
Can the loading position of container be predicted according to the PLC information after calibration using the user of the present invention；According to each The prediction model of the offset of change, more new system；According to the perception to external environment, the deviation of plc data is shifted to an earlier date Prediction.
So the loading-unloading method of container ship of the invention increases the function of self study, it can be by history Generated sample bias amount is learnt under various environment in data, real-time update system, and dynamic adjusts offset, is improved pre- The accuracy of measured value ensures that predicted value is in the rational scope of application.
Fig. 4 is the module diagram of the cargo loading system of the container ship of the present invention.As shown in figure 4, the present invention also carries For a kind of cargo loading system 9 of container ship, the loading-unloading method of above-mentioned container ship is used to implement, including：Coordinate It is module 901, establishes cartesian coordinate system, coordinate origin refers to point coordinates O (0,0) for calibration land, and X-axis is beam of hull Direction, Y-axis be hull height direction, initialize container reference point coordinates P (x, y) and cabin reference point coordinates O ' (x ', y′)；
Land is obtained with reference to point coordinates O, is adopted according to the present container shellfish position ranks number (m, n) artificially corrected and scene Reference coordinate P of the container of collection with respect to O calculates the coordinate for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' The formula group (1) of information：
Formula group (1) is
Wherein, w is the width of container, and h is the height of container；
Shellfish position prediction module 902 obtains formula group (2) according to formula group (1)：
Formula group (2) is
Offset prediction module 903, if vectorial θ=(θ of impact factor1,θ2,…,θn), wherein, θnCharacterization is n-th A impact factor；And set weight vectors ω of the impact factor for X-axisx=(ωx,1,ωx,2,…,ωx,n) and impact factor For the weight vectors ω of Y-axisy=(ωy,1,ωy,2,…,ωy,n), ω during initializationxAnd ωyIn each value [0, 1] it is obtained at random in the range of；
Obtain the formula group (4) about offset：
Formula group (4) is
Wherein, ε 'xIt is offset of the impact factor in X-direction, ε 'yIt is offset of the impact factor in Y direction；
Real offset module 904, after the action of handling goods terminates each time, the current offset for calculating handling goods action It measures to obtain the formula group (5) about real offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the offset of X-direction, εyIt is that current handling goods is acted in Y direction Offset；
Loss forecasting module 905 by formula group (4) and formula group (5), obtains the loss function l of corresponding X-axisεxWith it is right Answer the loss function l of Y-axisεy：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy =0.5h；
Correcting module 906 is lost, by two loss functions come to weight vectors ωxAnd ωyIt is modified；
Weight vectors update module 907, it is such as public by obtaining the new newer expression formula of weight vectors in makeover process Formula group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
The offset being calculated is introduced into formula group (2) by offset update module 908, obtains formula group (8)：
Formula group (8) is
Floor module 909 carries out rounding to formula (8) and obtains formula group (9)：
Correcting module 910 is acted, tripping action next time is corrected according to the result of formula group (9).
Wherein, correcting module is lost by two loss functions come to weight vectors ωxAnd ωyIt is modified, optimization method For formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0Be also one [0,1] in the range of it is random to Amount；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors；
Step S107 includes：
By being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7).
The present invention can include UI modules, Server modules and database.UI is mainly finally surveyed to user's display systems Try out coming as a result, and providing a friendly human-computer interaction carrier.Server modules mainly assume responsibility for communication function and The forecast function of algorithm.Wherein, Server modules can include above-mentioned coordinate system module 901, shellfish position prediction module 902, offset Measure prediction module 903, real offset module 904, loss forecasting module 905, loss correcting module 906, weight vectors update Module 907, offset update module 908, floor module 909, action correcting module 910.Database be mainly used for data acquisition, Storage etc..By being docked with TOS systems, corresponding data information is got, and the data of this part are stored in database In.
The cargo loading system of the container ship of the present invention increases the function of self study, can be by historical data Generated sample bias amount is learnt under various environment, real-time update system, and dynamic adjusts offset, improves predicted value Accuracy ensures that predicted value is in the rational scope of application.
The embodiment of the present invention also provides a kind of handling facilities of container ship, including processor.Memory, wherein storing There is the executable instruction of processor.Wherein, processor is configured to be performed container ship via execution executable instruction The step of loading-unloading method.
As above, the handling facilities of container ship of the invention increase the function of self study, can be by history number Generated sample bias amount is learnt under various environment in, real-time update system, and dynamic adjusts offset, improves prediction The accuracy of value ensures that predicted value is in the rational scope of application.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or Program product.Therefore, various aspects of the invention can be with specific implementation is as follows, i.e.,：It is complete hardware embodiment, complete The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here Referred to as " circuit ", " module " or " platform ".
Fig. 5 is the structure diagram of the handling facilities of the container ship of the present invention.It is described referring to Fig. 5 according to this The electronic equipment 600 of this embodiment of invention.The electronic equipment 600 that Fig. 5 is shown is only an example, should not be to this hair The function and use scope of bright embodiment bring any restrictions.
As shown in figure 5, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can wrap It includes but is not limited to：At least one processing unit 610, at least one storage unit 620, connection different platform component are (including storage Unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit has program stored therein code, and program code can be performed by processing unit 610 so that processing is single Member 610 perform described in this specification above-mentioned electronic prescription circulation processing method part according to the various exemplary implementations of the present invention The step of mode.Storage unit 620 can include the readable medium of volatile memory cell form, such as random access memory list Member (RAM) 6201 and/or cache memory unit 6202, can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205 6204, such program module 6205 includes but not limited to：Operating system, one or more application program, other program moulds Block and program data may include the realization of network environment in each or certain combination in these examples.
Bus 630 can be to represent one or more in a few class bus structures, including storage unit bus or storage Cell controller, peripheral bus, graphics acceleration port, processing unit use the arbitrary bus structures in a variety of bus structures Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment Deng) communication, the equipment interacted with the electronic equipment 600 communication can be also enabled a user to one or more and/or with causing Any equipment that the electronic equipment 600 can communicate with one or more of the other computing device (such as router, modulation /demodulation Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with By network adapter 660 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network, Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should Understand, although not shown in the drawings, can combine electronic equipment 600 use other hardware and/or software module, including but it is unlimited In：Microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality The step of loading-unloading method of existing container ship.In some possible embodiments, various aspects of the invention may be used also In the form of being embodied as a kind of program product, including program code, when program product is run on the terminal device, program generation Code is each according to the present invention described in the above-mentioned electronic prescription circulation processing method part of this specification for performing terminal device The step of kind illustrative embodiments.
As it appears from the above, the program in the computer readable storage medium of the present invention is performed the function by self study, Can be by learning to generated sample bias amount under environment various in historical data, real-time update system, dynamic is adjusted Whole offset improves the accuracy of predicted value, ensures that predicted value is in the rational scope of application.
Fig. 6 is the structure diagram of the computer readable storage medium of the present invention.Refering to what is shown in Fig. 6, it describes according to this The program product 800 for being used to implement the above method of the embodiment of invention, may be used the read-only storage of portable compact disc Device (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, the journey of the present invention Sequence product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or storing program, the journey Sequence can be commanded the either device use or in connection of execution system, device.
The arbitrary combination of one or more readable mediums may be used in program product.Readable medium can be that readable signal is situated between Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead System, device or the device of body or arbitrary above combination.More specific example (the non exhaustive row of readable storage medium storing program for executing Table) include：Electrical connection, portable disc, hard disk, random access memory (RAM), read-only storage with one or more conducting wires Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD- ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium can include in a base band or as a carrier wave part propagation data-signal, In carry readable program code.The data-signal of this propagation may be used diversified forms, including but not limited to electromagnetic signal, Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing Matter, which can send, propagate either transmit for used by instruction execution system, device or device or and its The program of combined use.The program code included on readable storage medium storing program for executing can use any appropriate medium to transmit, including but not It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
It can combine to write to perform the program that the present invention operates with the arbitrary of one or more programming languages Code, programming language include object oriented program language-Java, C++ etc., further include conventional process Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user It performs in equipment, partly perform on a user device, the software package independent as one performs, partly in user calculating equipment Upper part performs or is performed in remote computing device or server completely on a remote computing.It is being related to remotely counting In the situation for calculating equipment, remote computing device can be by the network of any kind, including LAN (LAN) or wide area network (WAN), be connected to user calculating equipment or, it may be connected to external computing device (such as utilizes ISP To pass through Internet connection).
To sum up, the work(that the loading-unloading method of container ship of the invention, system, equipment and storage medium pass through self study Can, it can be by learning to generated sample bias amount under environment various in historical data, real-time update system, dynamic Offset is adjusted, the accuracy of predicted value is improved, ensures that predicted value is in the rational scope of application.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist Under the premise of not departing from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the present invention's Protection domain.

Claims (10)

1. a kind of loading-unloading method of container ship, which is characterized in that include the following steps in the goods stage is loaded and unloaded：
S101, cartesian coordinate system is established, coordinate origin refers to point coordinates O (0,0) for calibration land, and X-axis is beam of hull Direction, Y-axis be hull height direction, initialize container reference point coordinates P (x, y) and cabin reference point coordinates O ' (x ', y′)；
Land is obtained with reference to point coordinates O, according to the present container shellfish position ranks number (m, n) and collection in worksite artificially corrected Reference coordinate P of the container with respect to O calculates the coordinate information for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' Formula group (1)：
Formula group (1) is
Wherein, w is the width of the container, and h is the height of the container；
S102, formula group (2) is obtained according to formula group (1)：
Formula group (2) is
S103, the vectorial θ=(θ for setting impact factor1,θ2,…,θn), wherein, θnCharacterization is n-th of impact factor；And set shadow Ring weight vectors ω of the factor for X-axisx=(ωx,1,ωx,2,…,ωx,n) and impact factor for Y-axis weight vectors ωy =(ωy,1,ωy,2,…,ωy,n), ω during initializationxAnd ωyIn each value obtained at random in the range of [0,1]；
Obtain the formula group (4) about offset：
Formula group (4) is
Wherein, ε 'xIt is offset of the impact factor in X-direction, ε 'yIt is offset of the impact factor in Y direction；
S104, after the action of handling goods terminates each time, the current offset for calculating handling goods action is obtains about reality The formula group (5) of offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the offset of X-direction, εyIt is offset of the current handling goods action in Y direction Amount；
S105, pass through formula group (4) and formula group (5), the loss function l of the corresponding X-axis of acquisitionεxWith the loss function of corresponding Y-axis lεy：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy= 0.5h；
S106, by two loss functions come to weight vectors ωxAnd ωyIt is modified；
S107, by obtaining the new newer expression formula of weight vectors in makeover process, such as formula group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
S108, the offset being calculated is introduced into formula group (2), obtains formula group (8)：
Formula group (8) is
S109, formula group (9) is obtained to formula (8) progress rounding：
S110, tripping action next time is corrected according to the result of formula group (9).
2. the loading-unloading method of container ship as described in claim 1, which is characterized in that the step S106 includes：
By two loss functions come to weight vectors ωxAnd ωyIt is modified, optimization method is formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0It is also the random vector in the range of one [0,1]；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors；
The step S107 includes：
By being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7).
3. the loading-unloading method of container ship as claimed in claim 1 or 2, which is characterized in that in the handling goods stage, It is in place as container institute that the value of container reference coordinate P (x, y) next time is brought into the result obtained in formula (9) The ranks number put.
4. the loading-unloading method of container ship as claimed in claim 1 or 2, which is characterized in that the reference of the container Point is the top center point of each container.
5. the loading-unloading method of container ship as claimed in claim 1 or 2, which is characterized in that the reference point of the cabin It is the bottom central point of cabin.
6. the loading-unloading method of container ship as claimed in claim 1 or 2, which is characterized in that the impact factor includes Container total amount, the variation of tide, the interference of stormy waves and hull be mobile, multiple shellfish position operations simultaneously when interfere with each other It is at least one.
7. a kind of cargo loading system of container ship, is used to implement container ship according to any one of claims 1 to 6 Loading-unloading method, which is characterized in that including：
Coordinate system module establishes cartesian coordinate system, and coordinate origin refers to point coordinates O (0,0) for calibration land, and X-axis is ship Body width direction, Y-axis are hull height direction, initialize the reference point coordinates P (x, y) of container and the reference point coordinates of cabin O′(x′,y′)；
Land is obtained with reference to point coordinates O, according to the present container shellfish position ranks number (m, n) and collection in worksite artificially corrected Reference coordinate P of the container with respect to O calculates the coordinate information for acquiring and representing that cabin refers to the opposite land reference point O of point coordinates O ' Formula group (1)：
Formula group (1) is
Wherein, w is the width of the container, and h is the height of the container；
Shellfish position prediction module obtains formula group (2) according to formula group (1)：
Formula group (2) is
Offset prediction module, if vectorial θ=(θ of impact factor1,θ2,…,θn), wherein, θnCharacterization be n-th of influence because Son；And set weight vectors ω of the impact factor for X-axisx=(ωx,1,ωx,2,…,ωx,n) and impact factor for Y-axis Weight vectors ωy=(ωy,1,ωy,2,…,ωy,n), ω during initializationxAnd ωyIn each value in the range of [0,1] with Machine obtains；
Obtain the formula group (4) about offset：
Formula group (4) is
Wherein, ε 'xIt is offset of the impact factor in X-direction, ε 'yIt is offset of the impact factor in Y direction；
Real offset module, after the action of handling goods terminates each time, the current offset for calculating handling goods action is obtains Obtain the formula group (5) about real offset ε (x, y)：
Formula group (5) is
Wherein, εxIt is specifically to load and unload goods action in the offset of X-direction, εyIt is offset of the current handling goods action in Y direction Amount；
Loss forecasting module by formula group (4) and formula group (5), obtains the loss function l of corresponding X-axisεxWith corresponding Y-axis Loss function lεy：
Loss function
Loss function
Wherein, δxEqual to the half of the width of container, i.e. δx=0.5w；δyEqual to the half of the height of container, i.e. δy= 0.5h；
Correcting module is lost, by two loss functions come to weight vectors ωxAnd ωyIt is modified；
Weight vectors update module, by obtaining the new newer expression formula of weight vectors in makeover process, such as formula group (7)：
Formula group (7) is
Wherein, τt,x=lεx/‖θt‖2, τt,y=lεy/‖θt‖2；
The offset being calculated is introduced into formula group (2) by offset update module, obtains formula group (8)：
Formula group (8) is
Floor module carries out rounding to formula (8) and obtains formula group (9)：
Correcting module is acted, tripping action next time is corrected according to the result of formula group (9).
8. the cargo loading system of container ship as claimed in claim 7, which is characterized in that the loss correcting module passes through Two loss functions come to weight vectors ωxAnd ωyIt is modified, optimization method is formula group (6)：
Formula group (6) is
Wherein, ωx,0It is the random vector in the range of one [0,1], ωy,0It is also the random vector in the range of one [0,1]；
ωx,tBe this handling goods action in impact factor for X-axis weight vectors；
ωy,tBe this handling goods action in impact factor for Y-axis weight vectors；
ωx,t+1Be next time handling goods action in impact factor for X-axis weight vectors；
ωy,t+1Be next time handling goods action in impact factor for Y-axis weight vectors；
The step S107 includes：
By being solved to formula group (6), the new newer expression formula of weight vectors is being obtained, such as formula group (7).
9. a kind of handling facilities of container ship, which is characterized in that including：
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come described in perform claim 1 to 6 any one of requirement via the execution executable instruction The step of loading-unloading method of container ship.
10. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power Profit requires the step of loading-unloading method of container ship described in 1 to 6 any one.
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