CN109292472B - Automatic wharf loading, loading and unloading yard position allocation method and system - Google Patents
Automatic wharf loading, loading and unloading yard position allocation method and system Download PDFInfo
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- CN109292472B CN109292472B CN201811088035.XA CN201811088035A CN109292472B CN 109292472 B CN109292472 B CN 109292472B CN 201811088035 A CN201811088035 A CN 201811088035A CN 109292472 B CN109292472 B CN 109292472B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
- B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
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Abstract
The invention discloses a method and a system for dispatching a loading yard and an unloading yard of an automatic wharf.A coordinate of each berth on a target ship is determined, when loading and loading are carried out, the distance between the loading yard and each berth on the target ship is calculated aiming at each loading yard, and the berth corresponding to the minimum distance is selected as a target loading berth corresponding to a container to be loaded in the loading yard; and when the depots of the unloading yard are distributed, calculating the distance between each berth and each unloading yard according to each berth, and selecting the unloading yard corresponding to the minimum distance as the target unloading yard of the containers to be unloaded on the corresponding berth. The distance between the position of each scallop in the target ship and the loading storage yard or the unloading storage yard is calculated to obtain the scallop position on the ship when the container is loaded or the unloading storage yard position when the container is unloaded, so that the accuracy of the distance between the shipping allocation position of the loading or unloading storage yard and the target ship is improved, and the operating efficiency of the conventional loading and unloading ship operation is improved.
Description
Technical Field
The invention belongs to the technical field of automatic container terminals, and particularly relates to a method and a system for loading, unloading and yard position allocation of an automatic container terminal.
Background
The current automated Terminal Operating System (TOS) uses the automatic stowage and automatic yard allocation functions to schedule a terminal loading and unloading vessel, i.e. to select the optimal position for the containers that are to fall into the yard according to preset strategies and rules.
The existing automatic stowage and automatic yard position allocation is to establish a coordinate system by taking the center of a connecting line of the positions of the ship head and the ship tail of a target ship as an original point, calculate the distance from the target position of a container yard, and make a shipping stowage and allocation plan and an unloading yard position allocation plan according to the distance.
However, in the existing preparation method, the distance is not calculated accurately enough, and certain influence is caused on the operation efficiency of the loading and unloading ship, so that the path distance of most horizontal transport equipment for executing operation tasks is too long, the running distance of an Automatic Guided Vehicle (AGV) is additionally increased, the running time, energy consumption and abrasion of the equipment for executing loading and unloading ship operation are increased meaninglessly, the AGV is distributed and tensely to a certain extent, and the situation that the operation of the loading and unloading ship of the shore bridge waits for the AGV to send and receive boxes occurs seriously, so that the operation efficiency of the shore bridge is influenced.
Disclosure of Invention
The application provides a method and a system for loading, stowage and allocation of an automatic wharf and a method and a system for allocating a ship unloading yard, which improve the operation path distance of horizontal transportation equipment and improve the operation efficiency of the existing ship loading and unloading operation.
In order to solve the technical problems, the application adopts the following technical scheme:
the automatic wharf loading and stowage method comprises the following steps: determining coordinates of each scallop position on the target ship; and aiming at each loading yard, calculating the distance between the loading yard and each bay on the target ship, and selecting the bay corresponding to the minimum distance as the target ship loading bay of the container to be loaded in the corresponding loading yard.
Further, determining coordinates of each scallop position on the target ship specifically comprises: acquiring and determining the scallop space of each scallop on a target ship in the ship length direction based on ship information and berthing information of the target ship; and determining the coordinates of each scallop based on the coordinates of the central point of the target ship and the scallop space.
Further, while determining the coordinates of the buns on the target vessel, the method further comprises: determining coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction based on the ship information and the berthing information; determining the coordinates of each scallop, further comprising: and determining the coordinates of each scallop based on the coordinates of the central point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
An automatic dock ship unloading yard position allocation method is provided, which comprises the following steps: determining coordinates of each scallop position on the target ship; calculating the distance between each scallop position and each unloading storage yard aiming at each scallop position; and aiming at each bay, selecting the unloading storage yard corresponding to the minimum distance as a target ship unloading storage yard of the containers to be unloaded on the corresponding bay.
Further, determining coordinates of each scallop position on the target ship specifically comprises: acquiring and determining the scallop space of each scallop on a target ship in the ship length direction based on ship information and berthing information of the target ship; and determining the coordinates of each scallop based on the coordinates of the central point of the target ship and the scallop space.
Further, while determining the coordinates of the buns on the target vessel, the method further comprises: determining coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction based on the ship information and the berthing information; determining the coordinates of each scallop, further comprising: and determining the coordinates of each scallop based on the coordinates of the central point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
The automatic wharf loading and stowage system comprises a target ship bunk coordinate determining module, a loading distance calculating module and a target loading bunk determining module; the target ship berth coordinate determination module is used for determining the coordinates of each berth on the target ship; the loading distance calculation module is used for calculating the distance between each loading yard and each berth on the target ship according to each loading yard; and the target shipping berth determining module is used for selecting the berth corresponding to the minimum distance as the target shipping berth of the container to be loaded in the corresponding loading yard aiming at each loading yard.
Further, the target ship shellfish position coordinate determination module comprises a ship information acquisition unit, a berthing information acquisition unit, a shellfish position distance calculation unit, a non-shellfish position structure information acquisition unit and a shellfish position coordinate determination unit; the ship information acquisition unit is used for acquiring the ship information of the target ship; the berthing information acquisition unit is used for acquiring berthing information of the target ship; the berth interval calculation unit is used for determining the berth interval of each berth in the ship length direction based on the ship information and the berthing information; the non-berth structure information acquisition unit is used for determining the coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction on the basis of the ship information and the berthing information; the scallop coordinate determination unit is used for determining the coordinates of each scallop based on the coordinates of the center point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
The automatic dock unloading yard position allocation system comprises a target ship position coordinate determination module, an unloading distance calculation module and a target unloading yard determination module; the target ship berth coordinate determination module is used for determining the coordinates of each berth on the target ship; the unloading distance calculation module is used for calculating the distance between each scallop and each unloading storage yard aiming at each scallop; and the target ship unloading storage yard determining module is used for selecting the unloading storage yard corresponding to the minimum distance as the target ship unloading storage yard of the container to be unloaded on the corresponding berth aiming at each berth.
Further, the target ship shellfish position coordinate determination module comprises a ship information acquisition unit, a berthing information acquisition unit, a shellfish position distance calculation unit, a non-shellfish position structure information acquisition unit and a shellfish position coordinate determination unit; the ship information acquisition unit is used for acquiring the ship information of the target ship; the berthing information acquisition unit is used for acquiring berthing information of the target ship; the berth interval calculation unit is used for determining the berth interval of each berth in the ship length direction based on the ship information and the berthing information; the non-berth structure information acquisition unit is used for determining the coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction on the basis of the ship information and the berthing information; the scallop coordinate determination unit is used for determining the coordinates of each scallop based on the coordinates of the center point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
Compared with the prior art, the application has the advantages and positive effects that: in the method and the system for automatic loading, stowage and allocation and location allocation of the unloading yard of the wharf, berthing information and ship information of a target ship are determined at first, specific coordinates of each bay on the target ship are determined according to the information, in the loading and allocation calculation, the distance between the loading yard and each bay on the target ship is calculated for each loading yard, the bay corresponding to the minimum distance is selected as the target loading bay of a container to be loaded in the corresponding loading yard, in the allocation plan of the unloading yard, the distance between the bay and each unloading yard is calculated for each bay, and the unloading yard corresponding to the minimum distance is selected as the target unloading yard of the container to be unloaded in the corresponding bay; compared with the mode of calculating the distance between the target positions of the storage yard by the ship center point in the prior art, the method and the device perform loading and stowage plan or unloading storage yard position allocation plan by taking each operation shell position of the target ship as the center point, namely perform distance calculation according to each shell position of the target ship and the position of the loading or unloading storage yard, can improve the accuracy of the distance between the loading and stowage or unloading storage yard position and the target ship, reduce the influence of inaccurate distance calculation on the loading and unloading operation efficiency, and improve the operation efficiency of the existing loading and unloading operation.
Other features and advantages of the present application will become more apparent from the detailed description of the embodiments of the present application when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a flowchart of a method of loading and stowage of an automated dock according to the present application;
FIG. 2 is a flow chart of a method for dispatching an automated dock unloading yard according to the present application;
fig. 3 is a system architecture diagram of an automated quay loading and stowage system according to the present application;
fig. 4 is a system architecture diagram of an automated dock unloading yard position allocation system according to the present application.
Detailed Description
The following describes embodiments of the present application in further detail with reference to the accompanying drawings.
The application provides an automatic dock shipment stowage and unloading yard position allocation method and system, which aim to adopt the position of each shellfish position in a target ship to calculate the distance between the loading yard or the unloading yard, obtain the shellfish position on the ship when a container is shipped or the unloading yard position when the container is unloaded, improve the accuracy of the distance between the shipment stowage and unloading yard position and the target ship, reduce the influence of inaccurate distance calculation on the operation efficiency of a loading ship, and further improve the operation efficiency of the existing loading ship operation.
Specifically, the automatic dock shipment and stowage method provided by the application, as shown in fig. 1, includes the following steps:
step S11: and determining the coordinates of each scallop position on the target ship.
Firstly, acquiring ship information and berthing information of a target ship to determine coordinates of each berth on the target ship; the berthing information comprises berthing bollards and offset information of the target ship, so that the berthing position is obtained, and any ship berthing head has an accurate berthing position; the ship information can provide the length of the target ship, the distance information among the buns, the position of the non-buns structure, the width information of the non-buns structure in the ship length direction and the like, and further can determine the distance among the buns according to the information so as to determine the specific position coordinates of the buns.
Specifically, the center point position of the target ship can be determined from the berthing information and the ship information, a coordinate system can be established with the center position as an origin, and the center point coordinates of each bunk are estimated in the coordinate system from the bunk spacing D1, the position of the non-bunk structure (such as a cab, etc.) and the width D2.
Step S12: and calculating the distance between the loading yard and each berth on the target ship aiming at each loading yard.
When loading and stowage are carried out, containers to be loaded are placed in each loading yard, and the distance between each loading yard and each berth of a target ship is calculated for each loading yard; taking N berths on the target ship as an example, M loading yards are calculated
Step S13: and aiming at each loading storage yard, selecting the bunk corresponding to the minimum distance as the target shipping bunk of the container to be loaded in the corresponding loading storage yard. That is to say that the first and second electrodes,
to is directed at
And determining that the corresponding target shipping berth exists for the containers to be shipped in each loading yard, so that the containers to be shipped can be accurately loaded to the target ship, the influence of inaccurate distance calculation on the shipping operation efficiency is reduced, and the operation efficiency of the existing shipping operation is improved.
As shown in fig. 2, the method for dispatching an automated dock ship unloading yard provided by the present application includes the following steps:
step S21: determining coordinates of each scallop position on the target ship; the specific determination is the same as step S11.
Step S22: and calculating the distance between each scallop and each unloading storage yard aiming at each scallop.
When the ship unloading storage yard is allocated, containers to be unloaded are placed in each berth of a target ship, and the distance between each berth and the unloading storage yard is calculated respectively according to each berth; taking P berths on the target ship as an example, Q unloading yards are calculated
Step S23: and aiming at each bay, selecting the unloading storage yard corresponding to the minimum distance as a target ship unloading storage yard of the containers to be unloaded on the corresponding bay. That is to say that the first and second electrodes,
to is directed at
And determining the corresponding target unloading yard for the containers to be unloaded in each berth, so that the containers to be unloaded can be accurately unloaded from the target ship to the target unloading yard, the influence of inaccurate distance calculation on the unloading operation efficiency is reduced, and the operation efficiency of the conventional unloading operation is improved.
Based on the above proposed automatic dock shipment stowage method, the present application correspondingly proposes an automatic dock shipment stowage system, as shown in fig. 3, which includes a target ship bunk coordinate determination module 31, a loading distance calculation module 32, and a target shipment bunk determination module 33; the target ship shell coordinate determination module 31 is used for determining coordinates of each shell on the target ship; the loading distance calculation module 32 is configured to calculate, for each loading yard, a distance between the loading yard and each berth on the target ship; the target shipping berth determining module 33 is configured to select a berth corresponding to the minimum distance as a target shipping berth of a container to be loaded in the corresponding loading yard, for each loading yard.
Specifically, the target ship shellfish coordinate determining module 31 includes a ship information obtaining unit 311, a berthing information obtaining unit 312, a shellfish interval calculating unit 313, a non-shellfish structure information obtaining unit 314, and a shellfish coordinate determining unit 315; the ship information acquiring unit 311 is configured to acquire ship information of a target ship; the berthing information acquisition unit 312 is configured to acquire berthing information of a target ship; the scallop space calculation unit 313 is used for determining the scallop space of each scallop in the ship length direction based on the ship information and the berthing information; the non-berth structure information acquisition unit 314 is configured to determine coordinates of a non-berth structure on the target ship and a width of the non-berth structure in the ship length direction based on the ship information and the berthing information; the barbituric coordinate determination unit 315 is configured to determine coordinates of each barbiturate based on the center point coordinates, the barbiturate pitch, and the coordinates of the non-barbiturate structure and the width thereof in the ship length direction of the target ship.
Based on the above proposed method for dispatching the unloading yard of the automatic dock, the present application further provides an automatic dispatching system for the unloading yard of the automatic dock, as shown in fig. 4, including a target ship position coordinate determining module 41, an unloading distance calculating module 42 and a target unloading yard determining module 43; the target ship berth coordinate determination module 41 is used for determining coordinates of each berth on the target ship; the unloading distance calculation module 42 is used for calculating the distance between each scallop and each unloading storage yard according to each scallop; the target unloading yard determining module 43 is configured to select, for each bay, the unloading yard corresponding to the minimum distance as the target unloading yard for the containers to be unloaded on the corresponding bay.
The specific structure of the target vessel position-beta coordinate determination module 41 is the same as that of the target vessel position-beta coordinate determination module 31 in the automatic loading and stowage system for wharfs, which is proposed above, and is not described herein again.
The automatic dock ship loading, stowage and unloading yard position allocation method and system provided by the application adopt the positions of all the shellfishes in the target ship to calculate the distance between the loading yard or the unloading yard, obtain the shellfishes on the ship when the container is loaded or the unloading yard when the container is unloaded, improve the accuracy of the distance between the ship loading, stowage and unloading yard position and the target ship, reduce the influence of inaccurate distance calculation on the ship loading and unloading operation efficiency, and further improve the operation efficiency of the existing ship loading and unloading operation.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (6)
1. The automatic wharf loading and stowage method is characterized by comprising the following steps:
determining coordinates of each scallop position on the target ship;
for each loading yard, calculating the distance between the loading yard and each berth on the target vessel, an
Aiming at each loading storage yard, selecting a bunk corresponding to the minimum distance as a target shipping bunk of a container to be loaded in the corresponding loading storage yard;
determining the coordinates of each scallop position on the target ship, specifically:
acquiring and determining the scallop space of each scallop on a target ship in the ship length direction based on ship information and berthing information of the target ship;
and determining the coordinates of each scallop based on the coordinates of the central point of the target ship and the scallop space.
2. The automated dock shipment method of claim 1, wherein, while determining the coordinates of the bunk on the target vessel, the method further comprises:
determining coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction based on the ship information and the berthing information;
determining the coordinates of each scallop, further comprising: and determining the coordinates of each scallop based on the coordinates of the central point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
3. The automatic dock ship unloading yard position allocation method is characterized by comprising the following steps:
determining coordinates of each scallop position on the target ship;
calculating the distance between each scallop position and each unloading storage yard aiming at each scallop position;
aiming at each bay, selecting the unloading storage yard corresponding to the minimum distance as a target unloading storage yard of the containers to be unloaded on the corresponding bay; determining the coordinates of each scallop position on the target ship, specifically:
acquiring and determining the scallop space of each scallop on a target ship in the ship length direction based on ship information and berthing information of the target ship;
and determining the coordinates of each scallop based on the coordinates of the central point of the target ship and the scallop space.
4. The automated dock unloading yard position method of claim 3, wherein while determining the coordinates of the bunk on the target vessel, the method further comprises:
determining coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction based on the ship information and the berthing information;
determining the coordinates of each scallop, further comprising: and determining the coordinates of each scallop based on the coordinates of the central point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
5. The automatic wharf loading and stowage system is characterized by comprising a target ship berth coordinate determining module, a loading distance calculating module and a target loading berth determining module;
the target ship berth coordinate determination module is used for determining the coordinates of each berth on the target ship;
the loading distance calculation module is used for calculating the distance between each loading yard and each berth on the target ship according to each loading yard;
the target shipping berth determining module is used for selecting a berth corresponding to the minimum distance as a target shipping berth of a container to be loaded in the corresponding loading yard aiming at each loading yard;
the target ship shell position coordinate determination module comprises a ship information acquisition unit, a berthing information acquisition unit, a shell position distance calculation unit, a non-shell position structure information acquisition unit and a shell position coordinate determination unit;
the ship information acquisition unit is used for acquiring the ship information of the target ship;
the berthing information acquisition unit is used for acquiring berthing information of the target ship;
the berth interval calculation unit is used for determining the berth interval of each berth in the ship length direction based on the ship information and the berthing information;
the non-berth structure information acquisition unit is used for determining the coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction on the basis of the ship information and the berthing information;
the scallop coordinate determination unit is used for determining the coordinates of each scallop based on the coordinates of the center point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
6. The automatic dock unloading yard position allocation system is characterized by comprising a target ship position coordinate determination module, an unloading distance calculation module and a target unloading yard determination module;
the target ship berth coordinate determination module is used for determining the coordinates of each berth on the target ship;
the unloading distance calculation module is used for calculating the distance between each scallop and each unloading storage yard aiming at each scallop;
the target unloading yard determining module is used for selecting the unloading yard corresponding to the minimum distance as the target unloading yard of the container to be unloaded on the corresponding bay aiming at each bay;
the target ship shell position coordinate determination module comprises a ship information acquisition unit, a berthing information acquisition unit, a shell position distance calculation unit, a non-shell position structure information acquisition unit and a shell position coordinate determination unit;
the ship information acquisition unit is used for acquiring the ship information of the target ship;
the berthing information acquisition unit is used for acquiring berthing information of the target ship;
the berth interval calculation unit is used for determining the berth interval of each berth in the ship length direction based on the ship information and the berthing information;
the non-berth structure information acquisition unit is used for determining the coordinates of a non-berth structure on the target ship and the width of the non-berth structure in the ship length direction on the basis of the ship information and the berthing information;
the scallop coordinate determination unit is used for determining the coordinates of each scallop based on the coordinates of the center point of the target ship, the scallop space, the coordinates of the non-scallop structure and the width of the non-scallop structure in the ship length direction.
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| CN109911643B (en) * | 2019-04-02 | 2020-09-15 | 上海快仓智能科技有限公司 | Material putting method, control device, equipment and system |
| CN111218779B (en) * | 2019-12-30 | 2021-11-12 | 广东溢达纺织有限公司 | Sewing machine assisting apparatus, system, method, computer device, and storage medium |
| CN111897369B (en) * | 2020-07-08 | 2023-01-17 | 神华黄骅港务有限责任公司 | Second-wheel loading control system, method, device and storage medium |
| CN111932203B (en) * | 2020-08-03 | 2021-06-22 | 上海海勃物流软件有限公司 | Automatic position selection and distribution method, terminal and medium for turning containers in container area |
| CN113682841B (en) * | 2021-09-06 | 2023-03-10 | 青岛港国际股份有限公司 | Ten-thousand-ton ship unloading operation method |
| CN114803573B (en) * | 2022-04-14 | 2024-02-06 | 华能曹妃甸港口有限公司 | Automatic shipping cabin changing method for bulk cargo wharf |
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