CN110888904B - Intelligent optimization method and system for automatic loading sequence of crane cargos - Google Patents
Intelligent optimization method and system for automatic loading sequence of crane cargos Download PDFInfo
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Abstract
The invention provides an intelligent optimization method and system for automatic loading sequence of crane cargos, wherein the method comprises the following steps: the method comprises the steps of constructing a three-dimensional space coordinate system of a crane, representing the initial position and the unloading position of goods by using position coordinates in the three-dimensional space coordinate system to form an initial position information database and an unloading position information database, formulating unloading rule optimization and automatically generating unloading sequence for the unloading position information database by combining actual loading and unloading operation characteristics of the crane, searching effective target loading goods one by one according to the unloading sequence, and further optimizing and automatically generating the loading sequence. The optimized and automatically generated unloading sequence database and loading sequence database provide a basis for planning the subsequent loading and unloading operation path, so that the control instruction of the crane can be automatically generated, the automatic continuous operation of the crane can be realized, the effective operation capacity of the crane can be fully exerted, and the operation efficiency and the operation safety can be improved.
Description
Technical Field
The invention relates to the technical field of hoisting and transporting machinery and material handling, in particular to an intelligent optimization method for automatic loading sequence of crane cargos.
Background
The container port and the container yard crane equipment are key equipment for realizing container loading and unloading operation, and with the rapid development of port loading capacity and large-scale ships, many ports face the pressure of shortage of skilled operators and improvement of loading and unloading operation efficiency, so that the demand of port operators for automatic crane equipment which is automatic, intelligent and capable of continuously operating for 24 hours is increasingly prominent. In a port or a yard for loading and unloading large-batch containers, hoisting equipment needs to continuously complete the loading and unloading operation of the large-batch containers from a specified object area to a target area, so as to realize the automatic loading and unloading operation of large-batch goods, and the following basic problems need to be solved: 1. the loading and unloading operation is performed in the sequence with highest efficiency; 2. how to automatically generate control instructions executable by the crane through the optimized loading and unloading sequence enables the crane to continuously and automatically complete loading and unloading operation of the containers in batches. The optimization problem of the order of loading, unloading and transporting bulk goods is similar to the TSP travel merchant problem and is a specific application example of the discrete optimization problem. Because the actual loading and unloading requirements and the loading and unloading processes of the port or the storage yard are relatively complex, the problem is solved completely by a pure theoretical method, and a research result with actual application value cannot be obtained. No report on optimization of crane loading and unloading procedures has been found so far.
Disclosure of Invention
The invention aims to provide an intelligent optimization method for the automatic loading sequence of crane cargos, which organically combines a theoretical research method with actual loading and unloading operation requirements and the operation characteristics of a crane, strives to obtain an optimal solution capable of being practically applied, and realizes the automatic control and operation of the crane.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent optimization method for automatic loading sequence of crane cargos comprises the following steps:
s1, establishing a three-dimensional coordinate system, taking limit position points of cargos loaded by a crane in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional coordinate system, and taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y and Z directions of the three-dimensional coordinate system respectively;
s2, defining the quantity of the initially stacked goods as m goods, and establishing a corresponding relation between the initial positions of the m goods and the three-dimensional space coordinate system to obtain an initial position information database;
s3, defining that n cargos in m cargos need to be unloaded, and establishing a corresponding relation between unloading positions of the n cargos and the three-dimensional space coordinate system to obtain an unloading position information database;
s4, setting an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
s5, establishing a loading sequence database structure:
wherein, the first and the second end of the pipe are connected with each other,
expressed as initial position, X, of n pieces of goods to be loaded out of m pieces of goods pc 、Y pc 、Z pc Respectively representing the initial positions K of n pieces of goods to be loaded P Position coordinates in X, Y and Z directions,
respectively representing the position coordinates of the initial position of the ith cargo to be loaded in the X, Y and Z directions,
respectively representing the position coordinates of the initial position of the nth goods to be loaded in the X, Y and Z directions;
s6, sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, and calculating the distances from the initial positions of all loadable cargos in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points;
s7, selecting the loaded object with the closest distance as a target loaded object, inputting the position coordinate sequence of the initial position of the target loaded object into the loading sequence database structure, and hiding the position coordinate of the initial position of the target loaded object from the initial position information database;
and S8, repeating the steps S6 to S7 until the search of the target loaded goods at all the unloading positions is completed.
The intelligent optimization method for the automatic loading sequence of the crane cargos is further improved in that all the cargos to be loaded in the step S6 are determined by calculation, and the method comprises the following steps:
s6-1, comparing X, Y and Z values in position coordinates of all initial positions in the initial position information database;
s6-2, dividing all position coordinates into a plurality of groups on the basis of equal X and Y values;
and S6-3, selecting the goods corresponding to the position coordinate with the maximum Z value in each group as the loadable goods.
The intelligent optimization method for the automatic loading sequence of the crane cargos is further improved in that the unloading sequence rule in the step S4 is that the unloading positions are sequentially sorted from low to high and from far to near relative to the initial positions before the cargos are loaded.
The invention also provides an intelligent optimization system for the automatic loading sequence of the crane cargos, which comprises the following steps:
the three-dimensional space coordinate system establishing module is used for establishing a three-dimensional space coordinate system, taking limit position points of goods loaded by a crane in three motion directions of large and small car operation and vertical descending as the origin of the three-dimensional space coordinate system, and taking the motion directions of a small car, a large car and a hoisting mechanism of the crane as the X, Y and Z directions of the three-dimensional space coordinate system respectively;
the initial position information database forming module is used for establishing a corresponding relation between the initial positions of the m pieces of goods and the three-dimensional space coordinate system to obtain an initial position information database;
the unloading position information database forming module is used for establishing a corresponding relation between the unloading positions of n cargos to be unloaded in the m cargos and the three-dimensional space coordinate system to obtain an unloading position information database;
the unloading sequence database forming module is used for formulating an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
the target loaded goods determining module is used for sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, calculating the distances from the initial positions of all the loadable goods in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points, selecting the loadable goods with the closest distance as target loaded goods to be output, and hiding the position coordinates of the initial positions of the current target loaded goods from the initial position information database;
a loading sequence database forming module, configured to establish a loading sequence database structure, sequentially extract position coordinates of an initial position of the target loaded cargo, and sequentially input the position coordinates into the loading sequence database structure to obtain a loading sequence database, where the loading sequence database structure is:
wherein the content of the first and second substances,
expressed as the initial position, X, of the n loads to be loaded out of the m loads pc 、Y pc 、Z pc Respectively representing the initial positions K of n pieces of goods to be loaded P Position coordinates in X, Y and Z directions,
respectively representing the position coordinates of the initial position of the ith cargo to be loaded in the X, Y and Z directions,
respectively representing the position coordinates of the initial position of the nth goods to be loaded in the X, Y and Z directions.
The intelligent optimization system for the automatic loading sequence of the crane cargos is further improved in that the target loaded cargo determining module further comprises a loadable cargo determining unit, the loadable cargo determining unit is used for calculating X, Y and Z values of the initial position information of all cargos in the initial position information database, grouping the initial position information on the basis that the X and Y values are equal, and taking the cargos corresponding to the position coordinates of the initial position with the maximum Z value in each group as the loadable cargos.
The intelligent optimization system for the automatic loading sequence of the crane cargos is further improved in that the unloading sequence rules in the unloading sequence database forming module are ordered according to the unloading positions relative to the initial positions before the cargos are loaded by adopting rules from low to high and from far to near.
The present invention includes, but is not limited to, the following benefits: the invention utilizes the intelligent construction method of the three-dimensional position information database to establish the initial position information database and the unloading position information database of the goods, organically combines a theoretical research method with the actual loading and unloading operation requirements and the operation characteristics of the crane, optimizes and automatically generates an effective unloading sequence of the crane goods on the basis of the position information database, sequentially searches the loadable goods on the premise of the optimized unloading sequence, automatically generates the effective loading sequence of the crane goods, provides a basis for the fixed calculation analysis and optimization of subsequent loading and unloading operation path planning and the like, further realizes the automatic continuous operation of the crane, fully exerts the effective operation capability of the crane, and improves the operation efficiency and the operation safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 shows a schematic diagram of a theoretical search method for a cargo loading and unloading sequence;
FIG. 2 shows a schematic flow diagram of a crane unloading operation process and handling operation;
FIG. 3 shows a schematic diagram of the exploration method of the loading sequence of the crane cargo;
fig. 4 is a schematic view showing the method of the present invention in which the initial stacking state of the goods is irregular;
fig. 5 shows a schematic view of the method of the invention in which the initial stacking state of the goods is regular;
FIG. 6 shows a schematic view of the basic rules for unloading a multi-story load by a crane;
FIG. 7 shows a schematic diagram of a crane loading operation process and basic operation requirements;
FIG. 8 is a diagram illustrating the limitation of the cargo handling sequence search range;
fig. 9 shows a flow chart of the crane loading sequence search and automatic generation in the method of the invention.
Detailed Description
When the crane performs continuous loading and unloading operation of a certain amount of goods, in order to obtain the shortest conveying operation path of the crane and finally obtain a loading and unloading operation sequence instruction, the conveying distances of all theoretically selectable paths need to be calculated, analyzed and compared, the loaded goods position with the shortest conveying distance is selected and stored according to the calculation and comparison results, and the calculation of all loaded goods positions and unloading positions is finally completed by analogy.
The number of the theoretically selectable paths of the crane explosively increases with the increase of the number of the goods to be loaded and unloaded, taking the carrying operation of the crane for carrying n goods from m goods to a specified destination unloading point as an example, refer to fig. 1, P in the figure 1 ，P 2 ，...，P m Each representing a loading position, U, at which m items of merchandise are initially stacked 1 ，U 2 ，...，U n The unloading positions of n cargos to be transported are respectively shown, and as can be seen from the figure, when the crane loads the first cargo from the loading position P1 for transporting operation, all the n unloading positions are idle positions, if any optimization constraint condition is not set, at the moment, the crane can have n theoretical transporting paths which can be selected, namely the crane completes the transporting operation of the first cargo, and the transporting operation can be realized through n different operation paths; when the crane returns to the loading position of the second cargo after completing the loading and unloading operations of the first cargo, in preparation for the loading operation of the second cargo, except for the first cargo which has been carried away, (m-1) pieces of cargo can be selected as the second cargo by the crane, that is, (m-1) different paths can be provided for the crane to return to the loading position of the second cargo. The crane performs all the operations of transporting n pieces of goods among the m pieces of goods to the unloading position, and theoretically the total path number is
And (4) strip. And calculating the total carrying distance of the different paths, seeking a minimum result of the total carrying distance, optimizing a planned path scheme corresponding to the shortest carrying distance on the basis, and finally automatically obtaining an operating instruction of continuous operation of the crane, thereby realizing energy-saving and efficient carrying operation of n pieces of goods. Theoretically speaking, to this end, an optimal solution for the conveyance path has been obtained.
However, in an actual loading/unloading work site, the work order of the crane and the basic requirements of the loading/unloading work must be strictly executed, and it is difficult to actually solve such problems simply from the viewpoint of the shortest minimum energy consumption distance. That is to say, the constraint condition only considers the shortest path to obtain the optimized result which is theoretically the optimal solution, but actually cannot satisfy the continuous automatic operation of the crane. Taking the unloading operation shown in fig. 2 as an example, the initial stacking position M of the bulk goods is located in a position area close to the origin of three-dimensional coordinates in space, and the crane loads 6 goods from the bulk goods to the designated destination unloading area N, and the unloading position states of the 6 goods are shown in fig. 2. According to the unloading position and the unloading state shown in fig. 2, when the crane loads the first cargo No.1 to the unloading area to be unloaded, the theoretical shortest unloading position should be the position 6 shown in fig. 2, but actually, the cargo cannot be unloaded at the position 6 before the cargo is not in place at the unloading positions 1 to 5.
Therefore, it is necessary to modify the theoretical search method in combination with the actual handling operation process and the transportation operation flow requirement of the crane, so as to finally obtain the order of the handling operation that can be executed by the crane in the actual transportation operation.
The invention provides a method for automatically generating an effective cargo unloading sequence by combining a theoretical research method, actual loading and unloading operation requirements and operation characteristics of a crane, and effective target loaded cargos are searched one by one on the basis of the cargo unloading sequence, so that the cargo loading sequence is automatically generated.
The intelligent optimization method for the automatic loading sequence of the crane cargos according to the invention is described in detail below by combining formulas and the attached drawings.
An intelligent optimization method for automatic loading sequence of crane cargos comprises the following steps:
s1, establishing a three-dimensional coordinate system, taking limit position points of cargos loaded by a crane in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional coordinate system, and taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y and Z directions of the three-dimensional coordinate system respectively;
s2, defining the number of the initially stacked goods as m pieces, and establishing a corresponding relation between the initial positions of the m pieces of goods and a three-dimensional space coordinate system to obtain an initial position information database;
s3, defining n cargos to be unloaded in the m cargos, and establishing a corresponding relation between unloading positions of the n cargos and a three-dimensional space coordinate system to obtain an unloading position information database;
s4, setting an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
s5, establishing a loading sequence database structure as shown in a formula (6):
wherein, the first and the second end of the pipe are connected with each other,
expressed as initial position, X, of n pieces of goods to be loaded out of m pieces of goods pc 、Y pc 、Z pc Respectively representing the initial positions K of n goods to be loaded P Position coordinates in X, Y and Z directions,
respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,
respectively representing the position coordinates of the initial position of the nth goods to be loaded in the X, Y and Z directions;
s6, sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, and calculating the distances from the initial positions of all loadable cargos in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points;
s7, selecting the loaded object with the closest distance as a target loaded object, inputting the position coordinate sequence of the initial position of the target loaded object into a loading sequence database structure, and hiding the position coordinate of the initial position of the target loaded object from an initial position information database;
and S8, repeating the steps S6-S7 until the target loaded goods at all unloading positions are searched. The method for exploring the loading sequence of the crane is shown in FIG. 3, wherein P is 1 ，P 2 ，...，P m Respectively, the loading positions, ku, of the initial stacking of the m-pieces of goods 1 ，Ku 2 ，...，Ku n Respectively representing the unloading positions of the n cargos extracted in sequence from the unloading sequence database.
Referring to fig. 4 and 5, in step S1 of this embodiment, the trolley, the cart, and the lifting mechanism are three major mechanisms of the crane, the cart running mechanism realizes horizontal movement of the crane, the trolley running mechanism drives the trolley to realize horizontal movement of the trolley on the main beam track, and the lifting mechanism realizes lifting operation of the crane load handling device, through establishment of a three-dimensional space coordinate system of the crane, the whole carrying process of the cargo is performed in a three-dimensional space defined by the three-dimensional space coordinate system, the cargo is regarded as mass points, and the position coordinate corresponding to the geometric center of the cargo is used as the position coordinate of the cargo.
In step S2, firstly, defining the m goods and the corresponding column, row and layer number in X, Y and Z directions in a three-dimensional space coordinate system as lambda respectively P 、τ P 、ε P Then, an initial position information database of the m pieces of goods is established in two cases:
one is when the initial stacking state of the goods is irregular as shown in fig. 4, i.e., when λ P ×τ P ×ε P When not equal to m, the initial positions of m pieces of goods are represented as P = { P = { (P) } 1 ，P 2 ，...，P m Establishing a corresponding relation between the initial position P and a three-dimensional space coordinate system to obtain a first initial position information database structure, as shown in formula (1):
wherein X p 、Y p 、Z p Respectively represent the position coordinates of the initial position P in the X, Y and Z directions, X pi 、y pi 、z pi Respectively showing the position coordinates of the ith goods in the X direction, the Y direction and the Z direction,
respectively representing the position coordinates of the mth cargo in the X direction, the Y direction and the Z direction;
inputting the position coordinates of the initial positions of all the cargos into a first initial position information database structure according to a preset import rule sequence to obtain an initial position information database stored according to a specified sequence; the import rule needs to meet the requirement that the initial position information database is convenient for quickly and conveniently calling and storing data during analysis and calculation such as subsequent loading sequence optimization, and meanwhile, the relative position relation of the goods is ensured to be clear, and the system is convenient for accurately judging the spatial position relation of the goods;
secondly, when the initial stacking state of the goods is regular, as shown in fig. 5, i.e. λ P ×τ P ×ε P When = m, the position coordinate of the load closest to the origin of the three-dimensional space coordinate system among the m pieces of load is defined as (x) p1 ,y p1 ,z p1 ) Defining the X, Y and Z distances of m goods as ζ Px 、ζ Py 、ζ Pz And transforming the first initial position information database structure into a second initial position information database structure by combining the import rule, as shown in formula (2):
wherein, the first and the second end of the pipe are connected with each other,
is λ P An
The matrix of the composition is formed by the following components,
is λ P An
The matrix of the structure is formed by the following components,
is λ P Z is p1 The matrix of the structure is formed by the following components,
is λ P An
A matrix of constructs;
by adopting the second initial position information database structure, the initial position information database stored in sequence can be automatically generated only by acquiring the position coordinates of the goods closest to the origin of the three-dimensional space coordinate system, the m goods, the rows, the columns and the layers of the m goods corresponding to the X direction, the Y direction and the Z direction in the three-dimensional space coordinate system and the spacing distances of the m goods in the X direction, the Y direction and the Z direction.
Because in the actual loading and unloading operation process, clear goods unloading instructions can be obtained, and the unloading instructions are generally divided into two types of designated unloading positions and designated unloading areas according to the types of goods and different carrying processes: the appointed unloading position is the unloading position of each piece of goods, and a driver loads and unloads each piece of appointed goods to the appointed loading position strictly according to the unloading instruction; the designated discharge area is a given discharge area to which the driver empirically arranges a discharge sequence and continues to carry and discharge a planned number of loads. Under the condition of receiving the unloading instruction of the appointed unloading position, because each cargo and the unloading position of the cargo are appointed, the unloading instruction of the cargo can be directly converted into a continuous unloading sequence instruction, and the system sequentially executes the instruction to realize the continuous carrying operation of the cargo with the planned quantity; under the condition of receiving the unloading command of the designated unloading area, in order to automatically obtain the continuous unloading sequence command of the goods, an unloading sequence rule of the unloading area must be established and given, and the premise of establishing the unloading sequence rule is that an unloading position information database is required to be used as a data base.
Therefore, in step S3, the present embodiment establishes the unloading position information database for n pieces of goods to be unloaded for the unloading command condition of the designated unloading area, specifically, for the unloading command condition of the designated unloading area, the placement state of the unloading positions is usually regular, so the present embodiment refers to the second initial position database structure of formula (2) to establish the unloading position database structure, as shown in formula (3):
wherein U = { U = 1 ，U 2 ，...，U n The unloading positions of n goods to be unloaded in the unloading area, X u 、Y u 、Z u The position coordinates of the unloading position U in the X, Y and Z directions are respectively expressed, (X) u1 ,y u1 ,z u1 ) Is the position coordinate, lambda, of the unloading position closest to the origin of the three-dimensional space coordinate system among the n unloading positions u 、τ u 、ε u Respectively n unloading positions and the number of rows, columns and layers corresponding to the X, Y and Z directions in a three-dimensional space coordinate system, and lambda u ×τ u ×ε u ＝n，ζ ux 、ζ uy 、ζ uz Respectively n unloading positionsDistance of separation in X, Y, Z directions, X uu ＝[x u1 x u1 +ζ ux … x u1 +ζ ux (λ u -1)]，
Is λ u Y is u1 The matrix of the structure is formed by the following components,
is λ u An
The matrix of the composition is formed by the following components,
is λ u Z is u1 The matrix of the composition is formed by the following components,
is λ u An
A matrix of constructs;
through the establishment of the unloading position information database structure, the unloading position information database stored in sequence can be automatically generated only by acquiring the position coordinates of the unloading position closest to the origin of the three-dimensional space coordinate system in the n unloading positions, the row and the layer numbers of the n unloading positions corresponding to the X, Y and Z directions in the three-dimensional space coordinate system and the spacing distances among the n unloading positions in the X, Y and Z directions.
Step S4, an unloading sequence rule is formulated for the unloading area in combination with the actual loading and unloading operation requirement and the operation characteristics of the crane, and for the case that the unloading instruction specifies the unloading area, the driver usually follows a certain basic rule to carry out the transportation and unloading operation of the cargo, as shown in fig. 6, when the unloading state of the cargo is multi-layer, the cargo is usually unloaded first at the lowest layer, and then the cargo is sequentially unloaded layer by layer. When the unloading state of the cargo is only one floor, the cargo is usually unloaded at the unloading position farthest from the initial position of the cargo, and then the other cargo is sequentially unloaded from far to near to finish the transporting operation. That is, the driver follows the basic principle that the first unloaded cargo does not affect the subsequent loading and unloading work during the cargo loading and unloading work. An unloading sequence rule that unloading positions are sequentially unloaded from low to high and from far to near relative to an initial position before loading the goods is formulated according to the basic principle, the unloading position information database can be reordered according to the unloading sequence rule, and the unloading position information database structure of the formula (3) can be transformed into an unloading sequence database structure as shown in the formula (4) by combining the unloading sequence rule:
in any way, an unloading order database arranged according to the unloading order rule is finally obtained, as shown in formula (5):
wherein the content of the first and second substances,
expressed as unloading position, X, of n pieces of goods to be unloaded among the m pieces of goods uc 、Y uc 、Z uc Respectively representing the unloading positions K of n pieces of goods to be unloaded u Position coordinates in X, Y and Z directions,
respectively represents the position coordinates of the unloading position of the i-th cargo to be unloaded in the X, Y and Z directions,
respectively representing the n-th parts to be unloadedPosition coordinates of the unloading position of the cargo in the X, Y and Z directions.
In addition, since the unloading sequence of the cargo is usually related to the relative position of the unloading area at the initial position before loading the cargo, the embodiment of the present invention defines a plurality of unloading areas with the initial position before loading the cargo as the center according to the relative position relationship of the unloading area with respect to the initial position before loading the cargo, establishes an unloading position information database for each unloading area, formulates an adaptive unloading sequence rule, and reorders each unloading position information database according to the adaptive unloading sequence rule to obtain an effective unloading sequence database more conforming to the actual unloading habit. And when the crane actually carries out carrying operation, selecting a proper unloading sequence database according to the relative position relation of the unloading area at the initial position of the goods, which is established by the unloading instruction.
Referring to fig. 9, steps S5 to S8 are steps of establishing a loading sequence database, and on the basis of establishing an initial position information database and an unloading sequence database of goods, a loading sequence database structure shown in formula (6) is established for the goods to be loaded, and then a target loading goods is searched for an unloading position, which is specifically divided into two cases:
when the initial stacking state of the cargos is a single layer, firstly, starting to search cargos with the position coordinate of the 1 st unloading position in the cargo unloading sequence database as a starting point, wherein the carrying path of the cargos is the shortest (obtained by calculating and comparing the distance from the unloading position to the initial position of each piece of searched cargo), wherein the searched cargos become 1 st target loaded cargos, and the system automatically stores the position coordinate of the initial position of the target loaded cargo in a pre-established loading sequence database structure, wherein the position coordinate of the initial position of the target loaded cargo becomes the coordinate data of the 1 st group of loaded cargos in the loading sequence database of the cargos; secondly, starting to search the next cargo with the shortest conveying path from all m-1 cargos by taking the position coordinate of the 2 nd unloading position in the cargo unloading sequence database as a starting point, wherein the searched cargo becomes the 2 nd target loaded cargo, and the system also automatically loads the target loaded cargoThe position coordinates of the initial position of the cargo are stored in a loading order database structure; repeatedly searching according to the above method
And finally obtaining a loading sequence of all the goods to be loaded and a loading sequence database containing all n pieces of goods to be loaded, wherein the database shown in the formula (6) has n columns of data, and the numerical values of 3 rows from the 1 st column to the n th column are respectively position coordinates of the initial positions of the 1 st piece of goods to the n th piece of goods in the loading sequence of the goods and are sequentially arranged from the left side to the right side of the matrix according to the sequence of loading from the first side to the last side.
Referring to fig. 7 and 8, in the case where the initial stacking state of the goods is multi-level, the basic operation requirement is also applied to the crane loading operation, and the optimization of the loading sequence of the goods by the crane must be established on the basis of the basic operation requirement, in the loading operation shown in fig. 7, assuming that the unloading position of the first goods is located at position No.1 shown on the right side of fig. 7, and when the nearest goods are searched from the unloading position as the starting point, the goods No.1 shown on the left side of fig. 7 are the first target goods to be loaded, but the goods No.1 cannot be loaded and transported first until the goods No. 2 to 5 stacked on the goods No.1 are not loaded and transported away from the crane. Therefore, in order to obtain the cargo loading order suitable for the actual loading work, the search range of the target cargo is limited to the cargo that can be actually loaded by the crane, and as shown in fig. 8, when the initial stacking state of the cargo is multi-story, the cargo loading order search range is limited to the cargo placed on the uppermost story (i.e., the cargo marked O in fig. 8). When the target is searched for loading the goods, the range of the objects capable of loading the goods is confirmed first, the goods with the shortest carrying path away from the current unloading position are searched in the range of the objects capable of loading the goods, and the calculation amount of the system is greatly reduced by limiting the range of the objects capable of loading the goods.
Further, all the loadable objects in step S6 are determined by calculation, comprising the steps of:
s6-1, comparing X, Y and Z values in position coordinates of all initial positions in the current initial position information database;
s6-2, dividing all position coordinates into a plurality of groups on the basis of equal X and Y values;
and S6-3, selecting the goods corresponding to the position coordinate with the maximum Z value in each group as loadable goods.
Through the improvement, the goods placed on the uppermost layer can be automatically screened out by comparing the Z value in the position coordinate of the goods by utilizing the three-dimensional position information storage form of the goods, and the stacking state of the goods can be automatically identified to be single-layer or multi-layer according to the comparison of the Z value of the position coordinate in the database, so that the determination of the objects capable of being loaded is effectively realized, and the loading sequence database of the crane goods is automatically generated. The method for searching and automatically generating the loading sequence of the crane cargo is shown in the flow chart of fig. 9.
The invention provides an intelligent optimization system of automatic loading sequence of crane cargos, which is based on an intelligent optimization method of automatic loading sequence of crane cargos, and comprises the following steps:
the three-dimensional space coordinate system establishing module is used for establishing a three-dimensional space coordinate system, taking limit position points of goods loaded by the crane in three motion directions of large and small car operation and vertical descending as the original point of the three-dimensional space coordinate system, and taking the motion directions of a small car, a large car and a hoisting mechanism of the crane as the X, Y and Z directions of the three-dimensional space coordinate system respectively;
the initial position information database forming module is used for establishing a corresponding relation between the initial positions of the m pieces of goods and a three-dimensional space coordinate system to obtain an initial position information database;
the unloading position information database forming module is used for establishing a corresponding relation between the unloading positions of n cargos to be unloaded in the m cargos and the three-dimensional space coordinate system to obtain an unloading position information database;
the unloading sequence database forming module is used for formulating an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
the target loaded goods determining module is used for sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, calculating the distances from the initial positions of all the loadable goods in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points, selecting the loadable goods with the closest distance as target loaded goods for output, and hiding the position coordinates of the initial positions of the current target loaded goods from the initial position information database;
the loading sequence database forming module is used for establishing a loading sequence database structure, sequentially extracting position coordinates of an initial position of a target loaded goods and sequentially inputting the position coordinates into the loading sequence database structure to obtain a loading sequence database, and the loading sequence database structure is as follows:
wherein the content of the first and second substances,
expressed as the initial position, X, of the n loads to be loaded out of the m loads pc 、Y pc 、Z pc Respectively representing the initial positions K of n pieces of goods to be loaded P Position coordinates in X, Y and Z directions,
respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,
and position coordinates respectively representing initial positions of the nth goods to be loaded in the X, Y and Z directions.
Further, the target loaded cargo determination module further includes a loadable cargo determination unit configured to calculate X, Y, and Z values of the initial position information of all the cargos in the initial position information database, group the initial position information on the basis that the X and Y values are equal, and set the cargo corresponding to the position coordinate of the initial position having the largest Z value in each group as the loadable cargo.
Preferably, the unloading sequence rules in the unloading sequence database forming module are sorted according to the rules of the unloading positions from low to high, from far to near, relative to the initial positions of the cargoes before loading.
The intelligent optimization system for the automatic loading sequence of the goods of the crane comprises a three-dimensional space coordinate system establishing module, a three-dimensional loading module and a three-dimensional loading module, wherein the three-dimensional space coordinate system establishing module is combined with three machines of the crane to establish the three-dimensional space coordinate system, the whole carrying process of the goods is carried out in a three-dimensional space defined by the three-dimensional space coordinate system, the goods are regarded as mass points, and position coordinates corresponding to the geometric center of the goods are used as position coordinates of the goods; then, an initial position information database of goods is formed through an initial position information database forming module, an unloading position information database of goods to be loaded is formed through an unloading position information database forming module, an unloading sequence rule is specified according to the actual loading and unloading operation characteristics of the crane through an unloading sequence database forming module, and a practical unloading sequence database is automatically generated; and finally, sequentially searching the target loaded goods according to the sequence of the position coordinates of the unloading sequence database by a target loaded goods determining module, and sequentially outputting the target loaded goods to the loading sequence database to automatically generate a practical target loading sequence database.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (6)
1. An intelligent optimization method for automatic loading sequence of crane cargos is characterized by comprising the following steps:
s1, establishing a three-dimensional space coordinate system, taking limit position points of cargos loaded by a crane in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional space coordinate system, and taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y and Z directions of the three-dimensional space coordinate system respectively;
s2, defining the quantity of the initially stacked goods as m goods, and establishing a corresponding relation between the initial positions of the m goods and the three-dimensional space coordinate system to obtain an initial position information database;
s3, defining that n cargos in m cargos need to be unloaded, and establishing a corresponding relation between unloading positions of the n cargos and the three-dimensional space coordinate system to obtain an unloading position information database;
s4, setting an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
s5, establishing a loading sequence database structure:
wherein, the first and the second end of the pipe are connected with each other,
expressed as the initial position, X, of the n loads to be loaded out of the m loads pc 、Y pc 、Z pc Respectively representing the initial positions K of n goods to be loaded P Position coordinates in X, Y and Z directions,
respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,
respectively showing the n-th goods to be loaded in X, Y,Position coordinates of an initial position in the Z direction;
s6, sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, and calculating the distances from the initial positions of all loadable cargos in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points;
s7, selecting the loaded object with the closest distance as a target loaded object, inputting the position coordinate sequence of the initial position of the target loaded object into the loading sequence database structure, and hiding the position coordinate of the initial position of the target loaded object from the initial position information database;
and S8, repeating the steps S6-S7 until the target loaded goods at all the unloading positions are searched.
2. The intelligent optimization method for the automatic loading sequence of crane cargos according to claim 1, wherein all the loadable objects in the step S6 are determined by calculation, and the method comprises the following steps:
s6-1, comparing X, Y and Z values in position coordinates of all initial positions in the initial position information database;
s6-2, dividing all position coordinates into a plurality of groups on the basis of equal X and Y values;
and S6-3, selecting the goods corresponding to the position coordinate with the maximum Z value in each group as the loadable goods.
3. The intelligent optimization method for the automatic loading sequence of the crane cargos according to claim 1, wherein the unloading sequence rules in the step S4 are that the unloading positions are sequentially sorted from low to high and from far to near relative to the initial positions before the cargos are loaded.
4. An intelligent optimization system for automatic loading sequence of crane cargos, comprising:
the three-dimensional space coordinate system establishing module is used for establishing a three-dimensional space coordinate system, taking limit position points of goods loaded by a crane in three motion directions of large and small car operation and vertical descending as the origin of the three-dimensional space coordinate system, and taking the motion directions of a small car, a large car and a hoisting mechanism of the crane as the X, Y and Z directions of the three-dimensional space coordinate system respectively;
the initial position information database forming module is used for establishing a corresponding relation between the initial positions of the m pieces of goods and the three-dimensional space coordinate system to obtain an initial position information database;
the unloading position information database forming module is used for establishing a corresponding relation between the unloading positions of n cargos to be unloaded in the m cargos and the three-dimensional space coordinate system to obtain an unloading position information database;
the unloading sequence database forming module is used for formulating an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;
the target loaded goods determining module is used for sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, calculating the distances from the initial positions of all loadable goods in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points, selecting the loadable goods with the closest distances as target loaded goods to be output, and hiding the position coordinates of the initial positions of the current target loaded goods from the initial position information database;
a loading sequence database forming module, configured to establish a loading sequence database structure, sequentially extract the position coordinates of the initial position of the target loaded cargo, and sequentially input the position coordinates into the loading sequence database structure to obtain a loading sequence database, where the loading sequence database structure is:
wherein the content of the first and second substances,
expressed as initial position, X, of n pieces of goods to be loaded out of m pieces of goods pc 、Y pc 、Z pc Respectively representing the initial positions K of n pieces of goods to be loaded P Position coordinates in X, Y and Z directions,
respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,
and position coordinates respectively representing initial positions of the nth goods to be loaded in the X, Y and Z directions.
5. An intelligent optimization system for crane cargo automatic loading sequence according to claim 4, wherein said target loadable cargo determination module further comprises a loadable cargo determination unit for calculating X, Y and Z values of said initial position information of all the cargos in said initial position information database, grouping said initial position information on the basis of equal X and Y values, and regarding the cargo corresponding to the position coordinate of said initial position having the largest Z value in each group as said loadable cargo.
6. The intelligent optimization system for the automatic loading sequence of the crane cargos according to claim 4, wherein the unloading sequence rules in the unloading sequence database formation module are ordered according to the rules that the unloading positions are sequentially arranged from low to high and from far to near relative to the initial positions before the cargos are loaded.
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