CN115857414A - Intelligent assembly loading control system and method for liquid cargo ship - Google Patents
Intelligent assembly loading control system and method for liquid cargo ship Download PDFInfo
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Abstract
The invention provides an intelligent assembly loading control system and method for a liquid cargo ship, which relate to the technical field of ships and comprise the following steps: according to the load distribution constraint condition, performing multi-objective optimization treatment to obtain at least one load distribution scheme of the liquid cargo ship by taking the minimum ballast water load capacity of a ballast tank, the shortest cargo oil transportation path loaded in the liquid cargo tank, and the optimal ship stability and strength as optimization targets; determining a loading scheme to be executed according to each loading scheme; acquiring a stowage target state according to a stowage scheme to be executed, and generating a loading and unloading execution sequence comprising each ballast tank of the liquid cargo tank, each loading and unloading execution sequence of each liquid cargo tank and a related loading and unloading amount according to an initial stowage state and loading and unloading constraint conditions; and then controlling the associated loading and unloading equipment to execute corresponding loading and unloading operation so as to enable the liquid cargo ship to reach the loading target state. The method has the advantages of reducing the dependency on the experience of a shipman, effectively improving the reliability of the liquid cargo ship in loading and unloading operation, and gradually realizing automation and unmanned operation process.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an intelligent assembly loading control system and method for a liquid cargo ship.
Background
With the progress of science and technology and the vigorous development of the ship transportation industry, in order to improve the loading and unloading efficiency of liquid cargo, shorten the stay time of a ship in port and finally achieve the aim of improving economic benefits, a liquid cargo loading and unloading control system which is one of important components of a liquid cargo ship tends to be more complicated and more intelligent, and becomes an integrated system which integrates multiple subjects such as a computer, an automatic control and electronic information technology, a ship theory and the like.
The existing liquid cargo loading and unloading system generally adopts a liquid cargo ship stowage instrument system, the loading and unloading process is mainly realized through shipman interaction definition, the shipman needs to determine a stowage scheme through multiple modifications on the basis of preset typical working conditions based on operation requirements, and the dependence degree of optimization of the stowage scheme on the experience of the shipman is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent loading control system of a liquid cargo ship, which comprises:
the cargo allocation scheme generation module is used for performing multi-objective optimization processing to obtain at least one cargo allocation scheme of the liquid cargo ship according to an externally input intelligent cargo allocation instruction containing a cargo allocation constraint condition, and with the optimization targets of minimum ballast water transfer capacity of a ballast tank of the liquid cargo ship, shortest cargo oil transfer path loaded in a liquid cargo tank of the liquid cargo ship, and optimal ship stability and strength;
the scheme selection module is connected with the stowage scheme generation module and used for determining the stowage scheme to be executed according to each stowage scheme;
a loading and unloading plan generating module which is connected with the scheme selecting module and is used for acquiring the loading target state of the liquid cargo ship according to the loading scheme to be executed and generating a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tank according to the acquired initial loading state of the liquid cargo ship and loading and unloading constraint conditions;
and the loading and unloading control module is connected with the loading and unloading plan generating module and is used for controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operations according to the loading and unloading time sequence so that the liquid cargo ship reaches the stowage target state.
Preferably, the system further comprises a stowage scheme database connected to the stowage scheme generating module, wherein the stowage scheme database is used for storing a plurality of standard stowage constraint conditions configured in advance and the standard stowage schemes corresponding to the standard stowage constraint conditions;
the stowage scheme generating module includes:
a scheme retrieval unit, configured to retrieve from the stowage scheme database according to the stowage constraint conditions included in the intelligent stowage instruction, and when retrieving the standard stowage constraint conditions matching the stowage constraint conditions, output the standard stowage scheme corresponding to the standard stowage constraint conditions as the stowage scheme, and when not retrieving the standard stowage constraint conditions matching the stowage constraint conditions, output an intelligent generation signal;
and the scheme generating unit is connected with the scheme retrieving unit and used for performing multi-objective optimization processing to obtain the loading scheme of the liquid cargo ship by taking the minimum ballast water transfer capacity of a ballast tank of the liquid cargo ship, the shortest cargo oil transfer path loaded in the liquid cargo tank of the liquid cargo ship and the optimal ship stability and strength as optimization targets according to the intelligent generated signal and the loading constraint condition.
Preferably, the loading plan database includes:
the first storage module is used for storing a mapping neural network model obtained by pre-training, wherein the mapping neural network model takes the standard stowage constraint condition as input and takes the standard scheme type to which the corresponding standard stowage scheme belongs as output;
the second storage module is used for storing a plurality of pre-configured standard scheme categories, and each standard scheme category comprises a plurality of standard loading schemes respectively;
the scheme retrieval unit includes:
the classification subunit is used for sending the stowage constraint conditions contained in the intelligent stowage instruction into the mapping neural network model to predict the current scheme type to which the stowage constraint conditions belong;
and the retrieval subunit is connected with the classification subunit and is used for retrieving in the stowage scheme database according to the current scheme type, and when the corresponding standard scheme type is obtained through matching, the retrieval subunit indicates that the standard stowage constraint condition matched with the stowage constraint condition is retrieved, outputs all the standard stowage schemes in the standard scheme type as the stowage schemes, and outputs the intelligent generation signal when the corresponding standard scheme type is not obtained through matching.
Preferably, the scheme selection module includes a first interaction unit, configured to display each of the stowage schemes to an operator, and when a selection instruction of the operator is received, use the stowage scheme selected by the operator as the stowage scheme to be executed, and when a modification instruction of the operator is received, use the stowage scheme modified by the operator as the stowage scheme to be executed.
Preferably, the loading/unloading plan generating module includes:
a tank selection unit configured to acquire current states of the liquid cargo tanks and the ballast tanks of the tanker, and to use the liquid cargo tanks and the ballast tanks, of which the current states satisfy the loading and unloading constraint conditions, as the ballast tanks and the liquid cargo tanks that are removable;
the staging unit is connected with the cabin selection unit and used for acquiring the stowage target state of the liquid cargo ship according to the stowage scheme to be executed, then processing the acquired initial stowage state of the liquid cargo ship and the stowage target state to obtain loading and unloading variation of each detachable ballast tank and each liquid cargo tank, and performing staging according to the loading and unloading variation to obtain loading and unloading stages of each detachable ballast tank and each liquid cargo tank;
a plan generating unit connected to the staging unit, for performing a combinatorial optimization process to obtain the loading and unloading time sequence of each loading and unloading stage of each ballast tank and each cargo tank that can be loaded and unloaded, based on the loading and unloading constraint conditions and with the loading target state as an optimization target;
the loading/unloading time series sequence includes the loading/unloading execution order of the loading/unloading stages of the ballast tanks and the cargo tanks that are loadable and unloadable, and the loading/unloading amount associated with each loading/unloading stage.
Preferably, the phase dividing unit includes:
the processing subunit is configured to obtain the stowage target state of the tanker according to the stowage scheme to be executed, and then process the stowage target state and the loading and unloading target state of the tanker according to the obtained initial stowage state and the acquired stowage target state to obtain the loading and unloading variation of each detachable ballast tank and each cargo tank;
and the dividing subunit is connected with the processing subunit and used for configuring one loading and unloading stage for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is smaller than a first threshold, configuring two loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the first threshold and smaller than a second threshold, and configuring three loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the second threshold.
Preferably, the loading and unloading plan generating module further includes a second interacting unit, connected to the plan generating unit, and configured to display the loading and unloading time sequence to an operator, so that the operator can check and adjust the loading and unloading time sequence.
Preferably, the system further comprises a time sequence database connected to the loading and unloading plan generating module, wherein the time sequence database is used for storing a plurality of pre-configured standard time sequence sequences and standard loading and unloading constraint conditions corresponding to the standard time sequence sequences;
the loading plan generating module includes:
a sequence searching unit connected to the cabin selecting unit, for searching in the time series database according to the loading and unloading constraint condition, and outputting the standard time series corresponding to the standard loading and unloading constraint condition as the loading and unloading time series when the standard loading and unloading constraint condition matching with the loading and unloading constraint condition is searched, and outputting an intelligent generation signal when the standard loading and unloading constraint condition matching with the loading and unloading constraint condition is not searched;
the cabin selection unit is used for acquiring the current states of the liquid cargo cabins and the ballast cabins of the liquid cargo ship according to the intelligently generated signals, and taking the liquid cargo cabins and the ballast cabins of which the current states meet the loading and unloading constraint conditions as the detachable ballast cabins and the liquid cargo cabins.
Preferably, the system further includes a loading/unloading time-series drawing module, which is connected to the loading/unloading plan generating module and the loading/unloading control module, respectively, and the loading/unloading time-series drawing module includes:
the first processing unit is used for acquiring equipment operation requirements of each loading and unloading equipment associated with the loading and unloading time sequence and determining the starting time of each loading and unloading stage in the loading and unloading time sequence according to the equipment operation requirements;
the second processing unit is used for obtaining the time for leveling and stopping each liquid cargo tank and each ballast tank, drawing corresponding cabin load adjusting curves according to the time for starting, the time for leveling and the time for stopping, and processing according to the cabin load adjusting curves and the corresponding loading and unloading amount to obtain the loading and unloading time of each loading and unloading stage;
and the third processing unit is respectively connected with the first processing unit and the second processing unit and used for placing each liquid cargo tank and each ballast tank in a loading and unloading planning time axis in the process that each loading and unloading device executes corresponding loading and unloading operation according to the loading and unloading time sequence, adding corresponding operation nodes of each loading and unloading device in the cabin loading and unloading time axis, and generating a loading and unloading time sequence diagram and displaying the loading and unloading time sequence diagram to an operator.
The invention also provides an intelligent loading control method of the liquid cargo ship, which is applied to the intelligent loading control system and comprises the following steps:
the method comprises the following steps that S1, according to an intelligent load allocation instruction which is input from the outside and contains load allocation constraint conditions, the intelligent load allocation control system performs multi-objective optimization processing to obtain at least one load allocation scheme of the liquid cargo ship by taking the optimization goals of minimum ballast water load capacity of a ballast tank of the liquid cargo ship, shortest cargo oil transportation path loaded in a liquid cargo tank of the liquid cargo ship and optimal ship stability and strength as optimization goals;
s2, the intelligent loading control system determines the loading schemes to be executed according to the loading schemes;
s3, the intelligent assembling load control system acquires the loading target state of the liquid cargo ship according to the loading scheme to be executed, and generates a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tank according to the acquired initial loading state of the liquid cargo ship and loading and unloading constraint conditions;
and S4, controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operation by the intelligent loading and unloading control system according to the loading and unloading time sequence so that the liquid cargo ship reaches the loading target state.
The technical scheme has the following advantages or beneficial effects: the cargo allocation scheme can be automatically generated based on the configured cargo allocation constraint conditions, and then the loading and unloading time sequence is automatically generated based on the cargo allocation scheme and the configured loading and unloading constraint conditions, so that the dependence on crew experience is reduced, the reliability of the liquid cargo ship in loading and unloading operation is effectively improved on the basis of greatly reducing the workload of a user, and the automation and the unmanned operation process are gradually realized.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent loading control system of a cargo tanker according to a preferred embodiment of the present invention;
fig. 2 is a flow chart illustrating an intelligent cargo loading control method of a cargo tanker according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In accordance with the above-mentioned problems occurring in the prior art, there is provided in a preferred embodiment of the present invention, an intelligent cargo loading control system for a cargo tanker, as shown in fig. 1, comprising:
the cargo allocation scheme generation module 1 is used for performing multi-objective optimization processing to obtain at least one cargo allocation scheme of the liquid cargo ship according to an externally input intelligent cargo allocation instruction containing a cargo allocation constraint condition by taking the minimum ballast water transfer amount of a ballast tank of the liquid cargo ship, the shortest cargo oil transfer path loaded in a liquid cargo hold of the liquid cargo ship and the optimal ship stability and strength as optimization targets;
the scheme selection module 2 is connected with the stowage scheme generation module 1 and is used for determining the stowage scheme to be executed according to each stowage scheme;
a loading and unloading plan generating module 3 connected with the scheme selecting module 2 and used for acquiring the loading target state of the liquid cargo ship according to the loading scheme to be executed and generating a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tank according to the acquired initial loading state of the liquid cargo ship and loading and unloading constraint conditions;
and the loading and unloading control module 4 is connected with the loading and unloading plan generating module 3 and is used for controlling the corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operations according to the loading and unloading time sequence so as to enable the liquid cargo ship to reach a loading target state.
Specifically, in this embodiment, the stowage constraint conditions include stowage compartment selection, cargo type and stowage amount, and target floating state, and the stowage constraint conditions are parameters manually input by an operator according to an operation scenario when intelligent stowage of the tanker is required, such as oil loading operation, external oil transportation operation, and dumping operation. The cargo compartment selection comprises a cargo capacity limit, the cargo type and the cargo loading amount comprise a total loading amount limit and a total ballast water amount limit, wherein the cargo capacity limit is that the cargo loading state of each compartment should not exceed the loading rate limit of each compartment, the total loading amount limit is that the total ship loading capacity should not exceed the maximum ship design loading limit, and the total ballast water amount limit is that the total ship ballast water amount should not exceed the ship ballast tank loading limit. The target floating state comprises floating state control constraint, stability calibration constraint and allowable total longitudinal strength constraint, wherein the floating state control constraint specifically means that the state that the floating state exceeds an allowable value should not exist, the stability calibration constraint specifically means that an alarm should not occur in the stability calibration checking process, and the allowable total longitudinal strength constraint specifically means that an alarm should not occur in the total longitudinal strength checking process. The stowage plan mainly refers to the weight, position and analysis information of all loads on the ship in a certain characteristic state, and for the cargo tanker, the most important load is the load of a cargo tank and a ballast tank, and is usually represented by information such as the percentage of each tank loaded, the liquid level height, the loading volume and the like.
In the embodiment, safety and economy are comprehensively considered according to the load distribution constraint conditions, a corresponding mathematical optimization model is constructed by taking the minimum ballast water transfer amount of a ballast tank of the liquid cargo ship, the shortest cargo oil transfer path loaded in a liquid cargo tank of the liquid cargo ship and the optimal ship stability and strength as optimization targets, and at least one load distribution scheme of the liquid cargo ship is obtained by solving by adopting a multi-objective optimization genetic algorithm. The optimization mode changes the working procedure of the traditional load allocation method, and avoids the blindness of repeated attempts in the conventional load allocation work by determining the load allocation target and searching the optimal load allocation scheme by the load allocation target. From the viewpoint of safety, the optimal ship stability and strength comprises the minimum fluctuation of a shear curve compared with an initial state or the minimum degree of a shear extreme value (the most dangerous value); the bending moment curve has minimum fluctuation compared with the initial state, or the bending moment extreme value (the most dangerous value) has the lowest degree; the stationarity value is as close as possible to the user set value. From the economical point of view, the ballast water adjustment amount of the ballast tank of the cargo tanker is the least.
Specifically, the mathematical optimization model is a multi-objective nonlinear programming model which is neither convex nor concave, when solving, if a priority rule of a load allocation constraint condition is determined, multi-objective optimization is converted into single-objective optimization for solving, and the single-objective optimization is solved according to the constraint priority based on corresponding weights, namely, the load allocation scheme output when the multi-objective optimization is converted into the single-objective optimization is unique, so that an operator can directly confirm that the load allocation scheme is a load allocation scheme to be executed or manually modify the load allocation scheme to be executed.
If the stowage constraint condition does not meet the priority rule, the NSGAII non-dominated sorting genetic algorithm is preferably adopted for solving, and the solution is a solution set formed by the optimal stowage schemes at the moment, in other words, the number of stowage schemes which are solved and output by adopting the NSGAII non-dominated sorting genetic algorithm is multiple, so that an operator can further select the stowage schemes. More preferably, in order to facilitate selection by an operator, the plurality of stowage schemes are preferably arranged in a certain order, specifically, before each stowage scheme is displayed to the operator, a selection prompt including a plurality of side items is given for the operator to select, if the side item selected by the operator is a stowage amount in the stowage scheme, the plurality of stowage schemes are arranged in the order of the stowage amount from high to low, and the other side items are arranged in the same way.
Further, since there are many influencing factors when making up the cargo tanker allocation plan, in this embodiment, the influence of some variables possibly encountered in allocation in the intelligent allocation process is reduced or eliminated in an assumed manner, and the key to solve the problem is how to reasonably allocate the cargo to be allocated and the ballast water. Specifically, the present system is based on the following assumptions: 1) The sea level is a static water surface, and wave influence is not considered when the buoyancy state, the shearing force and the bending moment of the ship are calculated; 2) When loading cargos, the deformation of the ship body due to the arching caused by the cargo loading is not considered; 3) When a stowage plan is made, the loading capacity of other cabins except the liquid cargo cabin and the ballast water cabin is fixed before loading, such as fixed weight of fuel oil, crews, spare parts and the like; 4) The loaded goods are of a single type and are homogeneous goods.
After the stowage scheme to be executed is determined, a stowage target state of the liquid cargo ship can be determined based on the stowage scheme, wherein the stowage target state comprises target loading amounts of each liquid cargo tank and each ballast tank of the liquid cargo ship, and then a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading amounts of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tanks can be automatically generated based on the initial stowage state and the current loading amounts of each liquid cargo tank and each ballast tank of the liquid cargo ship and loading and unloading constraint conditions; and then controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operation according to the loading and unloading time sequence so that the liquid cargo ship reaches a stowage target state.
Wherein the optimization objective based on the loading and unloading constraint conditions includes the minimum fluctuation of the shear curve compared with the initial state, or the minimum degree of the shear extreme value (the most dangerous value), that is to say
Wherein:
SF x0 : loading and unloading the shear force value of the initial state, the longitudinal position x of the ship;
SF x : in the whole loading and unloading process, the shear extreme value (the most dangerous value) of the longitudinal position x of the ship is obtained;
n: the number of sampling points in the whole loading and unloading process.
The optimization target based on the loading and unloading constraint condition also comprises that the initial stability high variation curve exceeds the maximum variation curve of the allowable value (or the set value);
wherein:
GM i : the initial stability of the whole ship calculation is high in the loading and unloading state corresponding to the sampling point i;
GM imin : the initial stability of the whole ship is high in the loading and unloading state corresponding to the sampling point i;
n: the number of sampling points in the whole loading and unloading process.
The optimization objective based on loading and unloading constraints also includes minimizing ballast water volume compared to the current state, i.e., load shedding
Wherein:
W ibwt : loading and unloading the total ballast water of the whole ship under the corresponding stowage state of the sampling point i;
W (i-1)bwt : the total ballast water amount of the whole ship is calculated under the loading and unloading state corresponding to the loading and unloading sampling point i-1;
n: the number of sampling points in the whole loading and unloading process.
The optimization objective based on the loading and unloading constraint conditions also includes the shortest cargo oil transportation route, namely
Wherein:
W m ，W n : the total amount of the liquid cargo transferred between the liquid cargo tank m and the liquid cargo tank n is compared with the previous sampling point i-1 by the loading and unloading sampling point i;
Dist mn : the length of a transmission pipeline between the liquid cargo tank m and the liquid cargo tank n;
k: total number of cargo tanks of the whole ship;
n: the number of sampling points in the whole loading and unloading process.
The initial loading state can be obtained based on signal acquisition results of various sensors arranged on the liquid cargo ship. The loading and unloading time sequence mainly represents the process that a ship takes a loading state as an initial state, and a target loading state is finally realized through a series of loading steps. The loading and unloading equipment comprises pipelines for connecting each liquid cargo tank and each ballast tank, valves arranged on the pipelines and pumps for driving the valves to be opened and closed.
The system can automatically generate a loading scheme based on the configured loading constraint conditions, and further automatically generate a loading and unloading time sequence based on the loading scheme and the configured loading and unloading constraint conditions, so that the dependence on crew experience is reduced, the reliability of the liquid cargo ship in loading and unloading operation is effectively improved on the basis of greatly reducing the workload of a user, and the automation and the unmanned operation process are gradually realized.
In a preferred embodiment of the present invention, the present invention further comprises a stowage scheme database 5 connected to the stowage scheme generating module 1, wherein the stowage scheme database 5 is configured to store a plurality of standard stowage constraint conditions configured in advance and standard stowage schemes corresponding to the standard stowage constraint conditions;
the stowage scheme generating module 1 includes:
the scheme retrieval unit 11 is configured to perform retrieval in the stowage scheme database according to the stowage constraint conditions included in the intelligent stowage instruction, output a standard stowage scheme corresponding to the standard stowage constraint conditions as the stowage scheme when the standard stowage constraint conditions matched with the stowage constraint conditions are retrieved, and output an intelligent generation signal when the standard stowage constraint conditions matched with the stowage constraint conditions are not retrieved;
and the scheme generating unit 12 is connected with the scheme retrieving unit 11 and is used for performing multi-objective optimization processing to obtain the loading scheme of the liquid cargo ship according to the intelligent generated signal and the loading constraint condition by taking the minimum ballast water transfer capacity of the ballast tank of the liquid cargo ship, the shortest cargo oil conveying path loaded in the liquid cargo tank of the liquid cargo ship, and the optimal ship stability and strength as optimization targets.
Specifically, in this embodiment, in order to further improve the processing efficiency, when the stowage plan is generated, the retrieval is performed in preference to the stowage plan database 5, and when the matching stowage plan is retrieved, the retrieval is directly output without performing multi-objective optimization processing. It can be understood that, after each multi-objective optimization process, the generated stowage plan and the associated stowage constraint conditions thereof are correspondingly stored in the stowage plan database 5 for data volume expansion. When the system is just put into use, the data volume in the stowage scheme database 5 is small, the retrieval requirement can not be met, and along with the use of the system, when the data volume is sufficient, multi-objective optimization processing is basically not needed in the follow-up process, and only retrieval matching is needed.
Further, the already stored stowage plan and the associated stowage constraint condition may also be used as training data, and further, the quantity of the stowage plan database 5 may be expanded by generating the countermeasure network.
In a preferred embodiment of the present invention, the loading scheme database 5 includes:
the first storage module 51 is configured to store a mapping neural network model obtained through pre-training, where the mapping neural network model takes a standard stowage constraint condition as input and takes a standard scheme category to which a corresponding standard stowage scheme belongs as output;
a second storage module 52, configured to store a plurality of standard scheme categories configured in advance, where each standard scheme category includes a plurality of standard stowage schemes respectively;
the scheme retrieval unit 11 includes:
the classification subunit 111 is configured to send the stowage constraint conditions included in the intelligent stowage instruction to the mapping neural network model to predict a current scheme type to which the stowage constraint conditions belong;
and the retrieval subunit 112, connected to the classification subunit 111, is configured to perform retrieval in the stowage scheme database according to the current scheme type, and when a corresponding standard scheme type is obtained through matching, indicate that a standard stowage constraint condition matching the stowage constraint condition is retrieved, output all standard stowage schemes in the standard scheme type as stowage schemes, and output an intelligently generated signal when a corresponding standard scheme type is not obtained through matching.
In a preferred embodiment of the present invention, the scheme selecting module 2 includes a first interacting unit 21, configured to show each stowage scheme to an operator, and when a selection instruction of the operator is received, use the stowage scheme selected by the operator as the stowage scheme to be executed, and when a modification instruction of the operator is received, use the stowage scheme modified by the operator as the stowage scheme to be executed.
In a preferred embodiment of the present invention, the loading/unloading plan creating module 3 includes:
a cabin selection unit 31 for acquiring current states of each liquid cargo cabin and each ballast cabin of the liquid cargo ship, and taking each liquid cargo cabin and each ballast cabin, of which the current states satisfy loading and unloading constraint conditions, as a loadable and unloadable ballast cabin and each liquid cargo cabin;
the stage division unit 32 is connected with the cabin selection unit 31 and used for acquiring a loading target state of the liquid cargo ship according to a loading scheme to be executed, processing according to the acquired initial loading state and the loading target state of the liquid cargo ship to obtain loading and unloading variable quantities of each detachable ballast tank and each liquid cargo cabin, and dividing according to the loading and unloading variable quantities to obtain loading and unloading stages of each detachable ballast tank and each liquid cargo cabin;
a plan generating unit 33 connected to the staging unit 32 for performing a combinatorial optimization process based on the loading/unloading constraint condition with the loading target status as an optimization target to obtain a loading/unloading time series of each loading/unloading stage of each ballast tank and each cargo tank that can be loaded/unloaded;
the loading/unloading time sequence includes the loading/unloading execution sequence of each loading/unloading stage of each ballast tank and each cargo tank that can be loaded/unloaded, and the loading/unloading amount associated with each loading/unloading stage.
In particular, in this embodiment, the system determines a default list of tanks to be loaded on the basis of all the tanks, each tank being equipped with ballast tanks to be loaded simultaneously, which list can be modified interactively by the operator. In the default list of cabins to be load-adjusted, the system screens out cabins meeting the load-adjusting requirement through retrieval, and the current state indicates that the loading rate of the target liquid cargo compartment is limited; or the type of the goods in the target liquid cargo tank is not consistent with the type of the goods to be loaded; or the state of the loading and unloading equipment related to the target liquid cargo tank does not meet the loading and unloading operation requirement (such as equipment state alarm); or the target liquid cargo tank is in an unavailable state such as tank washing, external transportation waiting and the like, the current state does not meet the loading and unloading constraint condition, and the corresponding target liquid cargo tank is unavailable. After the retrieval of the load-transferring cabin is finished, the operator confirms the retrieval and then starts a follow-up intelligent decision.
For each cabin, the initial loading state may be a current state or a predicted loading amount at a certain future time point, and the loading target state may be a cabin limit loading amount or a loading amount interactively input by an operator.
Further, when the cabin capacity of the cabin is large and the loading and unloading variation of a single cabin is large, the loading and unloading of the cabin need to be segmented to avoid potential safety hazards caused by long-time loading and unloading of the same cabin, such as floating potential hazards or long-time working potential hazards of associated loading and unloading equipment. In general, the complete loading and unloading of a cargo tank is divided into 2-3 loading and unloading stages, and specifically, the stage division unit 32 includes:
the processing subunit 321 is configured to obtain a stowage target state of the liquid cargo ship according to the stowage scheme to be executed, and then process the obtained initial stowage state and the stowage target state of the liquid cargo ship to obtain loading and unloading variation of each detachable ballast tank and each liquid cargo tank;
the dividing subunit 322 is connected to the processing subunit 321, and is configured to configure one loading and unloading stage for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is smaller than the first threshold, configure two loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the first threshold and smaller than the second threshold, and configure three loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the second threshold.
After the loading and unloading stages are divided, the loading and unloading time series of each loading and unloading stage of each ballast tank and each cargo tank which can be loaded and unloaded can be obtained by performing the combination optimization processing with the loading target state as the optimization target according to the loading and unloading constraint conditions. The above-mentioned combinatorial optimization preferably adopts the motion trend approximation method in the discrete differential evolution algorithm to solve and obtain the above-mentioned loading and unloading time sequence, specifically:
the motion trend approximation method is based on integer coding, randomly generates arrangement and combination of a cargo tank loading sequence and a ballast tank drainage sequence during initialization, and determines the cargo tank loading and unloading sequence according to the loading and unloading turns, for example, a ship has 5 cargo tanks, the sequence of the 1 st stage may be [3 → 5 → 1 → 2 → 4], the sequence of the 2 nd stage is [4 → 3 → 1 → 5 → 2], and the total number is 10 stages;
the ballast tanks are inserted for loading and unloading in the loading and unloading process of the liquid cargo tank, each ballast tank is only inserted once in the whole loading and unloading process of the liquid cargo tank according to the capacity and the use requirement of the ballast tank, if the ship has 7 ballast tanks, the ballast tank loading operation needs to be completed within 10 stages of loading and unloading of the liquid cargo tank, the random ballast water discharge sequence obtained after initialization can be [5 → 8 → 9 → 3 → 10 → 4 → 2 → 6 → 7], wherein 8, 9 and 10 are space symbols which represent that the ballast water discharge operation is not carried out.
In a preferred embodiment of the present invention, the loading/unloading plan generating module 3 further includes a second interacting unit 34 connected to the plan generating unit 33, for displaying the loading/unloading time sequence to the operator, so that the operator can check and adjust the loading/unloading time sequence.
In a preferred embodiment of the present invention, the system further comprises a time sequence database 6 connected to the loading and unloading plan generating module 3, wherein the time sequence database 6 is used for storing a plurality of pre-configured standard time sequence sequences and corresponding standard loading and unloading constraint conditions;
the loading/unloading plan generating module 3 includes:
a sequence search unit 34 connected to the cabin selection unit 31 for searching in the time series database according to the loading and unloading constraint conditions, outputting a standard time series sequence corresponding to the standard loading and unloading constraint conditions as a loading and unloading time series sequence when the standard loading and unloading constraint conditions matching the loading and unloading constraint conditions are searched, and outputting an intelligent generation signal when the standard loading and unloading constraint conditions matching the loading and unloading constraint conditions are not searched;
the cabin selection unit 31 is configured to obtain current states of the respective cargo tanks and the respective ballast tanks of the cargo ship according to the intelligently generated signal, and use the respective cargo tanks and the respective ballast tanks, of which the current states satisfy loading and unloading constraint conditions, as the loadable and unloadable ballast tanks and the respective cargo tanks.
Specifically, in the present embodiment, in order to further improve the processing efficiency, the loading/unloading sequence is searched in preference to the sequence database 6 when the loading/unloading sequence is generated, and the loading/unloading sequence is directly output when the matching loading/unloading sequence is searched, so that it is not necessary to perform intelligent generation of the loading/unloading sequence. It is understood that, after the loading/unloading time series sequence is intelligently generated, the generated loading/unloading time series sequence and the loading/unloading constraint conditions associated therewith are correspondingly stored in the time series database 6 for data volume expansion. When the system is just put into use, the data volume in the time sequence database 6 is small, and the retrieval requirement can not be met.
Further, the stored standard time series and the associated loading and unloading constraint conditions may be used as training data, and the number of the time series database 6 may be expanded by generating a countermeasure network.
In a preferred embodiment of the present invention, the system further includes a loading/unloading sequence drawing module 7 connected to the loading/unloading plan generating module 3 and the loading/unloading control module 4, respectively, and the loading/unloading sequence drawing module 7 includes:
a first processing unit 71, configured to obtain an equipment operation requirement of each loading and unloading equipment associated with the loading and unloading sequence, and determine, according to the equipment operation requirement, a time for starting each loading and unloading stage in the loading and unloading sequence;
the second processing unit 72 is used for acquiring the time for leveling and stopping each liquid cargo tank and each ballast tank, drawing corresponding tank load regulation curves according to the time for starting, the time for leveling and the time for stopping, and processing according to the tank load regulation curves and corresponding loading and unloading amount to obtain the loading and unloading time of each loading and unloading stage;
and a third processing unit 73, connected to the first processing unit 71 and the second processing unit 72, for placing each of the cargo tanks and the ballast tanks in a loading and unloading planning time axis during the process of performing the corresponding loading and unloading operation by each of the loading and unloading equipments according to the loading and unloading time sequence, and adding the corresponding operation nodes of each of the loading and unloading equipments to the cabin loading and unloading time axis to generate a loading and unloading time sequence diagram for the operator to display.
Specifically, in this embodiment, after the cabin loading and unloading sequence is determined, the start time of each load adjusting phase may be determined according to the operation requirement of the loading and unloading equipment, such as: generally, in order to ensure the pressure in an oil pipeline to be stable, at least one cabin is required to be ensured to be in an oil feeding state all the time in the oil loading process, namely, before the oil loading is finished in the first stage, a valve of a cargo cabin to be loaded with oil in the second stage is opened in advance, the lead is based on the starting time of related valves, if the corresponding valves are required to be opened successively, the starting time of each valve is 30 minutes, and the lead is required to be more than 30 minutes; for a single-cabin single-pump tanker, no explicit start-up time is required during the unloading process.
Further, the loading and unloading time of each loading and unloading stage can be obtained by processing according to a preset cabin load regulation curve associated with each liquid cargo tank and each ballast tank and a corresponding loading and unloading amount, wherein the horizontal axis of the cabin load regulation curve is time, the vertical axis of the cabin load regulation curve is the current cabin loading volume, and the slope of the cabin load regulation curve is the load regulation rate at the current moment. The cabin load regulation curve may be obtained based on an analysis of a correlation curve of output power and flow of a pump associated with the cabin and a correlation curve of opening of a valve and maximum flow, and a specific analysis manner is the prior art and is not an inventive point of the technical scheme, and is not described here again. The correlation curve of the output power of the pump and the flow rate and the correlation curve of the opening degree of the valve and the maximum flow rate can be obtained based on inherent parameters of the pump and the valve.
After the time for starting and loading and unloading of each loading and unloading stage is determined, a loading and unloading time sequence diagram can be drawn, the loading and unloading time sequence diagram can guarantee the starting and ending time of the whole loading and unloading process and the operation nodes of each loading and unloading device, and an operator can conveniently and visually check the time sequence diagram. The loading/unloading timing chart is preferably shown in the form of a gantt chart.
The invention also provides an intelligent loading control method of the liquid cargo ship, which is applied to the intelligent loading control system, and as shown in fig. 2, the intelligent loading control method comprises the following steps:
s1, performing multi-objective optimization processing by an intelligent assembly load control system according to an externally input intelligent assembly load instruction containing an assembly load constraint condition by taking the minimum ballast water transfer amount of a ballast tank of the liquid cargo ship, the shortest cargo oil transfer path loaded in a liquid cargo tank of the liquid cargo ship and the optimal ship stability and strength as optimization targets to obtain at least one assembly load scheme of the liquid cargo ship;
s2, the intelligent assembly load control system determines a loading scheme to be executed according to each loading scheme;
s3, the intelligent assembling load control system acquires the assembling load target state of the liquid cargo ship according to the assembling load scheme to be executed, and generates a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank of the liquid cargo tank according to the acquired initial assembling load state of the liquid cargo ship and loading and unloading constraint conditions;
and S4, controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operation by the intelligent loading and unloading control system according to the loading and unloading time sequence so as to enable the liquid cargo ship to reach a loading target state.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An intelligent assembly loading control system of a liquid cargo ship, comprising:
the cargo allocation scheme generation module is used for performing multi-objective optimization processing according to an intelligent cargo allocation instruction which is input from the outside and contains a cargo allocation constraint condition, wherein the optimization objectives are that the ballast water transfer amount of a ballast tank of a liquid cargo ship is minimum, the cargo oil transfer path loaded in the liquid cargo tank of the liquid cargo ship is shortest, and the ship stability and strength are optimal to obtain at least one cargo allocation scheme of the liquid cargo ship;
the scheme selection module is connected with the stowage scheme generation module and is used for determining the stowage scheme to be executed according to each stowage scheme;
a loading and unloading plan generating module which is connected with the scheme selecting module and is used for acquiring the loading target state of the liquid cargo ship according to the loading scheme to be executed and generating a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tank according to the acquired initial loading state of the liquid cargo ship and loading and unloading constraint conditions;
and the loading and unloading control module is connected with the loading and unloading plan generating module and is used for controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operations according to the loading and unloading time sequence so that the liquid cargo ship reaches the stowage target state.
2. The intelligent loading control system according to claim 1, further comprising a loading scheme database connected to the loading scheme generating module, the loading scheme database being configured to store a plurality of standard loading constraints configured in advance and the standard loading schemes corresponding thereto;
the stowage scheme generating module includes:
a scheme retrieval unit, configured to retrieve from the stowage scheme database according to the stowage constraint conditions included in the intelligent stowage instruction, and when retrieving the standard stowage constraint conditions matching the stowage constraint conditions, output the standard stowage scheme corresponding to the standard stowage constraint conditions as the stowage scheme, and when not retrieving the standard stowage constraint conditions matching the stowage constraint conditions, output an intelligent generation signal;
and the scheme generating unit is connected with the scheme retrieval unit and is used for performing multi-objective optimization processing according to the intelligently generated signal and the distribution constraint condition by taking the minimum ballast water transfer capacity of a ballast tank of the liquid cargo ship, the shortest cargo oil transfer path loaded in the liquid cargo tank of the liquid cargo ship and the optimal ship stability and strength as optimization targets to obtain the distribution scheme of the liquid cargo ship.
3. The smart loading control system according to claim 2, wherein the loading scenario database includes:
the first storage module is used for storing a mapping neural network model obtained by pre-training, wherein the mapping neural network model takes the standard stowage constraint condition as input and takes the standard scheme type to which the corresponding standard stowage scheme belongs as output;
the second storage module is used for storing a plurality of pre-configured standard scheme categories, and each standard scheme category comprises a plurality of standard loading schemes respectively;
the scheme retrieval unit includes:
the classification subunit is used for sending the stowage constraint conditions contained in the intelligent stowage instruction into the mapping neural network model to predict the current scheme type to which the stowage constraint conditions belong;
and the retrieval subunit is connected with the classification subunit and is used for retrieving in the stowage scheme database according to the current scheme type, and when the corresponding standard scheme type is obtained through matching, the retrieval subunit indicates that the standard stowage constraint condition matched with the stowage constraint condition is retrieved, outputs all the standard stowage schemes in the standard scheme type as the stowage schemes, and outputs the intelligent generation signal when the corresponding standard scheme type is not obtained through matching.
4. The intelligent loading control system according to claim 1, wherein the scheme selection module includes a first interaction unit configured to display each of the loading schemes to an operator, and when receiving a selection instruction of the operator, use the loading scheme selected by the operator as the loading scheme to be executed, and when receiving a modification instruction of the operator, use the loading scheme modified by the operator as the loading scheme to be executed.
5. The smart load control system of claim 1, wherein the loading plan generation module comprises:
a tank selection unit configured to acquire current states of the liquid cargo tanks and the ballast tanks of the tanker, and to use the liquid cargo tanks and the ballast tanks, of which the current states satisfy the loading and unloading constraint conditions, as the ballast tanks and the liquid cargo tanks that are removable;
the stage division unit is connected with the cabin selection unit and used for acquiring the stowage target state of the liquid cargo ship according to the stowage scheme to be executed, then processing the acquired initial stowage state of the liquid cargo ship and the stowage target state to obtain loading and unloading variable quantities of each detachable ballast tank and each liquid cargo cabin, and dividing the loading and unloading variable quantities to obtain loading and unloading stages of each detachable ballast tank and each liquid cargo cabin;
a plan generating unit connected to the stage dividing unit, for performing a combined optimization process to obtain the loading and unloading time series of each loading and unloading stage of each ballast tank and each cargo tank that can be loaded and unloaded, based on the loading and unloading constraint condition and with the loading target state as an optimization target;
the loading and unloading time sequence comprises the loading and unloading execution sequence of each loading and unloading stage of each ballast tank and each liquid cargo tank which can be loaded and unloaded and the loading and unloading quantity related to each loading and unloading stage.
6. The smart loading control system of claim 5, wherein the staging unit comprises:
the processing subunit is configured to obtain the stowage target state of the tanker according to the stowage scheme to be executed, and then process the stowage target state and the loading and unloading target state of the tanker according to the obtained initial stowage state and the acquired stowage target state to obtain the loading and unloading variation of each detachable ballast tank and each cargo tank;
and the dividing subunit is connected with the processing subunit and used for configuring one loading and unloading stage for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is smaller than a first threshold, configuring two loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the first threshold and smaller than a second threshold, and configuring three loading and unloading stages for the corresponding ballast tank or the liquid cargo tank when the loading and unloading variation is not smaller than the second threshold.
7. The intelligent loading control system of claim 5, wherein the loading/unloading plan generating module further comprises a second interacting unit connected to the plan generating unit for displaying the loading/unloading sequence to an operator for the operator to check and adjust.
8. The intelligent loading control system according to claim 5, further comprising a time sequence database connected to the loading/unloading plan generating module, the time sequence database being configured to store a plurality of standard time sequence sequences configured in advance and standard loading/unloading constraints corresponding thereto;
the loading and unloading plan generating module comprises:
a sequence searching unit connected to the cabin selecting unit, for searching in the time series database according to the loading and unloading constraint condition, and outputting the standard time series corresponding to the standard loading and unloading constraint condition as the loading and unloading time series when the standard loading and unloading constraint condition matching with the loading and unloading constraint condition is searched, and outputting an intelligent generation signal when the standard loading and unloading constraint condition matching with the loading and unloading constraint condition is not searched;
the cabin selection unit is used for acquiring the current states of the liquid cargo cabins and the ballast cabins of the liquid cargo ship according to the intelligently generated signals, and taking the liquid cargo cabins and the ballast cabins of which the current states meet the loading and unloading constraint conditions as the detachable ballast cabins and the liquid cargo cabins.
9. The smart loading control system according to claim 5, further comprising a loading/unloading schedule drawing module connected to the loading/unloading plan generating module and the loading/unloading control module, respectively, the loading/unloading schedule drawing module including:
the first processing unit is used for acquiring equipment operation requirements of each loading and unloading device related to the loading and unloading time sequence and determining the starting time of each loading and unloading stage in the loading and unloading time sequence according to the equipment operation requirements;
the second processing unit is used for acquiring the flat cabin time and the stop time of each liquid cargo cabin and each ballast cabin, drawing corresponding cabin load regulation curves according to the start time, the flat cabin time and the stop time, and processing according to the cabin load regulation curves and the corresponding loading and unloading amount to obtain the loading and unloading time of each loading and unloading stage;
and the third processing unit is respectively connected with the first processing unit and the second processing unit and used for placing each liquid cargo tank and each ballast tank in a loading and unloading planning time axis in the process that each loading and unloading device executes corresponding loading and unloading operation according to the loading and unloading time sequence, adding corresponding operation nodes of each loading and unloading device in the cabin loading and unloading time axis, and generating a loading and unloading time sequence diagram and displaying the loading and unloading time sequence diagram to an operator.
10. An intelligent cargo loading control method for a liquid cargo ship, which is applied to the intelligent cargo loading control system according to any one of claims 1 to 9, the intelligent cargo loading control method comprising:
the method comprises the following steps that S1, according to an intelligent load allocation instruction which is input from the outside and contains load allocation constraint conditions, the intelligent load allocation control system performs multi-objective optimization processing to obtain at least one load allocation scheme of the liquid cargo ship by taking the optimization goals of minimum ballast water load capacity of a ballast tank of the liquid cargo ship, shortest cargo oil transportation path loaded in a liquid cargo tank of the liquid cargo ship and optimal ship stability and strength as optimization goals;
s2, the intelligent loading control system determines the loading schemes to be executed according to the loading schemes;
s3, the intelligent assembling load control system acquires the loading target state of the liquid cargo ship according to the loading scheme to be executed, and generates a loading and unloading time sequence comprising loading and unloading execution sequences and associated loading and unloading quantities of each ballast tank and each liquid cargo tank which can be loaded and unloaded of the liquid cargo tank according to the acquired initial loading state of the liquid cargo ship and loading and unloading constraint conditions;
and S4, controlling corresponding loading and unloading equipment associated with the liquid cargo tank and the ballast tank to execute corresponding loading and unloading operation by the intelligent loading and unloading control system according to the loading and unloading time sequence so that the liquid cargo ship reaches the loading target state.
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