KR20210001333A - Optimal planning method of block transportation using transporter and server configuration - Google Patents

Abstract

According to one embodiment of the present invention, a transportation plan establishment server includes: a yard route management part recognizing a road where a transporter can drive, from a yard in a shipbuilding yard, and classifying the recognized road as a two-way movement to set at least two movement routes; a route penalty setting part exploring the movement routes set by the yard route management part for crossroads, and applying a speed reduction ratio for the transporter in accordance with a moving direction at each of the explored crossroads; an optimal route creation part creating the shortest distance between panel points reflecting the speed reduction ratio at each of the crossroads applied by the route penalty setting part by using the Dijkstra algorithm; and a transportation plan establishment part collecting block transportation information and management information of the transporter along with the shortest distance between panel points created by the optimal route creation part, thereby establishing a block transportation plan using a simulated annealing (SA) technique. Therefore, the present invention is capable of calculating a minimum-cost route considering penalties of straight-moving and turning.

Description

Transporter's optimal block transportation method and server that performs it {OPTIMAL PLANNING METHOD OF BLOCK TRANSPORTATION USING TRANSPORTER AND SERVER CONFIGURATION}

The present invention relates to an optimal block transport method for a transporter and a server that performs the same. In more detail, an algorithm that can efficiently operate a distribution system is searched, and the rotation of a transporter in an intersection section using the searched algorithm, The present invention relates to a method for establishing a logistics transport route in consideration of deceleration and gongju, and a server performing the same.

The ship production process carried out at the shipyard goes through the pre-design, painting, and PE (Pre-Erection) of blocks, which are the basic units of ship building, which are manufactured through sequential steps such as steel plate cutting, forming, small assembly, heavy assembly, and control assembly. It is a repetition of movement and stacking until it is mounted on the dock, and the transporter is responsible for the transport process of these blocks.

On the other hand, if the block movement between processes performed by the transporter is planned inefficiently, the overall logistics cost increases, and the increased logistics cost increases the overall production cost.The transporter's operation plan is the key to the shipyard's logistics operation. It can be said.

Accordingly, in the related art, various transporter operation plans have been proposed for the effective operation of the distribution system. For example, in order to minimize the number of transporters in operation, an operation plan in which blocks transported by transporters are grouped among similar blocks by weight and type, and an optimal route that minimizes transport time according to the transport distance and route when transporting blocks. An operation plan to be calculated and an operation plan using an algorithm to minimize the distance to Gongju have been disclosed.

However, the above-described operation plans are difficult to reflect the damage to the transport path, and do not take into account whether the transporter crosses the road on the moving route, and the unexpected situation (transporter failure, accident, use of some PE sites in the route, etc.). In driving, there is a problem that utilization is poor.

In particular, since the conventional operation plan is an operation plan that does not take into account the delay of rotation and passage in the intersection section, there is a problem that it is not effective to apply it to an actual site.

Therefore, it is required to develop a block transport plan and an optimal algorithm for performing the movement in the intersection section in the space where the transporter travels, taking into account the public journey in the entire transport process of transporting the allocated blocks, and the present invention It is proposed for.

Republic of Korea Patent Publication No. 10-1658944 (2016.09.13.)

The technical problem to be solved by the present invention is to search for the shortest node distance reflecting the speed delay that occurs in the process of rotating and passing through the intersection by constructing a road network that is established in the process of transporting an actual block, and based on this It aims to provide a way to establish an operational plan.

Another technical problem to be solved by the present invention is to provide a method capable of minimizing a moving path of a transporter in a tolerance state in which a block is not loaded.

Another technical problem to be solved by the present invention is to select an algorithm that consumes the least cost and time in order to search for an optimal route, and the optimal route of the transporter even in an unexpected situation where a damaged route occurs in the yard where the transporter is traveling. It aims to provide a method that can efficiently calculate.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

The transport plan establishment server of a transporter according to an embodiment of the present invention recognizes a road in which a transporter can travel in a yard within a shipyard, divides the recognized road into two-way movement, and sets at least two or more movement paths. The yard path management unit, a path penalty setting unit that searches for an intersection in the movement path set by the yard path management unit, and assigns a speed reduction ratio of the transporter according to the movement direction at each of the searched intersections, and each given by the path penalty setting unit Operation information and blocks of the transporter along with the shortest distance between nodes that reflect the speed deceleration rate at the intersection using the Dijkstra algorithm and the shortest distance between nodes generated by the optimal path generator and the optimal path generator It includes a transport planning unit that collects transport information and establishes a block transport plan using a simulated annealing (SA) technique.

According to an embodiment, the block transport plan is a block transport plan that minimizes the tolerance movement time of the transporter and a speed reduction ratio at the intersection, and the transport plan calculation unit includes the transport plan calculation unit according to the following [Equation 1]. It is possible to determine the order of block transport considering the tolerance movement time.

[Equation 1]

는 트랜스포터 k가 블록 h를 운반 후 블록 i 위치로 이동할 때 교차로 구간 통과를 고려한 최소 비용 거리,

는 트랜스포터 k의 속력,

는 운반해야 할 블록의 총 수,

는 사용 가능한 트랜스포터의 총 수,

=1은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반 할 경우,

=0은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반하지 않을 경우,

는 가중치(weight factor), i, j = 1, … ,

, k = 1, …,

, h = 1, 2, … ,

(단, h≠i)를 나타낸다.here,

Is the minimum cost distance taking into account the passing of the intersection section when transporter k carries block h and then moves to the block i location,

Is the speed of the transporter k ,

Is the total number of blocks to be transported,

Is the total number of transporters available,

=1 means if transporter k carries block h and then block i ,

=0 means if transporter k carries block h and then does not carry block i ,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = 1, 2,… ,

(However, h ≠ i ).

According to an embodiment, the transporter's operation information includes the transporter's identification number, the maximum weight that the transporter can carry, a driving speed in a block loading state, a driving speed in a tolerance state, a current position, and a current driving. It includes at least one of availability and start of operation, and the block transport information includes a starting point, an arrival point, an identification name, weight, a lot name when loading, a lot name when alighting, and a minimum departure time of the block carried by the transporter. And at least one of the maximum arrival time.

According to an embodiment, the optimal path generation unit checks the passing frequency of the transporter at a plurality of node points corresponding to the moving path set by the yard path management unit, and a preset passing frequency among the plurality of nodes. Nodes above or below the ratio can be regarded as damaged nodes.

According to an embodiment, the optimal path generation unit sets a representative movement path based on the number of nodes along the set movement path, and compares the representative movement path with a distance between a plurality of nodes, and the representative movement path A representative node representing the plurality of nodes may be selected on the image, and a shortest path between the nodes may be searched based on the representative node and the representative moving path.

In a method for establishing a transport plan for a transporter according to another embodiment of the present invention, a transport plan establishment server recognizes a road on which a transporter can run in a yard within a shipyard, and divides the recognized road into two-way movements, and at least two Step of setting the above movement path, the transport plan establishment server searching for an intersection in the movement route, and assigning a speed reduction ratio of the transporter according to the movement direction at each of the searched intersections, the transport plan establishment server A, the step of generating the shortest distance between nodes reflecting the speed deceleration rate assigned to each intersection using Dijkstra algorithm, and the transport plan establishment server, together with the shortest distance between the nodes, and operation information of the transporter And collecting the block transport information and establishing a block transport plan using a simulated annealing (SA) technique.

According to one embodiment, the block transport plan is a block transport plan that minimizes the tolerance movement time of the transporter and a speed reduction ratio at the intersection, and the step of calculating the block transport plan includes the following [Equation According to 1], it may be a step of determining a block transport order in consideration of the tolerance movement time.

[Equation 1]

는 트랜스포터 k가 블록 h를 운반 후 블록 i 위치로 이동할 때 교차로 구간 통과를 고려한 최소 비용 거리,

는 트랜스포터 k의 속력,

는 운반해야 할 블록의 총 수,

는 사용 가능한 트랜스포터의 총 수,

=1은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반 할 경우,

=0은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반하지 않을 경우,

는 가중치(weight factor), i, j = 1, … ,

, k = 1, …,

, h = 1, 2, … ,

(단, h≠i)를 나타낸다.here,

Is the minimum cost distance taking into account the passing of the intersection section when transporter k carries block h and then moves to the block i location,

Is the speed of the transporter k ,

Is the total number of blocks to be transported,

Is the total number of transporters available,

=1 means if transporter k carries block h and then block i ,

=0 means if transporter k carries block h and then does not carry block i ,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = 1, 2,… ,

(However, h ≠ i ).

According to an embodiment, the transporter's operation information includes the transporter's identification number, the maximum weight that the transporter can carry, a driving speed in a block loading state, a driving speed in a tolerance state, a current position, and a current driving. It includes at least one of availability and start of operation, and the block transport information includes a starting point, an arrival point, an identification name, weight, a lot name when loading, a lot name when alighting, and a minimum departure time of the block carried by the transporter. And at least one of the maximum arrival time.

According to an embodiment, the step of generating the shortest distance between nodes using a Dijkstra algorithm includes checking the frequency of passage of a transporter at a plurality of node points corresponding to the movement path, and the Among the plurality of nodes, a node that is greater than or less than a preset pass frequency ratio may be considered as a damaged node.

According to an embodiment, generating the shortest distance between nodes using a Dijkstra algorithm includes setting a representative movement path based on the number of nodes along the movement path, and setting the representative movement path and the Comparing distances between a plurality of nodes, selecting a representative node representing the plurality of nodes on the representative movement path, and the shortest between nodes for establishing the block transport plan based on the representative node and the representative movement path It may further include the step of searching for a path.

According to the present invention, there is an effect that it is possible to calculate the minimum cost path in consideration of the shortest distance between the starting point and the arrival point where each block is located, and the penalty for turning at an intersection and going straight before a block transport plan is established.

In addition, by using an optimal formula for determining a transport order based on the transporter's driving information and block information, there is an effect that the transporter's moving path can be minimized in a tolerance state where the block is not loaded.

In addition, the operation plan is not simply established as an index based on the distance traveled, but based on the distance based on which the minimum cost is consumed, and by performing this through the most optimal algorithm, the most efficient transporter Since it is possible to establish an operation plan, there is an economically efficient effect.

The effects of the present invention are not limited to the above-mentioned effects, and other effects that are not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram showing the configuration of a transport plan establishment server according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a method of defining a moving path and nodes by a transport planning server according to an embodiment of the present invention.
3 is a comparison graph of algorithms for searching for the shortest distance between nodes according to an embodiment of the present invention.
FIG. 4 is a diagram for explaining a method for a transport planning server according to an embodiment of the present invention to set a movement path in which rotation and deceleration of a transporter are minimized using a Dijkstra algorithm.
FIG. 5 is a diagram for describing a method for setting a representative route and a representative node by a transport planning server according to an embodiment of the present invention.
6 is a flowchart illustrating a flow of a method of establishing a transport plan for a transporter according to an embodiment of the present invention.
7 is a view for explaining a comparison between a conventional block transport plan and a transporter's tolerance movement path according to the block transport plan of the present invention.
8 is a diagram illustrating a configuration of a DLL for establishing a block transport plan by a transport plan establishment server according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments to be posted below, but may be implemented in various different forms, and only these embodiments make the posting of the present invention complete, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically. The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase.

As used herein, "comprises" and/or "comprising" refers to the recited component, step, operation, and/or element, of one or more other elements, steps, operations and/or elements. It does not exclude presence or addition.

FIG. 1 is a diagram showing the configuration of a transport plan establishment server 100 according to an embodiment of the present invention, and FIG. 2 is a diagram showing a transport plan establishment server 100 according to an embodiment of the present invention. It is a diagram for explaining the method of defining.

First, referring to Figure 1, the transport plan establishment server 100 is at least one server (server) device, the yard route management unit 110, the route penalty setting unit 120, the optimal route generation unit 130 and transport It goes without saying that it may include a plan establishment unit 140, and may also include an additional configuration for achieving the object of the present invention.

Meanwhile, the yard route management unit 110, the route penalty setting unit 120, the optimal route generation unit 130, and the transportation plan establishment unit 140 function as the transportation plan establishment server 100 according to an embodiment of the present invention. It is only a temporary or virtual configuration classified as a standard, and it goes without saying that one configuration can perform functions performed by another configuration together, and one configuration can perform all functions of the entire configuration. For example, one processor (not shown) may perform all the functions of the yard route management unit 110, the route penalty setting unit 120, the optimal route generation unit 130, and the transportation plan establishment unit 140. .

Hereinafter, a configuration included in the transport plan establishment server 100 according to an embodiment of the present invention will be described.

The yard route management unit 110 may recognize a road on which a transporter can travel in a yard within a shipyard, divide the recognized road into two-way movement, and set at least two or more movement routes. Here, the road on which the transporter can run can be recognized using GIS (Geographic Information System), and the yard route management unit 110 uses the GIS as well as the moving route as well as the lot number (eg stockyard, PE) near the moving route. Chapters, various assembly sites, etc.) and node points that represent them can be defined.

In this regard, referring to FIG. 2, the yard path management unit 110 divides each road into two movement paths (visual dashed arrows and dashed arrows), and an extension of a linear movement path is applied to the actual rotation path of the transporter at the intersection. You can set the correct path of travel.

In addition, the yard path management unit 110 may set a center point of a plurality of lot numbers (rectangular shape in FIG. 2) arranged along the moving path as a node, and may set the shortest path to each lot number by using the set node.

Referring back to FIG. 1, the route penalty setting unit 120 searches for intersections in the moving path set by the yard route management unit 110, and assigns a speed reduction ratio of the transporter according to the moving direction at each of the searched intersections. I can.

That is, at an intersection, the speed is inevitably reduced to prevent collision with another transporter or to change direction.The route penalty setting unit 120 may delay transportation due to the deceleration of the transporter when rotating and passing at the intersection. A penalty can be given in consideration of the difficulty of passing the transporter. More specifically, the penalty can be performed by increasing the travel distance at the intersection or slowing the movement speed.For example, when rotating at the intersection, by reducing the speed of the transporter by half, the rotation distance can be doubled. I can.

On the other hand, based on FIG. 2, the route penalty setting unit 120 sets the transport plan establishment server (as shown in Table 1) in the direction of movement of the transporter at the intersection in order to set the penalty according to the moving direction of the transporter at the intersection. 100) can be stored in a database (not shown). Here, First-Node and Sec-Node mean the starting node number and the last node number of the moving path.In order to distinguish the moving direction at the intersection, values of -1 for the left turn path, +1 for the right turn, and 0 for the straight direction are assigned. can do.

First-Node Sec-Node Distance IsActive … Intersection One 2 31.0 0 … 0 2 3 15.5 0 … +1 2 7 46.2 0 … 0 3 4 31.0 0 … 0 5 6 31.0 0 … 0 6 7 15.5 0 … +1 6 11 43.2 0 … -One 7 8 31.0 0 … 0 9 10 30.0 0 … 0 10 3 43.2 0 … -One 10 11 46.2 0 0 11 12 30.3 0 … 0

The route penalty setting unit 120 may impose a penalty in the form of dividing the ratio of the moving speed to the normal speed of the transporter in the situation of turning left, turning right, or going straight at an intersection based on [Table 1]. For example, when a transporter with an average speed of 20 km/h turns left at an intersection with a left turn length of 10 m, a 20% deceleration penalty, that is, a speed deceleration rate, can be granted to drive at a speed of 4 km/h. The movement distance from 10m can be increased to 50m.

The optimal path generation unit 130 may generate the shortest distance between nodes reflecting the speed deceleration ratio at each intersection given by the path penalty setting unit 120 using a Dijkstra algorithm. In other words, the optimal path generation unit 130 may search for a moving path in which the number of turns at the intersection is minimized using the Dijkstra algorithm.

Meanwhile, the Dijkstra algorithm is a one-to-many search algorithm that searches for the shortest path from one point to a plurality of other points, and it can be an algorithm that is suitable for quickly calculating the shortest path while considering many lot numbers deployed in the shipyard. have.

In this regard, FIG. 3 is a comparison graph of algorithms for searching for the shortest distance between nodes according to an embodiment of the present invention.

Referring to FIG. 3, an A* algorithm that searches for the shortest distance between one origin and one destination, uses each node as a starting node in a direction graph consisting of N nodes, and Floyd searches for the shortest path between all node pairs. When comparing the algorithm and the Dijkstra algorithm, it can be seen that the Dijkstra algorithm is the most suitable to quickly calculate the shortest distance between all nodes.

Next, FIG. 4 is a diagram for explaining a method for setting a movement path in which the rotation and deceleration of a transporter is minimized by using a Dijkstra algorithm in the transportation planning server 100 according to an embodiment of the present invention. .

Referring to FIG. 4, the optimal path generation unit 130 calculates the block transport plan as shown in (a) in a situation where the speed reduction ratio is not given according to rotation and deceleration, and the speed reduction ratio is given according to the rotation and deceleration. In this situation, the block transport plan as shown in (b) can be calculated, and specific values related to the block transport plan can be as shown in [Table 2]. Here, [Table 2] is calculated based on one transporter among the block transport plans of all transporters, and the Manhattan distance means a pure moving distance.

Departure Arrival Penalty Minimum Cost Distance[m] Manhattan Distance[m] 115 939 Left: 20%
Right: 20%
Straight: 40% 2616.11(①) 1659.82(③) Left: 0%
Right: 0%
Straight: 0% 3184.28(②) 1463.59(④) Difference [m] (①-②)-568.2
(⑤) -17.8% (③-④) 196.2
(⑥)+13.4%

In other words, considering the rotational deceleration at an intersection causes a difference in travel distance of -568.2m in terms of cost than when the rotational deceleration is not considered, and it can be 17.8% more economical when converted into a ratio.

On the other hand, in order for the optimal path generation unit 130 to generate the shortest distance between nodes, it must be aware of the positions of all nodes existing in the shipyard, but generating the shortest distances for all nodes requires a lot of time and cost. Since it is inefficient, it may be desirable to set nodes that represent multiple nodes.

In this regard, FIG. 5 is a diagram illustrating a method for setting a representative route and a representative node by the transport plan establishment server 100 according to an embodiment of the present invention.

Referring to FIG. 5A, a number of nodes (circular shape) exist along the movement path, and the number of nodes (triangle shape) connecting the movement path and the nodes may also exist as many as the number of nodes. Also, since the yard path management unit 110 recognizes the intersection (square shape) as another node, the total number of nodes may be greater than the number of lot numbers installed in the shipyard.

Accordingly, the optimal path generation unit 130 sets a representative movement path (A Road) based on the number of nodes along the movement path, as shown in FIG. 5(b), and the representative movement path and a plurality of nodes (circle By comparing the distance between the shapes), a representative node (triangle shape) can be selected. In this case, the representative node may be disposed on the representative movement path. That is, the optimal path generation unit 130 may save time and cost for searching for the shortest path between nodes by using the representative moving path and the representative nodes.

On the other hand, when a specific situation occurs, such as when a road associated with a specific lot number is used as a stockyard or an unexpected obstacle occurs, the time for the optimal route generator 130 to search for the shortest route between nodes may be extended. have.

In order to prepare for such an unexpected situation, the optimal path generation unit 130 may check the passing frequency of the transporter traveling through the node, and regard a node that is greater than or less than a preset pass frequency ratio as a damage defect.

For example, the optimal path generation unit 130 may input information about 100 random blocks and identify a transporter's moving path for transporting it, and the transporter from a plurality of nodes arranged in the determined movement path Nodes with the upper 10% or lower 10% of the frequency of passing can be regarded as damaged nodes.

In this way, the optimal path generation unit 130 may consider a node having the largest or smallest passing frequency of the transporter as a damaged node, and minimize time consumed in determining the shortest distance using the Dijkstra algorithm.

It will be described with reference to FIG. 1 again.

The transport plan establishment unit 140 may establish a block transport plan using a simulated annealing (SA) technique by collecting the shortest distance between nodes, operation information of a transporter, and block transport information. Here, the block transport plan may include the number of transporters running in a yard within the shipyard during a day, block information allocated to each transporter, and a movement path accordingly.

That is, the transport plan establishment unit 140 may receive a transporter scheduled to be operated for a day in a yard within the shipyard and a block scheduled to be transported from an external server or terminal, and the external server or terminal is a device possessed by the manager operating the shipyard. Can be

On the other hand, the transporter's operation information includes at least one of the transporter's identification number, the maximum weight that the transporter can carry, the operating speed in the block loading state, the operating speed in the tolerance state, the current position, whether the current operation is possible, and the operation start The block transport information may include at least one of a departure point, an arrival point, an identification name, weight, a lot name when loading, a lot number name when alighting, a minimum departure time and a maximum arrival time of the block carried by the transporter. Can include.

That is, the transport plan establishment unit 140 is to minimize the time to move to load the next block in the tolerance state (the state where the block is not loaded) after the transporter transports the block and the speed reduction ratio at the intersection, [Equation 1] can be used, and 1) the type of block allocated to the transporter, and 2) the transport order of the block can be determined through [Equation 1].

는 트랜스포터 k가 블록 h를 운반 후 블록 i 위치로 이동할 때 교차로 구간 통과를 고려한 최소 비용 거리,

는 트랜스포터 k의 속력,

는 운반해야 할 블록의 총 수,

는 사용 가능한 트랜스포터의 총 수,

은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반 할 경우,

은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반하지 않을 경우,

는 가중치(weight factor), i, j = 1, … ,

, k = 1, …,

, h = 1, 2, … ,

(단, h≠i)를 나타낸다.here,

Is the minimum cost distance taking into account the passing of the intersection section when transporter k carries block h and then moves to the block i location,

Is the speed of the transporter k ,

Is the total number of blocks to be transported,

Is the total number of transporters available,

If transporter k carries block h and then block i ,

If transporter k carries block h and then does not carry block i ,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = 1, 2,… ,

(However, h ≠ i ).

In addition, in order for [Equation 1] to be established, [Equation 2] to [Equation 6] must be satisfied, and the meaning of each variable is as follows.

는 블록 i의 중량,

는 트랜스포터 k가 운반할 수 있는 적재 중량,

는 블록 i의 운반 가능 시각,

는 트랜스포터 k가 블록 i를 운반하는 시작 시각,

는 트랜스포터 k가 블록 i를 운반 완료한 시각,

는 블록 i의 계획된 운반 완료 시각,

는 우선 순위가 낮은 블록 j의 운반 시작 시간,

는 우선 순위가 높은 블록 i의 운반 시작 시간,

는 절점 m, n 사이에 시간 t에서 통과하는 트랜스포터 수를 의미한다.

Is the weight of block i ,

Is the payload the transporter k can carry,

Is the transportable time of block i ,

Is the start time at which transporter k carries block i ,

Is the time when transporter k completes carrying block i ,

Is the completion time of the planned transport of block i ,

Is the transport start time of the lower priority block j ,

Is the transport start time of the high-priority block i ,

Denotes the number of transporters passing at time t between nodes m and n .

In this way, the transport plan establishment unit 140 may determine the type of block allocated to the transporter and the transport order of the block with the constraints of [Equation 2] to [Equation 6], [Equation 2] Even in situations where the inequality of ~[Equation 5] is not satisfied, a penalty for slowing the speed can be given.

Meanwhile, the transport plan establishment unit 140 may determine 1) a type of block allocated to a transporter, and 2) a transport order of the block using [Equation 7].

는 트랜스포터 k가 블록 h를 운반 후 블록 i 위치로 이동하는 공차 이동 거리,

는 트랜스포터 k의 속력,

는 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반하지 않을 경우,

은 트랜스포터 k가 블록 h를 운반 후 블록 i를 운반할 경우, B는 운반해야 할 블록의 총 수, T는 사용 가능한 트랜스포터의 총 수,

는 트랜스포터 k가 회전에 소요한 시간,

는 가중치(weight factor), i, j = 1, … ,

, k = 1, …,

, h = O (각 트랜스포터의 최초 운반을 위한 가상 블록) 1, 2, … , B(단, h≠i)를 나타낸다.here,

Is the tolerance travel distance that the transporter k moves to the block i position after carrying block h ,

Is the speed of the transporter k ,

Is, if transporter k carries block h and then does not carry block i ,

Is, if transporter k carries block h and then block i , B is the total number of blocks to be transported, T is the total number of transporters available,

Is the time that transporter k took to rotate,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = O (virtual block for initial transport of each transporter) 1, 2,… , B (however, h ≠ i ).

In addition, in order for [Equation 7] to be established, [Equation 8] to [Equation 11] must be satisfied, and the meaning of each variable is as follows.

는 블록 i의 중량,

는 트랜스포터 k가 운반할 수 있는 적재 중량,

는 블록 i의 운반 가능 시각,

는 트랜스포터 k가 블록 i를 운반하는 시작 시각,

는 트랜스포터 k가 블록 i를 운반 완료한 시각,

는 블록 i의 계획된 운반 완료 시각,

는 우선 순위가 낮은 블록 j의 운반 시작 시간,

는 우선 순위가 높은 블록 i의 운반 시작 시간을 의미한다.

Is the weight of block i ,

Is the payload the transporter k can carry,

Is the transportable time of block i ,

Is the start time at which transporter k carries block i ,

Is the time when transporter k completes carrying block i ,

Is the completion time of the planned transport of block i ,

Is the transport start time of the lower priority block j ,

Denotes the transport start time of the high priority block i .

So far, the transport plan establishment server 100 according to an embodiment of the present invention has been described. According to the present invention, in order to transport blocks in a shipyard environment having various variables, the transport plan establishment server 100 quickly secures the shortest path between nodes using the Dijkstra algorithm, and establishes a block transport plan reflecting this in real time. can do. In addition, since the block transport plan is not simply based on a moving distance, but is established in terms of minimum cost, it is possible to establish the most efficient transport plan in actually transporting blocks.

Hereinafter, a method of establishing a transport plan for a transporter using the transport planning server 100 will be described.

6 is a flowchart illustrating a flow of a method of establishing a transport plan for a transporter according to an embodiment of the present invention.

This is only a preferred embodiment for achieving the object of the present invention, and in the case of FIG. 6, it is obvious that some steps may be deleted or added, or one step may be included in another step and performed as necessary.

First, the transport plan establishment server 100 recognizes a road in which a transporter can travel in a yard within a shipyard, divides the recognized road into two-way movement, and sets at least two or more movement paths (S110). Here, the road on which the transporter can run can be recognized using GIS (Geographic Information System), and the transport plan establishment server 100 uses GIS as well as the moving route as well as the lot number (eg stockyard, etc.) near the moving route. PE site, various assembly sites, etc.) and node points representing them can be defined.

More specifically, the transport plan establishment server 100 may set a movement path in both directions on a straight road, and may set a movement path suitable for the actual rotation path of the transporter at the extended intersection.

After step S110, the transport plan establishment server 100 searches for an intersection in the movement path, and gives a speed reduction ratio of the transporter according to the movement direction in each of the searched intersections (S120).

That is, at an intersection, the speed is inevitably reduced to prevent collision with another transporter or to change direction.The transport plan establishment server 100 may delay transportation due to the deceleration of the transporter when turning and passing at the intersection. A penalty can be given in consideration of the difficulty of passing the transporter. More specifically, the penalty can be performed by increasing the moving distance at the intersection or decelerating the speed. For example, when rotating at the intersection, by reducing the speed of the transporter by half, the rotation distance can be doubled.

In addition, the transport plan establishment server 100 may assign a value of -1 for a left turn path, +1 for a right turn, and 0 for a straight line in order to distinguish the moving direction between nodes at the intersection, and based on this, a left turn and a right turn at the intersection. , Penalty can be given in the form of dividing the ratio of the transporter's normal speed to the moving speed in the situation of going straight. For example, when a transporter with an average speed of 20 km/h turns left at an intersection with a left turn length of 10 m, a 20% deceleration penalty, that is, a speed deceleration rate, can be granted to drive at a speed of 4 km/h. The movement distance from 10m can be increased to 50m.

After step S120, the transport plan establishment server 100 generates the shortest distance between the nodes reflecting the speed deceleration rate given at each intersection using the Dijkstra algorithm (S130). Here, the Dijkstra algorithm is a one-to-many search algorithm that searches for the shortest path from one point to a plurality of other points, and may be an algorithm suitable for quickly calculating the shortest path while considering many lot numbers arranged in the shipyard. .

On the other hand, in order to generate the shortest distance between nodes in step S130, it is necessary to recognize the locations of all nodes existing in the shipyard. However, generating the shortest distances for all nodes is inefficient because it consumes a lot of time and cost. It may be desirable to establish a node that represents the node.

Accordingly, the transport plan establishment server 100 may select a representative node by setting a representative moving path based on the number of nodes along the moving path and comparing the distance between the representative moving path and a plurality of nodes. In this case, the representative node may be disposed on the representative movement path. That is, the transport planning server 100 may save time and cost for searching for the shortest route between nodes by using the representative moving route and the representative nodes.

On the other hand, when a specific situation occurs, such as when a road associated with a specific lot number is used as a stockyard or an unexpected obstacle occurs, the time for the optimal route generator 130 to search for the shortest route between nodes may be extended. have.

In order to prepare for such an unexpected situation, in step S130, the transport plan establishment server 100 may check the passage frequency of the transporter traveling through the node, and consider a node that is more than or less than a preset passage frequency ratio as a damage defect. . That is, the transport planning server 100 may consider a node having the largest or smallest passing frequency of the transporter as a damaged node, and minimize time consumed in determining the shortest distance using the Dijkstra algorithm.

After step S130, the transport plan establishment server 100 collects transporter operation information and block transport information along with the shortest distance between nodes, and establishes a block transport plan using a simulated annealing (SA) technique. Do (S140). Here, the block transport plan includes the number of transporters running in the yard within the shipyard for a day, block information allocated to each transporter, and the corresponding movement path, and receives shipyard operation information on a daily basis from an external server or terminal I can. In this case, the external server or terminal may be a device possessed by an administrator operating a shipyard.

In addition, the transporter's operation information includes at least one of the transporter's identification number, the maximum weight that the transporter can carry, the driving speed in the block loading state, the driving speed in the tolerance state, the current position, whether the current operation is possible, and the operation start. The block transport information may include at least one of a departure point, an arrival point, an identification name, weight, a lot name when loading, a lot number name when alighting, a minimum departure time and a maximum arrival time of the block carried by the transporter. Can include.

That is, the transport planning server 100 is in order to minimize the time when the transporter transports the block and then moves to load the next block in the tolerance state (the state where the block is not loaded) and the speed reduction ratio at the intersection, [Equation 1] can be used, and 1) the type of block allocated to the transporter, and 2) the transport order of the block can be determined through [Equation 1].

The transport plan establishment server 100 may determine the type of blocks allocated to the transporter and the transport order of the blocks with the constraints of [Equation 2] to [Equation 6] described above, and [Equation 2] to Even in situations where the inequality of [Equation 5] is not satisfied, a penalty for slowing the speed can be given.

In this way, as the transport planning server 100 allocates a block that can minimize the transporter's tolerance movement distance, the transporter can more efficiently transport the block in the yard within the shipyard.

7 is a view for explaining a comparison between a conventional block transport plan and a transporter's tolerance movement path according to the block transport plan of the present invention.

Figure 7 (a) is a view showing the tolerance movement path of the transporter according to the conventional block transport plan, Figure 7 (b) is a diagram showing the tolerance movement path of the transporter according to the block transport plan of the present invention It is a drawing. It can be seen that the moving path is reduced in (b) of FIG. 7 compared to (a) of FIG. 7, and the result of comparing the block transport plan of the present invention with the conventional block transport plan may be as shown in [Table 3].

data Number of blocks [EA] Total tolerance mileage
[km] Remark Historical performance data 11 16.76 Tolerance mileage of one transporter Of the present invention
Operating plan 5 3.37

That is, it can be seen that the present invention reduces the number of blocks allocated to a transporter compared to the prior art, thereby preventing an excessive amount of transporting quantity from being allocated to one transporter, thereby improving block productivity of a shipyard.

So far, a method of establishing a block transport plan of a transporter using the transport plan establishment server 100 according to an embodiment of the present invention has been described. According to the present invention, the transport plan establishment server 100 uses an optimal formula and algorithm to determine the transport order based on the transporter's driving information and block information, so that the transporter moves in a tolerance state where the block is not loaded. The route can be minimized and block productivity of the shipyard can be improved.

8 is a diagram showing the configuration of a DLL for establishing a transport plan establishment server 100 according to an embodiment of the present invention to establish a block transport plan.

Referring to FIG. 8, the transport planning server 100 is configured with a DLL (Dynamic Link Library) having TP-Schedule, Optimization, Ship Yard, File-Open, Block, Block-Information, Transporters, Transporter, and Transporter-Information classes. Can be created.

More specifically, the TP-Schedule class can establish an optimized block transport plan by receiving data on all lot numbers, the shortest route between nodes, and block transport performance data along with the numerical value of the yard in the shipyard. In other words, the TP-Schedule class can receive information to search for other routes in real time when a change in the environment in which the transporter operates (stacked on the road, the road becomes an unmovable road). Through this, it is possible to determine the blocks allocated to the transporter and the order of transporting blocks, and to minimize the tolerance travel distance.

Next, the Ship Yard class can organize and search the relationship between lot numbers in the yard's digital map, and can allow access to information about transporter and block properties from outside. Here, the external term may be an operator operating the transport planning server 100 or an operator terminal (not shown) possessed by the operator.

Next, the File-Open class can receive data on block transport performance in Data-Set format and allocate the transporter blocks corresponding to the operation date in an arbitrary order.

Next, the Block class and the Block-Information class are classes that manage the transported blocks in an integrated manner, and can access property information of all blocks. In addition, block name, ship name, block weight, transport type, loading point, landing point, transport date (date), transport start time, transport arrival time, transport route of the block, road node connected to the lot number, and transport the block. It may include various information related to the block, such as the transporter to be transferred, and the time required for getting off and off.

Next, the Transporters class can access a number of transporter information, and can provide the tolerance travel distance of the entire transporter. In addition, the Transporter class includes a list of blocks allocated after establishing a transport plan for the transporter, the transport movement path of the transporter, and the tolerance movement path, and the travel distance, tolerance travel distance, transport block transport time, and tolerance travel time , It may include information related to the movement of the transporter, such as a driving route from the initial position to the first transport, and a tolerance driving time.

Finally, the Transporter-Information class contains information on all transporters held by the shipyard, such as transporter number, initial starting position, transport operating speed, tolerance operating speed, and maximum allowable loading vehicle weight. It may include.

So far, the transport planning server 100 of the present invention has been described with respect to a method for establishing a block transport plan of a transporter. According to the present invention, a transporter considering various practical conditions (e.g., optimization of the distance to the princess, application of damaged sections, prohibition of crossing, reduction of the transporter's driving speed when turning at an intersection, going straight, and passing) You can build a driving system.

Meanwhile, the present invention can also be implemented as a computer-readable code on a computer-readable recording medium. Computer-readable recording media include all storage media such as magnetic storage media and optical reading media. It is also possible to record the data format of the message used in the present invention on a recording medium.

Embodiments of the present invention have been described above with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects.

100: transport planning server
110: yard route management unit
120: path penalty setting unit
130: optimal path generation unit
140: Transportation planning department

Claims (10)

A yard route management unit for recognizing roads on which a transporter can drive in a yard within a shipyard, and setting at least two or more moving routes by dividing the recognized roads into two-way movements;
A route penalty setting unit that searches for an intersection in a moving path set by the yard route management unit, and assigns a speed reduction ratio of the transporter according to a moving direction at each of the searched intersections;
An optimal path generation unit that generates the shortest distance between nodes reflecting the speed deceleration rate at each intersection given by the path penalty setting unit, using a Dijkstra algorithm; And
Establish a transport plan that collects operation information and block transport information of the transporter together with the shortest distance between nodes generated by the optimal route generator and establishes a block transport plan using a simulated annealing (SA) technique. part;
Transport planning server of the transporter comprising a. The method of claim 1,
The block transport plan,
It is a block transport plan that minimizes the tolerance travel time of the transporter and the speed deceleration rate at the intersection,
The transportation plan calculation unit,
To determine the block transport order in consideration of the tolerance movement time according to the following [Equation 1],
Transporter's transport planning server.
[Equation 1]

here,

Is the minimum cost distance taking into account the passing of the intersection section when transporter k carries block h and then moves to the block i location,

Is the speed of the transporter k ,

Is the total number of blocks to be transported,

Is the total number of transporters available,

=1 means if transporter k carries block h and then block i ,

=0 means if transporter k carries block h and then does not carry block i ,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = 1, 2,… ,

(However, h ≠ i ). The method of claim 1,
The transporter's operation information,
Including at least one of an identification number of the transporter, a maximum weight that the transporter can carry, a driving speed in a block loading state, a driving speed in an empty vehicle state, a current position, whether or not a current operation is possible, and a starting operation,
The block transport information,
Including at least one of a departure point, an arrival point, an identification name, weight, a lot number name when loading, a lot number name when getting off, a minimum departure time and a maximum arrival time of the block carried by the transporter,
Transporter's transport planning server. The method of claim 1,
The optimal path generation unit,
Checking the passing frequency of the transporter at a plurality of node points corresponding to the moving path set by the yard path management unit, and considering a node that is greater than or less than a preset pass frequency ratio among the plurality of nodes as a damaged node,
Transporter's transport planning server. The method of claim 1,
The optimal path generation unit,
A representative movement path is set based on the number of nodes along the set movement path, and a representative node representing the plurality of nodes is selected on the representative movement path by comparing the distance between the representative movement path and a plurality of nodes. And searching for a shortest path between the nodes based on the representative node and the representative moving path,
Transporter's transport planning server. A transport plan establishment server recognizing roads on which a transporter can travel in a yard within a shipyard, dividing the recognized roads into two-way movements, and setting at least two or more movement paths;
The transport planning server searching for an intersection in the movement path, and assigning a speed reduction ratio of the transporter according to a movement direction in each of the searched intersections;
Generating, by the transport planning server, the shortest distance between nodes reflecting the speed deceleration rate assigned to each intersection using a Dijkstra algorithm; And
Establishing, by the transport plan establishment server, a block transport plan using a simulated annealing (SA) technique by collecting operation information and block transport information of the transporter together with the shortest distance between the nodes;
Transporter transport planning method comprising a. The method of claim 6,
The block transport plan,
It is a block transport plan that minimizes the tolerance travel time of the transporter and the speed deceleration rate at the intersection,
The step of calculating the block transport plan,
In accordance with the following [Equation 1], which is a step of determining a block transport order in consideration of the tolerance movement time,
How to plan transporter transport.
[Equation 1]

here,

Is the minimum cost distance taking into account the passing of the intersection section when transporter k carries block h and then moves to the block i location,

Is the speed of the transporter k ,

Is the total number of blocks to be transported,

Is the total number of transporters available,

=1 means if transporter k carries block h and then block i ,

=0 means if transporter k carries block h and then does not carry block i ,

Is the weight factor, i, j = 1,… ,

, k = 1,… ,

, h = 1, 2,… ,

(However, h ≠ i ). The method of claim 6,
The transporter's operation information,
Including at least one of an identification number of the transporter, a maximum weight that the transporter can carry, a driving speed in a block loading state, a driving speed in an empty vehicle state, a current position, whether or not a current operation is possible, and a starting operation,
The block transport information,
Including at least one of a departure point, an arrival point, an identification name, weight, a lot number name when loading, a lot number name when getting off, a minimum departure time and a maximum arrival time of the block carried by the transporter,
How to plan transporter transport. The method of claim 6,
Generating the shortest distance between the nodes using the Dijkstra algorithm,
Checking the passing frequency of the transporter at a plurality of node points corresponding to the moving path, and considering a node that is greater than or less than a preset pass frequency ratio among the plurality of nodes as a damaged node,
How to plan transporter transport. The method of claim 9,
Generating the shortest distance between the nodes using the Dijkstra algorithm,
Setting a representative movement path based on the number of nodes along the movement path, comparing the distance between the representative movement path and the plurality of nodes, and selecting a representative node representing the plurality of nodes on the representative movement path step; And
Searching for a shortest path between nodes for establishing the block transport plan based on the representative node and the representative moving path;
Transport plan establishment method of the transporter further comprising.

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