CN110888904B - Intelligent optimization method and system for automatic loading sequence of crane cargos - Google Patents

Abstract

The invention provides an intelligent optimization method and system for automatic loading sequence of crane cargos, wherein the method comprises the following steps: the method comprises the steps of constructing a three-dimensional space coordinate system of a crane, representing the initial position and the unloading position of goods by using position coordinates in the three-dimensional space coordinate system to form an initial position information database and an unloading position information database, formulating unloading rule optimization and automatically generating unloading sequence for the unloading position information database by combining actual loading and unloading operation characteristics of the crane, searching effective target loading goods one by one according to the unloading sequence, and further optimizing and automatically generating the loading sequence. The optimized and automatically generated unloading sequence database and loading sequence database provide a basis for planning the subsequent loading and unloading operation path, so that the control instruction of the crane can be automatically generated, the automatic continuous operation of the crane can be realized, the effective operation capacity of the crane can be fully exerted, and the operation efficiency and the operation safety can be improved.

Description

Intelligent optimization method and system for automatic loading sequence of crane cargo

technical field

The invention relates to the technical field of hoisting and transporting machinery and material handling, in particular to an intelligent optimization method for the automatic loading sequence of crane goods.

Background technique

Lifting equipment for container ports and container yards is the key equipment for container loading and unloading operations. With the rapid development of port loading and large-scale ships, many ports are faced with the shortage of skilled drivers and the pressure to improve the efficiency of loading and unloading operations. , the port operators' demand for automated, intelligent and 24-hour continuous operation of automated lifting equipment is increasingly prominent. In a port or yard for large-volume container loading and unloading operations, the lifting equipment needs to continuously complete the loading and unloading operation of lifting and transporting batches of containers from the designated object area to the destination area, and to realize the automatic loading and unloading operation of large-volume goods, the following basic problems must be solved: 1. Which order is the most efficient for loading and unloading operations; 2. How can these optimized loading and unloading sequences automatically generate executable control instructions for the crane, so that the crane can continuously and automatically complete the loading and unloading operations of batches of containers. The optimization problem of batch loading and unloading and handling sequence is similar to the TSP traveling salesman problem, which is a specific application example of discrete optimization problem. Because the actual loading and unloading requirements and loading and unloading process of ports or storage yards are relatively complex, it is impossible to obtain research results with practical application value to solve this problem completely by purely theoretical methods. No reports have been found so far on the optimization of crane loading and unloading sequences.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent optimization method for the automatic loading sequence of crane cargo, which organically combines the theoretical research method with the actual loading and unloading operation requirements and the operation characteristics of the crane, and strives to obtain an optimal solution that can be practically applied to realize the crane. Automation control and operations.

In order to achieve the above purpose, the present invention provides the following technical solutions: an intelligent optimization method for the automatic loading sequence of crane cargo, comprising the following steps:

S1. Establish a three-dimensional coordinate system, and take the limit position points of the crane loaded goods in the three moving directions of large, trolley and vertical descending as the origin of the three-dimensional coordinate system, and use the crane's trolley, cart and hoisting mechanism. The directions are respectively used as the X, Y, and Z directions of the three-dimensional space coordinate system;

S2, define the number of initially stacked goods as m pieces, establish the corresponding relationship between the initial positions of the m pieces of goods and the three-dimensional space coordinate system, and obtain the initial position information database;

S3. Define that there are n pieces of goods in the m pieces of goods that need to be unloaded, establish a corresponding relationship between the unloading positions of the n pieces of goods and the three-dimensional space coordinate system, and obtain an unloading position information database;

S4, formulate an unloading sequence rule and sort the unloading location information database according to the unloading sequence rule to obtain an unloading sequence database;

S5. Establish a loading sequence database structure:

表示为m件货物中需装载的n件货物的初始位置，X_pc、Y_pc、Z_pc分别表示需装载的n件货物的初始位置K_P在X、Y、Z方向的位置坐标，

分别表示需装载的第i件货物在X、Y、Z方向的初始位置的位置坐标，

分别表示需装载的第n件货物在X、Y、Z方向的初始位置的位置坐标；in,

It is expressed as the initial position of n pieces of goods to be loaded in m pieces of goods, X _pc , Y _pc , and Z _pc respectively represent the position coordinates of the initial position K _P of the n pieces of goods to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the i-th cargo to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the nth piece of goods to be loaded in the X, Y, and Z directions;

S6. Select the position coordinates of the unloading positions in the unloading sequence database in turn, and use the position coordinates of the unloading positions as a starting point to calculate the distance from the initial positions of all loadable goods in the initial position information database to the unloading positions. distance;

S7. Select the loadable cargo with the closest distance as the target loaded cargo, input the position coordinates of the initial position of the target loaded cargo into the loading sequence database structure in sequence, and set the position coordinates of the initial position of the target loaded cargo from hidden in the initial location information database;

S8. Steps S6 to S7 are repeated until the search for the target loaded goods in all the unloading positions is completed.

A further improvement of the intelligent optimization method for the automatic loading sequence of crane cargoes of the present invention is that all loadable cargoes in step S6 are determined by calculation, including the following steps:

S6-1, compare the X, Y, Z values in the position coordinates of all initial positions in the current initial position information database;

S6-2. Divide all position coordinates into multiple groups on the basis of equal X and Y values;

S6-3. Select the cargo corresponding to the position coordinate with the largest Z value in each group as the loadable cargo.

A further improvement of the intelligent optimization method for the automatic loading sequence of the crane cargo according to the present invention is that the unloading sequence rule in step S4 is to follow the unloading position relative to the initial position before loading of the cargo in order from low to high, from far to The nearest rules are sorted.

The present invention also provides an intelligent optimization system for the automatic loading sequence of crane cargo, including:

The three-dimensional space coordinate system establishment module is used to establish a three-dimensional space coordinate system, and the limit position point of the crane loaded goods in the three moving directions of large, trolley and vertical descending is used as the origin of the three-dimensional space coordinate system, and the crane's trolley, The running directions of the cart and the hoisting mechanism are taken as the X, Y, and Z directions of the three-dimensional space coordinate system respectively;

The initial position information database forming module is used to establish the corresponding relationship between the initial positions of m pieces of goods and the three-dimensional space coordinate system, and obtain the initial position information database;

The unloading position information database forming module is used to establish the corresponding relationship between the unloading positions of the n pieces of goods to be unloaded among the m pieces of goods and the three-dimensional coordinate system to obtain the unloading position information database;

The unloading sequence database forming module is used to formulate unloading sequence rules and sort the unloading position information database according to the unloading sequence rules to obtain the unloading sequence database;

The target loading goods determination module is used to sequentially select the position coordinates of the unloading positions in the unloading sequence database, and use the position coordinates of the unloading positions as a starting point to calculate the initial positions of all loadable goods in the initial position information database. The distance to the unloading position, and select the loadable cargo with the closest distance as the target loaded cargo for output, and at the same time hide the position coordinates of the initial position of the current target loaded cargo from the initial position information database;

A loading sequence database forming module is used to establish a loading sequence database structure, and sequentially extract the position coordinates of the initial position of the target loaded goods and sequentially input them into the loading sequence database structure to obtain a loading sequence database. The loading sequence database structure for:

表示为m件货物中需装载的n件货物的初始位置，X_pc、Y_pc、Z_pc分别表示需装载的n件货物的初始位置K_P在X、Y、Z方向的位置坐标，

分别表示需装载的第i件货物在X、Y、Z方向的初始位置的位置坐标，

分别表示需装载的第n件货物在X、Y、Z方向的初始位置的位置坐标。in,

It is expressed as the initial position of n pieces of goods to be loaded in m pieces of goods, X _pc , Y _pc , and Z _pc respectively represent the position coordinates of the initial position K _P of the n pieces of goods to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the i-th cargo to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the nth piece of goods to be loaded in the X, Y, and Z directions.

A further improvement of the intelligent optimization system for the automatic loading sequence of crane cargo according to the present invention is that the target loading cargo determination module further includes a loadable cargo determining unit, and the loadable cargo determining unit is used to calculate all the data in the initial position information database. The X, Y, Z values of the initial position information of the goods, the initial position information is grouped on the basis of equal X and Y values, and the position coordinates of the initial position with the largest Z value in each group correspond to Cargo as said loadable cargo.

A further improvement of the intelligent optimization system for the automatic loading sequence of the crane cargo according to the present invention is that the unloading sequence rule in the unloading sequence database forming module is to follow the unloading position relative to the initial position before loading the cargo in order from low to high. High, by far and near rules.

The present invention includes but is not limited to the following beneficial effects: the present invention uses the intelligent construction method of the three-dimensional position information database to establish the initial position information database and the unloading position information database of the goods, and by combining the theoretical research method with the actual loading and unloading operation requirements and the operation characteristics of the crane Based on the above-mentioned location information database, optimize and automatically generate an effective unloading sequence of crane cargo, and based on the optimized unloading sequence, search for loadable cargo in turn, so as to automatically generate an effective crane cargo loading sequence for The follow-up loading and unloading operation path planning and other formulaic calculation analysis and optimization provide the basis, so as to realize the automatic continuous operation of the crane, give full play to the effective operation ability of the crane, and improve the operation efficiency and operation safety.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments.

Figure 1 shows a schematic diagram of a theoretical search method for cargo loading and unloading sequences;

Figure 2 shows a schematic diagram of the crane unloading operation process and the handling operation flow;

Fig. 3 shows the schematic diagram of the exploration method of the crane cargo loading sequence;

Fig. 4 shows the schematic diagram when the initial stacking state of the goods in the method of the present invention is irregular;

Fig. 5 shows the schematic diagram when the initial stacking state of the goods in the method of the present invention is regular;

Figure 6 shows a schematic diagram of the basic rules for unloading multi-storey goods by a crane;

Figure 7 shows a schematic diagram of the crane loading operation process and basic operation requirements;

FIG. 8 shows a schematic diagram of the limiting conditions for the search range of the cargo handling sequence;

FIG. 9 shows a flow chart of crane loading sequence search and automatic generation in the method of the present invention.

Detailed ways

When the crane is carrying out the continuous loading and unloading operation of a certain amount of goods, in order to obtain the shortest handling operation path of the crane and finally obtain the sequence instruction of the loading and unloading operation, it is necessary to calculate, analyze and compare the handling distance of all theoretically selectable paths. As a result, the loading position with the shortest handling distance is selected and stored, and so on, and finally the calculation of all loading positions and unloading positions is completed.

条。计算这些不同路径的总搬运距离并寻求总搬运距离的最小化结果，在此基础上优化最短搬运距离对应的规划路径方案，并最终自动获得起重机连续作业的操作指令，实现n件货物的节能高效搬运作业。理论上讲，到此，已经得到搬运路径的最优解。The number of optional paths in the crane theory increases explosively with the increase of the number of loaded and unloaded goods. Take the handling operation of the crane moving n pieces of goods from m pieces of goods to the specified destination unloading location as an example, see Figure 1, P in the figure ₁ , P ₂ , ..., P _m respectively represent the loading positions of m pieces of goods initially stacked, U ₁ , U ₂ , ... , U _n respectively represent the unloading positions of n pieces of goods to be transported, as can be seen from the figure, When the crane loads the first cargo from the loading position P1 for handling, since all n unloading positions are vacant at this time, if no optimization constraints are set, at this time, the crane can have n theoretical handling paths to choose from , that is to say, when the crane completes the handling operation of the first piece of goods, it can be realized through n different operation paths; after the crane completes the loading and unloading of the first piece of goods, it returns to the loading position of the second piece of goods to prepare for the second piece of goods. During the loading operation of goods, in addition to the first piece of goods that has been removed, there are (m-1) pieces of goods that can be selected by the crane as the second piece of goods, that is, the crane can have (m-1) different pieces of goods. The path returns to the loading position for the second item. The crane completes all the operations of transporting n pieces of goods among the m pieces of goods to the unloading position. Theoretically, the total number of paths is

strip. Calculate the total handling distance of these different paths and seek the result of minimizing the total handling distance. On this basis, optimize the planning path scheme corresponding to the shortest handling distance, and finally automatically obtain the operation instructions for the continuous operation of the crane to achieve energy saving and high efficiency of n pieces of goods. Handling work. In theory, at this point, the optimal solution of the transport path has been obtained.

However, in the actual loading and unloading operation site, the operating procedures of the crane and the basic requirements of the loading and unloading operation must be strictly implemented, and it is difficult to solve such problems simply from the consideration of the minimum energy consumption and the shortest distance. That is to say, the optimization result obtained by considering only the shortest path in the constraints is theoretically the optimal solution, but in practice, it cannot meet the continuous automatic operation of cranes. Taking the unloading operation shown in Figure 2 as an example, the initial stacking position M of the batch of goods is located in a position area close to the origin of the three-dimensional coordinates of the space, and the crane loads 6 pieces of goods from the batch of goods to the designated destination unloading area N, and the 6 pieces of goods are unloaded. The position status is shown in Figure 2. According to the unloading position and unloading state shown in Figure 2, when the crane loads the first cargo No. 1 to the unloading area for unloading, the theoretical shortest path unloading position should be the No. 6 position shown in Figure 2, but in reality it is between 1- The goods cannot be unloaded at No. 6 until the goods are in place at No. 5 unloading position.

Therefore, it is necessary to revise the theoretical search method according to the actual loading and unloading operation process of the crane and the requirements of the handling operation process, and finally obtain the loading and unloading operation sequence instructions that the crane can execute in the actual handling operation.

The invention provides a method for automatically generating effective cargo unloading sequences by combining theoretical research methods with actual loading and unloading operation requirements and crane operating characteristics, and searches for valid target loading cargoes one by one based on the cargo unloading sequence, thereby automatically generating the cargo loading sequence.

The intelligent optimization method for the automatic loading sequence of crane cargo involved in the present invention will be described in detail below with reference to the formula and accompanying drawings.

An intelligent optimization method for the automatic loading sequence of crane goods, comprising the following steps:

S1. Establish a three-dimensional coordinate system, take the limit position point of the crane loaded goods in the three moving directions of the large, the trolley and the vertical drop as the origin of the three-dimensional space coordinate system, and take the running directions of the trolley, the trolley and the hoisting mechanism of the crane respectively. As the X, Y, Z directions of the three-dimensional space coordinate system;

S2. Define the number of initially stacked goods as m pieces, establish the corresponding relationship between the initial positions of the m pieces of goods and the three-dimensional space coordinate system, and obtain the initial position information database;

S3. Define that there are n pieces of goods in the m pieces of goods that need to be unloaded, establish the corresponding relationship between the unloading positions of the n pieces of goods and the three-dimensional space coordinate system, and obtain the unloading position information database;

S4, formulate an unloading sequence rule and sort the unloading location information database according to the unloading sequence rule to obtain an unloading sequence database;

S5. Establish a loading sequence database structure, as shown in formula (6):

表示为m件货物中需装载的n件货物的初始位置，X_pc、Y_pc、Z_pc分别表示需装载的n件货物的初始位置K_P在X、Y、Z方向的位置坐标，

分别表示需装载的第i件货物在X、Y、Z方向的初始位置的位置坐标，

分别表示需装载的第n件货物在X、Y、Z方向的初始位置的位置坐标；in,

It is expressed as the initial position of n pieces of goods to be loaded in m pieces of goods, X _pc , Y _pc , and Z _pc respectively represent the position coordinates of the initial position K _P of the n pieces of goods to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the i-th cargo to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the nth piece of goods to be loaded in the X, Y, and Z directions;

S6, successively select the position coordinates of the unloading position in the unloading sequence database, and calculate the distance from the initial positions of all loadable goods in the initial position information database to the unloading position with the position coordinates of the unloading position as the starting point;

S7. Select the nearest loadable cargo as the target loaded cargo, input the position coordinates of the initial position of the target loaded cargo into the loading sequence database structure in sequence, and hide the position coordinates of the initial position of the target loaded cargo from the initial position information database. ;

S8. Steps S6 to S7 are repeated until the search for the target loaded goods in all unloading positions is completed. The schematic diagram of the exploration method for the loading sequence of the crane cargo is shown in Figure 3. In the figure, P ₁ , P ₂ , ..., P _m represent the initial loading positions of m pieces of cargo, Ku ₁ , Ku ₂ , ..., Kun respectively represent the unloading positions of _n pieces of goods sequentially extracted from the unloading sequence database.

Referring to FIGS. 4 and 5 , in step S1 of this embodiment, the trolley, the trolley and the hoisting mechanism are the three major mechanisms of the crane. The trolley operating mechanism realizes the horizontal movement of the crane, and the trolley operating mechanism drives the trolley to realize the trolley on the main beam. The horizontal movement and hoisting mechanism on the track realize the lifting operation of the crane picking device. Through the establishment of the three-dimensional space coordinate system of the crane, the entire handling process of the goods is carried out in the three-dimensional space defined by the three-dimensional space coordinate system. As a mass point, the position coordinates corresponding to the geometric center of the cargo are used as the position coordinates of the cargo.

In step S2, first define the number of columns, rows and layers corresponding to the X, Y and Z directions in the three-dimensional space coordinate system of the m pieces of goods as λ _P , τ _P , and ε _P , respectively, and then establish m pieces in two cases. The initial position information database of the goods:

First, when the initial stacking state of the goods is irregular, as shown in Figure 4, that is, when λ _P ×τ _P ×ε _P ≠m, the initial positions of m pieces of goods are expressed as P={P ₁ , P ₂ , ..., P _m }, establish the corresponding relationship between the initial position P and the three-dimensional space coordinate system, and obtain the first initial position information database structure, as shown in formula (1):

分别表示第m件货物在X、Y、Z方向的位置坐标；Among them, X _p , Y _p , and Z _p represent the position coordinates of the initial position P in the X, Y, and Z directions, respectively, and x _pi , y _pi , and z _pi represent the position coordinates of the i-th cargo in the X, Y, and Z directions, respectively. ,

Respectively represent the position coordinates of the mth cargo in the X, Y, and Z directions;

Input the position coordinates of the initial positions of all goods into the first initial position information database structure according to the preset import rule sequence, so as to obtain the initial position information database stored in the specified order; the above import rules need to satisfy the initial position information database. Quickly and conveniently call and store data during analysis and calculation such as subsequent loading sequence optimization, while ensuring that the relative position of the goods is clear, so that the system can accurately judge the spatial position of the goods;

The second is when the initial stacking state of the goods is regular, as shown in Figure 5, that is, when λ _P ×τ _P ×ε _P = m, define the position coordinates of the goods closest to the origin of the three-dimensional space coordinate system among the m pieces of goods as ( x _p1 , y _p1 , z _p1 ), define the separation distances in the X, Y, and Z directions of m pieces of goods as ζ _Px , ζ _Py , ζ _Pz , respectively, and combine the above import rules to transform the first initial position information database structure into the first Two initial position information database structure, as shown in formula (2):

是λ_P个

构成的矩阵，

是λ_P个

构成的矩阵，

是λ_P个z_p1构成的矩阵，

是λ_P个

构成的矩阵；in,

is λ _P

formed matrix,

is λ _P

formed matrix,

is a matrix composed of λ _P z _p1s ,

is λ _P

The matrix formed;

Using the second initial position information database structure, it is only necessary to obtain the position coordinates of the goods closest to the origin of the three-dimensional space coordinate system, and the columns, rows, and layers of m pieces of goods corresponding to the X, Y, and Z directions in the three-dimensional space coordinate system. The initial position information database stored in sequence can be automatically generated by the number of items and the spacing distances in the X, Y, and Z directions of m pieces of goods.

During the actual loading and unloading operation, a clear cargo unloading instruction will be obtained. The unloading instruction is generally divided into two types: designated unloading location and designated unloading area according to different types of goods and handling processes: designated unloading location is to give each piece of goods. The unloading location, the driver loads and unloads each designated cargo to the designated cargo location in strict accordance with the unloading instruction; the designated unloading area is a given unloading area, the driver arranges the unloading sequence according to the experience and continuously transports and unloads the planned quantity of goods to a given unloading area. In the case of receiving the above-mentioned unloading instruction of the specified unloading location, since each piece of goods and the unloading location of the goods are specified, the unloading instruction of the goods can be directly converted into a continuous unloading sequence instruction, and the system can execute the instruction sequentially to realize the planned quantity of goods. In the case of receiving the unloading instruction of the above-mentioned designated unloading area, in order to automatically obtain the continuous unloading sequence instruction of the goods, the unloading sequence rule of the unloading area must be formulated and given, and the premise of formulating the unloading sequence rule is that there is an unloading sequence. The location information database serves as the data base.

Therefore, in this embodiment, an unloading location information database is established for n pieces of goods to be unloaded for the unloading instruction of the designated unloading area in step S3. Specifically, for the unloading instruction of the designated unloading area, the placement status of the unloading location is usually: Therefore, this embodiment refers to the second initial position database structure of formula (2) to establish the unloading position database structure, as shown in formula (3):

是λ_u个y_u1构成的矩阵，

是λ_u个

构成的矩阵，

是λ_u个z_u1构成的矩阵，

是λ_u个

构成的矩阵；Among them, U={ _{U 1} , _{U 2} , . . . , _{U n} } is the unloading position of n pieces of goods to be unloaded in the unloading area. The position coordinates in the Z direction, (x _u1 , y _u1 , z _u1 ) are the position coordinates of the unloading position closest to the origin of the three-dimensional space coordinate system among the n unloading positions, λ _u , τ _u , ε _u are the n unloading positions respectively The number of columns, rows, and layers corresponding to the X, Y, and Z directions in the three-dimensional space coordinate system, and λ _u ×τ _u ×ε _u =n, ζ _ux , ζ _uy , ζ _uz are respectively the X of the n unloading positions , the separation distance in Y and Z directions, X _uu =[x _u1 x _u1 +ζ _ux … x _u1 +ζ _ux (λ _u -1)],

is a matrix composed of λ _u y _u1 ,

is λ _u

formed matrix,

is a matrix composed of λ _u z _u1 ,

is λ _u

The matrix formed;

Through the establishment of the above-mentioned unloading position information database structure, it is only necessary to obtain the position coordinates of the unloading position closest to the origin of the three-dimensional space coordinate system among the n unloading positions, and the n unloading positions correspond to the X, Y, and Z directions in the three-dimensional space coordinate system. The number of columns, rows, layers and the separation distances in the X, Y, and Z directions of the n unloading positions can automatically generate a database of unloading position information stored in sequence.

Step S4 formulates unloading sequence rules for the unloading area in combination with the actual loading and unloading operation requirements and the operating characteristics of the crane. For the case where the unloading instruction is a designated unloading area, the driver usually follows certain basic rules to carry out cargo handling and unloading operations, as shown in Figure 6 , when the unloading state of the goods is multi-layer, the goods are usually unloaded on the bottom layer first, and then unloaded one by one. When the unloading state of the cargo is only one layer, the cargo is usually unloaded at the unloading position farthest from the initial position of the cargo, and then the other cargo handling operations are completed from the farthest to the nearest unloading sequence. That is to say, the driver's compliance with the first unloaded cargo during cargo loading and unloading operations will not affect the basic principle of subsequent loading and unloading operations. According to the above basic principles, the unloading sequence rule is formulated according to the unloading position relative to the initial position of the goods before loading, and the unloading sequence rule is used for unloading in order from low to high, and from far to near. The unloading position information database structure of formula (3) can be transformed into the unloading sequence database structure shown in formula (4) in combination with the unloading sequence rule:

Either way, the uninstallation sequence database will be finally obtained according to the uninstallation sequence rules, as shown in formula (5):

表示为m件货物中需卸载的n件货物的卸载位置，X_uc、Y_uc、Z_uc分别表示需卸载的n件货物的卸载位置K_u在X、Y、Z方向的位置坐标，

分别表示需卸载的第i件货物在X、Y、Z方向的卸载位置的位置坐标，

分别表示需卸载的第n件货物在X、Y、Z方向的卸载位置的位置坐标。in,

It is expressed as the unloading position of n pieces of goods to be unloaded among the m pieces of goods, X _uc , _{Yu uc} , and Z _uc respectively represent the position coordinates of the unloading position _Ku of the n pieces of goods to be unloaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the unloading position of the ith cargo to be unloaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the unloading position of the nth piece of goods to be unloaded in the X, Y, and Z directions.

In addition, since the unloading sequence of the cargo is generally related to the relative position of the unloading area at the initial position before the cargo is loaded, the embodiment of the present invention takes the initial position before the cargo is loaded as the center according to the relative positional relationship between the unloading area and the initial position before the cargo is loaded Define multiple unloading areas, establish an unloading location information database for each unloading area, formulate an adapted unloading sequence rule, and reorder each unloading location information database according to the adapted unloading sequence rule, so as to obtain a more in line with the actual unloading habits A valid uninstall order database. When the crane actually carries out the handling operation, the appropriate unloading sequence database is selected according to the relative positional relationship between the unloading area and the initial position of the cargo determined by the unloading instruction.

Referring to FIG. 9 , steps S5 to S8 are the steps of establishing a loading sequence database. On the basis of establishing the initial position information database of the goods and the unloading sequence database, the loading sequence shown in formula (6) is first established for the goods to be loaded. The database structure is then searched for the target loading cargo for the unloading position, which is divided into two cases:

次，最终获得所有需装载货物的装载顺序，以及包含所有n件需装载货物的装载顺序数据库，如公式(6)所示，公式(6)所示的数据库有n列数据，第1列起到第n列的3行的数值分别为货物装载顺序中的第1件装载货物到第n件装载货物的初始位置的位置坐标，且依次按照装载从先到后的顺序从矩阵的左侧排列到右侧。When the initial stacking state of the goods is a single layer, first, starting from the position coordinates of the first unloading position in the unloading sequence database of the goods as the starting point, the shortest transport path is searched from all m pieces of goods (by calculating the unloading position to each piece of goods) Search for the distance from the initial position of the goods and compare the goods obtained), the searched goods become the first target loading goods, and the system automatically stores the position coordinates of the initial position of the target goods in the pre-established loading sequence database structure. , the position coordinates of the initial position of the target loaded cargo become the coordinate data of the first group of loaded cargo in the cargo loading sequence database; secondly, starting from the position coordinates of the second unloading position in the cargo unloading sequence database, starting from In all m-1 pieces of goods, search for the next item with the shortest transport path, and the searched item becomes the second target load item. The system also automatically stores the position coordinates of the initial position of the target load item in the loading sequence database structure. in; search repeatedly according to the above method

times, and finally obtain the loading sequence of all the goods to be loaded, as well as the loading sequence database containing all n pieces of the goods to be loaded, as shown in formula (6), the database shown in formula (6) has n columns of data, starting from the first column The values to the 3 rows of the nth column are the position coordinates of the initial position of the first loaded cargo to the nth loaded cargo in the cargo loading sequence, and they are arranged from the left side of the matrix in the order of loading from first to last. to the right.

Referring to Figure 7 and Figure 8, when the initial stacking state of the goods is multi-layer, the crane loading operation also has basic operation requirements. The optimization of the crane's cargo loading sequence must be based on the basic operation requirements, as shown in Figure 7. For example, if the unloading position of the first piece of goods is located at the No. 1 position shown on the right side of Figure 7, and starting from this unloading position to search for the nearest goods, the No. 1 position shown on the left side of Figure 7 The cargo is the first target to load the cargo, but from the basic operating requirements of the crane, the No. 2 to No. 5 cargo stacked on the No. 1 cargo cannot be loaded and transported first before being loaded and removed. . Therefore, in order to obtain the cargo loading sequence suitable for the actual operation, the search range of the target loaded cargo should be limited to the cargo that the crane can actually load. As shown in Figure 8, when the initial stacking state of the cargo is multi-layered, The sequential search scope is limited to the goods placed on the top layer (ie, the goods marked O in Figure 8). When searching for the target loading cargo, the range of the loadable cargo is confirmed first, and the cargo with the shortest transport path from the current unloading position is searched within the loadable cargo range. By limiting the range of the loadable cargo, the calculation amount of the system is greatly reduced.

Further, all loadable goods in step S6 are determined by calculation, including the following steps:

S6-1, compare the X, Y, Z values in the position coordinates of all initial positions in the current initial position information database;

S6-2. Divide all position coordinates into multiple groups on the basis of equal X and Y values;

S6-3. Select the cargo corresponding to the position coordinate with the largest Z value in each group as the loadable cargo.

Through the above improvements, using the storage form of the three-dimensional position information of the goods, the goods placed on the top layer can be automatically screened by comparing the Z value in the position coordinates of the goods, and the goods can be automatically identified according to the comparison of the Z values of the position coordinates in the database. The stacking state of the crane is single-layer or multi-layer, which effectively realizes the determination of loadable goods, and then automatically generates the loading sequence database of crane goods. See the flowchart in Fig. 9 for details of the loading sequence search and automatic generation method of crane cargo.

The present invention provides an intelligent optimization system for the automatic loading sequence of crane cargo based on the intelligent optimization method of the crane cargo automatic loading sequence, including:

The three-dimensional space coordinate system establishment module is used to establish a three-dimensional space coordinate system. The limit position points of the crane loaded goods in the three moving directions of the large, the trolley and the vertical drop are used as the origin of the three-dimensional space coordinate system. and the running direction of the hoisting mechanism as the X, Y, and Z directions of the three-dimensional space coordinate system;

The initial position information database forming module is used to establish the corresponding relationship between the initial positions of m pieces of goods and the three-dimensional space coordinate system, and obtain the initial position information database;

The unloading position information database forming module is used to establish the corresponding relationship between the unloading positions of the n pieces of goods to be unloaded among the m pieces of goods and the three-dimensional space coordinate system, and obtain the unloading position information database;

The unloading sequence database forming module is used to formulate the unloading sequence rules and sort the unloading position information database according to the unloading sequence rules to obtain the unloading sequence database;

The target loading goods determination module is used to sequentially select the position coordinates of the unloading positions in the unloading sequence database, and calculate the distance from the initial positions of all loadable goods in the initial position information database to the unloading positions with the position coordinates of the unloading positions as the starting point, and select The nearest loadable cargo is output as the target loaded cargo, and the position coordinates of the initial position of the current target loaded cargo are hidden from the initial position information database;

The loading sequence database forming module is used to establish the loading sequence database structure, and sequentially extract the position coordinates of the initial position of the target loaded goods and sequentially input them into the loading sequence database structure to obtain the loading sequence database. The loading sequence database structure is:

表示为m件货物中需装载的n件货物的初始位置，X_pc、Y_pc、Z_pc分别表示需装载的n件货物的初始位置K_P在X、Y、Z方向的位置坐标，

分别表示需装载的第i件货物在X、Y、Z方向的初始位置的位置坐标，

分别表示需装载的第n件货物在X、Y、Z方向的初始位置的位置坐标。in,

It is expressed as the initial position of n pieces of goods to be loaded in m pieces of goods, X _pc , Y _pc , and Z _pc respectively represent the position coordinates of the initial position K _P of the n pieces of goods to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the i-th cargo to be loaded in the X, Y, and Z directions,

Respectively represent the position coordinates of the initial position of the nth piece of goods to be loaded in the X, Y, and Z directions.

Further, the target loaded goods determination module also includes a loadable goods determination unit, and the loadable goods determination unit is used to calculate the X, Y, and Z values of the initial position information of all goods in the initial position information database, and the X and Y values are equal. The initial position information is grouped as the basis, and the goods corresponding to the position coordinates of the initial position with the largest Z value in each group are regarded as loadable goods.

Preferably, the unloading sequence rules in the unloading sequence database forming module are sorted according to the unloading position relative to the initial position before loading of the goods using the rules from low to high and from far to near.

The intelligent optimization system for the automatic loading sequence of the crane cargo in this embodiment first establishes a three-dimensional spatial coordinate system through the three-dimensional spatial coordinate system establishment module combined with the three major mechanisms of the crane, so that the entire handling process of the cargo is in the three-dimensional space defined by the three-dimensional spatial coordinate system. Carry out in space, regard the goods as mass points, and use the position coordinates corresponding to the geometric center of the goods as the position coordinates of the goods; then form the initial position information database of the goods through the initial position information database forming module, and form the module through the unloading position information database forming module. The unloading position information database of the goods to be loaded is formed by the unloading sequence database, and the unloading sequence rules are specified in combination with the actual loading and unloading operation characteristics of the crane, and a practical unloading sequence database is automatically generated; finally, the module is determined by the target loading cargo according to the position coordinates of the unloading sequence database. The target loading goods are searched in sequence, and the target loading goods are sequentially output to the loading order database forming module to automatically generate a practical target loading order database.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Personnel, within the scope of not departing from the technical solution of the present invention, can make some changes or modifications to equivalent examples of equivalent changes by using the technical content disclosed above. Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solutions of the present invention.

Claims (6)

1. An intelligent optimization method for automatic loading sequence of crane cargos is characterized by comprising the following steps:

s1, establishing a three-dimensional space coordinate system, taking limit position points of cargos loaded by a crane in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional space coordinate system, and taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y and Z directions of the three-dimensional space coordinate system respectively;

s2, defining the quantity of the initially stacked goods as m goods, and establishing a corresponding relation between the initial positions of the m goods and the three-dimensional space coordinate system to obtain an initial position information database;

s3, defining that n cargos in m cargos need to be unloaded, and establishing a corresponding relation between unloading positions of the n cargos and the three-dimensional space coordinate system to obtain an unloading position information database;

s4, setting an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;

s5, establishing a loading sequence database structure:

wherein,

expressed as the initial position, X, of the n loads to be loaded out of the m loads _pc 、Y _pc 、Z _pc Respectively representing the initial positions K of n goods to be loaded _P Position coordinates in X, Y and Z directions,

respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,

respectively showing the n-th goods to be loaded in X, Y,Position coordinates of an initial position in the Z direction;

s6, sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, and calculating the distances from the initial positions of all loadable cargos in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points;

s7, selecting the loaded object with the closest distance as a target loaded object, inputting the position coordinate sequence of the initial position of the target loaded object into the loading sequence database structure, and hiding the position coordinate of the initial position of the target loaded object from the initial position information database;

and S8, repeating the steps S6-S7 until the target loaded goods at all the unloading positions are searched.

2. The intelligent optimization method for the automatic loading sequence of crane cargos according to claim 1, wherein all the loadable objects in the step S6 are determined by calculation, and the method comprises the following steps:

s6-1, comparing X, Y and Z values in position coordinates of all initial positions in the initial position information database;

s6-2, dividing all position coordinates into a plurality of groups on the basis of equal X and Y values;

and S6-3, selecting the goods corresponding to the position coordinate with the maximum Z value in each group as the loadable goods.

3. The intelligent optimization method for the automatic loading sequence of the crane cargos according to claim 1, wherein the unloading sequence rules in the step S4 are that the unloading positions are sequentially sorted from low to high and from far to near relative to the initial positions before the cargos are loaded.

4. An intelligent optimization system for automatic loading sequence of crane cargos, comprising:

the three-dimensional space coordinate system establishing module is used for establishing a three-dimensional space coordinate system, taking limit position points of goods loaded by a crane in three motion directions of large and small car operation and vertical descending as the origin of the three-dimensional space coordinate system, and taking the motion directions of a small car, a large car and a hoisting mechanism of the crane as the X, Y and Z directions of the three-dimensional space coordinate system respectively;

the initial position information database forming module is used for establishing a corresponding relation between the initial positions of the m pieces of goods and the three-dimensional space coordinate system to obtain an initial position information database;

the unloading position information database forming module is used for establishing a corresponding relation between the unloading positions of n cargos to be unloaded in the m cargos and the three-dimensional space coordinate system to obtain an unloading position information database;

the unloading sequence database forming module is used for formulating an unloading sequence rule and sequencing the unloading position information database according to the unloading sequence rule to obtain an unloading sequence database;

the target loaded goods determining module is used for sequentially selecting the position coordinates of the unloading positions in the unloading sequence database, calculating the distances from the initial positions of all loadable goods in the initial position information database to the unloading positions by taking the position coordinates of the unloading positions as starting points, selecting the loadable goods with the closest distances as target loaded goods to be output, and hiding the position coordinates of the initial positions of the current target loaded goods from the initial position information database;

a loading sequence database forming module, configured to establish a loading sequence database structure, sequentially extract the position coordinates of the initial position of the target loaded cargo, and sequentially input the position coordinates into the loading sequence database structure to obtain a loading sequence database, where the loading sequence database structure is:

wherein,

expressed as initial position, X, of n pieces of goods to be loaded out of m pieces of goods _pc 、Y _pc 、Z _pc Respectively representing the initial positions K of n pieces of goods to be loaded _P Position coordinates in X, Y and Z directions,

respectively showing the position coordinates of the initial position of the ith goods to be loaded in the X, Y and Z directions,

and position coordinates respectively representing initial positions of the nth goods to be loaded in the X, Y and Z directions.

5. An intelligent optimization system for crane cargo automatic loading sequence according to claim 4, wherein said target loadable cargo determination module further comprises a loadable cargo determination unit for calculating X, Y and Z values of said initial position information of all the cargos in said initial position information database, grouping said initial position information on the basis of equal X and Y values, and regarding the cargo corresponding to the position coordinate of said initial position having the largest Z value in each group as said loadable cargo.

6. The intelligent optimization system for the automatic loading sequence of the crane cargos according to claim 4, wherein the unloading sequence rules in the unloading sequence database formation module are ordered according to the rules that the unloading positions are sequentially arranged from low to high and from far to near relative to the initial positions before the cargos are loaded.

Images