Automatic wharf ship arranging method based on DAMP genetic algorithm

Abstract

The invention relates to the technical field of ship arrangement, and discloses an automatic wharf ship arrangement method based on a DAMP genetic algorithm, and the method comprises the steps: building a length limiting rule of a wharf, berths and ships, and guaranteeing that the total length of the berthed ships does not exceed the available length of the wharf; hydrological limitation rules of wharfs, berths and ships are established, and the draught depth needed by ship berthing is calculated and determined; establishing a corresponding rule of cargos loaded by the ship and berths, and establishing a loading and unloading efficiency relationship between the berths and the cargos; and establishing a restriction rule of the total number of available workers in the wharf on ship berthing, calculating a ship berthing priority sequence according to cargo types and waiting time, arranging ships through a genetic algorithm, and giving an optimal loading and unloading plan. According to the method, the influence of multiple factors such as berths, hydrology, ships, cargoes, wharfs, time and personnel is comprehensively considered, the ship berthing sequence is obtained, deep search is conducted on the ship arrangement plan through the genetic algorithm, and the optimal ship arrangement plan is obtained. Wharf loading and unloading efficiency is improved, and wharf loading and unloading time is

Description

Technical Field

[0001] The invention relates to the technical field of ship rowing, and in particular to an automatic ship rowing method for a dock based on a DAMP genetic algorithm. Background Art

[0002] my country has a long coastline and dense rivers, with a large number of ports and densely populated transport ships. The loading and unloading business of each port is huge, so the daily ship arrangement plan formulated by the production department is used as the basis to receive work tickets and carry out work and machine matching, loading and unloading of goods to ensure the orderly work of the port. However, the traditional method of manual ship arrangement and mooring relying on manpower is not only extremely inefficient and costly, but also the manual ship arrangement plan is prone to errors and omissions, which hinders the normal business of the port and cannot meet the needs of efficient production of modern enterprises.

[0003] As the automation and intelligence of port management continue to improve, higher requirements are placed on the optimization and management of the production process. The traditional way of manually scheduling ship generation plans can no longer meet the business needs of ports. The application of information technology and artificial intelligence algorithms to port production management is of great significance to improving the production management level of ports, reducing production costs, and improving economic benefits. The intelligent production scheduling system mainly relies on reviewing production data and scheduling rules to automatically complete calculations, thereby avoiding human arbitrariness and reducing a series of consequences caused by human negligence, such as missed scheduling, insufficient scheduling, wrong scheduling, delays, etc., making production efficient and orderly.

[0004] Relevant research in this field, such as the Chinese patent, is an intelligent ship scheduling algorithm (application number CN202210208213.8). This algorithm launches multiple plans for ships to enter and leave the port based on the characteristics of ships entering and leaving the port, the dynamic management requirements of ships in the port, the storage conditions of the yard, the use of equipment, and the needs of cargo owners. The ship plan aims to maximize the amount of loading operations completed every day, and optimizes the berth and labor allocation algorithm of the terminal, hoping to achieve the auxiliary terminal to reduce the time of ship scheduling and labor allocation, and increase the throughput of ships day and night. The invention failed to take into account the correspondence between the length of the terminal, the draft depth of the ship, the total number of dock workers, and the efficiency of cargo and berths, resulting in a variety of ship scheduling factors. It is impossible to achieve the optimal ship scheduling plan to ensure accurate and efficient ship scheduling and maximize the efficiency of cargo loading and unloading. Summary of the invention

[0005] The purpose of the present invention is to provide a method for automatic ship discharging at a dock based on the DAMP genetic algorithm to solve the following technical problems:

[0006] Considering the correspondence between the length of the wharf, the draft of the ship, the total number of dock workers and the efficiency of cargo and berth, the optimal ship scheduling plan cannot be achieved due to various ship scheduling factors.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A method for automatic ship discharging at a dock based on a DAMP genetic algorithm specifically comprises the following steps:

[0009] S1. Establish length restriction rules for docks, berths and ships to ensure that the total length of docked ships does not exceed the available length of the dock;

[0010] S2. Establish hydrological restriction rules for docks, berths and ships, and calculate and determine the draft required for ships to berth;

[0011] S3. Establish the corresponding rules between the cargo loaded by the ship and the berth, and establish the relationship between the loading and unloading efficiency of the berth and the cargo;

[0012] S4. Establish rules to limit the berthing of ships based on the total number of available workers at the terminal, and calculate the berthing priority order of ships based on the type of cargo and waiting time.

[0013] S5. Arrange ships through genetic algorithm and give the optimal loading and unloading plan.

[0014] Preferably, the length restriction rule specifically includes:

[0015] S11. One wharf corresponds to one berth or n berths, and one berth can accommodate one ship;

[0016] S12. When ships are berthing at different berths at the same time, the distance between adjacent ships is determined based on the type of the ships, and the two ships are kept at this distance in front and behind;

[0017] S13, assuming the number of docks is Num wharf , the length of the pier is X wharf The maximum number of ships that can dock at the terminal is Num ship , then the relationship between the two is Where Num wharf >1, and is an integer;

[0018] S14. Determine the minimum required length of the pier for all ships to dock based on the type of ship.

[0019] Preferably, the hydrological restriction rules specifically include:

[0020] S21, let the weight of the ship be G ship , cargo weight G cargo , according to the type and weight of cargo on board, determine the total weight of the hull and calculate the buoyancy of the hull through the following calculation formula:

[0021] ρ 水 V 水 =Gship +G cargo1 +G cargo2 +…+G cargon

[0022] ρ 水 is the density of port water, g is the acceleration due to gravity, V 水 is the volume of water displaced by the hull, and n is the type of cargo on board;

[0023] S22. Establish x, y, and z axes with the center point of the bottom of the ship. The surface of the ship can be abstracted as f1(x) and f2(x), and the bottom of the ship can be abstracted as g1(z) and g2(z) with the z axis as the horizontal coordinate and the x axis as the vertical coordinate. The draft of the ship is obtained as h through the following calculation formula. ship ;

[0024]

[0025] Among them, ∑A is the sum of the cross-sectional areas of the ship’s draft;

[0026] The ship's draft volume is,

[0027] with f2(x)|dx dz;

[0028] S23, find h ship ,

[0029]

[0030] Among them, if you want to dock at the berth, the water depth should be at least higher than Kh ship , K is a constant;

[0031] S24. According to the required water depth calculated by each ship, the water depth set is obtained as follows:

[0032]

[0033] Preferably, the correspondence rules between cargo and berth specifically include:

[0034] S31. Each berth can handle different types of cargo, and its efficiency is also different. The corresponding relationship set between berths and cargo types is:

[0035]

[0036]

[0037] …

[0038]

[0039] Its loading and unloading efficiency set is:

[0040]

[0041]

[0042] …

[0044]

[0045] The water depths of each berth are:

[0046]

[0047] S32. Each ship corresponds to multiple types of cargo, so each ship can only choose the corresponding berth to load and unload the corresponding cargo, so the set of berths that can be loaded and unloaded by each ship is:

[0048]

[0049] S33, according to berth ship Ships can berth and get water berth , the ship berths according to the type of cargo, the actual water depth of the berth, and the water ship Compare the required water depths of each ship in the , remove the berths that do not meet the conditions, and get a new set:

[0050]

[0051] Preferably, the ship berthing priority order specifically includes:

[0052] S41. Setting the relationship between personnel and ship demand: Assume that the total number of people that can be deployed is Num All , each type of cargo loading and unloading requires at least the following number of people:

[0053]

[0054] S42, the number of ships to be dispatched is Num arrive , the minimum number of personnel required for ship loading and unloading is:

[0055]

[0056] S43, ship berthing priority calculation: Assume the number of ordinary ships to be queued is Num arrive , the arrival time of all scheduled ships is:

[0058]

[0059] Waiting time:

[0060]

[0061] Tonnage on board:

[0062]

[0063] S44. The ship dispatching priority is obtained by multiplying the square of the ship waiting time by the ship load. The higher the value, the higher the ship priority. The ship dispatching priority set is:

[0064]

[0065] S45, Ship selection and ship arrangement sequence determination: Each terminal selects the cargo type with the highest priority, selects the Order ship For ships with high values, add up the number of people required for loading and unloading at all docks to get Num require , and Num require With Num All Compare;

[0066] in;

[0067] If Num require =Num All , select Order in the category ship Ships with high values ​​enter the ship row sequence;

[0068] If Num require >Num All If there are ships with the same cargo and low loading and unloading personnel, select all ships with the same cargo and low loading and unloading personnel and return to the previous step; if there are no ships with the same cargo and low loading and unloading personnel, select the terminal to reduce the cargo priority, return to the previous step, and end;

[0069] If Num require <Num All , select the ship with the highest priority and go to the next step; the priority of each terminal cargo type is not the highest and: Num All -Num require When it is the smallest, go to the next step; Num All -Num require When it is not the minimum, if there are ships with the same cargo and a high number of people loading and unloading, select all ships with the same cargo and a low number of people loading and unloading, return to the previous step, and end; if there are no ships with the same cargo and a high number of people loading and unloading, select the terminal with a lower cargo priority, return to the previous step, and end;

[0070] S46. Put the selected ship into the ship arrangement sequence set, and the algorithm ends.

[0071] Preferably, the genetic algorithm ship arrangement specifically includes:

[0072] S51. According to the above conditions, select the set of ships that can dock:

[0073] Ships={ship1,ship2,ship3,……,ship n};

[0074] S52. Obtain the efficiency set of different berth cargo types:

[0075]

[0076]

[0077] …

[0078]

[0079] According to the above rules, the ships are sorted in the berthing order to obtain a new ship sequence set Ships new :

[0080] S53, population initialization: Initialize the population according to the order of ships, generate GenerateNum chromosomes, each chromosome gene number is randomly generated, and the chromosome set is:

[0081] chromosomes={chromosome1,chromosome2,……,chromosome GenerateNum};

[0082] S54, chromosome correction and fitness calculation: calculate whether each chromosome exceeds the berth length. If it exceeds, postpone the ship's start time and correct the chromosome. Otherwise, the chromosome is normal. Then calculate the fitness value of each chromosome. First, calculate the end time of each ship:

[0083]

[0084]

[0085] The time calculation formula for k berth is:

[0086]

[0087] Then the fitness value of the pth chromosome is:

[0088]

[0089] Then we get the chromosome fitness value set:

[0090] chromosomeTimes={chromosomeTime1,chromosomeTime2,...,chromosomeTime chromosomeNum} According to the fitness value, select the chromosome with the best fitness value, bestchromosome;

[0091] S55, iterative operation:

[0092] S551, iterate, the number of iterations is GenerateNum, the current generation is nowNum; select sub-populations according to the population size; set the selection ratio X, then select sub-populations

[0093] The population size is:

[0094]

[0095] In num children Among the chromosomes, select the two chromosomes with the lowest fitness value, {chromosome l ,chromosome k};

[0096] S552, crossover the two chromosomes, setting the crossover probability to C, where C<1;

[0097] For each gene position of the two chromosomes, the berth number is exchanged according to the probability C, and a new set of two chromosomes {chromosome l-new ,chromosome k-new};

[0098] S553, setting the initial mutation probability mute, where mute<1;

[0099] Each gene position is mutated according to the mute probability, and the position number is randomly changed. And as the number of iterations increases, the probability becomes smaller, and the formula is:

[0100]

[0101] S554, repeat the above steps of selecting subpopulations, crossover, and mutation, times, and obtain a new generation of chromosome sets:

[0102] chromosomes nowNum

[0103] ={chromosome nowNum1 ,chromosome nowNum2 ,,chromosome nowNumGenerateNum};

[0104] Add the best chromosome to the new set;

[0105] S555. When GenerateNum < nowNum, the algorithm ends and the best chromosome is obtained finish , and the ship arrangement is completed.

[0106] Advantages of the present invention:

[0107] 1. By designing the length limit rules for the dock, berth, and ship, the present invention calculates whether the occupied length of the ship during ship arrangement can exceed the available length of the dock and ensures the safety distance between ships.

[0108] 2. By designing the hydrological limit rules for the dock, berth, and ship, the present invention calculates the draft depth of the ship, obtains the draft of the ship through the integration of the ship's load and the ship type function, and judges the safety water level to ensure that the ship docks at a suitable berth.

[0109] 3. By designing the corresponding rules between the goods loaded on the ship and the berth, the present invention comprehensively considers factors such as the ship's arrival time at the port, waiting time, and cargo load, and calculates the priority of the ship berthing order in the form of a formula.

[0110] 4. By designing the limit rules for the total number of available workers at the dock for ship berthing, and at the same time calculating the ship berthing priority order based on the type of goods and waiting time, the present invention comprehensively considers factors such as the ship's arrival time at the port, waiting time, and cargo load, and calculates the priority of the ship berthing order.

[0111] In summary, the present invention comprehensively considers the influences of multiple factors such as berths, hydrology, ships, goods, docks, time, and personnel, obtains the ship berthing order, uses the genetic algorithm to perform in-depth search on the ship arrangement plan, and obtains the optimal ship arrangement plan. It improves the dock loading and unloading efficiency and saves the dock loading and unloading time.

[0112] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0113] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0114] Figure 1 It is a flowchart of a method for automatic ship arrangement at a dock based on the DAMP genetic algorithm of the present invention;

[0115] Figure 2 This is a schematic diagram of ship priority provided in this embodiment 2. DETAILED DESCRIPTION

[0116] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0117] See also Figure 1 As shown, the present invention provides a method for automatic ship arrangement at a dock based on a DAMP genetic algorithm, which specifically includes the following steps:

[0118] S1. Establish length restriction rules for docks, berths and ships to ensure that the total length of docked ships does not exceed the available length of the dock;

[0119] S2. Establish hydrological restriction rules for docks, berths and ships, and calculate and determine the draft required for ships to berth;

[0120] S3. Establish the corresponding rules between the cargo loaded by the ship and the berth, and establish the relationship between the loading and unloading efficiency of the berth and the cargo;

[0121] S4. Establish rules to limit the berthing of ships based on the total number of available workers at the terminal, and calculate the berthing priority order of ships based on the type of cargo and waiting time.

[0122] S5. Arrange ships through genetic algorithm and give the optimal loading and unloading plan.

[0123] The invention designs the length restriction rules of the dock, berth and ship, calculates whether the length occupied by the ship during ship arranging can exceed the length available at the dock, and ensures the safe distance between ships. Meanwhile, it comprehensively considers the influence of multiple factors such as berth, hydrology, ship, cargo, dock, time and personnel, obtains the berthing order of ships, uses genetic algorithm to conduct in-depth search on the ship arranging plan, and obtains the optimal ship arranging plan, thereby improving the loading and unloading efficiency of the dock and saving the loading and unloading time of the dock.

[0124] Example 1: Specific rules for limiting the length of docks, berths and ships:

[0125] One wharf corresponds to one berth, and one berth can accommodate one ship. However, in special cases, one wharf can correspond to n berths (wharf length>X wharf );

[0126] Berths are usually connected. When different berths are used for berthing at the same time, the two ships need to keep a certain distance between them. The distance between the two ships will vary depending on the type of ship. For example, the distance between inland ships (i.e. river ships) is 3 meters before and after, and the distance between inland ships (i.e. river ships) and sea ships is 8 meters before and after. When a river ship and a sea ship are berthed at the same time, the sea ship should keep a distance.

[0127] To ensure safety, when a terminal has two berths, the adjacent terminal can only open one berth.

[0128] Let the number of docks be Num wharf , the length of the pier is X wharf The maximum number of ships that can dock at the terminal is Num ship , then the relationship between the two is Where Num wharf >1, and is an integer;

[0129] Determine the minimum required length of the pier for all ships to call at the port based on the type of ship.

[0130] Assume that the set of ship lengths is:

[0131]

[0132] If you want all ships to be able to dock, the dock length needs to be Length WHARF :

[0133] If all are river vessels, the minimum required length of the vessel at the port is Length Riverboat =Length WHARF :

[0134]

[0135] If all are seagoing vessels, the minimum required length of the ship at the port is Length Seaboat =

[0136] Length WHARF :

[0137]

[0138] Therefore, if all ships want to berth at the same time, the length of the pier should be:

[0139] Length Riverboat ≤X wharf ≤Length Seaboat

[0140] Assuming the number of docks is 5 and the maximum number of ships that can dock at a dock is 10, the relationship between the two is Num ship =15, then the set of ship lengths is:

[0141] Length SHIP ={10,20,13,……,16};

[0142] If all are river vessels, the minimum required length of the ship at the port is Length WHARF =267;

[0143] If all are seagoing vessels, the minimum required length of the ship at the port is Length Seaboat =337;

[0144] If all ships want to berth at the same time, the length of the pier should be: 267≤X wharf ≤337. Example 2: Assume that a ship in the port is about to enter the berth of the terminal, and the weight set is:

[0145] n is the type of cargo on board.

[0146] Based on Example 1, the ship needs to enter the berth of the wharf, and the weight set is:

[0147] G cargo ={5,12,6,……,9}

[0148] The ship's own weight is 120, so the total weight of the ship is 120+5+12+6+…+9=200;

[0149]

[0150] V 水 ≈20m 3

[0151] The x, y, and z axes are established with the center point of the bottom of the ship. The surface of the ship can be abstracted as f1(x) and f2(x). The bottom of the ship can be abstracted as g1(z) and g2(z) with the z axis as the horizontal coordinate and the x axis as the vertical coordinate. Assume that the draft of the ship is h ship , then the sum of the cross-sectional areas of the ship's draft ∑A is

[0152] ∑A=20

[0153] The ship's draft volume is

[0154]

[0155] According to Archimedes' principle: the volume of water displaced by an object = the volume of water entering it, we can get: V 水 =V 船

[0156]

[0157] Combining the two equations, we can get h ship =2m.

[0158] To dock at a berth, the water depth should be at least Kh ship , K = 1.2, the specific K value is set based on comprehensive consideration of ship type and size as well as working experience.

[0159] The required water depth can be calculated based on each ship, and the water depth set is:

[0160] water ship ={5,4.8,……,6.1}.

[0161] The corresponding rules for cargo and berths include:

[0162] Each berth can handle different types of cargo, and its efficiency is also different. The corresponding relationship set between berths and cargo types is:

[0163]

[0164]

[0165] …

[0166]

[0167] Its loading and unloading efficiency set is:

[0168]

[0169]

[0170] …

[0171]

[0172] The water depths of each berth are:

[0173]

[0174] Each ship corresponds to multiple types of cargo, so each ship can only choose the corresponding berth to load and unload the corresponding cargo, so the set of berths that each ship can load and unload is:

[0175]

[0176] According to Berth ship Ships can berth and get water berth , the ship berths according to the type of cargo, the actual water depth of the berth, and the water ship Compare the required water depths of each ship in the , remove the berths that do not meet the conditions, and get a new set:

[0177]

[0178] Example 3, please refer to Figure 2 , based on the above content, determine the berthing priority relationship of ships.

[0179] Step 1: Set the relationship between personnel and ship demand: Assume the total number of available personnel is Num All , each type of cargo loading and unloading requires at least the following number of people:

[0180]

[0181] Step 2: The number of ships to be dispatched is Num arrive , the minimum number of personnel required for ship loading and unloading is:

[0182]

[0183] Assume the number of ordinary ships to be dispatched is Num arrive , the arrival time of all scheduled ships is:

[0184]

[0185] Waiting time:

[0186]

[0187] Tonnage on board:

[0188]

[0189] First, the total weight of the ships and the cargo they carry is preliminarily sorted. Then, according to the size of the ship and the type of cargo, the docks that are currently vacant or will be vacant within a certain period of time and meet the requirements are classified (to determine whether the ship can dock at the dock). The ship's priority is obtained by multiplying the square of the ship's waiting time by the ship's load. The higher the value, the higher the ship's priority (calculating the ship's berthing priority). The ship's priority set is:

[0190]

[0191] Step 3: Vessel selection and ship order determination: Each terminal selects the cargo type with the highest priority;

[0192] Step 4: Select the Order in the category ship Ships with high values;

[0193] Step 5: Add up the number of people required for loading and unloading at all terminals to get Num require , and Num require With Num All Compare;

[0194] Step 6: Get the result;

[0195] If Num require =Num All , select Order in the category ship Ships with high values ​​enter the ship row sequence and end;

[0196] If Num require >Num All , if there are ships with the same cargo and low loading and unloading personnel, select all ships with the same cargo and low loading and unloading personnel, return to step 4, and end;

[0197] If there is no ship with the same cargo and low loading and unloading personnel, select the terminal to reduce the cargo priority, return to the previous step, return to step 4, and end;

[0198] If Num require <Num All , select the ship with the highest priority and go to the next step (step seven) to end;

[0199] The cargo priority of each terminal is not the highest and: Num All -Num require When it is the smallest, go to the next step (step seven) and end;

[0200] Num All -Num require When it is not the minimum, if there are ships with the same cargo and high loading and unloading personnel, select all ships with the same cargo and low loading and unloading personnel, return to step 4, and end;

[0201] If there is no ship with the same cargo and a high number of people loading and unloading, select the terminal to lower the cargo priority, return to step 4, and end;

[0202] Step 7: Put the selected ships into the ship arrangement sequence set, and the algorithm ends.

[0203] Assume that the number of ordinary ships to be scheduled is 15, and the arrival time of all ships to be scheduled is;

[0204] Time arrive ={8,4,3,……,9},

[0205] Assume the waiting time is:

[0206] Time wait ={4,8,9,......,3},

[0207] Tonnage on board:

[0208] G ship ={150,220,180,……,200}

[0209] The ship platoon priority set is:

[0210] Order ship ={2400,14080,14580,……,1800}

[0211] When selecting the order of ships, ships with higher priority are given priority.

[0212] As an implementation mode of the present invention, based on the above content, specifically:

[0213] A DAMP genetic improvement algorithm for ship arranging is implemented, characterized in that it includes the following steps:

[0214] Step 1: According to the above conditions (length restrictions of ships and docks), select the ships that can dock:

[0215] Ships={ship1,ship2,ship3,……,ship n}

[0216] Step 2: Get the efficiency set of different berth cargo types:

[0217]

[0218]

[0219] …

[0220]

[0221] Step 3: Sort the ships in berthing order according to the above rules. Get the new ship sequence set Ships new

[0222] Step 4: Initialize the population according to the order of ships and generate GenerateNum chromosomes. Each chromosome gene number is randomly generated. The chromosome set is:

[0223] chromosomes

[0224] ={chromosome1,chromosome2,......chromosome GenerateNum}

[0225] Step 5: Calculate whether each chromosome exceeds the berth length according to the method described in claim 1. If it exceeds, postpone the ship's start time and correct the chromosome. Otherwise, the chromosome is normal.

[0226] Step 6: Calculate the fitness value of each chromosome. First, calculate the end time of each ship:

[0227]

[0228]

[0229] The time calculation formula for k berth is:

[0230]

[0231] Then the fitness value of the pth chromosome is:

[0232]

[0233] Then we get the chromosome fitness value set:

[0234] chromosomeTimes

[0235] ={chromosomeTime1,chromosomeTime2,...,chromosomeTime chromosomeNum}

[0236] According to the fitness value, select the chromosome with the best fitness value, bestchromosome.

[0237] Step 7: Start iteration, the iteration number is GenerateNum, and the current generation number is nowNum.

[0238] Step 8: Select sub-populations according to the population size. Set the selection ratio X, and the sub-population size is:

[0239]

[0240] By this num children Among the chromosomes, select the two chromosomes with the lowest fitness value, {chromosome l ,chromosome k}.

[0241] Specifically, according to the above conditions, the set of ships that can dock is selected:

[0242] Assumptions:

[0243] Ships = {Jiangling 225, Wuhu Shunfeng 1809, Shengli 888, ..., Jieyun 9188}, where there are multiple types of cargo on the ship, such as steel, building materials, metal materials, etc., and the efficiency set of different berth cargo types is obtained:

[0244] berth1={H-beam, fine powder, ..., slag}

[0245] berth2 = {cold coil, hot coil, ..., slag}

[0246] …

[0247] berth n ={hot coil, card powder..., hot rolling die cutting}

[0248] berthEffect1={5.61,11.02,……,6.98}

[0249] berthEffect2={9.47,6.52,……,6.70}

[0250] …

[0251] berthEffect n ={3.85,7.44,……,5.91}

[0252] According to the above rules, the ships are sorted in the order of berthing. The new ship sequence set Ships is obtained. new ={Xinglong 3, Shengli 888, Jiangshun 36, ..., Tailian 877}

[0253] Initialize the population according to the order of ships, generate 1000 chromosomes, and randomly generate the gene number of each chromosome. The chromosome set is:

[0254] chromosomes={chromosome 1, chromosome 2,..., chromosome 1000}

[0255] Calculate whether each chromosome exceeds the berth length according to the method described in claim 1. If it exceeds, postpone the ship's start time and correct the chromosome. Otherwise, the chromosome is normal. Calculate the fitness value of each chromosome. First calculate the end time of each ship:

[0256]

[0257]

[0258] The time calculation formula for k berth is:

[0259]

[0260] Then the fitness value of the pth chromosome is:

[0261] chromosomeTime2=50

[0262] Then we get the chromosome fitness value set:

[0263] chromosomeTimes = {44, 50,......, 48}

[0264] Select the chromosome with the optimal fitness value according to the fitness value, chromosome 155 . Start iteration, the number of iterations is 1000, and the current generation number is nowNum.

[0265] Select a sub-population according to the population size. Set the selection ratio to 20, then the size of the selected sub-population is:

[0266] num children = 5

[0267] Among these 5 chromosomes, select the two chromosomes with the lowest fitness values, {chromosome1, chromosome3}.

[0268] Perform crossover on the two chromosomes. Set the crossover probability to 0.9, and exchange the berth numbers for each gene position of the two chromosomes according to a probability of 90%, to obtain a new set of two chromosomes {chromosome 1-new , chromosome 3-new}.

[0269] Set the initial mutation probability to 0.05, perform mutation on each gene position with a probability of 5%, and randomly change the berth number. And as the number of iterations increases, the probability becomes smaller. The formula is:

[0270]

[0271] Repeat the steps of selecting the sub-population, crossover, and mutation 500 times to obtain a new generation of chromosome set:

[0272] chromosomes nowNum = {New chromosome 1, New chromosome 2,

[0273] …, New chromosome 1000};

[0274] Add New chromosome 328 to the new set.

[0275] When GenerateNum < nowNum, the algorithm ends, obtaining New chromosome 328, and the ship arrangement is completed.

[0276] The above content is only an example and explanation of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by this claim book, they should all fall within the protection scope of the present invention.

Claims

1. A method for automatic ship discharging at a dock based on DAMP genetic algorithm, characterized in that: The specific steps include: S1. Establish length restriction rules for docks, berths and ships to ensure that the total length of docked ships does not exceed the available length of the dock; S2. Establish hydrological restriction rules for docks, berths and ships, and calculate and determine the draft required for ships to berth; S3. Establish the corresponding rules between the cargo loaded by the ship and the berth, and establish the relationship between the loading and unloading efficiency of the berth and the cargo; S4. Establish rules to limit the berthing of ships based on the total number of available workers at the terminal, and calculate the berthing priority order of ships based on the type of cargo and waiting time. S5. Arrange ships through genetic algorithm and give the optimal loading and unloading plan.

2. The automatic ship discharging method at a dock based on the DAMP genetic algorithm according to claim 1 is characterized in that: The length restriction rules specifically include: S11. One wharf corresponds to one berth or n berths, and one berth can accommodate one ship; S12. When ships are berthing at different berths at the same time, the distance between adjacent ships is determined based on the type of the ships, and the two ships are kept at this distance in front and behind; S13, let the number of docks be Num wharf , the length of the pier is X wharf The maximum number of ships that can dock at the terminal is Num ship , then the relationship between the two is Where Num wharf >1, and is an integer; S14. Determine the minimum required length of the pier for all ships to dock based on the type of ship.

3. The automatic ship discharging method at a dock based on the DAMP genetic algorithm according to claim 1 is characterized in that: The hydrological restriction rules specifically include: S21, let the weight of the ship be G ship , cargo weight G cargo , according to the type and weight of cargo on board, determine the total weight of the hull and calculate the buoyancy of the hull through the following calculation formula: ρ 水 is the density of port water, g is the acceleration due to gravity, V 水 is the volume of water displaced by the hull, and n is the type of cargo on board; S22. Establish x, y, and z axes with the center point of the bottom of the ship. The surface of the ship can be abstracted as f1(x) and f2(x), and the bottom of the ship can be abstracted as g1(z) and g2(z) with the z axis as the horizontal coordinate and the x axis as the vertical coordinate. The draft of the ship is obtained as h through the following calculation formula. ship ; Among them, ∑A is the sum of the cross-sectional areas of the ship’s draft; The ship's draft volume is, S23, find h ship , Among them, if you want to dock at the berth, the water depth should be at least higher than Kh ship , K is a constant; S24. According to the required water depth calculated by each ship, the water depth set is obtained as follows:

4. The automatic ship discharging method at a dock based on the DAMP genetic algorithm according to claim 1 is characterized in that: The corresponding rules between cargo and berths specifically include: S31. Each berth can handle different types of cargo, and its efficiency is also different. The corresponding relationship set between berths and cargo types is: Its loading and unloading efficiency set is: The water depths of each berth are: S32. Each ship corresponds to multiple types of cargo, so each ship can only choose the corresponding berth to load and unload the corresponding cargo, so the set of berths that can be loaded and unloaded by each ship is: S33, according to berth ship Ships can berth and get water berth , the ship berths according to the type of cargo, the actual water depth of the berth, and the water ship Compare the required water depths of each ship in the , remove the berths that do not meet the conditions, and get a new set:

5. The method for automatic ship discharging at a dock based on the DAMP genetic algorithm according to claim 1, characterized in that: in, The berthing priority order of ships includes: S41. Setting the relationship between personnel and ship demand: Assume that the total number of people that can be deployed is Num All , each type of cargo loading and unloading requires at least the following number of people: S42, the number of ships to be dispatched is Num arrive , the minimum number of personnel required for ship loading and unloading is: S43, ship berthing priority calculation: Assume the number of ordinary ships to be queued is Num arrive , the arrival time of all scheduled ships is: Waiting time: Tonnage on board: S44. The ship dispatching priority is obtained by multiplying the square of the ship waiting time by the ship load. The higher the value, the higher the ship priority. The ship dispatching priority set is: S45, Ship selection and ship arrangement sequence determination: Each terminal selects the cargo type with the highest priority, selects the Order ship For ships with high values, add up the number of people required for loading and unloading at all docks to get Num require , and Num require With Num All Compare; in; If Num require =Num All , select Order in the category ship Ships with high values ​​enter the ship row sequence; If Num require >Num All If there are ships with the same cargo and low loading and unloading personnel, select all ships with the same cargo and low loading and unloading personnel and return to the previous step; if there are no ships with the same cargo and low loading and unloading personnel, select the terminal to reduce the cargo priority, return to the previous step, and end; If Num require <Num All , select the ship with the highest priority and go to the next step; the priority of each terminal cargo type is not the highest and: Num All -Num require When it is the smallest, go to the next step; Num All -Num require When it is not the minimum, if there are ships with the same cargo and a high number of people loading and unloading, select all ships with the same cargo and a low number of people loading and unloading, return to the previous step, and end; if there are no ships with the same cargo and a high number of people loading and unloading, select the terminal with a lower cargo priority, return to the previous step, and end; S46. Put the selected ship into the ship arrangement sequence set, and the algorithm ends.

6. The automatic dock ship arrangement method based on DAMP genetic algorithm according to claim 5 is characterized in that: The genetic algorithm ship arrangement method specifically includes: S51. According to the above conditions, select the set of ships that can dock: Ships={ship1,ship2,ship3,……,ship n }; S52. Obtain the efficiency set of different berth cargo types: According to the above rules, the ships are sorted in the berthing order to obtain a new ship sequence set Ships new : S53, population initialization: Initialize the population according to the order of ships, generate GenerateNum chromosomes, each chromosome gene number is randomly generated, and the chromosome set is: chromosomes={chromosome1,chromosome2,……,chromosome GenerateNum }; S54, chromosome correction and fitness calculation: calculate whether each chromosome exceeds the berth length. If it exceeds, postpone the ship's start time and correct the chromosome. Otherwise, the chromosome is normal. Then calculate the fitness value of each chromosome. First, calculate the end time of each ship: The time calculation formula for k berth is: Then the fitness value of the pth chromosome is: Then we get the chromosome fitness value set: chromosomeTimes= {chromosomeTime1,chromosomeTime2,……,chromosomeTime chromosomeNum } According to the fitness value, select the chromosome with the best fitness value, bestchromosome; S55, iterative operation: S551, iterate, the number of iterations is GenerateNum, the current generation is nowNum; select a sub-population according to the population size; set the selection ratio X, then the sub-population size is: In num children Among the chromosomes, select the two chromosomes with the lowest fitness value, {chromosome l ,chromosome k }; S552, crossover the two chromosomes, setting the crossover probability to C, where C<1; For each gene position of the two chromosomes, the berth number is exchanged according to the probability C, and a new set of two chromosomes {chromosome l-new ,chromosome k-new }; S553, setting the initial mutation probability mute, where mute<1; Each gene position is mutated according to the mute probability, and the berth number is randomly changed. And as the number of iterations increases, the probability becomes smaller, and the formula is: S554, repeat the above steps of selecting subpopulations, crossover, and mutation, times, and obtain a new generation of chromosome sets: chromosomes nowNum ={chromosome nowNum1 ,chromosome nowNum2 ,,chromosome nowNumGenerateNum }; Add bestchromosome to the new set; S555. When GenerateNum < nowNum, the algorithm ends and bestchromosome is obtained. finish , and the ship arrangement is completed.

Images