Oil and gas module construction material lean distribution path parameter optimization method

Abstract

The invention discloses an oil and gas module construction material lean distribution path parameter optimization method, which comprises the following steps of: establishing a two-dimensional model diagram of a factory, and constructing a classification database of oil and gas module construction materials in one-to-one correspondence with the materials in the two-dimensional model diagram of the factory; according to the method, after materials of corresponding models in a warehouse are found, preliminary planning paths of transport vehicles are carried out, a Bezier curve is adopted to carry out anti-collision optimization on all the preliminary planning paths, transport paths where the transport vehicles do not collide and the distance of the transport paths are obtained, optimization of the transport cost in the oil and gas module distribution process is carried out, and the transport cost of the oil and gas module distribution process is optimized. And selecting the transportation path with the minimum transportation cost P as the transportation path output of the transportation vehicle. By the adoption of the method, the distribution efficiency of the large module construction materials can be improved, meanwhile, the possibility of collision accidents is reduced, and the labor cost is saved.

Description

Technical Field

[0001] The present invention relates to a route optimization method for a material distribution vehicle in the construction of an offshore engineering oil and gas module, and particularly to a lean distribution path parameter optimization method for the construction materials of an oil and gas module. Background Art

[0002] In the process of constructing an oil and gas module, various construction materials are required. The construction materials often need to be cut, welded and other processes in the production workshop, and then transported to the construction site by transport vehicles. When using transport vehicles for transportation, multiple transport vehicles are often used for combined transportation. If the transportation route is not planned in advance, it is easy to cause transportation route conflicts.

[0003] However, in the existing route planning methods, it is necessary for staff to arrive at the site, resulting in low efficiency of the detection method and inaccurate detection results, and there is a possibility of collision in the actual application scenario. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the existing technologies, and provide a parameter optimization method for reducing collisions and transportation costs. This method can effectively reduce the collision probability of transport vehicles, and reduce the number of manual detections, and reduce the cost of the transportation route.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A lean distribution path parameter optimization method for the construction materials of an oil and gas module of the present invention includes the following steps:

[0007] Step 1: Establish a two-dimensional model diagram of the factory area in a two-dimensional software. The two-dimensional model diagram of the factory area includes the layout diagrams of each workshop, the warehouse in the factory area, and the distribution diagram of obstacles. Establish a site coordinate system XOY in the two-dimensional model diagram. Each workshop is the end point of the transportation route, and the warehouse in the factory area is the starting point of the transportation route;

[0008] Step 2: Establish a classification database of the construction materials of the oil and gas module that corresponds one by one to each component used in the oil and gas module to be constructed;

[0009] Step 3: According to the requirements of each workshop, query the classification database of the construction materials of the oil and gas module in Step 2. After finding the corresponding type of material in the warehouse, perform a preliminary route planning for the transport vehicle;

[0010] Step 4: Use Bezier curves to optimize the anti-collision of all the preliminary route plans to obtain the transportation route where the transport vehicle does not collide and the distance of the transportation route;

[0011] Step 5. Optimize the transportation cost of the oil and gas module during the distribution process according to the distance of the transportation route where the transport vehicle does not collide output in Step 4;

[0012] Step 6. Select the transportation route with the least transportation cost as the transportation route of the transport vehicle for output;

[0013] Step 7. The staff load the materials onto the designated transport vehicle according to the route with the least transportation cost obtained in Step 6, and the transport vehicle transports the materials to the designated site.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] By establishing a distribution route planning and anti-collision model for large module building materials, the present invention optimizes the traditional distribution route planning problem using Bezier curves, and optimizes the routes with multiple distribution nodes for large modules and when distribution vehicles work simultaneously, improves the distribution efficiency of large module building materials, reduces the possibility of collision accidents, and saves labor costs. Description of the Drawings

[0016] Figure 1 It is a flowchart of a lean distribution path parameter optimization method for oil and gas module building materials of the present invention;

[0017] Figure 2 It is a schematic diagram of the distribution of the factory transport route of the present invention;

[0018] Figure 3 It is a schematic diagram of drawing path auxiliary points of the present invention. Detailed Embodiment

[0019] The following is a detailed description of the present invention with reference to the drawings:

[0020] As shown in the figure, a lean distribution path parameter optimization method for oil and gas module building materials of the present invention includes the following steps:

[0021] Step 1. Establish a two-dimensional model diagram of the factory area in two-dimensional software. The two-dimensional model diagram of the factory area includes the layout diagrams of each workshop, warehouse 1 in the factory area, and the distribution diagram of obstacles 2. Establish a site coordinate system XOY in the two-dimensional model diagram. Each workshop is the end point of the transportation route, and the warehouse in the factory area is the starting point of the transportation route; As an implementation manner of the present invention, the origin of the site coordinate system XOY is at the upper left corner of the factory area model;

[0022] Step 2. Establish a classification database of oil and gas module building materials corresponding one by one to the building materials used for each component in the oil and gas module to be built;

[0023] Step 3: According to the requirements of each workshop, query the oil and gas module construction material classification database in Step 2. After finding the materials of the corresponding models in the warehouse, conduct a preliminary path planning for the transport vehicles. The specific steps are as follows:

[0024] First step: Set each key point that the transport vehicle passes from the starting point A to the ending point B in the plant area model diagram, and obtain the coordinate values of each key point. For example, A(x a , y a ), M 1 (x 1 , y 1 ), M 2 (x 2 , y 2 )…M n (x n , y n ), B(x b , y b );

[0025] Second step: Use a quadratic curve to fit each key point from the transport starting point to the ending point to form a preliminary planned path L 1 , L 2 , L 3 …L n .

[0026] Step 4: Use a Bézier curve to optimize the anti-collision of all preliminary path plans to obtain the transport path where the transport vehicle does not collide and the distance of the transport path. The specific steps are as follows:

[0027] Step 401: Select one of the preliminary planned paths L n , and regard the path between two adjacent key points as a line segment. For example, between A and M 1 , M 1 to M 2 . Then divide the line segment between the two key points, set the division distance, for example, it can be 1m, extract the line segment division points between the two key points, and make a spline curve function based on the line segment division points within the same line segment. The section spline curve function is established in the same coordinate system XOY.

[0028] Step 402: Construct the normal direction of the spline curve function of the same line segment, and set the correction directions opposite to each other as the first correction direction δ 1 , the second correction direction δ 2 . The first correction direction δ 1 and the second correction direction δ 2 are collinear with the normal direction of the transport vehicle's driving forward direction;

[0029] Step 403: Set the spline curve function of each road segment to be offset along the first correction direction δ 1 , the second correction direction δ 2 by an offset step ε. Accumulate the offsets along the road segment function in the first correction direction δ 1 and the second correction direction δ 2 respectively. Prefetch the unit offset step, which can be 1 m for example. Stop the offset adjustment when the spline curve function of the road segment collides with an obstacle. Record the cumulative number of offsets n 1 along the first correction direction δ 1 , and the cumulative number of offsets n 2 along the second correction direction δ 2 , and calculate the first offset Δ 1 corresponding to the first correction direction δ 1 and the second offset Δ 2 corresponding to the second correction direction δ 2 ;

[0030] Δ 1 = n 1 × ε

[0031] Δ 2 = n 2 × ε

[0032] Step 404: Compare the magnitudes of the second offset Δ 2 and the first offset Δ 1 of each road segment function. If they are equal, stop the optimization of the spline curve function of this road segment. If not, set the optimal optimization direction to the correction direction with the smaller offset until the offset of the fitted path spline curve reaches the minimum value, and at this time, the transport vehicle does not collide with obstacles on each line segment, obtaining the corrected path of each road segment that composes the planned path;

[0033] Step 405: Integrally fit the corrected adjacent line segments using Bezier curves to form a smooth curve, obtaining the optimized path of the transport vehicle;

[0034] Step 406: Repeat Steps 401 to 405 to complete the optimization of all the preliminary planned paths in Step 3;

[0035] Step 407: After the optimization is completed, output the transport path where the transport vehicle does not collide, obtaining the distances C 1 , C 2 , C 3 …C s .

[0036] Step 5. Optimize the transportation cost of the oil and gas module distribution process based on the distance of the transportation route where the transport vehicle did not collide output in Step 4. The specific process of optimizing the transportation cost is as follows:

[0037] Step 501. On the premise of ensuring accuracy and timeliness, based on the non-collision transportation route output in Step 4, with the vehicle driving distance as the optimization goal, establish a mathematical model for the material distribution transportation route on each anti-collision route, and select n non-collision transportation routes with relatively better distances during vehicle driving. The specific calculation formula is as follows:

[0038]

[0039] In the formula, minC n : the transportation distance of the transport vehicle; k: vehicle number (k = 1, 2,... n); d ij : represents the distance between the i-th workshop for distribution and the j-th workshop for distribution; if x ijk = 1, it means that vehicle k transports the building materials to i and then to j; x ijk = 0, it means that vehicle k only performs one transportation and distribution service, from the warehouse to the only designated workshop.

[0040] Step 502. Optimize the mathematical model of the material distribution transportation cost on the selected non-collision route with relatively better distance. The formula is:

[0041] P = ω 1 C n ρ + ω 2 R·δ

[0042] In the formula, P is the transportation cost, C n is the non-collision transportation distance of the transport vehicle, ρ is the transportation cost per kilometer, R is the total number of workers, δ is the unit price of labor cost, ω 1 , ω 2 are weight coefficients, set in the computer, and the sum of the two is 1.

[0043] Step 503. Adjust the weight coefficients ω 1 , ω 2 to obtain the transportation cost P under different conditions.

[0044] Step 6. Select the transportation route with the least transportation cost P as the transportation route output of the transport vehicle;

[0045] Step 7. The staff load the materials onto the designated transport vehicle according to the transportation route with the least transportation cost obtained in Step 6, and the transport vehicle transports the materials to the designated site.

Claims

1. A method for optimizing lean distribution path parameters of oil and gas module construction materials, characterized in that The following steps are involved: Step 1: Create a two-dimensional model of the factory in a two-dimensional software. The two-dimensional model of the factory includes the layout of each workshop and warehouse in the factory and the distribution of obstacles. Establish a site coordinate system XOY in the two-dimensional model. Each workshop is the end point of the transportation path, and the warehouse in the factory is the starting point of the transportation path. Step 2: Establishing a classification database of oil and gas module construction materials corresponding one-to-one to the construction materials used for each component in the oil and gas module to be constructed; Step 3: According to the needs of each workshop, query the oil and gas module construction material classification database in step 2, find the corresponding type of materials in the warehouse, and then make preliminary route planning for the transport vehicle; Step 4: Use Bezier curves to perform anti-collision optimization on all preliminary path planning to obtain a transportation path where the transport vehicle does not collide and the distance of the transportation path; Step 5: Optimize the transportation cost of the oil and gas module distribution process according to the distance of the transportation path without collision of the transportation vehicle output in step 4; Step 6: Select the transport route with the lowest transport cost as the transport route output of the transport vehicle; Step 7: The staff loads the materials onto the designated transport vehicle according to the route with the least transportation cost obtained in Step 6, and the transport vehicle transports the materials to the designated site.

2. The method for optimizing lean distribution path parameters of oil and gas module construction materials according to claim 1 is characterized in that : The specific steps of step 4 are as follows: Step 401, select a preliminary planned path, take the path between two adjacent key points as a line segment, then segment the line segment between the two key points, extract the line segment segmentation points between the two key points, and make a spline curve function based on the line segment segmentation points in the same line segment, and the road segment spline curve function is established in the same coordinate system XOY; Step 402: construct the normal direction of the spline curve function of the same line segment, set the correction directions opposite to each other as the first correction direction and the second correction direction, respectively, and the first correction direction and the second correction direction are collinear with the normal direction of the forward direction of the transport vehicle; Step 403, setting the offset step ε of the spline curve function of each road section along the first correction direction δ1 and the second correction direction δ2, accumulating offsets along the road section function toward the first correction direction δ1 and the second correction direction δ2, pre-taking the unit offset step, stopping the offset adjustment when the spline curve function of the road section collides with an obstacle, recording the accumulated number of offsets n1 along the first correction direction δ1 and the accumulated number of offsets n2 along the second correction direction δ2, and calculating a first offset Δ1 corresponding to the first correction direction δ1 and a second offset Δ2 corresponding to the second correction direction δ2; Δ1=n1×ε Δ2=n2×ε Step 404: compare the second offset Δ2 of each road segment function with the first offset Δ1. If they are equal, stop optimizing the spline curve function of the road segment. If they are not equal, set the best optimization direction as the correction direction with the smaller offset until the fitted path spline curve reaches the minimum offset and the transport vehicle does not collide with obstacles on each line segment, thereby obtaining the corrected path of each road segment constituting the planned path. Step 405: Use the Bezier curve to fit all corrected adjacent line segments as a whole into a smooth curve to obtain an optimized path for the transport vehicle; Step 406, repeating steps 401 to 405 to complete the optimization of all the preliminary planned paths in step 3; Step 407: After the optimization is completed, the transport path where the transport vehicle does not collide is output, and the distance of the transport path where the transport vehicle does not collide is obtained.

3. The method for optimizing lean distribution path parameters of oil and gas module construction materials according to claim 1 or 2, characterized in that The specific process of step five is as follows: Step 501: Based on the non-collision transport paths outputted in step 4, with the vehicle driving distance as the optimization target, a mathematical model of the material distribution transport paths on each anti-collision path is established, and n non-collision transport paths with better distances during vehicle driving are selected. The specific calculation formula is as follows: Where minC n : transport distance of transport vehicle; k: vehicle number, k = 1, 2, ... n; d ij : represents the distance between the i-th delivery workshop and the j-th delivery workshop; if x ijk =1, indicating that vehicle k transports construction materials to i and then to j; x ijk =0, indicating that vehicle k only performs one transportation and delivery service, from the warehouse to the only designated workshop; Step 502: Optimize the mathematical model of the material distribution and transportation cost on the selected path with better distance and no collision, the formula is: P=ω1C n p+ω2R·δ In the formula, P is the transportation cost, C n is the transportation distance without collision of the transport vehicle, ρ is the transportation cost per kilometer, R is the total number of labor, δ is the unit price of labor cost, ω1 and ω2 are weight coefficients set in the computer, and the sum of the two is 1; Step 503: Adjust weight coefficients ω1 and ω2 to obtain transportation costs under different conditions.

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