Scheduling method for section positions of storage yard

Abstract

The invention discloses a method for scheduling the section position of a storage yard, and the method comprises the steps: building a two-dimensional geodetic coordinate system, and obtaining the node coordinates of each grid in different sites; establishing a corresponding site coordinate system for each site; calculating a center coordinate of each grid in a geodetic coordinate system; after the subsection is transported to the position near the designated position, whether the sizes of all grids in the site where the subsection is located are consistent or not is judged, if yes, the distance between the center coordinate of the subsection and the center coordinates of the surrounding grids under the geodetic coordinate system is calculated, and the subsection is transported to the closest grid; if not, converting the coordinates of the subsection and the grid in the site coordinate system into coordinates in the geodetic coordinate system, then comparing the relation between the center coordinate of the subsection and the node coordinates of each grid under the geodetic coordinate system, and if the horizontal and vertical coordinates of the subsection are located between the maximum value and the minimum value of the horizontal and vertical coordinates of the four-point coordinates of a certain grid, judging that the subsection is not consistent with the grid. And transporting to the grid section by section. The field utilization rate and the production efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to a production scheduling method, and more particularly to a scheduling method for the sectional position of a yard. Background Art

[0002] In the production of a ship center, the scheduling of the sectional position in the yard depends on manual experience and has the following problems:

[0003] The position is tense, the sectional placement is disorderly, and there is a lack of reasonable layout and layout optimization. This results in a low reasonable utilization rate of the yard, and the space resources are not fully utilized. Frequent stacking operations not only take a lot of time and labor, but also increase the operating cost; it is difficult to count the sectional production process, and only a few personnel involved in transportation know its location and construction status; the traditional management modes such as manual identification, search, handover, and feedback are inefficient; the formulation of the scheduling plan overly relies on the experience of the scheduling personnel and lacks the support of scientific planning and optimization algorithms.

[0004] In summary, the existing scheduling methods cannot adapt to the complex and changeable production requirements, it is difficult to achieve efficient sectional scheduling, and it affects the production progress. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to provide a simple and effective scheduling method for the sectional position of a yard, to achieve the accurate positioning and reasonable placement of sections in the yard, improve the site utilization rate, and solve the problem of low production efficiency caused by the random placement of sections.

[0006] Technical Solution: A scheduling method for the sectional position of a yard according to the present invention includes:

[0007] (1) Establish a two-dimensional geodetic coordinate system, and obtain the node coordinates of each grid in different sites of the yard;

[0008] (2) For each site, establish a corresponding site coordinate system, and the two axes of the site coordinate system are parallel to the sides of the grid in the site;

[0009] (3) Calculate the central coordinate of each grid in the geodetic coordinate system;

[0010] (4) After the section is transported to the vicinity of the designated position, determine whether the sizes of the grids in the site where the section is located are the same. If they are the same, execute step (5); if they are not the same, execute step (6);

[0011] (5) Calculate the distance between the central coordinate of this section in the geodetic coordinate system and the central coordinates of the surrounding grids, and transport the section to the grid with the shortest distance;

[0012] (6) Convert the coordinates of the segments and the grids in the site coordinate system into the coordinates in the geodetic coordinate system, and then compare the relationship between the center coordinates of the segments and the coordinates of each grid node in the geodetic coordinate system. If the horizontal and vertical coordinates of the segment are both between the maximum and minimum values of the horizontal and vertical coordinates of the four points of a certain grid, the segment is transported to this grid.

[0013] Further, step (3) includes: connecting the two diagonals of the grid, the median of the abscissas of the two endpoints of the diagonal is the abscissa of the intersection of the diagonals, and the median of the ordinates of the two endpoints of the diagonal is the ordinate of the intersection of the diagonals, so as to obtain the center coordinates of the grid.

[0014] Further, a positioning terminal is provided at each of the four corners of the flatbed truck to collect the coordinates of the four corners of the flatbed truck for calculating the center position of the flatbed truck; a positioning terminal is provided at each of the two ends of a pair of diagonals of the segment to collect the coordinates of the two diagonals of the segment for calculating the center position of the segment; when the segment is transported, the center coordinates of the flatbed truck coincide with the center coordinates of the segment.

[0015] Further, taking a corner of the flatbed truck as the origin and its two sides as the x-axis and y-axis to construct a vehicle coordinate system. In this vehicle coordinate system, the four corners of the segment form four vectors with the origin, which are the four-corner coordinates of the segment in the vehicle coordinate system; through the transformation between coordinate systems, the coordinates of the four corners of the segment in the geodetic coordinate system are obtained;

[0016] During the process of the vehicle transporting the segment, the position of the vehicle coordinate system changes with the transportation of the vehicle, while the four vectors formed by the four corners of the segment and the origin of the vehicle coordinate system do not change. The real-time coordinates of the four corners of the segment are calculated based on the real-time updated origin coordinates of the vehicle coordinate system; based on this, the coordinates of the four corners of the segment when it lands can be calculated, and the attitude of the segment when it lands is recorded.

[0017] Further, the transformation between coordinate systems is decomposed into translation and rotation, and is represented by a homogeneous coordinate transformation matrix:

[0018] Suppose the flatbed truck is transported from site 1 to site 2, the rotation matrix of the coordinate system x2O2y2 of site 2 relative to the coordinate system x1O1y1 of site 1 is R(θ), and the translation vector of the coordinate system x2O2y2 of site 2 relative to the coordinate system x1O1y1 of site 1 is Then, after the coordinates (x1, y1) of the point on the segment in the geodetic coordinate system are transported to site 2, its coordinates (x1', y1') in the geodetic coordinate system are: (x1', y1') = (x1, y1)·R(θ) + T; when the segment is transported to subsequent sites, the coordinates of the segment in the geodetic coordinate system are calculated in the same way.

[0019] Further, step (5) includes: if the grid center coordinates are (x′, y′) and the segment center coordinates are (x, y), then the distance between the segment center and the grid center is After obtaining the distances between the segment and the grid centers in the vicinity, compare the grids with the smallest distances, and transport the segment to this grid.

[0020] Further, step (6) includes: after converting the coordinates of the four points of the grid into the coordinates in the geodetic coordinate system, they are expressed as (x1’, y1’), (x1’, y2’), (x2’, y1’), (x2’, y2’). These four point coordinates form a rectangle. The four sides of this rectangle are parallel to the two axes of the geodetic coordinate system. Among them, the segment center coordinates are (x, y). If x ∈ (x1’, x2’) and y ∈ (y1’, y2’), it means that this segment is located within this rectangle, and the segment is transported into this grid.

[0021] Further, two distance measuring sensors are installed at each of the four corners of the flatbed truck, including an upper distance measuring sensor and a lower distance measuring sensor;

[0022] When the vehicle carrying out the transportation task jacks up the segment, when the measured value of the lower distance measuring sensor reaches a certain threshold, it is judged that the vehicle has jacked up the segment; at this time, the segment is unbound from the current grid and bound to the vehicle. The upper distance measuring sensor measures the distance to the segment upward. After determining that the vehicle has jacked up the segment, the vehicle becomes a state of carrying the segment;

[0023] When the segment is lowered after being transported to the target grid, it is also measured by the lower distance measuring sensor. According to the threshold, it is judged that the segment has fallen. At this time, the segment is unbound from the vehicle and bound to the current grid, and the vehicle becomes an empty load state.

[0024] Further, after the segment is bound to the grid, the distance measuring sensors around the grid monitor the position change of the segment in real time.

[0025] Further, the sensors on the flatbed truck and the segment respond to the instructions from the server side and regularly send position information to the server side to achieve status update.

[0026] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages: Aiming at the problem that the current segments are placed chaotically in the site, the present invention fully considers the actual layout of the site and the grid division situation, quickly and accurately calculates which nearest grid each segment should be placed in, fully exploits the space potential of the site, and realizes the maximization of the site utilization rate. By reasonably planning the storage positions of the segments, the waste of space is avoided, the site resources are fully utilized, the time loss and resource waste in the transportation process are reduced, and the segment transportation efficiency is significantly improved. The present invention lays a foundation for the digital management of the outdoor segment yard. Brief Description of the Drawings

[0027] Figure 1 It is a flowchart of a scheduling method for the segmented positions in a yard provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of different grid yards in an embodiment of the present invention;

[0029] Figure 3 It is a side view and a top view of a flatbed truck in an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of coordinate conversion for each yard during the transportation process in an embodiment of the present invention. Detailed implementation manners

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] As Figure 1 shown, an embodiment of the present invention provides a scheduling method for the segmented positions in a yard, including the following steps:

[0033] (1) Establish a two-dimensional geodetic coordinate system and obtain the node coordinates of each grid in different yards of the yard;

[0034] The yard refers to all places in the shipyard where segments can be stored, including multiple yards, each yard having multiple grids, and each grid being used to store one segment. The grids are rectangular, the nodes are the four corners of the rectangle, and the grids are pre-divided.

[0035] Construct a GIS plane map and carry out grid management for the yards. This construction process is prior art.

[0036] The geodetic coordinate system is a coordinate system applicable to all grids in the yard, rather than just a coordinate system for some grids, facilitating the positioning of all segments in the yard and having an angular deviation from the coordinate system of some grids.

[0037] (2) As Figure 2 shown, for each yard, establish a corresponding yard coordinate system, with the two axes of the yard coordinate system parallel to the sides of the grids in the yard; the yard coordinate system is an independent coordinate system established for each yard to facilitate indicating the coordinates of the segments in each yard, and the coordinates of each grid in the corresponding yard coordinate system are inherent.

[0038] (3) Calculate the central coordinates of each grid in the geodetic coordinate system;

[0039] Connect the two diagonals of the grid. The median of the abscissas of the two endpoints of the diagonal is the abscissa of the intersection point of the diagonals, and the median of the ordinates of the two endpoints of the diagonal is the ordinate of the intersection point of the diagonals, thereby obtaining the grid central coordinates.

[0040] After being transported in sections to a location near the designated position, determine whether the grid sizes within the site where the section is located are the same. If they are the same, proceed to step (5); if not, proceed to step (6).

[0041] As shown in Figure 3, a positioning terminal is provided at each of the four corners of the flatbed truck to collect the four-corner coordinates of the flatbed truck for calculating the center position of the flatbed truck; a positioning terminal is provided at each end of a pair of diagonals of the section to collect the two-diagonal coordinates of the section for calculating the center position of the section; during the transportation of the section, the center coordinates of the flatbed truck coincide with the center coordinates of the section.

[0042] In addition, two ranging sensors are installed at each of the four corners of the flatbed truck, including an upper ranging sensor and a lower ranging sensor; when the vehicle lifting the section during the transportation task, when the measured value of the lower ranging sensor reaches a certain threshold, it is determined that the vehicle has lifted the section; at this time, the section is unbound from the current grid and bound to the vehicle, and the upper ranging sensor measures the distance to the section upward. After determining that the vehicle has lifted the section, the vehicle becomes a state of carrying the section; when the section is lowered after being transported to the target grid, it is also measured by the lower ranging sensor, and it is determined that the section has fallen according to the threshold. At this time, the section is unbound from the vehicle and bound to the current grid, and the vehicle becomes an empty state.

[0043] The transportation process of the section between each site is as Figure 4 shown. The starting position of the section is in Site 1. The coordinates of the four points of the section in the geodetic coordinate system x’Oy’ collected by using the positioning terminals on the section are A(x1,y1), B(x2,y2), C(x3,y3), D(x4,y4) respectively; the coordinate system x1O1y1 takes a corner of the vehicle as the origin and its two sides as the x-axis and y-axis to form the vehicle coordinate system 1; in this vehicle coordinate system 1, the four corners of the section form four vectors with the origin, which are the four-corner coordinates of the section in the vehicle coordinate system x1O1y1. Through the transformation between coordinate systems, the coordinates of the four corners of the section in the geodetic coordinate system can be further obtained.

[0044] During the process of the vehicle transporting the section, the position of the vehicle coordinate system will change with the transportation of the vehicle, while the four vectors formed by the four corners of the section and the origin of the vehicle coordinate system will not change. Therefore, only based on the origin coordinates of the vehicle coordinate system updated in real time can the real-time coordinates of the four corners of the section be deduced; when the section is transported to Site 2, based on the origin position of the vehicle coordinate system in the same way, the coordinates of the four corners of the section are deduced. Therefore, the coordinates of the four corners when the section lands can be calculated, and the attitude when the section lands is recorded.

[0045] The transformation between coordinate systems can be decomposed into translation and rotation. Therefore, it is necessary to consider the relative position difference (translation vector) and rotation angle between the two. The homogeneous coordinate transformation matrix can be used to represent the relationship between the two coordinate systems. Assuming that the rotation angle of the coordinate system x2O2y2 of Site 2 relative to the coordinate system x1O1y1 of Site 1 is θ, then the rotation matrix The translation vector of the coordinate system x2O2y2 of Site 2 relative to the coordinate system x1O1y1 of Site 1 is Then the coordinates (x1', y1') of point A2 in the geodetic coordinate system after transporting the coordinates (x1, y1) of point A on the segment in the geodetic coordinate system xOy to Site 2 can be calculated by the following formula: (x1', y1') = (x1, y1)·R(θ) + T. The coordinates of B2, C2, and D2 can be calculated in the same way. Similarly, when the segment is transported to subsequent sites, the coordinates of the segment in the geodetic coordinate system can be calculated in the same way.

[0046] After the segment is transported to near the specified position, it is necessary to determine which grid the segment is located in. At this time, there are two cases, that is, whether the grid sizes of the sites where the segment currently belongs are the same. For example Figure 2 the grid sizes of the sites where the segments shown in Site 1 are located are the same, while Figure 2 the grid sizes of the sites where the segments shown in Site 2 are located are different.

[0047] (5) Calculate the distance between the center coordinates of this segment in the geodetic coordinate system and the center coordinates of the surrounding grids, and transport the segment to the grid with the closest distance.

[0048] The specific calculation process is as follows: Assuming that the node coordinates of the two grids closest to the segment are (x1, y1), (x2, y2), (x4, y4), (x5, y5) and (x2, y2), (x3, y3), (x5, y5), (x6, y6) respectively, the diagonal coordinates, that is, the grid center coordinates, are and Then the center coordinates of the segment are measured as P(x, y). From this, the distance between the segment and the center of Grid 1 can be calculated as The distance from the center of Grid 2 is If d1 < d2, the segment is transported into Grid 1, the coordinates of the segment coincide with the center coordinates of the envelope rectangle of the grid, and after the segment is placed, it is unbound from the flatbed truck and associated and bound with Grid 1. If d2 < d1, the segment is transported into Grid 2, the coordinates of the segment coincide with the center coordinates of the envelope rectangle of the grid, and after the segment is placed, it is unbound from the flatbed truck and associated and bound with Grid 2.

[0049] (6) Convert the coordinates of the segmented section and the grid in the site coordinate system into the coordinates in the geodetic coordinate system, and then compare the relationship between the center coordinates of the segmented section and the coordinates of each grid node in the geodetic coordinate system. If the horizontal and vertical coordinates of the segmented section are both between the maximum and minimum values of the horizontal and vertical coordinates of the four points of a certain grid, the segmented section is transported to this grid.

[0050] The specific calculation process is as follows: Assume that the coordinates of the nodes of the two grids closest to the segmented section in the site coordinate system are (x1, y1), (x2, y2), (x4, y4), (x5, y5) and (x2, y2), (x3, y3), (x5, y5), (x6, y6) respectively. According to the above coordinate transformation formula (x1', y1') = (x1, y1)·R(θ) + T, the coordinates of the grid nodes in the geodetic coordinate system can be transformed into (x1', y1'), (x2', y2'), (x4', y4'), (x5', y5') and (x2', y2'), (x3', y3'), (x5', y5'), (x6', y6') respectively; the center coordinates (x, y) of the segmented section are transformed into the coordinates (x', y') in the geodetic coordinate system.

[0051] After the transformation, the four sides of the new rectangle formed by the four nodes of each grid are parallel to the two axes of the geodetic coordinate system (the grid itself is parallel to the site coordinate system, and the coordinate transformation is equivalent to unifying the site coordinate system and the geodetic coordinate system. Therefore, after the conversion, the rectangle formed by the transformed grid is parallel to the geodetic coordinate system), that is, x1' = x4', x2' = x5', x3' = x6', y1' = y2' = y3', y4' = y5' = y6'. Therefore, it is only necessary to judge whether (x', y') belongs to the rectangle formed by (x1', y1'), (x2', y2'), (x4', y4'), (x5', y5') or (x2', y2'), (x3', y3'), (x5', y5'), (x6', y6'); if x' ∈ (x1', x2'), y' ∈ (y1', y4'), it means that this segmented section is located within the rectangle formed by the four nodes of Grid 1. The segmented section is transported into this Grid 1. The center coordinates of the segmented section coincide with the center coordinates of the grid. After the segmented section is placed, it is unbound from the flatbed truck and associated with Grid 1; if x' ∈ (x2', x3'), y' ∈ (y1', y4'), it means that this segmented section is located within the rectangle formed by the four nodes of Grid 2. The segmented section is transported into this Grid 2. The center coordinates of the segmented section coincide with the center coordinates of the grid. After the segmented section is placed, it is unbound from the flatbed truck and associated with Grid 2.

[0052] After the segmented section is bound to the grid, the distance measuring sensors around the grid continuously monitor the position change of the segmented section. The sensors on the flatbed truck and the segmented section respond to the instructions from the server side and regularly send the position information to the server side to achieve status update.

Claims

1. A scheduling method for the segmented position of a yard, characterized in that Including: (1) Establish a two-dimensional geodetic coordinate system and obtain the node coordinates of each grid in different sites of the yard; (2) For each site, establish a corresponding site coordinate system, and the two axes of the site coordinate system are parallel to the sides of the grid in the site; (3) Calculate the central coordinate of each grid in the geodetic coordinate system; (4) After transporting in sections to the vicinity of the designated position, judge whether the sizes of the grids in the site where the section is located are consistent. If they are consistent, execute step (5); if not, execute step (6); (5) Calculate the distances between the central coordinate of this section in the geodetic coordinate system and the central coordinates of the surrounding grids, and transport the section to the grid with the shortest distance; (6) Convert the coordinates of the section and the grid in the site coordinate system into the coordinates in the geodetic coordinate system, and then compare the relationship between the central coordinate of the section and the node coordinates of each grid in the geodetic coordinate system. If the horizontal and vertical coordinates of the section are both between the maximum and minimum values of the horizontal and vertical coordinates of the four points of a certain grid, transport the section to this grid.

2. The scheduling method for the yard segmented position according to claim 1, wherein Step (3) includes: Connect the two diagonals of the grid. The median of the abscissas of the two endpoints of the diagonal is the abscissa of the intersection point of the diagonals, and the median of the ordinates of the two endpoints of the diagonal is the ordinate of the intersection point of the diagonals, so as to obtain the central coordinate of the grid.

3. The scheduling method for the yard segment position according to claim 1, characterized in that A positioning terminal is arranged at each of the four corners of the flatbed truck to collect the coordinates of the four corners of the flatbed truck for calculating the central position of the flatbed truck; a positioning terminal is arranged at each of the two ends of a pair of diagonals of the section to collect the coordinates of the two diagonals of the section for calculating the central position of the section; during the section transportation, the central coordinate of the flatbed truck coincides with the central coordinate of the section.

4. The scheduling method for the yard segmented position according to claim 3, characterized in that Taking one corner of the flatbed truck as the origin and its two sides as the x-axis and y-axis, construct a vehicle coordinate system. In this vehicle coordinate system, the four corners of the section form four vectors with the origin, which are the four-corner coordinates of the section in the vehicle coordinate system; through the transformation between coordinate systems, obtain the coordinates of the four corners of the section in the geodetic coordinate system; During the process of the vehicle transporting the section, the position of the vehicle coordinate system changes with the transportation of the vehicle, while the four vectors formed by the four corners of the section and the origin of the vehicle coordinate system do not change. Calculate the real-time coordinates of the four corners of the section according to the real-time updated origin coordinates of the vehicle coordinate system; based on this, the coordinates of the four corners when the section lands can be calculated, and the attitude when the section lands is recorded.

5. The scheduling method for the yard segmented position according to claim 4, characterized in that, The transformation between coordinate systems is decomposed into translation and rotation, and is represented by a homogeneous coordinate transformation matrix: Suppose the flatbed truck is transported from Site 1 to Site 2. The rotation matrix of the coordinate system x2O2y2 of Site 2 relative to the coordinate system x1O1y1 of Site 1 is R(θ), and the translation vector of the coordinate system x2O2y2 of Site 2 relative to the coordinate system x1O1y1 of Site 1 is Then, after the coordinates (x1, y1) of the points on the segment in the geodetic coordinate system are transported to Site 2, their coordinates (x1', y1') in the geodetic coordinate system are: (x1', y1') = (x1, y1) · R(θ) + T; when the segment is transported to subsequent sites, the coordinates of the segment in the geodetic coordinate system are calculated in the same way.

6. The scheduling method for the yard segment position according to claim 5, wherein Step (5) includes: If the grid center coordinates are (x′, y′) and the segment center coordinates are (x, y), then the distance between the segment center and the grid center is After obtaining the distances between the segment and the centers of each nearby grid, compare to find the grid with the minimum distance, and transport the segment to this grid.

7. The scheduling method for the yard segment position according to claim 5, characterized in that Step (6) includes: After converting the coordinates of the four points of the grid in the site coordinate system into the coordinates in the geodetic coordinate system, they are expressed as (x1’, y1’), (x1’, y2’), (x2’, y1’), (x2’, y2’). These four-point coordinates form a rectangle, and the four sides of this rectangle are parallel to the two axes of the geodetic coordinate system. Among them, the central coordinate of the section is (x, y). If x ∈ (x1’, x2’) and y ∈ (y1’, y2’), it means that this section is located within this rectangle, and the section is transported into this grid.

8. The scheduling method for the yard segment position according to claim 6 or 7, characterized in that, Two ranging sensors are installed at each of the four corners of the flatbed truck, including an upper ranging sensor and a lower ranging sensor; When the vehicle performing the transportation task jacks up the section, when the measured value of the lower ranging sensor reaches a certain threshold, it is determined that the vehicle has jacked up the section; at this time, the section is unbound from the current grid and bound to the vehicle, and the upper ranging sensor measures the distance to the section upward. After determining that the vehicle has jacked up the section, the vehicle becomes the state of carrying the section. When lowering the section after transporting the section to the target grid, it is also measured by the lower ranging sensor. According to the threshold, it is judged that the section has fallen. At this time, the section is unbound from the vehicle and bound to the current grid, and the vehicle becomes the unloaded state.

9. The scheduling method for the yard segment position according to claim 8, characterized in that After the section is bound to the grid, the ranging sensors around the grid monitor the position change of the section in real time.

10. The scheduling method for the yard segment position according to claim 9, characterized in that, The sensors on the flatbed truck and the section respond to the instructions from the server side and regularly send the position information to the server side to achieve status update.

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