A yard sub-section position scheduling method

Abstract

The application discloses a kind of yard subsection position scheduling method, comprising: establishing two-dimensional geodetic coordinate system, obtains the node coordinate of each grid in different site;For each site, establish the corresponding site coordinate system;Calculate the center coordinate of each grid under geodetic coordinate system;After subsection transport to the vicinity of specified position, judge whether the size of each grid in the site where subsection is located is consistent, if consistent, calculate the distance between the center coordinate of this subsection under geodetic coordinate system and the center coordinate of surrounding grid, and transport to the nearest grid;If not consistent, then the coordinate of subsection and grid in site coordinate system is converted into the coordinate in geodetic coordinate system, then compare the relationship between the center coordinate of subsection under geodetic coordinate system and each grid node coordinate, if the horizontal and vertical coordinates of subsection are located between the maximum value and minimum value of the horizontal and vertical coordinates of the four-point coordinates of a certain grid, then transport to this grid.The application can improve site utilization and production efficiency.

Description

Technical Field

[0001] This invention relates to production scheduling methods, specifically to a scheduling method for the segmented locations of a stockyard. Background Technology

[0002] In shipbuilding operations, the scheduling of yard sections relies on manual experience, which presents the following problems:

[0003] Limited space, disorderly segmented placement, and lack of reasonable layout and optimization result in low utilization of the storage yard and underutilization of space resources. Frequent repacking operations are not only labor-intensive and time-consuming but also increase operating costs. The progress of segmented production is difficult to track, and only a few personnel involved in transportation know its location and construction status. Traditional management models such as manual identification, locating, handover, and feedback are inefficient. The formulation of scheduling plans relies excessively on the experience of scheduling personnel and lacks scientific planning and optimization algorithms.

[0004] In summary, existing scheduling methods cannot adapt to complex and ever-changing production demands, making it difficult to achieve efficient segmented scheduling and affecting production progress. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a simple and effective method for scheduling the location of stockpile segments, so as to achieve accurate positioning and reasonable placement of segments in the stockpile, improve site utilization, and solve the problem of low production efficiency caused by random placement of segments.

[0006] Technical solution: The present invention provides a method for scheduling the location of sections in a stockyard, comprising:

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

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

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

[0010] (4) After the segments are transported to the vicinity of the designated location, determine whether the size of each grid in the site where the segment is located is consistent. If they are consistent, proceed to step (5); if they are inconsistent, proceed to step (6).

[0011] (5) Calculate the distance between the center coordinates of this segment and the center coordinates of the surrounding grids in the geodetic coordinate system, and transport the segments to the nearest grid.

[0012] (6) Convert the coordinates of the segments and grids in the site coordinate system to coordinates in the geodetic coordinate system. 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 segments are both located between the maximum and minimum values ​​of the horizontal and vertical coordinates of the four points of a certain grid, then the segments are transported to this grid.

[0013] Further, step (3) includes: connecting the two diagonals of the grid, the median of the x-coordinates of the two endpoints of the diagonals is the x-coordinate of the intersection of the diagonals, and the median of the y-coordinates of the two endpoints of the diagonals is the y-coordinate of the intersection of the diagonals, thereby obtaining the grid center coordinates.

[0014] Furthermore, a positioning terminal is set at each of the four corners of the flatbed to collect the coordinates of the four corners of the flatbed in order to calculate the center position of the flatbed; a positioning terminal is set at each end of a pair of diagonals of the segment to collect the coordinates of the two diagonals of the segment in order to calculate the center position of the segment; during segmented transportation, the center coordinates of the flatbed coincide with the center coordinates of the segment.

[0015] Furthermore, a vehicle coordinate system is constructed with one corner of the flatbed truck as the origin and its two sides as the x-axis and y-axis. In this vehicle coordinate system, the four corners of the segment and the origin form four vectors, which are the coordinates of the four corners 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 segmentation process of vehicle transportation, the vehicle coordinate system changes position as the vehicle is transported, but the four vectors formed by the four corners of the segment and the origin of the vehicle coordinate system remain unchanged. The real-time coordinates of the four corners of the segment are calculated based on the real-time updated coordinates of the origin of the vehicle coordinate system. Based on this, the coordinates of the four corners when the segment is ground can be calculated, and the posture at the time of segment ground can be recorded.

[0017] Furthermore, the transformation between coordinate systems is decomposed into translation and rotation, which can be represented by homogeneous coordinate transformation matrices:

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

[0019] Further, step (5) includes: the grid center coordinates are (x′, y′), the segment center coordinates are (x, y), then the distance between the segment center and the grid center is... After obtaining the distance between the segment and the center of each nearby grid, the grid with the smallest distance is selected, and the segment is transported to this grid.

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

[0021] Furthermore, two distance sensors are installed at each of the four corners of the flatbed truck, including an upward distance sensor and a downward distance sensor;

[0022] When a vehicle lifts a segment during a transport mission, if the measurement value of the lower distance sensor reaches a certain threshold, it is determined that the vehicle has lifted the segment. At this time, the segment is unbound from the current grid and bound to the vehicle. The upper distance sensor measures the distance to the segment upwards. After confirming that the vehicle has lifted the segment, the vehicle becomes a vehicle carrying the segment.

[0023] When the segment is dropped after being transported to the target grid, it is also measured by the lower distance sensor. Based on the threshold, it is determined that the segment has dropped. At this time, the segment is unbound from the vehicle and bound to the current grid, and the vehicle becomes empty.

[0024] Furthermore, after the segments are bound to the grid, the ranging sensors around the grid monitor the changes in the position of the segments in real time.

[0025] Furthermore, the sensors on the flatbed truck and its segments respond to commands from the server and periodically send location information to the server to update the status.

[0026] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: Addressing the problem of haphazardly arranged segments within a site, this invention fully considers the actual layout and grid division of the site, quickly and accurately calculating which nearest grid each segment should be placed in, fully utilizing the site's spatial potential and maximizing site utilization. By rationally planning the storage location of segments, space waste is avoided, site resources are fully utilized, time loss and resource waste during transportation are reduced, and segment transportation efficiency is significantly improved. This invention lays the foundation for the digital management of outdoor segment storage yards. Attached Figure Description

[0027] Figure 1 This is a flowchart of a method for scheduling the location of a stockyard segment provided in an embodiment of the present invention;

[0028] Figure 2 These are schematic diagrams of different grid sites in embodiments of the present invention;

[0029] Figure 3 These are the side view and top view of the flatbed truck in the embodiments of the present invention;

[0030] Figure 4 This is a schematic diagram of coordinate transformation of various sites during the transportation process in an embodiment of the present invention. Detailed Implementation

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

[0032] like Figure 1 As shown, this embodiment of the invention provides a method for scheduling the location of stockpile segments, including the following steps:

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

[0034] A storage yard refers to all areas in a shipyard that can store sections, including multiple areas, each with multiple grids, and each grid is used to store one section. The grids are rectangular, and the nodes are the four corners of the rectangles. The grids are pre-defined.

[0035] The process of constructing a GIS planar map and implementing site grid management is an existing technology.

[0036] The geodetic coordinate system is applicable to the entire grid of the storage yard, rather than just a coordinate system for a portion of the grid. This facilitates the positioning of all sections of the storage yard, although there is an angular deviation compared to the coordinate system of a portion of the grid.

[0037] (2) Figure 2 As shown, a corresponding site coordinate system is established for each site. The two axes of the site coordinate system are parallel to the edges of the grid in the site. The site coordinate system is an independent coordinate system established between each site to facilitate the indication of the coordinates of the segments in each site. The coordinates of each grid in the corresponding site coordinate system are inherent.

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

[0039] Connect the two diagonals of the grid. The median of the x-coordinates of the two endpoints of the diagonal is the x-coordinate of the intersection of the diagonals. The median of the y-coordinates of the two endpoints of the diagonal is the y-coordinate of the intersection of the diagonals. This gives us the coordinates of the grid center.

[0040] (4) After the segments are transported to the vicinity of the designated location, determine whether the size of each grid in the site where the segment is located is consistent. If they are consistent, proceed to step (5); if they are inconsistent, proceed to step (6).

[0041] As shown in Figure 3, a positioning terminal is set at each of the four corners of the flatbed truck to collect the coordinates of the four corners of the flatbed truck in order to calculate the center position of the flatbed truck; a positioning terminal is set at each end of a pair of diagonals of the segment to collect the coordinates of the two diagonals of the segment in order to calculate the center position of the segment; during segmented transportation, the center coordinates of the flatbed truck coincide with the center coordinates of the segment.

[0042] In addition, two distance sensors are installed at each of the four corners of the flatbed truck, including an upward distance sensor and a downward distance sensor. When the vehicle lifts a segment during a transport task, the measurement value of the downward distance sensor reaches a certain threshold, indicating that the vehicle has lifted the segment. At this time, the segment is unbound from the current grid and bound to the vehicle. The upward distance sensor measures the distance to the segment, confirming that the vehicle has lifted the segment, and the vehicle then becomes a segment-carrying state. When the segment is lowered after being transported to the target grid, the downward distance sensor measures the distance, and based on the threshold, it is determined 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 state.

[0043] The transportation process between different sites in segments is as follows: Figure 4 As shown. The starting position of the segment is at site 1. The coordinates of the four points of the segment in the geodetic coordinate system x'Oy' are collected using the positioning terminal on the segment, which are A(x1,y1), B(x2,y2), C(x3,y3), and D(x4,y4). The coordinate system x1O1y1 is formed by taking one corner of the vehicle as the origin and taking its two sides as the x-axis and y-axis. In this vehicle coordinate system 1, the four corners of the segment and the origin form four vectors, which are the coordinates of the four corners of the segment in the vehicle coordinate system x1O1y1. Through the transformation between coordinate systems, the coordinates of the four corners of the segment in the geodetic coordinate system can be further obtained.

[0044] During the segmentation process of vehicle transportation, the vehicle coordinate system changes position as the vehicle is transported. However, the four vectors formed by the four corners of the segment and the origin of the vehicle coordinate system remain unchanged. Therefore, the real-time coordinates of the four corners of the segment can be calculated based on the real-time updated coordinates of the origin of the vehicle coordinate system. When the segment is transported to site 2, the coordinates of the four corners of the segment are calculated based on the position of the origin of the vehicle coordinate system. Thus, the coordinates of the four corners when the segment is landed can be calculated, and the posture when the segment is landed can be recorded.

[0045] The transformation between coordinate systems can be decomposed into translation and rotation. Therefore, it is necessary to consider the relative positional difference (translation vector) and rotation angle between the two systems. The relationship between the two coordinate systems can be represented by a homogeneous coordinate transformation matrix. Assuming that the rotation angle of the site 2 coordinate system x2O2y2 relative to the site 1 coordinate system x1O1y1 is θ, then the rotation matrix... The translation vector of coordinate system x2O2y2 in site 2 relative to coordinate system x1O1y1 in site 1 is: The coordinates (x1, y1) of point A in the segment under the geodetic coordinate system xOy can be calculated using the following formula. After the segment is transported to site 2, the coordinates of A2 in the geodetic coordinate system are calculated as follows: (x1', y1') = (x1, y1)·R(θ) + T. The coordinates of B2, C2, and D2 can be calculated using the same method. Similarly, after the segment is transported to the subsequent site, the coordinates of the segment in the geodetic coordinate system can be calculated in the same way.

[0046] After the segments are transported to the vicinity of the designated location, it is necessary to determine which grid the segment's location belongs to. There are two possibilities at this point: whether the grid size of the site currently occupied by the segment is consistent with other areas, for example... Figure 2 The grid size of the sections shown in Field 1 is consistent across the entire field, while Figure 2 The grid sizes of the sections shown in section 2 of the central field are inconsistent.

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

[0048] The specific calculation process is as follows: Assume 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. Their diagonal coordinates, i.e., the coordinates of the grid center, are... and Then, the coordinates of the segment center are measured as P(x,y), from which the distance between the segment and the center of the grid can be calculated. The distance from the center of grid 2 is If d1 < d2, the segments are transported to grid 1, with the segment coordinates coinciding with the center coordinates of the grid's envelope rectangle. After placement, the segments are unbound from the flatbed truck and reconnected to grid 1. If d2 < d1, the segments are transported to grid 2, with the segment coordinates coinciding with the center coordinates of the grid's envelope rectangle. After placement, the segments are unbound from the flatbed truck and reconnected to grid 2.

[0049] (6) Convert the coordinates of the segments and grids in the site coordinate system to coordinates in the geodetic coordinate system. 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 segments are both located between the maximum and minimum values ​​of the horizontal and vertical coordinates of the four points of a certain grid, then the segments are transported to this grid.

[0050] The specific calculation process is as follows: Assume that the coordinates of the two grid nodes closest to the segment in the site coordinate system are (x1,y1),(x2,y2),(x4,y4),(x5,y5) and (x2,y2),(x3,y3),(x5,y5),(x6,y6), respectively. Using the 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'); the segment center coordinates (x,y) are transformed into coordinates (x',y') in the geodetic coordinate system.

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

[0052] After the segments are bound to the grid, ranging sensors around the grid monitor the position changes of the segments in real time. The sensors on the flatbed truck and the segments respond to the instructions from the server and periodically send position information to the server to update the status.

Claims

1. A method for scheduling the location of sections in a storage yard, characterized in that, include: (1) Establish a two-dimensional geodetic coordinate system and obtain the node coordinates of each grid in different sites of the storage yard; (2) For each site, establish a corresponding site coordinate system, with the two axes of the site coordinate system parallel to the edges of the grid in the site; (3) Calculate the center coordinates of each grid in the geodetic coordinate system; (4) After the segments are transported to the vicinity of the designated location, determine whether the size of each grid in the site where the segment is located is consistent. If they are consistent, proceed to step (5); if they are inconsistent, proceed to step (6). (5) Calculate the distance between the center coordinates of this segment and the center coordinates of the surrounding grids in the geodetic coordinate system, and transport the segments to the nearest grid. (6) Convert the coordinates of the segments and grids in the site coordinate system to coordinates in the geodetic coordinate system. 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 segments are both located between the maximum and minimum values ​​of the horizontal and vertical coordinates of the four points of a certain grid, then the segments are transported to this grid.

2. The scheduling method for the segmented locations of the stockyard according to claim 1, characterized in that, Step (3) includes: connecting the two diagonals of the grid, the median of the x-coordinates of the two ends of the diagonal is the x-coordinate of the intersection of the diagonals, and the median of the y-coordinates of the two ends of the diagonal is the y-coordinate of the intersection of the diagonals, thereby obtaining the grid center coordinates.

3. The scheduling method for the segmented locations of the stockyard according to claim 1, characterized in that, A positioning terminal is set at each of the four corners of the flatbed truck to collect the coordinates of the four corners of the flatbed truck in order to calculate the center position of the flatbed truck; a positioning terminal is set at each end of a pair of diagonals of the segment to collect the coordinates of the two diagonals of the segment in order to calculate the center position of the segment; during segmented transportation, the center coordinates of the flatbed truck coincide with the center coordinates of the segment.

4. The scheduling method for the segmented locations of the stockyard according to claim 3, characterized in that, Using one corner of the flatbed truck as the origin and its two sides as the x-axis and y-axis, a vehicle coordinate system is constructed. In this vehicle coordinate system, the four corners of the segment and the origin form four vectors, which are the coordinates of the four corners 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. During the segmentation process of vehicle transportation, the vehicle coordinate system changes position as the vehicle is transported, but the four vectors formed by the four corners of the segment and the origin of the vehicle coordinate system remain unchanged. The real-time coordinates of the four corners of the segment are calculated based on the real-time updated coordinates of the origin of the vehicle coordinate system. Based on this, the coordinates of the four corners when the segment is ground can be calculated, and the posture at the time of segment ground can be recorded.

5. The scheduling method for the segmented locations of the stockyard according to claim 4, characterized in that, The transformation between coordinate systems can be decomposed into translation and rotation, and represented by a homogeneous coordinate transformation matrix: Assume the flatbed truck transports goods from site 1 to site 2. The rotation matrix of the site 2 coordinate system x2O2y2 relative to the site 1 coordinate system x1O1y1 is R(θ), and the translation vector of the site 2 coordinate system x2O2y2 relative to the site 1 coordinate system x1O1y1 is... The coordinates (x1, y1) of the point on the segment in the geodetic coordinate system are transported to site 2, and their coordinates (x1', y1') in the geodetic coordinate system are: (x1', y1') = (x1, y1)·R(θ) + T; when the segment is transported to the subsequent site, the coordinates of the segment in the geodetic coordinate system are calculated in the same way.

6. The scheduling method for the segmented locations of the stockyard according to claim 5, characterized in that, Step (5) includes: the grid center coordinates are (x′, y′), the segment center coordinates are (x, y), then the distance between the segment center and the grid center is... After obtaining the distance between the segment and the center of each nearby grid, the grid with the smallest distance is selected, and the segment is transported to this grid.

7. The method for scheduling the location of stockpile segments according to claim 5, characterized in that, Step (6) includes: After the coordinates of the four grid points in the site coordinate system are converted into coordinates in the geodetic coordinate system, they are represented as (x1',y1'), (x1',y2'), (x2',y1'), (x2',y2'). The coordinates of these four points form a rectangle. The four sides of this rectangle are parallel to the two axes of the geodetic coordinate system. The center coordinates of the segment are (x,y). If x∈(x1',x2') and y∈(y1',y2'), it means that the segment is located within this rectangle and the segment is transported to this grid.

8. The method for scheduling the location of stockpile segments according to claim 6 or 7, characterized in that, Two distance sensors are installed at each of the four corners of the flatbed truck, including an upward distance sensor and a downward distance sensor; When a vehicle lifts a segment during a transport mission, if the measurement value of the lower distance sensor reaches a certain threshold, it is determined that the vehicle has lifted the segment. At this time, the segment is unbound from the current grid and bound to the vehicle. The upper distance sensor measures the distance to the segment upwards. After confirming that the vehicle has lifted the segment, the vehicle becomes a vehicle carrying the segment. When the segment is dropped after being transported to the target grid, it is also measured by the lower distance sensor. Based on the threshold, it is determined that the segment has dropped. At this time, the segment is unbound from the vehicle and bound to the current grid, and the vehicle becomes empty.

9. The method for scheduling the location of stockpile segments according to claim 8, characterized in that, After the segments are bound to the grid, the distance measuring sensors around the grid monitor the changes in the position of the segments in real time.

10. The method for scheduling the location of stockpile segments according to claim 9, characterized in that, The sensors on the flatbed truck and its segments respond to commands from the server and periodically send location information to the server to update the status.

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