阅读说明：本技术 一种自动码头起重机的调度方法 (Dispatching method of automatic wharf crane ) 是由 陶跃钢 尹颖翾 王彩璐 周颖 于 2019-10-30 设计创作，主要内容包括：本发明公开一种自动码头起重机的调度方法,该方法以数学和系统理论为基础,建立自动码头起重机调度系统的数学模型,运用系统的全局鲁棒性技术,确定了集装箱在装货点和卸货点之间的运输时间的最大变化范围,以使吊具在不同位置之间的运行速度尽可能慢,而不影响吊具在任何方向上的出发时刻；同时减少集装箱在提升过程中货物的震动,以及制动器、车轮、减速器、主梁和电缆的冲击和磨损,提高运输的安全性和有效性。(The invention discloses a dispatching method of an automatic wharf crane, which is characterized in that a mathematical model of an automatic wharf crane dispatching system is established on the basis of mathematics and a system theory, and the maximum variation range of the transportation time of a container between a loading point and a discharging point is determined by using the global robustness technology of the system, so that the running speed of a lifting appliance between different positions is as slow as possible, and the starting time of the lifting appliance in any direction is not influenced; meanwhile, the vibration of goods in the lifting process of the container is reduced, and the impact and abrasion of a brake, wheels, a speed reducer, a main beam and a cable are reduced, so that the safety and effectiveness of transportation are improved.)

1. A scheduling method of an automatic wharf crane is characterized by comprising the following steps:

step 1: acquiring the transportation time of the container between a loading point and a unloading point of the automatic wharf crane;

step 2: establishing a mathematical model of the container transportation time, wherein the state matrix of the system is a maximum-plus matrix A of n multiplied by n, and n represents the number of container transportation directions;

and step 3: calculating an eigenvalue lambda of the maximum-plus matrix A and a corresponding eigenvector v, and taking the eigenvector as an initial condition;

and 4, step 4: searching all characteristic elements of the maximum-plus matrix A;

and 5: searching all variable elements; only one characteristic element is selected as an unchangeable element in each row of the maximum-plus matrix A, and all other elements of the maximum-plus matrix A are changeable elements of the system;

step 6: after calculating the maximum variation range of each variable element in the maximum-plus-matrix a, excluding the elements e and e, the transport time between the loading point and the unloading point is redesigned.

Technical Field

The invention belongs to the technical field of transportation scheduling, and particularly relates to a scheduling method of an automatic wharf crane.

Background

The automatic wharf crane dispatching system is a complex system with high-dimensional nonlinearity. The mathematical model is established for the automatic wharf crane dispatching system, and the complexity and the calculated amount of the system are necessarily reduced. Because the container weight of pier is great, when the transport speed was too fast, probably collided, caused the life and property incident to still can increase the scram number of times of reduction gear, increase the impact and the wearing and tearing of stopper, wheel, reduction gear, girder and cable, shorten the life of hoist. Extending the transit time of a container at different locations helps to solve the above problem, the key being to find the maximum variation range of the container transit time so that the speed of operation of the spreader between the different locations is as slow as possible without affecting the moment at which the spreader of the crane starts from the loading and unloading point each time.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides a scheduling method of an automatic wharf crane. The method can reduce the complexity and the calculated amount of the system, effectively reduce the collision of goods in the transportation process and the impact and abrasion of a brake, wheels, a speed reducer, a main beam and a cable, improve the transportation safety and effectiveness, and cannot influence the time when the crane lifting appliance starts from a loading point and an unloading point each time.

The technical scheme for solving the technical problems is as follows: designing a dispatching method of an automatic wharf crane, wherein the method comprises the following steps:

step 1: acquiring the transportation time of the container between a loading point and a unloading point of the automatic wharf crane;

step 2: establishing a mathematical model of the container transportation time, wherein the state matrix of the system is a maximum-plus matrix A of n multiplied by n, and n represents the number of container transportation directions;

and step 3: calculating an eigenvalue lambda of the maximum-plus matrix A and a corresponding eigenvector v, and taking the eigenvector as an initial condition;

and 4, step 4: searching all characteristic elements of the maximum-plus matrix A;

and 5: searching all variable elements; only one characteristic element is selected as an unchangeable element in each row of the maximum-plus matrix A, and all other elements of the maximum-plus matrix A are changeable elements of the system;

step 6: after calculating the maximum variation range of each variable element in the maximum-plus-matrix a, excluding the elements e and e, the transport time between the loading point and the unloading point is redesigned.

Compared with the prior art, the invention has the beneficial effects that: the complexity of the system is reduced, and the calculation amount is reduced. The computational complexity of the present invention is o (n)³) And the method has effectiveness, polynomial property and convergence. The time for transporting the container at the loading point and the unloading point is prolonged, and the running speed of a crane lifting appliance is reduced, so that the collision of goods in the transportation process is reduced, the impact and the abrasion of a brake, wheels, a speed reducer, a main beam and a cable of the crane are reduced, and the transportation safety and effectiveness are improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described. The following drawings are merely exemplary embodiments of the present invention and should not be construed as limiting the scope of the invention.

Fig. 1 is a schematic diagram of an operation circulation path of an automatic quay crane according to an embodiment, where fig. 1(a) is a schematic diagram of an operation circulation path of a real scene, and fig. 1(b) is a schematic diagram of an abstract operation circulation path.

Fig. 2 is a flowchart of an embodiment of a scheduling method of an automatic quay crane according to the present invention.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the embodiments and the accompanying drawings. The examples described are only part of the embodiments of the invention and are not to be understood as limiting the scope of protection of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of the present invention.

The invention provides a dispatching method of an automatic wharf crane, which comprises the following steps:

step 1: acquiring the transportation time of the container between a loading point and a unloading point of the automatic wharf crane;

step 2: establishing a mathematical model of the container transportation time, wherein the state matrix of the system is a maximum-plus matrix A of n multiplied by n, and n represents the number of container transportation directions;

and step 3: calculating an eigenvalue lambda of the maximum-plus matrix A and a corresponding eigenvector v, and taking the eigenvector as an initial condition;

and 4, step 4: searching all characteristic elements of the maximum-plus matrix A;

and 5: searching all variable elements; only one characteristic element is selected as an unchangeable element in each row of the maximum-plus matrix A, and all other elements of the maximum-plus matrix A are changeable elements of the system;

step 6: after calculating the maximum variation range of each variable element in the maximum-plus-matrix a, excluding the elements e and e, the transport time between the loading point and the unloading point is redesigned.

The basic mathematical knowledge involved in the above steps is as follows:

order to

Is a set of real numbers, for

Order to

Where max { a, - ∞ } -, a + (∞) - ∞. Algebraic structure

Called maximum-addition algebra, abbreviated as

In that

Wherein, - ∞iszero element and is represented by the symbol ε; 0 is a unit cell and is denoted by the symbol e. Will be provided with

The inverse operation of (c) is denoted as a.To representThe set of the above overall m × n matrices is generally referred to as a maximum-plus matrix set. Order toIs a set of natural numbers, and is,

is a set of positive integers,

in that

Add-on-above definition operation

Wherein A ═ a_ij)，

Multiplication operation

Wherein

And scalar operation

Wherein

In the case where no confusion is caused,

andthe unwritten is usually omitted.

The power form of the product of l identical matrices is

To better illustrate the process of the invention, the description is made using the example shown in FIG. 1:

one cyclic path of operation of the automated quay crane is shown in FIG. 1, where S₁Is a distant barge, S₂Is a more recent barge, S₃Is the location of the connection with the railway track, S₄Is a dock. Note that the far barges are connected to the near barges, but not to the railroad tracks or docks. There are four circuits connecting four loading points, i.e. S₁→S₂→S₁，S₂→S₃→S₂，S₃→S₄→S₃And S₂→S₄→S₂As shown in FIG. 1 (a); one trolley was run in each of the 8 directions in the direction shown in fig. 1 (b). Each crane has two pairs of parallel trolley tracks running two separate trolleys, so that two operations can be performed simultaneously, so that each circuit only needs to be equipped with at least one crane. In order to prevent the cargo from colliding during loading, unloading and transportation, the traveling vehicles must be limited by: i) at each position, the trolley can start only after waiting for the trolleys in other directions to arrive;

ii) the trolleys on the same loop cannot bypass each other;

iii) vehicles travelling on different loops cannot change course.

The modeling mode of the maximum-additive algebraic model in the step 2 is as follows: let x_i(k) Is the kth departure time, s, of the trolley spreader in the direction i_ijIs the slave position S of the trolley sling_iTo S_jThe dynamic scheduling process of container terminal cranes can use a very large-plus-linear system

x(k+1)＝Ax(k)

Wherein x (k) ═ x₁(k) x₂(k) … x₈(k))^TX (0) is an initial condition, anda_ijis the time required for the trolley to reach the start of the direction i in the direction j, i.e.

For example, a₆₅The trolley arrives at S in the direction 5₂The time required, i.e. a₆₅＝s₃₂。

The step 3 comprises the following steps:

step 301: calculating the maximum eigenvalue of the matrix A according to the following formula;

wherein

Step 302: computing

Step 303: computing

Step 304: note the book

And the ith column is

Order to

The matrix a belongs to the eigenvalues λ_maxIs a set of feature vectors of<V>；

Step 305: taking the feature vector as an initial condition;

the step 4 comprises the following steps:

step 401: order to

Wherein v is_iIs the i-th element of the feature vector as the initial condition in step 305.

Step 402: verify each a_ijWhether or not there is

If so, then a_ijIs the characteristic element of the matrix a.

The step 6 comprises the following steps:

step 601: after removing the elements of epsilon and e in the matrix A, calculating the maximum variation range of the variable element;

step 602: calculated from the variable elements found in step 5 and step 401

Obtaining the maximum variation range of each variable element as

Step 603: and according to the maximum variation range of each variable element, increasing the operation time of the lifting appliance corresponding to the variable element between the loading point and the unloading point according to the actual situation.

The principles and embodiments of the present invention are explained in detail using specific embodiments. The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core ideas; meanwhile, for those skilled in the art, the specific embodiments and the application range may be changed according to the idea of the present invention. In summary, this embodiment should not be construed as limiting the invention.

Nothing in this specification is said to apply to the prior art.