Material Handling Route Planning And Simulation For Large Ships

The material transfer of large ships is an important content affecting the operation of ships.Efficient can improve the daily work efficiency of ships and reduce the management and operation cost of large ships.Material transfer capacity is one of the important problems to be solved in the process of large ship design,construction and operation.This paper focuses on the transfer simulation of materials loaded on ship terminals.For the typical material transfer task process of a certain type of ship.Combined with the different environments in the ship and in the wharf area.This paper takes the kinematic model of transfer equipment as the constraint.The curve planning algorithm,the improved fast search random tree(RRT)algorithm and the combination of the two algorithms are used to study the material transfer path planning of a certain type of ship.Then build the transfer simulation platform to simulate the material transfer of a certain type of ship.According to the characteristics of spacious wharf transfer environment and few obstacles.The curve planning method is used to study the path planning of material transfer.Firstly,dubins curve can accurately describe the movement route of forklift.The curve can ensure the shortest distance.Then,according to the defect that the route can not simulate the reverse situation,the Reeds-Shepp curve is used for path planning.The obtained route can describe the reverse situation of forklift.This ensures the authenticity of the simulation.According to the transfer characteristics of narrow space in the ship.Then,combined with the analysis of the advantages and disadvantages of various path planning,the fast search random tree(RRT)algorithm is selected to study path planning.Because of its randomness.The sampling mode,nearest point selection mode,speed selection mode and path point expansion mode of the algorithm are improved respectively.The kinematics model of forklift is combined in the planning process.The improved algorithm is used for path simulation to ensure the efficient search ability of the path and improve the quality of the planned path.This paper analyzes the task flow of material transfer according to the typical material transfer conditions of a certain ship.This paper aims at the driving situation of forklift and the impact of other transfer facilities on the process.The curve programming algorithm is combined with the improved RRT algorithm.When the goods arrive,this ensures that the position and posture of the forklift are consistent with the goods.The simulation of forklift picking up is studied and realized.It completes the path planning of the whole transfer route.Finally,the comprehensive transportation simulation is carried out on the built transportation simulation platform.The platform visualizes the transfer situation.According to the transfer simulation results,one can judge the transfer efficiency in the ship.