Operation method and device for dry bulk cargo shipping wharf and electronic equipment

Abstract

The invention discloses an operation method and device for a dry bulk cargo shipping wharf and electronic equipment, and relates to the technical field of port logistics, and the method comprises the steps: carrying out the unit grid processing of a bulk cargo storage yard, and updating the storage yard state of each storage yard basic unit in real time through laser point cloud scanning, according to the state of the storage yard and the working state of each unloading device, executing a wharf unloading operation process on the storage yard basic unit; according to the state of the storage yard and the idle state of each ship loader, a material taking operation process is executed on the stacked goods of the storage yard basic unit; and dynamically adjusting stockpiling and material taking operation states of the storage yard basic units by adopting a pre-constructed simulation model framework of the dry bulk cargo shipping wharf, and adjusting wharf berth distribution and storage yard cargo stockpiling and taking strategies. The technical problems that the real-time state of the storage yard cannot be reflected in real time and the scheduling response speed is reduced due to the fact that a dry bulk cargo shipping wharf operation management system only depends on static resource management in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of port logistics technology or other related fields, and more specifically, to an operating method and apparatus, and electronic equipment for a dry bulk cargo loading terminal. Background Technology

[0002] As a crucial hub for cargo transshipment, the efficient and orderly operation of dry bulk cargo loading terminals is essential for the smooth functioning of the logistics supply chain. With the growth of global trade volume, the demand for port throughput capacity continues to increase, making the optimization of port operation processes and the improvement of loading efficiency key to port management. The operation process of dry bulk cargo loading terminals involves the scheduling of a large number of mobile devices and the effective utilization of static resources, such as unloading equipment, stacker-reclaimers, ship loaders, and storage yards. These factors directly affect the terminal's operational efficiency and costs.

[0003] However, existing dry bulk shipping port logistics management systems have many shortcomings, particularly in real-time optimization of operational processes and dynamic resource allocation. Most common dry bulk shipping terminal simulation modeling technologies rely on mature simulation software, combined with 3D modeling software to virtually reproduce equipment and the environment. While these technologies have improved port operation planning and forecasting capabilities to some extent, significant drawbacks remain: existing models cannot reflect the actual status of the yard, equipment, and cargo in real time, resulting in often delayed information for scheduling decisions, reducing the accuracy and response speed of decisions. Furthermore, due to the complexity of the yard and the uncertainty of equipment operations, existing technologies struggle to achieve optimal resource allocation in a short period, especially in changing operational environments. Dynamically adjusting equipment operation plans and yard utilization strategies remains a major challenge.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides an operation method, apparatus, and electronic equipment for a dry bulk cargo loading terminal, which at least solves the technical problem in the related art that the dry bulk cargo loading terminal operation management system cannot reflect the real-time status of the yard and has a reduced scheduling response speed because it only relies on static resource management.

[0006] According to one aspect of the present invention, an operational method for a dry bulk cargo loading terminal is provided, applied to a water-rail intermodal terminal system, comprising: performing unit grid processing on the bulk cargo yard, and updating the yard status of each basic unit of the yard in real time by laser point cloud scanning, wherein the unit grid processing refers to dividing the basic unit of the yard into a grid matrix, the yard status includes the position information and height information of the stacked goods in multiple unit grids in the basic unit of the yard, and each basic unit of the yard corresponds to a unit identifier; executing a terminal unloading operation process on the basic unit of the yard according to the yard status and the working status of each unloading equipment; executing a material retrieval operation process on the stacked goods in the basic unit of the yard according to the yard status and the idle status of each ship loader; and dynamically adjusting the storage and retrieval operation status of the basic unit of the yard using a pre-constructed simulation model framework of the dry bulk cargo loading terminal, and adjusting the terminal berth allocation and yard cargo stacking and retrieval strategy.

[0007] Optionally, based on the yard status and the working status of each unloading device, the steps of executing the dock unloading operation process for the basic unit of the yard include: when a train is detected to be arriving, assigning an idle tippler to the train and determining all yards accessible by the tippler's processes; selecting a row of yards corresponding to the target sequence number and determining whether the operating equipment in that row of yards is idle; if the operating equipment is idle, traversing all accessible basic units of the yard and calculating the storage capacity in all accessible basic units of the yard; determining whether the storage capacity meets the storage requirements; if the storage requirements are met, executing the dock unloading operation, arranging the basic units of the yard in reverse order of their storage capacity, and unloading the train cargo according to the first arrangement order; if the storage requirements are not met, calculating the remaining storage requirements, selecting accessible basic units of the yard in the next row of yards according to the remaining storage requirements, and executing the dock unloading operation.

[0008] Optionally, the steps of performing a material handling operation on the stacked cargo of the basic unit of the yard according to the yard status and the idle status of each ship loader include: selecting an idle ship loader for the ship when the ship is detected to have arrived; determining all yards accessible to the ship loader and traversing the stockpile volume of each row of yards in units of rows; determining the target row of yards with the largest stockpile volume of the type of cargo to be handled when the operating equipment is idle; determining whether the stockpile volume of all basic units of the target row of yards meets the remaining loading requirements of the ship loader; and if the stockpile volume meets the remaining loading requirements, arranging the basic units of the yards in reverse order of stockpile volume and picking up materials for loading according to the second arrangement order.

[0009] Optionally, when a vessel arrives, the process further includes: determining the type of cargo requiring loading and the corresponding workload; traversing all berths and identifying all corresponding ship loaders for each berth; traversing all reachable processes for all ship loaders and calculating the stockpile volume of the cargo requiring loading; determining whether the stockpile volume of each cargo type meets the loading requirements; if the stockpile volume meets the loading requirements, selecting the current berth and ending the berthing process; if the stockpile volume does not meet the loading requirements, entering a multi-berth operation mode, traversing all combinations of two berths; traversing all reachable processes for all ship loaders at both berths and calculating the stockpile volume of the cargo requiring loading; determining whether the stockpile volume meets the loading requirements; if the stockpile volume meets the loading requirements, selecting the current two berths and ending the berthing process.

[0010] Optionally, after determining whether the total stockpile quantity of each basic unit in the target stockpile yard meets the remaining loading requirements of the ship loader, the method further includes: if the stockpile quantity does not meet the remaining loading requirements, traversing the stockpile quantity of each remaining stockpile yard; arranging the stockpile quantity of each remaining stockpile yard in ascending order; selecting the next stockpile yard according to the third arrangement order, and determining whether the total stockpile quantity of each basic unit in the next stockpile yard meets the remaining loading requirements of the ship loader; if the stockpile quantity meets the remaining loading requirements, arranging the target stockpile yard and each basic unit in the next stockpile yard in descending order of stockpile quantity, and loading materials onto the ship according to the fourth arrangement order.

[0011] Optionally, the method further includes: when stacking materials into the basic unit of the stockpile, stacking them in order from the outermost grid nodes to the innermost; when the height of a grid node in a unit grid reaches the average height of the three adjacent innermost grid nodes, confirming that the height of the grid node in the unit grid meets the requirements, and replacing it with the grid node of the next unit grid for stacking; when retrieving materials from the basic unit of the stockpile, retrieving materials in order from the innermost grid nodes to the outermost; when the height of a grid node in a unit grid reaches the average height of the three adjacent outermost grid nodes, confirming that the height of the grid node in the unit grid meets the requirements, and replacing it with the grid node of the next unit grid for retrieving materials.

[0012] Optionally, a pre-built simulation model framework for a dry bulk cargo loading terminal is adopted, including: a vehicle generation subsystem, comprising: vehicle objects, bulk cargo objects, unloading plan objects, vehicle generation objects, and unloading plan generation objects. The vehicle generation objects generate train / truck objects according to a predetermined schedule and assign corresponding variables to the train / truck objects. The unloading plan generation objects formulate unloading plans based on yard status information and storage strategy rules, or based on historical train / truck loading data, specifying the type of cargo, owner information, unloading stacking position, and corresponding loading quantity for the train / truck. The unloading subsystem includes: an unloading equipment allocation object, an unloading scheduling object, and an unloading process execution object. The unloading equipment allocation object, after the train / truck arrives at the port, ensures the accessibility of the unloading stacking position and unloading equipment. The system allocates idle unloading equipment for trains / trucks. When a train / truck begins unloading operations, the unloading scheduling object selects the currently available process based on the unloading equipment and the stacking position specified in the unloading plan, and issues a process start command. The yard process subsystem includes: unloading equipment object, unloading conveyor object, yard loading and unloading equipment object, yard basic unit object, ship loading conveyor object, ship loader object, and yard management object. The yard management object is used to manage the stacking positions in the yard and to perform stacking or retrieving operations at the dry bulk cargo terminal. The ship loading subsystem includes: berth allocation object, ship loader allocation object, ship loading scheduling object, and ship loading process execution object. The ship generation subsystem includes: ship object, cargo / ticket object, ship loading plan object, ship generation object, and ship loading plan generation object.

[0013] According to another aspect of the present invention, an operating device for a dry bulk cargo loading terminal is also provided, applied to a water-rail intermodal terminal system, comprising: a gridding processing unit for performing unit gridding processing on the bulk cargo yard and updating the yard status of each basic unit of the yard in real time through laser point cloud scanning, wherein the unit gridding processing refers to dividing the basic unit of the yard into a grid matrix, and the yard status includes the position information and height information of the stacked goods in multiple unit grids in the basic unit of the yard, and each basic unit of the yard corresponds to a unit identifier; an unloading operation execution unit for executing the terminal unloading operation process on the basic unit of the yard according to the yard status and the working status of each unloading equipment; a material handling operation execution unit for executing the material handling operation process on the stacked goods of the basic unit of the yard according to the yard status and the idle status of each ship loader; and an operation status adjustment unit for dynamically adjusting the storage and material handling operation status of the basic unit of the yard using a pre-constructed simulation model framework of the dry bulk cargo loading terminal, and adjusting the terminal berth allocation and yard cargo stacking and handling strategy.

[0014] Optionally, the unloading operation execution unit includes: a first determining module, used to assign an idle tippler to the train when the train is detected to arrive, and determine all accessible yards for the tippler's processes; a first judging module, used to select a row of yards corresponding to the target sequence number, and judge whether the operating equipment in that row of yards is idle; a first traversal module, used to traverse all accessible basic yard units in the yard when the operating equipment is idle, and count the stackable capacity in all accessible basic yard units; a second judging module, used to judge whether the stackable capacity meets the stacking requirements; a first dock unloading operation execution module, used to execute dock unloading operations when the stacking requirements are met, arranging the basic yard units in reverse order of their stackable capacity, and unloading the train cargo according to the first arrangement order; and a second dock unloading operation execution module, used to calculate the remaining stacking requirements when the stacking requirements are not met, and select accessible basic yard units in the next row of yards according to the remaining stacking requirements, and execute dock unloading operations.

[0015] Optionally, the material handling execution unit includes: a ship loader selection module, used to select an idle ship loader for the ship upon detection of its arrival; a second determination module, used to determine all process-accessible stockpiles of the ship loader and traverse the stockpile volume of each stockpile row by row; a third determination module, used to determine the target stockpile row with the largest stockpile volume of the cargo to be handled and the idle operating equipment; a third judgment module, used to determine whether the stockpile volume of all basic units in each stockpile row in the target stockpile row meets the remaining loading requirements of the ship loader; and a material handling and loading module, used to arrange the basic units of each stockpile row in reverse order of stockpile volume and handle and load materials according to a second arrangement order, provided that the stockpile volume meets the remaining loading requirements.

[0016] Optionally, the operating equipment for a dry bulk cargo loading terminal further includes: a fourth determination module, used to determine the type of cargo requiring loading and the corresponding workload upon detecting the arrival of a vessel; a fifth determination module, used to traverse all berths and determine all corresponding ship loaders for each berth; a second traversal module, used to traverse all reachable processes of all ship loaders and calculate the stockpile volume of the cargo requiring loading; a fourth judgment module, used to determine whether the stockpile volume of each cargo meets the loading requirements; and a first berth selection module, used to select a berth where the stockpile volume meets the loading requirements. In the first case, the current berth is selected, and the berthing process ends. The third traversal module is used to enter the multi-berth operation mode when the cargo storage volume does not meet the loading requirements, traversing all combinations of two berths. The fourth traversal module is used to traverse all reachable processes of all ship loaders at the two berths and count the storage volume of the cargo to be operated. The fifth judgment module is used to determine whether the storage volume of the cargo to be operated meets the loading requirements. The second berth selection module is used to select the current two berths when the storage volume of the cargo to be operated meets the loading requirements, and the berthing process ends.

[0017] Optionally, the operating device for a dry bulk cargo loading terminal further includes: a fifth traversal module, used to traverse the remaining stockpiles of each row of stockpiles after determining whether the stockpiles of all basic units in each stockpile in the target stockpile meet the remaining loading requirements of the ship loader; a forward sequence arrangement module, used to arrange the stockpiles of the remaining stockpiles in forward order; a next stockpile selection module, used to select the next stockpile according to the third arrangement order, and determine whether the stockpiles of all basic units in each stockpile in the next stockpile meet the remaining loading requirements of the ship loader; and a reverse sequence arrangement module, used to arrange the target stockpile and the basic units in each stockpile in the next stockpile in reverse order of stockpiles, and to load materials onto the ship according to the fourth arrangement order, provided that the stockpiles meet the remaining loading requirements.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform any of the above-described methods for operating a dry bulk cargo loading terminal.

[0019] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the above-described method of operation for a dry bulk cargo loading terminal.

[0020] According to another aspect of the present invention, a computer program product is also provided, comprising a computer program that, when executed by a processor, implements the steps of the operation method for a dry bulk cargo loading terminal as described in any of the preceding embodiments.

[0021] In this disclosure, the bulk cargo yard is processed into a unit grid, and the yard status of each basic unit is updated in real time by laser point cloud scanning. The unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the position and height information of the stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard has a corresponding unit identifier. According to the yard status and the working status of each unloading equipment, the terminal unloading operation process is executed on the basic unit of the yard. According to the yard status and the idle status of each ship loader, the stacked goods in the basic unit of the yard are processed into a material handling operation process. The storage and material handling operation status of the basic unit of the yard is dynamically adjusted using a pre-constructed simulation model framework of the dry bulk cargo loading terminal, and the terminal berth allocation and yard cargo stacking and handling strategy are adjusted.

[0022] Based on the aforementioned disclosures, the status of each basic unit in the storage yard can be updated in real time through laser point cloud scanning. Unloading and retrieving operations can then be performed based on this real-time updated status. Furthermore, a pre-built simulation model framework for dry bulk cargo loading terminals allows for dynamic adjustment of the storage and retrieving status of basic units in the storage yard, as well as adjustments to berth allocation and cargo stacking / retrieval strategies. This significantly improves the response speed of the dry bulk cargo loading terminal operation management system, enabling rapid adjustments to operational plans to address unforeseen circumstances, reducing waiting time and operational delays, and ensuring smooth port logistics operations. This solves the technical problem in related technologies where dry bulk cargo loading terminal operation management systems rely solely on static resource management, resulting in an inability to reflect the real-time status of the storage yard and a reduced scheduling response speed. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a flowchart of an optional operation method for a dry bulk cargo loading terminal according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of an optional dock unloading operation process according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of an optional material handling and loading operation according to an embodiment of the present invention;

[0027] Figure 4 This is a flowchart of an optional ship mooring algorithm according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of an optional coal loading terminal modeling framework according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram illustrating an optional method for calculating the quantity of stacked goods according to an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of an optional operating device for a dry bulk cargo loading terminal according to an embodiment of the present invention.

[0031] Figure 8 This is a hardware structure block diagram of an electronic device (or mobile device) for performing an operation method for a dry bulk cargo loading terminal according to an embodiment of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] It should be noted that in this disclosure, customer information is collected and analyzed, and users are provided with corresponding operation entry points to choose whether to agree to or reject the automated decision results; if the user chooses to reject, the process will proceed to the expert decision-making process.

[0035] The following embodiments of the present invention can be applied to various systems / applications / equipment used in dry bulk cargo loading terminals. The present invention is applicable to port logistics scenarios, particularly for optimizing operational processes and resource management at dry bulk cargo loading terminals. For example, in scenarios involving the efficient storage and loading of bulk dry cargo such as coal, ore, and grain, the present invention, through detailed simulation of the operational process, can help managers formulate more reasonable yard planning and equipment scheduling strategies. In terminal environments involving multiple loading and unloading equipment (such as stacker-reclaimers, ship loaders, belt conveyors, etc.), the present invention, through real-time data updates and intelligent algorithms, achieves efficient collaboration and dynamic scheduling between equipment, reducing operational conflicts and waiting times.

[0036] This invention can update the model based on the real-time status of the yard, significantly improving the timeliness and accuracy of simulation results and making work plans closer to actual needs. Through algorithm optimization, this invention can effectively reduce equipment idle time and ineffective cargo handling, achieving a dual improvement in equipment utilization and yard space utilization.

[0037] The present invention will now be described in detail with reference to various embodiments.

[0038] Example 1

[0039] According to an embodiment of the present invention, an embodiment of an operation method for a dry bulk cargo loading terminal is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0040] According to one aspect of the present invention, an operational method for a dry bulk cargo loading terminal is provided, applicable to a water-rail intermodal terminal system.

[0041] It should be noted that the cargo handled at the dry bulk loading terminal mentioned in this embodiment refers to dry bulk cargo (solid cargo transported in bulk, such as coal, ore, grain, etc., excluding liquids or gases). Goods from the hinterland and transported by rail or road are temporarily stored in the yard, and then loaded onto special bulk carriers through the terminal loading equipment and yard equipment, and then transported to the destination terminal.

[0042] Figure 1 This is a flowchart of an optional operation method for a dry bulk cargo loading terminal according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0043] Step S101: Perform unit grid processing on the bulk cargo yard and update the yard status of each basic unit in real time through laser point cloud scanning. Unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the location and height information of stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard corresponds to a unit identifier.

[0044] The unit gridding process in this embodiment is a fine division of the basic units of the stockyard. By setting a grid matrix, the stockyard is divided into many regular small units with unique identifiers (unit identifiers), creating a standardized stockyard management system to facilitate subsequent storage and retrieval operations.

[0045] It should be noted that this embodiment employs laser point cloud scanning technology. By emitting lasers and receiving reflected signals, it can acquire precise location and height information of each grid cell within the basic unit of the storage yard. The updated storage yard status includes, but is not limited to, the location, storage status, and height information of stacked goods within each grid cell. Through laser point cloud scanning technology, the status changes of each basic storage yard unit are captured in real time, and the model is updated promptly, thereby providing real-time and accurate storage yard operation instructions.

[0046] Optionally, the operation method for dry bulk cargo loading terminals further includes: when stacking materials into basic units of the storage yard, stacking them in order from the outermost grid nodes to the innermost; when the height of a grid node in a unit grid reaches the average height of the three adjacent innermost nodes, confirming that the height of the grid node in the unit grid meets the requirements, and replacing it with the grid node of the next unit grid for stacking; when retrieving materials from basic units of the storage yard, retrieving materials in order from the innermost grid nodes to the outermost; when the height of a grid node in a unit grid reaches the average height of the three adjacent outermost nodes, confirming that the height of the grid node in the unit grid meets the requirements, and replacing it with the grid node of the next unit grid for retrieving materials.

[0047] When stacking materials into basic storage units, the stacking sequence should proceed from the outermost grid nodes to the innermost nodes to ensure uniform stacking and prevent excessive stacking of goods on the outer edges, which could pose safety hazards. During stacking, once the height of a grid node reaches the average height of its three adjacent inner nodes, the height of that grid node is considered to meet the stacking requirements. The stacking focus is then shifted to the next grid node, and stacking continues until the entire basic unit reaches its predetermined storage capacity.

[0048] The material removal operation follows the reverse principle of the stockpiling sequence: it starts from the inner grid nodes and gradually moves outwards. This sequence helps maintain the stability of the stockpile and reduces the risk of structural imbalance caused by material removal. During the removal process, when the height of a grid node drops to the average height of the three adjacent outer nodes, it is confirmed that the height meets the removal requirements. The operation then moves to the next grid node to continue removing material, ensuring continuity and stability and avoiding inefficiencies caused by localized deep excavation.

[0049] Step S102: Based on the status of the yard and the working status of each unloading equipment, execute the dock unloading operation process for the basic unit of the yard.

[0050] Optionally, based on the yard status and the working status of each unloading equipment, the steps of the dock unloading operation process for the basic unit of the yard include: when a train is detected to be arriving, assigning an idle tippler to the train and determining all yards accessible by the tippler's processes; selecting a row of yards corresponding to the target sequence number and determining whether the operating equipment in that row of yards is idle; if the operating equipment is idle, traversing all accessible basic units of the yard and calculating the stackable capacity in all accessible basic units of the yard; determining whether the stackable capacity meets the stacking requirements; if the stacking requirements are met, executing the dock unloading operation, arranging the basic units of the yard in reverse order of their stackable capacity, and unloading the train cargo according to the first arrangement order; if the stacking requirements are not met, calculating the remaining stacking requirements, selecting accessible basic units of the yard in the next row of yards according to the remaining stacking requirements, and executing the dock unloading operation.

[0051] In this embodiment, during unloading operations, a "minimal changeover strategy" can be implemented. Cargo from a train is preferentially unloaded into basic yard units located in the same row. Changing yard units does not require switching the stacking equipment within the yard; only the main equipment needs to be moved. Furthermore, cargo is prioritized for unloading into basic yard units that are about to be full. When a train / truck arrives at the port, a yard plan is specified, and then it is determined whether there is available unloading equipment accessible by the process flow. If so, unloading equipment is assigned to the train / truck, and unloading operations are carried out after the train / truck arrives at the unloading equipment.

[0052] When a train arrives at the dock, this embodiment immediately initiates the unloading process. First, it queries the system for all available tippers. Based on the type of cargo carried by the train and tipper compatibility, it assigns the most suitable tipper to the train. After a tipper is assigned, the system further determines all yard locations that the tipper can cover. This embodiment uses a yard selection strategy based on "rows." First, it selects a row of yards as a candidate from predefined target numbers. This row of yards should have process accessibility matching the tipper. Next, it determines whether the operating equipment (such as stacker cranes) in the row of yards is idle. If the operating equipment is in use, the system will skip this row of yards and look for another row of yards for inspection. Assuming the operating equipment is idle, this embodiment traverses all basic yard units in the row of yards, using laser point cloud scanning technology to update the yard status in real time, including the stacked cargo position and height information of each unit grid. Based on the yard status data, it calculates the current stackable cargo capacity in all accessible basic yard units; and compares the train's cargo storage requirements with the yard's stackable capacity. If the yard capacity can meet the storage requirements of the train cargo, the unloading operation begins; otherwise, additional storage space needs to be found. When the storage requirements are met, the system sorts all eligible yard basic units according to their storage capacity, prioritizing units with larger capacities. Unloading is then initiated in the sorted order, unloading the train cargo into the yard basic units sequentially. This strategy helps optimize the stacker crane's operating path and reduces unnecessary equipment movement.

[0053] Figure 2 This is a schematic diagram of an optional dock unloading operation process according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes: when a train arrives, assigning an idle tippler to the train, then determining all accessible yards for the tippler, then selecting a row of yards, determining whether the operating equipment in this row of yards is idle, if so, traversing all accessible yard basic units in this row of yards and calculating the available storage capacity, if not, switching to the next row of yards and returning to the process of selecting a row of yards.

[0054] After calculating the stackable capacity, determine whether the stackable capacity meets the yard requirements. If so, arrange the basic yard units in reverse order of stackable capacity, and then stack the truck cargo in this order. After that, select the row of yard units and the operation process, and the unloading process selection ends. If not, determine whether to traverse all basic yard units. If so, enter the operation mode that requires switching processes.

[0055] After entering the operation mode that requires switching processes, select a row of storage yards and determine whether the operating equipment in this row of storage yards is idle. If so, iterate through all reachable storage yard basic units in this row of storage yards, count the storage capacity, and then determine whether the storage capacity meets the needs of the remaining storage yards. If so, retain the row of storage yards and operating equipment, arrange the retained rows of storage yards in reverse order of storage capacity, and operate in this order in the future. End the judgment and the unloading process selection ends.

[0056] If the equipment in this row of storage yards is not idle, it is necessary to switch to the next row of storage yards. The process of switching to the next row of storage yards is to determine whether to retain the current row of storage yards and equipment, and update the remaining storage requirements.

[0057] Step S103: Based on the status of the yard and the idle status of each ship loader, perform the material handling operation process for the stacked goods in the basic unit of the yard.

[0058] Optionally, based on the yard status and the idle status of each ship loader, the steps for performing a material handling operation on the stacked cargo of the basic unit of the yard include: selecting an idle ship loader for the ship upon detection of its arrival; determining all yards accessible to the ship loader and traversing the stockpile volume of each row of yards; identifying the target row of yards with the largest stockpile volume of the cargo to be handled and the idle operating equipment; determining whether the stockpile volume of all basic units of the target row of yards meets the remaining loading requirements of the ship loader; and, if the stockpile volume meets the remaining loading requirements, arranging the basic units of the yard in reverse order of stockpile volume and picking up materials for loading according to the second arrangement order.

[0059] Optionally, after determining whether the total stockpile quantity of each basic unit in the target stockpile yard meets the remaining loading requirements of the ship loader, the method further includes: if the stockpile quantity does not meet the remaining loading requirements, traversing the stockpile quantity of each remaining stockpile yard; arranging the stockpile quantity of each remaining stockpile yard in ascending order; selecting the next stockpile yard according to the third arrangement order, and determining whether the total stockpile quantity of each basic unit in the next stockpile yard meets the remaining loading requirements of the ship loader; if the stockpile quantity meets the remaining loading requirements, arranging the target stockpile yard and each basic unit in the next stockpile yard in descending order of stockpile quantity, and loading the ship according to the fourth arrangement order.

[0060] When performing loading and unloading operations on stacked cargo, the first step is to fully utilize all available, idle loading machines. Then, based on a "minimum changeover strategy," priority is given to selecting yard basic units where all cargo originates from the same row. In this case, changing yard basic units does not require switching the unloading equipment within the yard; only the main equipment needs to be moved. Finally, the yard basic units should be emptied first. After the vessel arrives at the port, a loading plan is specified, and it is determined whether there are available berths accessible by the process. If so, a berth is assigned to the vessel, and the vessel berths. Auxiliary operations then commence, again determining whether there are available loading machines accessible by the process. If so, a loading machine is assigned to the vessel; otherwise, the vessel waits at the berth. Subsequently, it is determined whether there are available stacking positions and processes. If so, multiple rounds of loading operations are performed; otherwise, the vessel waits at the berth.

[0061] Figure 3 This is a schematic diagram of an optional material handling and loading operation according to an embodiment of the present invention, such as... Figure 3 As shown, when performing material handling and loading operations, all available idle loading machines can be designated for the ship upon its arrival. A specific loading machine is selected, and all accessible yards for that loading machine are determined. The process is then iterated through each row of yards, and the row with the largest available inventory of the cargo to be handled is identified. The loading machine, the selected row of yards, and the yard handling equipment are retained. It is then determined whether the inventory meets the remaining loading requirements. If so, the basic units of the yards available for each loading machine are arranged in reverse order of inventory. In the future, each loading machine will handle material handling and loading according to this order, using the selected loading machine, yard, and yard handling equipment. The loading process selection is then completed.

[0062] If the judgment result shows that the stockpile does not meet the remaining loading requirements, it is determined whether to traverse all loading machines. If not, the remaining loading requirements are updated. If so, the operation mode that requires switching processes is entered. Based on the above results, the judgment continues, a specific loading machine that has been identified to be operated is selected, and all reachable, idle, and unplanned yards of the loading machine are identified. The stockpile of the cargo to be operated is calculated in rows, and the yards of each row are arranged in ascending order of stockpile. Each row is judged one by one, and the loading machine, the selected row of yards, and the yard operation equipment are retained. It is determined whether the stockpile meets the remaining loading requirements. If so, the operation is carried out according to the selected loading machine, yard, and yard operation equipment. The loading process selection ends.

[0063] Optionally, when a vessel arrives, the process further includes: determining the type of cargo requiring loading and the corresponding workload; traversing all berths and identifying all corresponding ship loaders for each berth; traversing all reachable processes for all ship loaders and calculating the stockpile volume of the cargo requiring loading; determining whether the stockpile volume of each cargo type meets the loading requirements; if the stockpile volume meets the loading requirements, selecting the current berth and ending the berthing process; if the stockpile volume does not meet the loading requirements, entering a multi-berth operation mode, traversing all combinations of two berths; traversing all reachable processes for all ship loaders at both berths and calculating the stockpile volume of the cargo requiring loading; determining whether the stockpile volume meets the loading requirements; if the stockpile volume meets the loading requirements, selecting the current two berths and ending the berthing process.

[0064] First, arriving vessels are inspected, and information on their cargo type (such as coal, ore, grain, etc.) and the required handling volume for each type is extracted. The system automatically traverses all available berths, and for each berth, it further identifies all ship loaders that can be matched with it for operations. This step ensures berth availability and ship loader compatibility, preparing for subsequent operations. Subsequently, this embodiment traverses all reachable processes for each ship loader, statistically analyzing the current stockpile volume of the cargo to be handled within the process coverage area. By collecting data from the full-domain dynamic intelligent sensing system in real time, the system can accurately grasp the cargo storage status.

[0065] Based on the statistical inventory levels, the system determines whether the inventory level of each type of cargo required for loading meets or exceeds the minimum required for loading, ensuring the feasibility of loading operations and avoiding ship waiting or operational interruptions due to insufficient cargo. If the inventory level of a berth meets the loading requirements, the combination of the berth and the loading machine is considered an option, the berthing process ends, and the ship can quickly berth and begin loading operations without additional waiting. If no berth combination meeting the loading requirements is found in a single berth search, this embodiment will enter a multi-berth operation mode. In this mode, the system begins to traverse all possible combinations of two berths. For each pair of berths, this embodiment again traverses all reachable processes of the loading machines and re-counts the inventory level of the required cargo to ensure that loading requirements can still be met in the dual-berth mode. If a combination of two berths meets the loading requirements, i.e., the inventory level of the cargo within its coverage area is sufficient, the combination will be selected, the berthing process ends, and the ship will efficiently load cargo between the two designated berths until the operation is completed.

[0066] Figure 4 This is a flowchart of an optional ship mooring algorithm according to an embodiment of the present invention, such as... Figure 4As shown, the process of selecting a berth for a vessel includes: after detecting the vessel's arrival, identifying the type of cargo requiring loading and the corresponding workload, iterating through all berths, determining all corresponding loading machines for each berth, iterating through all reachable processes for all loading machines, calculating the stockpile volume of the cargo to be loaded, and then determining whether the stockpile volume of each cargo meets the loading requirements. If so, the berth is selected, and the process ends. If not, it is determined whether to iterate through all berths. If so, the process enters a multi-berth operation mode (requiring shifting operations), iterating through all combinations of two berths; iterating through all reachable processes for all loading machines at both berths, calculating the stockpile volume of the cargo to be loaded; determining whether the stockpile volume of the cargo to be loaded meets the loading requirements; if the stockpile volume of the cargo to be loaded meets the loading requirements, the current two berths are selected, and the berthing process ends. If the requirements are not met, it is determined whether to iterate through all possible combinations. If so, it is determined that there are no available berths, and other vessels are considered.

[0067] This embodiment aims to efficiently determine berth allocation and loading operations upon vessel arrival, ensuring smooth port operations and efficient resource utilization. It can intelligently and rapidly make berth allocation and loading operation decisions based on the actual needs of vessels and the dynamic status of the storage yard, significantly improving the operational efficiency and resource allocation capabilities of dry bulk terminals, reducing vessel waiting time, thereby lowering operating costs and enhancing port competitiveness.

[0068] Step S104: Using a pre-built simulation model framework of a dry bulk cargo loading terminal, dynamically adjust the storage and retrieving status of the basic units in the yard, and adjust the terminal berth allocation and yard cargo stacking and retrieving strategies.

[0069] This embodiment is based on a comprehensive simulation model framework that includes all key elements of a dry bulk cargo loading terminal, including but not limited to physical objects such as vehicles, cargo, stacking and reclaiming equipment, belt conveyors, and berths, as well as abstract concepts such as unloading processes, loading processes, berth allocation, and cargo stacking and reclaiming strategies. It simulates a real port operation environment and provides accurate analysis and prediction of the operation process of a dry bulk cargo loading terminal.

[0070] Based on real-time updated yard status, this embodiment can dynamically adjust storage and retrieving operations, including but not limited to optimizing the stacker's storage path, adjusting the retrieving sequence of the reclaimer, and rationally allocating storage space and retrieving positions according to the real-time capacity of the yard and the needs of different cargo types, thereby improving the utilization efficiency of yard space and the continuity of equipment operations. This embodiment can intelligently adjust the allocation of terminal berths based on real-time yard status and equipment operating status. For example, when the system detects that the cargo volume in the yard near a certain berth is below a threshold, while other berths have sufficient cargo, the system will reallocate the berthing positions of ships to improve loading efficiency and reduce cargo transportation costs.

[0071] Meanwhile, the cargo stacking strategy in the yard is also dynamically optimized. During the unloading process, the system prioritizes stacking cargo into basic yard units that are about to be filled to reduce the number of equipment changes required for subsequent operations. During the loading operation, the system tends to select basic yard units in the same row as the material source to avoid frequent equipment movements, thereby speeding up the loading and unloading of cargo and reducing waiting time.

[0072] Through the aforementioned dynamic adjustment mechanism, this embodiment significantly improves port operation efficiency, reduces the complexity of yard management and equipment scheduling, and reduces equipment idling time and the possibility of operational conflicts.

[0073] Through the above steps, the bulk cargo yard can be processed into a unit grid, and the yard status of each basic unit can be updated in real time through laser point cloud scanning. The unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the position and height information of the stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard has a corresponding unit identifier. According to the yard status and the working status of each unloading equipment, the terminal unloading operation process is executed on the basic unit of the yard. According to the yard status and the idle status of each ship loader, the stacked goods in the basic unit of the yard are processed into a material handling operation process. The storage and material handling operation status of the basic unit of the yard is dynamically adjusted using a pre-constructed simulation model framework of the dry bulk cargo loading terminal, and the terminal berth allocation and yard cargo stacking and handling strategy are adjusted. In this embodiment, the yard status of each basic unit of the yard can be updated in real time by laser point cloud scanning. Unloading and material handling operations are then carried out based on the real-time updated yard status. The storage and material handling operation status of the basic units of the yard is dynamically adjusted using a pre-built simulation model framework of the dry bulk cargo loading terminal. The terminal berth allocation and yard cargo stacking and handling strategies are also adjusted, which significantly improves the response speed of the dry bulk cargo loading terminal operation management system. It can quickly adjust the operation plan to deal with emergencies, reduce waiting time and operation delays, and ensure the smooth operation of port logistics. This solves the technical problem in related technologies where the dry bulk cargo loading terminal operation management system relies only on static resource management, which leads to the inability to reflect the real-time status of the yard and the reduced scheduling response speed.

[0074] In this embodiment of the invention, laser point cloud scanning technology enables real-time acquisition of the stacking status of dry bulk cargo yards, including cargo location and height information. This allows yard management decisions to be based on the latest data, improving the accuracy and timeliness of decision-making. The stacking and retrieving strategy proposed in this invention adjusts the stacking and retrieving sequence according to the real-time status of the yard grid, ensuring uniform cargo stacking and continuous, efficient retrieving, minimizing ineffective equipment movement and waiting time, and improving operational efficiency.

[0075] Optionally, a pre-built simulation model framework for a dry bulk cargo loading terminal is adopted, including: a vehicle generation subsystem, comprising: vehicle objects, bulk cargo objects, unloading plan objects, vehicle generation objects, and unloading plan generation objects. The vehicle generation objects generate train / truck objects according to a predetermined schedule and assign corresponding variables to them. The unloading plan generation objects formulate unloading plans based on yard status information and storage strategy rules, or based on historical train / truck loading data, specifying the type of cargo, owner information, unloading stacking position, and corresponding loading quantity for the train / truck. The unloading subsystem includes: unloading equipment allocation objects, unloading scheduling objects, and unloading process execution objects. The unloading equipment allocation object, after the train / truck arrives at the port, ensures the accessibility of the unloading stacking position and unloading equipment. The system allocates idle unloading equipment to trains / trucks. When a train / truck begins unloading operations, the unloading scheduling object selects the currently available process based on the unloading equipment and the stacking position specified in the unloading plan, and issues a process start command. The yard process subsystem includes: unloading equipment objects, unloading conveyor objects, yard loading and unloading equipment objects, yard basic unit objects, ship loading conveyor objects, ship loader objects, and yard management objects. Among them, the yard management object is used to manage the stacking positions in the yard and the stacking or retrieving operations of dry bulk cargo terminals. The ship loading subsystem includes: berth allocation objects, ship loader allocation objects, ship loading scheduling objects, and ship loading process execution objects. The ship generation subsystem includes: ship objects, cargo / ticket objects, ship loading plan objects, ship generation objects, and ship loading plan generation objects.

[0076] Figure 5 This is a schematic diagram of an optional coal loading terminal modeling framework according to an embodiment of the present invention, such as... Figure 5 As shown, the simulation modeling framework for the dry bulk cargo loading terminal in this embodiment is divided into five parts: a train / truck generation subsystem, a ship generation subsystem, an unloading subsystem, a loading subsystem, and a yard process subsystem. The train / truck generation subsystem and the ship generation subsystem serve as model drivers, the unloading subsystem focuses on unloading scheduling operations, and the loading subsystem focuses on loading scheduling operations, all coordinated through the yard.

[0077] Each subsystem consists of a series of objects, which are categorized into three types: physical objects, abstract objects, and logical objects. Physical objects are tangible objects that can be seen at the dock, such as trains, bulk cargo, machinery, storage yards, and berths. Abstract objects are non-physical objects such as ship ticket and cargo information, work plans, and processes involved in dock operations. Logical objects determine whether each operational step at the dock is completed, whether there are any conflicts in the work processes, and control the physical objects to execute the dock operation processes by reading the status of physical objects or by interacting with each other through input and output interfaces.

[0078] The physical objects of the train / car generation subsystem include train / car objects and bulk cargo objects; the abstract object is the unloading plan object; and the logical objects include train / car generation objects and unloading plan generation objects.

[0079] The core of the unloading subsystem is the unloading operation scheduling, which consists of three logical objects: unloading equipment allocation object, unloading scheduling object, and unloading process execution object.

[0080] The physical objects of the yard process subsystem include unloading equipment objects, unloading conveyor objects, yard loading and unloading equipment objects, yard basic unit objects, ship loading conveyor objects, and ship loader objects; the abstract object is the process, and the logical object is the yard management object.

[0081] The core of the ship loading subsystem is the ship loading operation scheduling, which consists of four logical objects: berth allocation object, ship loading machine allocation object, ship loading scheduling object, and ship loading process execution object.

[0082] Among them, the physical object of the ship generation subsystem is the ship object; the abstract objects are the cargo ticket object and the loading plan object; and the logical objects include the ship generation object and the loading plan generation object.

[0083] It should be noted that the physical objects in this embodiment can be divided into two categories: fixed physical objects and moving physical objects.

[0084] The fixed physical objects mainly include: unloading equipment, storage yards, conveyor belts, and berths.

[0085] 1. Unloading equipment.

[0086] The unloading equipment object is the core object of the unloading operation. When a vehicle arrives at the unloading equipment object, the unloading equipment performs start-up auxiliary operations, and then triggers the unloading scheduling object to select the unloading process. After the process is determined, it is responsible for starting and occupying the unloading process. Bulk cargo enters the yard from the unloading equipment via the belt conveyor. After unloading is completed, it is responsible for closing and releasing the unloading process, triggering the unloading equipment management object to select the process for other unloading equipment, and performing completion auxiliary operations. The vehicle leaves the unloading equipment, triggering the yard to select the next vehicle to enter the unloading equipment. The accessibility of the processes of different unloading equipment is the same.

[0087] 2. Stockyard and basic unit.

[0088] In the model, the storage yard is the general term for all storage areas, not the smallest logical unit of storage. Based on the type of cargo and the requirements of operation and management, the entire bulk cargo storage yard is divided and defined according to basic units, and each basic unit is assigned an independent and fixed ID number. For example, the entire storage yard is divided into P001, P002, P003, etc.

[0089] It should be noted that in this embodiment, the basic units of the storage yard are divided into a grid matrix according to the display accuracy requirements. Each grid node consists of three parts: (X, Y, H). X and Y represent the horizontal position information of the point, and H is the height of the point. The X and Y values ​​of the matrix points in each basic unit are fixed and pre-written into the system, while the height value H is dynamically refreshed based on the updated data. Updating the H value only requires transmitting it using an array. If accuracy adjustments are needed, simply change the X / Y step size and update the preset basic unit.

[0090] 3. Container yard conveyor belts.

[0091] The yard conveyor object is a key device in the process object. It stores the basic yard units that it can reach, which makes it convenient for the scheduling object to search for available storage locations based on the process.

[0092] 4. Berth objects.

[0093] The berth object is the core object of the loading operation. When a ship arrives at the berth object, the berth performs start-up auxiliary operations, and then triggers the loading scheduling object to select the loading machine and loading process. After the process is determined, it is responsible for starting and occupying the loading machine and process. Bulk cargo enters the ship hold from the yard via belt conveyor for the first round of operation. After the first round of loading is completed, it is determined whether it is necessary to wait for drainage. If it is necessary to wait for drainage, the loading process and loading machine are closed and released. After the drainage is completed, the loading scheduling object is triggered to select the loading machine and loading process. After the process is determined, it is responsible for starting and occupying the loading machine and process to carry out the second and third rounds of loading. If it is not necessary to wait for drainage, the second and third rounds of loading are carried out directly. After loading is completed, the loading scheduling object is triggered to select the loading machine and process for other ships, perform completion auxiliary operations, the ship departs the berth, and triggers the ship generation object to select the next ship to berth.

[0094] The mobile physical object library mainly includes: vehicle objects, bulk cargo objects, stacker-reclaimer equipment objects (stackers, reclaimers, stacker-reclaimers, etc.), ship loader objects, and ship objects.

[0095] 1. Vehicle object.

[0096] The vehicle object is generated from the vehicle object. The vehicle carries bulk cargo to the port, enters the unloading equipment for unloading operations, and leaves the port after the operation is completed.

[0097] 2. Loose goods.

[0098] When a vehicle is generated, the unloading plan object generates a bulk cargo object, which is the core of the entire system operation.

[0099] 3. Stacking and reclaiming equipment.

[0100] Stacker-reclaimer equipment includes stackers, reclaimers, and stack-reclaimers. After a basic yard unit and process are specified for a vehicle, the stacker (stacking-reclaimer) object moves to the designated location. After a basic yard unit and process are specified for a ship, the reclaimer (stacking-reclaimer) object moves to the designated location.

[0101] 4. Ship loader target.

[0102] When the loading scheduling object selects a loading machine for a berth based on the berths and processes that the loading machine can reach and whether the loading machine is available, it moves the loading machine object to that berth, and the berth object occupies the loading machine object; when the ship starts waiting for drainage or the loading operation is completed, the berth object releases the loading machine object.

[0103] 5. Ships.

[0104] The vessel object is generated from the vessel creation object. Once the vessel is generated, it is considered to have arrived at the port. After a berth is assigned to the vessel, the vessel berths, loading operations are carried out, and the vessel departs the port after the operations are completed.

[0105] Furthermore, the abstract object library includes cargo and ticket objects, loading plan objects, stacking process objects, and loading and unloading process objects.

[0106] 1. The object of the ticket and goods.

[0107] A ship may carry only one shipment or multiple shipments. When a ship object is created, the shipment objects for that ship are also created simultaneously.

[0108] 2. Shipment plan targets.

[0109] The loading schedule specifies which yard unit and how much cargo each shipment will be retrieved from. Logically, the loading schedule can be determined before loading begins. It can also be adjusted based on process conflicts before the second round of operations begins.

[0110] 3. Objects involved in the unloading process.

[0111] The unloading process is uniquely determined by the key equipment in the process. When the process is occupied, all key equipment in the process is set to busy. When the process is released, all key equipment in the process is set to idle.

[0112] 4. Objects involved in the loading process.

[0113] The loading process is uniquely determined by the key equipment in the process. When the process is occupied, all key equipment in the process is set to busy. When the process is released, all key equipment in the process is set to idle.

[0114] Furthermore, the logical objects mainly include: ship generation, loading plan generation, berth allocation, ship loader allocation, loading scheduling, train / truck generation, unloading plan generation, unloading equipment allocation, unloading scheduling, process execution, yard management, data statistics, and other logical objects.

[0115] 1. Ship generation object.

[0116] Ship objects are generated according to a certain probability distribution or schedule, and corresponding variables are assigned to the ships, such as ship tonnage, total cargo volume, start-up preparation time, completion preparation time, and discharge time.

[0117] 2. Object generated by the loading plan.

[0118] Based on the yard conditions and storage strategy rules, or based on historical ship cargo data, formulate a ship loading plan, specifying how many shipments to load for each ship, the type of cargo and owner information for each shipment, the loading position and corresponding loading volume, and if it is a coal terminal, specifying whether coal blending is required and the blending ratio, etc.

[0119] 3. Berth allocation targets.

[0120] Berths are allocated to vessels based on their tonnage and the accessibility of berths in the loading schedule.

[0121] 4. Ship loader allocation targets.

[0122] After the vessel berths, the loader for this round of work is assigned to the vessel based on the current location and accessibility of the loader.

[0123] 5. Ship loading and dispatching objects.

[0124] When a vessel is ready to begin loading and unloading operations, the system selects the currently available process based on the vessel's corresponding loader and the current work position specified in the loading plan, and issues a process start command.

[0125] 6. Generate train / car objects.

[0126] Train / car objects are generated according to a certain probability distribution or schedule, and corresponding variables are assigned to the train / car, such as load capacity, start-up preparation time, and completion preparation time.

[0127] 7. Unloading plan generation object.

[0128] Based on the yard status information and storage strategy rules, or based on historical train / truck loading data, an unloading plan is formulated, specifying the type of cargo, owner information, unloading stacking position, and corresponding loading quantity for the train / truck.

[0129] 8. Assignment of unloading equipment to specific entities.

[0130] After the train / car arrives at the port, available unloading equipment will be allocated to the train / car while ensuring the accessibility of unloading stacking positions and unloading equipment.

[0131] 9. Unloading dispatch objects.

[0132] When the train / car is ready to begin unloading, select the currently available process based on the unloading equipment where the train / car is located and the stacking position specified in the unloading plan, and issue a process start command.

[0133] 10. Process execution object.

[0134] When a process start command is received, all devices associated with the process are turned on and set to occupied status; after the amount of data transmission specified by the task is completed, the devices associated with the process are turned off and set to idle status.

[0135] 11. Items under storage yard management.

[0136] The main function of this object is to manage the stacking positions in the yard, and work with other sub-modules to complete the stacking or retrieving operations of dry bulk cargo terminals to achieve cargo storage. It also works with the data statistics sub-module to perform statistical work on relevant yard data.

[0137] 12. Data statistics objects.

[0138] The relevant data in the model are statistically analyzed to output valuable analytical results, including the annual throughput of the terminal, the number of operating vessels and trains, the operating time, waiting time, and port time of vessels and trains, the utilization rate and operating status statistics of various mechanical equipment, and the utilization rate of the storage yard.

[0139] The following explains how to initialize a coal pile and update its cargo.

[0140] During the initialization of the coal pile, the model needs to obtain a complete set of coal pile data at the beginning of the model operation to build the entire coal pile scene in advance, which serves as the boundary condition for the stockpile situation during model operation.

[0141] When updating coal stockpile cargo, when stockpiling materials into the basic unit of the stockpile, the materials are piled up in circles from the outer matrix grid nodes to the inner ones. When the height of a point reaches the average height of the three adjacent inner points, the height of that point is considered to meet the standard, and the next point can be stockpiled.

[0142] When retrieving materials from the basic unit of the stockpile, the steps are reversed, retrieving materials one circle at a time from the inner matrix grid node to the outer one. When the height of a point reaches the average height of the three adjacent outer points, the height of that point is considered to meet the standard, and the next point can be moved to retrieve materials.

[0143] Furthermore, the calculation of stacked goods quantity is mainly used to determine whether the stack is full, to determine the quantity of goods that can be stacked and retrieved, and for statistical analysis.

[0144] Given a grid control point of (m+1)(n+1) Surfaces with (0≤i≤m, 0≤j≤n) such as Figure 6 As shown), the surface is represented as:

[0145] (1);

[0146] In formula (1): Control points The weight factors are (0≤i≤m, 0≤j≤n), where k and l are orders. (0≤i≤m) and (0≤j≤n) are the nodal vectors in the u and v directions, respectively;

[0147] and Given the k-th and l-th order B-spline basis functions, then:

[0148] (2);

[0149] in,

[0150] The u-direction node vector is , The surface segment representing the fit.

[0151] .

[0152] Assuming the projection of the spatial surface S onto the absolute coordinate system xoy is s, then the volume V of the enclosed spatial closed region Ω is:

[0153] (3)

[0154] In equation (3), s' is the projection plane region under the relative coordinate system uov.

[0155] The quantity of stacked goods can be calculated using the formula above.

[0156] In this embodiment of the invention, when a ship arrives at the port, the availability of each berth and the operating capacity of its corresponding loading machine can be dynamically assessed, and the most suitable combination of berths and equipment can be intelligently selected. Even if a single berth cannot meet the loading needs, the loading operation can be ensured to proceed smoothly through a multi-berth joint operation mode.

[0157] This invention achieves efficient resource allocation and utilization by dynamically adjusting berth allocation, cargo stacking strategies, and equipment scheduling, avoiding waste of yard space and equipment idleness, and improving the overall operational efficiency of the port. Simultaneously, by reducing ineffective equipment movement, shortening waiting times, and increasing cargo loading and unloading speed, this invention effectively reduces port operating costs, including equipment depreciation, fuel costs, and labor costs.

[0158] The following is a detailed description with reference to another embodiment.

[0159] Example 2

[0160] The operating device for a dry bulk cargo loading terminal provided in this embodiment includes multiple implementation units, each of which corresponds to a specific implementation step in Embodiment 1 above.

[0161] Figure 7 This is a schematic diagram of an optional operating device for a dry bulk cargo loading terminal according to an embodiment of the present invention, such as... Figure 7 As shown, the operating device for dry bulk cargo loading terminal may include: a grid processing unit 71, an unloading operation execution unit 72, a material handling operation execution unit 73, and an operation status adjustment unit 74.

[0162] Among them, the grid processing unit 71 is used to perform unit grid processing on the bulk cargo yard and update the yard status of each basic unit of the yard in real time through laser point cloud scanning. The unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the location information and height information of the stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard corresponds to a unit identifier.

[0163] The unloading operation execution unit 72 is used to execute the dock unloading operation process on the basic unit of the yard according to the yard status and the working status of each unloading equipment.

[0164] The material handling execution unit 73 is used to perform material handling operations on the stacked goods of the basic unit of the yard according to the yard status and the idle status of each ship loader.

[0165] The operation status adjustment unit 74 is used to dynamically adjust the storage and retrieving operation status of the basic units of the yard using a pre-built simulation model framework of the dry bulk cargo loading terminal, and to adjust the terminal berth allocation and yard cargo stacking and retrieval strategy.

[0166] The aforementioned operating device for dry bulk cargo loading terminals can perform unit grid processing on the bulk cargo yard through the grid processing unit 71, and update the yard status of each basic unit in real time through laser point cloud scanning. The unit grid processing refers to dividing the basic units of the yard into a grid matrix. The yard status includes the position and height information of the stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard has a corresponding unit identifier. The unloading operation execution unit 72 executes the terminal unloading operation process on the basic units of the yard according to the yard status and the working status of each unloading equipment. The material handling operation execution unit 73 executes the material handling operation process on the stacked goods in the basic units of the yard according to the yard status and the idle status of each ship loader. The operation status adjustment unit 74 dynamically adjusts the stacking and material handling operation status of the basic units of the yard using a pre-constructed simulation model framework of the dry bulk cargo loading terminal, and adjusts the terminal berth allocation and yard cargo stacking and handling strategy. In this embodiment, the yard status of each basic unit of the yard can be updated in real time by laser point cloud scanning. Unloading and material handling operations are then carried out based on the real-time updated yard status. The storage and material handling operation status of the basic units of the yard is dynamically adjusted using a pre-built simulation model framework of the dry bulk cargo loading terminal. The terminal berth allocation and yard cargo stacking and handling strategies are also adjusted, which significantly improves the response speed of the dry bulk cargo loading terminal operation management system. It can quickly adjust the operation plan to deal with emergencies, reduce waiting time and operation delays, and ensure the smooth operation of port logistics. This solves the technical problem in related technologies where the dry bulk cargo loading terminal operation management system relies only on static resource management, which leads to the inability to reflect the real-time status of the yard and the reduced scheduling response speed.

[0167] Optionally, the unloading operation execution unit includes: a first determining module, used to assign an idle tippler to the train when the train is detected to arrive, and determine all accessible yards for the tippler's processes; a first judging module, used to select a row of yards corresponding to the target sequence number, and judge whether the operating equipment in that row of yards is idle; a first traversal module, used to traverse all accessible basic yard units in the yard when the operating equipment is idle, and count the stackable capacity in all accessible basic yard units; a second judging module, used to judge whether the stackable capacity meets the stacking requirements; a first dock unloading operation execution module, used to execute dock unloading operations when the stacking requirements are met, arranging the basic yard units in reverse order of their stackable capacity, and unloading the train cargo according to the first arrangement order; and a second dock unloading operation execution module, used to calculate the remaining stacking requirements when the stacking requirements are not met, and select accessible basic yard units in the next row of yards according to the remaining stacking requirements, and execute dock unloading operations.

[0168] Optionally, the material handling execution unit includes: a ship loader selection module, used to select an idle ship loader for the ship upon detection of the ship's arrival; a second determination module, used to determine all process-accessible yards for the ship loader and to traverse the stockpile volume of each row of yards; a third determination module, used to determine the target row of yards with the largest stockpile volume of the cargo to be handled and the idle operating equipment; a third judgment module, used to determine whether the stockpile volume of all basic units in each yard of the target row of yards meets the remaining loading requirements of the ship loader; and a material handling and loading module, used to arrange the basic units of each yard in reverse order of stockpile volume and to handle and load materials according to the second arrangement order, provided that the stockpile volume meets the remaining loading requirements.

[0169] Optionally, the operating equipment for a dry bulk cargo loading terminal further includes: a fourth determination module, used to determine the type of cargo requiring loading and the corresponding workload upon detecting the arrival of a vessel; a fifth determination module, used to traverse all berths and determine all corresponding ship loaders for each berth; a second traversal module, used to traverse all reachable processes of all ship loaders and calculate the stockpile volume of the cargo requiring loading; a fourth judgment module, used to determine whether the stockpile volume of each cargo meets the loading requirements; and a first berth selection module, used to select a berth where the stockpile volume meets the loading requirements. In the first case, the current berth is selected, and the berthing process ends. The third traversal module is used to enter the multi-berth operation mode when the cargo storage volume does not meet the loading requirements, traversing all combinations of two berths. The fourth traversal module is used to traverse all reachable processes of all ship loaders at the two berths and count the storage volume of the cargo to be operated. The fifth judgment module is used to determine whether the storage volume of the cargo to be operated meets the loading requirements. The second berth selection module is used to select the current two berths when the storage volume of the cargo to be operated meets the loading requirements, and the berthing process ends.

[0170] Optionally, the operating device for a dry bulk cargo loading terminal further includes: a fifth traversal module, used to traverse the remaining stockpiles of each row of stockpiles after determining whether the stockpiles of all basic units in each stockpile in the target stockpile meet the remaining loading requirements of the ship loader; an ascending order arrangement module, used to arrange the stockpiles of the remaining stockpiles in ascending order; a next stockpile selection module, used to select the next stockpile according to the third arrangement order and determine whether the stockpiles of all basic units in each stockpile in the next stockpile meet the remaining loading requirements of the ship loader; and a descending order arrangement module, used to arrange the target stockpile and the basic units in each stockpile in the next stockpile in descending order of stockpiles, and to load materials onto the ship according to the fourth arrangement order, provided that the stockpiles meet the remaining loading requirements.

[0171] Optionally, the operating apparatus for a dry bulk cargo loading terminal further includes: a sequential stacking module for stacking materials into basic units of the yard in a sequential order from the outermost grid nodes to the innermost; a stacking switching module for confirming that the height of the grid node of a unit grid meets the requirements when the height of the grid node reaches the average height of the three adjacent innermost grid nodes, and then switching to the grid node of the next unit grid for stacking; a sequential retrieving module for retrieving materials into basic units of the yard in a sequential order from the innermost grid nodes to the outermost; and a retrieving switching module for confirming that the height of the grid node of a unit grid meets the requirements when the height of the grid node reaches the average height of the three adjacent outermost grid nodes, and then switching to the grid node of the next unit grid for retrieving materials.

[0172] Optionally, a pre-built simulation model framework for a dry bulk cargo loading terminal is adopted, including: a vehicle generation subsystem, comprising: vehicle objects, bulk cargo objects, unloading plan objects, vehicle generation objects, and unloading plan generation objects. The vehicle generation objects generate train / truck objects according to a predetermined schedule and assign corresponding variables to them. The unloading plan generation objects formulate unloading plans based on yard status information and storage strategy rules, or based on historical train / truck loading data, specifying the type of cargo, owner information, unloading stacking position, and corresponding loading quantity for the train / truck. The unloading subsystem includes: unloading equipment allocation objects, unloading scheduling objects, and unloading process execution objects. The unloading equipment allocation object, after the train / truck arrives at the port, ensures the accessibility of the unloading stacking position and unloading equipment. The system allocates idle unloading equipment to trains / trucks. When a train / truck begins unloading operations, the unloading scheduling object selects the currently available process based on the unloading equipment and the stacking position specified in the unloading plan, and issues a process start command. The yard process subsystem includes: unloading equipment objects, unloading conveyor objects, yard loading and unloading equipment objects, yard basic unit objects, ship loading conveyor objects, ship loader objects, and yard management objects. Among them, the yard management object is used to manage the stacking positions in the yard and the stacking or retrieving operations of dry bulk cargo terminals. The ship loading subsystem includes: berth allocation objects, ship loader allocation objects, ship loading scheduling objects, and ship loading process execution objects. The ship generation subsystem includes: ship objects, cargo / ticket objects, ship loading plan objects, ship generation objects, and ship loading plan generation objects.

[0173] The aforementioned operating device for dry bulk cargo loading terminals may also include a processor and a memory. The aforementioned grid processing unit 71, unloading operation execution unit 72, material handling operation execution unit 73, operation status adjustment unit 74, etc., are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0174] The processor described above contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and cargo logistics operations at dry bulk shipping terminals can be implemented by adjusting kernel parameters.

[0175] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0176] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to perform the operation method for a dry bulk cargo loading terminal as described in any of the above embodiments.

[0177] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the operation method for a dry bulk cargo loading terminal as described in any of the first embodiments above.

[0178] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the operation method for a dry bulk cargo loading terminal described in various embodiments of this application.

[0179] This application also provides a computer program product, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the operation method for a dry bulk cargo loading terminal described in various embodiments of this application.

[0180] Figure 8 This is a hardware structure block diagram of an electronic device (or mobile device) for performing an operation method for a dry bulk cargo loading terminal according to an embodiment of the present invention. Figure 8 As shown, an electronic device may include one or more ( Figure 8 The processor (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and memory 804 for storing data are also included. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 8 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are more... Figure 8 The more or fewer components shown, or having the same Figure 8 The different configurations shown.

[0181] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0182] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0183] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0184] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0186] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0187] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for operating at a dry bulk cargo loading terminal, characterized in that, Applications to water-rail intermodal terminal systems include: The bulk cargo yard is processed into a unit grid, and the yard status of each basic unit is updated in real time by laser point cloud scanning. The unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the position and height information of the stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard has a corresponding unit identifier. Based on the status of the yard and the working status of each unloading equipment, the dock unloading operation process is executed on the basic unit of the yard. Based on the status of the storage yard and the idle status of each ship loader, a material handling process is performed on the stacked cargo of the basic storage yard unit. The storage and retrieval operation status of the basic units of the yard is dynamically adjusted using a pre-constructed simulation model framework of a dry bulk cargo loading terminal, and the terminal berth allocation and yard cargo stacking and retrieval strategy are also adjusted.

2. The operating method according to claim 1, characterized in that, Based on the yard status and the operating status of each unloading device, the steps for performing the dock unloading operation process on the basic unit of the yard include: When a train is detected to be arriving, an idle tippler is assigned to the train, and the stockyards accessible to all processes of the tippler are determined. Select the row of stockpiles corresponding to the target number and determine whether the operating equipment in that row of stockpiles is idle; When the operating equipment is idle, traverse all reachable basic units in the yard and count the storage capacity of all reachable basic units in the yard; Determine whether the stackable capacity meets the stacking requirements; If the storage requirements are met, the dock unloading operation is carried out, and the basic units of the storage yard are arranged in reverse order according to the size of the storage capacity, and the train cargo is unloaded in the first arrangement order. If the storage demand is not met, calculate the remaining storage demand, select an accessible yard basic unit in the next row of yards according to the remaining storage demand, and perform dock unloading operations.

3. The operating method according to claim 1, characterized in that, Based on the yard status and the idle status of each ship loader, the steps for performing a material handling operation on the stacked cargo in the basic unit of the yard include: Upon detection of a vessel's arrival, select an available loader for that vessel; Determine all process-accessible stockpiles of the ship loader and iterate through the stockpiles of each row of stockpiles. Identify the target stockpile with the largest available equipment and the largest stockpile of the type of goods requiring operation; Determine whether the total stockpile volume of each basic unit in the target stockpile yard meets the remaining loading requirements of the ship loader; If the stockpile capacity meets the remaining loading demand, the basic units of each stockpile will be arranged in reverse order of stockpile capacity, and materials will be taken and loaded onto ships in the second order.

4. The operating method according to claim 3, characterized in that, In the case of detecting the arrival of a ship, this also includes: Upon the arrival of the vessel, determine the type of cargo that needs to be loaded onto the vessel and the corresponding workload for that type of cargo; Iterate through all berths and determine all corresponding ship loaders for each berth; Iterate through all reachable processes of all ship loaders and calculate the stockpile quantity of the cargo to be handled; Determine whether the stockpiling volume of each type of cargo meets the loading requirements; If the cargo inventory meets the loading requirements, select the current berth and the berthing process ends; If the cargo storage volume does not meet the loading requirements, enter the multi-berth operation mode and iterate through all combinations of two berths. Iterate through all reachable processes of all ship loaders at both berths and calculate the stockpile volume of the cargo to be handled; Determine whether the stockpiled quantity of the goods to be handled meets the loading requirements; If the stockpiled volume of the cargo to be handled meets the loading requirements, select the current two berths, and the berthing process ends.

5. The operating method according to claim 3, characterized in that, After determining whether the total stockpile volume of each basic unit in the target stockpile yard meets the remaining loading requirements of the ship loader, the process further includes: If the stockpile is insufficient to meet the remaining loading demand, iterate through the stockpile of each remaining row of stockpiles. Arrange the remaining stockpiles in ascending order; According to the third arrangement order, select the next row of storage yards, and determine whether the total stockpile of each basic unit in the next row of storage yards meets the remaining loading requirements of the ship loader. If the stockpile capacity meets the remaining loading requirements, the target stockpile and the basic units of each stockpile in the next stockpile are arranged in reverse order of stockpile capacity, and materials are picked up and loaded onto the ship in the fourth arrangement order.

6. The operating method according to claim 1, characterized in that, Also includes: When stacking materials into the basic unit of the stockpile, the materials are stacked in order from the grid nodes of the outer unit grid to the inner grid. When the height of a grid node in a unit grid reaches the average height of the three adjacent inner points, it is confirmed that the height of the grid node in the unit grid meets the requirements, and the grid node of the next unit grid is replaced for material stacking. When retrieving materials from the basic unit of the stockpile, the materials are retrieved in the order from the inner grid nodes to the outer grid nodes. When the height of a grid node in a unit grid reaches the average height of the three adjacent outer grid nodes, it is confirmed that the height of the grid node in the unit grid meets the requirements, and the next grid node in the unit grid is used for material retrieval.

7. The operating method according to claim 1, characterized in that, A pre-built simulation model framework for dry bulk cargo loading terminals is adopted, including: The vehicle generation subsystem includes: vehicle objects, bulk cargo objects, unloading plan objects, vehicle generation objects, and unloading plan generation objects. The vehicle generation objects generate train / truck objects according to a predetermined schedule and assign corresponding variables to the train / truck objects. The unloading plan generation objects formulate unloading plans based on yard status information and stacking strategy rules, or based on historical train / truck loading data, and specify the type of cargo, cargo owner information, unloading stacking position, and corresponding loading quantity for the train / truck. The unloading subsystem includes: an unloading equipment allocation object, an unloading scheduling object, and an unloading process execution object. The unloading equipment allocation object allocates idle unloading equipment to the train / car after it arrives at the port, while ensuring the accessibility of the unloading stack and the unloading equipment. When the train / car begins unloading operations, the unloading scheduling object selects the currently available process based on the unloading equipment where the train / car is located and the stack specified in the unloading plan, and issues a process start command. The yard process subsystem includes: unloading equipment objects, unloading conveyor objects, yard loading and unloading equipment objects, yard basic unit objects, ship loading conveyor objects, ship loader objects, and yard management objects. The yard management objects are used to realize the management of the stacking positions in the yard and the stacking or retrieving operations of dry bulk cargo terminals. The ship loading subsystem includes: berth allocation objects, ship loader allocation objects, ship loading scheduling objects, and ship loading process execution objects; The ship generation subsystem includes: ship objects, cargo / ticket objects, loading plan objects, ship generation objects, and loading plan generation objects.

8. An operating device for a dry bulk cargo loading terminal, characterized in that, Applications to water-rail intermodal terminal systems include: A grid processing unit is used to perform unit grid processing on bulk cargo yards and update the yard status of each basic unit in real time through laser point cloud scanning. The unit grid processing refers to dividing the basic unit of the yard into a grid matrix. The yard status includes the position and height information of stacked goods in multiple unit grids in the basic unit of the yard. Each basic unit of the yard corresponds to a unit identifier. The unloading operation execution unit is used to execute the dock unloading operation process on the basic unit of the yard according to the yard status and the working status of each unloading equipment. The material handling execution unit is used to perform material handling operations on the stacked goods of the basic unit of the yard according to the yard status and the idle status of each ship loader. The operation status adjustment unit is used to dynamically adjust the storage and retrieving operation status of the basic units of the yard using a pre-built simulation model framework of the dry bulk cargo loading terminal, and to adjust the terminal berth allocation and yard cargo stacking and retrieval strategy.

9. An electronic device, characterized in that, It includes one or more processors and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the operating method for a dry bulk cargo loading terminal as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the operating method for a dry bulk cargo loading terminal as described in any one of claims 1 to 7.

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