Intelligent full-field dynamic position calculation method and system for container terminals

Abstract

The present invention discloses an intelligent full-yard dynamic position calculation method and system for container terminals. The method calculates the number of stacking yards required for containers according to the length of a ship, divides the calculated number of continuous stacking yards into a yard range near the berthing position of the ship, and then calculates the yard penalty for stacking in each yard for each unloaded container in combination with its container attributes and the number of containers with corresponding container attributes in each yard, as well as the site penalty for stacking in all sites within the yard range. Finally, for each site within the yard range, the sum of its site penalty and the site penalty of the stacking yard to which it belongs is calculated, and the site with the smallest sum of penalties is used as the target stacking site for the container. The present invention sets the site penalty for the container in the stacking yard according to the container attributes and the number of containers with the corresponding container attributes in the stacking yard, so as to achieve an effect of evenly distributing containers in the yard, so that the unloading of containers will not be clustered or too dispersed.

Description

Technical Field

[0001] The present invention belongs to the technical field of container terminals, and in particular relates to an intelligent full-field dynamic position calculation method and system for container terminals. Background Art

[0002] Large container terminals have achieved systematized production operations, with some already implementing automated algorithms for dispatching containers to the storage yard. Automatic dispatching involves finding a suitable location in the storage yard for a container after it has been unloaded from a ship or received at a gate.

[0003] There are usually two problems in the existing automatic container dispatching algorithm:

[0004] 1. Existing methods only select the optimal storage location within artificially defined areas of the yard, but this may not be the most appropriate location. 2. Containers are often stored entirely in one or two areas or scattered across many areas, sometimes even far apart. This causes congestion in the yard for receiving and sending containers, or excessive transport distances for AGVs, reducing terminal operating efficiency. Summary of the Invention

[0005] The present invention proposes an intelligent full-field dynamic positioning method and system for container terminals. The method calculates the scope of the terminal area according to the berthing position of the ship, calculates the number of existing container types in each yard within each area in real time, and evenly distributes the containers to be positioned, achieving the two goals of not being too concentrated or too dispersed, thereby avoiding congestion of receiving and sending boxes or excessive AGV transportation distances, reducing the tipping rate of container storage, and effectively improving terminal operating efficiency.

[0006] The present invention is achieved by adopting the following technical solutions:

[0007] A method for intelligent full-field dynamic position calculation in container terminals is proposed, including:

[0008] The scope of the yard is calculated based on the berth of the ship and the length of the ship; the yards are arranged continuously within the scope of the yard;

[0009] Real-time calculation of yard stockpile position for each unloaded container, including:

[0010] 1) Calculating the yard penalty points for each yard within the yard area; including:

[0011] For each container attribute Ai of a container, calculate the number of containers Qij with the container attribute Ai in each storage yard Dj within the area; where i = (1, 2, ..., N), N is the number of container attributes; j = (1, 2, ..., M), M is the number of storage yards within the area;

[0012] Obtaining a penalty factor Fij for unloading the container to the storage yard Dj based on the number Qij of containers with the container attribute Ai already in the storage yard Dj;

[0013] Calculate the yard penalty Fj of the container unloaded to the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes (A1, A2, ..., AN);

[0014] 2) Calculating the field position penalty points for all fields within the field area;

[0015] 3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs;

[0016] 4) The optimal storage location for the container is determined based on the minimum penalty points and the minimum storage location.

[0017] In some embodiments of the present invention, the penalty factor Fij for unloading the container to the storage yard Dj is obtained based on the number Qij of containers with the container attribute Ai already in the storage yard Dj, specifically including:

[0018] Set a threshold number L of the number of containers Qij with the container attribute Ai in each yard Dj;

[0019] The yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode; where Q is the number of containers with the same container attributes in the current yard, and pendeparmode is the penalty weight.

[0020] In some embodiments of the present invention, the method further comprises:

[0021] Calculate the required number of storage yards based on the length of the ship;

[0022] Selecting continuous storage yards adjacent to the ship to form the yard range; wherein the adjacent continuous storage yards meet the calculated number of storage yards;

[0023] Yard penalty points are allocated to all yards within the area according to the distance from the center point of the ship to the yard.

[0024] In some embodiments of the present invention, when calculating the yard penalty points for each yard within the yard area, the method further includes:

[0025] Yard penalty points are calculated based on vessel distribution, transport equipment operating distance, yard busyness, and double container factors.

[0026] When calculating the yard penalty points for each yard, all yard penalty points for the yard must be added together.

[0027] In some embodiments of the present invention, calculating the field position penalty points of all field positions within the field area includes:

[0028] The site penalty items are calculated based on whether there is a mixed stack, whether it is a cold box, box length, range attributes and floor height attributes;

[0029] Add up all calculated field position penalty items to get the field position penalty.

[0030] A container terminal intelligent full-field dynamic position calculation system is proposed, including:

[0031] The data pre-processing unit interfaces with the terminal operating system and terminal equipment management system to obtain loading and unloading data, container data, yard data, and vessel data. Based on the container data, it calculates the container's allocation group, range, and required positioning strategy. It processes the yard data into the data structure required by the system and calculates the yard area based on the vessel data. The yards within the yard area are arranged continuously.

[0032] The optimal storage yard location calculation unit is used to calculate the storage yard location for each unloaded container in real time, including:

[0033] 1) Calculating the yard penalty points for each yard within the yard area; including:

[0034] For each container attribute Ai of a container, calculate the number of containers Qij with the container attribute Ai in each storage yard Dj within the area; where i = (1, 2, ..., N), N is the number of container attributes; j = (1, 2, ..., M), M is the number of storage yards within the area;

[0035] Obtaining a penalty factor Fij for unloading the container to the storage yard Dj based on the number Qij of containers with the container attribute Ai already in the storage yard Dj;

[0036] Calculate the yard penalty Fj of the container unloaded to the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes (A1, A2, ..., AN);

[0037] 2) Calculating the field position penalty points for all fields within the field area;

[0038] 3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs;

[0039] 4) The optimal storage location for the container is determined based on the minimum penalty points and the minimum storage location.

[0040] In some embodiments of the present invention, the penalty factor Fij for unloading the container to the storage yard Dj is obtained based on the number Qij of containers with the container attribute Ai already in the storage yard Dj, specifically including:

[0041] Set a threshold number L of the number of containers Qij with the container attribute Ai in each yard Dj;

[0042] The yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode; where Q is the number of containers with the same container attributes in the current yard and pendeparmode is the penalty weight.

[0043] In some embodiments of the present invention, the optimal storage site calculation unit is further configured to:

[0044] Calculate the required number of storage yards based on the length of the ship;

[0045] Selecting continuous storage yards adjacent to the ship to form the yard range; wherein the adjacent continuous storage yards meet the calculated number of storage yards;

[0046] Yard penalty points are allocated to all yards within the area according to the distance from the center point of the ship to the yard.

[0047] In some embodiments of the present invention, when calculating the yard penalty for each yard within the yard area, the optimal storage yard location calculation unit calculates the yard penalty items separately according to the ship distribution, the operating distance of the transportation equipment, the yard busyness and the double-box factor; when calculating the yard penalty for each yard, all the yard penalty items of the yard need to be added together.

[0048] In some embodiments of the present invention, the optimal storage site calculation unit calculates the site penalty points of all sites within the site area, including:

[0049] The site penalty items are calculated based on whether there is a mixed stack, whether it is a cold box, box length, range attributes and floor height attributes;

[0050] Add up all calculated field position penalty items to get the field position penalty.

[0051] Compared with the existing technology, the advantages and positive effects of the present invention are as follows: in the intelligent full-yard dynamic position calculation method and system for container terminals proposed by the present invention, for berthing ships, the number of container yards required is calculated according to the length of the ship, and the continuous yards with the calculated number are divided into yard ranges near the berthing position of the ship. Then, for each unloaded container, the yard penalty for stacking in each yard is calculated in combination with its container attributes and the number of containers with corresponding container attributes in each yard, as well as the yard position penalty for stacking in all yards within the yard range. Finally, for each yard within the yard range, the sum of its yard position penalty and the yard penalty of the yard to which it belongs is calculated, and the yard position with the smallest sum of penalties is selected as the container The target storage yard for containers; through the above means, on the one hand, dynamic following between the yard and the ship is realized, and even if the berth of the ship changes temporarily, the optimal yard can be quickly followed; on the other hand, the yard penalty points of the container in the yard are set according to the container attributes and the number of containers with the same container attributes in the yard, which can achieve the effect of evenly distributing containers in the yard, so that the unloading of containers will not be piled up or too scattered; on the third hand, the yard penalty points can avoid serious flattening of containers and reduce the overturning rate of storage; through the linkage of these three aspects, the congestion of receiving and sending containers or the long transportation distance of AGVs can be avoided, the overturning rate of container storage can be reduced, and the technical effect of effectively improving the terminal operation efficiency is achieved.

[0052] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the algorithm steps of the intelligent full-field dynamic position calculation method for container terminals proposed by the present invention;

[0054] Figure 2 The figure shows the scope of the container terminal area provided in the intelligent full-field dynamic positioning method of the container terminal proposed in the present invention. DETAILED DESCRIPTION

[0055] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0056] In order to solve many problems in the automatic dispatching algorithm of existing container terminals, the present invention proposes an intelligent full-yard dynamic positioning method for container terminals, which can realize the automatic follow-up of the yard to the changes of ship berths, achieve balanced storage, and improve the operating efficiency of the terminal.

[0057] Specifically, such as Figure 1 As shown, the intelligent full-field dynamic position calculation method for container terminals proposed in the present invention includes the following steps:

[0058] Step S1: Initial input: including loading and unloading type, single container or double container.

[0059] Step S2: Container data preprocessing: Obtain the container type, calculate its allocation group, range, and the location calculation strategy to be used.

[0060] Among them, the allocation group indicates the type of container (determined by the size and import and export attributes of the container), and the range indicates the area of the yard where the container is placed (each yard is divided into multiple blocks, and each block is configured to place a type of container); the calculation strategy determines whether to select the import strategy or the export strategy based on the flow type and departure type of the container. If there is a flow type, it will be judged first based on the flow type, which includes import, export, and overturning. If there is no flow type, it will be judged based on the departure type, which includes TRUCK (container trucking is equivalent to import) and VESSEL (shipping is equivalent to export).

[0061] Step S3: yard data preprocessing: including obtaining yard data and processing it into the data structure required by the system.

[0062] Step S4: Ship data preprocessing: including calculating the site range based on the ship berth and ship length.

[0063] First, the number of required yards can be calculated based on the length of the ship. The longer the ship, the more cargo it carries, the more containers it needs to load and unload, and the more yards it needs to operate. A pre-set ratio M for the number of yards required and the length of the ship can be used to calculate the number of required yards, D, by multiplying the ship length by the ratio M.

[0064] Next, select D consecutively arranged storage yards adjacent to the ship to form the yard area, such as Figure 2 As shown in the figure, in the existing terminal operation plan, there is a situation where the ship berth changes relative to the original plan. When the ship berth changes, the planned yard position must also be adapted and changed accordingly, which will lead to several problems such as yard plan conflicts. Finally, the yard plan will be unreasonable, with either the container distribution being too concentrated or the container distribution being too dispersed. However, based on the implementation of this step of the present invention, when the ship berth changes, the yard area will also change. There is no need to recalculate the yard in combination with the changed position of the ship and the yard allocation of other ships, which can reduce the difficulty of planning. This point can be combined with the subsequent yard storage calculation method to achieve more obvious implementation effects.

[0065] Finally, a yard penalty Fj1 is assigned to all yards within the area based on the distance from the ship's center (point O in the diagram) to the yard (which can be the distance between the ship's center and the end of the yard, or the perpendicular distance from the ship's center to the extension of the yard). Here, j is the yard number (1, 2, ..., D), and D is the number of yards within the area. This penalty ensures that containers are unloaded at a nearby yard, reducing the distance transport equipment must travel to deliver containers.

[0066] Step S5: Calculate the storage location of each unloaded container in real time.

[0067] In the present invention, for each container unloaded from a ship, the yard penalty and location penalty are calculated in real time based on the current yard storage situation or conditions. The minimum yard penalty and location is used as the storage location for the container. In other words, given the dynamic changes in the yard storage situation, the yard penalty and location penalty calculated for each container also change dynamically. Specifically, the calculation is as follows:

[0068] (1) Calculate the yard penalty points for each yard within the yard area.

[0069] 1. As shown in Table 1 below, for each container attribute Ai, calculate the number of containers Qij with the container attribute Ai in each yard Dj within the yard area.

[0070] Table 1

[0071]

[0072] Here, i = (1, 2, ..., N), N is the number of container attributes; j = (1, 2, ..., M), M is the number of storage yards within the area.

[0073] 2. Based on the number of containers Qij with container attributes Ai in the yard Dj, the penalty factor Fij for unloading the container to the yard Dj is obtained.

[0074] The number of containers Qij with the container attribute Ai in the yard Dj can be directly used as the penalty factor Fij. For example, when the number of containers Q11 with the container attribute A1 in the yard D1 is 7, 7 is directly used as the penalty factor Fij=7.

[0075] Alternatively, a threshold number L is set for the number of containers Qij with container attribute Ai in each yard Dj, and the yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode; where Q is the number of containers with the same container attributes in the current yard, and pendeparmode is the penalty weight; for example, the threshold number Q11 of containers with container attribute A1 in the yard D1 is 20. When Q11 is 25 and pendeparmode is set to 0.7, the yard penalty F11 for unloading the container to the yard D1 is F11 = (25+1-20)*0.7 = 4.2.

[0076] Here, "pendeparmode" is the factor assigned to the impact of container attributes on the calculation of yard penalties. Other factors affecting the yard penalty, such as ship distribution, transportation equipment operating distance, yard busyness, and double container factors, can be set based on their actual impact on yard storage. In this embodiment of the present invention, to achieve balanced storage of containers in the yard, the impact of container attributes on the yard penalty is set high, while other influencing factors are set relatively low.

[0077] The ship distribution method is to calculate the number of storage yards by multiplying the length of the ship by a proportional coefficient. The required storage yard is selected with the center of the ship as the midpoint. Bonus points are awarded to storage yards within this area, while no bonus points are awarded to storage yards outside the area. The longer the operating distance of the transport equipment, the higher the penalty points. The busier the storage yard, the higher the penalty points. The double-box factor means that bonus points are awarded if double containers can be placed in the double-box location, while penalty points are awarded if they cannot.

[0078] Influence factors are set for container attributes to influence penalty calculations. The goal is to prevent containers with the same attributes from being piled up too frequently in one yard or area to avoid congestion of transport equipment, while also preventing them from being piled too widely across several yards or areas to avoid transport equipment having to travel too far.

[0079] 3. Calculate the yard penalty Fj of the container unloaded at the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes (A1, A2, ..., AN).

[0080] For example, the yard penalty F1 for unloading a container into the yard D1 is obtained by calculating F11+F21+...+FN1.

[0081] 4. Add all yard penalty points in the yard.

[0082] That is, in addition to the yard penalty Fj, other factors affecting the yard (such as the aforementioned ship distribution, transportation equipment operating distance, yard busyness, and double container factors) are added together to form the final yard penalty for unloading containers to the yard Dj.

[0083] (2) Calculate the field position penalty points for all fields within the field area.

[0084] Each yard has a number of yard locations. The present invention calculates the yard location penalty Cij for unloading a container to each yard location for all yard locations in all yards within the yard area.

[0085] In the embodiment of the present invention, whether a stack is mixed, whether a cold box is used, box length, range attribute, and floor height attribute are used as site penalty items, and all calculated site penalty items are added together to obtain the site penalty score.

[0086] Among them, whether it is in mixed stacking, if it is mixed stacking, penalty points will be given; whether it is in cold box, if the cold box goes to the physical cold box position, it will be awarded points, otherwise it will be prohibited or penalized; in terms of container length, if the container is 20 feet, it will be penalized if it occupies 40 feet or 45 feet of physical position, and if the container is 40 feet, it will be penalized if it occupies two 20 feet or 45 feet of physical position, etc., that is, penalty points will be given if the length is inconsistent with the occupied physical position, but it is not an absolute prohibition; range attribute refers to the attribute range of the yard, such as bonus points for occupying within the range of the import container area, and penalty points for exceeding it; layer height attribute means that the column cannot be too high or can be laid flat all the time, so a penalty point will be given for each column opened, and a penalty point will be given if it is n layers higher than the surrounding containers.

[0087] (3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs.

[0088] For example, if the container is stacked at location CW23 of yard D2, the sum of the location penalty C23 of location CW23 and the penalty F2 of yard D2 is calculated as C23+D2 to obtain the sum of the penalty points for stacking the container at location CW23 of yard D2.

[0089] (4) The penalty points and the smallest storage location are determined as the optimal storage location for the container.

[0090] Through the above-mentioned means, the present invention, on the one hand, realizes dynamic following between the yard and the ship, and can quickly follow the optimal yard even if the berth of the ship changes temporarily; on the other hand, the yard penalty points of the container in the yard are set according to the container attributes and the number of containers with the same container attributes in the yard, which can achieve the effect of evenly distributing containers in the yard, so that the unloading of containers will not be piled up or too scattered; on the third hand, the yard penalty points can avoid serious flattening of containers and reduce the overturning rate of storage; through the linkage of these three aspects, it is achieved to avoid congestion of receiving and sending boxes or excessive transportation distance of AGV, reduce the overturning rate of container storage, and effectively improve the technical effect of terminal operation efficiency.

[0091] The present invention further proposes an intelligent full-field dynamic position calculation system for a container terminal, which implements the above-mentioned intelligent full-field dynamic position calculation method for a container terminal, comprising:

[0092] The data preprocessing unit connects with the terminal operating system and terminal equipment management system to obtain loading and unloading data, container data, yard data, and ship data. It calculates the container's allocation group, range, and positioning strategy based on the container data, processes the yard data into the data structure required by the system, and calculates the yard area based on the ship data. The yards within the yard area are arranged continuously.

[0093] The optimal storage yard location calculation unit is used to calculate the storage yard location for each unloaded container in real time, including:

[0094] 1) Calculating the yard penalty points for each yard within the yard area; including:

[0095] For each container attribute Ai of a container, calculate the number of containers Qij with the container attribute Ai in each storage yard Dj within the area; where i = (1, 2, ..., N), N is the number of container attributes; j = (1, 2, ..., M), M is the number of storage yards within the area;

[0096] Based on the number of containers Qij with the container attribute Ai already in the yard Dj, a penalty factor Fij for unloading the container to the yard Dj is obtained;

[0097] Calculate the yard penalty Fj of the container unloaded to the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes (A1, A2, ..., AN);

[0098] 2) Calculating the field position penalty points for all fields within the field area;

[0099] 3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs;

[0100] 4) The optimal storage location for the container is determined based on the minimum penalty points and the minimum storage location.

[0101] 7. The intelligent dynamic position calculation system for container terminals according to claim 6, characterized in that the penalty factor Fij for unloading the container to the yard Dj is obtained based on the number Qij of containers with the container attribute Ai already in the yard Dj, specifically comprising:

[0102] Set a threshold number L of the number of containers Qij with the container attribute Ai in each yard Dj;

[0103] The yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode; where Q is the number of containers with the same container attributes in the current yard and pendeparmode is the penalty weight.

[0104] The optimal storage yard calculation unit is further configured to: calculate the required number of storage yards based on the length of the ship; select continuous storage yards adjacent to the ship to form the storage area; wherein the adjacent continuous storage yards meet the calculated number of storage yards; and assign storage yard penalty points to all storage yards within the storage area based on the distance from the center point of the ship to the storage yard.

[0105] When calculating the yard penalty points for each yard within the area, the optimal storage yard location calculation unit calculates the yard penalty points separately according to the distribution of ships, the operating distance of transportation equipment, the busyness of the yard, and the double-container factor; when calculating the yard penalty points for each yard, all the yard penalty points of the yard need to be added together.

[0106] The optimal storage site calculation unit calculates site penalties for all sites within the site area, including: calculating site penalty items according to whether there is a mixed stack, whether there is a cold box, box length, range attribute and layer height attribute; and adding up all calculated site penalty items to obtain the site penalty.

[0107] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. The intelligent full-field dynamic position calculation method for container terminals is characterized by: include: Calculate the scope of the yard based on the berth and length of the ship; The storage yards are arranged continuously within the said area; Real-time calculation of yard stockpile position for each unloaded container, including: 1) Calculate the yard penalty points for each yard within the designated area, including: For each container attribute Ai of a container, calculate the number of containers Qij with the container attribute Ai in each storage yard Dj within the area; where i = 1, 2, ..., N, N is the number of container attributes; j = 1, 2, ..., M, M is the number of storage yards within the area; Obtaining a penalty factor Fij for unloading the container to the storage yard Dj based on the number Qij of containers with the container attribute Ai already in the storage yard Dj; Calculate the yard penalty Fj of the container unloaded to the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes A1, A2, ..., AN; 2) Calculate the field position penalty points for all fields within the field area; 3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs; 4) The penalty points and the minimum storage location are used as the optimal storage location for the container; The penalty factor Fij for unloading the container to the storage yard Dj is obtained based on the number Qij of containers with the container attribute Ai already in the storage yard Dj, specifically including: Set a threshold number L of the number of containers Qij with the container attribute Ai in each yard Dj; The yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode, where Q is the number of containers with the same container attributes in the current yard and pendeparmode is the penalty weight.

2. The intelligent full-field dynamic position calculation method for container terminals according to claim 1 is characterized in that: The method further comprises: Calculate the required number of storage yards based on the length of the ship; Selecting continuous storage yards adjacent to the ship to form the yard range; wherein the adjacent continuous storage yards meet the calculated number of storage yards; Yard penalty points are allocated to all yards within the area according to the distance from the center point of the ship to the yard.

3. The intelligent full-field dynamic position calculation method for container terminals according to claim 1 is characterized in that: When calculating the yard penalty points for each yard within the yard area, the method further includes: Yard penalty points are calculated based on vessel distribution, transport equipment operating distance, yard busyness, and double container factors. When calculating the yard penalty points for each yard, all yard penalty points for the yard must be added together.

4. The intelligent full-field dynamic position calculation method for container terminals according to claim 1 is characterized in that: Calculate the position penalties for all positions within the specified area, including: The site penalty items are calculated based on whether there is a mixed stack, whether it is a cold box, box length, range attributes and floor height attributes; Add up all calculated field position penalty items to get the field position penalty.

5. An intelligent full-field dynamic position calculation system for container terminals, characterized by: include: The data pre-processing unit interfaces with the terminal operating system and terminal equipment management system to obtain loading and unloading data, container data, yard data, and vessel data. Based on the container data, it calculates the container's allocation group, range, and required positioning strategy. It processes the yard data into the data structure required by the system and calculates the yard area based on the vessel data. The yards within the yard area are arranged continuously. The optimal storage yard location calculation unit is used to calculate the storage yard location for each unloaded container in real time, including: 1) Calculate the yard penalty points for each yard within the designated area, including: For each container attribute Ai of a container, calculate the number of containers Qij with the container attribute Ai in each storage yard Dj within the area; where i = 1, 2, ..., N, N is the number of container attributes; j = 1, 2, ..., M, M is the number of storage yards within the area; Obtaining a penalty factor Fij for unloading the container to the storage yard Dj based on the number Qij of containers with the container attribute Ai already in the storage yard Dj; Calculate the yard penalty Fj of the container unloaded to the yard Dj by the sum of the penalty factors Fij corresponding to all container attributes A1, A2, ..., AN; 2) Calculate the field position penalty points for all fields within the field area; 3) For each site within the site area, calculate the sum of its site penalty points and the yard penalty points of the yard to which it belongs; 4) The penalty points and the minimum storage location are used as the optimal storage location for the container; The penalty factor Fij for unloading the container to the storage yard Dj is obtained based on the number Qij of containers with the container attribute Ai already in the storage yard Dj, specifically including: Set a threshold number L of the number of containers Qij with the container attribute Ai in each yard Dj; The yard penalty Fij for unloading the container to the yard Dj is calculated based on (Q+1-L)*pendeparmode, where Q is the number of containers with the same container attributes in the current yard and pendeparmode is the penalty weight.

6. The intelligent full-field dynamic position calculation system for container terminals according to claim 5 is characterized in that: The optimal storage site calculation unit is further used to: Calculate the required number of storage yards based on the length of the ship; Selecting continuous storage yards adjacent to the ship to form the yard range; wherein the adjacent continuous storage yards meet the calculated number of storage yards; Yard penalty points are allocated to all yards within the area according to the distance from the center point of the ship to the yard.

7. The intelligent full-field dynamic position calculation system for container terminals according to claim 5 is characterized in that: When calculating the yard penalty points for each yard within the yard area, the optimal storage yard location calculation unit calculates the yard penalty points separately according to the distribution of ships, the operating distance of transportation equipment, the busyness of the yard, and the double-container factor; when calculating the yard penalty points for each yard, all the yard penalty points of the yard need to be added together.

8. The intelligent full-field dynamic position calculation system for container terminals according to claim 5 is characterized in that: The optimal storage site calculation unit calculates site penalties for all sites within the site area, including: The site penalty items are calculated based on whether there is a mixed stack, whether it is a cold box, box length, range attributes and floor height attributes; Add up all calculated field position penalty items to get the field position penalty.

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