A synchronous loading and unloading control method and medium based on automated container terminal

Abstract

The present invention proposes a synchronous loading and unloading control method based on an automated container terminal, which is applied to an automated container terminal including a front side, a quay crane, a yard, several yard rail cranes and multiple IGVs. The control method includes: unloading all containers in a column in a bay on an empty cargo ship through a quay crane; looping a synchronous loading and unloading process, each synchronous loading and unloading process includes the following steps: S21 loading the export container of the yard onto an IGV; S22 controlling the IGV to transport the export container to the front side of the automated container terminal; S23 loading the export container on the IGV onto the cargo ship, and then unloading the import container of the cargo ship onto the IGV; S24 controlling the IGV to transport the import container to the yard; S25 unloading the import container on the IGV to the yard. The present invention also proposes a medium for applying the above method. The present invention improves the heavy load utilization rate of the IGV operation of the automated container terminal and improves the operation efficiency of container loading and unloading at the terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of automated control of container terminals, and in particular to a synchronous loading and unloading control method and medium based on an automated container terminal. Background Art

[0002] With the development of world economic trade, the volume of maritime cargo transportation continues to increase. Currently, more than 75% of international trade goods are transported by sea. As ports are important nodes in maritime cargo transportation, improving their operating efficiency is also a top priority.

[0003] In the current automated terminal ship loading and unloading process, the traditional loading and unloading operation mode is "unloading first and then loading", that is, in the traditional loading and unloading operation mode, in order to reduce the interference between loading and unloading operations, the ship is usually unloaded. Figure 1 As shown in the figure, when the quay crane A unloads the ship at bay 3, after receiving the unloading task, the empty IGVx goes from the yard side to the front side and arrives at the bottom of the quay crane A for unloading operations. After the container a is loaded, it turns out of the front side and arrives at the yard for delivery. Only after all the containers in bay 3 are unloaded, the quay crane A can load the ship at bay 3. After all the imported containers are unloaded, the export containers can be loaded. In the current automated terminal operation process, there is no function of synchronous loading and unloading of the quay crane, and the current "unloading first and loading later" loading and unloading operation mode during the operation of the quay crane cannot meet the current operation efficiency of the quay crane. There are disadvantages such as large IGV traffic at the entrance and exit channels, large traffic pressure at the entrance and exit channels, and large traffic pressure under the quay crane.

[0004] Under the traditional loading and unloading operation mode, after the IGV delivers an export box from the yard to the shore and loads it onto the ship, it travels empty to the yard to receive the next task. During an operation cycle between the yard and the shore, the IGV's overload rate is about 50%, which is far from meeting the requirements for efficient operation of automated container terminals. Summary of the invention

[0005] In view of this, it is necessary to propose a synchronous loading and unloading control method and medium based on an automated container terminal to address the above-mentioned problems, so as to overcome several shortcomings in the above-mentioned background technology, thereby solving the technical problem of how to improve the efficiency of synchronous loading and unloading of quay cranes by dispatching IGV vehicle groups.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention proposes a synchronous loading and unloading control method based on an automated container terminal, which is applied to an automated container terminal including a front side, a quay crane, a yard, a plurality of yard rail cranes and a plurality of IGVs. The synchronous loading and unloading control method comprises the following steps:

[0008] Step S1, unloading all containers in a column in a bay on a cargo ship by using a quay crane;

[0009] Step S2, cyclically executing a synchronous loading and unloading process, each synchronous loading and unloading process includes the following steps:

[0010] Step S21, loading the export container from the yard into an IGV;

[0011] Step S22, controlling the IGV to transport the export container to the front side of the automated container terminal;

[0012] Step S23, loading the export container on the IGV onto a cargo ship, and then unloading the import container of the cargo ship onto the IGV;

[0013] Step S24, controlling the IGV to transport the import container to the yard;

[0014] Step S25, unloading the imported container on the IGV to the storage yard.

[0015] Furthermore, in the second and / or subsequent synchronous loading and unloading processes, an additional IGV task is executed for loading and unloading, and the execution process of the additional IGV task for loading and unloading is as follows:

[0016] In step S22, in the process of the IGV traveling to the front side, when the IGV performs the loading task, the IGV is marked with a mark that satisfies synchronous loading and unloading, and at this time the IGV is a marked IGV; then the marked IGV is transferred to the corresponding quay crane for cooperative operation, and at this time the IGV is the marked operation IGV under the quay crane; then it is determined whether the quay crane that has completed the operation of the marked operation IGV under the quay crane is in a discontinuity state, and the discontinuity state is that the IGV under the quay crane does not cooperate with the quay crane. If it is determined to be yes, the empty IGV of the automated container terminal needs to be controlled to drive under the quay crane for operation. If it is determined to be not, there is no need to control the empty IGV of the automated container terminal to drive under the quay crane for operation.

[0017] Furthermore, in step S23, the same IGV continuously performs the action of first unloading the export container and then loading the import container in the same bay of the same cargo ship.

[0018] Furthermore, in step S2, multiple IGVs are controlled simultaneously to form an IGV fleet, and each IGV in the IGV fleet queues up in sequence to execute step S21, then queues up in sequence to execute step S22, then queues up in sequence to execute step S23, then queues up in sequence to execute step S24, and then queues up in sequence to execute step S25. The IGV fleet executes the synchronous loading and unloading process in this way in a cycle.

[0019] Furthermore, the automated container terminal also includes a TOS system; the TOS system is used to schedule IGVs and confirm the demand Y for IGVs for unloading the corresponding cargo ship; the IGV that performs the loading task will automatically deduct the demand Y for IGVs for unloading the corresponding cargo ship after completing the yard unloading task. When the deduction is successful, the IGV that has completed the yard unloading task will be marked for synchronous loading and unloading, that is, the marked IGV that has completed the yard unloading task is IGVXa.

[0020] Furthermore, the demand for IGVs for unloading a given cargo ship is Y = max(a,b) - X a (1)

[0021] The demand for IGVs for loading a specific cargo ship is X = max(c, d) (2)

[0022] In formula (1), a is the number of IGVs remaining in the unloading IGV queue, b is the upper limit of the number of unloading IGVs configured by the quay crane, and X a IGVXa; the IGV queue is a queue grouping including at least two IGVs;

[0023] In formula (2), c is the number of IGVs remaining in the loading IGV queue, and d is the upper limit of the number of loading IGVs configured by the quay crane; the IGV queue is a queue grouping including at least two IGVs.

[0024] Furthermore, the process of judging whether the quay crane is in a broken state is as follows:

[0025] Step S221, calculate according to the target efficiency set by the quay crane to obtain the required loading time value T; obtain the loading and unloading efficiency according to the total time T2 spent by the quay crane for loading and unloading by operating a single-box / double-box twin crane;

[0026] Step S222, determine whether the loading demand time value meets the loading and unloading operation efficiency. If it is judged as no, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged as yes, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

[0027] Further, in step S22, the required loading time value T=the time taken by the yard rail crane for the IGV to grab a container T1+the total time taken by the quay crane to load and unload a single container / double container twin crane T2+the time taken by the IGV to go from the starting position to the yard T3 calculated according to a time matrix+the time taken by the IGV to go to the quay crane after the yard operation is completed T4;

[0028] Determine whether T≥T2*(X-1) is satisfied. If it is judged to be negative, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged to be positive, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

[0029] Further, in step S2, when the number a of IGVs remaining in the unloading IGV queue increases, the calculation of the demand Y for IGVs corresponding to the designated cargo ship is repeated;

[0030] In step S2, when the number a of remaining dispatchable IGVs in the unloading IGV queue decreases, if the remaining dispatchable IGVs in the unloading IGV queue have not been dispatched, the calculation of the demand Y for the unloading IGVs of the corresponding designated cargo ship is directly canceled; if the remaining dispatchable IGVs in the unloading IGV queue have been dispatched, the dispatcher decides to arrange the unloading and container receiving IGVs that exceed the demand according to the demand Y for the unloading IGVs of the corresponding designated cargo ship; when the empty IGV performing unloading + the IGV performing the loading and container delivery task marked with synchronous loading and unloading > the number of IGVs that meet the demand of the remaining unloading queue, the mark of the synchronous loading and unloading IGV is canceled first; if the number of IGVs is still greater than the demand after all marks are canceled, the container receiving task of the empty unloading IGV is canceled again;

[0031] In step S2, when the number c of the remaining dispatchable IGVs in the shipping IGV queue increases, the demand for the remaining dispatchable IGVs in the shipping IGV queue is calculated, and then it is decided to arrange the dispatch of the empty IGV for shipping and receiving containers, and then step S21 is executed;

[0032] In step S2, the remaining dispatchable IGVs in the loading IGV queue cancel tasks or cancel scheduling, so that the undispatched IGVs do not generate dispatch requirements, and the dispatched loading IGVs automatically cancel tasks, and at the same time, the loading and unloading mark of the designated IGV that generates dispatch requirements is removed, and then the number c of the remaining dispatchable IGVs in the loading IGV queue is recalculated;

[0033] In step S2, the remaining dispatchable IGVs in the loading IGV queue are cancelled when they have boarded, and the IGV does not perform the loading task.

[0034] The present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the synchronous loading and unloading control method based on an automated container terminal as described in any one of the above items are implemented.

[0035] The beneficial effects of the present invention are:

[0036] The present invention improves the heavy-load utilization rate of IGVs and the operating efficiency of container loading and unloading in automated container terminals; the present invention also changes the operating sequence of the quay crane, improves the operating efficiency of the quay crane, and realizes the "full load in and full load out" requirement of the quay crane for lifting containers for the IGV within one operating cycle, and ensures the "full load in and full load out" requirement of the IGV in the yard and the shore; the present invention also reduces the traffic flow in the IGV entrance and exit channels, reduces the traffic pressure on the IGV at the entrance and exit channels, and reduces the traffic pressure under the quay crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0038] Figure 1 It is a schematic diagram of the on-site operation scene of the traditional loading and unloading operation mode in the prior art;

[0039] Figure 2 It is a schematic diagram of the on-site operation scene of the IGV of the automated container terminal in Example 2 according to the present invention performing the full-load in and full-load out process;

[0040] Figure 3 It is a schematic diagram of a field operation scene when an empty IGV exists in the quay crane of the automated container terminal in Example 2 of the present invention;

[0041] Figure 4 It is a schematic diagram of a field operation scene when there is no empty IGV in the quay crane of the automated container terminal in Example 2 of the present invention;

[0042] Figure 5 The present invention is a workflow diagram of a synchronous loading and unloading control method based on an automated container terminal. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0045] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0046] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0047] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0048] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0049] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0050] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0051] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0052] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0053] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0054] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0055] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0056] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0057] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0058] Example 1

[0059] like Figure 5 As shown:

[0060] This embodiment proposes a synchronous loading and unloading control method based on an automated container terminal, which is applied to an automated container terminal including a front side, a quay crane, a yard, a plurality of yard rail cranes and a plurality of IGVs. The synchronous loading and unloading control method includes the following steps:

[0061] Step S1, unloading all containers in a column in a bay on a cargo ship by using a quay crane;

[0062] Step S2, cyclically executing a synchronous loading and unloading process, each synchronous loading and unloading process includes the following steps:

[0063] Step S21, loading the export container from the yard into an IGV;

[0064] Step S22, controlling the IGV to transport the export container to the front side of the automated container terminal;

[0065] Step S23, loading the export container on the IGV onto a cargo ship, and then unloading the import container of the cargo ship onto the IGV;

[0066] Step S24, controlling the IGV to transport the import container to the yard;

[0067] Step S25, unloading the imported container on the IGV to the storage yard.

[0068] Optimally, in the second and / or subsequent synchronous loading and unloading processes, an additional IGV task for loading is executed, and the execution process of the additional IGV task for loading is as follows:

[0069] In step S22, in the process of the IGV traveling to the front side, when the IGV performs the loading task, the IGV is marked with a mark that satisfies synchronous loading and unloading, and at this time the IGV is a marked IGV; then the marked IGV is transferred to the corresponding quay crane for cooperative operation, and at this time the IGV is the marked operation IGV under the quay crane; then it is determined whether the quay crane that has completed the operation of the marked operation IGV under the quay crane is in a discontinuity state, and the discontinuity state is that the IGV under the quay crane does not cooperate with the quay crane. If it is determined to be yes, the empty IGV of the automated container terminal needs to be controlled to drive under the quay crane for operation. If it is determined to be not, there is no need to control the empty IGV of the automated container terminal to drive under the quay crane for operation.

[0070] Optimally, in step S23, the same IGV continuously performs the actions of first unloading the export container and then loading the import container in the same bay of the same cargo ship.

[0071] Optimally, in step S2, multiple IGVs are controlled simultaneously to form an IGV fleet, and each IGV in the IGV fleet queues up in sequence to execute step S21, then queues up in sequence to execute step S22, then queues up in sequence to execute step S23, then queues up in sequence to execute step S24, and then queues up in sequence to execute step S25. The IGV fleet executes the synchronous loading and unloading process in this way in a cycle.

[0072] Optimally, the automated container terminal also includes a TOS system; the TOS system is used to schedule IGVs and confirm the demand Y for IGVs for unloading the corresponding cargo ship; the IGV that performs the loading task will automatically deduct the demand Y for IGVs for unloading the corresponding cargo ship after completing the yard unloading task. When the deduction is successful, the IGV that has completed the yard unloading task will be marked for synchronous loading and unloading, that is, the marked IGV that has completed the yard unloading task is IGVXa.

[0073] Specifically, Figure 2 As shown, when IGVx receives the loading and container receiving task from bay 3 at the yard side and goes to the destination yard 1 to load container b, IGVx drives to the front side and arrives at the bottom of quay crane A for loading operations. After container b is on board, IGVx stays at the bottom of the bridge and waits for quay crane A to place container a on IGVx. After IGVxz loads container a, it drives to the yard side to complete the container delivery task.

[0074] Specifically, the function of the synchronous loading and unloading mark is: after the empty IGV receives the task of unloading from the yard, it goes to the yard to unload the container. When the container is loaded on the IGV, it is determined whether the synchronous loading and unloading conditions are met, that is, if there is space on the ship for loading, the synchronous loading and unloading mark can be marked, thereby offsetting the demand Y for IGV for unloading of the corresponding cargo ship.

[0075] Optimally, the demand for IGVs for unloading a given cargo ship is Y = max(a,b) - X a (1)

[0076] The demand for IGVs for loading a specific cargo ship is X = max(c, d) (2)

[0077] In formula (1), a is the number of IGVs remaining in the unloading IGV queue, b is the upper limit of the number of unloading IGVs configured by the quay crane, and X a IGVXa; the IGV queue is a queue grouping including at least two IGVs;

[0078] In formula (2), c is the number of IGVs remaining in the loading IGV queue, and d is the upper limit of the number of loading IGVs configured by the quay crane; the IGV queue is a queue grouping including at least two IGVs.

[0079] Optimally, the process of judging whether the quay crane is in a broken state is as follows:

[0080] Step S221, calculate according to the target efficiency set by the quay crane to obtain the required loading time value T; obtain the loading and unloading efficiency according to the total time T2 spent by the quay crane for loading and unloading single-box / double-box twin cranes; then execute step S222;

[0081] Step S222, determine whether the loading demand time value meets the loading and unloading operation efficiency. If it is judged as no, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged as yes, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

[0082] Optimally, in step S22, the required loading time value T = the time taken by the yard rail crane for the IGV to grab a container T1 + the total time taken by the quay crane to load and unload a single container / double container double crane T2 + the time taken by the IGV to go to the yard from the starting position calculated according to a time matrix T3 + the time taken by the IGV to go to the quay crane after the yard operation is completed T4;

[0083] Determine whether T≥T2*(X-1) is satisfied. If it is judged to be negative, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged to be positive, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

[0084] Specifically, the time matrix is ​​used to select IGVs. The time of the time matrix is ​​needed in the vehicle selection process. A time value is obtained through the rated efficiency of the IGV, that is, the vehicle with the smallest time cost is selected through the time cost from point m to point n.

[0085] Optimally, in step S2, when the number of dispatchable IGVs remaining in the unloading IGV queue increases, the calculation of the demand quantity Y for unloading IGVs corresponding to the designated cargo ship is repeated;

[0086] In step S2, when the number a of remaining dispatchable IGVs in the unloading IGV queue decreases, if the remaining dispatchable IGVs in the unloading IGV queue have not been dispatched, the calculation of the demand Y for unloading IGVs for the corresponding designated cargo ship will be directly canceled; if the remaining dispatchable IGVs in the unloading IGV queue have been dispatched (i.e., empty unloading IGVs + IGVs with synchronous loading and unloading marks for loading and delivering containers ≥ the number of IGVs required in the remaining unloading queue), the dispatcher will decide to arrange the unloading and container receiving IGVs that exceed the demand according to the demand Y for unloading IGVs for the corresponding designated cargo ship; when the empty IGV performing unloading + the IGV performing loading and delivering tasks with synchronous loading and unloading marks > the number of IGVs that meet the demand of the remaining unloading queue, the mark of the synchronous loading and unloading IGV will be canceled first; if the number of IGVs is still greater than the required number after all marks are canceled, the container receiving task of the empty unloading IGV will be canceled again.

[0087] Specifically, the remaining dispatchable IGVs in the unloading IGV queue include IGVs that have not been dispatched for unloading and IGVs that have only triggered the task of loading and receiving containers.

[0088] Specifically, the number of empty unloading IGVs + the number of synchronous loading and unloading marked loading and container-delivering IGVs ≥ the number of IGVs required in the remaining unloading queue.

[0089] Optimally, in step S2, when the number c of the remaining dispatchable IGVs in the shipping IGV queue increases, the demand for the remaining dispatchable IGVs in the shipping IGV queue is calculated, and then it is decided to arrange the dispatch of the empty IGV for shipping and receiving containers, and then step S21 is executed;

[0090] Optimally, in step S2, the remaining dispatchable IGVs in the loading IGV queue have their tasks canceled or their scheduling canceled (i.e., the container is not loaded on the IGV), so that the IGVs that have not been dispatched do not generate a dispatch demand, and the dispatched loading IGVs automatically cancel their tasks, and at the same time, the mark of the designated IGV that generates a dispatch demand for loading and unloading is removed, and then the number c of the remaining dispatchable IGVs in the loading IGV queue is recalculated.

[0091] Optimally, in step S2, the remaining dispatchable IGVs in the loading IGV queue are canceled from the scheduling task when they have boarded the vehicle, and this IGV does not perform the loading task; specifically, the IGV does not perform the loading task means that this IGV is not included in the scheduling calculation and does not go to the bottom of the quay bridge for operation. At this time, the loading and unloading mark of the loading demand is removed, and the overall scheduling is recalculated based on the above loading demand.

[0092] This embodiment further proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the synchronous loading and unloading control method based on an automated container terminal as described in any one of the above items are implemented.

[0093] Example 2

[0094] Embodiment 2 is an optimized design of any technical solution in Embodiment 1;

[0095] like Figure 2-Figure 4 As shown:

[0096] The synchronous loading and unloading process specifically includes starting the synchronous loading and unloading quay crane to calculate the vehicle dispatch demand and perform time processing, then marking the IGV for loading and delivering containers on the quay crane, and waiting for the containers on the loading IGV to be loaded on board. The marked IGV directly receives the unloading task container under the quay crane and then transfers it to the yard for storage, which is an IGV cycle operation process.

[0097] Optimized, the synchronous loading and unloading process involves the opening and closing of synchronous loading and unloading, the calculation of vehicle dispatching requirements and the processing of demand time, the IGV status change logic during synchronous loading and unloading, and the execution logic of the quay crane;

[0098] Generally, during the operation, there are not only a single loading and unloading queue, but also multiple loading and unloading queues on the same quay crane. For the traditional "unloading first and loading later" loading and unloading mode, the loading and unloading queues will be strictly checked to see if they are continuous, i.e., first unload at bay 1, then unload at bay 2, then load at bay 2, and then unload at bay 3. At this time, the quay crane loading and unloading queues should be strictly arranged in the order of unloading 1-unloading 2-loading 2-unloading 3.

[0099] The synchronous loading and unloading opening and closing is set by the TOS system in units of quay cranes. When the synchronous loading and unloading function is turned on, it is determined whether there is a queue number that can be used for synchronous loading and unloading, and the subsequent loading queue number of the same bay is searched from the unloading queue. That is, when unloading bay 2 at this time, after the unloading queue of bay 2, it starts to search whether there is a loading instruction for bay 2. At this time, it is not checked whether the queue is continuous, that is, the loading and unloading queues at this time do not need to be sorted in the strict order of unloading 2-loading 2;

[0100] The vehicle dispatch demand calculation includes the unloading demand Y (i.e., the demand for IGVs corresponding to the unloading of the cargo ship Y) and the loading demand X;

[0101] Loading demand X: find the loading queue at the same position after the unloading queue, determine whether a demand for unloading vehicles is required after the loading demand is generated, and perform associated processing on the unloading demand after the container is received on board; Figure 3 As shown in the figure, when IGVx completes the operation at the bottom of the quay crane A, there may be an idle period at the bottom of the quay crane, that is, there is no IGV operation at the bottom of the bridge, and the quay crane stops working and waits for the IGV. Therefore, it is necessary to determine whether there is a need for unloading after the loading demand is generated, and to intersperse empty IGVs, that is, the demand for unloading empty vehicles, during the loading operation to ensure that there is no interruption at the bottom of the bridge.

[0102] Specifically, the basic logic for generating shipment demand is as follows:

[0103] ① The triggering of the loading IGV demand will take precedence over the unloading IGV demand, that is, if there is both loading and unloading at bay 2 and the synchronous loading and unloading conditions are met, the loading demand of bay 2 will be triggered first;

[0104] ② The unloading queue demand that triggers the loading IGV demand within a cycle will no longer dispatch the unloading IGV, that is, the loading demand at bay 2 has dispatched 3 loading IGVs, and at this time, there are only 2 instructions left for unloading at bay 2. The remaining two instructions have triggered the loading IGV demand, and at this time, the unloading queue demand will not dispatch the unloading IGV;

[0105] ③After the loading IGV generates the delivery task, it will automatically deduct the unloading IGV demand. Once the deduction is successful, the loading and unloading IGV will be marked with the synchronous loading and unloading mark X a .

[0106] Furthermore, the demand time processing needs to be calculated based on the unloading demand time to obtain the demand processing time s, and its brief calculation formula is as follows:

[0107] Shipment time required: T = T1 + T2 + T3 + T4 (3)

[0108] The time it takes for a rail crane to grab one container from an IGV is: T1 = 1 / average operating efficiency of the rail crane*3600 (4) The time it takes for a quay crane to handle a single or double container is: T2 = 1 / target efficiency of the quay crane*3600 (5)

[0109] Further optimized, the unloading demand Y (i.e. the demand for unloading empty trucks) is calculated according to the target efficiency set by the quay crane to determine whether the loading demand time meets the operating efficiency. If not, it is necessary to insert the unloading IGV to go to the quay crane for operation; in order to ensure the operating efficiency of the quay crane, there are always IGVs waiting for operation at the bottom of the quay crane. Due to the limitations of quay crane operations, there can only be x IGVs waiting for operation at the bottom of the quay crane (x=3). When T2*(X-1)≥T, there is a demand for unloading empty trucks other than those marked with Xa.

[0110] Further optimization, unloading requirements also include the following factors:

[0111] ① The remaining number of vehicles that can be dispatched in the unloading queue is a. For example, there are only 6 unloading instructions left in the current unloading queue. At this time, the remaining number of vehicles that can be dispatched in the unloading queue is a=6;

[0112] ② The upper limit b of the number of unloading IGVs configured by the quay crane. For example, the upper limit of the number of unloading IGVs configured by the quay crane is 5. At this time, the upper limit b of the number of unloading IGVs configured by the quay crane is 5;

[0113] ③The demand for empty trucks after unloading is Y=max(a,b)-Xa.

[0114] Further optimized, after the loading and unloading ship queue changes, the synchronous loading and unloading matters need to be processed synchronously, including the following points:

[0115] (1) When the number of unloading queues increases, the demand for unloading queues can be calculated by simply repeating the above steps to calculate the unloading demand;

[0116] (2) When the number of unloading queues decreases, if the unloading queue has not been dispatched (including IGVs that have not been dispatched for unloading and IGVs that have only triggered the task of loading and receiving containers), the unloading vehicle dispatch demand is directly cancelled; if the unloading queue has been dispatched after the cancellation of the unloading queue, that is, the number of empty unloading IGVs + synchronous loading and unloading marked loading and delivering IGVs ≥ the number of IGVs required in the remaining unloading queue, then the dispatcher will judge whether there are excess unloading and delivering IGVs according to the logic of unloading vehicle dispatch demand, and will first cancel the mark of the synchronous loading and unloading delivering IGV, and then cancel the receiving task of the empty unloading IGV;

[0117] (3) When the loading queue increases, the demand of the loading queue is calculated at this time. It is only necessary to repeat the calculation of the loading demand to determine whether it is necessary to dispatch an empty IGV for loading and receiving containers;

[0118] (4) If the loading queue has a task cancellation or dispatch cancellation (the container is not loaded on the vehicle), the vehicle dispatch demand will not be generated if the vehicle has not been dispatched. The IGV dispatched for loading will automatically cancel the IGV task. At the same time, the loading and unloading mark of the vehicle dispatch demand will be removed, and the total dispatch will be recalculated based on the above loading demand.

[0119] (5) When the loading queue has been loaded, the dispatch is cancelled and the IGV task is suspended. That is, the loading task of this IGV is not included in the total dispatch calculation and does not go to the bottom of the quay bridge for operation. At this time, the loading and unloading mark of the loading demand is removed, and the total dispatch is recalculated based on the above loading demand.

[0120] Further optimized, the synchronous loading and unloading IGV status change situation, when the IGV receives the task and goes to the quay crane, the status change process is:

[0121] (1) Before the IGV enters the channel, it makes a judgment based on the quay crane operation status and IGV task information, and returns permission or disapproval. If the operation conditions are met, it returns permission, and the IGV selects a channel to enter. If it is not allowed, the IGV cannot select a channel, and the IGV status value is null;

[0122] (2) The IGV selects a working lane and reaches the bottom of the bridge. At this time, the IGV status value is already in the state;

[0123] (3) When the IGV reaches the bottom of the bridge, it is calculated based on the dependency relationship between the quay crane tasks, the loading and unloading parameter configuration, and the IGV information. For the unloading IGV, as long as it reaches the bottom of the bridge, the IGV status value is ready; for the loading IGV, if the IGV meets the current loading operation conditions, that is, the physical dependency (the loading position is suspended, there are boxes that have not been unloaded at the loading position, and there are boxes that have not been unloaded at the lower layer of the loading position), then the IGV status value can be changed to ready at this time;

[0124] (4) Only when the IGV status value changes to the ready state, the quay crane is allowed to operate the IGV. When the IGV status value is other than the ready state, the IGV is not allowed to operate.

[0125] For further optimization, the following rules apply to IGV status changes during synchronous loading and unloading:

[0126] (1) For loading IGVs, only one IGV can be changed to ready in the same time period;

[0127] (2) For unloading IGVs, multiple IGVs can be allowed to change their status to ready at the same time;

[0128] (3) For loading and unloading IGVs, the status of the loading and unloading IGVs is allowed to be changed to ready at the same time.

[0129] Further optimized, the judgment rules for ready during synchronous loading and unloading are as follows:

[0130] (1) For the unloading IGV, the IGV status can be changed to ready as soon as the IGV reaches the bottom of the bridge;

[0131] (2) For a loading IGV, if the IGV meets the current loading operation conditions, the IGV status can be changed to ready;

[0132] (3) To meet the loading operation conditions, physical dependencies must be met at the same time, that is, the loading location is not suspended, there are containers on the lower floor, and there are no unloaded imported containers at the loading location.

[0133] Further optimized, the execution logic of the quay crane loading and unloading is as follows:

[0134] When the quay crane starts synchronous loading and unloading, it cannot directly carry out loading and unloading operations based on whether there are loading and unloading instructions in the queue, especially when unloading, it cannot grab the unloading box in advance and wait for the IGV to arrive; it is necessary to judge the current position of the spreader to decide whether the next spreader should prioritize loading or unloading, and combine the ready status of the IGV to make the final decision on loading or unloading operations; for example, when the quay crane has finished loading, the current position of the spreader is the ship side, and there is an unloading IGV at the bottom of the bridge in the ready state, at this time the quay crane performs the unloading task; when the quay crane has finished unloading, the current position of the spreader is the IGV side, and there is a loading IGV at the bottom of the bridge in the ready state, at this time the quay crane can perform the loading task, if there is no loading IGV at the bottom of the bridge in the ready state, at this time the quay crane can only perform the unloading task.

[0135] Example 3

[0136] Embodiment 3 is a further optimization and improvement based on embodiment 1;

[0137] In step S1, when the quay crane starts unloading the ship, one row of container spaces is emptied first.

[0138] In step S2, the demand for dispatching vehicles is calculated according to the Tongbei loading queue, and it is determined whether the loading IGV needs to be unloaded according to the demand for dispatching vehicles. After the IGV for loading and delivering containers arrives at the bottom of the quay crane, the quay crane loads the containers on the IGV for loading and delivering containers to the empty ship container position, and then unloads the imported containers on the ship to the same IGV and repeats the operation.

[0139] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A synchronous loading and unloading control method based on an automated container terminal, applied to an automated container terminal including a front side, a quay crane, a yard, several yard rail cranes and multiple IGVs, characterized in that: The synchronous loading and unloading control method comprises the following steps: Step S1, unloading all containers in a column in a bay on a cargo ship by using a quay crane; Step S2, cyclically executing a synchronous loading and unloading process, each synchronous loading and unloading process includes the following steps: Step S21, loading the export container from the yard into an IGV; Step S22, controlling the IGV to transport the export container to the front side of the automated container terminal; Step S23, loading the export container on the IGV onto a cargo ship, and then unloading the import container of the cargo ship onto the IGV; Step S24, controlling the IGV to transport the import container to the yard; Step S25, unloading the imported container on the IGV to the storage yard; In the second and / or subsequent synchronous loading and unloading processes, an additional IGV task for loading is executed. The execution process of the additional IGV task for loading is as follows: In step S22, when the IGV is traveling to the front side, the IGV is marked with a mark that satisfies synchronous loading and unloading when performing the loading task, and the IGV is a marked IGV at this time; then the marked IGV is transferred to the corresponding quay crane for cooperative operation, and the IGV is a marked operation IGV under the quay crane at this time; then it is determined whether the quay crane that has completed the operation of the marked operation IGV under the quay crane is in a disengagement state, and the disengagement state is that the IGV under the quay crane does not cooperate with the quay crane. If it is determined to be yes, the empty IGV of the automated container terminal needs to be controlled to enter under the quay crane for operation, and if it is determined to be no, the empty IGV of the automated container terminal does not need to be controlled to enter under the quay crane for operation; In step S23, the same IGV continuously performs the actions of first unloading the export container and then loading the import container in the same bay of the same cargo ship; In step S2, multiple IGVs are controlled simultaneously to form an IGV fleet, and each IGV in the IGV fleet queues up in sequence to execute step S21, then queues up in sequence to execute step S22, then queues up in sequence to execute step S23, then queues up in sequence to execute step S24, and then queues up in sequence to execute step S25. The IGV fleet executes the synchronous loading and unloading process in this way in a cycle.

2. The synchronous loading and unloading control method based on the automated container terminal according to claim 1 is characterized in that: The automated container terminal also includes a TOS system; the TOS system is used to dispatch IGVs and confirm the demand Y for IGVs for unloading the corresponding cargo ship; after the IGV that performs the loading task completes the yard unloading task, the demand Y for IGVs for unloading the corresponding cargo ship will be automatically deducted. When the deduction is successful, the IGV that has completed the yard unloading task will be marked for synchronous loading and unloading, that is, the marked IGV that has completed the yard unloading task is IGVXa.

3. The synchronous loading and unloading control method based on the automated container terminal according to claim 2 is characterized in that: The demand for IGVs for unloading a given cargo ship is Y = max(a,b) - X a (1) The demand for IGVs for loading a specific cargo ship is X = max(c, d) (2) In formula (1), a is the number of IGVs remaining in the unloading IGV queue, b is the upper limit of the number of unloading IGVs configured by the quay crane, and X a IGVXa; the IGV queue is a queue grouping including at least two IGVs; In formula (2), c is the number of IGVs remaining in the loading IGV queue, and d is the upper limit of the number of loading IGVs configured by the quay crane; the IGV queue is a queue grouping including at least two IGVs.

4. The synchronous loading and unloading control method based on the automated container terminal according to claim 1 is characterized in that: The process of judging whether the quay crane is in a broken state is as follows: Step S221, calculate according to the target efficiency set by the quay crane to obtain the required loading time value T; obtain the loading and unloading efficiency according to the total time T2 spent by the quay crane for loading and unloading by operating a single-box / double-box twin crane; Step S222, determine whether the loading demand time value meets the loading and unloading operation efficiency. If it is judged as no, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged as yes, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

5. The synchronous loading and unloading control method based on the automated container terminal according to claim 4 is characterized in that: In step S22, the loading time required value T = the time taken by the yard rail crane for the IGV to grab a container T1 + the total time taken by the quay crane to load and unload a single container / double container double crane T2 + the time taken by the IGV to go from the starting position to the yard calculated according to a time matrix T3 + the time taken by the IGV to go to the quay crane after the yard operation is completed T4; Determine whether T≥T2*(X-1) is satisfied. If it is judged to be negative, it is necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state. If it is judged to be positive, it is not necessary to intersperse other empty IGVs of the automated container terminal that do not need to perform synchronous loading and unloading tasks to the operating position of the quay crane in a gap state.

6. The synchronous loading and unloading control method based on the automated container terminal according to claim 3 is characterized in that: In step S2, when the number of dispatchable IGVs remaining in the unloading IGV queue increases, the calculation of the demand quantity Y for unloading IGVs corresponding to the designated cargo ship is repeated; In step S2, when the number a of remaining dispatchable IGVs in the unloading IGV queue decreases, if the remaining dispatchable IGVs in the unloading IGV queue have not been dispatched, the calculation of the demand Y for the unloading IGVs of the corresponding designated cargo ship is directly canceled; if the remaining dispatchable IGVs in the unloading IGV queue have been dispatched, the dispatcher decides to arrange the unloading and container receiving IGVs that exceed the demand according to the demand Y for the unloading IGVs of the corresponding designated cargo ship; when the empty IGV performing unloading + the IGV performing the loading and container delivery task marked with synchronous loading and unloading > the number of IGVs that meet the demand of the remaining unloading queue, the mark of the synchronous loading and unloading IGV is canceled first; if the number of IGVs is still greater than the demand after all marks are canceled, the container receiving task of the empty unloading IGV is canceled again; In step S2, when the number c of the remaining dispatchable IGVs in the shipping IGV queue increases, the demand for the remaining dispatchable IGVs in the shipping IGV queue is calculated, and then it is decided to arrange the dispatch of the empty IGV for shipping and receiving containers, and then step S21 is executed; In step S2, the remaining dispatchable IGVs in the loading IGV queue cancel tasks or cancel scheduling, so that the undispatched IGVs do not generate dispatch requirements, and the dispatched loading IGVs automatically cancel tasks, and at the same time, the loading and unloading mark of the designated IGV that generates dispatch requirements is removed, and then the number c of the remaining dispatchable IGVs in the loading IGV queue is recalculated; In step S2, the remaining dispatchable IGVs in the loading IGV queue are cancelled when they have boarded, and the IGV does not perform the loading task.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the synchronous loading and unloading control method based on an automated container terminal are implemented.

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