Control method for optimizing horizontal layout automatic container terminal storage yard container receiving instruction

Abstract

The invention provides a control method for optimizing a container receiving instruction of a storage yard of an automatic container wharf with a horizontal layout, which is applied to the automatic container wharf which comprises a TOS system and a plurality of IGVs and is used for carrying out water-to-water transfer operation. The automatic container wharf is further provided with a gate, a quay crane, a plurality of storage yards, a plurality of storage yard container lifting devices, an interaction area and a quay crane. The control method comprises the following steps that S1, planning tasks of the storage yards are set; s2, setting the workload of the storage yard; s3, setting the number of operation instructions of the storage yard; s4, setting the operation equipment instruction number of the container lifting equipment in the storage yard; s5, setting the operation unit instruction number of the operation unit shell; and S6, controlling the remaining box falling positions to be output according to the priorities, wherein the position with the highest priority is the final position. According to the method, the operation efficiency of the horizontally-arranged automatic container terminal storage yard is improved by optimizing queuing in the IGV storage yard, the horizontal transportation distance of the IGV and the equipment waiting time.

Description

Technical Field

[0001] The present invention relates to the technical field of automated container terminal yard control, and in particular to a control method for optimizing horizontal layout of automated container terminal yard container collection instructions. Background Art

[0002] With the growth of global economy, container shipping plays an irreplaceable role in the global logistics system. The increase in shipping volume has brought opportunities and challenges to container ports. With the development of science and technology, various advanced automation technologies and equipment have realized the automation and intelligence of container terminal operations, and the automation level of container terminals is getting higher and higher. As a type of automated container terminal, the horizontally laid out automated container terminal is mainly based on the horizontal yard layout on the basis of the automated terminal. The path planning methods of horizontal transportation equipment are more diverse, which can effectively improve the operating efficiency of horizontal transportation equipment, reduce congestion, and thus improve the operating efficiency of the entire terminal.

[0003] Container yards play an important role in the port logistics system. They play a key supporting and promoting role in the distribution, storage, loading and unloading, stowage, transshipment, transit, custody, management and information tracking of containers. They are of great significance for improving port logistics efficiency, reducing logistics costs and enhancing logistics service capabilities. At present, the national automated terminal yard container loading and unloading is mainly vertically arranged and end-to-end. The advantage of this type of yard is that the land utilization area is high, but congestion often occurs. The horizontal layout and yard-side operation solve this problem well. By optimizing the control method of container yard operation instructions, the terminal yard operation efficiency and management level can be effectively improved, thereby improving the operation efficiency of the entire automated container terminal.

[0004] However, in the yard management of horizontally laid out automated container terminals, the following shortcomings exist: unreasonable distribution of yard instructions, simultaneous presence of outbound and inbound instructions in a single yard leading to queues of IGVs in the yard, long horizontal transportation distances of IGVs, long waiting times for equipment, etc., thus affecting yard operation efficiency. Summary of the invention

[0005] In view of this, it is necessary to propose a control method for optimizing the container collection instructions of the horizontally arranged automated container terminal yard in order to overcome some shortcomings in the above-mentioned background technology and solve the following technical problems: How to improve the operating efficiency of the horizontally arranged automated container terminal yard by optimizing the queuing in the IGV yard, the horizontal transportation distance of the IGV and the waiting time of the equipment.

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

[0007] The present invention proposes a control method for optimizing the container receiving instructions of a horizontally arranged automated container terminal yard, which is applied to a horizontally arranged automated container terminal including a TOS system and multiple IGVs for water-to-water transfer operations. The automated container terminal is also provided with a gate, multiple yards, multiple yard container lifting equipment, an interactive area and a quay crane. The control method comprises the following steps:

[0008] Step S1, setting the planning tasks of the yard: limiting the various setting attributes of the container and classifying the containers into different categories, then obtaining the available container drop locations of all containers in the yard and the priority of each available container drop location, and executing the container location process when the quay crane unloads the container to the IGV or the container truck loaded with the container arrives at the buffer parking space of the interactive area of ​​the automated container terminal, thereby obtaining all the available container drop locations and sequences of the unloading task on the shore and all the available container drop locations and sequences of the container return task of the container truck;

[0009] Step S2, setting the workload of the yard: according to the first instruction source for setting the workload of the yard operation corresponding to the yard receiving task and the second instruction source for setting the workload of the yard operation corresponding to the yard unloading task, obtaining the workload cost corresponding to each task type and the sum of the workload costs corresponding to all current task types of each yard;

[0010] Step S3, setting the number of operation instructions for the yard: according to the manually set maximum number of instructions corresponding to each source, the sum of all current task instructions for each yard is counted. When the sum of all current task instructions for one yard exceeds the maximum number of instructions set for the yard, the yard will no longer count the sum of all current task instructions for each yard, and the area code of the yard will not be assigned;

[0011] Step S4, setting the number of operating equipment instructions for the yard container lifting equipment: setting the maximum number of instructions for the yard container lifting equipment according to the serial number of each yard container lifting equipment, calculating the number of instructions for the machine at the current moment, and if it exceeds the specified maximum number of instructions, all available positions in the area where the machine is controlled to operate cannot be assigned;

[0012] Step S5, setting the number of work unit instructions for the work unit: manually setting a number of actual positions specified in the yard as a work unit, and setting an upper limit of all instructions in a work unit. When the number of instructions in a work unit exceeds the set maximum value, all available positions in the current unit will skip statistical analysis and cannot be assigned;

[0013] Step S6, controlling the remaining available box drop locations to be output according to priority, with the highest priority being the final location.

[0014] Furthermore, in step S4, the number of operating equipment instructions for the container lifting equipment in the yard is set through the TOS system, and the options to be statistically analyzed are selected in the TOS system: limit 20 feet, limit 40 feet, limit unloading, limit loading, limit gate, and limit container transfer instructions.

[0015] Furthermore, in step S5, the number of operation unit instructions for the operation unit shell is set through the TOS system, and the options that need to be statistically analyzed are selected in the TOS system: one car double box detection, calculation of loading, calculation of gate container picking, calculation of overturning within the shell, and calculation of overturning across the shell.

[0016] Furthermore, in step S5, the detection method of two boxes on one vehicle is: when the second box is assigned, the detection of the instruction number can be skipped.

[0017] Furthermore, in step 1, when the planning task of the yard is set through the TOS system, the container distribution options are also set at the spatial level through the TOS system. The setting options include setting the yard for the container collection plan, the range of containers / rows within a yard, stacking rules and basic container attributes.

[0018] Furthermore, in step S1, the terminal operator establishes multiple container filters in advance, and various attributes of the container can be limited in the container filter. After the container is classified by the container filter, the container collection plan area, the scope of the area and the stacking rules of the different types of containers are manually set, so as to obtain the available container drop-off positions of all containers and the priority of each available container drop-off position. When the container is transported to the dock by ship and placed on the IGV by shore operation machinery, or the container is transported to the buffer parking space in the interactive area of ​​the automated container terminal by an external container truck, real-time positioning is performed, and the container will match the filter, thereby obtaining all available container drop-off positions and sequences for the unloading task on the shore and all available container drop-off positions and sequences for the container return task by the external container truck.

[0019] Furthermore, the process of water-to-water transfer operation is that after the ship arrives at the port, the container is unloaded to the IGV by the shore operation machinery. The IGV enters the yard operation position according to the task dispatch result, and the yard operation machinery transports the container to the designated location for storage; when leaving the yard, the yard operation machinery loads the container to the IGV, and the IGV travels to the target ship operation position, and the shore operation machinery carries out the loading operation.

[0020] Furthermore, in step S1, the horizontal layout of the automated container terminal is that the overall yard is distributed in parallel with the main shoreline of the terminal; the external container truck operation mode of the automated container terminal is to separate the automated operation area ranging from the interactive area to the shore from the external container truck operation area through one or more yards; the IGV operation lane is located on one side of the yard, and the external container truck operation lane is located on the other side of the yard, and the two sides of the yard are operated by the yard's double-cantilever rail crane.

[0021] Furthermore, in step S1, the real-time unloading and positioning instructions are immediately assigned after being confirmed by the tally clerk on the IGV. If a two-container transport is carried out on one truck, it is necessary to wait until the two boxes in front and behind the IGV have confirmed the instructions to load the truck before assigning the position; when executing the task of returning the containers to the external container truck, the assignment is carried out before entering the gate of the external container truck operation position in the corresponding interactive area.

[0022] Further, in step S2, the double-cantilever rail crane directly lifts and transports the container from the IGV operation side of the interactive area to the external container truck side, or directly transports it from the external container truck side to the IGV operation side of the interactive area, and the container does not enter the yard;

[0023] In step S2, the yard locations of the automated container terminal are named in the manner of "yard area code" + "yard row number" + "yard floor height". When a yard area code is not assigned, it means that all available locations in the entire yard cannot be assigned.

[0024] The beneficial effects of the present invention are:

[0025] The present invention improves the operating efficiency of the horizontally arranged automated container terminal yard by optimizing the queuing within the IGV yard, the horizontal transportation distance of the IGV and the waiting time of the equipment. Combined with the operating characteristics of the horizontal layout of the automated container terminal, the number of container collection instructions of each yard can be reasonably controlled, which is conducive to reducing the congestion of horizontal transportation vehicles, improving the operating efficiency of the yard equipment and eliminating the deficiencies in management. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a work flow chart of the control method of optimizing horizontal layout of automated container terminal yard container receiving instructions of the present invention;

[0027] Figure 2 The present invention is a schematic diagram of a top-down scene layout of a horizontally arranged automated container terminal. DETAILED DESCRIPTION

[0028] 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.

[0029] It should be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "front", "back", "left", and "right" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0030] The terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of the features.

[0031] Example 1

[0032] like Figure 1 As shown:

[0033] This embodiment proposes a control method for optimizing the container receiving instructions of a horizontally arranged automated container terminal yard, which is applied to a horizontally arranged automated container terminal including a TOS system and multiple IGVs for water-to-water transfer operations. The automated container terminal is also provided with a gate, multiple yards, multiple yard container lifting equipment (the yard container lifting equipment may be a rail crane, a tire crane, a straddle carrier, a forklift or a reach crane, etc.), an interaction area (i.e., a yard interaction area) and a quay crane. The control method comprises the following steps:

[0034] Step S1, setting the planning tasks of the yard: limiting the various setting attributes of the container and classifying the containers into different categories, then obtaining the available container drop locations of all containers in the yard and the priority of each available container drop location, and executing the container location process when the quay crane unloads the container to the IGV or the container truck loaded with the container arrives at the buffer parking space of the interactive area of ​​the automated container terminal, thereby obtaining all the available container drop locations and sequences of the unloading task on the shore and all the available container drop locations and sequences of the container return task of the container truck;

[0035] Step S2, setting the workload of the yard: according to the first instruction source for setting the workload of the yard operation corresponding to the yard receiving task and the second instruction source for setting the workload of the yard operation corresponding to the yard unloading task, obtaining the workload cost corresponding to each task type and the sum of the workload costs corresponding to all current task types of each yard;

[0036] Step S3, setting the number of operation instructions for the yard: according to the manually set maximum number of instructions corresponding to each source, the sum of all current task instructions for each yard is counted. When the sum of all current task instructions for one yard exceeds the maximum number of instructions set for the yard, the yard will no longer count the sum of all current task instructions for each yard, and the area code of the yard will not be assigned;

[0037] Step S4, setting the number of operating equipment instructions for the yard container lifting equipment: setting the maximum number of instructions for the yard container lifting equipment according to the serial number of each yard container lifting equipment, calculating the number of instructions for the machine at the current moment, and if it exceeds the specified maximum number of instructions, all available positions in the area where the machine is controlled to operate cannot be assigned;

[0038] Step S5, setting the number of work unit instructions for the work unit: manually setting a number of actual positions specified in the yard as a work unit, and setting an upper limit of all instructions in a work unit. When the number of instructions in a work unit exceeds the set maximum value, all available positions in the current unit will skip statistical analysis and cannot be assigned;

[0039] Step S6, controlling the remaining available box drop locations to be output according to priority, with the highest priority being the final location.

[0040] Optimally, in step S4, the number of operating equipment instructions for the container lifting equipment in the yard is set through the TOS system, and the options to be statistically analyzed are selected in the TOS system: limit 20 feet, limit 40 feet, limit unloading, limit loading, limit gate, and limit container transfer instructions.

[0041] Specifically, in order to meet the needs of calculating the total number of current instructions for a machine in different operation scenarios of the terminal (after exceeding the total number of instructions set manually, no more extra tasks will be assigned to this machine), in different operation scenarios, the following factors need to be coordinated when calculating the total number of instructions for a machine: whether to include the number of instructions for 20-foot containers; whether to include the number of instructions for 40-foot containers; whether to include the number of unloading instructions; whether to include the number of loading instructions; whether to include the number of instructions for receiving and picking up containers at the gate; whether to include the number of instructions for moving containers; when a machine has operation instructions for 20-foot and 40-foot containers at the same time, it is likely to move carts to different locations for operation. Therefore, the terminal will limit a machine to only operate tasks of the same size in a certain period of time to avoid the machine moving carts, thereby improving operation efficiency; when a machine has the above different types of tasks at the same time, it is likely to move carts to different locations for operation. Therefore, the terminal will limit a machine to only operate the same type of tasks in a certain period of time, or minimize the number of task types to avoid the machine moving carts and improve operation efficiency.

[0042] Optimally, in step S5, the number of operation unit instructions for the operation unit shell is set through the TOS system, and the options that need to be statistically analyzed are selected in the TOS system: one car double box detection, calculation of loading, calculation of gate container picking, calculation of overturning within the shell, and calculation of overturning across the shell.

[0043] Specifically, the control logic of the one-car double-box detection option is: after checking the control option in the TOS system, the second box of a car with two boxes will not be included in the calculation of the number of operation instructions when calculating the number of instructions; the function of this control option is: to avoid the second box on a car and the first box being unable to operate in the same yard due to the upper limit of the number of instructions, the vehicle needs to be moved to other yards additionally, which will cause a waste of resources.

[0044] Specifically, the control logic of the calculation loading option is: after checking this control option in the TOS system, when calculating the total number of instructions in the current yard, all the loading instructions in the current yard will be included; the function of this control option is: terminal operators can use this function to ensure that when there are many loading instructions in the yard, other types of tasks will not be added, so as to ensure the efficiency of the yard loading tasks (adding other tasks will exceed the upper limit of the number of yard instructions or the number of operation unit instructions).

[0045] Specifically, the control logic of the option for calculating gate container pickup is as follows: after checking this control option in the TOS system, when calculating the total number of instructions in the current yard, the number of gate container pickup instructions of all the current yard will be included; the function of this control option is as follows: similar to the calculation of loading items, terminal operators can use this function to ensure that when there are many gate container pickup instructions in the yard, no other types of tasks will be added, thereby ensuring the efficiency of the yard operation gate container pickup tasks (adding additional tasks will exceed the upper limit of the number of yard instructions or the number of operating unit instructions).

[0046] Specifically, the control logic of the option for calculating shell overturning is as follows: after checking this control option in the TOS system, when calculating the total number of instructions in the current yard, the number of shell overturning instructions of all the current yards will be included; the function of this control option is similar to the option for calculating gate container pickup. Terminal operators can use this function to ensure that when there are many shell overturning instructions in the yard, no other types of tasks will be added, thereby ensuring the efficiency of the shell overturning tasks in the yard operations (adding other tasks will exceed the upper limit of the number of yard instructions or the number of instructions of the operating unit).

[0047] Specifically, the control logic of the option for calculating cross-bay overturning is as follows: after checking this control option in the TOS system, when calculating the total number of instructions in the current yard, the number of all cross-bay overturning instructions in the current yard will be included; the function of this control option is similar to the option for calculating overturning within the yard. The terminal operator can use this function to ensure that when there are many cross-bay overturning instructions in the yard, no other types of tasks will be added, thereby ensuring the efficiency of the cross-bay overturning tasks in the yard operation (adding other tasks will exceed the upper limit of the number of yard instructions or the number of instructions of the operating unit).

[0048] Optimally, in step S5, the detection method of two boxes on one vehicle is: when the second box is assigned, the detection of the instruction number can be skipped.

[0049] Optimally, in step 1, when the planning task of the yard is set through the TOS system, the container distribution options are also set at the spatial level through the TOS system. The setting options include setting the yard for the container collection plan, the shell / row range within a yard, stacking rules and basic container attributes.

[0050] Specifically, the time, space, and quantity aspects mentioned in this embodiment all belong to the content of the TOS system; the spatial level is not elaborated in this embodiment, mainly because this part is a common operating method in the current domestic industry, that is, other domestic container terminals often only carry out detailed improvements and controls on the spatial level in terms of yard container collection instruction control, and lack consideration of time and quantity.

[0051] Specifically, container terminals often place containers of different attributes in one or more different yards. This operation is to ensure the uniformity of the attributes of containers in a single yard, so that a yard has a large number of tasks and continuous operations within a period of time, which makes the yard less disturbed and can maintain a high operating efficiency. The entire yard planning and control is specifically to classify the containers to be entered into the yard, and manually define the positions where such containers can be stacked. These positions are in order according to the stacking rules, that is, there is a priority. Among them, the content of setting the planning tasks of the yard (i.e., yard planning and control) includes:

[0052] 1) Filter: It contains all the attributes related to the container, such as empty weight, container company, size, container type, etc. This filter is used to classify the containers to be stored in the yard;

[0053] 2) Planning scope: For each type of container, one or more yards are designated, and each yard will also specify the range of container numbers and stacking rules;

[0054] 3) Stacking rules: that is, the planning task can be set with the following contents: containers are collected from the front to the back of the yard or from the back to the front of the yard, and they are stacked one building at a time or one floor at a time. The specific stacking height is determined by whether they are stacked close to the road or far from the road first.

[0055] Optimally, in step S1, the terminal operator establishes multiple container filters in advance, and the container filters can limit various attributes of the container. After the containers are classified by the container filters, the container collection plan area, the scope of the area and the stacking rules of the containers of different categories are manually set, so as to obtain the available container drop-off positions of all containers and the priority of each available container drop-off position. When the container is transported to the dock by ship and placed on the IGV by shore operation machinery, or the container is transported to the buffer parking space in the interactive area of ​​the automated container terminal by external container trucks, real-time positioning is performed, and the container will match the filter, so as to obtain all the available container drop-off positions and sequences for the unloading task on the shore and all the available container drop-off positions and sequences for the return task of the external container truck.

[0056] Optimally, the process of water-to-water transshipment operation is that after the ship arrives at the port, the container is unloaded to the IGV by the shore operation machinery. The IGV enters the yard operation position according to the task dispatch result, and the yard operation machinery transports the container to the designated location for storage. When leaving the yard, the yard operation machinery loads the container to the IGV, and the IGV drives to the target ship operation position, and the shore operation machinery carries out the loading operation.

[0057] Optimally, in step S1, the horizontal layout of the automated container terminal is that the overall yard is distributed in parallel with the main shoreline of the terminal; the external container truck operation mode of the automated container terminal is to separate the automated operation area ranging from the interactive area to the shore from the external container truck operation area through one or more yards; the IGV operation lane is located on one side of the yard, and the external container truck operation lane is located on the other side of the yard, and the two sides of the yard are operated by the yard's double-cantilever rail crane.

[0058] Optimally, in step S1, the real-time unloading and positioning instructions are immediately assigned after being confirmed by the tally clerk for loading onto the IGV. If a two-container transport is carried out on one truck, it is necessary to wait until both boxes in front and behind the IGV confirm the instructions for loading onto the truck before assignment. When executing the task of returning containers to the external container truck, assignment is carried out before entering the gate of the external container truck operation position in the corresponding interactive area.

[0059] Specifically, non-real-time unloading positioning refers to positioning the container while it is still on the ship or before the container enters the operation buffer position in these two time periods (usually positioning multiple containers at a time);

[0060] The real-time unloading positioning refers to the positioning of containers on the ship after the tally is confirmed to be loaded on the vehicle, or after the containers on the external container truck enter the operation buffer position at these two time points (usually only one or two containers are positioned at one time).

[0061] Optimally, in step S2, the double-cantilever rail crane directly lifts and transports the container from the IGV operation side of the interactive area to the external container truck side, or directly transports it from the external container truck side to the IGV operation side of the interactive area, and the container does not enter the yard;

[0062] In step S2, the yard locations of the automated container terminal are named in the manner of "yard area code" + "yard row number" + "yard floor height". When a yard area code is not assigned, it means that all available locations in the entire yard cannot be assigned.

[0063] Example 2

[0064] Embodiment 2 is a further optimization of Embodiment 1;

[0065] like Figure 1 As shown:

[0066] In step S1, yard planning and control is to adapt to different container businesses. A single algorithm or fixed control theory is difficult to meet production needs. Therefore, manual yard planning is still required, and there is a basic control of container distribution at the spatial level, mainly including setting the site, range, stacking rules and basic container attributes of the container collection plan; when the container arrives at the dock or the buffer parking space in the "interaction area" by a ship or an external container truck, real-time positioning is carried out. The TOS system will obtain relevant information about the current container to be positioned and count the current tasks of each yard and machinery. The TOS system traverses all available container drop locations and the priority of each location in the manually designated area according to the set stacking rules.

[0067] In step S2, for receiving containers at the yard, the instruction sources of the yard operation workload can be set as: ships, gates, box transfer, and connection operations. For unloading containers at the yard, the instruction sources of the yard operation workload can be set as: liner loading, barge loading, gates, and box transfer. For each task type, the corresponding workload cost is manually set. The basis for setting the cost value here is mainly the time length of mechanical operations in the yard for different types of tasks. The total workload cost of all current task types in each yard is calculated. If the maximum workload limit set for the yard is exceeded, the yard will no longer be calculated, and the yard area code will not be assigned. The current mainstream control method in China only limits the number of instructions, but it is found in the actual production process that IGV congestion and yard queues often occur in the yard due to different execution times of different instructions. Considering the algorithm of the instruction operation time, it is often not flexible enough and the calculation results are rigid. The control of the workload here can be flexibly adjusted according to demand and can also make up for control defects.

[0068] In step S3, for the control of the number of operation instructions, the yard instructions that need to be controlled include: unloading, gate, box transfer, and connection operations. In addition, there are other calculation contents that can be checked: one car double box detection (after checking, the second box of a car with two boxes is not included in the calculation of the number of operation instructions), calculation of loading, calculation of gate box picking, calculation of shell overturning, and calculation of cross-shell overturning. Each yard can manually set the maximum number of instructions from each source, and the total number of all current task instructions for each yard will be counted. If the maximum number of instructions set for the yard is exceeded, the yard will no longer be calculated, and the yard area code will not be assigned. Compared with the traditional yard instruction control method, here is the basic layout and characteristics of the horizontally arranged automated container terminal (refer to Figure 2 ), has been refined and supplemented, such as one-car dual-yard detection and the determination of connecting operation instructions, making yard control more precise.

[0069] In step S4, for the control of the number of operating equipment instructions, for each machine number, the maximum number of machine instructions is set. In addition, there are other calculation contents that can be checked: limit 20 feet, limit 40 feet, limit unloading, limit loading, limit gate, limit container transfer instructions, calculate the number of instructions for the machine at the current moment, if it exceeds the maximum value, all available positions in the area where the machine is operating cannot be assigned. This restriction is mainly to supplement the judgment method of multiple yard operation machines in a yard. At this time, the traditional means of controlling the entire yard area is invalid. Judging by the number of instructions for a machine can achieve better results;

[0070] In step S5, for the control of the number of instructions for the work unit, x actual bays in the yard are manually set as an work unit bay, and the upper limit of all instructions in an work unit bay must be set. In addition, there are other calculation contents that can be checked: one car double-box detection, calculation of loading, calculation of gate container picking, calculation of overturning in bays, and calculation of overturning across bays. When the number of instructions in an work unit bay exceeds the set maximum value, all available positions in the current unit bay are skipped for calculation and cannot be assigned. The manually set x here is often the physical occupied position of a yard work machine, that is, the instructions within a certain range. Due to the size of the machine itself, it cannot operate at the same time as other machines, so it is necessary to control this range so that there cannot be too many instructions.

[0071] 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 control method for optimizing the container receiving instructions of a horizontally arranged automated container terminal yard, which is applied to a horizontally arranged automated container terminal including a TOS system and multiple IGVs for water-to-water transfer operations, wherein the automated container terminal is also provided with a gate, multiple yards, multiple yard container lifting equipment, an interactive area and a quay crane, and is characterized in that: The control method comprises the following steps: Step S1, setting the planning tasks of the yard: limiting the various setting attributes of the container and classifying the containers into different categories, then obtaining the available container drop locations of all containers in the yard and the priority of each available container drop location, and executing the container location process when the quay crane unloads the container to the IGV or the container truck loaded with the container arrives at the buffer parking space of the interactive area of ​​the automated container terminal, thereby obtaining all the available container drop locations and sequences of the unloading task on the shore and all the available container drop locations and sequences of the container return task of the container truck; Step S2, setting the workload of the yard: according to the first instruction source for setting the workload of the yard operation corresponding to the yard receiving task and the second instruction source for setting the workload of the yard operation corresponding to the yard unloading task, obtaining the workload cost corresponding to each task type and the sum of the workload costs corresponding to all current task types of each yard; Step S3, setting the number of operation instructions for the yard: according to the manually set maximum number of instructions corresponding to each source, the sum of all current task instructions for each yard is counted. When the sum of all current task instructions for one yard exceeds the maximum number of instructions set for the yard, the yard will no longer count the sum of all current task instructions for each yard, and the area code of the yard will not be assigned; Step S4, setting the number of operating equipment instructions for the yard container lifting equipment: setting the maximum number of instructions for the yard container lifting equipment according to the serial number of each yard container lifting equipment, calculating the number of instructions for the machine at the current moment, and if it exceeds the specified maximum number of instructions, all available positions in the area where the machine is controlled to operate cannot be assigned; Step S5, setting the number of work unit instructions for the work unit: manually setting a number of actual positions specified in the yard as a work unit, and setting an upper limit of all instructions in a work unit. When the number of instructions in a work unit exceeds the set maximum value, all available positions in the current unit will skip statistical analysis and cannot be assigned; Step S6, controlling the remaining available box drop locations to be output according to priority, with the highest priority being the final location.

2. The control method for optimizing horizontal layout of automated container terminal yard container collection instructions according to claim 1 is characterized in that: In step S4, the number of operating equipment instructions for the container lifting equipment in the yard is set through the TOS system, and the options to be statistically analyzed are selected in the TOS system: limit 20 feet, limit 40 feet, limit unloading, limit loading, limit gate, and limit container transfer instructions.

3. The control method for optimizing horizontal layout of automated container terminal yard container collection instructions according to claim 1 is characterized in that: In step S5, the number of operation unit instructions for the operation unit shell is set through the TOS system, and the options that need to be statistically analyzed are selected in the TOS system: one car double container detection, calculation of loading, calculation of gate container picking, calculation of overturning within the shell, and calculation of overturning across the shell.

4. The control method for optimizing horizontal layout of automated container terminal yard container collection instructions according to claim 3 is characterized in that: In step S5, the detection method of two boxes on one vehicle is: when the second box is assigned, the detection of the instruction number can be skipped.

5. The control method for container receiving instructions of an automated container terminal yard with optimized horizontal layout according to claim 1 is characterized in that: In step 1, when the planning task of the yard is set through the TOS system, the container distribution options are also set at the spatial level through the TOS system. The setting options include setting the yard for the container collection plan, the shell / row range within a yard, stacking rules and basic container attributes.

6. The control method for optimizing horizontal layout automated container terminal yard container collection instructions according to any one of claims 1 to 5, characterized in that: In step S1, the terminal operator sets up multiple container filters in advance, and the container filters can limit various attributes of the container. After the containers are classified by the container filters, the container collection plan area, the scope of the area and the stacking rules of the containers of different categories are manually set, so as to obtain the available container drop-off positions of all containers and the priority of each available container drop-off position. When the container is transported to the dock by ship and placed on the IGV by the shore operation machinery, or the container is transported to the buffer parking space in the interactive area of ​​the automated container terminal by the external container truck, real-time positioning is performed, and the container will match the filter, so as to obtain all the available container drop-off positions and sequences for the unloading task on the shore and all the available container drop-off positions and sequences for the return task of the external container truck.

7. The control method for optimizing horizontal layout automated container terminal yard container collection instructions according to any one of claims 1 to 5, characterized in that: The process of water-to-water transshipment operation is that after the ship arrives at the port, the container is unloaded to the IGV by the shore operation machinery. The IGV enters the yard operation position according to the task assignment result, and the yard operation machinery transports the container to the designated location for storage. When leaving the yard, the yard operation machinery loads the container to the IGV, and the IGV drives to the target ship operation position, and the shore operation machinery carries out the loading operation.

8. The control method for optimizing horizontal layout automated container terminal yard container collection instructions according to any one of claims 1 to 5, characterized in that: In step S1, the horizontal layout of the automated container terminal is that the overall yard is distributed in parallel with the main shoreline of the terminal; the external container truck operation mode of the automated container terminal is to separate the automated operation area from the interactive area to the shore from the external container truck operation area through one or more yards; the IGV operation lane is located on one side of the yard, and the external container truck operation lane is located on the other side of the yard, and the two sides of the yard are operated by the yard's double-cantilever rail crane.

9. The control method for optimizing horizontal layout automated container terminal yard container collection instructions according to any one of claims 1 to 5, characterized in that: In step S1, the real-time unloading and positioning instructions are immediately assigned after the tally clerk confirms the loading of the IGV. If a truck is used for double-container transportation, it is necessary to wait until both boxes in front and behind the IGV confirm the instructions to load the truck before assigning the position. When executing the task of returning the container to the external container truck, the assignment is carried out before entering the gate of the corresponding interactive area external container truck operation position.

10. The control method for optimizing horizontal layout automated container terminal yard container collection instructions according to any one of claims 1 to 5, characterized in that: In step S2, the double-cantilever rail crane directly lifts and transports the container from the IGV operation side of the interactive area to the external container truck side, or directly transports it from the external container truck side to the IGV operation side of the interactive area, and the container does not enter the yard; In step S2, the yard locations of the automated container terminal are named in the manner of "yard area code" + "yard row number" + "yard floor height". When a yard area code is not assigned, it means that all available locations in the entire yard cannot be assigned.

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