Automatic wharf sudden disturbance emergency scheduling method based on simulation optimization

Abstract

The invention discloses an automatic wharf sudden disturbance emergency scheduling method based on simulation optimization. The method comprises the following steps: establishing an automatic wharf simulation model; a wharf loading and unloading operation logic model comprising a ship loading logic model and a ship unloading logic model is established according to the wharf loading and unloading operation automatic operation process; a sudden disturbance emergency scheduling strategy of the automatic wharf is obtained through an optimization algorithm considering disturbance, and disturbance comprises container operation quantity disturbance and unmanned container truck quantity disturbance. According to the method, some common sudden disturbance problems in container dispatching are fully considered, continuous and smooth loading and unloading operation of the automatic wharf is guaranteed through the simulation optimization process, and the emergency response level of the automatic wharf is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated scheduling methods, and in particular to the technical field of automated scheduling methods based on simulation optimization. Background Art

[0002] With the continuous development and expansion of global trade, container transportation has become increasingly important. The automated dispatching of container terminals has also received extensive attention and research. Among them, the dispatching and configuration of unmanned container trucks (unmanned container trucks) is an important research direction. Reasonable dispatching of unmanned container trucks can effectively improve the efficiency of loading and unloading operations and reduce terminal operating costs.

[0003] However, in actual operation, sudden disturbances such as natural disasters, equipment failures, and temporary arrival of work tasks will hinder the operation of unmanned container trucks and affect the normal operation of automated terminals. Therefore, exploring the emergency dispatch method for sudden disturbances in automated terminals is of great significance to ensure the continuous and smooth operation of automated terminals and improve the risk management level of terminals. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of the present invention is to propose an emergency dispatch method for sudden disturbances in automated terminals based on simulation optimization. The emergency dispatch method fully considers some common problems in the operation dispatch of container terminals, such as the failure of container tasks to arrive on time, the change in the number of container operations caused by the arrival of temporary tasks, the change in the number of equipment caused by unmanned container trucks for charging or fault repair, etc. Through the simulation optimization process, the continuity and smoothness of the automated terminal loading and unloading operations are guaranteed, and the emergency response level of the automated terminal is improved.

[0005] The technical solution of the present invention is as follows:

[0006] The method for emergency dispatching of sudden disturbances in automated terminals based on simulation optimization includes:

[0007] S1 establishes an automated terminal simulation model according to the automated terminal layout, wherein the automated terminal layout includes a shore-based layout in which the container yard is parallel to the terminal and the shoreline and a shore-based layout in which the container yard is perpendicular to the terminal and the shoreline;

[0008] S2: establishing a dock loading and unloading operation logic model according to the dock loading and unloading operation automation operation process, wherein the dock loading and unloading operation logic model includes a loading logic model and an unloading logic model;

[0009] S3 obtains the sudden disturbance emergency dispatch strategy of the automated terminal based on the automated terminal simulation model and the terminal loading and unloading operation logic model through an optimization algorithm that takes disturbance into consideration, wherein the disturbance includes the disturbance of the number of container operations and the disturbance of the number of unmanned container trucks;

[0010] S4 performs scheduling according to the sudden disturbance emergency scheduling strategy.

[0011] According to some preferred embodiments of the present invention, the automated terminal simulation model includes a shore-based layout model and a vertical-shore layout model, wherein the shore-based layout model is based on the shore-based layout and includes the following settings: the terminal front, i.e., the shoreline and the centralized container yard include 5 operating lanes; the container yard includes 2 operating lanes; the import and export of the container yard each include 2 operating lanes; unmanned container trucks can go deep into the container yard; when there are loading and unloading tasks, unmanned container trucks travel back and forth between the quay crane, yard crane and the centralized container yard; the vertical-shore layout model is based on the vertical-shore layout and includes the following settings: the terminal front, i.e., the shoreline and the centralized container yard include 5 operating lanes; unmanned container trucks cannot go deep into the container yard, and can only operate in the handover area set outside the container yard; the handover area is specifically set on the sea side outside the container yard; the handover area includes 2 operating lanes; the import and export of the handover area each include 2 operating lanes.

[0012] According to some preferred embodiments of the present invention, the shipping logic model includes:

[0013] S211 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model;

[0014] S212 retrieves an idle unmanned container truck, and during the retrieval, determines whether the unmanned container truck is in a fault state. If so, cancel the retrieval of the unmanned container truck, otherwise, proceed to the next step;

[0015] S213 calls for an unmanned container truck to go to the container yard for loading; at the same time, it is determined whether the yard crane used to call the unmanned container truck is idle. If so, it cooperates with the unmanned container truck to complete the loading task; if not, wait for the yard crane to complete the current operation, and then cooperate with the unmanned container truck to complete the loading task;

[0016] S214 selects the quay crane with the shortest queue as the loading quay crane according to the length of the quay crane queue to complete the loading operation;

[0017] S215 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

[0018] According to some preferred embodiments of the present invention, the ship unloading logic model includes:

[0019] S221 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model;

[0020] S222 retrieves an idle unmanned container truck. During the retrieval, it is determined whether the unmanned container truck is in a fault state. If so, the retrieval of the unmanned container truck is cancelled. Otherwise, the next step is performed.

[0021] S223 calls for an unmanned container truck to go to the quay crane to load cargo; at the same time, determines whether the quay crane used to receive the unmanned container truck is idle, if so, cooperates with the unmanned container truck to complete the loading task; if not, waits for the quay crane to complete the current operation, and then cooperates with the unmanned container truck to complete the loading task;

[0022] S224 selects the container yard with the least number of containers and the crane with the shortest queue as the ship unloading yard and crane according to the number of containers in the container yard and the length of the queue, and completes the ship unloading operation;

[0023] S225 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

[0024] According to some preferred embodiments of the present invention, the terminal loading and unloading operation logic model also includes a fault repair logic model.

[0025] According to some preferred embodiments of the present invention, the fault repair logic model includes:

[0026] S231 When an unmanned container truck failure event occurs, the current status of all unmanned container trucks is traversed and determined, and the status of the unmanned container truck in a faulty state is set to occupied, so that the unmanned container truck no longer participates in the scheduling arrangement, and its number is returned to the maintenance personnel, who transports the unmanned container truck to a designated parking spot for maintenance. After the maintenance is completed, the parking spot occupied by the unmanned container truck is released, and the maintenance personnel's status is restored to idle;

[0027] S232 sets the maintenance time of the faulty unmanned container truck to follow the Poisson distribution. When the predicted maintenance time is reached, the state of the faulty unmanned container truck is adjusted from occupied to idle. At the same time, an idle parking spot is obtained, and the maintenance personnel transports the unmanned container truck with adjusted state to the idle parking spot, re-participates in scheduling, and restores the maintenance personnel's state to idle.

[0028] According to some preferred embodiments of the present invention, the container operation quantity disturbance includes the quantity disturbance caused by the failure of container task arrival and the quantity disturbance caused by the arrival of temporary container task.

[0029] According to some preferred embodiments of the present invention, the number disturbance of the unmanned container trucks includes the number disturbance caused by a sudden failure of the unmanned container trucks and the number disturbance caused by the power of the unmanned container trucks dropping to a threshold value.

[0030] According to some preferred embodiments of the present invention, when the container task reaches the operation quantity disturbance caused by the default, the rules of the emergency dispatch strategy include: removing the defaulted task arrangement and canceling the dispatch of the corresponding unmanned container truck.

[0031] According to some preferred embodiments of the present invention, under the quantity disturbance caused by the arrival of the temporary container task, the rules of the emergency dispatch strategy include: judging whether the temporary task is a high-priority task, if not, participating in the chronological dispatch arrangement according to the arrival time; if yes, judging whether there is an idle unmanned container truck at present, if yes, dispatching the idle unmanned container truck to perform the temporary task, if not, dispatching the unmanned container truck that can complete the temporary task the fastest to perform the temporary task;

[0032] According to some preferred embodiments of the present invention, under the quantity disturbance caused by the sudden failure of the unmanned container truck, the rules of the emergency dispatch strategy include: dispatching the unmanned container truck with sudden failure to go offline for maintenance, and judging whether the unmanned container truck has completed the current task, if so, continuing the maintenance, if not, continuously or intermittently obtaining the current maintenance status of the unmanned container truck, if the current maintenance status is maintenance completed, re-uploading the unmanned container truck and arranging it to perform the unfinished task, if the current maintenance status is maintenance incomplete, continuing the maintenance, and at the same time rescheduling the unfinished task and dispatching the idle unmanned container truck to continue to complete the task.

[0033] According to some preferred embodiments of the present invention, under the quantity disturbance caused by the power of the unmanned container truck dropping to a threshold, the rules of the emergency dispatch strategy include: dispatching the unmanned container truck whose power drops to the threshold to go offline, and judging whether it has completed the current task, if not, continuing to execute the current task, and if so, dispatching the unmanned container truck to charge, and then continuously or intermittently obtaining the charging status of the unmanned container truck, and if the current charging status is charging completed, re-uploading the unmanned container truck and arranging it to execute the unfinished task, and if the current charging status is charging incomplete, continuing to charge.

[0034] According to some preferred embodiments of the present invention, the threshold value is 30% of the total power, and the charging is completed when the power reaches more than 90% of the total power.

[0035] The emergency dispatch method of the present invention can make emergency adjustments to unmanned container trucks under sudden disturbances caused by changes in the number of containers and unmanned container trucks, and verify the effectiveness and feasibility of the adjustment scheme through simulation model deduction, thereby avoiding long waiting times for the operation of various equipment at the terminal, ensuring continuous and smooth loading and unloading operations at the automated terminal, and improving the emergency response level to sudden disturbances at the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is the layout diagram of vertical-to-shore and along-shore docks in the specific implementation method.

[0037] Figure 2 It is a simulation model diagram of vertical-to-shore and along-shore docks in a specific implementation manner.

[0038] Figure 3 It is a loading logic model diagram in a specific implementation method.

[0039] Figure 4 It is a logical model diagram of ship unloading in a specific implementation method.

[0040] Figure 5 It is a fault repair logic model diagram in a specific implementation method.

[0041] Figure 6 It is a flow chart of the emergency dispatch strategy under disturbance in a specific implementation method. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the embodiments and drawings, but it should be understood that the embodiments and drawings are only used to exemplify the present invention and do not constitute any limitation on the protection scope of the present invention. All reasonable changes and combinations within the scope of the inventive concept of the present invention fall within the protection scope of the present invention.

[0043] In some specific embodiments, the method for emergency control of sudden disturbances in an automated terminal based on simulation optimization provided by the present invention includes:

[0044] S1 establishes an automated terminal simulation model based on the automated terminal layout.

[0045] In some specific embodiments, refer to the attached Figure 1 The automated terminal layout includes a shore-side layout (Figure (a)) and a vertical-shore layout (Figure (b)).

[0046] The shore-side layout is to arrange the docks in parallel with the shoreline, and the container yard is parallel to the dock and the shoreline, and the yard cranes in the container yard and the quay cranes extending from the dock are perpendicular to the shoreline. The vertical-to-shore layout is to arrange the docks in parallel with the shoreline, and the container yard is perpendicular to the dock and the shoreline, and the yard cranes in the container yard are parallel to the dock and the shoreline, and the quay cranes extending from the dock are perpendicular to the shoreline.

[0047] In some specific embodiments, refer to the attached Figure 1 and 2 , the automated terminal simulation model includes a shore-based layout model and a vertical-to-shore layout model, wherein the shore-based layout model is based on the shore-based layout and includes the following settings: the terminal front, i.e., between the shoreline and the centralized container yard, includes 5 operating lanes; the container yard includes 2 operating lanes; the entrance and exit of the container yard each include 2 operating lanes; unmanned container trucks such as AGV (Automated Guided Vehicle) can go deep into the container yard; when there are loading and unloading tasks, unmanned container trucks travel back and forth between the quay crane, yard crane and centralized container yard. The vertical-to-shore layout model is based on the vertical-to-shore layout and includes the following settings: the terminal front, i.e., between the shoreline and the centralized container yard, includes 5 operating lanes; unmanned container trucks such as AGV cannot go deep into the container yard and can only operate in the handover area set outside the container yard; the handover area is specifically set on the sea side outside the container yard; the handover area includes 2 operating lanes; the entrance and exit of the handover area each include 2 operating lanes.

[0048] S2 establishes a logical model of terminal loading and unloading operations based on the automated operation process of terminal loading and unloading operations.

[0049] In some preferred embodiments, the terminal loading and unloading operation logic model includes a loading logic model and an unloading logic model, wherein, with reference to the attached Figure 3 , the shipping logic model includes:

[0050] S211 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model;

[0051] S212 retrieves an idle unmanned container truck, and during the retrieval, determines whether the unmanned container truck is in a fault state. If so, cancel the retrieval of the unmanned container truck, otherwise, proceed to the next step;

[0052] S213 calls for an unmanned container truck to go to the container yard for loading; at the same time, it is determined whether the yard crane used to call the unmanned container truck is idle. If so, it cooperates with the unmanned container truck to complete the loading task; if not, wait for the yard crane to complete the current operation, and then cooperate with the unmanned container truck to complete the loading task;

[0053] S214 selects the quay crane with the shortest queue as the loading quay crane according to the length of the quay crane queue to complete the loading operation;

[0054] S215 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

[0055] See attached Figure 4 , the ship unloading logic model includes:

[0056] S221 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model;

[0057] S222 retrieves an idle unmanned container truck. During the retrieval, it is determined whether the unmanned container truck is in a fault state. If so, the retrieval of the unmanned container truck is cancelled. Otherwise, the next step is performed.

[0058] S223 calls for an unmanned container truck to go to the quay crane to load cargo; at the same time, determines whether the quay crane used to receive the unmanned container truck is idle, if so, cooperates with the unmanned container truck to complete the loading task; if not, waits for the quay crane to complete the current operation, and then cooperates with the unmanned container truck to complete the loading task;

[0059] S224 selects the container yard with the least number of containers and the crane with the shortest queue as the ship unloading yard and crane according to the number of containers in the container yard and the length of the queue, and completes the ship unloading operation;

[0060] S225 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

[0061] For further information, see Attachment Figure 5 In some preferred embodiments, the terminal loading and unloading operation logic model also includes a fault repair logic model, which includes:

[0062] S231 When an unmanned container truck failure event occurs, the current state of the unmanned container truck is traversed and determined. For the unmanned container truck in a faulty state, i.e., a faulty unmanned container truck, its state is set to occupied, and it no longer participates in the scheduling arrangement. Its number is returned to the maintenance personnel, who transports it to a designated parking spot for maintenance. After the maintenance is completed, the parking spot occupied by the unmanned container truck is released, and the maintenance personnel's state is restored to idle;

[0063] S232 sets the maintenance time of the faulty unmanned container truck to follow the Poisson distribution. When the maintenance time is reached, the state of the faulty unmanned container truck is adjusted from occupied to idle. At the same time, an idle parking spot is obtained, and the maintenance personnel transports the unmanned container truck with adjusted state to the idle parking spot, re-participates in scheduling, and restores the maintenance personnel's state to idle.

[0064] S3 obtains the sudden disturbance emergency dispatch strategy of the automated terminal based on the automated terminal simulation model and the terminal loading and unloading operation logic model through an optimization algorithm that takes disturbance into consideration, wherein the disturbance includes the disturbance of the number of container operations and the disturbance of the number of unmanned container trucks.

[0065] In some preferred embodiments, the container operation quantity disturbance includes the quantity disturbance caused by the failure of container task arrival and the quantity disturbance caused by the arrival of temporary container tasks.

[0066] For further information, see Attachment Figure 6 Under the quantity disturbance caused by the failure of container task arrival, the rules of the emergency dispatch strategy include: remove the failed task arrangement and cancel the dispatch of the corresponding unmanned container truck. Under the quantity disturbance caused by the arrival of temporary container tasks, the rules of the emergency dispatch strategy include: determine whether the temporary task is a high priority task, if not, participate in the chronological dispatch arrangement according to the arrival time; if yes, determine whether there is an idle unmanned container truck at present, if yes, dispatch the idle unmanned container truck to perform the temporary task, if not, dispatch the unmanned container truck that can complete the temporary task the fastest to perform the temporary task.

[0067] In some preferred embodiments, the number disturbance of the unmanned container trucks includes the number disturbance caused by a sudden failure of the unmanned container trucks and the number disturbance caused by the power of the unmanned container trucks dropping to a threshold value.

[0068] For further information, see Attachment Figure 6Under the quantity disturbance caused by the sudden failure of unmanned container trucks, the rules of the emergency dispatch strategy include: dispatching the unmanned container trucks with sudden failures to go offline for maintenance, and judging whether the unmanned container trucks have completed the current task. If so, continue to perform maintenance. If not, continuously or intermittently obtain the current maintenance status of the unmanned container trucks. If the current maintenance status is maintenance completed, re-upload the unmanned container trucks and arrange them to perform unfinished tasks. If the current maintenance status is maintenance incomplete, continue to perform maintenance, and re-arrange unfinished tasks and dispatch idle unmanned container trucks to complete the tasks. Under the quantity disturbance caused by the power of unmanned container trucks dropping to the threshold, the rules of the emergency dispatch strategy include: dispatching the unmanned container trucks whose power drops to the threshold to go offline, and judging whether they have completed the current task. If not, continue to perform the current task. If so, dispatch the unmanned container trucks to charge, and then continuously or intermittently obtain the charging status of the unmanned container trucks. If the current charging status is charging completed, re-upload the unmanned container trucks and arrange them to perform unfinished tasks. If the current charging status is charging incomplete, continue to charge.

[0069] Further preferably, the threshold is 30% of the total power, and the charging is completed when the power reaches more than 90% of the total power.

[0070] The above embodiments are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. Emergency dispatch method for sudden disturbances in automated terminals based on simulation optimization S1 establishes an automated terminal simulation model based on the automated terminal layout, where: The automated terminal layout includes a shore-based layout where the container yard is parallel to the terminal and the coastline and a shore-based layout where the container yard is perpendicular to the terminal and the coastline; S2: establishing a dock loading and unloading operation logic model according to the dock loading and unloading operation automation operation process, wherein the dock loading and unloading operation logic model includes a loading logic model and an unloading logic model; S3 obtains the sudden disturbance emergency dispatch strategy of the automated terminal based on the automated terminal simulation model and the terminal loading and unloading operation logic model through an optimization algorithm that takes disturbance into consideration, wherein the disturbance includes the disturbance of the number of container operations and the disturbance of the number of unmanned container trucks; S4 performs scheduling according to the sudden disturbance emergency scheduling strategy.

2. The preparation method according to claim 1, characterized in that: The automated terminal simulation model includes a shore-based layout model and a vertical-to-shore layout model, wherein the shore-based layout model is based on the shore-based layout and includes the following settings: the terminal front, i.e., the shoreline, and the centralized container yard include 5 operating lanes; the container yard includes 2 operating lanes; the entrance and exit of the container yard each include 2 operating lanes; unmanned container trucks can go deep into the container yard; when there are loading and unloading tasks, unmanned container trucks travel back and forth between the quay crane, yard crane and the centralized container yard; the vertical-to-shore layout model is based on the vertical-to-shore layout and includes the following settings: the terminal front, i.e., the shoreline, and the centralized container yard include 5 operating lanes; unmanned container trucks cannot go deep into the container yard, and can only operate in the handover area set outside the container yard; the handover area is specifically set on the sea side outside the container yard; the handover area includes 2 operating lanes; the entrance and exit of the handover area each include 2 operating lanes.

3. The preparation method according to claim 1, characterized in that: The shipping logic model includes: S211 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model; S212 retrieves an idle unmanned container truck, and during the retrieval, determines whether the unmanned container truck is in a fault state. If so, cancel the retrieval of the unmanned container truck, otherwise, proceed to the next step; S213 calls for an unmanned container truck to go to the container yard for loading; at the same time, it is determined whether the yard crane used to call the unmanned container truck is idle. If so, it cooperates with the unmanned container truck to complete the loading task; if not, wait for the yard crane to complete the current operation, and then cooperate with the unmanned container truck to complete the loading task; S214 selects the quay crane with the shortest queue as the loading quay crane according to the length of the quay crane queue to complete the loading operation; S215 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

4. The preparation method according to claim 1, characterized in that: The ship unloading logic model includes: S221 When the container task arrives, obtain the idle unmanned container truck in the automated terminal simulation model; S222 retrieves an idle unmanned container truck. During the retrieval, it is determined whether the unmanned container truck is in a fault state. If so, the retrieval of the unmanned container truck is cancelled. Otherwise, the next step is performed. S223 calls for an unmanned container truck to go to the quay crane to load cargo; at the same time, determines whether the quay crane used to receive the unmanned container truck is idle, if so, cooperates with the unmanned container truck to complete the loading task; if not, waits for the quay crane to complete the current operation, and then cooperates with the unmanned container truck to complete the loading task; S224 selects the container yard with the least number of containers and the crane with the shortest queue as the ship unloading yard and crane according to the number of containers in the container yard and the length of the queue, and completes the ship unloading operation; S225 returns to the main control point of the unmanned container truck to determine its power status. If the power is less than the threshold, the unmanned container truck is arranged to charge; if the power is greater than or equal to the threshold, it is determined whether there is a container task to be executed. If so, the unmanned container truck is arranged to continue working; if not, the unmanned container truck is arranged to return to the parking point to wait for instructions.

5. The preparation method according to claim 1, characterized in that: The terminal loading and unloading operation logic model also includes a fault repair logic model.

6. The preparation method according to claim 5, characterized in that: The fault repair logic model includes: S231 When an unmanned container truck failure event occurs, the current status of all unmanned container trucks is traversed and determined, and the status of the unmanned container truck in a faulty state is set to occupied, so that the unmanned container truck no longer participates in the scheduling arrangement, and its number is returned to the maintenance personnel, who transports the unmanned container truck to a designated parking spot for maintenance. After the maintenance is completed, the parking spot occupied by the unmanned container truck is released, and the maintenance personnel's status is restored to idle; S232 sets the maintenance time of the faulty unmanned container truck to follow the Poisson distribution. When the predicted maintenance time is reached, the state of the faulty unmanned container truck is adjusted from occupied to idle. At the same time, an idle parking spot is obtained, and the maintenance personnel transports the unmanned container truck with adjusted state to the idle parking spot, re-participates in scheduling, and restores the maintenance personnel's state to idle.

7. The preparation method according to claim 1, characterized in that: in, The quantity disturbance of container operations includes the quantity disturbance caused by the failure of container tasks and the quantity disturbance caused by the arrival of temporary container tasks; and / or, the quantity disturbance of unmanned container trucks includes the quantity disturbance caused by sudden failure of unmanned container trucks and the quantity disturbance caused by the power of unmanned container trucks dropping to a threshold.

8. The preparation method according to claim 7, characterized in that: in, Under the quantity disturbance caused by the failure of the arrival of the container task, the rules of the emergency dispatch strategy include: removing the failed task arrangement and canceling the dispatch of the corresponding unmanned container truck; and / or, under the quantity disturbance caused by the arrival of the temporary container task, the rules of the emergency dispatch strategy include: judging whether the temporary task is a high priority task, if not, participating in the chronological dispatch arrangement according to the arrival time; if so, judging whether there is an idle unmanned container truck at present, if so, dispatching the idle unmanned container truck to perform the temporary task, if not, dispatching the unmanned container truck that can complete the temporary task the fastest to perform the temporary task; 9. The preparation method according to claim 7, characterized in that: in, Under the quantity disturbance caused by the sudden failure of the unmanned container truck, the rules of the emergency dispatch strategy include: dispatching the unmanned container truck with sudden failure to go offline for maintenance, and judging whether the unmanned container truck has completed the current task, if so, continuing the maintenance, if not, continuously or intermittently obtaining the current maintenance status of the unmanned container truck, if the current maintenance status is maintenance completed, re-uploading the unmanned container truck and arranging it to perform the unfinished task, if the current maintenance status is maintenance incomplete, continuing the maintenance, and re-arranging the unfinished task and dispatching the idle unmanned container truck to continue to complete the task; and / or, under the quantity disturbance caused by the power of the unmanned container truck dropping to the threshold, the rules of the emergency dispatch strategy include: dispatching the unmanned container truck whose power drops to the threshold to go offline, and judging whether it has completed the current task, if not, continuing to perform the current task, if yes, dispatching the unmanned container truck to charge, and then continuously or intermittently obtaining the charging status of the unmanned container truck, if the current charging status is charging completed, re-uploading the unmanned container truck and arranging it to perform the unfinished task, if the current charging status is charging incomplete, continuing to charge.

10. The preparation method according to claim 7, characterized in that: The threshold is 30% of the total power, and the charging is completed when the power reaches more than 90% of the total power.

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