Automatic wharf storage yard operation method and storage medium

Abstract

The invention relates to the field of port operation, in particular to an automatic wharf storage yard operation method and a storage medium, and improves the wharf operation efficiency and the utilization rate of rail-mounted gantry crane equipment. Comprising the following steps: acquiring all established operation task requirements in a storage yard, including a dispatched operation task and a non-dispatched operation task, and sorting and storing the operation task requirements according to suggested starting time; extracting operation tasks in a specified range; determining an interlaced job task, wherein the interlaced job task is a same-bay job task at the same time and does not keep a safe distance; adjusting the interlaced job task, setting suggested time stages of the job task, namely suggested earliest start time, suggested start time and suggested latest start time, adjusting according to the time stages of the interlaced job task, and determining an adjusted job sequence; box turning operation is confirmed, wherein the box turning operation is determined according to the adjusted operation sequence; and outputting the operation sequence of the extracted operation tasks.

Description

Technical Field

[0001] The present application relates to the field of port operations, and in particular to an automated terminal yard operation method and storage medium. Background Art

[0002] In recent years, automated terminals have become a new trend and a new fashion in the construction and renovation of various container terminals. In the current automated terminal operation process, containers from ships are transported between the terminal front and the yard through IGV horizontal transportation equipment, and containers from railways are transported between the yard and the roadside through container trucks. Therefore, the efficiency of the yard operation tasks plays a key role in the efficiency of container loading and unloading and transshipment operations. The operating efficiency of the rail crane in the yard directly affects the operating efficiency of the quay crane. Therefore, improving the operating efficiency of the rail crane in the yard is an important guarantee for port operators to improve service levels and enhance competitiveness. Summary of the invention

[0003] The present invention aims to overcome at least one defect of the above-mentioned prior art, and provide an automated terminal yard operation method and storage medium to improve the terminal operation efficiency and the utilization rate of rail crane equipment.

[0004] The present invention provides an automated dock yard operation method, the method comprising:

[0005] S100: Obtain all established operation task requirements in the yard, including the operation tasks that have been assigned vehicles and the operation tasks that have not been assigned vehicles, and sort and store the operation task requirements according to the recommended start time;

[0006] S102: extracting job tasks within a specified range;

[0007] S104: Determine staggered operation tasks, where the staggered operation tasks are operation tasks at the same position at the same time without maintaining a safe distance;

[0008] S106: Adjust the staggered work tasks, set the recommended time stages of the work tasks, which are respectively the recommended earliest start time, the recommended start time, and the recommended latest start time, adjust according to the time stages of the staggered work tasks, and determine the adjusted work order;

[0009] S108: confirming the box turning operation, wherein the box turning operation is determined according to the adjusted operation sequence;

[0010] S110: Outputting the operation sequence of the extraction task.

[0011] The technical effects produced by the present invention include:

[0012] 1. Reduced the invalid queuing time of IGV.

[0013] 2. Improved the utilization rate of rail cranes.

[0014] 3. The closeness and coordination between IGV and equipment in the yard are achieved, ensuring the continuity of operations and reducing the operation time of tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a flow chart of an automated terminal yard operation method.

[0016] Figure 2 It is a schematic diagram of box turning of the present invention.

[0017] Figure 3 It is a schematic diagram of the staggered operation tasks of the present invention.

[0018] Figure 4 The bidirectional graph of the position and time of the yard operation task of the present invention is DETAILED DESCRIPTION

[0019] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0020] The present application provides an automated terminal yard operation method, the method comprising:

[0021] S100: Obtain all established operation task requirements in the yard, including the operation tasks that have been assigned vehicles and the operation tasks that have not been assigned vehicles, and sort and store the operation task requirements according to the recommended start time;

[0022] S102: extracting the job tasks within the specified range;

[0023] S104: Determine staggered operation tasks, where the staggered operation tasks are operation tasks at the same position at the same time without maintaining a safe distance;

[0024] S106: Adjust the staggered work tasks, set the recommended time stages of the work tasks, which are respectively the recommended earliest start time, the recommended start time, and the recommended latest start time, adjust according to the time stages of the staggered work tasks, and determine the adjusted work order;

[0025] S108: confirming the box turning operation, wherein the box turning operation is determined according to the adjusted operation sequence;

[0026] S110: Outputting the operation sequence of the extraction task.

[0027] In view of the various efficiency-influencing issues at present, such as artificial changes in the order of yard operation tasks caused by objective reasons at the terminal, ineffective queuing of IGVs, low utilization of track cranes, and no track cranes available in the yard to be operated, the present invention proposes an automated terminal yard operation method to make the yard operation more flexible. At the same time, the concept of the number of queues at the operation position is proposed to ensure that the waste of resources such as ineffective queuing of IGVs and long waiting time at the destination position is avoided without affecting the operation efficiency. In addition, the concept of adjusting the overlapping time is proposed to avoid the low utilization rate of the track cranes, and the situation where no track cranes are available for operation is avoided by adjusting the overlapping time.

[0028] Yard operation is one of the important links in the automated terminal. Generally, multiple operation lines are set up, each operation line has several tasks to be operated, and one operation task corresponds to one WI.

[0029] like Figure 1 , obtain all the established work task requirements in the yard, including the work tasks that have been dispatched and the work tasks that have not been dispatched. This application is aimed at the work tasks of all work lines in the yard, and all the work tasks are collected through a unified deployment order. Each work task has a start time, which is defined as the recommended start time, that is, the work task starts to execute the work task from the recommended start time. The obtained full amount of work tasks are sorted according to the recommended start time. In order to save data and facilitate retrieval, the obtained full amount of work tasks are sorted and stored in the storage unit.

[0030] Due to different business needs, it may be necessary to perform yard operations in a certain range. In this embodiment, it is proposed to extract the operation tasks within the specified range, which can be a certain time period, a certain bay, etc. It is determined whether there are staggered operation tasks in the specific range, and the staggered operation tasks are the operation tasks at the same bay at the same time that do not maintain a safe distance.

[0031] In some embodiments, the safety distance is 10 bays.

[0032] The recommended time periods include:

[0033] It is determined by the number of queues at the operating position when the IGV arrives at the destination, the operating position includes the quay crane operating position and the container receiving operating position at the yard, the number of queues at the operating position is the number of tasks waiting for operation at the destination, the maximum number of queues at the operating position is the maximum number of tasks that can wait for operation at the destination, and the minimum number of queues is the minimum number of tasks waiting for operation at the destination;

[0034] The earliest recommended start time is when the IGV arrives at the destination operation location, just before or before there is a place available for queuing;

[0035] The recommended latest start time is when the IGV arrives at the destination job location, and the number of tasks available for the IGV that has arrived at the destination location is exactly equal to the value of the configured minimum job location queue number;

[0036] The recommended start time is the average of the earliest recommended start time and the latest recommended start time, and is used to schedule the order of yard operation tasks.

[0037] In some embodiments, the earliest recommended start time refers to when an IGV arrives at the destination operation position, including the quay crane operation position and the yard container collection operation position, and there is a position available for queuing, that is, the newly dispatched IGV is recommended to arrive at the destination at the earliest time. If the IGV arrives at the destination earlier than this time, the number of tasks waiting for operation at the destination location will be greater than the maximum number of operation position queues, and there will be sufficient IGVs waiting for operation at the destination location. The recommended latest start time refers to when an IGV arrives at the destination operation position, including the quay crane operation position and the yard container collection operation position, and the number of tasks available for the IGV that has arrived at the destination position is exactly equal to the value of the configured minimum operation position queue number, which is generally preset to 0. When the minimum operation position queue number is set to 0, it means that there is no waiting operation task when the IGV arrives at the destination position. In order to ensure the target efficiency of the arrival operation line, the yard must always have tasks to be worked on; the recommended start time is the average of the recommended earliest start time and the latest start time, which is used to schedule the order of yard operation tasks; the operation position queue number is the number of tasks waiting for operation at the destination position, the maximum operation position queue number indicates the maximum number of tasks that can wait for operation at the destination position, and the minimum operation queue number indicates the minimum number of tasks waiting for operation at the destination position. This value can be set manually, the maximum is generally set to 3, and the minimum is generally set to 0.

[0038] By adjusting the staggered tasks, the conflict of work tasks can be avoided. If there are no staggered tasks after the adjustment, the tasks will be executed in the adjusted order; if there are still staggered tasks after the adjustment, the box will be turned over.

[0039] In some embodiments, all yard task operation requirements are sorted according to the recommended start time, the operation requirements after the preliminary sorting are checked in turn, and the operation tasks to be decided are taken out, the method is as follows: for the liner yard container outflow, the corresponding first operation task is taken out in order according to its operation sequence; for the operation tasks of moving containers onto the vehicle, the operation tasks of unloading ships onto the vehicle, and the container truck tasks, the operation tasks can be directly extracted.

[0040] Before assigning rail cranes to WIs, situations where adjustments or staggered tasks may be required are judged to determine whether the WIs to be decided need to be adjusted or have overlapping parts. If adjustments are required, the order is adjusted. For staggered tasks, the possible situations include: overlapping tasks or no ASC available for operation; the situations that may need to be adjusted include: turning over containers, the order of the front and back containers of double containers, and the order of exchanging containers on liner outbound containers.

[0041] like Figure 3 , the overlapping situations of scheduled tasks and tasks to be scheduled include, where the horizontal axis is the position axis and the vertical axis is the time axis:

[0042] like Figure 3-1 Although the time phases overlap, the positions of the two tasks are outside the safe distance, which means that there are no overlapping tasks between the two tasks.

[0043] like Figure 3-2 , there is no overlap in the time phases. Although the positions of the two tasks are within the safe distance, it still means that there is no overlapping of the two tasks.

[0044] like Figure 3-3 , the time phases overlap, and the positions of the two tasks are within the safe distance, which means that there are interleaved tasks between the two tasks.

[0045] like Figure 3-4 ,right Figure 3 If there are staggered tasks in the task list, the latest recommended start time of the scheduled tasks will be moved up. At this time, the time phases of the two tasks still overlap after the adjustment, that is, there are still staggered tasks after the adjustment. Figure 3 -6, when sorting, although the recommended start time is used as the basis, Figure 3-4 In the example, after the latest suggested start time of the scheduled task is moved up, although the suggested start time of the scheduled task does not overlap with the task to be scheduled, the suggested earliest start time of the scheduled task still overlaps with the suggested latest start time of the task to be scheduled, and after the adjustment, at least one of the planned start times of the two tasks cannot fall within the time period.

[0046] like Figure 3 -5, yes Figure 4 After the adjustment, make another adjustment to move the earliest recommended start time of the scheduled tasks downward. At this time, the time phases of the two tasks do not overlap after the adjustment, that is, there are no staggered work tasks after the adjustment.

[0047] In some embodiments, rummaging includes:

[0048] When a task box is pressed by a task box without a task box, the box is turned over, and the task box with a task box is a task to be decided or a task with a scheduled work plan;

[0049] When the task box with tasks is pressed by the task box with pending decision, if the task box with tasks has a later operation sequence than the task box with pending decision, the task box with tasks and the task box with pending decision will be swapped first. The swapping condition is that the operation of the task box with tasks does not exceed the earliest recommended start time of the task box with tasks, and the operation time of the task box with pending decision is not later than the latest recommended start time. Then the task box with tasks will be operated first, otherwise it will be swapped. Figure 2 When multiple boxes are stacked together, including task boxes and non-task boxes, whether to turn the boxes includes the following situations:

[0050] When there is no task box pressing the task box, the box is directly turned over without adjustment. The task box means that the WI is a WI to be decided or a task with a scheduled operation plan;

[0051] When there is a task box pressing the decision box, such as Figure 2-1 Box 1 is the WI waiting for decision. When there is a task in box 2 and box 1 is pressed, it is necessary to judge whether to turn over the box according to the situation.

[0052] If the operation order of box two is before box one, there is no need to turn over the boxes or make any further adjustments, that is, do box two first and then box one.

[0053] If the operation order of box 2 is after box 1, and if box 2 and box 1 can be exchanged, box 2 will be operated first. If box 2 is operated first and then box 1, or box 2 is turned over and then box 1 is operated, and the time period of box 1 is satisfied, then if the operation of box 2 does not exceed the earliest recommended start time of box 2, box 2 will be operated first.

[0054] In other cases, turn over box 2 and work on box 1 first.

[0055] When multiple boxes, such as Figure 2-2 , there are N+2 boxes in total, of which box 1 is the WI to be decided, boxes N+1 and N+2 are both task boxes, box N+2 presses box N+1 to press box 1 to be decided, including:

[0056] If the operation order of box N+1 and box N+2 is before box 1, there is no need to turn over the boxes and no further adjustments are required, that is, box N+1 and box N+2 should be done first, and then box 1.

[0057] If the operation order of box N+1 and box N+2 is after box 1: if box N+2 can be replaced with box 1, then box N+2 will be operated first; otherwise, if box N+1 can be replaced with box 1, then box N+2 will be turned over and box N+1 will be operated first; otherwise, box N+2 and box N+1 will be turned over and box 1 will be operated first.

[0058] For boxes with tasks in more layers, determine whether the box can be replaced from top to bottom. If it can be replaced, then replace it. Otherwise, turn over the box.

[0059] In some embodiments, job task overlap includes:

[0060] The safety distance between the working positions of the first working task and the second working task is insufficient and their time stages overlap; the first working task is a task to be scheduled, and the second working task includes a task that the rail crane is currently working on or a task that has been scheduled before the working task;

[0061] If there is overlap in the time phases, the time phases are adjusted within the interval between the earliest recommended start time and the latest recommended start time, and the overlapping parts after adjustment include completely non-overlapping parts, non-overlapping parts after adjustment, and overlapping parts after adjustment;

[0062] The "no overlap after adjustment" means that the planned start times of the two tasks after adjustment fall within the time interval. The adjustment method includes: giving priority to adjusting the time period of the second task, moving the recommended latest start time upward, and if there is an overlapping part, moving the recommended earliest start time of the first task downward. After adjustment, the time stages of the two tasks are both within the range of the original recommended earliest start time and the recommended latest start time.

[0063] Task overlap means that if the working positions of a task and other scheduled tasks are too close to each other, according to the safety distance between ASCs, and there is an overlap in the time phases, even if there are two rail cranes, two tasks cannot be performed at the same time. This situation is called task overlap.

[0064] Although the work task that no track crane can perform has no physical location conflict with other scheduled tasks, there is no track crane available to perform the work task during the time period of the work task.

[0065] When the above situation cannot be avoided, adjustments need to be made. If the above situation occurs in a liner loading task, first check in order according to the loading queue to see if there is any non-overlapping task. If so, select the task. If all tasks are interleaved, judge based on the priority of the operation line and put the high priority tasks in the front position. At the same time, adjust the time stage of the later tasks and move them back so that they do not affect the front tasks, and obtain the adjusted time stage.

[0066] In order to intuitively and accurately represent all the operation tasks of the reactor site, a two-dimensional diagram of the position and time of each operation line is generated after adjustment. Figure 4 There are m WIs, i.e. m work tasks, on the work line. Then they are sorted from early to late according to the recommended start time, i.e. the average value of the work stages in the figure. For example, if we only look at the work tasks of WI1-WI3, the work order of the yard work tasks is WI1-WI3-WI2.

[0067] After adjusting and sorting the yard tasks, the order of the work tasks within the specified range is finally output with the recommended start time as the axis.

[0068] In some embodiments, the operation task is a double box, and the method for confirming the order of the double boxes includes:

[0069] When receiving containers at the yard, one of the two containers is randomly selected as the front container. If there is no staggered operation task, the order of the two containers is determined. If there is a staggered operation task, the operation task is adjusted.

[0070] When unloading boxes from the yard, if two boxes are in the same working position, the order of turning over the boxes is confirmed. If the two boxes are not in the same working position, one box is randomly selected and the working tasks of the two boxes are arranged. If there are interleaved working tasks for both boxes, this working task is skipped until one of the boxes does not have an interleaved working task.

[0071] In some embodiments, a computer-readable storage medium is also included, the computer-readable storage medium comprising instructions, which, when executed, cause the computer to perform a fully automated terminal yard operation method.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An automated terminal yard operation method, characterized in that: The method comprises: Obtain all the established task requirements in the yard, including the tasks that have been assigned and the tasks that have not been assigned, and sort and store the task requirements according to the recommended start time; Extract the job tasks within the specified range; Determine staggered work tasks, where staggered work tasks are work tasks at the same bay at the same time without maintaining a safe distance; Adjust the staggered work tasks, set the recommended time stages of the work tasks, which are respectively the recommended earliest start time, the recommended start time, and the recommended latest start time, adjust according to the time stages of the staggered work tasks, and determine the adjusted work order; Confirming the box turning operation, wherein the box turning operation is determined according to the adjusted operation sequence; Output the operation sequence of the extraction operation task.

2. The automated terminal yard operation method according to claim 1, characterized in that: The operation task is a double box, and the method for confirming the front and back order of the double boxes includes: When receiving containers at the yard, one of the two containers is randomly selected as the front container. If there is no staggered operation task, the order of the two containers is determined. If there is a staggered operation task, the operation task is adjusted. When unloading boxes from the yard, if two boxes are in the same working position, the order of turning over the boxes is confirmed. If the two boxes are not in the same working position, one box is randomly selected and the working tasks of the two boxes are arranged. If there are interleaved working tasks for both boxes, this working task is skipped until one of the boxes does not have an interleaved working task.

3. The automated terminal yard operation method according to claim 1, characterized in that: The safety distance is 10 beta cells.

4. The automated terminal yard operation method according to claim 1, characterized in that: The recommended time periods include: It is determined by the number of queues at the operating position when the IGV arrives at the destination, the operating position includes the quay crane operating position and the container receiving operating position at the yard, the number of queues at the operating position is the number of tasks waiting for operation at the destination, the maximum number of queues at the operating position is the maximum number of tasks that can wait for operation at the destination, and the minimum number of queues is the minimum number of tasks waiting for operation at the destination; The earliest recommended start time is when the IGV arrives at the destination operation location, just before or before there is a place available for queuing; The recommended latest start time is when the IGV arrives at the destination job location, and the number of tasks available for the IGV that has arrived at the destination location is exactly equal to the value of the configured minimum job location queue number; The recommended start time is the average of the earliest recommended start time and the latest recommended start time, and is used to schedule the order of yard operation tasks.

5. The automated terminal yard operation method according to claim 4, characterized in that: The maximum job position queue number is 3, and the minimum job queue number is 0.

6. The automated dock yard operation method according to claim 4, characterized in that: The box turning includes: When a task box is pressed by a task box without a task box, the box is turned over, and the task box with a task box is a task to be decided or a task with a scheduled work plan; When the existing task box presses the task box for pending decision, if the operation order of the existing task box is later than that of the task box for pending decision, the existing task box and the task box for pending decision will be swapped first. The switching condition is that the operation of the existing task box does not exceed the earliest recommended start time of the existing task box, and the operation time of the task box for pending decision is not later than the latest recommended start time. In this case, the existing task box will be operated first, otherwise the box will be swapped.

7. The automated dock yard operation method according to claim 6, characterized in that: When there are multiple task boxes above the task box for the operation to be decided, the task box for the operation to be decided is judged from the top in turn, and if the box cannot be changed, the box is turned over.

8. The automated dock yard operation method according to claim 1, characterized in that: The staggered operation tasks include overlapping operation tasks and no track crane can be operated; The overlapping of the job tasks includes: The safety distance between the working positions of the first working task and the second working task is insufficient and their time stages overlap; the first working task is a task to be scheduled, and the second working task includes a task that the rail crane is currently working on or a task that has been scheduled before the working task; If there is overlap in the time phases, the time phases are adjusted within the interval between the earliest recommended start time and the latest recommended start time, and the overlapping parts after adjustment include completely non-overlapping parts, non-overlapping parts after adjustment, and overlapping parts after adjustment; The "no overlap after adjustment" means that the planned start times of the two tasks after adjustment fall within the time interval. The adjustment method includes: giving priority to adjusting the time stage of the second task, moving the recommended latest start time upward, and if there is an overlapping part, moving the recommended earliest start time of the first task downward. After adjustment, the time stages of the two tasks are both within the range of the original recommended earliest start time and the recommended latest start time.

9. The automated dock yard operation method according to claim 1, characterized in that: After the adjustment, a bidirectional graph of the bay position and time of each working line is generated.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, which, when executed, enable the computer to perform an automated terminal yard operation method according to any one of claims 1 to 9.

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