Integrated scheduling container terminal operation flow configuration and process control method

Abstract

The invention discloses an integrated scheduling container terminal operation flow configuration and process control method. The method comprises the following steps: S1, defining a universal Activity; s2, determining a device type; s3, a disassembling operation process; s4, selecting a universal Activity to synthesize a preset job master device according to the service type; and S5, according to the scheduling plan, calling a corresponding preset Job master device, combining into a customized operation flow network according to service requirements, and realizing time prediction, early warning analysis and service summarization functions on the basis. According to the method, a process control scheme capable of carrying out flexible operation process configuration is provided for container terminals with different production layouts, operation processes of different production services and interaction logic of different operation devices, a time matrix of key operation nodes is estimated according to the process control scheme, possible problems are recognized, diagnosis analysis is carried out, and the operation efficiency is improved. And collaborative process control of the integrated dispatching system of the container terminal is supported.

Description

Technical Field

[0001] The present invention relates to the operation process configuration and process control in the field of container port equipment (mainly including quay cranes, yard cranes, and horizontal transportation machinery, etc.) scheduling systems, and provides a flexible operation process configuration scheme and an integrated scheduling and coordination technology for different layout container terminals, different operation business processes, and different equipment interaction logics. More specifically, it relates to a method for configuring and controlling the operation process of a container terminal with integrated scheduling. Background Art

[0002] With the rapid development of the modern logistics industry, container terminals are accelerating their development towards intelligence and automation. In the scheduling of large-scale machinery in traditional container terminals, whether at home or abroad, it generally relies on manual scheduling methods, and its effectiveness largely depends on the experience of operators. Although self-owned container terminal systems have been developed currently, there are still significant gaps in planning control and scheduling.

[0003] The current terminal real-time scheduling system still has defects. When the scale of terminal equipment is too large, there are too many elements, and the system is too complex, it will lead to an overly large problem scale that the existing system needs to solve, making it difficult to achieve real-time solution. And due to the uncertainty and randomness of container terminal operations itself, offline solution will result in a large difference between the final result and the plan. At the same time, the existing real-time scheduling system does not have a good early warning system for emergencies, such as possible truck failures and quay crane failures in container terminals, and has poor anti-interference ability.

[0004] During the operation process of a container terminal, loading and unloading equipment resources such as berths, quay cranes, trucks, and yards need to cooperate with each other to optimize the efficiency of the terminal. However, the automated joint scheduling method for container terminals based on the operation line mode does not fundamentally solve the problem of resource waste, and there is still room for improvement. As an important part of global trade, container terminals undertake a large number of cargo transportation tasks. With the continuous increase in container throughput, the complexity of terminal operations and the demand for efficiency also increase. To ensure the timely loading and unloading of containers and transportation, the terminal operation process needs to make precise decisions in a short time, including the stacking, unloading, loading of containers, and equipment scheduling, etc. However, the existing container terminal operation control systems have certain limitations in predicting key operation times, monitoring equipment operating states, identifying potential risks and abnormal situations.

[0005] Currently, the operation process control of container terminals mainly relies on manual monitoring and traditional scheduling systems. These systems usually adopt scheduling methods based on empirical rules or rely on historical data analysis. However, these methods often have the following deficiencies:

[0006] (1) Lack of support for flexible operation configuration solutions: For different production layouts in container terminals, different operation processes of Handling operations, and different interaction logics among various equipment, cumbersome targeted redesigns are required; at the same time, the operation processes in container terminals are often affected by various factors, such as weather, traffic, sudden Events, etc. Traditional scheduling systems are difficult to flexibly adjust operation sequences and resource allocations to cope with these dynamic changes. Existing operation scheduling systems are usually relatively rigid and lack the support of flexible technologies, making it difficult to quickly and intelligently adjust resources, resulting in low optimization efficiency of operation processes;

[0007] (2) Lack of dynamic prediction ability: Existing scheduling systems usually cannot predict key time nodes in container loading and unloading operations in real time. For example, the prediction of unloading time, loading time, and Transportation time often relies on historical data, but this method has weak response capabilities to sudden situations, resulting in situations where the plan may not match the actual situation during the operation process, thus affecting the overall efficiency and throughput;

[0008] (3) Insufficient early warning ability for equipment failures: Container terminals usually rely on a large number of mechanical equipment, such as cranes, automated guided vehicles, etc. The failures of these equipment may seriously affect the operation progress. Existing equipment monitoring systems mainly rely on single monitoring means in terms of failure early warning and lack intelligent failure prediction and risk identification functions. Especially before the occurrence of equipment failures, it is difficult to accurately predict and provide corresponding maintenance or replacement suggestions, resulting in an increase in equipment downtime and affecting the overall production efficiency.

[0009] Therefore, there is still a large room for improvement in the existing technology in terms of flexible configuration of different business processes, prediction of key time nodes, real-time identification of potential risks, and provision of intelligent equipment scheduling suggestions. How to organically combine flexible scheduling, intelligent prediction, and equipment early warning systems through innovative technical means has become an urgent problem to be solved in the current operation management of container terminals. Summary of the Invention

[0010] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a method for configuring and controlling the operation process of a container terminal with integrated scheduling, providing a process control solution for flexible operation process configuration for container terminals with different production layouts, operation processes of different production operations, and interaction logics of different operation equipment, and estimating the time matrix of key operation nodes based on this, identifying possible problems and conducting diagnostic analysis to support the process control of the coordination of the integrated scheduling system of the container terminal.

[0011] To achieve the above purpose, the present invention adopts the following technical solutions:

[0012] An integrated scheduling method for container terminal operation process configuration and process control, comprising the following steps:

[0013] S1. Define general Activities;

[0014] S2. Determine equipment types;

[0015] S3. Decompose operation processes;

[0016] S4. Select general Activities according to business types to synthesize preset job main components;

[0017] S5. According to the scheduling plan, call the corresponding preset Job main components, and combine them into a customized operation process network according to business requirements. On this basis, realize functions of time prediction, early warning analysis, and business summary.

[0018] Preferably, the equipment includes quay cranes, container trucks, yard cranes, stackers, reach stackers, and straddle carriers.

[0019] Preferably, the Activities of the quay crane are divided into trolley empty-load movement, trolley load movement, hoist empty-load movement, and grab container from ship by spreader;

[0020] The Activities of the container truck are divided into empty-load driving, load driving, pick up and unload containers under the quay crane, and pick up and unload containers in the yard;

[0021] The Activities of the yard crane are divided into empty-truck movement, load movement, take out the container from the container truck and place it in the yard slot, take out the container from the yard and give it to the container truck, and container tilting.

[0022] Preferably, the activity types of the equipment are summarized into five categories, namely Handling, Transportation, Stay, Event, and Storage;

[0023] Handling represents Handling movement within a limited space;

[0024] Transportation represents long-distance Handling movement;

[0025] Handling, Transportation, Stay, and Storage all have time persistence.

[0026] Preferably, for the activity types with time persistence, the time used to complete the Activity is calculated by two methods: a numerical statistical model and a motion parameter model.

[0027] Preferably, step S5 specifically includes the following steps:

[0028] S51. Determine the business types involved in the container terminal, the corresponding operation processes, and the interaction logic between devices. Based on this, integrate all the classified general Activities into the preset Job main components for each business type according to the action type, priority, and the interaction logic between devices, and store them in the database for integrated scheduling;

[0029] S52. Select the corresponding preset Job main components from the database according to the business types in the scheduling plan, and combine the selected preset Job main components into an integrated scheduling operation process network according to the operation sequence of various devices;

[0030] S53. According to the integrated scheduling operation network and the time calculation model of related Activities, calculate the time matrix for each link of the device operation, so as to detect the completion progress and status of the scheduling plan, and give early warnings and problem analysis when abnormalities occur during the operation process, supporting the flexible integrated scheduling process control of the container terminal.

[0031] Preferably, in step S52, the operation process network is also reorganized for the change situation of the scheduling plan.

[0032] Preferably, in step S53, the time matrix calculation is carried out in the forward propagation mode of the earliest operation time and the backward propagation mode of the latest operation time.

[0033] An integrated scheduling method for the operation process configuration and process control of a container terminal provided by the present invention has the following advantages:

[0034] 1) Universal applicability. Through organic and systematic operation classification and modeling, it can be generally applicable to various types of terminal layouts, various operation devices, and various business processes;

[0035] 2) Overall integration. This method breaks through the boundaries of the control and optimization of each operation device, and globally optimizes the operations of the entire terminal from the perspective of overall integration;

[0036] 3) Refined efficiency. Compared with methods such as system simulation, this method extracts the most critical and core operation elements in the process configuration and control process, and greatly improves the response speed of feedback and prediction. Description of the Drawings

[0037] Figure 1 is a schematic flowchart of the operation process configuration and process control method of the container terminal of the present invention;

[0038] Figure 2It is a schematic diagram of the main process components of the hinterland inbound container Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0039] Figure 3 It is a schematic diagram of the main process components of the hinterland outbound container Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0040] Figure 4 It is a schematic diagram of the main process components of the ship loading Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0041] Figure 5 It is a schematic diagram of the main process components of the ship unloading Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0042] Figure 6 It is a schematic diagram of the main process components of the on-site container transfer Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0043] Figure 7 It is a schematic diagram of the main process components of the off-site container transfer Job in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0044] Figure 8 It is a schematic diagram of the main process components of the Job 88 in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention;

[0045] Figure 9 It is a schematic diagram of the pre-and post-order relationship of adding Jobs in the embodiment of the method for configuring and controlling the container terminal operation process of the present invention. Detailed implementation manners

[0046] In order to better understand the above technical solutions of the present invention, the technical solutions of the present invention will be further described below with reference to the drawings and embodiments.

[0047] Combined with Figure 1 As shown, an integrated scheduling method for configuring and controlling the container terminal operation process provided by the present invention includes the following steps:

[0048] S1, define general Activities;

[0049] S2, determine the equipment types;

[0050] S3, disassemble the operation process;

[0051] S4, select general Activities according to the business types to synthesize the preset job main components;

[0052] S5. According to the scheduling plan, call the corresponding pre-set Job main components, combine them into a customized job process network based on business requirements, and on this basis, implement functions such as time prediction, early warning analysis, and business summary.

[0053] To achieve the flexible configuration of the container terminal operation process, it is necessary to determine the operation equipment involved in the container terminal, break down all possible operation actions and states of the operation equipment, and classify the operation actions and states into various general Activities. Table 1 below shows the various operation tasks that the main types of equipment in the container terminal must perform. Its operation process can be represented by different activities. For example, the operation process of the quay crane can be divided into the trolley moving empty, the trolley moving with a load, the trolley moving empty, the spreader grabbing a container from the ship, etc. The operation process of the yard tractor can be divided into driving empty, driving with a load, picking up and discharging containers under the quay crane, picking up and discharging containers in the yard, etc. The operation process of the yard crane can be divided into the crane moving empty, the crane moving with a load, taking the container out of the yard tractor and placing it in the yard container position, taking the container out of the yard and giving it to the yard tractor, container flipping, etc.

[0054] Table 1 Various operation tasks of equipment

[0055]

[0056]

[0057] Furthermore, Tables 2 to 4 below detail the various Activities and their attributes in the equipment operation processes of the yard crane, quay crane, and yard tractor. For different terminals, there will be varying degrees of differences in their various operation processes, but they can all be broken down into several general Activity processes.

[0058] Table 2 Activities of the yard crane

[0059]

[0060] Table 3 Activities of the quay crane

[0061]

[0062]

[0063] Table 4 Activities of the yard tractor

[0064]

[0065] Based on the various activities and their attribute characteristics of quay cranes, container trucks, and yard cranes summarized in Tables 2 to 4, they can be summarized into five main activity types, namely Handling, Transportation, Stay, Event, and Storage, as shown in Table 5 below. The Handling activity represents Handling movements within a limited space, while the Transportation activity represents Handling movements over a longer distance. If the movement time is expressed as a function of the starting and ending positions, then we classify it as Transportation. Activities such as Handling, Transportation, Stay, and Storage have time persistence, while Event does not. Therefore, for different operations in different types of terminals, we can break down their operation processes into general Activities for representation. For activities with time persistence, the time taken to complete an Activity can be calculated through two methods: a numerical statistical model and a motion parameter model.

[0066] The numerical statistical model is derived from the statistical analysis of historical operation data. Generally, constant average or mean-variance numerical distribution models can be used, etc.

[0067] The motion parameter model is derived from the mechanical motion analysis of port machinery equipment. Key kinematic parameters of each motion process are extracted, such as average speed, acceleration, and maximum speed, and the motion time is calculated by combining the motion distance.

[0068] Therefore, for different types of terminals and different types of equipment, the states and actions during their operation processes can be represented by general Activities, thereby achieving flexible configuration of the operation process.

[0069] Table 5 General Activity Types

[0070]

[0071] After defining the general Activity types for the operation processes of various equipment in a container terminal, by deeply analyzing the specific requirements and interaction logic between equipment in different business scenarios, these "Activities" can be integrated into "preset Job main components" for specific business types. Subsequently, according to the scheduling plan, the corresponding Job main components are called from the database and combined into a customized operation process network. On this basis, functions such as time prediction, early warning analysis, and business summary are realized. The integrated coordination and control of different equipment in a container terminal can be achieved, and the process is as follows:

[0072] S51. Determine the business types involved in the container terminal, the corresponding operation processes, and the interaction logic between devices. Based on this, integrate all the classified general Activities into the preset Job main components for each business type according to the action type, priority, and the interaction logic between devices, and store them in the database for integrated scheduling.

[0073] S52. Select the corresponding preset Job main components from the database according to the business types in the scheduling plan, and combine the selected preset Job main components into an integrated scheduling operation process network according to the operation sequence of various devices. At the same time, the operation process network can also be reorganized for the scheduling plan change situation.

[0074] S53. According to the integrated scheduling operation network and the time calculation model of related Activities, calculate the time matrix for each link of the device operation, so as to detect the completion progress and status of the scheduling plan, and give early warnings and problem analysis when abnormalities occur during the operation process, supporting the flexible integrated scheduling process control of the container terminal.

[0075] In the above step S53, the calculation of the time matrix is carried out in the way of forward propagation of the earliest operation time and backward propagation of the latest operation time. In the integrated scheduling operation process network, for each pair of sequentially connected Activities, such as Pre-Activity and Suc-Activity: The earliest completion time of Pre-Activity = The earliest start time of Pre-Activity + The time used by Pre-Activity, and the earliest start time of Suc-Activity >= The earliest completion time of Pre-Activity, which is the forward propagation; The latest start time of Suc-Activity = The latest completion time of Suc-Activity - The time used by Suc-Activity, and the latest completion time of Pre-Activity <= The latest start time of Suc-Activity, which is the backward propagation.

[0076] Embodiment

[0077] 1) Basic elements of the business process: Definition of Activity

[0078] In this embodiment, different types of devices have different operation logics and operation actions, but they can all be systematically disassembled and classified according to the definition of each type of Activity, as follows:

[0079] (1) Single trolley quay crane

[0080]

[0081] (2) Double trolley quay crane

[0082]

[0083]

[0084] (3) Rail-mounted gantry crane

[0085]

[0086] (4) Rubber-tyred gantry crane

[0087]

[0088] (5) Stacker

[0089] Name Type Basis for Time Estimation Time Model Type Forklift Starts Task Event - - Forklift Ends Task Event - - Forklift Handover at Gathering Point Handling Constant Value Numerical Statistics Horizontal Movement of Forklift Transportation Starting Point, Ending Point, Movement Parameters Movement Parameter Model Forklift Picks up Container Handling Number of Container Layers, Operation Skills Numerical Statistics Model Forklift Stores Container Handling Number of Container Layers, Operation Skills Numerical Statistics Model

[0090] (6) Reachstacker

[0091] Name Type Basis for Time Estimation Time Model Type Reach Stacker Starts Task Event - - Reach Stacker Ends Task Event - - Reach Stacker Handover at Gathering Point Handling Constant Value Numerical Statistics Horizontal Movement of Reach Stacker with No Load Transportation Starting Point, Ending Point, Movement Parameters Movement Parameter Model Horizontal Movement of Reach Stacker with Full Load Transportation Starting Point, Ending Point, Movement Parameters Movement Parameter Model Reach Stacker Picks up Container Handling Number of Container Layers, Operation Skills Numerical Statistics Model Reach Stacker Stores Container Handling Number of Container Layers, Operation Skills Numerical Statistics Model

[0092] (7) Container truck

[0093]

[0094] (8) Straddle carrier

[0095]

[0096] 2) Pre-set main components of business processes: Construction of Job

[0097] According to the actual business processes of container terminals, flexible construction is carried out for each type of operation service, which can adapt to the free combination of different operation equipment types and customized interaction logics, as follows:

[0098] (1) Process main component of hinterland container in-flow Job is as Figure 2 shown;

[0099] (2) Process main component of hinterland container out-flow Job is as Figure 3 shown;

[0100] (3) Process main component of ship loading Job is as Figure 4 shown;

[0101] (4) Process main component of ship unloading Job is as Figure 5 shown;

[0102] (5) Process main component of in-yard container transfer Job is as Figure 6 shown;

[0103] (6) Process main component of between-yard container transfer Job is as Figure 7 shown;

[0104] 3) Integrated Process Control: Adding, Deleting, and Modifying the Predecessor and Successor Relationships of Jobs

[0105] (1) Adding a Job

[0106] The new shipping Job 88 is activated and added to the process control network.

[0107] Step 1: Determine the insertion point (equipment ID, job sequence)

[0108] Assume that Job 88 is executed by QC 112. Job 87 (loading operation) has been scheduled for QC 112, and Job 87 is immediately before Job 88 in the job list. Then the new job will be added after Job 87, i.e., Job 87 → Job 88.

[0109] Step 2: Determine the main process component of the Job (job type)

[0110] Job 88 belongs to the main process component as Figure 8 shown and defined in 2.

[0111] Step 3: Add the predecessor and successor relationships of the Job

[0112] Add a predecessor and successor relationship between the completion of the Activity of QC for Job 87 and the start of the Activity of QC for Job 88, as Figure 9 shown.

[0113] (2) Deleting a Job

[0114] Step 1: Identify the original point (equipment ID, job ID)

[0115] Locate the target job in the process control network based on the equipment ID and job ID, and locate the start and end Activities of the job through the relevant equipment.

[0116] Step 2: Delete the predecessor and successor relationships

[0117] Delete the predecessor and successor relationships of the start and end Activities of the target job. Referring to the target job, the completion Activity of the previous job will be associated with the start Activity of the next job.

[0118] (3) Modifying a Job - Changing the Sequence

[0119] Step 1: Identify the original point (equipment ID, job ID)

[0120] Locate the target job in the process control network based on the equipment ID and job ID, and locate the start and end Activities of the job through the relevant equipment.

[0121] Step 2: Determine the insertion point (equipment ID, new job sequence)

[0122] Locate the previous job and the next job in the process control network according to the equipment identification and the new job sequence, and position the completion Activity of the previous job and the start Activity of the next job.

[0123] Step 3: Modify the pre - and post - sequence relationship

[0124] Delete the pre - and post - relationships of the start and end Activities of the target job. Referring to the original target job, the completion Activity of the previous job will be associated with the start Activity of the next job. Referring to the new job sequence, the completion Activity of the previous job will be associated with the start Activity of the target job, and the completion Activity of the target job will be associated with the start Activity of the subsequent job.

[0125] (4) Modify the equipment replacement of the Job

[0126] The process sequence is similar to (3), but the insertion point will be based on the process control network of the new equipment ID.

[0127] 4) Process control integration: Time matrix prediction and early warning

[0128] (1) Time matrix prediction

[0129] Step 1: Calculate the process time of the Activity

[0130] Input the equipment type, Activity type, location, and status information of an Activity into the time model, and return the Activity time from the time model. Loop until all relevant Activity times are calculated.

[0131] For example, the landing movement (Handling) of the quay crane spreader can adopt a numerical statistical model: The average time for the empty spreader to land and grab a container is 10 seconds, the average time for the empty spreader to land and grab a container with blocking is 30 seconds, the average time for the loaded spreader to land and place a container is 20 seconds, the average time for the loaded spreader to land and place a container against the container is 10 seconds, and the average time for the loaded spreader to land and place a container with blocking is 40 seconds. Determine the landing environment in this numerical statistical model according to the actual operation scenario and use the average landing time of this environment as the time used for this Activity.

[0132] For example, the driving motion (Transportation) of the container truck in the yard can adopt a motion parameter model: driving time = shortest path planning distance / average driving speed of the container truck * delay parameter. By measuring the shortest path planning distance between the starting and ending points of the container truck's driving in the yard, and through the preset average driving speed and driving delay parameter of the container truck, the time taken for this Activity can be calculated.

[0133] Step 2: Forward propagation of process time

[0134] According to the process control network, the earliest start time and earliest completion time of all relevant subsequent Activities will be calculated through forward propagation.

[0135] (2) Scheduling real-time warning: earliest completion time < latest completion time - threshold

[0136] Step 1: Advance the latest completion time

[0137] The latest completion time = earliest completion time + threshold.

[0138] Step 2: Backward propagation of process time

[0139] Based on the input latest completion time, update the latest completion time of all relevant preceding Activities. Then input the new latest completion time into the warning list and return the report to the dispatcher.

[0140] (3) Scheduling real-time warning: earliest completion time > latest completion time + threshold

[0141] Step 1: Find the delayed work and the delay time

[0142] Input the specific delayed work and delay time, trigger problem analysis, and return the problem report to the dispatcher.

[0143] Step 2: Rescheduling request and receive the rescheduling result

[0144] After problem analysis, a rescheduling request will be sent to the intelligent scheduling algorithm to find a new scheduling plan. If rescheduling cannot solve the problem, go to Step 3, otherwise go to Step 4.

[0145] Step 3: Delay the latest completion time and backward propagate the process time

[0146] The dispatcher verifies the delay and inputs it into the process control network, and delays the latest completion and latest start times of relevant Activities through backward propagation of the process time.

[0147] Step 4: Update the scheduling decision and forward propagate

[0148] The dispatcher inputs the new dispatching plan into the process control network and updates the earliest start time and earliest completion time of relevant Activities through forward propagation of the process time.

[0149] In summary, the present invention relates to the operation process configuration and process control in the field of container port equipment dispatching systems (mainly including quay cranes, yard cranes, and horizontal transportation machinery, etc.), and provides a flexible operation process configuration solution and an integrated dispatching collaboration technology for container terminals with different layouts, different operation business processes, and different equipment interaction logics.

[0150] Those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as within the scope of the essential spirit of the present invention, changes and modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A method for configuring and controlling the operation flow of a container terminal with integrated scheduling, characterized in that: The following steps are involved: S1, define general Activity; S2, determine the device type; S3, disassembly operation process; S4, select the general Activity according to the business type to synthesize the preset job main component; S5, according to the scheduling plan, calls the corresponding preset job main parts, combines them into a customized operation process network according to business needs, and realizes time prediction, early warning analysis, and business summary functions on this basis.

2. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 1 is characterized in that: The equipment includes quay cranes, container trucks, yard cranes, forklifts, reach stackers and straddle carriers.

3. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 2 is characterized in that: The activities of the quay crane are divided into empty-car movement, loaded-car movement, empty-car movement, and lifting equipment grabbing boxes from ships; The activities of the container truck are divided into empty driving, loaded driving, picking up and unloading containers under the quay crane, and picking up and unloading containers at the yard; The activities of the yard crane are divided into empty truck movement, loaded truck movement, taking containers from the container truck and placing them in the yard container space, taking containers from the yard and giving them to the container truck, and turning containers.

4. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 2 is characterized in that: The activity types of the devices are summarized into five categories, namely, Handling, Transportation, Stay, Event, and Storage; Handling means the movement of Handling within a limited space; Transportation means long-distance handling movement; Handling, Transportation, Stay, and Storage all have time persistence.

5. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 4 is characterized in that: For activity types with time duration, the time used to complete the activity is calculated using two methods: numerical statistical model and motion parameter model.

6. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 3 is characterized in that: The step S5 specifically comprises the following steps: S51, determining the business types and corresponding operation processes involved in the container terminal and the interaction logic between devices, and integrating all the classified common activities into preset job master parts of each business type according to the action type, priority and interaction logic between devices, and storing them in the database for integrated scheduling; S52, selecting corresponding preset job main parts from the database according to each business type in the scheduling plan, and combining the selected preset job main parts into an integrated scheduling operation process network according to the operation sequence of each type of equipment; S53, based on the time calculation model of the integrated scheduling operation network and related activities, the time matrix calculation of each link of the equipment operation is performed to detect the progress and status of the scheduling plan completion, and to provide early warning and problem analysis when abnormalities occur during the operation process, to support flexible integrated scheduling process control of container terminals.

7. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 6 is characterized in that: In step S52, the operation flow network is also reorganized for the scheduling plan changes.

8. The method for configuring and controlling the operation flow of container terminals with integrated scheduling according to claim 6 is characterized by: In step S53, the time matrix calculation is performed in a forward propagation manner of the earliest operation time and a backward propagation manner of the latest operation time.

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