Charging scheduling method, device and equipment for container wharf structure and medium

Abstract

The invention provides a charging scheduling method, device and equipment for a container terminal structure and a medium, relates to the technical field of charging scheduling, is applied to the container terminal structure, and comprises the following steps: obtaining basic data of an electric vehicle and a charging pile position of the container terminal structure; according to the current electric quantity of the task-free vehicle, performing charging sorting on the task-free vehicle, and according to a sorting result, controlling the task-free vehicle to enter a container wharf structure for charging; according to the current electric quantity, the historical energy consumption data and the battery performance data of the vehicle in the task, residual driving capability data of the vehicle in the task is generated; determining at least one along-the-way charging opportunity point according to the current position, the task route, the charging pile position and the remaining driving capability data; and constructing a charging scheduling model, solving by adopting a genetic algorithm, generating a charging scheduling scheme, and controlling the vehicle in the task to enter the container wharf structure for charging according to the charging scheduling scheme. The wharf operation efficiency can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of charging scheduling, and in particular, to a charging scheduling method, device, equipment and medium for a container terminal structure. Background Art

[0002] A container terminal is a place for loading, unloading and storing containers. With the development of water and land transportation, the automation and intelligence of container terminals have become the main development trends. Currently, automated container terminals mainly use electric vehicles, such as automated container transport flatbed trucks, electric container trucks, electric stackers, electric reach stackers, automated guided vehicles (AGVs) and intelligent guided vehicles (IGVs), etc. for automated transportation. Since electric vehicles use batteries as the power source, they need to be charged after being used for a period of time.

[0003] In the related art, the charging scheduling method is relatively simple and mostly relies on setting a minimum charging threshold to trigger charging. However, this method is likely to cause most vehicles to go to the charging piles for charging during the same time period, resulting in situations such as vehicles needing to queue for charging and the power load of the terminal being too large, which affects the efficiency of terminal operations. Summary of the Invention

[0004] The problem solved by the present invention is how to reasonably schedule vehicle charging to ensure the efficiency of terminal operations.

[0005] To solve the above problems, the present invention provides a charging scheduling method, device, equipment and medium for a container terminal structure.

[0006] In a first aspect, the present invention provides a charging scheduling method for a container terminal structure, which is applied to a container terminal structure. The charging scheduling method for the container terminal structure includes: Obtain the basic data of the electric vehicle and the positions of the charging piles in the container terminal structure. Among them, the basic data includes the current battery level, current position, driving speed, historical energy consumption data, battery performance data, task route and task status. According to the task status, the electric vehicles are divided into non-task vehicles and in-task vehicles; Sort the non-task vehicles according to the current battery level of the non-task vehicles, and control the non-task vehicles to enter the container terminal structure for charging according to the sorting result; Generate remaining driving ability data of the in-task vehicles according to the current battery level, the historical energy consumption data and the battery performance data of the in-task vehicles; Determine at least one charging opportunity point along the route according to the current position, the task route, the charging pile position, and the remaining driving capacity data; Based on the remaining driving capacity data, the charging opportunity points along the route, the current position, the task route, the driving speed, and the charging pile position of the vehicle in the task, construct a charging scheduling model based on the objective function and constraint conditions, and use a genetic algorithm to solve it to generate a charging scheduling plan, and control the vehicle in the task to enter the container terminal structure for charging according to the charging scheduling plan.

[0007] Optionally, the determining at least one charging opportunity point along the route according to the current position, the task route, the charging pile position, and the remaining driving capacity data includes: Determine the charging area along the route according to the current position, the task route, the charging pile position, and the remaining driving capacity data; Extract the chargeable time and charging power of all charging piles in the charging area along the route, and determine the charging completion time according to the chargeable time, the charging power, and the remaining driving capacity data; Take the charging piles with the charging completion time less than the task allowable delay time as the charging opportunity points along the route, where the task allowable delay time is determined according to the task status.

[0008] Optionally, the charging scheduling method for the container terminal structure further includes: Execute a gradient charging strategy according to the current battery level of the electric vehicle, and control the electric vehicle to enter the container terminal structure for charging; The gradient charging strategy includes: When the current battery level of the electric vehicle is less than or equal to the first preset battery level, control the electric vehicle to enter the container terminal structure for charging; When the ratio of the number of electric vehicles satisfying the first charging rule to the number of all electric vehicles is greater than or equal to the first preset ratio, mobilize a preset proportion of the electric vehicles satisfying the priority charging rule among the electric vehicles satisfying the first charging rule, and enter the container terminal structure for charging after completing the task, where the first charging rule is that the current battery level is greater than the first preset battery level and less than or equal to the second preset battery level, and the priority charging rule is that the current battery level is lower than the third preset battery level; When the ratio of the number of the electric vehicles that meet the second charging rule to the number of all the electric vehicles is greater than or equal to a second preset ratio, a preset proportion of the electric vehicles that meet the priority charging rule among the electric vehicles that meet the second charging rule are mobilized to enter the container terminal structure for charging after completing the task, where the second charging rule is that the current power is greater than the first preset power and less than or equal to the fourth preset power, where the values of the first preset power, the third preset power, the fourth preset power, and the second preset power increase in sequence, and the first preset ratio is greater than the second preset ratio.

[0009] Optionally, controlling the electric vehicle to enter the container terminal structure for charging includes: Determining the driving distance and the corresponding driving route between the electric vehicle and each idle charging pile according to the current position of the electric vehicle and the position of the charging pile; Sorting the idle charging piles according to the driving distance to generate a ranking of idle charging piles; Screening a target charging pile from the idle charging piles according to the ranking of the idle charging piles and the driving route; Controlling the electric vehicle to enter the target charging pile for charging.

[0010] Optionally, screening a target charging pile from the idle charging piles according to the charging ranking of the idle charging piles and the driving route includes: When the number of the idle charging piles ranked first in the ranking of the idle charging piles is one, using the idle charging pile ranked first in the ranking of the idle charging piles as the target charging pile; When the number of the idle charging piles ranked first in the ranking of the idle charging piles is at least two, obtaining the traffic states of the driving routes corresponding to each of the idle charging piles ranked first in the ranking of the idle charging piles, and determining the target charging pile according to the traffic states.

[0011] Optionally, controlling the electric vehicle to enter the container terminal structure for charging includes: Obtaining the specific position and the estimated charging completion time of the charging pile that is charging in the container terminal structure; Determining the actual time for the electric vehicle to reach the specific position according to the current position, the driving speed, and the specific position; When the actual time is greater than the estimated charging completion time, using the charging pile corresponding to the specific position as the target charging pile; Controlling the electric vehicle to enter the target charging pile for charging.

[0012] Optionally, the charging scheduling method for the container terminal structure further includes: Obtaining the real-time change of the operation environment of the container terminal structure; Updating the data corresponding to the charging pile positions of the container terminal structure according to the real-time change of the operation environment.

[0013] In a second aspect, the present invention provides a charging scheduling device for a container terminal structure, which is applied to a container terminal structure. The charging scheduling device for the container terminal structure includes: An acquisition and classification module, configured to acquire the basic data of an electric vehicle and the charging pile positions of the container terminal structure. Among them, the basic data includes the current power, the current position, the driving speed, the historical energy consumption data, the battery performance data, the task route, and the task status. According to the task status, the electric vehicle is divided into a vehicle without a task and a vehicle in a task; A charging module for vehicles without tasks, configured to sort the vehicles without tasks according to the current power of the vehicles without tasks, and control the vehicles without tasks to enter the container terminal structure for charging according to the sorting result; A driving ability module, configured to generate remaining driving ability data of the vehicle in the task according to the current power, the historical energy consumption data, and the battery performance data of the vehicle in the task; An opportunity charging module, configured to determine at least one charging opportunity point along the way according to the current position, the task route, the charging pile positions, and the remaining driving ability data; A charging module for vehicles in tasks, configured to construct a charging scheduling model based on an objective function and constraint conditions according to the remaining driving ability data, the charging opportunity points along the way, the current position, the task route, the driving speed, and the charging pile positions of the vehicle in the task, and solve it using a genetic algorithm to generate a charging scheduling plan, and control the vehicle in the task to enter the container terminal structure for charging according to the charging scheduling plan.

[0014] In a third aspect, the present invention provides an electronic device, including a memory and a processor; The memory is used to store a computer program; The processor is configured to implement the charging scheduling method for the container terminal structure as described in the first aspect when executing the computer program.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the charging scheduling method for the container terminal structure as described in the first aspect is implemented.

[0016] The beneficial effects of the charging scheduling method, device, electronic equipment and storage medium for the container terminal structure of the present invention are as follows: By the task status, electric vehicles are divided into vehicles without tasks and vehicles in tasks, and different charging strategies are adopted for vehicles without tasks and vehicles in tasks respectively, which can improve the pertinence and effectiveness of scheduling, avoid electric vehicles going to the charging piles for charging at the same time, sort the vehicles without tasks according to their current battery levels, and arrange their charging, which can give priority to ensuring that those vehicles with lower battery levels and not performing tasks are charged in time, thereby reducing the waiting time and improving the operation efficiency of the entire terminal operation. For the vehicles in tasks that are currently performing tasks, their remaining driving capabilities are predicted by using their current battery levels, historical energy consumption data and battery performance data, which helps to identify in advance the possible problems of insufficient battery power and provides a basis for subsequent planning. Then, by combining the current location, task route, charging pile location and remaining driving capability data, the charging opportunity points along the way and their usage status are determined, so that they can enter the charging pile for charging in advance on the premise of ensuring that the task deadline will not be delayed. This not only helps to avoid task interruption caused by exhausted battery power, but also effectively utilizes the charging resources and reduces unnecessary round-trip charging. Finally, a charging scheduling model is constructed based on all the above information, and the genetic algorithm is used for solution to clarify the charging time and charging piles, so as to formulate the best charging scheduling plan that not only meets the charging requirements of the vehicles but also conforms to the overall optimization of the container terminal structure, thereby avoiding situations such as vehicles having to queue for charging and excessive power load in the terminal, and improving the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flow chart of the charging scheduling method for the container terminal structure provided by an embodiment of the present invention; Figure 2 It is a schematic overall view of the container terminal structure in an embodiment of the present invention; Figure 3 It is a schematic structural view of the container placement area and the first charging sub-area in an embodiment of the present invention; Figure 4 It is Figure 3 an enlarged schematic view of part A in Figure 5 It is a schematic structural view of the parking area and the second charging sub-area in an embodiment of the present invention; Figure 6 It is Figure 5 an enlarged schematic view of part B in Figure 7 It is an enlarged schematic view of a partial area of the second charging area in an embodiment of the present invention; Figure 8 It is a schematic structural view of the charging scheduling device for the container terminal structure provided by an embodiment of the present invention; Figure 9 Schematic structural diagram of the electronic device provided by an embodiment of the present invention.

[0018] Explanation of reference numerals: Container terminal structure 1, Container placement area 10, First charging area 20, first sub-charging area 21, first charging pile 22, first charging position 23, second sub-charging area 24, second charging pile 25, second charging position 26, Second charging area 30, third charging pile 31, third charging position 32, fourth charging pile 33, fourth charging position 34, Automated vehicle 40, manual vehicle 50, first lane 60, signal generator 70, parking area 80, second lane 90, third lane 100, first direction X, second direction Y. Detailed implementation manners

[0019] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. Instead, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0020] It should be understood that the steps described in the method embodiments of the present invention can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0021] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules, or units.

[0022] It should be noted that the modification of "one" and "multiple" mentioned in the present invention is illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more".

[0023] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are for illustrative purposes only and are not used to limit the scope of these messages or information.

[0024] In view of the problems existing in the above related technologies, this embodiment provides a charging scheduling method, device, equipment and medium for a container terminal structure.

[0025] A charging scheduling method for a container terminal structure provided by an embodiment of the present invention is applied to the container terminal structure 1. Figures 2 to 7 As shown, the container terminal structure 1 includes: A plurality of container placement areas 10 arranged at intervals along the first direction; a first charging area 20; the first charging area 20 is arranged at intervals along the first direction with any container placement area 10, the first charging area 20 extends along the second direction, the second direction intersects with the first direction, and the first charging area 20 is used for charging vehicles; a second charging area 30, the second charging area 30 is arranged at intervals along the second direction with any container placement area 10, the second charging area 30 extends along the first direction, and the second charging area 30 is used for charging vehicles.

[0026] In this embodiment, the vehicles may include automated vehicles 40 and manual vehicles 50. Among them, the automated vehicles 40 may include, but are not limited to, automated guided vehicles AGV (Automated Guided Vehicle), intelligent guided vehicles IGV (Intelligent Guided Vehicle), etc. The above vehicles can improve the efficiency of container handling, loading, unloading, transportation and other processes through automated operations, not only saving labor costs, but also meeting the working requirements of the container terminal. The manual vehicles 50 may include, but are not limited to, electric container trucks, electric stackers, electric reach stackers, etc. The above vehicles are mainly used to assist the automated vehicles 40 in processing containers, thereby further improving the processing efficiency of containers.

[0027] It should be noted that the X-axis direction in the drawings represents the first direction, and the Y-axis direction in the drawings represents the second direction.

[0028] In this embodiment, by providing a plurality of container placement areas 10 arranged at intervals along the first direction, the container placement areas 10 can be used to load and store containers. And a first charging area 20 is arranged at intervals along the first direction in the container placement areas 10, and the first charging area 20 is used to charge the automated vehicle 40 to meet the charging requirement of the automated vehicle 40. At the same time, the first charging area 20 extends along the second direction, reasonably utilizing the area between the container placement areas 10 and improving the ground utilization rate. A second charging area 30 is arranged at intervals along the second direction in the container placement areas 10, and the second charging area 30 is used to charge the automated vehicle 40 and / or the manual vehicle 50 to meet the charging requirement of the automated vehicle 40 and / or the manual vehicle 50. At the same time, the second charging area 30 extends along the first direction, and does not occupy too much area, reasonably utilizing the area between the container placement areas 10 and improving the ground utilization rate. In this way, by providing a plurality of charging areas at different positions of the container terminal structure 1, not only can the charging requirements of the vehicles be met, but also the situation of traffic congestion caused by vehicles concentrating in a certain area for charging can be reduced. This is beneficial to improving the charging efficiency of the vehicles, and the charging areas at different positions can also meet the nearby charging requirements of the vehicles, reducing the phenomenon that the vehicles need to travel too long a distance for charging.

[0029] In addition, since the first charging area 20 extends along the second direction and the second charging area 30 extends along the first direction, the first charging area 20 and the second charging area 30 can intersect, so that the vehicle to be charged can move between the two charging areas and select an idle charging position nearby, improving the overall charging efficiency.

[0030] As Figure 3 and Figure 4 shown, optionally, the first charging area 20 includes a first charging sub-area 21 located between two adjacent container placement areas 10. A plurality of first charging piles 22 and a plurality of first charging positions 23 arranged along the second direction are provided in the first charging sub-area 21. The first charging piles 22 are arranged in one-to-one correspondence with the first charging positions 23. The plurality of first charging positions 23 are arranged in a staggered manner on both sides of the first charging sub-area 21 in the first direction in sequence. The first charging piles 22 are used to charge the automated vehicle 40 and / or the manual vehicle 50 parked at the first charging positions 23. Through the above arrangement, arranging the plurality of first charging positions 23 along the second direction can utilize the area of the first charging sub-area 21 to set a reasonable number of first charging positions 23. When the number of first charging positions 23 is too large and exceeds the actual usage requirement, it will cause waste of resources for the first charging positions 23 and increase the usage cost. When the number of first charging positions 23 is too small and cannot meet the actual usage requirement, it will cause the vehicles to queue up for charging, which not only wastes time but also may cause traffic congestion and other phenomena. Therefore, the above arrangement can improve the charging efficiency of the vehicles without causing waste of resources.

[0031] In this embodiment, 33 first charging piles 22 are provided in the first charging sub-region 21. Of course, the number of the first charging piles 22 can also be set to other numbers, such as 30 or 40, etc. The specific setting should be adjusted according to the area of the site and the usage requirements of the container terminal.

[0032] It should be noted that the first charging piles 22 in this embodiment can include automatic charging piles and manual charging piles. The automatic charging piles are used to charge the automated vehicles 40, and the manual charging piles are used to charge the manual vehicles 50. Combining the automatic charging piles and the manual charging piles in this way can meet the charging requirements of different types of vehicles and improve the utilization rate of the charging facilities.

[0033] Specifically, the automated vehicles 40 can autonomously identify the automatic charging piles and dock with them without manual intervention, and the charging process is automatically completed by the charging piles; while for the manual charging piles, manual operation is required to insert the charging gun of the manual charging pile into the charging interface of the manual vehicle 50.

[0034] At the same time, setting the first charging piles 22 in one-to-one correspondence with the first charging positions 23 can ensure that each first charging position 23 has a fixed first charging pile 22, which is not only convenient for the first charging position 23 to charge the vehicle, but also convenient for the maintenance and servicing of the first charging piles 22, improving the stability and reliability during charging.

[0035] And because the vehicle body is relatively long, when the vehicle drives into or out of the first charging position 23, it needs to drive in or out obliquely. In order to shorten the length of the first charging position 23 in the second direction as much as possible to set more first charging positions 23 within a limited area, in this embodiment, a plurality of first charging positions 23 are arranged in a staggered manner in sequence on both sides of the first charging sub-region 21 in the first direction. In this way, not only can more first charging positions 23 be set within a limited area, but also it is convenient for the vehicle to drive into and out of the first charging position 23.

[0036] Of course, in other embodiments, a plurality of first charging positions 23 can also be arranged in a staggered manner in other directions or arranged according to other rules, as long as the setting requirements of the first charging positions 23 can be met.

[0037] Such as Figure 3 and Figure 4As shown, optionally, the container terminal structure 1 further includes a first lane 60 extending in the second direction. The first charging sub-area 21 is provided with the first lane 60 on both sides in the first direction, and the lane directions of the first lanes 60 on both sides of the first charging sub-area 21 are opposite. The first lane 60 is used for the automated vehicle 40 and / or the manual vehicle 50 to drive into or out of the first charging position 23. Through the above settings, vehicles on each lane can directly drive into the corresponding first charging position 23 for charging, so bilateral charging is realized. Compared with the unilateral charging in the related art, the solution of this embodiment reduces the situations such as the vehicle needing to turn around and having too long a driving distance during charging, thus further improving the charging efficiency of the vehicle.

[0038] In this embodiment, a traffic lane for the manual vehicle 50 to drive is further provided between the first lane 60 and the container placement area 10, which facilitates the manual vehicle 50 to drive into the container placement area 10 and work simultaneously with the automated vehicle 40 to improve the handling efficiency of the container.

[0039] It should be noted that the charging port of the automated vehicle 40 in this embodiment is located in the positive direction of the X-axis of the vehicle body. Therefore, the charging interface of the first charging pile 22 is also set in the positive direction of the X-axis of the first charging position 23, which improves the docking efficiency between the vehicle and the charging interface.

[0040] As Figure 3 shown, optionally, a signal generating member 70 is further provided in the first charging sub-area 21. The signal generating member 70 is spaced apart from the first charging pile 22 and the first charging position 23. The signal generating member 70 shares an electrical pipeline with the first charging pile 22. The signal generating member 70 is used to generate light signals and / or sound signals. With such a setting, it is possible to reduce the situation where the signal generating member 70 and the first charging pile 22 are too close to each other and cause mutual influence, which is beneficial to the normal operation of the first charging pile 22. At the same time, sharing the electrical pipeline can save underground space resources, improve space utilization efficiency, and at the same time, sharing the electrical pipeline can reduce construction time and labor costs and improve construction efficiency.

[0041] It should be noted that the signal generating member 70 in this embodiment is a lighthouse. The light signal generated by the lighthouse can be used for lighting, thus facilitating the operation of the container terminal. At the same time, different flashing frequencies or color changes can be used to transmit different status information of the lighthouse, and the lighthouse can also generate sound signals to guide or prompt the operation area.

[0042] As Figure 5 and Figure 6As shown, optionally, the container terminal structure 1 further includes a parking area 80. The first charging area 20 further includes a second charging sub-area 24 communicating with the parking area 80. A plurality of second charging piles 25 and a plurality of second charging positions 26 arranged along the second direction are provided in the second charging sub-area 24. The second charging piles 25 and the second charging positions 26 are arranged in one-to-one correspondence. The parking area 80 is used for parking automated vehicles 40 and / or manual vehicles 50, and for allowing the automated vehicles 40 and / or manual vehicles 50 to drive into or out of the second charging positions 26. The second charging piles 25 are used for charging the automated vehicles 40 and / or manual vehicles 50 parked in the second charging positions 26. Connecting the second charging sub-area 24 with the parking area 80 can facilitate the charging of the vehicles in the parking area 80. At the same time, in this embodiment, the parking area 80 is located on one side of the outermost container placement area 10. Therefore, the charging positions of the container terminal are further dispersed, and the congestion generated during the charging of the container terminal is reduced as much as possible.

[0043] It should be noted that the first charging area 20 in this embodiment includes two second charging sub-areas 24. The two charging sub-areas are arranged at intervals along the second direction and communicate with the corresponding parking areas 80 respectively. 5 second charging piles 25 are respectively provided in each second charging sub-area 24. Of course, the number of the second charging piles 25 can also be set to other numbers, such as 10 or 15, etc. The specific setting should be adjusted according to the area of the site and the usage requirements of the container terminal.

[0044] As Figure 7 As shown, optionally, a plurality of third charging piles 31 and a plurality of third charging positions 32 arranged along the first direction are provided in the second charging area 30. The third charging piles 31 and the third charging positions 32 are arranged in one-to-one correspondence. The plurality of third charging positions 32 are located on one side of the second charging area 30 in the second direction. The third charging piles 31 are used for charging the automated vehicles 40 parked in the third charging positions 32. Through the above settings, arranging the plurality of third charging positions 32 along the first direction can utilize the area of the second charging area 30 to set a reasonable number of third charging positions 32. When the number of the third charging positions 32 is too large and exceeds the actual usage requirements, it will cause a waste of resources for the third charging positions 32 and increase the usage cost; when the number of the third charging positions 32 is too small and cannot meet the actual usage requirements, it will cause the vehicles to queue up waiting for charging, which not only wastes time but also may cause traffic congestion and other phenomena. Therefore, the above settings can improve the charging efficiency of the vehicles without causing waste of resources.

[0045] At the same time, the third charging piles 31 are arranged in one-to-one correspondence with the third charging positions 32, which can ensure that each third charging position 32 has a fixed third charging pile 31. This not only facilitates the charging of vehicles at the third charging positions 32, but also facilitates the maintenance and servicing of the first charging piles 22, improving the stability and reliability during charging.

[0046] As Figure 7 shown, optionally, the container terminal structure 1 further includes a second lane 90 extending in the first direction. The second lane 90 is arranged close to the third charging positions 32 and is used for automated vehicles 40 to drive into or out of the third charging positions 32. Through the above arrangement, the automated vehicles 40 on the second lane 90 can directly drive into the corresponding third charging positions 32 for charging, so as to improve the charging efficiency of the automated vehicles 40 on the second lane 90.

[0047] In this embodiment, a traffic lane for manual vehicles 50 to travel is also provided between the second lane 90 and the container placement area 10, which facilitates the manual vehicles 50 to drive into the container placement area 10 and operate simultaneously with the automated vehicles 40, so as to improve the handling efficiency of containers.

[0048] As Figure 7 shown, optionally, the second charging area 30 is provided with a plurality of fourth charging piles 33 and a plurality of fourth charging positions 34 arranged in the first direction. The fourth charging piles 33 are arranged in one-to-one correspondence with the fourth charging positions 34. The plurality of fourth charging positions 34 are located on the other side of the second charging area 30 in the second direction. The fourth charging piles 33 are used to charge the manual vehicles 50 parked at the fourth charging positions 34. Through the above arrangement, arranging the plurality of fourth charging positions 34 in the first direction can utilize the area of the second charging area 30 to set a reasonable number of fourth charging positions 34. When the number of fourth charging positions 34 is too large and exceeds the actual usage requirements, it will cause waste of resources for the fourth charging positions 34 and increase the usage cost; when the number of fourth charging positions 34 is too small and fails to meet the actual usage requirements, it will cause vehicles to queue up for charging, which not only wastes time but may also cause traffic congestion and other phenomena. Therefore, the above arrangement can improve the charging efficiency of vehicles without causing waste of resources.

[0049] At the same time, the fourth charging piles 33 are arranged in one-to-one correspondence with the fourth charging positions 34, which can ensure that each fourth charging position 34 has a fixed fourth charging pile 33. This not only facilitates the charging of vehicles at the fourth charging positions 34, but also facilitates the maintenance and servicing of the fourth charging piles 33, improving the stability and reliability during charging.

[0050] As Figure 7As shown, optionally, the container terminal structure 1 further includes a third lane 100 extending in the first direction. The third lane 100 is disposed close to the fourth charging position 34 and is used for the manual vehicle 50 to drive into or out of the fourth charging position 34. The lane directions of the second lane 90 and the third lane 100 are opposite.

[0051] In this embodiment, a traffic lane for the manual vehicle 50 to travel is further provided between the third lane 100 and the container placement area 10, which facilitates the manual vehicle 50 to drive into the container placement area 10 and operate simultaneously with the automated vehicle 40 to improve the handling efficiency of the container.

[0052] Optionally, the third charging pile 31 and the fourth charging pile 33 share an electrical pipeline, and the third charging pile 31 is an automatic charging pile while the fourth charging pile 33 is a manual charging pile. Sharing the electrical pipeline can save underground space resources, improve space utilization efficiency. At the same time, sharing the electrical pipeline can reduce construction time and labor costs, and improve construction efficiency.

[0053] As Figure 1 shown, the charging scheduling method for the container terminal structure includes: Obtain the basic data of the electric vehicle and the charging pile positions of the container terminal structure 1. Among them, the basic data includes the current power, current position, driving speed, historical energy consumption data, battery performance data, task route, and task status. According to the task status, the electric vehicles are divided into vehicles without tasks and vehicles in tasks.

[0054] Specifically, the charging pile positions include the positions of the first charging pile 22, the second charging pile 25, the third charging pile 31, and the fourth charging pile 33. The electric vehicles include automated vehicles 40 and manual vehicles 50. The historical energy consumption data refers to the energy consumption situation recorded during the past operation of the electric vehicles. The battery performance data refers to the overall health status and working characteristics of the electric vehicle batteries. The task route includes the map of the container terminal structure 1 and the task transportation route. The task status can be divided into three states according to the actual situation: the task has been completed and there is no subsequent task, the task has been completed and there is a subsequent task, and the task is being executed. And the task status also includes the basic data of the task. For example, the allowed delay time of the task, the task completion time, and the actual completion time. The current position and driving speed of the electric vehicle can be obtained in real time through functions such as GPS, Beidou satellite positioning and navigation, visual navigation, and laser navigation. The current battery level, historical energy consumption data, and battery performance data can be obtained according to the battery management system (BMS). After obtaining the original basic data of the electric vehicle and the original charging pile position data of the container terminal structure 1, the original data needs to be preprocessed. For example, preprocessing methods such as cleaning, conversion, normalization, noise removal, and outlier data removal are used to unify data in different formats and ranges to a suitable scale for subsequent calculations. The electric vehicles that have completed the task and have no subsequent tasks are classified as vehicles without tasks, and the electric vehicles that are executing tasks are classified as vehicles in the middle of tasks, so as to adopt different charging strategies.

[0055] Charge the vehicles without tasks according to the current battery level of the vehicles without tasks, and control the vehicles without tasks to enter the container terminal structure 1 for charging according to the sorting result.

[0056] Specifically, for the vehicles without tasks that have completed the task and have no subsequent tasks, send a charging instruction to them. The vehicles without tasks go to the second charging sub-area 24 connected to the parking area 80 in the container terminal structure 1 according to the charging instruction. At this time, obtain the working status of the charging piles in the second charging sub-area 24. If there is an idle charging pile, assign the idle charging pile to the vehicle without a task for charging. If there is no idle charging pile, sort the vehicles without tasks in ascending order according to their current battery levels. When there is an idle charging pile, give priority to charging the vehicle without a task with a lower current battery level. After the vehicle without a task has completed charging, issue a task to the vehicle without a task according to the actual working conditions of the container terminal structure 1. The vehicle without a task drives away from the charging pile after receiving the task. If it does not receive a task, it chooses to continue parking without leaving the charging pile or go to the parking area 80 to continue parking according to the charging requirements of the second charging sub-area 24.

[0057] Generate the remaining driving ability data of the vehicles in the middle of tasks according to the current battery level, the historical energy consumption data, and the battery performance data of the vehicles in the middle of tasks.

[0058] Specifically, based on the current battery level of the vehicle in the task, historical energy consumption data, and battery performance data, existing prediction algorithms are used, such as statistical analysis methods and machine learning algorithms, etc., to estimate the remaining driving ability data of the vehicle in the task. The remaining driving ability data includes the remaining driving time and the remaining driving distance, so as to facilitate subsequent judgment of charging opportunity points along the way. Exemplarily, the prediction steps based on machine learning include: taking the historical battery level in the historical energy consumption data and the historical battery performance data as the input features for model training, taking the historical remaining driving distance and historical remaining driving time corresponding to the historical energy consumption data as labels, and constructing a training data set based on the input features and the corresponding labels; linear regression, decision tree regression, random forest regression, or more complex neural network models, etc., can be selected as the prediction model. The selected prediction model is trained with the training data set, and the model parameters are adjusted to optimize the performance to obtain a trained prediction model. The current battery level and battery performance data are input into the trained prediction model, and the predicted remaining driving distance or time is output.

[0059] Based on the current position, the task route, the charging pile position, and the remaining driving ability data, at least one charging opportunity point along the way is determined.

[0060] Specifically, based on the current position, the task route, the charging pile position, and the remaining driving ability data, determine the charging areas that the vehicle in the task may pass through on the task route and within the range of the remaining driving ability data, and determine the working status of the charging piles in the charging areas, that is, determine whether the charging piles in the charging areas are idle. If not idle, what is the time to complete the current charging. The idle charging piles in the charging areas are used as charging opportunity points along the way, and the charging piles that do not affect the vehicle in the task to complete the task among the non-idle charging piles are also used as charging opportunity points along the way. That is, if the vehicle in the task arrives at a non-idle charging pile and the overall time does not exceed the allowable delay time of the task after the non-idle charging pile completes charging, then the non-idle charging pile is used as a charging opportunity point along the way, so as to determine at least one charging opportunity point along the way.

[0061] Based on the remaining driving ability data of the vehicle in the task, the charging opportunity points along the way, the current position, the task route, the driving speed, and the charging pile position, a charging scheduling model is constructed based on the objective function and the constraint conditions, and a genetic algorithm is used to solve it to generate a charging scheduling plan. The vehicle in the task is controlled to enter the container terminal structure 1 for charging according to the charging scheduling plan.

[0062] Specifically, an objective function is established with the optimization goals of minimizing the total charging waiting time of vehicles in the task, minimizing the task completion time, etc. Based on the remaining driving capacity data of the vehicles in the task, charging opportunity points along the route, current location, task route, driving speed, and charging pile location, a charging scheduling model is constructed based on the objective function and constraint conditions, and a genetic algorithm is used to solve it to generate an optimal charging scheduling plan to clarify at what time the vehicles in the task go to which charging pile in which area of the container terminal structure 1 for charging. According to the charging scheduling plan, the vehicles in the task are controlled to enter the container terminal structure 1 for charging, that is, the charging scheduling plan is sent to the corresponding vehicles in the task, and the vehicles in the task automatically navigate to the designated charging pile for charging according to the instructions in the charging scheduling plan. During the charging process, data interaction is carried out between the vehicles in the task and the charging piles through a communication protocol to ensure the safety and stability of the charging process. The charging process of the vehicles in the task is monitored in real time, including parameters such as charging current, voltage, and power increase. At the same time, the operating status of the charging piles is monitored, such as whether there are faults and whether the charging efficiency is normal. If any abnormal situation is found, an alarm is issued in a timely manner and corresponding measures are taken, such as stopping charging and switching to a standby charging pile. When the vehicles in the task complete charging or there are status changes during the charging process, relevant data is updated in a timely manner, such as the current power of the vehicles in the task and the working status of the charging piles, so as to provide an accurate basis for the charging scheduling decision-making of other electric vehicles. Among them, the constraint conditions include predicted arrival time constraint, charging decision constraint, power constraint, and charging pile usage constraint. The predicted arrival time constraint means that the time for the vehicles in the task to reach the task location through different routes is less than the preset arrival time, and the preset arrival time is set according to the time situation. The charging decision constraint means that each vehicle in the task selects and charges at most one charging pile. The power constraint means that the power of the vehicles in the task when reaching the task location is not lower than the minimum allowable power, and the minimum allowable power is set according to the actual situation. The charging pile usage constraint means that each charging pile charges at most one vehicle in the task at the same time.

[0063] In this embodiment, electric vehicles are classified into vehicles without tasks and vehicles in tasks based on the task status, and different charging strategies are adopted for vehicles without tasks and vehicles in tasks respectively, which can improve the pertinence and effectiveness of scheduling, avoid electric vehicles concentrating on going to charging piles for charging at the same time, sort the vehicles without tasks according to their current battery levels, and arrange their charging, which can give priority to ensuring that vehicles with lower battery levels and no tasks are charged in time, thus reducing the waiting time and improving the operation efficiency of the entire terminal operation. For vehicles in tasks that are currently executing tasks, use their current battery level, historical energy consumption data, and battery performance data to predict the remaining driving ability, which helps to identify potential power shortage problems in advance and provide a basis for subsequent planning. Then, combine the current location, task route, charging pile location, and remaining driving ability data to determine the charging opportunity points along the way and their usage status. In this way, on the premise of ensuring that the task deadline will not be delayed, the vehicle can enter the charging pile for charging in advance, which not only helps to avoid task interruption caused by power exhaustion, but also effectively utilizes the charging resources and reduces unnecessary round-trip charging. Finally, based on all the above information, a charging scheduling model is constructed and solved using a genetic algorithm to clarify the charging time and charging piles, so as to formulate the best charging scheduling plan that not only meets the charging needs of the vehicles but also conforms to the overall optimization of the container terminal structure, thereby avoiding situations such as vehicles having to queue for charging and excessive power load in the terminal, and improving the overall operation efficiency.

[0064] Optionally, the determining of at least one charging opportunity point along the way according to the current location, the task route, the charging pile location, and the remaining driving ability data includes: Determine the charging area along the way according to the current location, the task route, the charging pile location, and the remaining driving ability data; Extract the chargeable time and charging power of all charging piles in the charging area along the way, and determine the charge completion time according to the chargeable time, the charging power, and the remaining driving ability data; Take the charging piles with a charge completion time less than the task allowable delay time as the charging opportunity points along the way, where the task allowable delay time is determined according to the task status.

[0065] Specifically, based on the current location, task route, charging pile location, and remaining driving capacity data, determine the along-the-route charging areas where the vehicle in the task is on or near the task route, extract the chargeable time and charging power of all charging piles within the along-the-route charging areas, and based on the chargeable time, charging power, and remaining driving capacity data, determine the time when the vehicle in the task finishes charging at the charging pile, that is, the charging completion time. Consider the charging piles with a charging completion time less than the task allowable delay time as along-the-route charging opportunity points. That is, if the charging completion time is less than the task allowable delay time, it means that charging at this charging pile will not affect the task completion, so consider this charging pile as an along-the-route charging opportunity point, where the task allowable delay time is determined according to the task status.

[0066] Optionally, the charging scheduling method for the container terminal structure further includes: Execute a gradient charging strategy according to the current battery level of the electric vehicle, and control the electric vehicle to enter the container terminal structure 1 for charging; The gradient charging strategy includes: When the current battery level of the electric vehicle is less than or equal to the first preset battery level, control the electric vehicle to enter the container terminal structure 1 for charging; When the ratio of the number of electric vehicles that meet the first charging rule to the number of all electric vehicles is greater than or equal to the first preset ratio, mobilize a preset proportion of the electric vehicles that meet the priority charging rule among the electric vehicles that meet the first charging rule to enter the container terminal structure 1 for charging after completing the task. Among them, the first charging rule is that the current battery level is greater than the first preset battery level and less than or equal to the second preset battery level, and the priority charging rule is that the current battery level is lower than the third preset battery level; When the ratio of the number of electric vehicles that meet the second charging rule to the number of all electric vehicles is greater than or equal to the second preset ratio, mobilize a preset proportion of the electric vehicles that meet the priority charging rule among the electric vehicles that meet the second charging rule to enter the container terminal structure 1 for charging after completing the task. Among them, the second charging rule is that the current battery level is greater than the first preset battery level and less than or equal to the fourth preset battery level. Among them, the values of the first preset battery level, the third preset battery level, the fourth preset battery level, and the second preset battery level increase in sequence, and the first preset ratio is greater than the second preset ratio.

[0067] Specifically, according to the current power of the electric vehicle, a gradient charging strategy is executed to control the electric vehicle to enter the container terminal structure 1 for charging, so as to avoid vehicles going to the charging piles for charging simultaneously. The gradient charging strategy divides electric vehicles into three gradients according to the actual situation. The first gradient is when the current power of the electric vehicle is less than or equal to the first preset power; the second gradient is when the ratio of the number of electric vehicles that meet the first charging rule to the number of all electric vehicles is greater than or equal to the first preset ratio; the third gradient is when the ratio of the number of electric vehicles that meet the second charging rule to the number of all electric vehicles is greater than or equal to the second preset ratio. Among them, the first preset power, the second preset power, the third preset power, the fourth preset power, the first preset ratio, and the second preset ratio can be set according to the actual situation. For example, the first preset power is set to 20%, the second preset power is set to 50%, the third preset power is set to 30%, the fourth preset power is 40%, the first preset ratio is set to 35%, and the second preset ratio is set to 15%. That is, the first gradient is when the current power of the electric vehicle is less than or equal to 20%, control the electric vehicle to enter the container terminal structure 1 for charging. At this time, if the electric vehicle has no task, immediate charging is triggered. If there is a task but the vehicle is not carrying a container, it is judged whether the current task allows the delay caused by charging. If it allows, immediate charging is triggered. If it does not allow, the task is cancelled and then the charging task is triggered. If there is a task and the vehicle is carrying a container, an exception is reported. After manual judgment on whether to charge immediately or continue the current task, the charging task is triggered. The second gradient is when the electric vehicles with a current power greater than 20% and less than or equal to 50% account for 35% of all electric vehicles, mobilize a preset proportion of the electric vehicles with a current power lower than 30% among them to enter the container terminal structure 1 for charging after completing the task. Or rather, mobilize some of the electric vehicles with a lower current power to charge after completing the current task. The third gradient is when the electric vehicles with a current power greater than 20% and less than or equal to 40% account for 15% of all electric vehicles, mobilize a preset proportion of the electric vehicles with a current power lower than 30% among them to enter the container terminal structure 1 for charging after completing the task. Or rather, mobilize some of the electric vehicles with a lower current power to charge after completing the current task. It should be understood that the gradient charging strategy can divide electric vehicles into multiple gradients according to the actual situation, which is not limited here.

[0068] In this embodiment, the gradient charging strategy reasonably schedules electric vehicles for charging by setting different power thresholds and vehicle proportion conditions, ensuring the balance of the charging trigger time of electric vehicles, effectively avoiding a large number of electric vehicles charging intensively in a short period of time, preventing excessive impact on the power grid, and maintaining the stable operation of the power grid. It also avoids the problem of tight charging pile resources and long vehicle queuing waiting time caused by centralized charging. At the same time, it can also prevent the impact on task execution due to the too low power of some vehicles, ensuring the normal operation of the entire terminal electric vehicle fleet.

[0069] Optionally, controlling the electric vehicle to enter the container terminal structure 1 for charging includes: Determining the driving distance between the electric vehicle and each idle charging pile and the corresponding driving route according to the current position of the electric vehicle and the position of the charging pile; Sorting the idle charging piles according to the driving distance to generate a ranking of idle charging piles; Screening out a target charging pile from the idle charging piles according to the ranking of idle charging piles and the driving route; Controlling the electric vehicle to enter the target charging pile for charging.

[0070] Specifically, according to the current position of the electric vehicle and the position of the charging pile, determine the driving distance between the electric vehicle and each idle charging pile and the corresponding driving route, so as to facilitate subsequent judgment of the distance between the electric vehicle and the idle charging pile; according to the driving distance, sort the idle charging piles in the order from near to far to generate a ranking of idle charging piles; according to the ranking of idle charging piles and the driving route, screen out a target charging pile from the idle charging piles, that is, screen out the charging pile with the shortest distance or the least traffic pressure on the driving route under the same distance as the target charging pile, and control the electric vehicle to enter the target charging pile for charging, so as to ensure the charging efficiency of the electric vehicle. It should be understood that if the driving distances of at least two idle charging piles are within the allowable error, and the allowable error is set according to the actual situation, then at least two idle charging piles are ranked equally. For example, if the allowable error is 3 meters, and the driving distances of three idle charging piles are 100 meters, 101 meters, and 102 meters respectively, then these three idle charging piles can be ranked equally.

[0071] Optionally, screening out a target charging pile from the idle charging piles according to the charging ranking of idle charging piles and the driving route includes: When the number of the idle charging piles ranked first in the ranking of idle charging piles is one, using the idle charging pile ranked first in the ranking of idle charging piles as the target charging pile; When the number of the idle charging piles ranked first in the ranking of idle charging piles is at least two, obtaining the traffic status of the driving routes corresponding to each of the idle charging piles ranked first in the ranking of idle charging piles, and determining the target charging pile according to the traffic status.

[0072] Specifically, when the number of the idle charging piles ranked first in the idle charging pile ranking is one, the idle charging pile ranked first in the idle charging pile ranking is used as the target charging pile, that is, when there is only one idle charging pile ranked first, the idle charging pile ranked first is used as the target charging pile; when the number of the idle charging piles ranked first in the idle charging pile ranking is at least two, obtain the traffic states of the driving routes corresponding to each of the idle charging piles ranked first in the idle charging pile ranking, and determine the target charging pile according to the traffic states, that is, when there are at least two idle charging piles tied for the first place, determine the target charging pile according to the traffic states of the driving routes corresponding to the at least two idle charging piles, and select the idle charging pile with good traffic state, that is, the idle charging pile with low traffic pressure, as the target charging pile.

[0073] Optionally, controlling the electric vehicle to enter the container terminal structure 1 for charging includes: Obtain the specific location and the estimated completion charging time of the charging pile that is charging in the container terminal structure 1; Determine the actual time for the electric vehicle to reach the specific location according to the current location, the driving speed, and the specific location; When the actual time is greater than the estimated completion charging time, use the charging pile corresponding to the specific location as the target charging pile; Control the electric vehicle to enter the target charging pile for charging.

[0074] Specifically, when there is no idle charging pile in the container terminal structure 1, the electric vehicle needs to queue for charging. At this time, obtain the specific location and the estimated completion charging time of the charging pile that is charging in the container terminal structure 1. The estimated completion charging time refers to the time when the electric vehicle that is charging corresponding to the charging pile completes charging. Exemplarily, the current power information of the electric vehicle can be obtained in real time through the battery management system (BMS) of the electric vehicle that is charging corresponding to the charging pile. Subtract the current power from the maximum capacity of the electric vehicle battery to obtain the remaining power that needs to be charged. At the same time, determine the charging power, and then divide the remaining charging amount by the charging power to obtain the estimated completion charging time; determine the actual time for the electric vehicle to reach the specific location according to the current location, the driving speed, and the specific location. When the actual time is greater than the estimated completion charging time, use the charging pile corresponding to the specific location as the target charging pile, and mark the status of the target charging pile as occupied, and no longer allocate the target charging pile, and at the same time control the electric vehicle to enter the target charging pile for charging.

[0075] Optionally, the charging scheduling method for the container terminal structure further includes: Obtain the real-time change of the operation environment of the container terminal structure 1; Update the data corresponding to the charging pile positions of the container terminal structure 1 according to the changes in the real-time operation environment.

[0076] Specifically, during the process of an electric vehicle traveling to a charging pile, obtain the changes in the real-time operation environment of the container terminal structure 1, that is, continuously monitor the driving state of the electric vehicle and the state of the charging pile. If there are electric vehicle failures, charging pile failures, or other emergencies, such as temporary road closures, etc., timely update the data corresponding to the available charging pile positions. For example, data such as available charging pile position data, charging pile status, vehicle status, task status, and traffic status, re-allocate other available charging piles for the electric vehicle, and re-plan the driving route to ensure the smooth progress of charging.

[0077] Such as Figure 8 As shown, a charging scheduling device for a container terminal structure provided by an embodiment of the present invention is applied to the container terminal structure 1. The charging scheduling device for the container terminal structure includes: An acquisition and classification module, configured to acquire the basic data of the electric vehicle and the charging pile positions of the container terminal structure 1. Among them, the basic data includes the current battery level, current position, driving speed, historical energy consumption data, battery performance data, task route, and task status. According to the task status, the electric vehicle is divided into a vehicle without a task and a vehicle in a task. A charging module for vehicles without a task, configured to perform charging sorting on the vehicles without a task according to the current battery level of the vehicles without a task, and control the vehicles without a task to enter the container terminal structure 1 for charging according to the sorting result. A driving ability module, configured to generate remaining driving ability data of the vehicle in a task according to the current battery level, the historical energy consumption data, and the battery performance data of the vehicle in a task. An opportunity charging module, configured to determine at least one charging opportunity point along the way according to the current position, the task route, the charging pile position, and the remaining driving ability data. A charging module for vehicles in a task, configured to construct a charging scheduling model based on an objective function and constraint conditions according to the remaining driving ability data, the charging opportunity points along the way, the current position, the task route, the driving speed, and the charging pile position of the vehicle in a task, and solve it using a genetic algorithm to generate a charging scheduling plan, and control the vehicle in a task to enter the container terminal structure 1 for charging according to the charging scheduling plan.

[0078] Such as Figure 9As shown in the figure, an electronic device 900 provided by an embodiment of the present invention includes a memory 910 and a processor 920; the memory 910 is used to store a computer program; the processor 920 is used to implement the charging scheduling method for the container terminal structure as described above when executing the computer program.

[0079] Or, an electronic device 900 includes a memory 910 and a processor 920 coupled to the memory 910; the memory 910 is configured to store a computer program; the processor 920 is configured to perform the following operations when executing the computer program: Applied to the container terminal structure 1, the charging scheduling method for the container terminal structure includes: Obtain the basic data of the electric vehicle and the charging pile positions of the container terminal structure 1. Among them, the basic data includes the current power, current position, driving speed, historical energy consumption data, battery performance data, task route, and task status. According to the task status, the electric vehicles are divided into vehicles without tasks and vehicles in tasks. Charge-sort the vehicles without tasks according to the current power of the vehicles without tasks, and control the vehicles without tasks to enter the container terminal structure 1 for charging according to the sorting result. Generate the remaining driving ability data of the vehicles in tasks according to the current power, the historical energy consumption data, and the battery performance data of the vehicles in tasks. Determine at least one charging opportunity point along the route according to the current position, the task route, the charging pile positions, and the remaining driving ability data. Based on the remaining driving ability data, the charging opportunity points along the route, the current position, the task route, the driving speed, and the charging pile positions of the vehicles in tasks, construct a charging scheduling model based on the objective function and constraint conditions, and use the genetic algorithm to solve it to generate a charging scheduling plan, and control the vehicles in tasks to enter the container terminal structure 1 for charging according to the charging scheduling plan.

[0080] A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon. When the computer program is executed by a processor, the charging scheduling method for the container terminal structure as described above is implemented.

[0081] Or, a non-volatile computer-readable storage medium has a computer program stored thereon. When the computer program is executed by a processor, the processor is caused to perform the following operations: Applied to the container terminal structure 1, the charging scheduling method for the container terminal structure includes: Obtain the basic data of the electric vehicle and the charging pile locations of the container terminal structure 1, where the basic data includes the current battery level, current location, driving speed, historical energy consumption data, battery performance data, task route, and task status. According to the task status, the electric vehicles are divided into vehicles without tasks and vehicles in the middle of tasks; Perform charging sorting on the vehicles without tasks according to their current battery levels, and control the vehicles without tasks to enter the container terminal structure 1 for charging according to the sorting results; Generate remaining driving ability data for the vehicles in the middle of tasks according to their current battery levels, historical energy consumption data, and battery performance data; Determine at least one charging opportunity point along the way according to the current location, task route, charging pile locations, and the remaining driving ability data; Based on the remaining driving ability data, charging opportunity points along the way, current location, task route, driving speed, and charging pile locations of the vehicles in the middle of tasks, construct a charging scheduling model based on an objective function and constraints, and solve it using a genetic algorithm to generate a charging scheduling plan, and control the vehicles in the middle of tasks to enter the container terminal structure 1 for charging according to the charging scheduling plan.

[0082] Now, an electronic device 900 that can be used as the server or client of the present invention will be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 900 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 900 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0083] The electronic device 900 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0084] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. The parts or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0085] Although the present invention is disclosed as above, the scope of protection of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the scope of protection of the present invention.

Claims

1. A charging scheduling method for a container terminal structure, characterized in that Applied to the container terminal structure (1), the charging scheduling method for the container terminal structure includes: Obtain the basic data of the electric vehicle and the charging pile positions of the container terminal structure (1), wherein the basic data includes the current power, current position, driving speed, historical energy consumption data, battery performance data, task route, and task status. According to the task status, the electric vehicles are divided into vehicles without tasks and vehicles in tasks; Perform charging sorting on the vehicles without tasks according to the current power of the vehicles without tasks, and control the vehicles without tasks to enter the container terminal structure (1) for charging according to the sorting result; Generate the remaining driving ability data of the vehicles in tasks according to the current power, the historical energy consumption data, and the battery performance data of the vehicles in tasks; Determine at least one charging opportunity point along the route according to the current position, the task route, the charging pile positions, and the remaining driving ability data; Construct a charging scheduling model based on the objective function and constraint conditions according to the remaining driving ability data, the charging opportunity points along the route, the current position, the task route, the driving speed, and the charging pile positions of the vehicles in tasks, and solve it using a genetic algorithm to generate a charging scheduling plan, and control the vehicles in tasks to enter the container terminal structure (1) for charging according to the charging scheduling plan; 2. The charging scheduling method for a container terminal structure according to claim 1, wherein, The determining at least one charging opportunity point along the route according to the current position, the task route, the charging pile positions, and the remaining driving ability data includes: Determine the charging area along the route according to the current position, the task route, the charging pile positions, and the remaining driving ability data; Extract the chargeable time and charging power of all charging piles in the charging area along the route, and determine the charge completion time according to the chargeable time, the charging power, and the remaining driving ability data; Take the charging piles with the charge completion time less than the task allowable delay time as the charging opportunity points along the route, wherein the task allowable delay time is determined according to the task status; 3. The charging scheduling method for a container terminal structure according to claim 1, characterized in that It further includes: Execute a gradient charging strategy according to the current power of the electric vehicle, and control the electric vehicle to enter the container terminal structure (1) for charging; The gradient charging strategy includes: When the current power of the electric vehicle is less than or equal to the first preset power, control the electric vehicle to enter the container terminal structure (1) for charging; When the ratio of the number of electric vehicles that meet the first charging rule to the number of all electric vehicles is greater than or equal to the first preset ratio, mobilize a preset proportion of the electric vehicles that meet the priority charging rule among the electric vehicles that meet the first charging rule, and enter the container terminal structure (1) for charging after completing the task, wherein the first charging rule is that the current power is greater than the first preset power and less than or equal to the second preset power, and the priority charging rule is that the current power is lower than the third preset power; When the ratio of the number of the electric vehicles that meet the second charging rule to the number of all the electric vehicles is greater than or equal to a second preset ratio, a preset proportion of the electric vehicles that meet the priority charging rule among the electric vehicles that meet the second charging rule are mobilized to enter the container terminal structure (1) for charging after completing the task, where the second charging rule is that the current power is greater than the first preset power and less than or equal to the fourth preset power, where the values of the first preset power, the third preset power, the fourth preset power, and the second preset power increase in sequence, and the first preset ratio is greater than the second preset ratio.

4. The charging scheduling method for the container terminal structure according to claim 3, characterized in that Controlling the electric vehicle to enter the container terminal structure (1) for charging includes: Determining the driving distance and the corresponding driving route between the electric vehicle and each idle charging pile according to the current position of the electric vehicle and the position of the charging pile; Sorting the idle charging piles according to the driving distance to generate a ranking of idle charging piles; Screening out a target charging pile from the idle charging piles according to the ranking of the idle charging piles and the driving route; Controlling the electric vehicle to enter the target charging pile for charging.

5. The charging scheduling method for a container terminal structure according to claim 4, characterized in that Screening out a target charging pile from the idle charging piles according to the charging ranking of the idle charging piles and the driving route includes: When the number of the idle charging piles ranked first in the ranking of the idle charging piles is one, using the idle charging pile ranked first in the ranking of the idle charging piles as the target charging pile; When the number of the idle charging piles ranked first in the ranking of the idle charging piles is at least two, obtaining the traffic states of the driving routes corresponding to each of the idle charging piles ranked first in the ranking of the idle charging piles, and determining the target charging pile according to the traffic states.

6. The charging scheduling method for a container terminal structure according to claim 3, wherein, Controlling the electric vehicle to enter the container terminal structure (1) for charging includes: Obtaining the specific position and the estimated charging completion time of the charging pile that is charging in the container terminal structure (1); Determining the actual time for the electric vehicle to reach the specific position according to the current position, the driving speed, and the specific position; When the actual time is greater than the estimated charging completion time, using the charging pile corresponding to the specific position as the target charging pile; Controlling the electric vehicle to enter the target charging pile for charging.

7. The charging scheduling method for a container terminal structure according to claim 1, characterized in that, It further includes: Obtaining the real-time change of the operation environment of the container terminal structure (1); Updating the data corresponding to the positions of the charging piles in the container terminal structure (1) according to the real-time change of the operation environment.

8. A charging scheduling device for a container terminal structure, characterized in that, Applied to the container terminal structure (1), the charging scheduling device for the container terminal structure includes: An acquisition and classification module, configured to acquire the basic data of the electric vehicle and the positions of the charging piles in the container terminal structure (1), where the basic data includes the current power, the current position, the driving speed, the historical energy consumption data, the battery performance data, the task route, and the task status, and classifying the electric vehicle into a vehicle without a task and a vehicle in the middle of a task according to the task status; The no-task charging module is used to sort the charging of the no-task vehicle according to the current power of the no-task vehicle, and control the no-task vehicle to enter the container terminal structure (1) for charging according to the sorting result; The driving ability module is used to generate the remaining driving ability data of the in-task vehicle according to the current power of the in-task vehicle, the historical energy consumption data and the battery performance data; The opportunity charging module is used to determine at least one charging opportunity point along the way according to the current location, the task route, the charging pile location and the remaining driving ability data; The in-task charging module is used to construct a charging scheduling model based on the target function and constraint conditions according to the remaining driving ability data of the in-task vehicle, the charging opportunity points along the way, the current location, the task route, the driving speed and the charging pile location, and solve it by using the genetic algorithm to generate a charging scheduling plan, and control the in-task vehicle to enter the container terminal structure (1) for charging according to the charging scheduling plan.

9. An electronic device, characterized in that, It includes a memory and a processor; The memory is used to store computer programs; The processor is used to implement the charging scheduling method for the container terminal structure according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the charging scheduling method for the container terminal structure according to any one of claims 1 to 7 is implemented.

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