Wharf quay crane-yard crane combined configuration method and system considering dynamic time window

Abstract

The invention discloses a wharf quay crane-yard crane combined configuration method and system considering a dynamic time window, and the method comprises the steps: obtaining input data, and carrying out the initialization processing of the input data; inputting the processed input data into a quay crane-field crane resource joint configuration model, and solving by using a heuristic algorithm to obtain an initial solution; and optimizing the initial solution by using an iterative heuristic algorithm, obtaining an optimal solution of the quay crane-yard crane resource joint configuration model through multiple iterations, outputting a joint configuration scheme, and allocating quay cranes and yard cranes for ships. According to the method, a comprehensive allocation strategy combining fixed time interval allocation and dynamic trigger allocation is provided, a dynamic time window is introduced into a quay crane-field crane resource joint allocation model, operation adjustment of quay cranes and field cranes can be triggered in real time according to the equipment vacancy rate and the time interval, the problem that stage equipment is idle due to traditional static allocation is solved, and the allocation efficiency of the quay cranes and the field cranes is improved. And the flexibility and efficiency of resource configuration are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of container terminal resource allocation, and particularly to a quay crane-yard crane joint allocation method and system for a terminal considering dynamic time windows. Background Art

[0002] Under the background of the rapid development of global trade, container transportation has become an important support for global economic activities. As the core hub of the logistics network, the resource allocation efficiency of container terminals directly affects the operation efficiency of the supply chain. However, the terminal operation environment is complex and changeable, presenting many challenges.

[0003] The arrival time of ships is uncertain. Affected by various factors such as weather, ocean environment, and shipping scheduling, the actual arrival time of ships often deviates from the planned time. Traditional static allocation methods usually allocate equipment resources such as quay cranes and yard cranes according to the pre-set ship arrival plan, lacking an effective response mechanism to the dynamic changes in ship arrival time. When ships arrive early or late, the traditional static allocation schemes of quay cranes and yard cranes cannot respond in a timely manner, easily leading to resource idleness or operation delays, thereby affecting the overall operation efficiency and economic benefits of the terminal.

[0004] Existing research lacks the concept of refined equipment allocation. Most research only focuses on the macro ratio of equipment quantity, staying at the theoretical level of discussion, failing to delve into the refined allocation of specific quay crane and yard crane numbers, and ignoring the differences in performance, operation efficiency, and actual operation scenario requirements among different equipment, making it difficult for resource allocation to fit the actual operation situation. In actual terminal operations, due to the lack of accurate planning for specific equipment numbers and the consideration of the collaborative operation efficiency among equipment, quay cranes and yard cranes may experience problems such as excessive waiting time and operation conflicts, restricting the improvement of terminal operation efficiency.

[0005] Traditional allocation methods lack the concept of joint planning. In the process of formulating past allocation schemes, the allocation of quay cranes and yard cranes is often considered separately, making it difficult to coordinate the operation plans of quay cranes and yard cranes. As a result, in actual operations, the two cannot be efficiently connected, resulting in an unreasonable allocation of resources in the time dimension, not only causing waste of resources but also greatly increasing the operation cost of the terminal. Summary of the Invention

[0006] In order to solve the deficiencies of the existing technology, the present invention proposes a quay crane-yard crane joint allocation method and system for a terminal considering dynamic time windows, aiming to improve the collaborative allocation efficiency between quay crane and yard crane equipment, and enhance the flexibility and efficiency of resource allocation.

[0007] For this reason, the technical solutions adopted by the present invention are as follows:

[0008] The present invention provides a quay crane-yard crane joint configuration method considering dynamic time windows, and the method includes:

[0009] Obtain input data, including ship number, ship type, arrival time, departure time, allocated berth and sub-container area, the number and operating capacity of quay cranes and yard cranes, and perform initialization processing on it;

[0010] Input the processed input data into the quay crane-yard crane resource joint configuration model, and use a heuristic algorithm to solve for an initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the ship's delayed departure time, and various system costs; the quay crane-yard crane resource joint configuration model is constructed according to a comprehensive allocation strategy considering dynamic time windows, and is solved with minimizing the total system cost as the objective function; among them, the comprehensive allocation strategy considering dynamic time windows combines fixed periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of quay cranes and yard cranes is greater than a certain threshold and the fixed period until the next allocation of the equipment is greater than a certain time;

[0011] Use an iterative heuristic algorithm to optimize the initial solution, obtain the optimal solution of the quay crane-yard crane resource joint configuration model after multiple iterations, and output the joint configuration plan of quay cranes and yard cranes according to the optimal solution to allocate quay cranes and yard cranes for ships.

[0012] According to the above scheme, the specific implementation of the initialization processing of the input data is: define the input data as a parameter set, including a ship set, a quay crane set, a yard crane set, a berth set, a sub-container area set, and a time period set.

[0013] According to the above scheme, the specific implementation of using a heuristic algorithm to solve for an initial solution is:

[0014] Calculate the expected operation time of the ship according to the ship set, quay crane set, and yard crane set, judge whether it causes the ship to depart late, when it is necessary to depart late, mark the delay flag and calculate the delayed departure time, and allocate quay cranes and yard cranes according to the calculation result;

[0015] After the allocation is completed, perform operations to obtain the actual operation time, update the delay flag and the actual delayed departure time according to the actual operation time, calculate various system costs, and output the initial solution.

[0016] According to the above scheme, the total system cost is obtained by adding the loading and unloading costs of quay cranes and yard cranes, the moving costs when quay cranes and yard cranes transfer fields, and the departure costs when ships depart late.

[0017] According to the above solution, the moving cost when the quay crane and the yard crane are transferred is calculated from the unit distance moving cost per single quay crane during transfer, the moving distance of the quay crane from the first berth to the second berth, the unit distance moving cost per single yard crane during transfer, and the moving distance of the yard crane from the first sub-container area to the second sub-container area; the departure cost when the ship delays its departure is calculated from the penalty cost per unit time when the ship delays its departure and the delay duration of the ship's departure.

[0018] According to the above solution, the quay crane allocation matrix is represented in the form of a three-layer one-dimensional array: among them, the first-layer array represents the ship number, the second-layer array represents the specific time period when the ship conducts loading and unloading operations at the terminal, and the third-layer array represents the specific quay crane number allocated to the ship during this operation time period;

[0019] The yard crane allocation matrix is represented in the form of a four-layer one-dimensional array: among them, the first-layer array represents the ship number, the second-layer array represents the specific time period when the ship conducts loading and unloading operations at the terminal, the third-layer array represents the container area number, and the fourth-layer array represents the specific yard crane number allocated to this container area of the ship during this operation time period;

[0020] The ship's delayed departure time is represented in the form of a two-layer one-dimensional array: among them, the first-layer array represents the ship number, and the second-layer array represents the expected delayed departure time of the ship.

[0021] According to the above solution, the fixed time period allocation is specifically as follows: Select an appropriate duration as the fixed time period, update the resource pool where the quay crane and the yard crane are located at the start moment of each time period and conduct a resource allocation once, allocate the yard crane and the quay crane to the ships to be operated, where the resource pool includes all ships, quay cranes, and yard cranes to be operated.

[0022] According to the above solution, the quay crane-yard crane resource joint configuration model satisfies the following constraint conditions: quay crane operation constraint, yard crane operation constraint, ship operation time and operation sequence constraint, and dynamic trigger mechanism constraint;

[0023] Among them, the quay crane operation constraint includes quay crane resource exclusivity constraint, quay crane operation time constraint, quay crane allocation continuity constraint, quay crane quantity constraint, and quay crane operation capacity constraint; the yard crane operation constraint includes yard crane resource exclusivity constraint, yard crane operation time constraint, yard crane transfer constraint, yard crane quantity constraint, and yard crane operation capacity constraint.

[0024] According to the above solution, the optimal solution of the quay crane-yard crane resource joint configuration model is specifically obtained through the following method:

[0025] After obtaining the initial solution, use it as the initial optimal solution, generate a random matrix with the same size as the quay crane allocation matrix and yard crane allocation matrix of the initial optimal solution for iteration, and obtain a new random solution; check whether the new random solution satisfies the constraint conditions of the quay crane-yard crane resource joint configuration model. If it satisfies the constraint conditions, compare the total system cost of the new random solution with the total system cost of the initial optimal solution; if the total system cost of the new random solution is less than the total system cost of the initial optimal solution, then use this random solution as the new optimal solution.

[0026] Repeat the iteration multiple times until the termination condition is met, and output the optimal solution after terminating the iteration.

[0027] The present invention also provides a quay crane-yard crane joint configuration system considering a dynamic time window, and the system includes:

[0028] A data acquisition module, which is used to acquire input data, including ship number, ship type, arrival time, departure time, allocated berth and sub-container area, the number of quay cranes and yard cranes and their operating capabilities, and perform initialization processing on them.

[0029] A solution module, which is used to input the processed input data into the quay crane-yard crane resource joint configuration model, and use a heuristic algorithm to solve and obtain an initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the ship's extended departure time and various system costs; the quay crane-yard crane resource joint configuration model is constructed according to a comprehensive allocation strategy considering a dynamic time window, and is solved with minimizing the total system cost as the objective function; among them, the comprehensive allocation strategy considering a dynamic time window combines fixed time periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of quay cranes and yard cranes is greater than a certain threshold and the fixed time period until the next allocation of the equipment is greater than a certain time.

[0030] An optimization output module, which is used to optimize the initial solution by using an iterative heuristic algorithm, obtain the optimal solution of the quay crane-yard crane resource joint configuration model after multiple iterations, and output the joint configuration plan of quay cranes and yard cranes according to the optimal solution to allocate quay cranes and yard cranes for ships.

[0031] The beneficial effects produced by the present invention are: by proposing a comprehensive allocation strategy that combines fixed time period allocation and dynamic trigger allocation, the present invention introduces a dynamic time window into the quay crane-yard crane resource joint configuration model, can trigger the operation adjustment of yard cranes and quay cranes in real time according to the equipment idle rate and time interval, obtain a better model solution and joint configuration plan, break the problem of phased equipment idleness caused by traditional static allocation, and effectively improve the flexibility and efficiency of resource allocation.

[0032] Furthermore, the present invention constructs a single-objective optimization model for the quay crane-yard crane resource joint allocation model, unifies the modeling of the operation capabilities of quay cranes and yard cranes and the transfer path, and adds yard crane and quay crane operation constraints, ship operation time and sequence constraints, and dynamic trigger mechanism constraints through the model constraints to eliminate resource conflicts and operation interruptions caused by independent optimization;

[0033] Furthermore, the present invention designs an iterative heuristic algorithm to solve the initial solution and perform optimization. A random matrix is generated in each iteration, and random perturbations are introduced to perform multiple rounds of optimization on the initial solution to obtain the optimal solution, breaking the limitations of the initial solution, enabling the algorithm to explore a wider solution space, effectively helping the algorithm jump out of the local optimal solution, enhancing the global search ability, and the iterative heuristic algorithm achieves a good balance between the solution efficiency and the solution quality, making it more practical in larger-scale and more complex practical applications. Description of the Drawings

[0034] Figure 1 is a schematic flowchart of the method for the quay crane-yard crane joint allocation method considering dynamic time windows according to an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the comprehensive allocation strategy according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of the resource pool and task pool monitoring system according to an embodiment of the present invention;

[0037] Figure 4 is a schematic flowchart of the solution process of the quay crane-yard crane resource joint allocation model according to an embodiment of the present invention;

[0038] Figure 5 is a schematic diagram of the quay crane allocation matrix according to an embodiment of the present invention;

[0039] Figure 6 is a schematic diagram of the yard crane allocation matrix according to an embodiment of the present invention;

[0040] Figure 7 is a schematic diagram of the ship's extended departure time according to an embodiment of the present invention;

[0041] Figure 8 is a comparison data graph of the Gurobi solver and the iterative heuristic algorithm according to an embodiment of the present invention;

[0042] Figure 9 is a comparison schematic diagram of the solution objective function values of the Gurobi solver and the iterative heuristic algorithm according to an embodiment of the present invention;

[0043] Figure 10 is a comparison schematic diagram of the solution times of the Gurobi solver and the iterative heuristic algorithm according to an embodiment of the present invention. Detailed implementation manner

[0044] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] Embodiment 1

[0046] Aiming at the problems of insufficient flexibility in the configuration of quay cranes and yard cranes and low equipment cooperation efficiency in the prior art, the embodiment of the present invention proposes a joint configuration method for quay cranes and yard cranes at the terminal considering dynamic time windows, as Figure 1 shown, the method includes:

[0047] S1. Obtain input data, including ship number, ship type, arrival time, departure time, allocated berth and sub-container area, the number and operating capacity of quay cranes and yard cranes, and perform initialization processing on them.

[0048] S2. Input the processed input data into the joint configuration model of quay crane-yard crane resources, and use a heuristic algorithm to solve for the initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the ship's delayed departure time, and various system costs; the joint configuration model of quay crane-yard crane resources is constructed according to a comprehensive allocation strategy considering dynamic time windows, and is solved with minimizing the total system cost as the objective function; among them, the comprehensive allocation strategy considering dynamic time windows combines fixed periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of quay cranes and yard cranes is greater than a certain threshold and the fixed period until the next allocation of the equipment is greater than a certain time.

[0049] S3. Use an iterative heuristic algorithm to optimize the initial solution, and obtain the optimal solution of the joint configuration model of quay crane-yard crane resources after multiple iterations, and output the joint configuration plan of quay crane-yard crane according to the optimal solution to allocate quay cranes and yard cranes for the ship.

[0050] Specifically, the initialization processing of the input data includes: classifying and defining the input data as a parameter set, including a ship set, a quay crane set, a yard crane set, a berth set, a sub-container area set, and a time period set.

[0051] Specifically, the schematic diagram of the comprehensive allocation strategy considering dynamic time windows is as Figure 2As shown in the figure, the specific fixed - period allocation is as follows: Select an appropriate time period ΔT as the fixed time period. At the start of each ΔT, update the resource pool where the quay cranes and yard cranes are located and perform a resource allocation once, allocating quay cranes and yard cranes to the ships waiting for operation. The resource pool includes all ships waiting for operation, quay cranes, and yard cranes. The dynamic trigger allocation is as follows: When the idle rate of the quay cranes and yard cranes is greater than a certain threshold and the time until the next fixed allocation of this equipment is greater than a certain time, trigger the allocation, and allocate yard cranes and quay cranes to the ships waiting for operation. In this embodiment, when the idle rate ρ of either the quay crane or the yard crane is ≥ 60% and the time until the next fixed allocation is ≥ 1 hour, trigger the allocation, where the equipment idle rate is equal to the ratio of the number of idle equipment to the total number of equipment.

[0052] As Figure 3 As shown in the figure, in the embodiment of the present invention, a resource pool and task pool monitoring system is set up to achieve dynamic, refined, and joint allocation of quay cranes - yard cranes in a container terminal. Among them, the resource pool includes all ships waiting for operation arriving at the port, quay cranes, and yard cranes. According to the requirements of the ships waiting for operation, specific quay cranes and yard cranes are allocated to the ships that need to be operated in the next time period. After the allocation is successful, the ships and the corresponding quay cranes and yard cranes are marked as busy and transferred to the task pool. The task pool can facilitate subsequent scheduling work and manage the allocated operation tasks. The system automatically re - allocates resources and tasks according to the real - time status of resources and the operation requirements of ships. When a new ship arrives at the port or the operation status of a ship changes, such as when part of the operation of a ship is completed in advance, resulting in idle equipment, the system will promptly allocate the idle equipment to other ships to avoid waste of resources. Compared with the traditional allocation method, this mode improves the efficiency of resource allocation, shortens the stay time of ships in the port, reduces operating costs, and provides strong support for the efficient and intelligent operation of container terminals.

[0053] Specifically, the total system cost in step S2 is calculated by adding the handling costs of quay cranes and yard cranes, the moving costs when quay cranes and yard cranes transfer, and the departure costs when ships depart late.

[0054] Specifically, the moving costs when quay cranes and yard cranes transfer are calculated by the unit - distance moving cost when a single quay crane transfers, the moving distance of the quay crane from the first berth to the second berth, the unit - distance moving cost when a single yard crane transfers, and the moving distance of the yard crane from the first sub - container area to the second sub - container area; the departure costs when ships depart late are calculated by the penalty cost per unit time when ships depart late and the late - departure duration of the ships.

[0055] In addition, the quay - crane - yard - crane resource joint configuration model satisfies the following constraint conditions: quay - crane operation constraints, yard - crane operation constraints, ship operation time and operation sequence constraints, and dynamic trigger mechanism constraints;

[0056] Among them, the quay crane operation constraints include the exclusive constraint of quay crane resources, the operation time constraint of quay cranes, the continuous allocation constraint of quay cranes, the quantity constraint of quay cranes, and the operation capacity constraint of quay cranes; the yard crane operation constraints include the exclusive constraint of yard crane resources, the operation time constraint of yard cranes, the transfer constraint of yard cranes, the quantity constraint of yard cranes, and the operation capacity constraint of yard cranes.

[0057] In this embodiment, the exclusive constraint of quay crane resources is specifically that each quay crane can only be allocated to one ship in any time period;

[0058] The operation time constraint of quay cranes is specifically that a quay crane is allocated for any operation period of any ship;

[0059] The continuous allocation constraint of quay cranes is specifically that the quay crane numbers allocated to the same ship are consecutive numbers, and any quay crane cannot cross other quay cranes for cross-operation during operation;

[0060] The quantity constraint of quay cranes is specifically that the number of quay cranes allocated to any ship in any time period is within the allocable quantity range of quay cranes, and the total number of quay cranes allocated in any time period is not greater than the maximum allocable quantity of quay cranes;

[0061] The operation capacity constraint of quay cranes is specifically that the total operation capacity of the quay cranes allocated to a ship is not less than the number of containers to be handled by the ship.

[0062] The exclusive constraint of yard crane resources is specifically that each yard crane can only be allocated to one sub-container area in any time period;

[0063] The operation time constraint of yard cranes is specifically that a yard crane is allocated during the operation period of any ship in any time period;

[0064] The transfer constraint of yard cranes is specifically that the number of transfers of each yard crane in any time period is not greater than one, and there are no simultaneous yard crane transfers in and out of any sub-container area;

[0065] The quantity constraint of yard cranes is specifically that the number of yard cranes allocated to any sub-container area in any time period is within the allocable quantity range of yard cranes, and the total number of yard cranes allocated in any time period is not greater than the maximum allocable quantity of yard cranes;

[0066] The operation capacity constraint of yard cranes is specifically that the total operation capacity of the yard cranes allocated to a ship is not less than the number of containers to be handled by the ship.

[0067] The operation time and operation sequence constraints of ships are specifically that the operation sequence of each ship at the same berth is that the ship that arrives first is served first, the actual start operation time of any ship is not greater than the actual end operation time of the ship, all time periods during the operation of any ship are continuous and covered, and the penalty cost for any ship's delayed departure is within a certain range.

[0068] The dynamic trigger mechanism constraints are specifically as follows: when the quay crane meets the dynamic allocation conditions, the dynamic allocation strategy is triggered; when the yard crane meets the dynamic allocation conditions, the dynamic allocation strategy is triggered.

[0069] Specifically, the specific process of the embodiment of the present invention is as Figure 4 shown. Among them, the initial solution is generated by a heuristic algorithm, and the specific implementation method for obtaining the initial solution is:

[0070] Obtain input data, where the input data includes ship number, ship type, arrival time, departure time, allocated berth and sub-container area, the number and working capacity of quay cranes and yard cranes, and initialize the input data. Define the input data as a parameter set, including ship set, quay crane set, yard crane set, berth set, sub-container area set and time period set, and sort the ship arrival order;

[0071] Calculate the expected operation time of the ship according to the ship set, quay crane set and yard crane set, judge whether the ship's departure is delayed, and mark the delay flag; among them, according to the container volume of the ship and the maximum available number of quay cranes and yard cranes, calculate the expected operation time of the ship respectively, select the maximum value of the calculation as the minimum operation time of the ship. If the minimum operation time of the ship exceeds the expected departure time, the delay flag is marked as needing to be delayed, and the delay time is calculated;

[0072] Allocate quay cranes and yard cranes according to the expected operation time and delay time of the ship; among them, according to the allocated berth of the ship, determine the available quay crane range. Within the operation time window of the ship, use as many quay cranes as possible to speed up the operation. If the number of quay cranes is insufficient, allocate as many quay cranes as possible and find the starting position where continuous quay cranes can be allocated to ensure that the allocated quay cranes are continuous; according to the list of sub-container areas allocated to the ship, allocate yard cranes for each sub-container area. According to the container volume and operation time of the ship, calculate the number of yard cranes required for each sub-container area, and give priority to allocating yard cranes in the same sub-container area. If the yard cranes in the same sub-container area are insufficient, allocate yard cranes in the adjacent rows to ensure that the number of yard cranes allocated to each sub-container area does not exceed the upper limit of the number of yard cranes in a single container area;

[0073] After the allocation of quay cranes and yard cranes is completed, perform the operation to obtain the actual operation time, and update the delay flag and delay time of the ship, and output the initial solution; it should be noted that this actual operation time only indicates that there is a change in the operation time after the allocation compared with the expected operation time. The changed time is called the actual operation time, which is the solution result of the model at the planning level, rather than the operation time after actual application.

[0074] Among them, the quay crane allocation matrix, yard crane allocation matrix and ship delayed departure time are represented in the coding form of real number arrays, such as Figure 5As shown in the figure, the quay crane allocation matrix is represented in the form of a three - layer one - dimensional array: among them, the first - layer array represents the ship number, the second - layer array represents the specific time period when the ship conducts loading and unloading operations at the terminal, and the third - layer array represents the specific quay crane number allocated to the ship during this operation time period; for example, Figure 5 The first three columns indicate that Ship 1 is allocated quay cranes numbered 1, 2, and 3 for loading and unloading operations during the first time period.

[0075] Such as Figure 6 As shown in the figure, the yard crane allocation matrix is represented in the form of a four - layer one - dimensional array: among them, the first - layer array represents the ship number, the second - layer array represents the specific time period when the ship conducts loading and unloading operations at the terminal, the third - layer array represents the block number, and the fourth - layer array represents the specific yard crane number allocated to this block of the ship during this operation time period; for example, Figure 6 The first four columns indicate that Ship 1 conducts loading and unloading operations in Block 1 and Block 3 during the first time period. In Block 1, yard cranes numbered 1 and 2 are allocated for operations, and in Block 3, yard cranes numbered 4 and 5 are allocated for operations.

[0076] Such as Figure 7 As shown in the figure, the ship's extended departure time is represented in the form of a two - layer one - dimensional array: among them, the first - layer array represents the ship number, and the second - layer array represents the expected extended departure time of the ship.

[0077] In addition, the optimal solution of the quay - yard crane resource joint configuration model is obtained specifically through the following method:

[0078] After obtaining the initial solution, take it as the initial optimal solution, generate a random matrix with the same size as the quay crane allocation matrix and yard crane allocation matrix of the initial optimal solution for iteration to obtain a new random solution; check whether the new random solution satisfies the constraint conditions of the quay - yard crane resource joint configuration model. If it satisfies the constraint conditions, compare the total system cost of the new random solution with the total system cost of the initial optimal solution; if the total system cost of this random solution is less than the total system cost of the initial optimal solution, then take this random solution as the new optimal solution.

[0079] Repeat the iteration multiple times until the termination condition is met, and output the optimal solution after terminating the iteration.

[0080] Specifically, generate a random matrix with the same size as the quay crane allocation matrix and yard crane allocation matrix of the optimal solution, where each element in the random matrix is 0 or 1, and the probability is controlled by the parameter η (the value range is from 0 to 1). If a certain element in the random matrix is 1, then adjust the corresponding quay crane or yard crane allocation. For example, if a certain position in the quay crane allocation matrix indicates that quay crane j is allocated to ship i at time t, and the element at this position in the corresponding random matrix is 1, then try to replace quay crane j with other idle quay cranes; if it is 0, then keep the current allocation unchanged.

[0081] In this embodiment, the termination condition is set as: reaching the maximum number of iterations or all ships completing the allocation of quay cranes and yard cranes.

[0082] In addition, as Figure 8 , Figure 9 and Figure 10 shown, the embodiments of the present invention respectively use the Gurobi solver and the iterative heuristic algorithm to solve the quay crane-yard crane resource joint configuration model. According to the experimental results, although the Gurobi solver can theoretically provide the optimal solution, in practical applications, as the problem scale increases, its solving time will increase sharply. When facing a case of 50 ships, it may even be unable to obtain the result within a reasonable time; while the iterative heuristic algorithm, by adopting an efficient heuristic strategy, while ensuring that the quality of the solution is similar to that of the Gurobi solver (within the solvable scale of Gurobi), significantly shortens the solving time. The good balance between the solving efficiency and the quality of the solution makes the iterative heuristic algorithm have higher practical value in practical applications, especially in the container terminal operation scenarios with high requirements for timeliness and limited computing resources. It can be seen from the experimental results that the reliability and superiority of the iterative heuristic algorithm in the embodiments of the present invention have been fully verified, laying a solid foundation for its application in the joint configuration problem of quay crane-yard crane resources in larger-scale and more complex container terminals.

[0083] In addition, the embodiments of the present invention also provide a quay crane-yard crane joint configuration system considering dynamic time windows for implementing the quay crane-yard crane joint configuration method considering dynamic time windows described above. The system includes:

[0084] A data acquisition module for acquiring input data, including ship numbers, ship types, arrival times, departure times, allocated berths and sub-container areas, the numbers and operating capabilities of quay cranes and yard cranes, and performing initialization processing on them;

[0085] A solving module for inputting the processed input data into the quay crane-yard crane resource joint configuration model and using a heuristic algorithm to solve to obtain an initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the ship's extended departure time, and various system costs; the quay crane-yard crane resource joint configuration model is constructed according to a comprehensive allocation strategy considering dynamic time windows and solved with minimizing the total system cost as the objective function; wherein, the comprehensive allocation strategy considering dynamic time windows combines fixed periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of the quay crane and the yard crane is greater than a certain threshold and the fixed period until the next allocation of the equipment is greater than a certain time;

[0086] An optimization output module is used to optimize the initial solution by using an iterative heuristic algorithm. After multiple iterations, the optimal solution of the quay crane-yard crane resource joint configuration model is obtained, and the joint configuration plan of the quay crane-yard crane is output according to the optimal solution to allocate quay cranes and yard cranes for ships.

[0087] Each module or mechanism of this system is mainly used to implement the various steps of the above method embodiments, which will not be elaborated here one by one.

[0088] A quay crane-yard crane joint configuration method and system considering dynamic time windows proposed in an embodiment of the present invention introduce a dynamic time window into the quay crane-yard crane resource joint configuration model by proposing a comprehensive allocation strategy combining fixed-period allocation and dynamic trigger allocation. It can trigger the operation adjustment of yard cranes and quay cranes in real time according to the equipment idle rate and time interval threshold, breaking the problem of phased equipment idleness caused by traditional static allocation, and effectively improving the flexibility and efficiency of resource allocation.

[0089] Furthermore, in an embodiment of the present invention, a single-objective optimization model of the quay crane-yard crane resource joint configuration model is constructed, which unifies the quay crane loading and unloading rate, yard crane operation capacity, and transfer path. Through the model constraint conditions, yard crane and quay crane operation constraints, ship operation time and sequence constraints, and dynamic trigger mechanism constraints are added to eliminate resource conflicts and operation breaks caused by independent optimization; and the configuration planning is accurate to the number of each quay crane and yard crane, which can fully consider the performance differences of different equipment and the actual operation scenario requirements, realize the refined management of equipment, improve the collaborative operation efficiency between equipment, ensure the efficient and smooth operation of the terminal operation process, and meet the diverse needs of specific operation scenarios.

[0090] Furthermore, the present invention designs an iterative heuristic algorithm to solve the initial solution and optimize it. Combining a probabilistic neighborhood perturbation and a fast constraint checking mechanism, a random perturbation is introduced in each iteration to optimize the initial solution for multiple rounds to obtain the optimal solution, breaking the limitations of the initial solution, enabling the algorithm to explore a wider solution space, effectively helping the algorithm jump out of the local optimal solution, enhancing the global search ability, and the iterative heuristic algorithm achieves a good balance between the solution efficiency and the solution quality, making it more practical in larger-scale and more complex actual applications.

[0091] Embodiment 2

[0092] Based on Embodiment 1, an embodiment of the present invention proposes a quay crane-yard crane joint configuration method considering dynamic time windows. Among them, the quay crane-yard crane resource joint configuration model considering dynamic time windows constructed in S2 is specifically expressed as:

[0093]

[0094] Among them, \(C\) is the objective function of the quay crane-yard crane resource joint allocation model, representing the total system cost; \(C\) work represents the handling costs of quay cranes and yard cranes; \(C\) move represents the moving costs when quay cranes and yard cranes are transferred; \(C\) delay represents the demurrage cost when a ship departs with a delay; \(C\) q is the handling operation cost of a single quay crane per unit time; \(x\) iqt is a 0-1 variable, which is 1 if quay crane \(q\) is allocated to ship \(i\) for handling operations at time \(t\), otherwise 0; \(C\) y is the handling operation cost of a single yard crane per unit time; \(z\) iytk is a 0-1 variable, which is 1 if yard crane \(y\) is allocated to the assigned sub-container area \(k\) of ship \(i\) for handling operations at time \(t\), otherwise 0; is the unit distance moving cost when a single quay crane is transferred; \(h\) qtbb′ is a 0-1 variable, which is 1 if quay crane \(q\) is transferred from berth \(b\) to berth \(b'\) during time period \(t\), otherwise 0; \(d\) bb′ is the moving distance between quay crane transferred from berth \(b\) to berth \(b'\); is the unit distance moving cost when a single yard crane is transferred; \(h\) ytkk′ is a 0-1 variable, which is 1 if yard crane \(y\) is transferred from sub-container area \(k\) to sub-container area \(k'\) at time \(t\), otherwise 0; \(d\) kk′ is the moving distance between yard crane transferred from sub-container area \(k\) to sub-container area \(k'\); is the penalty cost per unit time when ship \(i\) departs with a delay; \(p\) i is the demurrage duration of ship \(i\).

[0095] Among them, \(V\) is the set of ships; \(T\) is the set of time; \(Y\) is the set of yard cranes; \(Q\) is the set of quay cranes; \(K\) is the set of sub-container areas; \(B\) is the set of berths.

[0096] In addition, the quay crane-yard crane resource joint allocation model satisfies the following constraint conditions:

[0097] Quay crane operation constraints, including quay crane resource exclusivity constraint, quay crane operation time constraint, quay crane allocation continuity constraint, quay crane quantity constraint and quay crane operation capacity constraint:

[0098] Quay crane resource exclusivity constraint:

[0099] Each quay crane can only be allocated to one ship during any time period:

[0100]

[0101] Quay crane operation time constraint:

[0102] A quay crane is allocated for any operation period of any ship:

[0103]

[0104] Among them, w it is a 0-1 variable, which is 1 if ship i is engaged in loading and unloading operations during time period t, and 0 otherwise.

[0105] Constraint on the continuity of quay crane allocation:

[0106] The quay crane numbers assigned to the same ship are consecutive numbers:

[0107]

[0108] Any quay crane cannot cross other quay cranes for cross-operation during operation:

[0109]

[0110] Constraint on the operation capacity of quay cranes:

[0111] The total operation capacity of the quay cranes assigned to a ship is not less than the container volume of the ship's operation:

[0112]

[0113] Among them, e q is the maximum operation capacity of a single quay crane per hour.

[0114] Constraint on the number of quay cranes:

[0115] The number of quay cranes assigned to any ship in any time period is within the allocable number range of quay cranes:

[0116]

[0117] Among them, is the minimum number of quay cranes that can be assigned to ship i; is the maximum number of quay cranes that can be assigned to ship i.

[0118] The total number of quay cranes assigned in any time period is not greater than the maximum allocable number of quay cranes:

[0119]

[0120] Among them, r qt is a 0-1 variable, which is 1 if quay crane q is idle at time t, and 0 otherwise.

[0121] Constraints on yard crane operations, including yard crane resource exclusivity constraints, yard crane operation time constraints, yard crane transfer constraints, yard crane number constraints, and yard crane operation capacity constraints:

[0122] Yard crane resource exclusivity constraint:

[0123] During any time period, each quay crane can only be assigned to one sub-yard:

[0124]

[0125] Quay crane operation time constraint:

[0126] During the operation period of any time period of any ship, a quay crane is assigned:

[0127]

[0128] Quay crane transfer constraint:

[0129] During any time period, the number of transfers of each quay crane is no more than once:

[0130]

[0131] where h ytkk′ is a 0-1 variable, which is 1 if the quay crane y transfers from the sub-yard k to the sub-yard k' at time t, otherwise 0.

[0132] There are no quay cranes transferring in and out of any sub-yard simultaneously:

[0133]

[0134] Quay crane operation capacity constraint:

[0135] The total operation capacity of the quay cranes assigned to a ship is not less than the number of containers to be handled by the ship:

[0136]

[0137] where e y is the maximum operation capacity of a single quay crane per hour; m i is the number of containers to be handled by ship i.

[0138] Quay crane quantity constraint:

[0139] During any time period, the number of quay cranes assigned to any sub-yard is within the allocable quantity range of quay cranes:

[0140]

[0141] where n k is the maximum number of quay cranes that can be assigned to a single sub-yard k.

[0142] During any time period, the total number of quay cranes assigned is not greater than the maximum allocable number of quay cranes:

[0143]

[0144] where ryt is a 0-1 variable, which is 1 if the quay crane y is idle at time t, otherwise 0.

[0145] Constraints on ship operation time and operation sequence:

[0146] For ships at the same berth, the operation sequence is that the ship arriving first is served first:

[0147]

[0148] where s i is the actual start operation time of ship i; f i is the actual end operation time of ship i; l ijb is a 0-1 variable, which is 1 if the berthing time of ship i is earlier than that of ship j and they are berthed at the same berth b, otherwise 0; b is the berth assigned to ship i.

[0149] The actual start operation time of any ship is not greater than its actual end operation time:

[0150]

[0151] All time periods during the operation of any ship are continuous and covered:

[0152]

[0153] The penalty cost for any ship's delayed departure is within a certain range:

[0154]

[0155] where d i is the expected departure time of ship i; δ i is a 0-1 variable, which is 1 if ship i departs late, otherwise 0; M is a very large positive integer.

[0156] Constraints on the dynamic trigger mechanism:

[0157] When the quay crane reaches the dynamic allocation condition, the dynamic allocation strategy is triggered:

[0158]

[0159] where, is the time for the nth fixed resource allocation at the terminal; g t is a 0-1 variable, which is 1 if the dynamic resource allocation strategy is triggered at time t, otherwise 0; t n represents the nth time period.

[0160] When the quay crane reaches the dynamic allocation condition, the dynamic allocation strategy is triggered:

[0161]

[0162] The embodiment of the present invention proposes a combined allocation model for quay crane-yard crane resources, designs the quantity limit of yard cranes in a single container block and the binding rules between ships and container blocks, which can effectively eliminate the resource conflicts and operation interruptions caused by independent optimization, and enables the model to output solutions that meet the conditions, improving the accuracy and rationality of model solving.

[0163] It should be noted that, according to the needs of implementation, each step / component described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0164] In the above embodiments, the magnitudes of the sequence numbers of the steps do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0165] It should be understood that those of ordinary skill in the art can make improvements or transformations according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A quay crane-yard crane joint configuration method considering dynamic time windows, characterized in that The method includes: Obtain input data, including ship number, ship type, arrival time at port, departure time from port, allocated berth and sub-container area, the number of quay cranes and yard cranes and their operating capabilities, and perform initialization processing on it; Input the processed input data into the joint allocation model of quay crane-yard crane resources in the container terminal, and use a heuristic algorithm to solve for the initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the ship's extended departure time, and various system costs; the joint allocation model of quay crane-yard crane resources is constructed according to a comprehensive allocation strategy considering a dynamic time window, and is solved with minimizing the total system cost as the objective function; among them, the comprehensive allocation strategy considering the dynamic time window combines fixed periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of quay cranes and yard cranes is greater than a certain threshold and the fixed period until the next allocation of the equipment is greater than a certain time; Use an iterative heuristic algorithm to optimize the initial solution, and obtain the optimal solution of the joint allocation model of quay crane-yard crane resources after multiple iterations, and output the joint allocation plan of quay crane-yard crane according to the optimal solution to allocate quay cranes and yard cranes for the ship.

2. The quay crane-yard crane joint configuration method considering dynamic time windows according to claim 1, wherein The specific implementation of the initialization processing of the input data is: define the input data as a parameter set, including a ship set, a quay crane set, a yard crane set, a berth set, a sub-container area set, and a time period set.

3. The quay crane-yard crane joint configuration method considering dynamic time windows according to claim 2, characterized in that The specific implementation method of obtaining the initial solution using the iterative heuristic algorithm is: Calculate the expected operation time of the ship according to the ship set, quay crane set, and yard crane set, and judge whether it causes the ship to depart late. When the ship needs to depart late, mark the late departure flag and calculate the extended departure time, and allocate quay cranes and yard cranes according to the calculation results; After the allocation is completed, perform operations to obtain the actual operation time, update the late departure flag and the actual extended departure time according to the actual operation time, calculate various system costs and output the initial solution.

4. The quay crane-yard crane joint configuration method considering a dynamic time window according to claim 1 or 3, characterized in that The total system cost is obtained by adding the handling costs of quay cranes and yard cranes, the moving costs when quay cranes and yard cranes transfer, and the departure costs when the ship departs late.

5. The quay crane-yard crane joint configuration method considering dynamic time windows according to claim 4, characterized in that The moving cost when the quay crane and yard crane transfer is calculated from the unit distance moving cost when a single quay crane transfers, the moving distance of the quay crane from the first berth to the second berth, the unit distance moving cost when a single yard crane transfers, and the moving distance of the yard crane from the first sub-container area to the second sub-container area; the departure cost when the ship departs late is calculated from the penalty cost per unit time when the ship departs late and the extended departure duration of the ship.

6. The quay crane-yard crane joint configuration method considering a dynamic time window according to claim 1, characterized in that The quay crane allocation matrix is represented in the form of a three-layer one-dimensional array: among them, the first-layer array represents the ship number, the second-layer array represents the specific time period when the ship performs loading and unloading operations at the terminal, and the third-layer array represents the specific quay crane number allocated to the ship during this operation time period; The yard crane allocation matrix is represented in the form of a four-layer one-dimensional array: among them, the first-layer array represents the ship number, the second-layer array represents the specific time period when the ship performs loading and unloading operations at the terminal, the third-layer array represents the container area number, and the fourth-layer array represents the specific yard crane number allocated to the container area of the ship during this operation time period; The delayed departure time of the ship is represented in the form of a two-layer one-dimensional array: among them, the first-layer array represents the ship number, and the second-layer array represents the expected delayed departure time of the ship.

7. The quay crane-yard crane joint configuration method considering a dynamic time window according to claim 1, characterized in that The specific allocation of fixed time periods is as follows: Select an appropriate duration as the fixed time period, update the resource pool where the quay cranes and yard cranes are located at the start time of each time period and perform a resource allocation once, allocate yard cranes and quay cranes to the ships to be operated, where the resource pool includes all ships to be operated, quay cranes and yard cranes.

8. The quay crane-yard crane joint configuration method considering a dynamic time window according to claim 1, wherein The quay crane-yard crane resource joint configuration model satisfies the following constraint conditions: quay crane operation constraints, yard crane operation constraints, ship operation time and operation sequence constraints, and dynamic trigger mechanism constraints; Among them, the quay crane operation constraints include quay crane resource exclusivity constraints, quay crane operation time constraints, quay crane allocation continuity constraints, quay crane quantity constraints, and quay crane operation capacity constraints; the yard crane operation constraints include yard crane resource exclusivity constraints, yard crane operation time constraints, yard crane transfer constraints, yard crane quantity constraints, and yard crane operation capacity constraints.

9. The quay crane-yard crane joint configuration method considering dynamic time windows according to claim 8, characterized in that The optimal solution of the quay crane-yard crane resource joint configuration model is specifically obtained through the following method: After obtaining the initial solution, use it as the initial optimal solution, generate a random matrix with the same size as the quay crane allocation matrix and yard crane allocation matrix of the initial optimal solution for iteration to obtain a new random solution; check whether the new random solution satisfies the constraint conditions of the quay crane-yard crane resource joint configuration model. If it satisfies the constraint conditions, compare the total system cost of the new random solution with the total system cost of the initial optimal solution; if the total system cost of the new random solution is less than the total system cost of the initial optimal solution, then use this random solution as the new optimal solution. Repeat the iteration multiple times until the termination condition is met, and output the optimal solution after terminating the iteration.

10. A quay crane-yard crane joint configuration system considering dynamic time windows, characterized in that The system includes: A data acquisition module for acquiring input data, including ship number, ship type, arrival time, departure time, allocated berth and sub-container area, the quantity and operation capacity of quay cranes and yard cranes, and performing initialization processing on them; A solution module for inputting the processed input data into the quay crane-yard crane resource joint configuration model and using a heuristic algorithm to solve for the initial solution; the initial solution includes a quay crane allocation matrix, a yard crane allocation matrix, the delayed departure time of the ship, and various system costs; the quay crane-yard crane resource joint configuration model is constructed according to a comprehensive allocation strategy considering a dynamic time window and solved with minimizing the total system cost as the objective function; among them, the comprehensive allocation strategy considering the dynamic time window combines fixed time periods and dynamic triggers to allocate quay cranes and yard cranes, and dynamic allocation is triggered when the equipment idle rate of quay cranes and yard cranes is greater than a certain threshold and the fixed time period until the next allocation of the equipment is greater than a certain time. An optimization output module for optimizing the initial solution using an iterative heuristic algorithm, obtaining the optimal solution of the quay crane-yard crane resource joint configuration model after multiple iterations, and outputting the joint configuration plan of quay cranes and yard cranes according to the optimal solution to allocate quay cranes and yard cranes to ships.

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