Ship scheduling method considering ship lock and port information and related equipment

Abstract

The invention relates to the technical field of ship scheduling, and provides a ship scheduling method and related equipment considering ship lock and port information, and the method comprises the steps: obtaining the ship lock information of a ship lock, the port information of a port, and the ship information of a plurality of target ships; constructing a target function based on the ship information of all target ships; ship lock constraints and port constraints are constructed according to all ship information, ship lock information and port information; under the constraint of the ship lock constraint and the port constraint, performing minimization solution on the target function to obtain a scheduling scheme of each target ship; and scheduling each target ship according to the scheduling scheme of each target ship. According to the method, the ship scheduling accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of ship scheduling, and in particular to a ship scheduling method and related equipment that considers lock and port information. Background Art

[0002] Currently, there are few research methods for the coordinated scheduling of lock and port resources. Existing studies mostly focus on deciding whether a ship should transport cargo directly through a lock or dock at a nearby port and then cross a dam to transport cargo. This study approaches the coordinated scheduling of lock and port resources in two stages. The first stage determines whether a ship passes through a lock or crosses a dam, while the second stage optimizes the lock scheduling and discrete berth allocation schemes, respectively.

[0003] The above research oversimplifies the problem of coordinated scheduling of locks and port resources, which is far from the actual application scenario and has several shortcomings. First, existing research focuses on making 0-1 decisions on the behavior of ships passing through locks and choosing to dock at ports. Lock scheduling and berth allocation plans are evaluations of these decision plans, and are not essentially a coordination of the lock scheduling and port resource scheduling processes. Second, existing research has not considered the needs of ships passing through locks and docking at ports at the same time, and the ship routes are single. Third, existing research regards the time a ship operates in a port as a fixed value and does not consider the impact of quay cranes and ship berthing locations on port loading and unloading efficiency. As a result, existing ship scheduling suffers from poor accuracy. Summary of the Invention

[0004] The present application provides a ship scheduling method and related equipment that take into account lock and port information, which can solve the problem of poor accuracy in ship scheduling.

[0005] In a first aspect, an embodiment of the present application provides a ship scheduling method that considers lock and port information, the ship scheduling method comprising:

[0006] Obtain lock information of locks, port information of ports, and ship information of multiple target ships;

[0007] An objective function is constructed based on the ship information of all target ships; the objective function is used to describe the stay time of all target ships in the locks and ports;

[0008] Construct lock constraints and port constraints based on all ship information, lock information, and port information. Lock constraints are used to describe the constraints for each target ship when passing through a lock, and port constraints are used to describe the constraints for each target ship when docking at a port.

[0009] Under the constraints of locks and port constraints, the objective function is minimized to obtain the scheduling plan for each target ship;

[0010] Each target ship is dispatched according to its dispatch plan.

[0011] Optionally, the ship information is used to describe whether the target ship is an upstream ship or a downstream ship, whether the target ship needs to pass through a lock, or whether the target ship needs to dock at a port;

[0012] The objective function is:

[0013]

[0014] Among them, N' lp N' represents the number set of target ships that first pass through the lock upstream and then dock at the port. l Indicates the number set of target ships that only pass through the lock upstream, n″ pl N″ represents the number set of target ships that first dock at the port and then pass through the lock downstream. p The number set of target ships that only dock at the port downstream, N″ l Indicates the number set of target ships that only pass through the lock downstream, represents the operating time of the i-th target ship at the berth, r i represents the arrival time of the i-th target ship, c i represents the time when the i-th target ship leaves the lock.

[0015] Optionally, the port information includes the number, location, and length of berths in the port, and the lock information includes the length, width, and type of multiple lock chambers in the lock, the total number of locks, the operating time of one lock, and the reversal time;

[0016] Construct lock constraints and port constraints based on all vessel, lock, and port information, including:

[0017] Construct vessel allocation constraints based on all vessel information, lock information, and port information;

[0018] Construct ship arrival time constraints based on all ship information;

[0019] Construct lock chamber constraints, left mooring constraints, right mooring constraints, mooring lock chamber constraints, ship mooring constraints, and lock mooring constraints based on all ship and lock information;

[0020] Construct lock scheduling constraints, lock interval constraints and lock operation constraints based on lock information;

[0021] Construct time and space overlap constraints, operation time constraints, and loading and unloading capacity constraints based on all lock information and port information;

[0022] The ship allocation constraint, lock chamber constraint, lock scheduling constraint, lock interval constraint, lock operation constraint, left mooring constraint, right mooring constraint, mooring lock chamber constraint, ship mooring constraint, and lock mooring constraint are integrated to obtain the ship lock constraint.

[0023] Ship arrival time constraints, space-time overlap constraints, operation time constraints and loading and unloading capacity constraints are taken as port constraints.

[0024] Optionally, the ship allocation constraints are:

[0025]

[0026] Among them, f iq =1 means that the i-th target ship is assigned to the q-th lock, f iq =0 means that the i-th target ship is not assigned to the q-th lock, Q represents the total number of locks, NL represents the target ship number set that needs to pass through the lock, NP represents the target ship number set that needs to dock at the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth in the port, δ ik =0 means that the i-th target ship is not assigned to the k-th berth in the port, and K represents the number of berths in the port;

[0027] The arrival time constraint is:

[0028]

[0029] Among them, AL i represents the time when the i-th target ship arrives at the lock, AB i represents the time when the i-th target ship arrives at the port, TC i Indicates the sailing time between the lock and the port.

[0030] Optionally, the chamber constraints are:

[0031]

[0032]

[0033] Among them, e ij =1 means that the i-th target ship is placed on the left of the j-th target ship in the lock chamber, e ij =0 means that the i-th target ship is not placed on the left of the j-th target ship in the lock chamber, b ij =1 means that the i-th target ship is placed behind the j-th target ship in the lock chamber, b ij =0 means that the i-th target ship is not placed behind the j-th target ship in the lock chamber, e ji=1 means that the jth target ship is placed on the left of the ith target ship in the lock chamber, e ji =0 means that the jth target ship is not placed on the left of the ith target ship in the lock chamber, b ji =1 means that the jth target ship is placed behind the ith target ship in the lock chamber, b ji =0 means that the jth target ship is not placed behind the ith target ship in the lock chamber, f jq =1 means that the jth target ship is assigned to the qth lock, f jq =0 means that the jth target ship is not assigned to the qth lock, x i represents the horizontal coordinate of the position of the i-th target ship in the lock chamber, w i represents the width of the i-th target ship, x j represents the horizontal coordinate of the jth target ship in the lock chamber, W represents the maximum lock chamber width, y i Indicates the vertical coordinate of the position of the i-th target ship in the lock chamber, l i represents the length of the i-th target ship, y j represents the ordinate of the jth target ship in the lock chamber, L represents the maximum lock chamber length, W tp Indicates the width of the tpth type lock chamber, L tp represents the length of the tpth type of lock chamber, Ty represents the lock chamber type set, Q tp Represents a set of locks with chamber type tp.

[0034] Optionally, the left side mooring constraint is:

[0035]

[0036] Among them, ml ij =1 means that the i-th target ship is docked at the left side of the j-th target ship, ml ij =0 means that the i-th target ship does not dock on the left side of the j-th target ship, l j represents the length of the j-th target ship;

[0037] The right side mooring constraint is:

[0038]

[0039] Among them, mr ij =1 means that the i-th target ship is docked on the right side of the j-th target ship, mr ij =0 means that the i-th target ship does not dock on the right side of the j-th target ship, w j represents the width of the j-th target ship;

[0040] The mooring lock chamber constraints are:

[0041]

[0042] in, represents the horizontal coordinate of the left wall of the tp-th lock chamber, Indicates that the i-th target ship is docked at the left wall of the tp-th lock chamber, Indicates that the i-th target ship does not dock at the left wall of the tp-th lock chamber, Q tp represents the lock set of chamber type tp, x0 represents the horizontal coordinate of the leftmost wall of the lock, mr i,0 =1 means that the i-th target ship is docked on the right side of the leftmost wall of the lock, mr i,0 =0 means that the i-th target ship does not dock on the right side of the leftmost wall of the lock;

[0043] The ship mooring constraints are:

[0044]

[0045] Among them, NL_i represents the set of target ship numbers that need to pass through the lock except the i-th target ship;

[0046] The lock-time mooring constraints are:

[0047]

[0048] Among them, f jq =1 means that the jth target ship is assigned to the qth lock, f jq =0 means that the jth target ship is not assigned to the qth lock, v ij =1 indicates that the i-th target ship and the j-th target ship are at the same lock.

[0049] Optionally, the gate scheduling constraints are:

[0050]

[0051]

[0052] Among them, C q Indicates the completion time of the qth gate, Du tp Indicates the time it takes for the tpth type lock chamber to operate once, AL i represents the time when the i-th target ship arrives at the lock, M max Indicates preset parameters, pc qu =1 means the qth gate is operated in the uth gate chamber, pc qu =0 means that the qth gate is not running in the uth gate chamber, sc u represents the opening time of the uth lock chamber, Utp represents the lock chamber number set of lock chamber type tp, ci represents the time when the i-th target ship leaves the lock, z q =1 means the qth gate is started, z q =0 means that the qth lock is not started, N represents the set of numbers of all target ships, Q d represents the downstream gate set, Q u Represents the upstream gate collection;

[0053] The gate interval constraint is:

[0054]

[0055] Among them, pc qv =1 means the qth gate is operated in the vth gate chamber, pc qv =0 means that the qth gate is not operated in the vth gate chamber, sq pq =1 means that the qth gate and the pth gate are operated in the same gate chamber, sq pq = 0 means that the qth lock and the pth lock are not operated in the same lock chamber, U represents the number set of all lock chambers in the lock, pc pu =1 means the pth gate is operated in the uth gate chamber, pc pu = 0 means that the pth gate is not running in the uth gate chamber, s pq Indicates the switching time between the pth switching time and the qth switching time;

[0056] The gate operation constraints are:

[0057]

[0058] Among them, Q tp Represents a set of locks with chamber type tp.

[0059] Optionally, the spatiotemporal overlap constraints are:

[0060]

[0061] Among them, lf ij =1 means that the i-th target ship is docked at the berth to the left of the j-th target ship, lf ij =0 means that the i-th target ship does not dock at the berth on the left side of the j-th target ship, lf ji =1 means that the jth target ship is docked at the berth to the left of the ith target ship, lf ji = 0 means that the jth target ship does not dock at the berth to the left of the ith target ship, bd ij =1 means that the i-th target ship starts berthing after the j-th target ship completes berthing operation, bd ij＝0Indicates that the i-th target ship starts operating before the j-th target ship completes the berth operation, K represents the set of berths in the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth, δ ik = 0 means that the i-th target ship is not assigned to the k-th berth, δ jl =1 means that the jth target ship is assigned to the lth berth, δ jl =0 means that the jth target ship is not assigned to the lth berth, NP represents the set of numbers of all target ships that need to berth at the port, represents the operating time of the jth target ship at the berth, Indicates the time when the i-th target ship starts operating at the berth;

[0062] The job time constraints are:

[0063]

[0064] Where T represents the time interval set, M represents the number of quay cranes, and AT int =1 means that n quay cranes are assigned to the i-th target ship for a duration of t, AT int = 0 means that n quay cranes are not assigned to the i-th target ship and the duration is t, AC in =1 means that n quay cranes are allocated to the i-th target ship, AC in =0 means that n quay cranes are not allocated to the i-th target ship. Indicates the rightmost number of the quay crane assigned to the i-th target ship at the k-th berth, Indicates the leftmost number of the quay crane assigned to the i-th target ship at the k-th berth, Indicates the leftmost number of the quay crane assigned to the j-th target ship at the l-th berth;

[0065] The loading and unloading capacity constraints are:

[0066]

[0067] Among them, P k Indicates the center point of the kth berth, B i represents the optimal berthing position of the i-th target ship, Δb i represents the deviation distance between the actual berthing position of the i-th target ship and the optimal berthing position, α represents the quay crane influence factor, β represents the berth deviation factor, and H i represents the quay crane capacity requirement of the i-th target ship.

[0068] In a second aspect, an embodiment of the present application provides a ship scheduling device that takes into account lock and port information, including:

[0069] An acquisition module, used to acquire lock information of a lock, port information of a port, and ship information of multiple target ships;

[0070] The first building module is used to build an objective function based on the ship information of all target ships; the objective function is used to describe the stay time of all target ships in the locks and ports;

[0071] The second construction module is used to construct lock constraints and port constraints based on all ship information, lock information and port information; lock constraints are used to describe the constraints for each target ship when passing through the lock, and port constraints are used to describe the constraints for each target ship when docking at the port;

[0072] The minimization solution module is used to minimize the objective function under the constraints of lock constraints and port constraints to obtain the scheduling plan for each target ship;

[0073] The scheduling module is used to schedule each target ship according to the scheduling plan of each target ship.

[0074] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned ship scheduling method considering lock and port information when executing the above-mentioned computer program.

[0075] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned ship scheduling method considering lock and port information.

[0076] The above solution of the present application has the following beneficial effects:

[0077] In some embodiments of the present application, by obtaining the lock information of the lock, the port information of the port, and the ship information of multiple target ships, then constructing an objective function based on the ship information of all target ships, then constructing lock constraints and port constraints based on all ship information, lock information, and port information, then minimizing the objective function under the constraints of the lock constraints and port constraints to obtain a scheduling plan for each target ship, and finally scheduling each target ship based on the scheduling plan for each target ship. Among them, constructing the objective function based on the ship information can achieve an intuitive representation of the movement time of the target ship, constructing the lock constraints and port constraints based on the ship information, lock information, and port information, taking into account the actual conditions of the locks and ports, and improving the practicality and comprehensiveness of the lock constraints and port constraints. Solving the objective function based on the comprehensive lock constraints and port constraints to obtain a scheduling plan can improve the accuracy of the scheduling plan, thereby improving the accuracy of ship scheduling.

[0078] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0080] Figure 1 A flow chart of a ship scheduling method considering lock and port information provided in one embodiment of the present application;

[0081] Figure 2 A schematic diagram of a gate and port system provided in one embodiment of the present application;

[0082] Figure 3 A schematic diagram of a lock chamber provided in one embodiment of the present application;

[0083] Figure 4 A schematic diagram of the structure of a ship dispatching device that takes into account lock and port information provided in one embodiment of the present application;

[0084] Figure 5 A schematic diagram of the structure of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0085] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0086] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0087] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0088] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0089] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0090] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0091] In response to the problem of poor accuracy in existing ship scheduling, an embodiment of the present application provides a ship scheduling method that takes into account lock and port information. The ship scheduling method obtains lock information of a lock, port information of a port, and ship information of multiple target ships, then constructs an objective function based on the ship information of all target ships, then constructs lock constraints and port constraints based on all ship information, lock information, and port information, then minimizes the objective function under the constraints of the lock constraints and port constraints to obtain a scheduling plan for each target ship, and finally schedules each target ship based on the scheduling plan for each target ship. Among them, constructing the objective function based on ship information can achieve an intuitive representation of the movement time of the target ship, constructing the lock constraints and port constraints based on the ship information, lock information, and port information, taking into account the actual conditions of the locks and ports, improving the practicality and comprehensiveness of the lock constraints and port constraints, solving the objective function based on the comprehensive lock constraints and port constraints to obtain a scheduling plan, can improve the accuracy of the scheduling plan, and thus improve the accuracy of ship scheduling.

[0092] Next, an example description is given of the ship scheduling method provided in this application that takes into account lock and port information.

[0093] like Figure 1 As shown, the ship scheduling method provided by this application considering lock and port information includes the following steps:

[0094] Step 11: Obtain lock information of the lock, port information of the port, and ship information of multiple target ships.

[0095] The above-mentioned vessel information is used to describe whether the target vessel is an upstream vessel or a downstream vessel. Upstream vessels refer to upstream vessels, and downstream vessels refer to downstream vessels. It also describes whether the target vessel needs to pass through a lock, whether the target vessel needs to dock at a port, and other information such as the target vessel's predicted arrival time, vessel size, cargo capacity, and desired optimal berthing position. The above-mentioned port information includes the number, location, and length of berths in the port, as well as the number of quay cranes. The above-mentioned lock information includes the length, width, and type of multiple lock chambers in the lock, the total number of lock operations, the operating time of a lock operation, and the time required for reversing the lock operation. The above-mentioned target vessel is the vessel that requires ship scheduling.

[0096] In some embodiments of the present application, lock information can be obtained by accessing the lock's management system, management log, etc., port information can be obtained by accessing the port's management system, management log, etc., and ship information can be obtained by accessing the target ship's operation log, etc.

[0097] It should be noted that, for example, downstream vessels may have the following routes: 1) continue through the lock after completing cargo loading and unloading at the port, 2) bypass the lock after completing cargo loading and unloading at the port, and 3) pass through the lock without entering the port. Similarly, upstream container ships also have two routes: 4) pass through the lock directly, and 5) continue to dock at the port after passing the lock to complete other cargo loading and unloading tasks.

[0098] The above-mentioned port and lock are illustrated below with reference to a specific example.

[0099] The lock-port system consists of ports and locks. Figure 2 As shown, the port is set on the side close to the upstream of the river, and the ship lock is set on the side close to the downstream of the river. The port includes berth 1, berth 2, berth 3 and berth 4. The ship lock includes lock chamber 1 and lock chamber 2. The hexagon is the wall separating the two lock chambers in the ship lock. Ships 2 and 1 located upstream and heading downstream enter the port, and ship 3 enters the ship lock. After entering the port and completing the operation, ship 1 passes through the ship lock to reach the downstream of the river. The arrows in the figure indicate the movement direction of the ships, and the dotted box indicates the range of the port or the ship lock.

[0100] The structure of the lock chamber is as follows: Figure 3As shown, the vertex of the lock chamber is the origin of the two-dimensional coordinate system, the length L direction of the lock chamber is the vertical axis y, the width W direction is the horizontal axis x, the two sides approached by ship 1 are the front door and the left wall of the lock chamber respectively, and the two sides approached by ship 5 are the right wall and the rear door of the lock chamber respectively. The ship width and length are also shown. The lock chamber includes ships 1-8, the filled rectangular box represents the ship, and the warning symbol represents the unallowable ship docking method.

[0101] Step 12: construct an objective function based on the ship information of all target ships.

[0102] The above objective function is used to describe the stay time of all target ships in locks and ports.

[0103] Specifically, the objective function is:

[0104]

[0105] Among them, N' lp N' represents the number set of target ships that first pass through the lock upstream and then dock at the port. l Indicates the number set of target ships that only pass through the lock upstream, N″ pl N″ represents the number set of target ships that first dock at the port and then pass through the lock downstream. p Indicates the number set of target ships that only dock at the port downstream, N″ l Indicates the number set of target ships that only pass through the lock downstream, represents the operating time of the i-th target ship at the berth, r i represents the arrival time of the i-th target ship, c i represents the time when the i-th target ship leaves the lock.

[0106] Step 13: construct lock constraints and port constraints based on all ship information, lock information and port information.

[0107] The lock constraints are used to describe the constraints for each target ship when passing through the lock, and the port constraints are used to describe the constraints for each target ship when docking at the port.

[0108] In some embodiments of the present application, the step of constructing lock constraints and port constraints based on all ship information, lock information, and port information includes:

[0109] In the first step, the ship allocation constraints are constructed based on all ship information, lock information and port information.

[0110] Specifically, the ship allocation constraints are:

[0111]

[0112] Among them, f iq =1 means that the i-th target ship is assigned to the q-th lock, f iq =0 means that the i-th target ship is not assigned to the q-th lock, Q represents the total number of locks, NL represents the target ship number set that needs to pass through the lock, NP represents the target ship number set that needs to dock at the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth in the port, δ ik =0 means that the i-th target ship is not allocated to the k-th berth in the port, and K represents the number of berths in the port.

[0113] It should be noted that this constraint ensures that lock times are only allocated to ships that need to pass through the locks, and berths are only allocated to ships that need to dock.

[0114] In the second step, ship arrival time constraints are constructed based on all ship information.

[0115] Specifically, the arrival time constraint is:

[0116]

[0117] Among them, AL i represents the time when the i-th target ship arrives at the lock, AB i represents the time when the i-th target ship arrives at the port, TC i Indicates the sailing time between the lock and the port.

[0118] The third step is to construct lock chamber constraints, left mooring constraints, right mooring constraints, mooring chamber constraints, ship mooring constraints, and lock mooring constraints based on all ship information and lock information.

[0119] Specifically, the lock chamber constraints are:

[0120]

[0121]

[0122] Among them, e ij =1 means that the i-th target ship is placed on the left of the j-th target ship in the lock chamber, e ij =0 means that the i-th target ship is not placed on the left of the j-th target ship in the lock chamber, b ij =1 means that the i-th target ship is placed behind the j-th target ship in the lock chamber, b ij =0 means that the i-th target ship is not placed behind the j-th target ship in the lock chamber, e ji =1 means that the jth target ship is placed on the left of the ith target ship in the lock chamber, e ji=0 means that the jth target ship is not placed on the left of the ith target ship in the lock chamber, b ji =1 means that the jth target ship is placed behind the ith target ship in the lock chamber, b ji =0 means that the jth target ship is not placed behind the ith target ship in the lock chamber, f jq =1 means that the jth target ship is assigned to the qth lock, f jq =0 means that the jth target ship is not assigned to the qth lock, x i represents the horizontal coordinate of the position of the i-th target ship in the lock chamber, w i represents the width of the i-th target ship, x j represents the horizontal coordinate of the jth target ship in the lock chamber, W represents the maximum lock chamber width, y i Indicates the vertical coordinate of the position of the i-th target ship in the lock chamber, l i represents the length of the i-th target ship, y j represents the ordinate of the jth target ship in the lock chamber, L represents the maximum lock chamber length, W tp Indicates the width of the tpth type lock chamber, L tp represents the length of the tpth type of lock chamber, Ty represents the lock chamber type set, Q tp Represents a set of locks with chamber type tp.

[0123] This constraint ensures that any two ships scheduled to pass through the lock at the same time cannot overlap each other, and each ship should be within the length and width of the lock chamber it serves.

[0124] The left mooring constraint is:

[0125]

[0126] Among them, ml ij =1 means that the i-th target ship is docked at the left side of the j-th target ship, ml ij =0 means that the i-th target ship does not dock on the left side of the j-th target ship, l j represents the length of the j-th target ship.

[0127] This constraint states that the i-th target ship can be moored to the left of the j-th target ship only when the length of the i-th target ship is completely contained within the length range of the j-th target ship and the two ships are adjacent.

[0128] The right side mooring constraint is:

[0129]

[0130] Among them, mr ij=1 means that the i-th target ship is docked on the right side of the j-th target ship, mr ij =0 means that the i-th target ship does not dock on the right side of the j-th target ship, w j represents the width of the j-th target ship.

[0131] This constraint states that the i-th target ship can be moored to the right of the j-th target ship only when the length of the i-th target ship is completely contained in the length range of the j-th target ship and the two ships are adjacent.

[0132] The mooring lock chamber constraints are:

[0133]

[0134] in, represents the horizontal coordinate of the left wall of the tp-th lock chamber, Indicates that the i-th target ship is docked at the left wall of the tp-th lock chamber, Indicates that the i-th target ship does not dock at the left wall of the tp-th lock chamber, Q tp represents the lock set of chamber type tp, x0 represents the horizontal coordinate of the leftmost wall of the lock, mr i,0 =1 means that the i-th target ship is docked on the right side of the leftmost wall of the lock, mr i,0 =0 means that the i-th target ship does not dock on the right side of the leftmost wall of the lock.

[0135] This constraint describes that when the i-th target ship is moored at the right wall of the lock chamber, the ship must be adjacent to the right wall of the lock chamber; when the i-th target ship is moored at the left wall of the lock chamber, the ship must be adjacent to the left wall of the lock chamber.

[0136] The ship mooring constraints are:

[0137]

[0138] Among them, NL\i represents the set of target ship numbers that need to pass through the lock except the i-th target ship.

[0139] This constraint ensures that each vessel must be moored to one side of the other vessel or to one side of the lock chamber, avoiding a situation where two vessels have the same length and could be moored to each other without being moored to either side of the lock chamber.

[0140] The lock-time mooring constraints are:

[0141]

[0142] Among them, f jq =1 means that the jth target ship is assigned to the qth lock, f jq=0 means that the jth target ship is not assigned to the qth lock, v ij =1 means that the i-th target ship and the j-th target ship are at the same lock, v ij =0 means that the i-th target ship and the j-th target ship are not at the same lock.

[0143] This constraint states that two ships that are not passing through the lock at the same time cannot moor to each other.

[0144] The fourth step is to construct lock scheduling constraints, lock interval constraints and lock operation constraints based on the lock information.

[0145] Specifically, the gate scheduling constraints are:

[0146]

[0147] Among them, C q Indicates the completion time of the qth gate, Du tp Indicates the time it takes for the tpth type lock chamber to operate once, AL i represents the time when the i-th target ship arrives at the lock, M max Indicates preset parameters, pc qu =1 means the qth gate is operated in the uth gate chamber, pc qu =0 means that the qth gate is not running in the uth gate chamber, sc u represents the activation time of the uth lock chamber, U tp represents the set of chamber numbers whose chamber type is tp, c i represents the time when the i-th target ship leaves the lock, z q =1 means the qth gate is started, z q =0 means that the qth lock is not started, N represents the set of numbers of all target ships, Q d represents the downstream gate set, Q u Represents the upstream gate collection.

[0148] This constraint ensures that a lock can only be opened after all ships within the lock have arrived, and operations can only begin after the lock is open. A ship's transit time is equal to the end time of its lock, ensuring that locks containing ships are activated and those not containing ships are not activated, ensuring that ships are assigned to the correct locks. Upstream ships must be in the upstream lock, and downstream ships must be in the downstream lock.

[0149] The gate interval constraint is:

[0150]

[0151] Among them, pc qv=1 means the qth gate is operated in the vth gate chamber, pc qv =0 means that the qth gate is not operated in the vth gate chamber, sq pq =1 means that the qth gate and the pth gate are operated in the same gate chamber, sq pq = 0 means that the qth lock and the pth lock are not operated in the same lock chamber, U represents the number set of all lock chambers in the lock, pc pu =1 means the pth gate is operated in the uth gate chamber, pc pu = 0 means that the pth gate is not running in the uth gate chamber, s pq Indicates the switching time between the pth switching time and the qth switching time.

[0152] The above constraints ensure that there is a minimum interval between two consecutive gates, which is related to the gate direction and gate chamber type.

[0153] The gate operation constraints are:

[0154]

[0155] Among them, Q tp Represents a set of locks with chamber type tp.

[0156] This constraint ensures that each activated lock must operate in a lock chamber of the appropriate type.

[0157] The fifth step is to construct spatiotemporal overlap constraints, operation time constraints, and loading and unloading capacity constraints based on all lock information and port information.

[0158] The spatiotemporal overlap constraint is:

[0159]

[0160] Among them, lf ij =1 means that the i-th target ship is docked at the berth to the left of the j-th target ship, lf ij =0 means that the i-th target ship does not dock at the berth on the left side of the j-th target ship, lf ji =1 means that the jth target ship is docked at the berth to the left of the ith target ship, lf ji = 0 means that the jth target ship does not dock at the berth to the left of the ith target ship, bd ij =1 means that the i-th target ship starts berthing after the j-th target ship completes berthing operation, bd ij＝0 Indicates that the i-th target ship starts operating before the j-th target ship completes the berth operation, K represents the set of berths in the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth, δik = 0 means that the i-th target ship is not assigned to the k-th berth, δ jl =1 means that the jth target ship is assigned to the lth berth, δ jl =0 means that the jth target ship is not assigned to the lth berth, NP represents the set of numbers of all target ships that need to berth at the port, represents the operating time of the jth target ship at the berth, Indicates the time when the i-th target ship starts operating at the berth.

[0161] The job time constraints are:

[0162]

[0163] Where T represents the time interval set, M represents the number of quay cranes, and AT int =1 means that n quay cranes are assigned to the i-th target ship for a duration of t, AT int = 0 means that n quay cranes are not assigned to the i-th target ship and the duration is t, AC in =1 means that n quay cranes are allocated to the i-th target ship, AC in =0 means that n quay cranes are not allocated to the i-th target ship. Indicates the rightmost number of the quay crane assigned to the i-th target ship at the k-th berth, Indicates the leftmost number of the quay crane assigned to the i-th target ship at the k-th berth, Indicates the leftmost number of the quay crane assigned to the j-th target ship at the l-th berth.

[0164] This constraint ensures that a certain number of quay cranes and operating time are allocated to each ship that needs to dock, and the quay crane numbers of ships operating at the berth at the same time cannot be the same.

[0165] The loading and unloading capacity constraints are:

[0166]

[0167] Among them, P k Indicates the center point of the kth berth, B i represents the optimal berthing position of the i-th target ship, Δb i represents the deviation distance between the actual berthing position of the i-th target ship and the optimal berthing position, α represents the quay crane influence factor, β represents the berth deviation factor, and H i represents the quay crane capacity requirement of the i-th target ship.

[0168] This constraint describes how the loading and unloading time of a ship at a berth is affected by the number of quay cranes and the ship's berthing position.

[0169] In the sixth step, the ship allocation constraints, lock chamber constraints, lock scheduling constraints, lock interval constraints, lock operation constraints, left mooring constraints, right mooring constraints, mooring chamber constraints, ship mooring constraints, and lock mooring constraints are integrated to obtain the lock constraints.

[0170] In the seventh step, the ship arrival time constraint, space-time overlap constraint, operation time constraint and loading and unloading capacity constraint are used as port constraints.

[0171] Step 14: Under the constraints of the lock and port constraints, the objective function is minimized to obtain a scheduling plan for each target ship.

[0172] The above scheduling scheme is used to describe the operating status of the target ship in the locks and ports, such as the lock number assigned to the target ship, the berth in the port, the number of quay cranes, etc.

[0173] For example, a mathematical optimization solver such as Gurobi can be used to minimize the objective function and obtain a scheduling plan for the target ship.

[0174] It should be noted that when minimizing the objective function, the parameter constraints are:

[0175]

[0176]

[0177] Step 15: Schedule each target ship according to the scheduling plan of each target ship.

[0178] Specifically, when the target ship arrives at the lock and the port, the target ship is controlled according to the scheduling plan to achieve the scheduling of the target ship.

[0179] Exemplarily, the ship may be a ship sailing upstream or downstream of the river. In this example, the target ship is a ship located upstream of the river and sailing downstream of the river. The scheduling plan includes the lock number assigned to the ship, the berth in the port, the number of allocated quay cranes and the operating time. When the ship arrives at the port, it is controlled to berth at the berth according to the scheduling plan, and the number of quay cranes in the scheduling plan is allocated to it to complete the loading and unloading of cargo. After the operating time is reached, the ship leaves the port and goes to the lock to participate in the corresponding lock, and waits for the lock to open and leave the lock.

[0180] It is worth mentioning that constructing the objective function based on ship information can achieve an intuitive representation of the movement time of the target ship. Constructing lock constraints and port constraints based on ship information, lock information and port information takes into account the actual conditions of locks and ports, and improves the practicality and comprehensiveness of lock constraints and port constraints. Solving the objective function based on comprehensive lock constraints and port constraints to obtain a scheduling plan can improve the accuracy of the scheduling plan and thus improve the accuracy of ship scheduling.

[0181] Furthermore, this application considers universal lock and port system architectures. This application considers asymmetric, universal multi-chamber ship locks, where the number of lock chambers can be arbitrarily set, and the properties of each lock chamber can be individually configured, allowing the construction of any ship lock in the world. This application considers ports composed of discrete berths, where the number and length of berths can be freely configured, allowing the construction of most discrete berth terminals.

[0182] Considering diverse ship routes. Existing technologies rely on 0-1 decisions regarding a ship's lock-passing / port-calling behavior, ignoring the possibility of a ship simultaneously passing through a lock and docking. This simultaneous lock-passing and docking behavior leads to a highly coupled lock scheduling problem and the joint berth-crane allocation problem.

[0183] The impact of quay cranes and ship berthing locations on port loading and unloading efficiency is considered. Previous technologies treat ship operating time as a fixed value. This application manages operating time in a refined manner, fully considering the impact of realistic factors.

[0184] Modeling from the perspective of a job shop scheduling problem. Due to the sequence of ship passing through locks and docking, lock and berth operations are highly coupled. This is similar to the well-researched job shop scheduling problem. The coordinated scheduling of lock and port resources can be modeled and solved from the perspective of the job shop scheduling problem. Consider ships as workpieces, ship routes as processes, and locks and ports as machines.

[0185] The method of the present application is exemplified below with reference to a simulation experiment.

[0186] According to the technical solution of this application document, an LP file is generated according to the LP model format required by the commercial software Gurobi, and then Gurobi can be called for solution.

[0187] This solution was simulated and tested by extracting data from the locks on the Albert Canal in Belgium, technical parameter data of the Three Gorges locks, and historical navigation data. The test environment is as follows:

[0188] Operating system: Windows 10;

[0189] CPU: Intel(R) Core(TM) i7-10700K;

[0190] Memory: 64GB

[0191] Gurobi version: Gurobi 9.0.3 Education Edition.

[0192] Simulation test results demonstrate that this method can optimally solve the resource coordination scheduling problem for a lock-port system consisting of a ship lock and a port. For the Albert Canal in Belgium, a small-scale example involving 20 ships was solved within 60 seconds, a medium-scale example involving 30-40 ships within 1000 seconds, and a large-scale example involving 60 ships within 5600 seconds. For the Three Gorges lock-port system, the optimal scheduling solution for 50 ships was found within 7200 seconds.

[0193] The following is an exemplary description of the ship dispatching device provided in this application that takes into account the lock and port information.

[0194] like Figure 4 As shown, an embodiment of the present application provides a ship scheduling device that considers lock and port information. The ship scheduling device 400 that considers lock and port information includes:

[0195] An acquisition module 401 is used to acquire lock information of a lock, port information of a port, and ship information of multiple target ships;

[0196] The first construction module 402 is used to construct an objective function based on the ship information of all target ships; the objective function is used to describe the stay time of all target ships in the locks and ports;

[0197] The second construction module 403 is used to construct lock constraints and port constraints based on all ship information, lock information and port information; the lock constraints are used to describe the constraints for each target ship when passing through the lock, and the port constraints are used to describe the constraints for each target ship when docking at the port;

[0198] The minimization solution module 404 is used to minimize the objective function under the constraints of the lock constraints and the port constraints to obtain a scheduling plan for each target ship;

[0199] The scheduling module 405 is used to schedule each target ship according to the scheduling plan of each target ship.

[0200] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0201] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment 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-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0202] like Figure 5 As shown, an embodiment of the present application provides a terminal device, and the terminal device D10 of this embodiment includes: at least one processor D100 ( Figure 5 Only one processor is shown in the figure), a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 implements the steps of any of the above method embodiments when executing the computer program D102.

[0203] Specifically, when the processor D100 executes the computer program D102, it obtains lock information of the lock, port information of the port, and ship information of multiple target ships, then constructs an objective function based on the ship information of all target ships, then constructs lock constraints and port constraints based on all ship information, lock information, and port information, then minimizes the objective function under the constraints of the lock constraints and port constraints to obtain a scheduling plan for each target ship, and finally schedules each target ship based on the scheduling plan for each target ship. Constructing the objective function based on ship information can intuitively represent the movement time of the target ship, constructing the lock constraints and port constraints based on ship information, lock information, and port information takes into account the actual conditions of the locks and ports, and improves the practicality and comprehensiveness of the lock constraints and port constraints. Solving the objective function based on the comprehensive lock constraints and port constraints to obtain a scheduling plan can improve the accuracy of the scheduling plan, thereby improving the accuracy of ship scheduling.

[0204] The processor D100 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0205] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may also be an external storage device of the terminal device D10, such as a plug-in hard disk, a smart memory card (SMC, SmartMedia Card), a secure digital (SD, Secure Digital) card, a flash card, etc. equipped on the terminal device D10. Furthermore, the memory D101 may also include both an internal storage unit of the terminal device D10 and an external storage device. The memory D101 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0206] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0207] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0208] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the ship scheduling method device / terminal device considering lock and port information, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0209] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0210] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0211] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A ship dispatching method considering lock and port information, characterized in that: include: Obtain lock information of locks, port information of ports, and ship information of multiple target ships; Constructing an objective function based on the ship information of all target ships; the objective function is used to describe the stay time of all target ships in the lock and the port; Constructing lock constraints and port constraints based on all ship information, the lock information and the port information; the lock constraints are used to describe the constraint conditions when each target ship passes through the lock, and the port constraints are used to describe the constraint conditions when each target ship docks at the port; Under the constraints of the lock constraints and the port constraints, the objective function is minimized to obtain a scheduling plan for each target ship; Each target ship is dispatched according to the dispatch plan of each target ship.

2. The ship dispatching method according to claim 1, characterized in that: The ship information is used to describe whether the target ship is an upstream ship or a downstream ship, whether the target ship needs to pass through a lock, and whether the target ship needs to dock at a port; The objective function is: Among them, N' lp N' represents the number set of target ships that first pass through the lock upstream and then dock at the port. l Indicates the number set of target ships that only pass through the lock upstream, N″ pl N″ represents the number set of target ships that first dock at the port and then pass through the lock downstream. p The number set of target ships that only dock at the port downstream, N″ l Indicates the number set of target ships that only pass through the lock downstream, represents the operating time of the i-th target ship at the berth, r i represents the arrival time of the i-th target ship, c i represents the time when the i-th target ship leaves the lock.

3. The ship dispatching method according to claim 2, characterized in that: The port information includes the number, location and length of berths in the port, and the ship lock information includes the length, width and type of multiple lock chambers in the ship lock, the total number of locks, the operating time of a lock and the reversing time; The constructing of lock constraints and port constraints based on all ship information, the lock information and the port information includes: Constructing a ship allocation constraint based on all ship information, the lock information, and the port information; Construct ship arrival time constraints based on all ship information; Construct lock chamber constraints, left mooring constraints, right mooring constraints, mooring lock chamber constraints, ship mooring constraints, and lock mooring constraints according to all ship information and the lock information; Constructing lock scheduling constraints, lock interval constraints and lock operation constraints according to the lock information; Constructing time-space overlap constraints, operation time constraints, and loading and unloading capacity constraints based on all lock information and the port information; Integrate the ship allocation constraint, lock chamber constraint, lock scheduling constraint, lock interval constraint, lock operation constraint, left mooring constraint, right mooring constraint, mooring lock chamber constraint, ship mooring constraint, and lock mooring constraint to obtain a lock constraint; The ship arrival time constraint, space-time overlap constraint, operation time constraint and loading and unloading capacity constraint are used as port constraints.

4. The ship dispatching method according to claim 3, characterized in that: The ship allocation constraints are: Among them, f iq =1 means that the i-th target ship is assigned to the q-th lock, f iq =0 means that the i-th target ship is not assigned to the q-th lock, Q represents the total number of locks, NL represents the target ship number set that needs to pass through the lock, NP represents the target ship number set that needs to dock at the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth in the port, δ ik =0 indicates that the i-th target ship is not allocated to the k-th berth in the port, and K represents the number of berths in the port; The arrival time constraint is: Among them, AL i represents the time when the i-th target ship arrives at the lock, AB i represents the time when the i-th target ship arrives at the port, TC i Indicates the sailing time between the lock and the port.

5. The ship dispatching method according to claim 4, characterized in that: The lock chamber constraints are: Among them, e ij =1 means that the i-th target ship is placed on the left of the j-th target ship in the lock chamber, e ij =0 means that the i-th target ship is not placed on the left of the j-th target ship in the lock chamber, b ij =1 means that the i-th target ship is placed behind the j-th target ship in the lock chamber, b ij =0 means that the i-th target ship is not placed behind the j-th target ship in the lock chamber, e ji =1 means that the jth target ship is placed on the left of the ith target ship in the lock chamber, e ji =0 means that the jth target ship is not placed on the left of the ith target ship in the lock chamber, b ji =1 means that the jth target ship is placed behind the ith target ship in the lock chamber, b ji =0 means that the jth target ship is not placed behind the ith target ship in the lock chamber, f jq =1 means that the jth target ship is assigned to the qth lock, f jq =0 means that the jth target ship is not assigned to the qth lock, x i represents the horizontal coordinate of the position of the i-th target ship in the lock chamber, w i represents the width of the i-th target ship, x j represents the horizontal coordinate of the jth target ship in the lock chamber, W represents the maximum lock chamber width, y i Indicates the vertical coordinate of the position of the i-th target ship in the lock chamber, l i represents the length of the i-th target ship, y j represents the ordinate of the jth target ship in the lock chamber, L represents the maximum lock chamber length, W tp Indicates the width of the tpth type lock chamber, L tp represents the length of the tpth type of lock chamber, Ty represents the lock chamber type set, Q tp Represents a set of locks with chamber type tp.

6. The ship dispatching method according to claim 5, characterized in that: The left side mooring constraint is: Among them, ml ij =1 means that the i-th target ship is docked at the left side of the j-th target ship, ml ij =0 means that the i-th target ship does not dock on the left side of the j-th target ship, l j represents the length of the j-th target ship; The right side mooring constraint is: Among them, mr ij =1 means that the i-th target ship is docked on the right side of the j-th target ship, mr ij =0 means that the i-th target ship does not dock on the right side of the j-th target ship, w j represents the width of the j-th target ship; The mooring lock chamber constraints are: in, represents the horizontal coordinate of the left wall of the tp-th lock chamber, Indicates that the i-th target ship is docked at the left wall of the tp-th lock chamber, Indicates that the i-th target ship does not dock at the left wall of the tp-th lock chamber, Q tp represents the lock set of chamber type tp, x0 represents the horizontal coordinate of the leftmost wall of the lock, mr i,0 =1 means that the i-th target ship is docked on the right side of the leftmost wall of the lock, mr i,0 =0 means that the i-th target ship does not dock on the right side of the leftmost wall of the lock; The ship mooring constraints are: Among them, NL_i represents the set of target ship numbers that need to pass through the lock except the i-th target ship; The lock-time mooring constraints are: Among them, f jq =1 means that the jth target ship is assigned to the qth lock, f jq =0 means that the jth target ship is not assigned to the qth lock, v ij =1 indicates that the i-th target ship and the j-th target ship are at the same lock.

7. The ship dispatching method according to claim 6, characterized in that: The gate scheduling constraints are: Among them, C q Indicates the completion time of the qth gate, Du tp Indicates the time it takes for the tpth type lock chamber to operate once, AL i represents the time when the i-th target ship arrives at the lock, M max Indicates preset parameters, pc qu =1 means the qth gate is operated in the uth gate chamber, pc qu =0 means that the qth gate is not running in the uth gate chamber, sc u represents the activation time of the uth lock chamber, U tp represents the set of chamber numbers whose chamber type is tp, c i represents the time when the i-th target ship leaves the lock, z q =1 means the qth gate is started, z q =0 means that the qth lock is not started, N represents the set of numbers of all target ships, Q d represents the downstream gate set, Q u Represents the upstream gate collection; The gate interval constraint is: Among them, pc pv =1 means the qth gate is operated in the vth gate chamber, pc qv =0 means that the qth gate is not operated in the vth gate chamber, sq pq =1 means that the qth gate and the pth gate are operated in the same gate chamber, sq pq = 0 means that the qth lock and the pth lock are not operated in the same lock chamber, U represents the number set of all lock chambers in the lock, pc pu =1 means the pth gate is operated in the uth gate chamber, pc pu = 0 means that the pth gate is not running in the uth gate chamber, s pq Indicates the switching time between the pth switching time and the qth switching time; The gate operation constraints are: Among them, Q tp Represents a set of locks with chamber type tp.

8. The ship dispatching method according to claim 7, characterized in that: The spatiotemporal overlap constraints are: Among them, lf ij =1 means that the i-th target ship is docked at the berth to the left of the j-th target ship, lf ij =0 means that the i-th target ship does not dock at the berth on the left side of the j-th target ship, lf ji =1 means that the jth target ship is docked at the berth to the left of the ith target ship, lf ji = 0 means that the jth target ship does not dock at the berth to the left of the ith target ship, bd ij =1 means that the i-th target ship starts berthing after the j-th target ship completes berthing operation, bd ij＝0 Indicates that the i-th target ship starts operating before the j-th target ship completes the berth operation, K represents the set of berths in the port, δ ik =1 means that the i-th target ship is assigned to the k-th berth, δ ik = 0 means that the i-th target ship is not assigned to the k-th berth, δ jl =1 means that the jth target ship is assigned to the lth berth, δ jl =0 means that the jth target ship is not assigned to the lth berth, NP represents the set of numbers of all target ships that need to berth at the port, represents the operating time of the jth target ship at the berth, Indicates the time when the i-th target ship starts operating at the berth; The job time constraints are: Where T represents the time interval set, M represents the number of quay cranes, and AT int =1 means that n quay cranes are allocated to the i-th target ship for a duration of t, AT int = 0 means that n quay cranes are not allocated to the i-th target ship and the duration is t, AC in =1 means that n quay cranes are allocated to the i-th target ship, AC in =0 means that n quay cranes are not allocated to the i-th target ship, represents the rightmost number of the quay crane assigned to the i-th target ship at the k-th berth, represents the leftmost number of the quay crane assigned to the i-th target ship at the k-th berth, represents the leftmost number of the quay crane assigned to the j-th target ship at the l-th berth; The loading and unloading capacity constraints are: Among them, P k Indicates the center point of the kth berth, B i represents the optimal berthing position of the i-th target ship, Δb i represents the deviation distance between the actual berthing position of the i-th target ship and the optimal berthing position, α represents the quay crane influence factor, β represents the berth deviation factor, and H i represents the quay crane capacity requirement of the i-th target ship.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the ship scheduling method considering lock and port information as described in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the ship scheduling method considering lock and port information as described in any one of claims 1 to 8 is implemented.

Images