Dry bulk cargo wharf storage yard equipment cooperative control method considering idle running and operation energy consumption of belt conveyor

Abstract

The invention discloses a dry bulk cargo wharf storage yard equipment cooperative control method considering idle running and operation energy consumption of a belt conveyor, and belongs to the technical field of port logistics and production scheduling. The method comprises the following steps: firstly, collecting port storage yard layout basic information, storage yard operation task information in a planning period and operation equipment parameter information in the storage yard; secondly, constructing a yard equipment cooperative control model considering the idle time and the operation energy consumption of the belt conveyor; finally, unified optimization solution is carried out on storage yard operation tasks and scheduling of the stacker-reclaimers and the belt conveyors in the planned period, a specific operation time sequence of each operation task and scheduling arrangement of the corresponding stacker-reclaimers and the belt conveyors are generated, and meanwhile, an operation time window of the belt conveyors is determined; and the solving result is further converted into an execution scheduling instruction of the storage yard equipment for guiding the sequence of actual operation and the starting and stopping time of the equipment. According to the method, efficient connection of storage yard operation can be achieved, collaborative optimization of the operation rhythm of the stacker-reclaimer and the running state of the belt conveyor is achieved, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of port logistics and production scheduling technology, specifically relating to a collaborative control method for dry bulk cargo terminal yard equipment that considers the idling and operating energy consumption of belt conveyors, and particularly a joint scheduling and control method for equipment that considers the idling and operating energy consumption of belt conveyors. Background Technology

[0002] Bulk dry cargo (such as coal and ore) plays a vital role in port cargo flow, and its operational efficiency directly affects port throughput capacity, transportation safety, and operating costs. In the yard, stacker-reclaimers work together to complete yard operations, while belt conveyor networks are responsible for continuously transporting large quantities of materials between different yard sections, achieving efficient integration of yard operations and ship loading operations.

[0003] Basic floor plan layout as follows Figure 1 As shown, this arrangement adopts the traditional stockyard layout commonly used in ports: multiple parallel stockpiles are set up in the stockyard, and a work line is arranged between every two stockpiles, including two stacker-reclaimers and two belt conveyors. It should be emphasized that this invention does not adjust the physical layout structure of the stockyard, but rather improves the coordination method of the stockyard equipment.

[0004] In the traditional operation mode (line 1), each of the two stacker-reclaimers uses a separate conveyor belt. However, the time and space available for yard operations cannot cover the entire operating cycle of the conveyor belt. When material arrival intervals are uneven or the stacking / reclaiming rhythm is inconsistent with the downstream operation rhythm, some conveyor belts are prone to idling, uneven load, or momentary overload, resulting in energy waste and equipment wear. Line 2 illustrates the operation mode after collaborative control proposed in this invention. By adjusting the operation sequence and timing of the stacker-reclaimers and the conveyor belt operation strategy, the yard operations can cover the conveyor belt operating section as much as possible, thereby reducing idling, optimizing load distribution, and reducing overall energy consumption.

[0005] Existing technologies also include research attempts to reduce port carbon emissions and improve energy efficiency at the system level. For example, Chinese invention patent CN120598573A proposes a port carbon emission reduction optimization method and system. By constructing a carbon emission baseline for onshore operations and combining clean energy utilization, equipment upgrade plans, and carbon market mechanisms, it achieves overall port carbon emission planning optimization. However, this method mainly focuses on macro-level adjustments to the port's energy structure and long-term development plans, relying on minor optimizations of planning parameters. It does not address dynamic energy consumption modeling and equipment collaborative control mechanisms for specific yard operations, making it difficult to adapt to the real-time scheduling needs of high-frequency operations at dry bulk terminals. Furthermore, some research focuses on carbon emission assessment of port equipment operation. For instance, Chinese invention patent CN120612091A proposes a port equipment cluster carbon emission assessment method. By constructing a carbon emission calculation system applicable to multiple types of operating equipment, it improves the accuracy of carbon emission calculations under complex port operation conditions. However, this method is still mainly used for static or retrospective emission assessments, lacking constraints on resource coupling between equipment, operational process switching, and operating time sequences, and cannot support energy-saving strategy optimization in actual scheduling.

[0006] In summary, while existing technologies have made some progress in energy-saving control of belt conveyors, they are generally limited to partial start-stop or single-machine speed adjustment, lacking a unified modeling and collaborative control strategy for the dynamic coupling relationships of multiple devices in the yard. This makes it difficult to meet the system-level energy-saving and efficiency optimization requirements under the complex operating conditions of dry bulk cargo terminals. Therefore, it is necessary to propose a control method that simultaneously considers the energy consumption of belt conveyors during idling and operation, and realizes collaborative scheduling and dynamic process switching of yard equipment, in order to further improve the overall energy utilization efficiency of the system. Summary of the Invention

[0007] This invention addresses the problems of high idling rate and high energy consumption of conveyor belts in dry bulk cargo terminal yards, as well as the lack of unified control between stacker-reclaimers and conveyor belts. It proposes a collaborative control method for dry bulk cargo terminal yard equipment that considers both idling and energy consumption of conveyor belts. This invention focuses on the coordination of the operation sequence of stacker-reclaimers and conveyor belts. By uniformly modeling and linking the yard operation rhythm with the conveyor belt operating cycle, it ensures that yard operations cover the continuous operation section of the conveyor belt as much as possible in terms of time, thereby reducing the idling time of the conveyor belts and lowering the overall energy consumption of the conveying system. While meeting the constraints of yard operation efficiency and equipment safety, this invention achieves collaborative optimization of the stacker-reclaimer operation rhythm and the conveyor belt operating status, effectively improving the energy utilization efficiency and operational economy of the dry bulk cargo terminal yard system.

[0008] To achieve the above objectives, the present invention provides the following solution: A collaborative control method for dry bulk cargo terminal yard equipment considering the idling and operating energy consumption of conveyor belts. This method achieves energy-saving scheduling by constructing an optimization model that coordinates the timing of stacker-reclaimer tasks and the scheduling of stacker-reclaimers and conveyor belts. The method includes the following steps: S1: Collect basic information on the port yard layout, yard operation tasks during the planning period, and parameter information of equipment operating within the yard, laying a complete and quasi-input foundation for the subsequent construction of a collaborative control model for yard equipment; specifically: S1-1: Collect basic information on the layout of the port's storage yard. For example... Figure 1 As shown, multiple stockpiles are arranged parallel to each other in the center of the port yard. Each stockpile is divided into several stacking positions for storing bulk cargo corresponding to different yard operations, with each operation occupying one stacking position. Stacker-reclaimers run along tracks arranged between the stockpiles and are equipped with rotating booms, enabling them to perform stacking or reclaiming operations at any position between adjacent stockpiles. Belt conveyors located between the stockpiles handle material transport between the yard and the tippler room and forward berths, connecting the processes of stacking, reclaiming, and loading onto ships. The required basic information for the port yard layout includes: the number and length of stockpiles, the number of stacking positions, the spatial arrangement of stacker-reclaimers and belt conveyors, the yard capacity, the planning period, and the unit duration.

[0009] S1-2: Collect information on yard operation tasks during the planning period. The yard operation tasks include stockpiling tasks and reclaiming tasks. Task information includes: number of tasks, task type, spatial location of the task, earliest start time of the task, and task duration.

[0010] S1-3: Collect parameter information of operating equipment in the stockyard. The main operating equipment involved in the stockyard includes stacker-reclaimers and belt conveyors. The parameter information of the operating equipment includes: stacker-reclaimer moving speed, belt conveyor rated power, and belt conveyor start-stop time.

[0011] S2: Based on the yard layout, yard operation tasks, and equipment parameter information obtained in S1, a yard equipment collaborative control model considering belt conveyor idling time and operating energy consumption is constructed. This collaborative control model first describes the scheduling relationship of the stacker-reclaimers according to the location and timing of yard operation tasks; then, it divides the belt conveyor operating time windows according to the stacker-reclaimer's operating time to identify periods of continuous transport and potential idling; based on this, it further constructs belt conveyor scheduling and energy consumption constraints, forming a collaborative control relationship between the stacker-reclaimers and the belt conveyors, providing support for reducing idling and lowering energy consumption; specifically: S2-1: After collecting information on yard operation tasks and equipment parameters, the first step is to determine the scheduling optimization objective. This is based on the total port dwell time of all tasks. Energy consumption of the belt conveyor required to complete the task The objective function is established by minimizing the weighted sum, as shown in formula (1). The port dwell time is determined by the time the task begins. Task duration And the earliest time when the task can start Calculation. The calculation is performed using formula (2) to determine the completion of the task. Energy consumption of belt conveyors .

[0012] (1) (2) In the formula, To represent a set of tasks, use index. This represents the weighting coefficient for the length of time spent in port; This represents the energy consumption weighting coefficient of the belt conveyor; Indicates task The start time of construction; Indicates task The duration of the assignment; Indicates task The earliest possible start date for construction; Indicates completion of task Required belt conveyor energy consumption; This indicates the energy consumption per unit time of belt conveyor operation; Indicates the time required for the belt conveyor to start and stop; To represent a sufficiently large constant, It is a 0-1 variable, when the task and The value is 1 when the start and end tasks of the same conveyor belt operation time window are respectively the start and end tasks of the same conveyor belt operation time window, and 0 otherwise.

[0013] S2-2: Establish relevant constraints for the stacker-reclaimer scheduling plan.

[0014] After determining the scheduling optimization objective, relevant constraints are established for the stacker-reclaimer scheduling plan to ensure that each task is rationally assigned to a reachable stacker-reclaimer. The relevant constraints are as follows: (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) In the formula, , , , I The definitions are as shown above; To represent a collection of stacker-reclaimers, using index; Indicates the ability to perform tasks Stacker-reclaimer assembly; Indicates when the stacker-reclaimer Homework Task At that time, stacker-reclaimer The set of unexecutable tasks is I A subset of. It is a 0-1 variable, representing the task. Is it a stacker-reclaimer? Operation; and It is also a 0-1 variable, where =1 indicates that in the stacker-reclaimer On the task The order of tasks precedes the order of operations. Otherwise, it is 0; =1 indicates a task Prior to the task If the assignment is zero, then the assignment is zero. This indicates the time it takes for the stacker-reclaimer to move from one work area to another. () indicates the initial working area of ​​the stacker-reclaimer. Indicates the stacker-reclaimer operation task The work area where I was at the time.

[0015] Formula (3) constrains that the actual start time of any task must not be earlier than its earliest possible start time, thus ensuring that the task is executed within the feasible time window. Formula (4) ensures that each task must be performed by one and only one stacker-reclaimer. Formula (5) further restricts the accessibility relationship, that is, when a stacker-reclaimer cannot reach the location of a task, the task cannot be assigned to that equipment. Formulas (6) and (7) are used to describe the operation sequence relationship between different tasks on the same stacker-reclaimer; Formula (8) on this basis ensures the time feasibility of the operation sequence, that is, for two tasks assigned to the same equipment, the start time of the subsequent task must not be earlier than the sum of the completion time of the preceding task and the movement time of the stacker-reclaimer. Formula (9) indicates that the stacker-reclaimer cannot start executing the task before it moves from its initial position to the work area where the task is located. Formulas (10), (11) and (12) are used together to describe the non-crossing constraints between equipment and their corresponding time logic requirements, ensuring that two stacker-reclaimers arranged on the same track do not cross each other or conflict in position during the entire operation.

[0016] S2-3: Establish relevant constraints for the belt conveyor's operating time window.

[0017] The collaborative control model for the yard equipment needs to consider the operating time window constraints of the conveyor belts to ensure that the conveyor belt operating sections are continuous and unnecessary idling is avoided during task allocation, thereby guaranteeing the feasibility of the conveying process and optimizing energy consumption. The relevant constraints for the conveyor belt operating time window are as follows: (13) (14) (15) (16) (17) (18) (19) (20) In the formula, , , , I The definition is as shown above. and It is a 0-1 variable. Indicates when the task exist When working within the initial time window It is 1 if it is true, otherwise it is 0. Indicates when the task and tasks These are the start and end times of the time window. It is 1 if it is true, otherwise it is 0.

[0018] Formula (13) stipulates that each task can only be a starting task or a ending task in the belt conveyor running time window, unless it simultaneously undertakes the starting and ending positions of the same time window; Formulas (14) and (15) are used to ensure that the operation sequence between the starting task and the ending task in the same time window is consistent and the time relationship is feasible; Formula (16) constrains that any task can only belong to a unique belt conveyor running time window; Formulas (17) and (18) further ensure that whether a task belongs to a certain time window is consistent with the selection of the starting and ending tasks of that time window; Formulas (19) and (20) impose time constraints on the task sequence within the time window.

[0019] S2-4: Establish relevant constraints for the belt conveyor operation scheduling plan.

[0020] In addition to establishing constraints on the operating time window, constraints also need to be imposed on the belt conveyor operation scheduling itself. As follows: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) (28) In the formula, , , , , The definition is as shown above. To represent a collection of belt conveyors, use index; Indicates that it can service stacker-reclaimers A collection of belt conveyors, is A subset of. It is a 0-1 variable, representing the task. Is it affected by the belt conveyor? Operation; It is also a 0-1 variable, where =1 indicates a task and If there is temporal and spatial overlap, then the value is 0; =1 indicates that on the belt conveyor On the task The order of tasks precedes the order of operations. Otherwise, it is 0.

[0021] Formula (21) ensures that each task must be performed by one and only one conveyor belt. Formula (22) ensures the collaborative operation between the stacker-reclaimer and the conveyor belt. Formula (23) stipulates that all tasks within the same conveyor belt's operating time window must be completed by that conveyor belt. Formulas (24) and (25) maintain the operating sequence of spatially overlapping tasks on the same conveyor belt. Formulas (26) to (28) constrain the sequential relationship between the operating time windows of the same conveyor belt, ensuring the feasibility and continuity of the task operation sequence.

[0022] S2-5: Domain constraints for variables in the collaborative control model of yard equipment.

[0023] Finally, to ensure the rationality of the solution of the collaborative control model for yard equipment, value range constraints are set for parameters such as operation selection, equipment status, and time allocation involved in the model to ensure that they meet the physical conditions of actual yard operations and the operation of stacker-reclaimers and belt conveyors. Formulas (29)–(36) give the value restrictions of the relevant parameters.

[0024] (29) (30) (31) (32) (33) (34) (35) (36) S3: Based on the constructed collaborative control model for yard equipment, a unified optimization solution is performed for the scheduling of yard operations, stacker-reclaimers, and conveyor belts during the planning period. Through model solving, the specific operation sequence of each task, the corresponding stacker-reclaimer and conveyor belt scheduling arrangements can be generated, while also clarifying the conveyor belt operating time window. The solution results can be further transformed into executable scheduling instructions for yard equipment, used to guide the actual operation sequence, equipment start-up and stop times, thereby achieving efficient connection of yard operations and optimizing overall energy consumption and operational efficiency. Specifically: S3-1: To improve the solution efficiency of the collaborative control model for yard equipment, this invention adopts a solution strategy combining the Squeaky Wheel Optimization (SWO) algorithm with Mixed Integer Programming (MIP). The specific steps are as follows: S3-1-1: Generate initial yard operation scheduling scheme: Construct an initial task sequence based on the earliest start time of each yard operation task. Determine the start time of each yard operation task in the order of the current task sequence and allocate yard equipment accordingly to obtain a feasible scheduling scheme that includes task operation time and yard equipment operating status.

[0025] S3-1-2: Task Scoring and Critical Task Identification: Task scores are calculated based on the impact of each yard operation task on overall operational efficiency in the current scheduling scheme. The scores use port dwell time as a metric to identify the yard operation tasks that have the greatest impact on port dwell time in the current scheduling scheme. The identified yard operation tasks are considered critical tasks, and their priority will be increased in the next scheduling iteration to optimize task order.

[0026] S3-1-3: Task Sequence Adjustment: Based on the task scoring results in S3-1-2, the task sequence is updated, moving the critical tasks identified in S3-1-2 to the beginning of the sequence to change their priority in the next round of scheduling, thereby affecting resource allocation and job order. The start time of each yard operation task is determined and yard equipment is allocated according to the updated task sequence, resulting in a feasible scheduling scheme that includes task operation time and yard equipment operating status.

[0027] S3-1-4: Iterative Update and Termination Conditions: Repeat S3-1-2 and S3-1-3 until the preset maximum number of iterations is reached. The final output is the yard equipment collaborative scheduling scheme.

[0028] S3-2: Based on the solution results of the squeaky wheel algorithm, the start time of the yard operation task, the stacker-reclaimer, and the conveyor belt are determined. The solution results can be used to guide terminal operators in formulating detailed operation plans, scheduling instructions, and equipment operation arrangements, achieving efficient integration of yard operations and conveying operations, and providing a basis for energy management decisions.

[0029] The beneficial effects of this invention are: (1) This invention achieves energy-saving scheduling of yard operations by constructing an optimization model that coordinates the timing of yard operations with the scheduling of stacker-reclaimers and belt conveyors.

[0030] (2) This invention proposes a dynamic scheduling strategy based on task priority scoring, which combines the yard operation sequence with the belt conveyor operating status to achieve reasonable utilization of the belt conveyor operating section and effectively reduce idle time and energy consumption. At the same time, by optimizing the task operation sequence and equipment scheduling, the collaborative efficiency of the stacker-reclaimer and the belt conveyor is improved, the total operation delay is shortened, and the operation flexibility and scheduling accuracy are improved.

[0031] In summary, this invention can significantly reduce belt conveyor idling and energy consumption while ensuring the operational efficiency of dry bulk cargo terminals, and achieve efficient collaborative operation of yard equipment, providing an innovative solution for port energy conservation, emission reduction and intelligent scheduling. Attached Figure Description

[0032] Figure 1 This is a layout diagram of a traditional storage yard at a dry bulk cargo terminal.

[0033] Figure 2 This is a layout diagram of the storage yard for a specific embodiment of the present invention. Detailed Implementation

[0034] The following will be combined with the appendix Figure 2 The technical solution of the present invention will be described in detail below.

[0035] like Figure 2 As shown, this invention addresses the problems of high idling rate and high operating energy consumption of conveyor belts in dry bulk cargo terminal yards, as well as the lack of unified control between stacker-reclaimers and conveyor belts. It proposes a collaborative equipment control method that considers both idling and operating energy consumption of conveyor belts. This method focuses on the coordination of the operation sequence of stacker-reclaimers and conveyor belts. By uniformly modeling and linking the yard operation rhythm with the conveyor belt operating cycle, it ensures that yard operations cover the continuous operating sections of the conveyor belts as much as possible in terms of time, thereby reducing the idling time of the conveyor belts and lowering the overall energy consumption of the conveying system. The method includes the following steps: S1: Collect basic information on the port yard layout, yard operation tasks during the planning period, and parameter information of equipment operating within the yard, laying a complete and quasi-input foundation for the subsequent construction of a collaborative control model for yard equipment; specifically: S1-1: Collect basic information on the layout of the port yard.

[0036] like Figure 1As shown, multiple stockpiles are arranged parallel to each other in the center of the port yard. Each stockpile is divided into several stacking positions for storing bulk cargo corresponding to different yard operations, with each operation occupying one stacking position. Stacker-reclaimers run along tracks arranged between the stockpiles and are equipped with rotating booms, enabling them to perform stacking or reclaiming operations at any position between adjacent stockpiles. Belt conveyors located between the stockpiles handle material transport between the yard and the tippler room and forward berths, connecting the processes of stacking, reclaiming, and loading onto ships. The required basic information for the port yard layout includes: the number and length of stockpiles, the number of stacking positions, the spatial arrangement of stacker-reclaimers and belt conveyors, the yard capacity, the planning period, and the unit duration.

[0037] Figure 2 This illustration demonstrates the layout of a typical dry bulk cargo terminal yard in this embodiment. Three parallel stockpiles are arranged in the center of the yard, each divided into six stacking positions, for a total of 18 stacking positions. These positions are used to store bulk cargo corresponding to different yard operation tasks, with each task occupying one stacking position. A track is arranged between every two stockpiles, with two stacker-reclaimers and two conveyor belts on each track. There are a total of four stacker-reclaimers (SR1, SR2, SR3, SR4) and four conveyor belts (BC1, BC2, BC3, BC4). Each stacker-reclaimer is equipped with a rotating boom, enabling it to perform stacking or reclaiming operations at any stacking position of adjacent stockpiles. The conveyor belts connect the yard to the tippler room and the forward berths, facilitating material transfer between stacking, reclaiming, and loading operations. The planning period is 12 hours, with each unit lasting 15 minutes, meaning the planning period is divided into 48 time units.

[0038] S1-2: Collect information on yard operation tasks during the planning period. These tasks include stockpiling and reclaiming tasks. Task information includes: number of tasks, task type, spatial location of the task, earliest start time of the task, and task duration. Information on tasks awaiting processing is shown in Table 1. Table 1: Task Information Table

[0039] S1-3: Collect parameter information of operating equipment in the stockyard. The main operating equipment involved in the stockyard includes stacker-reclaimers and belt conveyors. The parameter information of the operating equipment includes: the rated power of the belt conveyor is 400kW, the moving speed of the stacker-reclaimer is 1 stack position per unit time, the start time of the belt conveyor is 1 unit time, and stopping does not consume additional time.

[0040] S2: Based on the yard layout, yard operation tasks, and equipment parameter information obtained in S1, a collaborative control model for yard equipment considering belt conveyor idling time and operating energy consumption is constructed. The model first describes the scheduling relationship of the stacker-reclaimers according to the location and timing of yard operation tasks; then, it divides the belt conveyor operating time windows according to the stacker-reclaimer's operating time to identify periods of continuous transport and potential idling; based on this, it further constructs belt conveyor scheduling and energy consumption constraints, forming a collaborative control relationship between the stacker-reclaimers and the belt conveyors, providing support for reducing idling and lowering energy consumption; specifically: S2-1: After collecting information on yard operation tasks and equipment parameters, the scheduling optimization objective is first determined. Equation (1) uses the port dwell time of all tasks as the basis for the optimization. Energy consumption of the belt conveyor required to complete the task The objective function is established by minimizing the weighted sum, as shown in formula (1). The port dwell time is determined by the time the task begins. Task duration And the earliest time when the task can start Calculation. The calculation for completing the task was performed using formula (2). Energy consumption of belt conveyors .

[0041] (1) (2) In the formula, To represent a set of tasks, use index. This represents the weighting coefficient for the length of stay in port, which is set to 1. This represents the energy consumption weighting coefficient for the belt conveyor, set to 0.01. Indicates task The start time of construction; Indicates task The duration of the assignment; Indicates task The earliest possible start date for construction; Indicates completion of task Required belt conveyor energy consumption; This represents the energy consumption per unit time of belt conveyor operation, taken as 100; This indicates the time required for the belt conveyor to start and stop, and is set to 1. To represent a sufficiently large constant, It is a 0-1 variable, when the task and The value is 1 when the start and end tasks of the same conveyor belt operation time window are respectively the start and end tasks of the same conveyor belt operation time window, and 0 otherwise.

[0042] S2-2: Establish relevant constraints for the stacker-reclaimer scheduling plan.

[0043] After determining the scheduling optimization objective, it is necessary to establish relevant constraints on the stacker-reclaimer scheduling plan to ensure that each task is reasonably assigned to a reachable stacker-reclaimer. The relevant constraints are as follows: (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) In the formula, , , , I The definitions are as shown above; To represent a collection of stacker-reclaimers, using index; Indicates the ability to perform tasks Stacker-reclaimer assembly; Indicates when the stacker-reclaimer Homework Task At that time, stacker-reclaimer The set of unexecutable tasks is I A subset of. It is a 0-1 variable, representing the task. Is it a stacker-reclaimer? Operation; and It is also a 0-1 variable, where =1 indicates that in the stacker-reclaimer On the task The order of tasks precedes the order of operations. Otherwise, it is 0; =1 indicates a task Prior to the task If the assignment is zero, then the assignment is zero. This indicates the time it takes for the stacker-reclaimer to move from one work area to another. () indicates the initial working area of ​​the stacker-reclaimer. Indicates the stacker-reclaimer operation task The work area where I was at the time.

[0044] Formula (3) constrains that the actual start time of any task must not be earlier than its earliest possible start time, thus ensuring that the task is executed within the feasible time window. Formula (4) ensures that each task must be performed by one and only one stacker-reclaimer. Formula (5) further restricts the accessibility relationship, that is, when a stacker-reclaimer cannot reach the location of a task, the task cannot be assigned to that equipment. Formulas (6) and (7) are used to describe the operation sequence relationship between different tasks on the same stacker-reclaimer; Formula (8) on this basis ensures the time feasibility of the operation sequence, that is, for two tasks assigned to the same equipment, the start time of the subsequent task must not be earlier than the sum of the completion time of the preceding task and the movement time of the stacker-reclaimer. Formula (9) indicates that the stacker-reclaimer cannot start executing the task before it moves from its initial position to the work area where the task is located. Formulas (10), (11) and (12) are used together to describe the non-crossing constraints between equipment and their corresponding time logic requirements, ensuring that two stacker-reclaimers arranged on the same track do not cross each other or conflict in position during the entire operation.

[0045] S2-3: Establish relevant constraints for the belt conveyor's operating time window.

[0046] The collaborative control model for the yard equipment needs to consider the operating time window constraints of the conveyor belts to ensure that the conveyor belt operating sections are continuous and unnecessary idling is avoided during task allocation, thereby guaranteeing the feasibility of the conveying process and optimizing energy consumption. The relevant constraints for the conveyor belt operating time window are as follows: (13) (14) (15) (16) (17) (18) (19) (20) In the formula, , , , I The definition is as shown above. and It is a 0-1 variable. Indicates when the task exist When working within the initial time window It is 1 if it is true, otherwise it is 0. Indicates when the task and tasks These are the start and end times of the time window. It is 1 if it is true, otherwise it is 0.

[0047] Formula (13) stipulates that each task can only be a starting task or a ending task in the belt conveyor running time window, unless it simultaneously undertakes the starting and ending positions of the same time window; Formulas (14) and (15) are used to ensure that the operation sequence between the starting task and the ending task in the same time window is consistent and the time relationship is feasible; Formula (16) constrains that any task can only belong to a unique belt conveyor running time window; Formulas (17) and (18) further ensure that whether a task belongs to a certain time window is consistent with the selection of the starting and ending tasks of that time window; Formulas (19) and (20) impose time constraints on the task sequence within the time window.

[0048] S2-4: Establish relevant constraints for the belt conveyor operation scheduling plan.

[0049] In addition to establishing constraints on the operating time window, constraints also need to be imposed on the belt conveyor operation scheduling itself. As follows: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) (28) In the formula, , , , , The definition is as shown above. To represent a collection of belt conveyors, use index; Indicates that it can service stacker-reclaimers A collection of belt conveyors, is A subset of. It is a 0-1 variable, representing the task. Is it affected by the belt conveyor? Operation; It is also a 0-1 variable, where =1 indicates a task and If there is temporal and spatial overlap, then the value is 0; =1 indicates that on the belt conveyor On the task The order of tasks precedes the order of operations. Otherwise, it is 0.

[0050] Formula (21) ensures that each task must be performed by one and only one conveyor belt. Formula (22) ensures the collaborative operation between the stacker-reclaimer and the conveyor belt. Formula (23) stipulates that all tasks within the same conveyor belt's operating time window must be completed by that conveyor belt. Formulas (24) and (25) maintain the operating sequence of spatially overlapping tasks on the same conveyor belt. Formulas (26) to (28) constrain the sequential relationship between the operating time windows of the same conveyor belt, ensuring the feasibility and continuity of the task operation sequence.

[0051] S2-5: Domain constraints for variables in the collaborative control model of yard equipment.

[0052] Finally, to ensure the rationality of the solution of the collaborative control model for yard equipment, value range constraints are set for parameters such as operation selection, equipment status, and time allocation involved in the model to ensure that they meet the physical conditions of actual yard operations and the operation of stacker-reclaimers and belt conveyors. Equations (29)–(36) give the value constraints of the relevant parameters.

[0053] (29) (30) (31) (32) (33) (34) (35) (36) S3: Based on the constructed collaborative control model for yard equipment, a unified optimization solution is performed for the scheduling of yard operations, stacker-reclaimers, and conveyor belts during the planning period. Through model solving, the specific operation sequence of each task, the corresponding stacker-reclaimer and conveyor belt scheduling arrangements can be generated, while also clarifying the conveyor belt operating time window. The solution results can be further transformed into executable scheduling instructions for yard equipment, used to guide the actual operation sequence, equipment start-up and stop times, thereby achieving efficient connection of yard operations and optimizing overall energy consumption and operational efficiency. Specifically: S3-1: To improve the solution efficiency of the collaborative control model for yard equipment, this invention employs the Squeaky Wheel Optimization (SWO) algorithm to solve the mixed-integer programming (MIP) problem. The specific steps are as follows: S3-1-1: Generate the initial yard operation scheduling scheme: Construct an initial task sequence based on the earliest start time of each yard operation task. Then, determine the start time of each yard operation task in the order of the current task sequence and allocate yard equipment to obtain a feasible scheduling scheme that includes task operation time and yard equipment operating status.

[0054] S3-1-2: Task Scoring and Critical Task Identification: Task scores are calculated based on the impact of each yard operation task on overall operational efficiency in the current scheduling scheme. The scores use port dwell time as a metric to identify the yard operation tasks that have the greatest impact on port dwell time in the current scheduling scheme. The identified yard operation tasks are considered critical tasks, and their priority will be increased in the next scheduling iteration to optimize task order.

[0055] S3-1-3: Task Sequence Adjustment: Based on the task scoring results in S3-1-2, the task sequence is updated, moving the critical tasks identified in S3-1-2 to the beginning of the sequence to change their priority in the next round of scheduling, thereby affecting resource allocation and job order. The start time of each yard operation task is determined and yard equipment is allocated according to the updated task sequence, resulting in a feasible scheduling scheme that includes task operation time and yard equipment operating status.

[0056] S3-1-4: Iterative Update and Termination Conditions: Repeat S3-1-2 and S3-1-3 until the preset maximum number of iterations of 1000 is reached. The final output is the yard equipment collaborative scheduling scheme.

[0057] S3-2: Based on the squeak wheel algorithm, the start time of the yard operation task, the stacker-reclaimer, and the conveyor belt are determined. The solution results can be used to guide terminal operators in developing detailed operation plans, scheduling instructions, and equipment operation arrangements, achieving efficient integration of yard operations and conveying operations, and providing a basis for energy management decisions. The solution results are shown in Table 2: Table 2: Solution Results

[0058] This invention discloses an energy-saving scheduling method for dry bulk cargo yards. By constructing a coordinated optimization model of the operation sequence of yard tasks and the operating status of stacker-reclaimers and conveyor belts, it achieves overall scheduling of equipment within the yard. Based on the basic information of the port yard layout and the characteristics of yard operation tasks, this invention models the association between the stacker-reclaimer operation process and the conveyor belt operating sections, and identifies key tasks affecting scheduling performance through a task priority scoring mechanism, thereby dynamically adjusting the yard operation sequence and yard equipment scheduling strategy. This invention can significantly reduce conveyor idling and energy consumption while ensuring the operational efficiency of dry bulk cargo terminals, achieving efficient collaborative operation of yard equipment and providing an innovative solution for port energy conservation, emission reduction, and intelligent scheduling.

[0059] It should be noted that the above embodiments are merely illustrative of the implementation methods of the present invention, but should not be construed as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A method for coordinated control of dry bulk terminal yard equipment considering belt conveyor idling and operating energy consumption, characterized in that, The dry bulk cargo terminal yard equipment collaborative control method realizes energy-saving scheduling by constructing an optimized model of consistent coordination between the stacking and reclaiming task operation time sequence, the stacker-reclaimer scheduling and the belt conveyor scheduling; and comprises the following steps: S1: Collecting basic information of port yard layout, yard operation task information in a planning period and operation equipment parameter information in the yard, to lay a complete and accurate input foundation for subsequent construction of the yard equipment collaborative control model; S2: Based on the yard layout, yard operation task and operation equipment parameter information obtained in S1, a yard equipment collaborative control model is constructed, which takes into account the belt conveyor idle time and operation energy consumption; the yard equipment collaborative control model first describes the scheduling relationship of the stacker-reclaimer according to the yard operation task position and operation time sequence; then divides the belt conveyor operation time window according to the operation time sequence of the stacker-reclaimer, to identify the continuous transportation and idle time period; further, the scheduling and energy consumption constraints of the belt conveyor are constructed, to form the collaborative control relationship between the stacker-reclaimer and the belt conveyor; S3: Based on the constructed yard equipment collaborative control model, the yard operation task in the planning period, the scheduling of the stacker-reclaimer and the belt conveyor are uniformly optimized and solved, to generate the specific operation time sequence of each operation task, the scheduling arrangement of the corresponding stacker-reclaimer and belt conveyor, and the operation time window of the belt conveyor; the solution result can be further converted into the execution scheduling instruction of the yard equipment, to guide the actual operation sequence, the equipment start and stop time, realize the efficient connection of the yard operation, and optimize the overall energy consumption and operation efficiency.

2. The method for the dry bulk terminal yard equipment coordinated control considering the belt conveyor idling and running energy consumption according to claim 1, characterized in that, The S1 specifically comprises: S1-1: Collecting basic information of port yard layout; The port yard is centrally and parallelly arranged with a plurality of material piles, each material pile is divided into a plurality of stacks for storing different bulk cargos corresponding to different yard operation tasks, each task occupies one stack; the stacker-reclaimer runs along the track arranged between the material piles, is equipped with a rotating arm frame and can complete the stacking or reclaiming operation at any position between adjacent material piles; the belt conveyor located between the material piles undertakes the material conveying function between the yard and the car dumper room and the front berth, to realize the connection of the stacking, reclaiming, loading and other processes; The required basic information of port yard layout includes: the number and length of material piles, the number of stacks, the spatial arrangement of stacker-reclaimer and belt conveyor, the yard capacity, the planning period and the unit time length; S1-2: Collecting yard operation task information in the planning period; the yard operation task includes a stacking task and a reclaiming task, and the task information includes: the number of tasks, the type of task, the spatial position of task, the earliest starting operation time of task and the operation time length of task; S1-3: Collecting operation equipment parameter information in the yard; the operation equipment mainly involved in the yard includes the stacker-reclaimer and the belt conveyor, and the operation equipment parameter information includes: the moving speed of the stacker-reclaimer, the rated power of the belt conveyor and the start-stop time length of the belt conveyor.

3. The method for the dry bulk terminal yard equipment coordinated control considering the belt conveyor idling and running energy consumption according to claim 2, characterized in that, The S2 specifically comprises: S2-1: After collecting information on yard operation tasks and equipment parameters, first determine the scheduling optimization objective; based on the port dwell time of all tasks. Energy consumption of the belt conveyor required to complete the task The objective function is established by minimizing the weighted sum, as shown in formula (1); where the port dwell time is determined by the time the task starts. Task duration and the earliest start time of the task Calculation; calculate the amount of work required to complete the task using formula (2). Energy consumption of belt conveyors ; (1) (2) In the formula, denotes a set of tasks, and denotes an index; denotes a port stay duration weight coefficient; denotes a belt conveyor energy consumption weight coefficient; denotes a start time of a task ; denotes a task operation duration; denotes an earliest start time of a task ; denotes a belt conveyor energy consumption required for completing a task ; denotes a unit time energy consumption of a belt conveyor; denotes a start-stop duration required for a belt conveyor; denotes a large enough constant, is a 0-1 variable, and takes a value of 1 when a task and are a start task and an end task of a same belt conveyor operation time window respectively, and takes a value of 0 otherwise; S2-2: Establishing related constraints of stacker-reclaimer scheduling plan; After determining the scheduling optimization target, related constraints of the stacker-reclaimer scheduling plan are established to ensure that each task is reasonably assigned to the stacker-reclaimer that can reach it; the related constraints are as follows: (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) In the formula, , , The definition of I is as shown above; To represent a collection of stacker-reclaimers, using index; Indicates the ability to perform tasks Stacker-reclaimer assembly; Indicates when the stacker-reclaimer Homework Task At that time, stacker-reclaimer The set of non-executable tasks is a subset of I; It is a 0-1 variable, representing the task. Is it a stacker-reclaimer? Operation; and It is also a 0-1 variable, where =1 indicates that in the stacker-reclaimer On the task The order of tasks precedes the order of operations. Otherwise, it is 0; =1 indicates a task Prior to the task If there is no homework assignment, then the score is 0; This indicates the time it takes for the stacker-reclaimer to move from one work area to another. () indicates the initial working area of ​​the stacker-reclaimer. Indicates the stacker-reclaimer operation task The work area where he / she was located; Formula (3) restricts that the actual start time of any task cannot be earlier than its earliest start time; Formula (4) ensures that each task is only undertaken by one stacker; Formula (5) restricts that when a stacker cannot reach the location of a task, the task cannot be assigned to the stacker; Formula (6) and Formula (7) are used to depict the work sequence relationship between different tasks on the same stacker; Formula (8) guarantees the time feasibility of the work sequence, that is, for two tasks assigned to the same stacker, the start time of the subsequent task cannot be earlier than the sum of the work completion time of the previous task and the moving time of the stacker; Formula (9) indicates that the stacker cannot start to execute a task before moving from the initial position to the work area where the task is located; Formula (10), Formula (11) and Formula (12) jointly restrict the non-crossable constraint between devices and the corresponding time logic requirements, to ensure that two stackers arranged on the same track do not cross each other or have a location conflict during the entire work process; S2-3: establishing a belt conveyor running time window related constraint; The yard device cooperative control model needs to consider the belt conveyor running time window constraint to ensure that the belt conveyor running section is continuous during the task assignment process; the belt conveyor running time window related constraint is as follows: (13) (14) (15) (16) (17) (18) (19) (20) In the formula, , , The definition of I is as shown above; and It is a 0-1 variable. Indicates when the task exist When working within the initial time window It is 1 if it is true, otherwise it is 0; Indicates when the task and tasks These are the start and end times of the time window. It is 1 if it is true, otherwise it is 0. Formula (13) provides that each task can only be a starting task or an ending task in the belt conveyor running time window at most, unless it undertakes the starting and ending positions of the same time window; Formula (14) and Formula (15) are used to ensure that the work sequence between the starting task and the ending task in the same time window is consistent and the time relationship meets the requirements; Formula (16) restricts that any task can only belong to a unique belt conveyor running time window; Formula (17) and Formula (18) ensure that the selection of whether a task belongs to a time window is consistent with the selection of the starting and ending tasks of the time window; Formula (19) and Formula (20) impose time sequence constraints on the task sequence within the time window; S2-4: establishing a belt conveyor work scheduling plan related constraint; On the basis of establishing the running time window constraint, constraints also need to be imposed on the belt conveyor work scheduling itself; as follows: (21) (22) (23) (24) (25) (26) (27) (28) wherein , , , , are defined as before; denotes the set of belt conveyors, with index; denotes the set of belt conveyors that can serve the stacker reclaimer, is a subset of is a 0-1 variable indicating whether task is operated by belt conveyor ; is also a 0-1 variable, where = 1 indicates that tasks and have temporal and spatial overlap, otherwise 0; = 1 indicates that the operation order of task on belt conveyor precedes task , otherwise 0; Formula (21) ensures that each task must be executed by and only by one belt conveyor; Formula (22) is used to ensure the cooperative work relationship between the stacker and the belt conveyor; Formula (23) provides that all tasks within the same belt conveyor running time window are completed by the belt conveyor; Formula (24) and Formula (25) are used to maintain the work sequence of the tasks with spatial overlap on the same belt conveyor; Formula (26) to Formula (28) restrict the sequence relationship between the running time windows of the same belt conveyor, to ensure the feasibility and continuity of the task work sequence; S2-5: yard device cooperative control model variable domain constraint; To ensure the rationality of the solution of the yard device cooperative control model, the value limits of the related parameters are given, as shown in Formula (29)-(36): (29) (30) (31) (32) (33) (34) (35) (36)。 4. The method for the dry bulk terminal yard equipment coordinated control considering the belt conveyor idling and running energy consumption according to claim 3, characterized in that, The S3 is specifically: S3-1: to improve the solving efficiency of the yard device cooperative control model, a swing wheel algorithm SWO combined with a mixed integer programming MIP solving strategy is adopted; S3-2: Based on the solution result of the ratchet wheel algorithm, the start time of the yard operation task, the stacker-reclaimer and the belt conveyor of the operation are determined; the solution result can be used to guide the terminal operator to formulate detailed operation plan, scheduling instruction and equipment operation arrangement, realize efficient connection of the yard operation and the conveying operation, and provide decision basis for energy management.

5. The method for the dry bulk terminal yard equipment coordinated control considering the belt conveyor idling and running energy consumption according to claim 4, characterized in that, The S3-1 is specifically: S3-1-1: Generating an initial yard operation scheduling scheme: constructing an initial task sequence according to the earliest start time of each yard operation task; determining the start time of the yard operation task and allocating the yard equipment according to the order of the current task sequence, to obtain a scheduling scheme containing the task operation time and the running state of the yard equipment; S3-1-2: Task scoring and key task identification: calculating the task score according to the influence of each yard operation task in the current scheduling scheme on the overall operation efficiency; the score takes the task port staying time as the measurement standard, and is used to identify the yard operation task which has the greatest influence on the port staying time in the current scheduling scheme; the identified yard operation task is the key task, and its priority will be improved in the next round of scheduling iteration to optimize the task sequence; S3-1-3: Task sequence adjustment: according to the task score result of S3-1-2, the task sequence is updated, the key task identified by S3-1-2 is moved to the front of the sequence to change its priority in the next round of scheduling construction, so as to affect the resource allocation and the operation sequence; the start time of the yard operation task is determined according to the order of the updated task sequence, and the yard equipment is allocated, to obtain a scheduling scheme containing the task operation time and the running state of the yard equipment; S3-1-4: Iterative update and termination condition: repeat S3-1-2 and S3-1-3 until the preset maximum iteration number is reached; finally output the yard equipment cooperative scheduling scheme.

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