A dry bulk cargo terminal yard equipment cooperative control method considering belt conveyor idling and operation energy consumption

Abstract

A kind of dry bulk cargo terminal yard equipment collaborative control method considering belt conveyor idling and running energy consumption belongs to port logistics and production scheduling technical field.First, the basic information of port yard layout, yard operation task information in planning period, yard operation equipment parameter information are collected.Second, a yard equipment collaborative control model considering belt conveyor idling time and running energy consumption is constructed.Last, the yard operation task in planning period, the scheduling of stacker-reclaimer and belt conveyor are optimized and solved, the specific operation time sequence of each operation task, the scheduling arrangement of corresponding stacker-reclaimer and belt conveyor are generated, and the running time window of belt conveyor is determined.The solution result is further converted into execution scheduling instruction of yard equipment, which is used to guide the sequence of actual operation, equipment start and stop time.This application can realize efficient connection of yard operation, realize collaborative optimization of stacker-reclaimer operation rhythm and belt conveyor running state, and improve energy utilization efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of port logistics and production scheduling, and particularly relates to a dry bulk cargo terminal yard equipment collaborative control method considering belt conveyor idling and operation energy consumption, in particular to an equipment joint scheduling and control method considering belt conveyor idling energy consumption and operation energy consumption. BACKGROUND

[0002] Bulk dry bulk cargo (such as coal, ore) plays an important role in port cargo flow, and its operation efficiency is directly related to port throughput capacity, transportation safety and operating cost. In the yard, the stacker-reclaimer cooperates to complete the yard operation, and the belt conveyor network is responsible for continuously conveying a large amount of materials between different yard sections, realizing efficient connection of yard operation and loading operation.

[0003] The basic planar layout is as shown in Figure 1 The layout uses the traditional yard layout commonly used in ports at present: a plurality of parallel material piles are arranged in the yard, and a working line is arranged between each two material piles, including two stacker-reclaimers and two belt conveyors. It should be emphasized that the present application does not adjust the physical layout structure of the yard, but improves the yard equipment collaborative mode.

[0004] Under the traditional operation mode (working line 1), two stacker-reclaimers each use one belt conveyor, but the yard operation time and space are difficult to cover the running period of the whole belt conveyor. When the arrival interval of materials is uneven or the stacker-reclaimer operation rhythm is inconsistent with the downstream operation rhythm, part of the belt conveyor is prone to idling, uneven load or instantaneous overload, resulting in energy waste and equipment wear. Working line 2 shows the operation mode after collaborative control proposed by the present application, by adjusting the stacker-reclaimer operation sequence, time sequence connection and belt conveyor operation strategy, so that the yard operation covers the belt conveyor running section as much as possible, thereby reducing idling, optimizing load distribution and reducing overall energy consumption.

[0005] In the prior art, there are also researches trying to reduce port carbon emissions and improve energy utilization efficiency from the system level. For example, Chinese invention patent CN120598573A proposes a port carbon emission reduction optimization method and system, which realizes the planning optimization of the overall carbon emission of the port by constructing the carbon emission baseline of the land operation link, combining clean energy utilization, equipment updating plan and carbon market mechanism. However, this method mainly faces the adjustment of energy structure and long-term development plan of the port at the macro level, relies on small-scale optimization of planning parameters, does not involve dynamic energy consumption modeling and equipment collaborative control mechanism of the specific operation process of the stockyard, and is difficult to adapt to the real-time scheduling demand under the high-frequency operation of the bulk cargo terminal. In addition, some researches focus on the carbon emission evaluation of port equipment operation. For example, Chinese invention patent CN120612091A proposes a port equipment cluster carbon emission evaluation method, which improves the calculation accuracy of carbon emission under complex port operation conditions by constructing a carbon emission calculation system suitable for multiple types of operation equipment. However, this method is still mainly used for static or post-evaluation of emissions, lacks constraint description of resource coupling between devices, operation process switching and running time sequence, and cannot provide support for energy-saving strategy optimization in actual scheduling.

[0006] In summary, although the prior art has made certain progress in the energy-saving control of the belt conveyor, it is generally limited to local start-stop or single-machine speed regulation, lacks unified modeling and collaborative control strategy for the dynamic coupling relationship of the stockyard multiple devices, and is difficult to meet the system-level energy-saving and efficiency optimization demand under the complex operation conditions of the bulk cargo terminal. Therefore, it is necessary to propose a control method that considers the idle and running energy consumption of the belt conveyor, realizes the collaborative scheduling of the stockyard devices and dynamic process switching, so as to further improve the overall energy utilization efficiency of the system. SUMMARY

[0007] The present application is directed to the problem of high idle rate and high running energy consumption of the belt conveyor in the bulk cargo terminal stockyard, and the lack of unified regulation between the stacker-reclaimer and the belt conveyor. A collaborative control method for the bulk cargo terminal stockyard devices considering the idle and running energy consumption of the belt conveyor is proposed. The present application takes the coordination of the operation time sequence of the stacker-reclaimer and the belt conveyor as the core, and realizes the unified modeling and linkage regulation of the stockyard operation rhythm and the belt conveyor running period, so that the stockyard operation covers the continuous running section of the belt conveyor as much as possible in time, thereby reducing the idle time of the belt conveyor and the overall energy consumption of the conveying system. Under the premise of meeting the stockyard operation efficiency and device safety constraints, the present application realizes the collaborative optimization of the stacker-reclaimer operation rhythm and the belt conveyor running state, effectively improving the energy utilization efficiency and operation economy of the bulk cargo terminal stockyard system.

[0008] To achieve the above-mentioned purpose, the present application provides the following scheme:

[0009] A kind of dry bulk cargo terminal yard equipment collaborative control method considering belt conveyor idling and operating energy consumption, the dry bulk cargo terminal yard equipment collaborative control method realizes energy-saving scheduling by constructing the optimization model of consistent coordination between stacking and reclaiming task operation timing, stacker-reclaimer scheduling and belt conveyor scheduling.It includes the following steps:

[0010] S1: collect port yard layout basic information, yard operation task information in planning period, yard operation equipment parameter information, lay a complete, accurate input basis for subsequent construction of yard equipment collaborative control model;Specifically:

[0011] S1-1: collect port yard layout basic information.As shown in Figure 1 , a plurality of material piles are arranged in parallel in the center of the port yard, each material pile is divided into a plurality of stacks for storing different yard operation tasks corresponding to bulk cargo, each task occupies a stack.The stacker-reclaimer runs along the track arranged between the material piles, is equipped with a rotatable boom 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, the front berth, and realizes the connection of processes such as stacking, reclaiming and ship loading.The required port yard layout basic information includes: the number and length of material piles, the number of stacks, the spatial arrangement of stacker-reclaimers and belt conveyors, the capacity of the yard, the planning period and the unit time length.

[0012] S1-2: collect yard operation task information in planning period.The yard operation task includes stacking task and reclaiming task, and the task information includes: task quantity, task category, task spatial position, task earliest starting operation time and task operation time length.

[0013] S1-3: collect yard operation equipment parameter information.The main operation equipment involved in the yard includes stacker-reclaimer and belt conveyor, and the operation equipment parameter information includes: stacker-reclaimer moving speed, belt conveyor rated power and belt conveyor start-stop time length.

[0014] S2: based on the yard layout, yard operation task and operation equipment parameter information obtained in S1, construct a yard equipment collaborative control model considering belt conveyor idling time and operating energy consumption.The yard equipment collaborative control model first describes the scheduling relationship of stacker-reclaimer according to the yard operation task position and operation timing;Then, according to the operation time of stacker-reclaimer, divide the belt conveyor operation time window to identify the continuous transportation and possible idling period;On this basis, further construct the scheduling and energy consumption constraints of belt conveyor, form the collaborative control relationship between stacker-reclaimer and belt conveyor, and provide support for reducing idling and reducing energy consumption;Specifically:

[0015] S2-1: after collecting yard operation task information and operation equipment parameter information, first determine the scheduling optimization target.The total task port stay time and the energy consumption of the belt conveyor required to complete the task The objective function is established with the minimum of the weighted sum as the goal, as shown in equation (1). The port stay time of the task is calculated by the task start time , the task operation time , and the earliest start time of the task . The energy consumption of the belt conveyor required to complete the task is calculated by equation (2). .

[0016] (1)

[0017] (2)

[0018] In the formula, the task set is indexed by . The port stay time weight coefficient is represented by ; the belt conveyor energy consumption weight coefficient is represented by ; the start time of the task is represented by ; the operation time of the task is represented by ; the earliest start time of the task is represented by ; the energy consumption of the belt conveyor required to complete the task is represented by ; the energy consumption of the belt conveyor per unit time is represented by ; the time required for the belt conveyor to start and stop is represented by ; a large enough constant is represented by ; and the 0-1 variable is represented by .

[0019] S2-2: Establish constraints related to the scheduling plan of the stacker-reclaimer.

[0020] After determining the scheduling optimization objective, related constraints are established for the scheduling plan of the stacker-reclaimer to ensure that each task is reasonably allocated to a reachable stacker-reclaimer. The related constraints are as follows:

[0021] (3)

[0022] (4)

[0023] (5)

[0024] ​ (6)

[0025] (7)

[0026] (8)

[0027] (9)

[0028] (10)

[0029] (11)

[0030] (12)

[0031] 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 A collection of stacker-reclaimers; 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.

[0032] Equation (3) restricts the actual start time of any task to be no earlier than its earliest possible start time, thus ensuring the task is executed within the feasible time window. Equation (4) ensures that each task must be undertaken by and only by one stacker-reclaimer. Equation (5) further restricts the accessibility relationship, i.e. when a stacker-reclaimer cannot reach the location of a task, the task cannot be assigned to the device. Equations (6) and (7) are used to depict the work sequence relationship between different tasks on the same stacker-reclaimer; Equation (8) ensures the time feasibility of the work sequence, i.e. for two tasks assigned to the same device, 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-reclaimer. Equation (9) indicates that the stacker-reclaimer cannot start to execute a task before it moves from the initial position to the work area where the task is located. Equations (10), (11) and (12) are collectively used to describe the non-crossable constraints between devices and their corresponding time logic requirements, ensuring that two stacker-reclaimers arranged on the same track do not cross each other or have a location conflict during the entire work process.

[0033] S2-3: Establish the belt conveyor running time window related constraints.

[0034] The yard device coordination control model needs to consider the running time window constraints of the belt conveyor, to ensure that the belt conveyor running section is continuous and unnecessary idling is avoided during the process of assigning tasks, thus ensuring the feasibility of the conveying process and the optimization of energy consumption. The belt conveyor running time window related constraints are as follows:

[0035] (13)

[0036] (14)

[0037] (15)

[0038] (16)

[0039] (17)

[0040] (18)

[0041] (19)

[0042] (20)

[0043] In the formula, , , , I The definitions are as shown above. and is a 0-1 variable, denotes when task is the start task of a time window, denotes when task is the end task of a time window, denotes when task is the start task and task is the end task of a time window, denotes when task

[0044] Formula (13) specifies that each task can only be a start task or an end task in a belt conveyor operation time window at most, unless it assumes both start and end positions of the same time window; formula (14) and (15) are used to ensure that the job sequence between start task and end task in the same time window is consistent and the time relationship is feasible; formula (16) constrains any task to belong to only one belt conveyor operation time window; formula (17) and (18) further ensure that the selection of tasks belonging to a certain time window is consistent with the selection of start and end tasks of the time window; formula (19) and (20) impose timing constraints on the task sequence within the time window.

[0045] S2-4: Establish constraints related to belt conveyor job scheduling plan.

[0046] On the basis of establishing operation time window constraints, constraints on belt conveyor job scheduling itself also need to be imposed. As follows:

[0047] (21)

[0048] (22)

[0049] (23)

[0050] (24)

[0051] (25)

[0052] (26)

[0053] (27)

[0054] (28)

[0055] In the formula, , , , , The definitions are as shown above. denotes the set of belt conveyors, and 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.

[0056] 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.

[0057] S2-5: Domain constraints for variables in the collaborative control model of yard equipment.

[0058] 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.

[0059] (29)

[0060] (30)

[0061] (31)

[0062] (32)

[0063] (33)

[0064] (34)

[0065] (35)

[0066] (36)

[0067] 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:

[0068] 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:

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The beneficial effects of this invention are:

[0075] (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.

[0076] (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.

[0077] 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

[0078] Figure 1 This is a layout diagram of a traditional storage yard at a dry bulk cargo terminal.

[0079] Figure 2 This is a layout diagram of the storage yard for a specific embodiment of the present invention. Detailed Implementation

[0080] The following will be combined with the appendix Figure 2 The technical solution of the present invention will be described in detail below.

[0081] 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:

[0082] 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:

[0083] S1-1: Collect basic information on the layout of the port yard.

[0084] like 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.

[0085] 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.

[0086] 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.

[0087] Table 1: Task Information Table

[0088]

[0089] 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.

[0090] 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:

[0091] 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 .

[0092] (1)

[0093] (2)

[0094] 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.

[0095] S2-2: Establish relevant constraints for the stacker-reclaimer scheduling plan.

[0096] 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:

[0097] (3)

[0098] (4)

[0099] (5)

[0100] (6)

[0101] (7)

[0102] (8)

[0103] (9)

[0104] (10)

[0105] (11)

[0106] (12)

[0107] 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 A collection of stacker-reclaimers; 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.

[0108] 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.

[0109] S2-3: Establish relevant constraints for the belt conveyor's operating time window.

[0110] 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:

[0111] (13)

[0112] (14)

[0113] (15)

[0114] (16)

[0115] (17)

[0116] (18)

[0117] (19)

[0118] (20)

[0119] 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.

[0120] 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.

[0121] S2-4: Establish relevant constraints for the belt conveyor operation scheduling plan.

[0122] 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:

[0123] (twenty one)

[0124] (twenty two)

[0125] (twenty three)

[0126] (twenty four)

[0127] (25)

[0128] (26)

[0129] (27)

[0130] (28)

[0131] 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.

[0132] 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.

[0133] S2-5: Domain constraints for variables in the collaborative control model of yard equipment.

[0134] 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.

[0135] (29)

[0136] (30)

[0137] (31)

[0138] (32)

[0139] (33)

[0140] (34)

[0141] (35)

[0142] (36)

[0143] 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:

[0144] 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:

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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:

[0150] Table 2: Solution Results

[0151]

[0152] 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.

[0153] 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 cargo terminal yard equipment considering the idling and operating energy consumption of belt conveyors, characterized in that, The collaborative control method for dry bulk cargo terminal yard equipment achieves energy-saving scheduling by constructing an optimization model that coordinates the timing of stacker-reclaimer tasks and the scheduling of stacker-reclaimers and belt conveyors; it includes the following steps: S1: Collect basic information on the layout of the port yard, information on yard operation tasks during the planning period, and information on the parameters of operating equipment in the yard, so as to lay a complete and quasi-input foundation for the subsequent construction of a collaborative control model for yard equipment; 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 the 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 idling; further, it constructs belt conveyor scheduling and energy consumption constraints to form a collaborative control relationship between the stacker-reclaimers and the belt conveyors; specifically: 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; the calculation is performed using formula (2) to complete the task. Energy consumption of belt conveyors ; (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 These are the start and end tasks for the same conveyor belt running time window, with a value of 1 otherwise 0. S2-2: Establish relevant constraints for the stacker-reclaimer scheduling plan; After determining the scheduling optimization objective, relevant constraints are established for 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 A collection of stacker-reclaimers; 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 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) constrains that the actual start time of any task must not be earlier than its earliest start time; Formula (4) ensures that each task is carried out by only one stacker-reclaimer; Formula (5) constrains that when a stacker-reclaimer cannot reach the location of the task, the task cannot be assigned to that equipment; Formulas (6) and (7) are used to describe the work sequence relationship between different tasks on the same stacker-reclaimer; Formula (8) ensures the time feasibility of the work 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 the initial position to the work area where the task is located; Formulas (10), (11) and (12) jointly constrain the non-crossing constraint between equipment and its 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; S2-3: Establish relevant constraints for the belt conveyor's operating time window; The collaborative control model for the yard equipment needs to consider the operating time window constraints of the conveyor belts to ensure the continuity of the conveyor belt operating sections during task allocation. 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 definitions are 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) 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 and ending tasks in the same time window is consistent and the time relationship meets the requirements; Formula (16) constrains that any task can only belong to a unique belt conveyor running time window; Formulas (17) and (18) 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) apply time constraints to the task sequence within the time window; S2-4: Establish relevant constraints for the belt conveyor operation scheduling plan; 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: (21) (22) (23) (24) (25) (26) (27) (28) In the formula, , , , , The definitions are 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; Formula (21) ensures that each task must be performed by one and only one conveyor belt; Formula (22) ensures the collaborative operation relationship between the stacker-reclaimer and the conveyor belt; Formula (23) stipulates that all tasks within the same conveyor belt's operating time window are completed by that conveyor belt; Formulas (24) and (25) are used to maintain the operation sequence of tasks with spatial overlap on the same conveyor belt; Formulas (26) to (28) constrain the sequential relationship between the operating time windows of the same conveyor belt to ensure the feasibility and continuity of the task operation sequence. S2-5: Domain constraints for variables in the collaborative control model of yard equipment; To ensure the rationality of the solution of the collaborative control model for yard equipment, the value restrictions of relevant parameters are given, as shown in formulas (29)–(36): (29) (30) (31) (32) (33) (34) (35) (36) S3: Based on the constructed collaborative control model of yard equipment, the scheduling of yard operation tasks, stacker-reclaimers and belt conveyors during the planning period is uniformly optimized and solved. The specific operation sequence of each operation task, the corresponding stacker-reclaimer and belt conveyor scheduling arrangement are generated, and the operating time window of the belt conveyor is defined. The solution results can be further transformed into execution scheduling instructions for yard equipment to guide the actual operation sequence, equipment start-up and stop timing, realize efficient connection of yard operations, and optimize overall energy consumption and operation efficiency.

2. The method for coordinated control of dry bulk cargo terminal yard equipment considering the idling and operating energy consumption of belt conveyors as described in claim 1, characterized in that, Specifically, S1 refers to: S1-1: Collect basic information on the layout of the port storage yard; Multiple stockpiles are arranged in parallel in the center of the port yard. Each stockpile is divided into several stacking positions for storing bulk cargo corresponding to different yard operation tasks. Each task occupies one stacking position. Stacker-reclaimers run along tracks arranged between the stockpiles and are equipped with rotating booms, enabling them to complete stacking or reclaiming operations at any position of adjacent stockpiles. Belt conveyors located between the stockpiles are responsible for the material transportation function between the yard and the tippler room and the forward berths, realizing the connection of stacking, reclaiming and loading processes. The basic information required for the port yard layout includes: the number and length of stockpiles, the number of stack positions, the spatial arrangement of stacker-reclaimers and belt conveyors, the yard capacity, the planning period, and the unit duration. S1-2: Collect information on yard operation tasks during the planning period; the yard operation tasks include stockpiling tasks and reclaiming tasks, and the task information includes: number of tasks, task type, spatial location of tasks, earliest start time of tasks, and task duration. 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, and the parameter information of the operating equipment includes: stacker-reclaimer moving speed, belt conveyor rated power, and belt conveyor start-stop time.

3. A method for coordinated control of dry bulk cargo terminal yard equipment considering the idling and operating energy consumption of belt conveyors, as described in claim 2, is characterized in that... Specifically, S3 is: S3-1: To improve the solution efficiency of the collaborative control model of yard equipment, a solution strategy combining the Squeak Wheel Algorithm (SWO) with Mixed Integer Programming (MIP) is adopted. 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 belt conveyor of the operation are determined. The solution results can be used to guide the terminal operator to formulate detailed operation plans, scheduling instructions and equipment operation arrangements, realize the efficient connection between yard operations and transportation operations, and provide decision-making basis for energy management.

4. A method for coordinated control of dry bulk cargo terminal yard equipment considering the idling and operating energy consumption of belt conveyors, as described in claim 3, is characterized in that... Specifically, S3-1 is 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; Determine the start time of each yard operation task in the order of the current task sequence and allocate yard equipment to obtain a scheduling scheme that includes task operation time and yard equipment operating status. S3-1-2: Task Scoring and Critical Task Identification: The task score is calculated based on the impact of each yard operation task on the overall operation efficiency in the current scheduling scheme; the score uses the port dwell time as the measurement standard to identify the yard operation task with the greatest impact on the port dwell time in the current scheduling scheme; the identified yard operation task is the critical task, and its priority will be increased in the next scheduling iteration to optimize the task order. S3-1-3: Task Sequence Adjustment: Based on the task scoring results of S3-1-2, the task sequence is updated, and the key tasks identified in S3-1-2 are moved to the beginning of the sequence to change their priority in the next round of scheduling construction, thereby affecting resource allocation and job order; the start time of each yard operation task is determined and the yard equipment is allocated according to the updated task sequence, resulting in a scheduling scheme that includes task operation time and yard equipment operating status; 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; finally, output the yard equipment collaborative scheduling scheme.

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