Wharf storage yard layout optimization method, system, equipment and medium
By establishing energy consumption models for QC, AGV, and RMG, the layout scheme of the number of yard rows with the minimum overall single-container energy consumption is calculated and selected, which solves the problem of lack of systematic collaborative modeling in the existing technology and realizes the optimization of energy consumption in the terminal yard.
Patent Information
- Application Number
- CN202511365157.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-23
- Publication Date
- 2026-02-03
AI Technical Summary
Existing technologies lack systematic and collaborative modeling of the energy consumption of three types of equipment in terminal yards: QC, AGV, and RMG, making it difficult to select the optimal layout scheme.
Energy consumption models for dual-trolley quay cranes (QC), automated guided vehicles (AGV), and dual-cantilever rail-mounted gantry cranes (RMG) were established. The comprehensive energy consumption per container for each row layout scheme was calculated, and the yard row layout scheme with the minimum comprehensive energy consumption per container was selected as the optimal scheme.
It achieves energy consumption linkage optimization of three types of equipment in the yard operation chain, accurately quantifies the total energy consumption under different column layout schemes, and determines the yard longitudinal direction with the minimum total energy consumption as the optimal layout method, thereby reducing energy consumption.
Smart Images
Figure CN121457069A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of wharf yard, and particularly relates to a wharf yard layout optimization method, system, device and medium. BACKGROUND
[0002] As the core hub of container logistics, the layout design of the wharf yard directly affects the equipment operation efficiency and energy consumption. Under the background of green port construction, how to optimize the yard structure to reduce energy consumption under the premise of ensuring operation efficiency has become a key challenge in the industry. The yard width (i.e. the number of columns layout) determines the container storage density and equipment operation path, and further affects the energy consumption level of core equipment such as double-trolley quay crane (QC), automated guided vehicle (AGV) and double-slewing rail-mounted gantry crane (RMG).
[0003] The prior art mainly reduces the wharf energy consumption through equipment selection optimization, path planning algorithm or local energy consumption control strategy. For example, some schemes focus on adjusting the AGV travel route to reduce the empty running distance, or adjusting the motor power of the RMG through frequency conversion technology. There are also studies that establish a simplified energy consumption model of a single device based on historical data to guide the resource allocation of the local area of the yard.
[0004] However, the prior art lacks systematic and collaborative modeling of the energy consumption of QC, AGV and RMG, making it difficult to select the optimal layout scheme. SUMMARY
[0005] The application provides a wharf yard layout optimization method, system, device and medium to at least solve the problem that the prior art lacks systematic and collaborative modeling of the energy consumption of QC, AGV and RMG, making it difficult to select the optimal layout scheme.
[0006] In a first aspect, the embodiments of the present application provide a wharf yard layout optimization method, which comprises the following steps: An energy consumption model of a double-trolley quay crane QC is established, and the single-container energy consumption of the double-trolley quay crane QC is calculated according to the operation capacity and power consumption rate of the double-trolley quay crane QC; An energy consumption model of an automated guided vehicle AGV is established, and the travel energy consumption of the automated guided vehicle AGV in the empty state and the loaded state is calculated respectively; An energy consumption model of a double-slewing rail-mounted gantry crane RMG is established, and the energy consumption model of the double-slewing rail-mounted gantry crane RMG includes an adverse wind operation energy consumption sub-model, a favorable wind operation energy consumption sub-model, a large car stationary state single cycle energy consumption model and a device idle speed energy consumption sub-model; For each column number layout scheme, the comprehensive single-container energy consumption is calculated based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV and the energy consumption model of the double-slewing rail-mounted gantry crane RMG; The optimal solution is the layout of the number of yard rows that minimizes the overall energy consumption per container.
[0007] Furthermore, the energy consumption model expression for the QC of the dual-trolley quay crane is as follows:
[0008] In the formula, The energy consumption of the j-th double-trolley quay crane QC is expressed in kWh. This indicates the container handling capacity of the j-th double-trolley quay crane QC, in TEUs (twenty-foot equivalent units). This represents the power consumption rate of the j-th dual-trolley quay crane QC, in kWh / cycle.
[0009] Furthermore, the energy consumption model expression for the automated guided vehicle (AGV) is as follows:
[0010] In the formula, The power consumption of the m-th Automated Guided Vehicle (AGV) is expressed in kWh; s represents the status of the AGV, with s=0 for no-load status and s=1 for loaded status. This represents the power consumption rate of the m-th automated guided vehicle (AGV) in state s, expressed in kWh / km. This represents the distance traveled by the m-th Automated Guided Vehicle (AGV) in state s.
[0011] Furthermore, in the headwind energy consumption sub-model: The expression for the energy consumption model of acceleration against the wind is:
[0012] In the formula, Indicates device RMG j The energy consumption for accelerated operation, expressed in kWh; For equipment RMG j Power requirements for operation against the wind, in kW; Indicates device RMG j Acceleration power requirement, in kW; Indicates device RMG j The power requirement for rotational inertia during acceleration, in kW; Indicates device RMG j The accelerated running time, in seconds; equipment RMG j The expression for the power requirement when operating against the wind is:
[0013] wherein, is the equipment RMG j experiences a friction load, in kn; m is the mass of the equipment RMG j , in t; is the rolling friction coefficient between the trolley mechanism and the track; g is the gravitational acceleration, 9.8 m / s 2 ; is the equipment RMG j experiences a wind load, in kn; is the wind pressure coefficient; S is the effective wind- facing area of the equipment RMG j , in m 2 ; is the wind pressure, in kPa; is the wind speed, in m / s; is the equipment RMG j experiences a slope load, in kn; is the slope resistance coefficient; is the equipment RMG j acceleration, in m / s 2 ; equipment RMG j The expression for the acceleration power requirement is:
[0014] wherein, is the equipment RMG j operates at a maximum speed; is the mechanical transmission efficiency; t is the time, in s; equipment RMG j The expression for the rotational inertia power requirement during acceleration is:
[0015] wherein, is the equipment RMG j rotational inertia of the trolley mechanism, in kg⋅m 2 ; is the rotational speed of the trolley mechanism motor, in rpm; The expression for the energy consumption model during uniform speed operation against the wind is:
[0016] wherein, denotes the device RMG j constant speed running energy consumption, in kwh; denotes the device RMG j constant speed running time, in s; The expression of the energy consumption model of the headwind deceleration running is:
[0017] wherein, denotes the device RMG j deceleration running energy consumption, in kwh; denotes the device RMG j deceleration power demand, in kw; denotes the device RMG j deceleration inertia power demand, in kw; denotes the device RMG j deceleration running time, in s; device RMG j The expression of the deceleration inertia power demand is:
[0018] device RMG j The expression of the deceleration power demand is:
[0019] wherein, is the device RMG j deceleration, in m / s 2 .
[0020] Further, in the energy consumption sub-model of the tailwind running: The expression of the tailwind acceleration running energy consumption model is:
[0021] wherein, denotes the device RMG i tailwind acceleration running energy consumption, in kwh; is the device RMG i tailwind running power demand, in kw; denotes the device RMG iAcceleration power demand in kw; Expression of the device RMG i Moment of inertia power demand during acceleration in kw; Expression of the device RMG i Acceleration power demand in kw; Expression of the device RMG i Acceleration running time in s; Device RMG i Expression of the power demand during downwind uniform speed running is:
[0022] Expression of the downwind uniform speed running energy consumption model is:
[0023] In the formula, Expression of the device RMG i Downwind uniform speed running energy consumption in kwh; Expression of the device RMG i Uniform speed running time in s; Expression of the downwind deceleration running energy consumption model is:
[0024] In the formula, Expression of the device RMG i Downwind deceleration running energy consumption in kwh; Expression of the device RMG i Deceleration power demand in kw; Expression of the device RMG i Moment of inertia power demand during deceleration in kw; Expression of the device RMG i Deceleration running time in s.
[0025] Further, the expression of the single cycle energy consumption model of the trolley in stationary state is:
[0026] In the formula, Expression of the RMG k Energy consumption in KWH; Expression of the RMG k Operation capacity on the yard container in Cycle; indicates the power consumption rate of the RMG, in KWH / Cycle. k indicates the power consumption rate of the RMG, in KWH / Cycle.
[0027] Further, the device idle energy consumption sub-model expression is:
[0028] In the formula, indicates the energy consumption of different devices; indicates the energy consumption of the device per unit time of waiting; indicates the idle time of different devices.
[0029] In a second aspect, the embodiments of the present application also provide a system applied to the port yard layout optimization method as described in the above aspects, and the system comprises: The energy consumption model construction module of the double-trolley quay crane QC is configured to establish an energy consumption model of the double-trolley quay crane QC, and calculate the single-container energy consumption of the double-trolley quay crane QC according to the operation capacity and power consumption rate of the double-trolley quay crane QC; The energy consumption model construction module of the automated guided vehicle AGV is configured to establish an energy consumption model of the automated guided vehicle AGV, and calculate the driving energy consumption of the automated guided vehicle AGV in the empty state and the loaded state, respectively; The energy consumption model construction module of the double-slewing rail-mounted gantry crane RMG is configured to establish an energy consumption model of the double-slewing rail-mounted gantry crane RMG, and the energy consumption model of the double-slewing rail-mounted gantry crane RMG comprises an adverse wind running energy consumption sub-model, a favorable wind running energy consumption sub-model, a single-cycle energy consumption model of the device in a stationary state, and a device idle energy consumption sub-model; The comprehensive single-container energy consumption calculation module is configured to calculate the comprehensive single-container energy consumption for each column number layout scheme based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV, and the energy consumption model of the double-slewing rail-mounted gantry crane RMG; The optimal scheme selection module is configured to select the yard column number layout scheme with the minimum comprehensive single-container energy consumption as the optimal scheme.
[0030] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the port yard layout optimization method as described in the above aspects when executing the program.
[0031] In a fourth aspect, a storage medium is provided, which stores a computer program, and the computer program implements the steps of the port yard layout optimization method as described in the above aspects when executed by a processor.
[0032] As can be seen from the above technical solutions, the present application has the following advantages: The wharf yard layout optimization method provided in the application establishes an energy consumption model of a double-trolley quay crane QC, an energy consumption model of an automatic guided vehicle AGV and an energy consumption model of the automatic guided vehicle AGV, realizes energy consumption linkage optimization of the three types of equipment in a yard operation chain, thereby accurately quantifying the total energy consumption under different column number layout schemes, determining the wharf yard longitudinal direction with the minimum total energy consumption as the optimal layout mode, and providing a reference for wharf yard construction. BRIEF DESCRIPTION OF DRAWINGS
[0033] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0034] Figure 1 A flowchart of a wharf yard layout optimization method provided by an embodiment of the present application. DETAILED DESCRIPTION
[0035] In order to make the application purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions protected by the present application will be described clearly and completely by using specific embodiments and drawings. Obviously, the following described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present patent.
[0036] The embodiment of the present application provides a wharf yard layout optimization method, which solves the technical problem that there is an urgent need for a systematized collaborative modeling of the energy consumption of QC, AGV and RMG three types of equipment, and it is difficult to select the optimal layout scheme.
[0037] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.
[0038] Figure 1 A flowchart of a wharf yard layout optimization method provided by an embodiment of the present application. As shown in Figure 1 The method provided by the embodiment of the present application includes the following steps: An energy consumption model of a double-trolley quay crane QC is established, and the single-box energy consumption is calculated according to the quay crane operation capacity and power consumption rate; An energy consumption model of an automatic guided vehicle AGV is established, and the driving energy consumption is calculated in the empty state and the loaded state respectively, and the energy consumption data is generated in combination with the speed and working time; An energy consumption model of the double-slewing rail-mounted gantry crane (RMG) is established, and energy consumption models of the gantry crane in headwind and tailwind operation and single-cycle energy consumption model of the gantry crane in static state are respectively constructed, and the idle energy consumption of the equipment is superimposed; For each column layout scheme, the comprehensive single-container energy consumption is calculated based on the energy consumption model of the double-slewing rail-mounted gantry crane (RMG), the energy consumption model of the double-slewing rail-mounted gantry crane (RMG), and the energy consumption model of the double-slewing rail-mounted gantry crane (RMG). The column layout scheme with the minimum comprehensive single-container energy consumption is selected as the optimal scheme.
[0039] As an example, the energy consumption model expression of the double-slewing rail-mounted gantry crane (RMG) is:
[0040] In the formula, represents the energy consumption of the jth double-slewing rail-mounted gantry crane (RMG) in KWH; represents the work capacity of the jth double-slewing rail-mounted gantry crane (RMG) for containers, in units of standard containers; represents the power consumption rate of the jth double-slewing rail-mounted gantry crane (RMG) in KWH / Cycle.
[0041] According to the embodiment of the present application, the energy consumption model expression of the double-slewing rail-mounted gantry crane (RMG) is:
[0042] In the formula, represents the energy consumption of the mth double-slewing rail-mounted gantry crane (RMG) in KWH; s represents the state of the double-slewing rail-mounted gantry crane (RMG), and the empty state is identified as s=0 and the loaded state is identified as s=1; represents the energy consumption rate of the mth double-slewing rail-mounted gantry crane (RMG) in state s in kwh / km; represents the running distance of the mth double-slewing rail-mounted gantry crane (RMG) in state s.
[0043] In an example embodiment, when establishing the energy consumption model of the RMG, the RMG is taken in different spans from the beginning of the RMG operation at the end of the yard, and the two RMGs move towards each other, that is, one is in tailwind operation and the other is in headwind operation, and both are empty during operation; the RMG load lifting energy consumption and load descending energy feedback model need to pay attention to the difference between full load and empty load, the full load is calculated according to the weight of the spreader+spreader upper rack+load, the empty load is calculated according to the weight of the spreader+spreader upper rack, and the load is calculated according to the average container weight throughout the year. In the headwind operation energy consumption sub-model of the double-slewing rail-mounted gantry crane (RMG): The expression of the headwind acceleration operation energy consumption model is:
[0044] In the formula, represents the equipment RMGj acceleration run energy consumption, in kwh; is the device RMG j power requirement for head run, in kw; is the device RMG j acceleration power requirement, in kw; is the device RMG j moment of inertia power requirement at acceleration, in kw; is the device RMG j acceleration run time, in s; is the device RMG j power requirement for head run is expressed as:
[0045] wherein, is the device RMG j friction load received, in kn; m is the mass of the device RMG j , in t; is the rolling friction coefficient between the gear mechanism and the track; g is the gravitational acceleration, 9.8 m / s 2 ; is the device RMG j wind load received, in kn; is the wind pressure coefficient; S is the effective windward area of the device RMG j , in m 2 ; is the wind pressure, in kPa; is the wind speed, in m / s; is the device RMG j slope load received, in kn; is the slope resistance coefficient; is the acceleration of the device RMG j , in m / s 2 ; is the device RMG j acceleration power requirement is expressed as:
[0046] wherein, is the device RMG jMaximum speed of operation; Mechanical transmission efficiency; t is time, in s; Device RMG j Expression of rotational inertia power demand when accelerating:
[0047] In the formula, Device RMG j Rotational inertia of the cart mechanism, in kg⋅m 2 ; Rotational speed of the cart mechanism motor, in rpm; Expression of energy consumption model when running at a constant speed against the wind:
[0048] In the formula, Device RMG j Energy consumption when running at a constant speed, in kwh; Device RMG j Time of running at a constant speed, in s; Expression of energy consumption model when decelerating against the wind:
[0049] In the formula, Device RMG j Energy consumption when decelerating, in kwh; Device RMG j Deceleration power demand, in kw; Device RMG j Rotational inertia power demand when decelerating, in kw; Device RMG j Time of decelerating, in s; Device RMG j Expression of rotational inertia power demand when decelerating:
[0050] Device RMG j Expression of deceleration power demand:
[0051] In the formula, Device RMGj deceleration of the device, in m / s 2 .
[0052] In the energy consumption model of sailing: The expression of the energy consumption model of sailing acceleration is:
[0053] wherein, denotes the device RMG i sailing acceleration energy consumption, in kwh; denotes the device RMG i power demand when sailing, in kw; denotes the device RMG i acceleration power demand, in kw; denotes the device RMG i inertia power demand when accelerating, in kw; denotes the device RMG i acceleration power demand, in kw; denotes the device RMG i acceleration running time, in s; denotes the device RMG i The expression of the power demand when sailing is:
[0054] The expression of the energy consumption model of sailing constant speed is:
[0055] wherein, denotes the device RMG i sailing constant speed energy consumption, in kwh; denotes the device RMG i constant speed running time, in s; The expression of the energy consumption model of sailing deceleration is:
[0056] wherein, denotes the device RMG i sailing deceleration energy consumption, in kwh; denotes the device RMG i deceleration power demand, in kw; representing device RMG i moment of inertia power requirement in deceleration, unit: kw; representing device RMG RMG i deceleration operation time, unit: s.
[0057] In an embodiment, the expression of the single cycle energy consumption model of the trolley static state is:
[0058] In the formula, representing RMG k energy consumption, unit: KWH; representing RMG k operation capacity for containers in the yard, unit: Cycle; representing RMG k power consumption rate, unit: KWH / Cycle.
[0059] The mutual waiting in the operation of the equipment needs to be considered, that is, the energy consumption of QC waiting for AGV, the energy consumption of AGV waiting for QC, the energy consumption of RMG waiting for AGV, and the energy consumption of AGV waiting for RMG. The expression of the idle speed energy consumption sub-model of the equipment is:
[0060] In the formula, representing energy consumption of different equipment; representing energy consumption of each waiting unit time of the equipment; representing idle time of different equipment.
[0061] The following is an embodiment of the terminal yard layout optimization system provided by the embodiment of the present disclosure. The terminal yard layout optimization system and the terminal yard layout optimization method of each embodiment described above belong to the same inventive concept. Details not described in the embodiment of the terminal yard layout optimization system can be referred to the embodiment of the terminal yard layout optimization method.
[0062] The system comprises: An energy consumption model construction module of the double-trolley quay crane QC is configured to establish an energy consumption model of the double-trolley quay crane QC, and calculate single-container energy consumption of the double-trolley quay crane QC according to operation capacity and power consumption rate of the double-trolley quay crane QC. An energy consumption model construction module of the automatic guided vehicle AGV is configured to establish an energy consumption model of the automatic guided vehicle AGV, and calculate driving energy consumption of the automatic guided vehicle AGV in an empty state and a loaded state, respectively. The energy consumption model construction module of the double-suspension rail-mounted gantry crane (RMG) is configured to establish an energy consumption model of the double-suspension rail-mounted gantry crane (RMG), and the energy consumption model of the double-suspension rail-mounted gantry crane (RMG) includes an energy consumption sub-model for running against the wind, an energy consumption sub-model for running with the wind, a single-cycle energy consumption model for a trolley in a stationary state, and an energy consumption sub-model for equipment idling; The comprehensive single-container energy consumption calculation module is configured to calculate comprehensive single-container energy consumption based on the energy consumption model of the double-trolley quay crane (QC), the energy consumption model of the automated guided vehicle (AGV), and the energy consumption model of the double-suspension rail-mounted gantry crane (RMG) for each number-of-columns layout scheme. The optimal scheme selection module is configured to select a yard number-of-columns layout scheme with minimum comprehensive single-container energy consumption as an optimal scheme.
[0063] The terminal yard layout optimization method provided by the embodiments of the present application can be applied to electronic devices. Those skilled in the art can understand that the electronic device structure involved in the embodiments of the present application does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than the illustration, or combine certain components, or different component arrangements. In the embodiments of the present application, the electronic device includes but is not limited to a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described herein and / or claimed.
[0064] The electronic device can include a processor, an external memory interface, an internal memory, a universal serial bus (USB) interface, a charge management module, a power management module, a battery, a wireless communication module, an audio module, a speaker, a microphone, a sensor module, a key, a camera, a display screen, and a SIM card interface, etc.
[0065] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device can include more or fewer components than the illustration, or combine certain components, or split certain components, or different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.
[0066] The processor can include one or more processing units, such as: the processor can include a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video code, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.
[0067] The processor can be the nerve center and command center of the electronic device. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.
[0068] The processor can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. The memory can save instructions or data that the processor has just used or repeatedly uses. If the processor needs to use the instruction or data again, it can be directly called from the memory. Avoiding repeated access reduces the waiting time of the processor, thus improving the efficiency of the system.
[0069] The external memory interface can be used to connect an external storage card, such as a MicroSD card, to realize the expansion of the storage capacity of the electronic device. The external storage card communicates with the processor through the external memory interface to realize the data storage function. For example, files such as music and video are saved in the external storage card.
[0070] The internal memory can be used to store computer executable program codes, which include instructions. The processor executes various functional applications and data processing of the electronic device by running the instructions stored in the internal memory. The internal memory can include a program storage area and a data storage area. The internal memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc.
[0071] The wireless communication function of the electronic device can be realized through an antenna, a wireless communication module, a modem processor, and a baseband processor, etc.
[0072] The wireless communication module can provide solutions for wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), and the like.
[0073] The electronic device can realize audio functions and the like through an audio module, a speaker, a receiver, a microphone, a headset interface, an application processor, and the like.
[0074] The electronic device can realize a shooting function through an ISP, a camera, a video codec, a GPU, a display screen, an application processor, and the like.
[0075] The electronic device can realize a display function through a GPU, a display screen, an application processor, and the like.
[0076] The GPU is a microprocessor for image processing, connected to the display screen and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor can include one or more GPUs that execute program instructions to generate or change display information.
[0077] The display screen is used to display images, videos, and the like. The display screen includes a display panel.
[0078] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.
[0079] The computer program product of the second aspect can include a computer readable storage medium. The computer readable storage medium can include instructions. The instructions can include those described above. The computer readable storage medium can be a transitory or a non-transitory computer readable medium. The computer readable storage medium can be a volatile memory or a non-volatile memory.
[0080] In several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, another division manner can be used. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.
[0081] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a sufficient understanding of embodiments of the application. However, one skilled in the relevant art will recognize that the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
[0082] The electronic device realizes the energy consumption model of the double-trolley quay crane QC, calculates the single-container energy consumption of the double-trolley quay crane QC according to the operation capacity and power consumption rate of the double-trolley quay crane QC, establishes the energy consumption model of the automated guided vehicle AGV, respectively calculates the driving energy consumption of the automated guided vehicle AGV in the empty state and the loaded state, establishes the energy consumption model of the double-slewing rail-mounted gantry RMG, the energy consumption model of the double-slewing rail-mounted gantry RMG includes the energy consumption sub-model of the adverse wind operation, the energy consumption sub-model of the favorable wind operation, the single-cycle energy consumption model of the large vehicle in the stationary state, and the energy consumption sub-model of the equipment idling, calculates the comprehensive single-container energy consumption based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV, and the energy consumption model of the automated guided vehicle AGV for each column number layout scheme, selects the yard column number layout scheme with the minimum comprehensive single-container energy consumption as the optimal scheme, establishes the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV, and the energy consumption model of the double-slewing rail-mounted gantry RMG, realizes the energy consumption linkage optimization of the three types of equipment in the yard operation chain, thereby accurately quantifying the total energy consumption under different column number layout schemes, determining the yard longitudinal direction with the minimum total energy consumption as the optimal layout mode, and providing a reference for the construction of the port yard.
[0083] In the storage medium provided in the application, a program product capable of realizing the port yard layout optimization method is stored.
[0084] The port yard layout optimization method comprises: establishing an energy consumption model of a double-trolley quay crane QC, calculating the single-container energy consumption of the double-trolley quay crane QC according to the operation capacity and power consumption rate of the double-trolley quay crane QC; establishing an energy consumption model of an automated guided vehicle AGV, respectively calculating the driving energy consumption of the automated guided vehicle AGV in the empty state and the loaded state; establishing an energy consumption model of a double-slewing rail-mounted gantry RMG, the energy consumption model of the double-slewing rail-mounted gantry RMG including an energy consumption sub-model of adverse wind operation, an energy consumption sub-model of favorable wind operation, a single-cycle energy consumption model of a large vehicle in a stationary state, and an energy consumption sub-model of equipment idling; calculating the comprehensive single-container energy consumption based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV, and the energy consumption model of the double-slewing rail-mounted gantry RMG for each column number layout scheme; and selecting the yard column number layout scheme with the minimum comprehensive single-container energy consumption as the optimal scheme.
[0085] The energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automated guided vehicle AGV, and the energy consumption model of the automated guided vehicle AGV are established, the energy consumption linkage optimization of the three types of equipment in the yard operation chain is realized, thereby accurately quantifying the total energy consumption under different column number layout schemes, determining the yard longitudinal direction with the minimum total energy consumption as the optimal layout mode, and providing a reference for the construction of the port yard.
[0086] In some possible implementation, the port yard layout optimization method of the present disclosure can be implemented in the form of a program product, which includes program codes for causing an end device to perform the steps described in the above "Exemplary Method" section of the present specification according to various exemplary embodiments of the present disclosure when the program product is run on the end device.
[0087] The storage medium of the present disclosure can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0088] The above description of disclosed embodiments enables one of ordinary skill in the art to make and use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
[0089] These changes, modifications, replacements, and variations of the embodiments made without departing from the principles and spirits of the present application still fall within the protection scope of the present application.
Claims
1. A method for optimizing a layout of a terminal yard, characterized in that, The method comprises the following steps: An energy consumption model of the double-trolley quay crane QC is established, and single-container energy consumption of the double-trolley quay crane QC is calculated according to the operation capacity and power consumption rate of the double-trolley quay crane QC; An energy consumption model of the automatic guided vehicle AGV is established, and driving energy consumption of the automatic guided vehicle AGV in the empty state and the loaded state is respectively calculated; An energy consumption model of the double-slewing rail-mounted gantry RMG is established, and the energy consumption model of the double-slewing rail-mounted gantry RMG comprises an energy consumption sub-model of running against the wind, an energy consumption sub-model of running with the wind, a single-cycle energy consumption model of the trolley in the stationary state, and an energy consumption sub-model of equipment idling; For each column number layout scheme, the single-container comprehensive energy consumption is calculated based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automatic guided vehicle AGV, and the energy consumption model of the double-slewing rail-mounted gantry RMG; The column number layout scheme with the minimum single-container comprehensive energy consumption is selected as the optimal scheme.
2. The method of claim 1, wherein, The energy consumption model expression of the double-trolley quay crane QC is as follows: In the formula, represents the energy consumption of the jth double-trolley quay crane QC, with the unit of KWH; represents the work capacity of the jth double-trolley quay crane QC to the container, with the unit of standard containers; represents the power consumption rate of the jth double-trolley quay crane QC, with the unit of KWH / Cycle.
3. The method of claim 2, wherein, The energy consumption model expression of the automatic guided vehicle AGV is as follows: In the formula, represents the power consumption of the mth automatic guided vehicle AGV, and the unit is KWH; s represents the state of the automatic guided vehicle, and the empty state is identified as s=0, and the loaded state is identified as s=1; represents the power consumption rate of the mth automatic guided vehicle AGV in the state s, and the unit is kwh / km; represents the running distance of the mth automatic guided vehicle AGV in the state s.
4. The method of claim 3, wherein, In the energy consumption sub-model of running against the wind: The expression of the energy consumption model of accelerating running against the wind is as follows: wherein indicates the device RMG j acceleration run energy consumption in kwh; is the device RMG j power demand for running against the wind in kw; indicates the device RMG j acceleration power demand in kw; indicates the device RMG j moment of inertia power demand at acceleration in kw; indicates the device RMG j acceleration run time in s; Device RMG j The expression for the power demand of the counterflow operation is: wherein is the device RMG j experiences a friction load, in kn; m is the mass of the device RMG j , in t; is the rolling friction coefficient between the cart mechanism and the track; g is the gravitational acceleration, 9.8 m / s 2 ; is the device RMG j experiences a wind load, in kn; is the wind pressure coefficient; S is the effective wind- facing area of the device RMG j , in m 2 ; is the wind pressure, in kPa; is the wind speed, in m / s; is the device RMG j experiences a ramp load, in kn; is the slope resistance coefficient; is the acceleration of the device RMG j , in m / s 2 ; Apparatus RMG j The expression for the acceleration power demand is: wherein is the device RMG j maximum speed of operation; is the mechanical transmission efficiency; t is time in s; Apparatus RMG j The expression for the power demand of the moment of inertia at acceleration is: In the formula, is a device RMG j Moment of inertia of the cart mechanism, unit kg⋅m 2 ; is the rotational speed of the cart mechanism motor, unit rpm; The expression of the energy consumption model of uniform speed running against the wind is as follows: In the formula, representing the device RMG j Energy consumption for uniform speed operation, in kwh; representing the device RMG j Uniform speed operation time, in s; The expression of the energy consumption model of decelerating running against the wind is as follows: wherein representing the device RMG j deceleration energy consumption in kwh; representing the device RMG j deceleration power demand in kw; representing the device RMG j deceleration moment of inertia power demand in kw; representing the device RMG j deceleration run time in s; Apparatus RMG j The expression for the power demand of the moment of inertia at deceleration is: Apparatus RMG j The expression for the deceleration power requirement is: In the formula, is the device RMG j deceleration, in m / s 2 .
5. The method of claim 4, wherein, In the energy consumption sub-model of running with the wind: The expression of the energy consumption model of accelerating running with the wind is as follows: wherein representing the device RMG i Energy consumption in kwh for a run-up; for the device RMG i Power demand in kw for a run-up; representing the device RMG i Power demand in kw for acceleration; representing the device RMG i Power demand in kw for acceleration inertia; representing the device RMG i Power demand in kw for acceleration; representing the device RMG i Run-up time in s; Apparatus RMG i The expression for the power demand of the downwind runtime is: The expression of the energy consumption model of uniform speed running with the wind is as follows: In the formula, Indicating device RMG i Energy consumption of windward uniform speed operation, unit: kwh; Indicating device RMG i Uniform speed operation time, unit: s; The expression of the energy consumption model of decelerating running with the wind is as follows: wherein representing the device RMG i downwind run energy consumption in kwh; representing the device RMG i deceleration power demand in kw; representing the device RMG i deceleration moment of inertia power demand in kw; representing the device RMG i deceleration run time in s.
6. The method of claim 5, wherein, The expression of the single-cycle energy consumption model of the trolley in the stationary state is as follows: In the formula, represents the energy consumption of the RMG k , in units of KWH; represents the operation capacity of the RMG k for the containers in the yard, in units of Cycle; represents the power consumption rate of the RMG k , in units of KWH / Cycle.
7. The method of claim 6, wherein, The expression of the energy consumption sub-model of equipment idling is as follows: wherein represents the energy consumption of different devices; represents the energy consumption of each waiting unit time of the device; represents the idling time of different devices.
8. A system applied to the method for optimizing the layout of a terminal yard according to any one of claims 1 to 7, characterized in that, The system comprises: An energy consumption model construction module of the double-trolley quay crane QC is configured to establish an energy consumption model of the double-trolley quay crane QC, and calculate single-container energy consumption of the double-trolley quay crane QC according to the operation capacity and power consumption rate of the double-trolley quay crane QC; An energy consumption model construction module of the automatic guided vehicle AGV is configured to establish an energy consumption model of the automatic guided vehicle AGV, and calculate driving energy consumption of the automatic guided vehicle AGV in the empty state and the loaded state respectively; An energy consumption model construction module of the double-slewing rail-mounted gantry RMG is configured to establish an energy consumption model of the double-slewing rail-mounted gantry RMG, and the energy consumption model of the double-slewing rail-mounted gantry RMG comprises an energy consumption sub-model of running against the wind, an energy consumption sub-model of running with the wind, a single-cycle energy consumption model of the trolley in the stationary state, and an energy consumption sub-model of equipment idling; A single-container comprehensive energy consumption calculation module is configured to calculate single-container comprehensive energy consumption based on the energy consumption model of the double-trolley quay crane QC, the energy consumption model of the automatic guided vehicle AGV, and the energy consumption model of the double-slewing rail-mounted gantry RMG for each column number layout scheme; An optimal scheme selection module is configured to select a column number layout scheme with the minimum single-container comprehensive energy consumption as the optimal scheme.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the port yard layout optimization method according to any one of claims 1-7 when executing the program.
10. A storage medium having stored thereon a computer program, characterized in that The computer program, when executed by a processor, implements the steps of the method for optimizing the layout of a terminal yard according to any one of claims 1 to 7.