Port transport vehicle scheduling method, system, equipment, medium and product

Abstract

The invention relates to the technical field of computers, in particular to a port transport vehicle scheduling method, system and device, a medium and a product. The method comprises the following steps: generating a corresponding event queue according to transport vehicle parameters, operation point group parameters and ship planned operation data, and processing each event in the event queue in sequence based on a preset time priority strategy and the event type of each event, thereby responding to each event processing operation. And determining the emergency degree value of each transport vehicle and the required number of the transport vehicles. And according to a preset two-stage scheduling strategy, a scheduling distribution scheme of each transport vehicle is generated in combination with the emergency degree value and the required number of transport vehicles, so that the operation point group and the quay crane to which each transport vehicle should be distributed are indicated, and the scheduling efficiency of the port transport vehicles is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, system, equipment, medium and product for scheduling port transport vehicles. Background Technology

[0002] With the growth of global trade volume, automated ports have become a core infrastructure for improving container throughput efficiency. As a key piece of equipment for horizontal transportation, the scheduling efficiency of Automated Guided Vehicles (AGVs) directly determines the overall operational capacity of ports.

[0003] However, traditional AGV scheduling technology generally adopts a static rule of "fixed quay crane - fixed number of AGVs" (e.g., "one quay crane corresponds to a fixed number of AGVs"), resulting in poor scheduling adaptability. It cannot dynamically adjust resource allocation based on the real-time loading and unloading needs and operational progress of the quay cranes, easily leading to idle AGVs or operational delays. Furthermore, traditional AGV scheduling technology lacks a multi-device coordination mechanism when scheduling multiple quay cranes, making it difficult to balance the resource needs of multiple quay cranes within the same group. Simultaneously, traditional AGV scheduling technology has weak dynamic task processing capabilities. Especially in port operations where frequent temporary task adjustments occur (such as changes in vessel schedules), traditional technology requires manual revision of the scheduling plan, resulting in long response times and failing to meet "minute-level" adjustment needs. This not only increases operating costs but also reduces the flexibility and reliability of port operations.

[0004] Therefore, there is an urgent need for a port transport vehicle scheduling method to improve the scheduling efficiency of port transport vehicles. Summary of the Invention

[0005] This invention provides a method, system, equipment, storage medium, and program product for scheduling port transport vehicles, in order to improve the scheduling efficiency of port transport vehicles.

[0006] Firstly, this application provides a port transport vehicle scheduling method, the method comprising:

[0007] Based on the parameters of the transport vehicle, the parameters of the work point group, and the planned operation data of the vessel, a corresponding event queue is generated; each event in the event queue corresponds to one of the following event types: loading and unloading operation event of each quay crane, task completion event of each work point group, and charging event of each transport vehicle.

[0008] Based on the preset time priority strategy and the event type of each event, each event in the event queue is processed in sequence, and in response to each event processing operation, the urgency value of each transport vehicle and the required number of transport vehicles are determined.

[0009] Based on a preset two-level scheduling strategy, and combined with the urgency value and the required number of transport vehicles, a scheduling allocation scheme for each transport vehicle is generated; the scheduling allocation scheme is used to indicate the work point group and quay crane to which each transport vehicle should be assigned.

[0010] Secondly, this application provides a port transport vehicle system, the system comprising:

[0011] The data input module is used to acquire scheduling data, which includes transport vehicle parameters, work point group parameters, and vessel planned operation data.

[0012] The event management module is used to generate corresponding event queues based on the scheduling data; each event in the event queue corresponds to one of the following event types: loading and unloading operation events of each quay crane, task completion events of each work point group, and charging events of each transport vehicle.

[0013] Based on the preset time priority strategy and the event type of each event, each event in the event queue is processed in sequence, and in response to each event processing operation, the urgency value of each transport vehicle and the required number of transport vehicles are determined.

[0014] The two-level scheduling module is used to generate a scheduling allocation scheme for each transport vehicle based on a preset two-level scheduling strategy, combined with the urgency value and the required number of transport vehicles; the scheduling allocation scheme is used to indicate the work point group and quay crane to which each transport vehicle should be assigned.

[0015] Optionally, the event management module is specifically used for:

[0016] Based on the transport vehicle parameters, the work point group parameters, and the ship's planned operation data, the relationship between the work point group, the quay crane, and the transport vehicle loading and unloading operations is determined.

[0017] Based on the aforementioned relationships, corresponding events are created for each quay crane and each work site group;

[0018] Based on a preset heap sort strategy, events are sorted by time priority to obtain the event queue.

[0019] Optionally, the event management module is specifically used for:

[0020] Based on the order of time priority, each event in the event queue is retrieved sequentially;

[0021] Based on the time difference between the current event and the previous event, update the corresponding transport vehicle status data and operation progress;

[0022] Based on the event type of the current event, perform the corresponding event handling operation.

[0023] Optionally, the two-level scheduling strategy includes work point group-level scheduling and quay crane-level scheduling. Work point group-level scheduling represents inter-group scheduling based on the urgency of each work point group. Quay crane-level scheduling represents intra-group scheduling based on the required number of transport vehicles for each quay crane within the group. Specifically, the two-level scheduling module is used for:

[0024] The urgency level of each work site group is determined based on the remaining workload, remaining work time, and shortage of transport vehicle resources.

[0025] Based on the order of urgency of each work point group, the idle transport vehicles are sequentially allocated to each work point group to obtain the work point group scheduling result of the scheduling allocation scheme.

[0026] For each work site group, based on the real-time loading and unloading volume and work time window of the quay cranes within the group, the required number of transport vehicles for each quay crane is determined, and each idle transport vehicle is reallocated to the corresponding quay crane to obtain the quay crane scheduling result of the scheduling and allocation scheme.

[0027] Optionally, if the loading and unloading operation events for each quay crane include operation start events and operation end events, then the event management module is specifically used for:

[0028] When the event type is an operation start event, the corresponding work point group and quay crane are activated, and the idle transport vehicle is dispatched to the target quay crane in the work point group;

[0029] When the event type is an operation completion event, the excess transport vehicle is released and the excess transport vehicle is reassigned to other quay cranes in the work site group that require them.

[0030] Optionally, if the charging events for each transport vehicle include charging completion events and low battery events, then the event management module is specifically used for:

[0031] When the event type is a charging completion event, the status of the corresponding transport vehicle is updated to idle status, and the termination time and termination charge in the charging log are updated to trigger rescheduling.

[0032] When the event type is a low battery event, the battery level of each transport vehicle in its working state is checked, and the transport vehicles with battery levels below a preset threshold are released and scheduled to charge.

[0033] Optionally, when the event type is the task completion event, the event management module is specifically used for:

[0034] Release all transport vehicles in the corresponding work point group, update the termination time in the corresponding charging log, and remove the corresponding work point group from the active list.

[0035] Thirdly, this application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the port transport vehicle scheduling methods described in the first aspect above.

[0036] Fourthly, this application provides a computer storage medium storing computer program instructions, which are executed by a processor using any one of the port transport vehicle scheduling methods described in the first aspect above.

[0037] Fifthly, an embodiment of this application provides a computer program product including computer program instructions, which, when executed by a processor, implement any one of the port transport vehicle scheduling methods described in the first aspect above.

[0038] The beneficial effects of this invention are as follows:

[0039] This application provides a port transport vehicle scheduling method, system, equipment, medium, and product. The method generates corresponding event queues based on transport vehicle parameters, work site group parameters, and vessel planned operation data. Based on a preset time priority strategy and the event type of each event, it processes each event in the event queue sequentially, thereby determining the urgency value and required number of transport vehicles in response to each event processing operation. According to a preset two-level scheduling strategy, combined with the urgency value and the required number of transport vehicles, a scheduling allocation scheme for each transport vehicle is generated to indicate the work site group and quay crane to which each transport vehicle should be assigned, thereby improving the scheduling efficiency of port transport vehicles. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a port transport vehicle scheduling method provided in this application embodiment;

[0042] Figure 2 This is a schematic diagram of the configuration parameters for input data provided in an embodiment of this application;

[0043] Figure 3 This application provides a schematic representation of the data format for a Container Working Plan (CWP) configuration parameter.

[0044] Figure 4 This is a schematic diagram of another CWP configuration parameter provided in an embodiment of this application;

[0045] Figure 5 A schematic diagram illustrating the allocation of AGV quantity to each work point group, provided in an embodiment of this application;

[0046] Figure 6 This application provides a schematic diagram of the dynamic allocation of AGVs for a quay crane in an embodiment of the present application.

[0047] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0049] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and this application does not impose limitations.

[0050] The term "and / or" in the embodiments of this application is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0051] It is understood that the following specific embodiments of this application involve data related to port logistics, etc. When the various embodiments of this application are applied to specific products or technologies, relevant licenses or consents are required, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, relevant volunteers can be recruited and agreements can be signed to authorize their data, thereby enabling the implementation using the data of these volunteers; or, implementation can be carried out within the authorized scope of an organization, using data from members within the organization to implement the following implementation methods for data management; or, the relevant data used in the specific implementation may be simulated data, such as simulated data generated in a virtual scene.

[0052] The design concept of the embodiments of this application will be briefly introduced below.

[0053] With the growth of global trade, automated ports have become a core infrastructure for improving container throughput efficiency. As a key piece of horizontal transport equipment, the scheduling efficiency of AGVs directly determines the overall operational capacity of ports.

[0054] However, current traditional AGV scheduling technologies in the industry generally adopt a static rule of "fixed quay crane - fixed number of AGVs" (e.g., "one quay crane corresponds to a fixed number of AGVs"), resulting in poor scheduling adaptability. This makes it impossible to dynamically adjust resource allocation based on the real-time loading and unloading needs and operational progress of the quay cranes, easily leading to idle AGVs or operational delays. Furthermore, traditional AGV scheduling technologies lack multi-device collaboration mechanisms when scheduling across quay cranes, making it difficult to balance the resource demands of multiple quay cranes within the same group. Simultaneously, traditional AGV scheduling technologies have weak dynamic task processing capabilities, especially when frequent temporary task adjustments occur in port operations (such as changes in vessel schedules). Traditional technologies require manual revision of scheduling plans, resulting in long response times and failing to meet "minute-level" adjustment needs. This not only increases operating costs but also reduces the flexibility and reliability of port operations. On the other hand, traditional technologies also have technical deficiencies in battery management and priority decision-making. Traditional AGV charging strategies are often crude, based on simple threshold triggers, without considering the AGV's operating characteristics and operational needs. This easily leads to AGVs running out of power and causing interruptions, or overcharging and wasting resources. Furthermore, traditional scheduling decisions rely heavily on human experience and lack quantitative evaluation standards (such as task urgency and resource gaps), making it difficult for urgent tasks to receive priority AGV support and prolonging the overall operation cycle.

[0055] In view of the above problems, embodiments of this application provide a port transport vehicle scheduling method, system, equipment, medium, and product. The method generates corresponding event queues based on transport vehicle parameters, work point group parameters, and vessel planned operation data. Based on a preset time priority strategy and the event type of each event, it processes each event in the event queue sequentially, thereby determining the urgency value and required number of transport vehicles in response to each event processing operation. According to a preset two-level scheduling strategy, combined with the urgency value and required number of transport vehicles, a scheduling allocation scheme for each transport vehicle is generated to indicate the work point group and quay crane to which each transport vehicle should be assigned, thereby improving the scheduling efficiency of port transport vehicles.

[0056] Furthermore, this application embodiment also provides a port transport vehicle scheduling system. Through two-level scheduling of "work point group - quay crane," event-driven dynamic adjustment, refined battery management, and dynamic task adaptation, it achieves optimal allocation of AGV resources, thereby solving the problems of poor adaptability of static allocation, extensive battery management, slow dynamic task response, weak multi-device collaboration, and singular decision-making in existing AGV scheduling technologies. This application embodiment provides an intelligent scheduling scheme for AGV container pools that can dynamically match quay crane needs, ensure continuous AGV operation, support temporary tasks, and take into account multi-dimensional optimization objectives. Specifically, it includes: 1) dynamically adjusting AGV resources according to operational needs to avoid local idleness or shortages; 2) constructing a multi-device hierarchical collaboration mechanism to improve the scheduling efficiency of AGVs between work point groups and quay cranes; 3) quickly responding to dynamic task adjustments and automatically updating the scheduling scheme to adapt to changes in port operations; 4) refined management of AGV battery status to reduce operational interruption rates and charging resource waste; and 5) quantifying operational priorities to ensure that urgent tasks receive priority AGV resource support.

[0057] The method provided by the exemplary embodiments of this application will now be described with reference to the accompanying drawings. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited in any way.

[0058] Please refer to Figure 1 The following is a flowchart illustrating a port transport vehicle scheduling method provided in an embodiment of this application. The specific implementation process of this method is as follows:

[0059] Step 101: Generate the corresponding event queue based on the transport vehicle parameters, work point group parameters, and ship planned operation data.

[0060] In this embodiment, basic data and work plans required for scheduling are acquired to support subsequent scheduling decisions. These data may include AGV parameter data, work point group parameter data, and vessel planned operation data (CWP). Based on the aforementioned scheduling data and work plans, corresponding events are created for each quay crane operation and work point group, and an event queue is constructed by sorting by timestamp. Thus, in the event queue obtained in this application, each event has a corresponding event type and timestamp. Event types may include loading and unloading operation events for each quay crane, task completion events for each work point group, and charging events for each transport vehicle, thereby providing a data foundation for subsequent scheduling and allocation.

[0061] Specifically, in this embodiment, multiple quay cranes constitute a work point group, and multiple AGVs serving the same work point group constitute a corresponding truck pool. AGV parameter data may include the number of dispatchable transport vehicles, transport vehicle battery capacity, charging rate, charging target threshold, minimum battery threshold, and energy consumption characteristics corresponding to each loading and unloading mode; work point group parameter data may include the loading and unloading mode of the work point group, and the AGV loading and unloading efficiency under the corresponding loading and unloading mode. For example, the loading and unloading mode may include a dual-operation cycle mode of loading and unloading simultaneously and a single-operation cycle mode of not loading and unloading simultaneously. Among them, simultaneous loading and unloading is a highly efficient mode in automated ports. Its core is to allow AGVs to handle both "unloading" and "loading" tasks simultaneously in a single round trip, eliminating wasted time. Non-simultaneous loading and unloading is a more basic operating mode, where the AGV performs only one direction of task at a time: "unloading → delivery to the yard" or "yard → loading." The process is simpler but less efficient. CWP data includes the corresponding work point group for the vessel and the specific operations of the quay cranes, such as the loading / unloading type, volume, efficiency, start and end times for each quay crane. Furthermore, this application can also obtain dynamic task data, i.e., temporarily added quay crane operation tasks (including loading / unloading requirements and time windows).

[0062] In one possible implementation, this application embodiment will determine the relationship between the work point group, the quay crane, and the loading and unloading operations of the transport vehicle based on scheduling data such as transport vehicle parameters, work point group parameters, and ship planned operation data. This will create corresponding events for each quay crane and each work point group, and sort the events by time priority using a preset heap sorting strategy to obtain an event queue.

[0063] Specifically, this application embodiment will use a heap sort algorithm to manage the priority of the event queue for initialization, storage, and processing. Event initialization refers to creating corresponding events for each quay crane operation and work point group according to the work plan, and constructing the event queue by timestamp. Event-driven execution refers to processing events sequentially according to time priority, triggering scheduling actions such as AGV allocation, release, and charging, and synchronously updating the work progress and equipment status.

[0064] In one possible implementation, the embodiments of this application can also use an AGV status monitoring module to track the working status of the AGV, its current work group, the quay crane it serves, and the battery level in real time, and record an AGV work log that includes the start and end times associated with the AGV and the work group, as well as a charging log that includes the start and end times of charging, the starting power level, and the ending power level.

[0065] Specifically, in this embodiment of the application, the AGV status can be initialized. For example, the initial battery power of the Jia'ang AGV is randomly set to 70~100 units, the status is set to "idle", the work point group and the service quay crane are set to "None", and an "operation start event" and "operation end event" are created for the loading and unloading operation of each quay crane, a "work point group end event" is created for each work point group, and a "battery low power event" is added to the event queue. The loading and unloading operation progress (initially 0) and the minimum AGV requirement for operation are initialized.

[0066] Step 102: Based on the preset time priority strategy and the event type of each event, process each event in the event queue in sequence.

[0067] In this embodiment of the application, after the event queue is generated, each event will be processed sequentially according to the time priority order between events and the event type of each event.

[0068] In one possible implementation, this application embodiment will sequentially acquire each event in the event queue according to the order of time priority, update the corresponding transport vehicle status data and operation progress by using the time difference between the current event and the previous event, and perform corresponding event processing operations according to the event type of the current event.

[0069] Specifically, in this embodiment of the application, when the current time is less than the total simulation time (e.g., 48 hours) and the event queue is not empty, the earliest event in the event queue (including event time, event type, and event data) will be obtained, and the time difference between the current time and the last event time will be calculated. The AGV working process within the time difference will be simulated, such as updating the AGV battery power (deducting the energy consumption rate according to the assembly and unloading mode of the work point), calculating the loading and unloading operation progress, updating the current time to the event time, and processing the event according to the event type.

[0070] In one possible implementation, the loading and unloading operation events of each quay crane in this application embodiment may include an operation start event (quay crane operation initiated) and an operation end event (quay crane operation completed). Therefore, when the event type of the pending event is an operation start event, this application can activate the corresponding work point group and quay crane, and dispatch idle transport vehicles to the target demand quay crane in the work point group (e.g., prioritize idle AGVs in the group, and allocate from the idle AGV pool if insufficient); when the event type of the pending event is an operation end event, this application will release excess transport vehicles (e.g., recalculate the demand based on the current remaining loading and unloading volume, and release the excess portion), and redistribute the excess transport vehicles to other demand quay cranes in the work point group.

[0071] In one possible implementation, the charging events for each transport vehicle in this application embodiment include a charging completion event (AGV charging ends) and a low battery event (AGV needs charging). When the event type is a charging completion event, this application can update the status of the corresponding transport vehicle to an idle state and update the termination time and termination battery level in the charging log to trigger rescheduling; and when the event type is a low battery event, perform a battery level check on each transport vehicle in its working state, and release and schedule transport vehicles with battery levels below a preset threshold to the charging state.

[0072] In one possible implementation, in this embodiment of the application, when the event type is a task completion event (all tasks in the work point group are completed), all transport vehicles in the corresponding work point group can be released, the termination time in the corresponding charging log can be updated, and the corresponding work point group can be removed from the active list.

[0073] Step 103: In response to each event handling operation, determine the urgency value of each transport vehicle and the required number of transport vehicles.

[0074] Step 104: Based on the preset two-level scheduling strategy, combined with the urgency value and the number of transport vehicles required, generate a scheduling and allocation scheme for each transport vehicle.

[0075] In this embodiment of the application, after each event is processed, the urgency value of each transport vehicle and the required number of transport vehicles will be determined, so as to perform two-level scheduling of AGVs and generate a scheduling allocation scheme.

[0076] In one possible implementation, the two-level scheduling strategy in this application includes work point group-level scheduling and quay crane-level scheduling. Work point group-level scheduling represents inter-group scheduling based on the urgency of each work point group. Quay crane-level scheduling represents intra-group scheduling based on the number of transport vehicles required by the quay cranes within each work point group.

[0077] Specifically, in this embodiment, active work point groups can be selected, their urgency calculated and sorted in descending order. Idle AGVs in the truck pool are preferentially allocated to work point groups with high urgency until all idle AGVs are exhausted or the work point group's demand is met, thus achieving work point group-level scheduling. Furthermore, for each active work point group, the AGV demand of each quay crane within the group is calculated, and idle AGVs not yet assigned to a specific quay crane are allocated to the quay crane with the highest demand, thus achieving quay crane-level scheduling.

[0078] In one possible implementation, embodiments of this application can determine the urgency of each work point group by considering its remaining workload, remaining operating time, and the shortage of transport vehicle resources. Idle transport vehicles are then allocated to each work point group sequentially based on their urgency levels. For each work point group, the required number of transport vehicles for each quay crane is determined based on the real-time loading / unloading volume and operating time window of the quay cranes within the group, and idle transport vehicles are then reallocated to the corresponding quay cranes.

[0079] Specifically, in the job group-level scheduling of this application embodiment, the urgency priority of each job group can be calculated using a weighted urgency (Ur) evaluation algorithm, and the calculation formula is as follows:

[0080]

[0081]

[0082]

[0083]

[0084] Among them, w r The remaining loading and unloading volume of the work site group is given by k, which is the normalized baseline loading and unloading volume. The value of k is determined according to the actual situation. ;

[0085] w t The remaining time for the work group is denoted as m, where m is the normalized baseline remaining time, and its value depends on the actual situation. ;

[0086] p s N is the penalty item for AGV deficiency. req N represents the required number of AGVs. alloc The number of AGVs already allocated, with a value ranging from 0 to 1;

[0087] In summary, after the calculation is completed, this application allocates idle AGVs from the truck pool in descending order of urgency. The formula for calculating the required number of AGVs (Nreq) is as follows:

[0088]

[0089]

[0090]

[0091]

[0092] in, Minimum AGV requirements for a single-shore bridge

[0093] op_id is the specific number of the loading and unloading quay crane, T is the total loading and unloading operation time, and q is the loading and unloading volume.

[0094] This represents the remaining loading and unloading capacity for the quay crane operations. This represents the remaining operation time for the quay crane. For loading and unloading efficiency, The amount of work completed for the quay crane operation. t is the end time of the quay crane operation. now This is the current scheduling time.

[0095] Specifically, the quay crane level scheduling in this application embodiment can use a greedy reallocation algorithm to filter idle AGVs that have not been assigned to a specific quay crane within the work point group, and prioritize their allocation to the quay crane with the largest AGV demand gap, until the idle AGVs in the group are exhausted or the quay crane demand is met.

[0096] The formula for calculating the demand gap for a single AGV quay crane can be as follows:

[0097]

[0098] Where, N req,qc For the demand of gantry crane AGVs, N alloc,qc The number of AGVs already allocated;

[0099] Thus, by filtering the idle AGVs that are not tied to the quay crane within the work site group, this application will allocate them in descending order of gaps until the AGVs are exhausted or the gaps are filled.

[0100] In one possible implementation, this application also provides a port transport vehicle dispatching system, the system comprising:

[0101] The data input module is used to acquire scheduling data.

[0102] The event management module is used to generate corresponding event queues based on scheduling data.

[0103] Based on the preset time priority strategy and the event type of each event, each event in the event queue is processed in sequence, and each event processing operation is responded to to determine the urgency value of each transport vehicle and the required number of transport vehicles.

[0104] The two-level scheduling module is used to generate a scheduling and allocation scheme for each transport vehicle based on a preset two-level scheduling strategy, combined with the urgency value and the required number of transport vehicles.

[0105] Specifically, in this embodiment, the data input module is responsible for loading the basic data and work plans required for scheduling, providing support for subsequent scheduling decisions; the event management module uses a priority queue mechanism to manage various work and equipment events, ensuring that the scheduling process is executed in an orderly manner according to the timeline. Its core functions include defining event types, event initialization, and event-driven execution. The two-level scheduling module is responsible for constructing a two-level hierarchical scheduling mechanism of "work point group level (AGV pool allocation) - quay crane level (intra-group reallocation)" to achieve optimized allocation of AGV resources.

[0106] It is worth mentioning that the system can be used to execute the methods shown in the various embodiments of this application. Therefore, the functions that each functional module of the system can achieve can be referred to the description of the foregoing embodiments, and will not be repeated here.

[0107] In one possible implementation, the system in this application embodiment further includes an AGV status monitoring module, which is used to track the working status of the AGV, the current work point group to which it belongs, the quay crane it serves, and the battery level in real time, and to record the AGV's work log: including the start and end times associated with the AGV and the work point group, and the charging log: including the charging start and end times, the initial power level, and the final power level.

[0108] In one possible implementation, the two-level scheduling module in this application embodiment may include a work point group-level scheduling unit and a quay crane-level scheduling unit, which respectively employ a weighted urgency assessment algorithm and a greedy reallocation algorithm. The work point group-level scheduling unit is used to allocate AGV resources based on the urgency of the work point group, while the quay crane-level scheduling unit is used to reallocate idle AGVs within the work point group according to the real-time loading and unloading needs of the quay crane.

[0109] In one possible implementation, the system in this application embodiment further includes a dynamic task processing module, which is used to receive dynamic CWP tasks (including the loading and unloading type, loading and unloading volume, start and end time of newly added quay cranes), update the time window (earliest start time, latest end time), event queue and operation list of the work point group, recalculate AGV demand, and trigger rescheduling.

[0110] Specifically, the dynamic task processing module supports the rapid access of temporary tasks and the updating of scheduling schemes. Its core processes include task access, event adjustment, and rescheduling. Task access refers to receiving new tasks (such as temporary loading tasks added to the quay crane) and updating the time windows (earliest start time and latest end time) of the corresponding work point group. Event adjustment refers to deleting the original end events of the work point group, creating operation start / end events for the new task, and updating the event queue. Rescheduling refers to recalculating the AGV requirements of the work point group and the quay crane based on the updated work plan, triggering a two-level scheduling mechanism to adjust resource allocation, and ensuring that new tasks are seamlessly integrated into the existing scheduling process.

[0111] In one possible implementation, the system in this application embodiment further includes a charging management module for realizing refined management of AGV batteries, avoiding operation interruption and resource waste.

[0112] Specifically, the charging management module in this application has functions such as low battery triggering, charging scheduling, and post-charging reuse. Among them, the low battery triggering can monitor the AGV battery status in real time, and when the battery level is lower than a preset threshold, it triggers the AGV release process to remove the AGV from the operation.

[0113] Furthermore, the charging management module's charging scheduling function can calculate the required charging time based on the AGV's current power level and the charging target, create a charging completion event, schedule the AGV to the charging area, and calculate the charging time using the following formula:

[0114]

[0115] in, The maximum charging time is set. The amount of electricity used when the AGV is triggered to charge; Set the target charging amount for the AGV, and after charging is complete, restore the AGV to an idle state and reintegrate it into the truck pool.

[0116] Furthermore, the charging management module's post-charging reuse function can automatically restore the AGV to an idle state after charging is completed, and rejoin the truck pool, where it can be assigned new work tasks through a two-level scheduling mechanism.

[0117] For ease of description, the above sections are divided into functional units (or modules) and described separately. Of course, in implementing this application, the functions of each unit (or module) can be implemented in one or more software or hardware components. Those skilled in the art will understand that various aspects of this application can be implemented as systems, methods, or program products. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as "circuit," "module," or "system."

[0118] In one possible implementation, this application embodiment will combine a typical automated port operation scenario (taking 10 ships, 15 quay cranes, and 100 AGVs as an example) to describe in detail the implementation process of this application embodiment, including the implementation environment, detailed steps, parameter configuration, and verification cases, to ensure that the technical solution is repeatable and feasible:

[0119] The port transport vehicle scheduling system in this embodiment can load AGV parameter data, work point group parameter data, and CWP vessel planned operation data through the data input module, parse the correlation between work point group, quay crane, and loading / unloading operations, and initialize the AGV status. For example, the initial battery power of the AGV is randomly set to 70-100 units, the status is set to "idle," and the associated work point group and quay crane are set to "None." For details, refer to... Figure 2 The diagram shown illustrates the configuration parameters of input data provided in an embodiment of this application. The input data defines AGC-related parameters, such as indicating that the total number of schedulable AGVs (NAGV) is 100, the total number of quay cranes to be operated (NQCS) is 15, and the total scheduling time (Ttotal) is 48 hours; energy consumption and charging parameters, such as the maximum charging time T. c, max 3. Low battery threshold B min 20, Target charging amount B targe t is 80, charging rate r c The efficiency parameter is 25; for example, the efficiency of loading and unloading simultaneously is 25, and the efficiency of non-loading and unloading simultaneously is 20. In addition, the codes for each event type are defined, such as the quay crane loading and unloading start event is 1, the quay crane loading and unloading end event is 2, the AGV charging completion event is 3, the AGV low battery event is 4, and the work point assembly and unloading completion event is 5, which provides a data foundation for initializing the event queue and subsequent two-level scheduling.

[0120] Further reference Figure 3 and Figure 4 The figures shown are a data format table and a data format diagram of a CWP configuration parameter provided in an embodiment of this application. Figure 3The CWP data demonstrates that it can include information such as the quay crane number (e.g., QC01, QC13, QC04), the work group it belongs to (e.g., Group_1, Group_2, Group_3, Group_10), the loading / unloading type (unload or load), the operation start time (ranging from 0 to 30), the operation end time (ranging from 2 to 32), and the loading / unloading quantity (all 150 units). This clarifies the work group to which each quay crane belongs, the type of loading / unloading task it undertakes, the operation time window, and the total operation volume, thus determining the relationship between the work group, the quay crane, and the loading / unloading operation, and providing a data foundation for initializing the event queue and subsequent two-level scheduling. Figure 4 The presentation further visually illustrates the operational tasks of the three quay cranes, QC01, QC02, and QC03. The horizontal axis represents the quay crane number, and the vertical axis represents the operational time period. Each colored block represents the container loading / unloading volume (blue for loading) or unloading volume (orange for unloading). For example, QC01 has a loading and unloading volume of 150 TEU; QC02 has loading volumes of 180 TEU, 100 TEU, and 150 TEU from top to bottom, and an unloading volume of 100 TEU; QC03 has no loading task, and its unloading volumes are 100 TEU, 100 TEU, and 150 TEU from top to bottom.

[0121] Next, the event management module creates "Operation Start Event" and "Operation End Event" for each quay crane's loading and unloading operation, and "Operation Group End Event" for each work group. A "Low Battery Event" is added to the event queue, and the loading and unloading operation progress is initialized (initially 0) and the minimum AGV requirement is set. In the event-driven main loop scenario, when the current time is less than the total simulation time (48 hours) and the event queue is not empty, the system retrieves the earliest event (event time, event type, event data) from the event queue, calculates the time difference between the current time and the previous event time, simulates the AGV's work process within the time difference, updates the current time to the event time, and processes the event according to its type. After each event processing, two levels of scheduling—work group-level scheduling and quay crane-level scheduling—are executed. As the time window progresses, dynamic CWP tasks are automatically loaded, and the dynamic task processing module updates the work group data, event queue, and operation list, triggering rescheduling. In this way, the above scheduling process is repeated until the total simulation time ends, and the number of AGVs allocated to each work point group and the work time period, the number of AGVs allocated to each quay crane, the AGV charging time period, the loading and unloading operation completion rate and the AGV utilization rate are output, thereby recording and outputting the results.

[0122] For details, please refer to Figure 5 and Figure 6The figures shown are a schematic diagram of the AGV allocation quantity for each work point group according to an embodiment of this application, and a schematic diagram of the dynamic AGV allocation quantity for a quay crane. Among them, Figure 5 This chart shows the dynamic allocation of AGV resources for Group_7 over a time interval of 13 to 23 hours. The vertical axis represents the number of AGVs, and the horizontal axis represents time (hours). The red dashed line represents the estimated minimum required AGVs, which gradually decreases from 7 AGVs in 13 hours to 2 AGVs in 23 hours. The green bars represent the actual number of allocated AGVs, and their fluctuation trend closely matches the minimum demand line. Figure 5 This verifies that the system in this application embodiment can dynamically adjust the number of AGVs allocated according to the real-time needs of the work group, ensuring that the actual allocation always covers the minimum demand, thus guaranteeing work progress while avoiding resource waste. Furthermore, Figure 6 This chart illustrates how the number of AGVs allocated to the quay crane QC01 (belonging to Group_1) changes over time. The vertical axis represents the number of AGVs, and the horizontal axis represents time (hours). The blue bars represent the number of AGVs. It clearly shows that during the 0-4 hour period, 3 AGVs are allocated to QC01. During the 20-24 hour period, the number of AGVs is also 3. However, during the critical operation period from 4 to 20 hours, the number of AGVs dynamically increases to 4. Obviously, within the Group_1 operation point group, this system can dynamically adjust the number of AGVs allocated to the quay crane QC01 according to the actual needs of the quay crane in different operation periods, thereby achieving precise balance and efficient utilization of resources within the group.

[0123] Please see Figure 7 As shown, based on the same technical concept, this application also provides a computer device 70. In one embodiment, this computer device can be a device specifically for intelligent scheduling of port AGVs, or it can be a device for overall control of port logistics. The computer device is as follows... Figure 7 As shown, it includes a memory 701, a communication module 703, and one or more processors 702.

[0124] The memory 701 is used to store computer programs executed by the processor 702. The memory 701 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and programs required to run instant messaging functions, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0125] Memory 701 may be volatile memory, such as random-access memory (RAM); memory 701 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 701 may be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 701 may be a combination of the above-described memories.

[0126] The processor 702 may include one or more central processing units (CPUs) or digital processing units, etc. The processor 702 is used to implement the aforementioned port transport vehicle scheduling method when it calls the computer program stored in the memory 701.

[0127] The communication module 703 is used to communicate with the distributed system.

[0128] This application embodiment does not limit the specific connection medium between the memory 701, communication module 703, and processor 702 described above. This application embodiment... Figure 7 The memory 701 and the processor 702 are connected via a bus 707, which is in... Figure 7 The diagram uses thick lines to describe the components. The connections between other components are for illustrative purposes only and should not be considered limiting. The 707 bus can be divided into address bus, data bus, control bus, etc. For ease of description, Figure 7 It is described using only a thick line, but does not indicate that there is only one bus or one type of bus.

[0129] The memory 701 stores a computer storage medium, which stores computer-executable instructions. The computer-executable instructions are used to implement the port transport vehicle scheduling method of the embodiments of this application, and the processor 702 is used to execute the port transport vehicle scheduling methods of the above embodiments.

[0130] Based on the same inventive concept, embodiments of this application also provide a storage medium storing a computer program that, when run on a computer, causes the computer to perform the steps in the port transport vehicle scheduling method according to various exemplary embodiments of this application described above.

[0131] In some possible implementations, various aspects of the port transport vehicle scheduling method provided in this application can also be implemented in the form of a computer program product, which includes a computer program that, when run on a computer device, causes the computer device to perform the steps in the port transport vehicle scheduling method according to various exemplary embodiments of this application described above. For example, the computer device can perform the steps of the various embodiments.

[0132] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0133] The program product of the embodiments of this application may employ a portable compact disc read-only memory (CD-ROM) and include a computer program, and may run on a computer device. However, the program product of this application is not limited thereto. In this application, the readable storage medium may be any tangible medium that contains or stores a program, and the computer program included therein may be used by or in conjunction with a command execution system, apparatus, or device.

[0134] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a readable computer program. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with a command execution system, apparatus, or device.

[0135] Computer programs contained on readable media may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0136] Computer programs for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages.

[0137] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0138] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0141] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method of scheduling port transport vehicles, characterized by, The method comprises: generating a corresponding event queue based on the transport vehicle parameters, the work point group parameters and the ship planned work data; each event in the event queue corresponds to one of the following event types: a loading and unloading operation event of each quay crane, a task end event of each work point group and a charging event of each transport vehicle; based on the preset time priority strategy and the event type of each event, sequentially processing each event in the event queue, and determining the urgency value of each transport vehicle and the transport vehicle demand quantity in response to the event processing operation; based on the preset two-level scheduling strategy, combining the urgency value and the transport vehicle demand quantity, generating a scheduling allocation scheme for each transport vehicle; the scheduling allocation scheme is used to indicate the work point group and the quay crane to which each transport vehicle should be allocated.

2. The method of claim 1, wherein, The method comprises: determining the association relationship between the work point group, the quay crane and the transport vehicle loading and unloading operation based on the transport vehicle parameters, the work point group parameters and the ship planned work data; based on the association relationship, creating corresponding events for each quay crane and each work point group; based on the preset heap sorting strategy, time priority sorting of each event is performed to obtain the event queue.

3. The method of claim 1, wherein, Based on the preset time priority strategy and the event type of each event, sequentially processing each event in the event queue, comprising: based on the time priority order, sequentially obtaining each event in the event queue; based on the time difference between the current event and the previous event, updating the corresponding transport vehicle state data and the work progress; based on the event type of the current event, performing a corresponding event processing operation.

4. The method of claim 1, wherein, The two-level scheduling strategy comprises work point group level scheduling and quay crane level scheduling; the work point group level scheduling represents inter-group scheduling between work point groups based on the urgency of the work point group; the quay crane level scheduling represents intra-group scheduling within each work point group based on the transport vehicle demand quantity of the quay crane within the group; then based on the preset two-level scheduling strategy, combining the urgency value and the transport vehicle demand quantity, generating a scheduling allocation scheme for each transport vehicle, comprising: determining the urgency of each work point group based on the remaining work amount, the remaining work time and the transport vehicle resource gap of each work point group; based on the urgency size order of each work point group, sequentially allocating idle transport vehicles to each work point group to obtain the work point group scheduling result of the scheduling allocation scheme; for each work point group, based on the real-time loading and unloading amount and the work time window of the quay crane within the group, determining the transport vehicle demand quantity of each quay crane, and re-allocating each idle transport vehicle to the corresponding quay crane to obtain the quay crane scheduling result of the scheduling allocation scheme.

5. The method of claim 1, wherein, The loading and unloading operation event of each quay crane comprises an operation start event and an operation end event; then based on the preset time priority strategy and the event type of each event, sequentially processing each event in the event queue, comprising: when the event type is the operation start event, activating the corresponding work point group and the quay crane, and scheduling the idle transport vehicle to the target demand quay crane of the work point group; When the event type is an operation end event, the excess transport vehicles are released and reassigned to other demand quays within the job point group.

6. The method of claim 1, wherein, When the charging event of each transport vehicle includes a charging completion event and a battery low power event, the events in the event queue are processed in turn based on the preset time priority strategy and the event type of each event, including: When the event type is a charging completion event, the state of the corresponding transport vehicle is updated to an idle state, and the end time and end power in the charging log are updated to trigger rescheduling; When the event type is a battery low power event, the power of each transport vehicle in the working state is checked, and the transport vehicle with power lower than the preset threshold is released and scheduled to a charging state.

7. The method of claim 1, wherein, When the event type is the task end event, the events in the event queue are processed in turn based on the preset time priority strategy and the event type of each event, including: Each transport vehicle in the corresponding job point group is released, and the end time in the corresponding charging log is updated, and the corresponding job point group is removed from the active list.

8. A port transport vehicle dispatching system characterized by, The system comprises: a data input module configured to obtain scheduling data, the scheduling data including transport vehicle parameters, job point group parameters, and ship plan operation data; an event management module configured to generate a corresponding event queue based on the scheduling data, each event in the event queue corresponding to one of a loading and unloading operation event of each quay, a task end event of each job point group, and a charging event of each transport vehicle; based on a preset time priority strategy and the event type of each event, the events in the event queue are processed in turn, and in response to the event processing operation, an urgency value of each transport vehicle and a transport vehicle demand quantity are determined; a two-level scheduling module configured to generate a scheduling and allocation scheme for each transport vehicle based on a preset two-level scheduling strategy, in combination with the urgency value and the transport vehicle demand quantity, the scheduling and allocation scheme being used to indicate a job point group and a quay to which each transport vehicle should be allocated. 9.A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: the processor executes the computer program to implement the steps of the method in any one of claims 1 to 7. 10.A computer storage medium having computer program instructions stored thereon, wherein: the computer program instructions are executed by a processor to implement the steps of the method in any one of claims 1 to 7.

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