A control method, device, medium and product for port loading and unloading operations

Abstract

The application relates to the computer technical field, in particular to a kind of wharf loading and unloading operation control method, equipment, medium and product.The method will obtain the working instruction set of the ship to be operated, and according to the unloading task progress of the ship to be operated and the preset unloading sequence constraint, the executable task set is filtered out from the working instruction set.Then, the unloading task and the loading task in the executable task set are matched, at least one double-cycle candidate scheme is generated, the time cost estimation of each double-cycle candidate scheme is carried out, and the target scheme is determined based on the obtained estimation result, to control the shore crane and the horizontal transport vehicle to execute the target scheme, thereby improving the wharf loading and unloading operation efficiency.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a control method, equipment, medium and product for dock loading and unloading operations. Background Technology

[0002] In modern port logistics operations, the efficiency of loading and unloading ship containers is a core indicator for measuring terminal operation efficiency and economic benefits. In traditional terminal loading and unloading operations, the efficiency of the collaborative work between quay cranes, as key equipment connecting ships and the shoreline, and horizontal transport vehicles (such as container trucks) is a key factor affecting loading and unloading efficiency.

[0003] Traditional dockside loading and unloading operation scheduling methods typically improve local efficiency by optimizing the independent operating sequences of cranes or transport vehicles. This includes planning the shortest loading and unloading routes for individual cranes or assigning optimal transport tasks to a fleet of vehicles. However, focusing solely on the scheduling of a single crane or vehicle neglects the coordination issues among multiple pieces of equipment, leading to empty trips and unnecessary waiting times, thus impacting overall production efficiency. Furthermore, with the increasing size of ships and the growing complexity of operations, traditional methods are finding it increasingly difficult to meet the demands for efficient and continuous operations.

[0004] Therefore, there is an urgent need for a control method for dock loading and unloading operations to improve the efficiency of dock loading and unloading operations. Summary of the Invention

[0005] This invention provides a control method, equipment, and storage medium for dock loading and unloading operations, in order to improve the efficiency of dock loading and unloading operations.

[0006] In a first aspect, this application provides a method for controlling terminal loading and unloading operations, the method comprising: Obtain the work instruction set of the vessel to be operated; the work instruction set is an abstract instruction set obtained by granular modeling of the loading and unloading tasks of each container in the vessel to be operated, and each work instruction includes the location attributes, operation type and destination location of the corresponding container; Based on the loading and unloading task progress of the vessel to be operated and the preset loading and unloading sequence constraints, an executable task set is selected from the work instruction set; Match the unloading and loading tasks in the executable task set to generate at least one dual-cycle candidate scheme; each dual task in the dual-cycle candidate scheme represents a continuous operation cycle in which the shore crane is synchronously associated with an unloading task and a loading task. Time cost estimates are performed on each dual-cycle candidate scheme, and the target scheme is determined based on the obtained estimation results; Based on the target plan, control the shore crane and horizontal transport vehicle to execute the target plan.

[0007] Optionally, the step of selecting an executable task set from the work instruction set based on the loading and unloading task progress of the vessel to be operated and the preset loading and unloading sequence constraints includes: Based on the progress of the loading and unloading task, determine the current ship's bay position status and in-tank stacking status; Based on the permitted operation types indicated by the loading and unloading sequence constraints, the task types are matched with the work instruction set, and a matching task set is selected from the work instruction set. Based on the task location attribute indicated by the loading and unloading sequence constraint, the matching task set is filtered to obtain the executable task set.

[0008] Optionally, the preset loading and unloading sequence constraints include vertical sequence constraints and bay position stage constraints. The vertical sequence constraints are used to restrict unloading tasks to the highest layer of containers in the current column and loading tasks to the lowest container position to be loaded in the current column. The bay position stage constraints are used to restrict the matching of task type with the operation stage corresponding to the current bay position.

[0009] Optionally, the step of matching unloading and loading tasks in the executable task set to generate at least one double-loop candidate solution includes: Based on the set of executable tasks, match unloading tasks and loading tasks in the same column; If no unloading or loading tasks are found in the same column, the unloading and loading tasks in other columns under the same bay are matched.

[0010] Optionally, the step of estimating the time cost of each dual-cycle candidate scheme and determining the target scheme based on the obtained estimation results includes: For each dual-loop candidate scheme, the preparation time for the horizontal transport vehicle to arrive at the transfer point is determined based on the current location and idle time of the horizontal transport vehicle. Based on the preparation time and the operating time constant of the shore crane, the first completion time of each dual-cycle candidate scheme is determined; Based on the relative magnitudes of the first completion times, the double-loop candidate scheme with the shortest completion time is selected as the target scheme.

[0011] Optionally, after matching the unloading and loading tasks in the executable task set to generate at least one double-loop candidate solution, the method further includes: Each single task in the executable task set is taken as at least one alternative, and the time cost of each alternative is estimated to determine the second completion time corresponding to each alternative; the single task represents the operation of one type of task performed by the shore crane at one time. The first completion time of each dual-cycle candidate scheme is compared with the second completion time of each alternative scheme, and the scheme with the earliest completion time is selected as the target scheme.

[0012] Optionally, after controlling the quay crane and horizontal transport vehicle to execute the target plan based on the target plan, the method further includes: Based on the control results of the target scheme, update the ship status and equipment status; the ship status represents the ship's bay position stage and in-line container position status, and the equipment status includes the current position of the shore crane and the next available time of the horizontal transport vehicle; In response to the state update operation, the target scheme is iteratively updated, and loading and unloading control is performed based on the updated target scheme until the loading and unloading tasks of each container are completed.

[0013] Secondly, 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 control methods for dock loading and unloading operations described in the first aspect above.

[0014] Thirdly, this application provides a computer storage medium storing computer program instructions, which are executed by a processor using any of the terminal loading and unloading operation control methods described in the first aspect above.

[0015] Fourthly, an embodiment of this application provides a computer program product including computer program instructions, which, when executed by a processor, implement any of the control methods for dock loading and unloading operations described in the first aspect above.

[0016] The beneficial effects of this invention are as follows: This application provides a control method for dock loading and unloading operations. The method acquires a set of work instructions from vessels awaiting operation and, based on the progress of the loading and unloading tasks and preset loading and unloading sequence constraints, selects a set of executable tasks from the work instruction set. Next, it matches the unloading and loading tasks in the executable task set to generate at least one dual-cycle candidate solution. It then estimates the time cost of each dual-cycle candidate solution and determines the target solution based on the obtained estimation results. This target solution is then controlled to execute by the quay cranes and horizontal transport vehicles, thereby improving the efficiency of dock loading and unloading operations. Attached Figure Description

[0017] 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.

[0018] Figure 1 This application provides a schematic flowchart of a control method for dock loading and unloading operations. Figure 2 This application provides a schematic diagram of a loading and unloading scenario where a shore crane and a horizontal transport vehicle work together in an integrated operation. Figure 3 A schematic diagram illustrating the loading and unloading results under the same-shore bridge operation provided in this application embodiment; Figure 4 A schematic diagram illustrating the loading and unloading results under a multi-shore bridge with different types of shells, provided as an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] It is understood that the following specific embodiments of this application involve data related to dock scheduling, 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.

[0023] The design concept of the embodiments of this application is briefly introduced below: In modern port logistics operations, the efficiency of loading and unloading ship containers is a core indicator for measuring terminal operation efficiency and economic benefits. In traditional terminal loading and unloading operations, the efficiency of the collaborative work between quay cranes, as key equipment connecting ships and the shoreline, and horizontal transport vehicles (such as container trucks) is a key factor affecting loading and unloading efficiency.

[0024] Traditional dockside loading and unloading operation scheduling methods typically improve local efficiency by optimizing the independent operating sequences of cranes or transport vehicles. This includes planning the shortest loading and unloading routes for individual cranes or assigning optimal transport tasks to a fleet of vehicles. However, focusing solely on the scheduling of a single crane or vehicle neglects the coordination issues among multiple pieces of equipment, leading to empty trips and unnecessary waiting times, thus impacting overall production efficiency. Furthermore, with the increasing size of ships and the growing complexity of operations, traditional methods are finding it increasingly difficult to meet the demands for efficient and continuous operations.

[0025] In view of the above problems, embodiments of this application provide a control method for dock loading and unloading operations. This method acquires a set of work instructions from vessels awaiting operation and, based on the progress of the loading and unloading tasks and preset loading and unloading sequence constraints, filters out a set of executable tasks from the work instruction set. Next, it matches the unloading and loading tasks in the executable task set to generate at least one dual-loop candidate solution. It then estimates the time cost of each dual-loop candidate solution and determines the target solution based on the obtained estimation results. This target solution is then controlled to execute by the quay crane and horizontal transport vehicles, thereby improving the efficiency of dock loading and unloading operations.

[0026] Furthermore, this application uses a "bay-column-layer" model as the basis for operation modeling, abstracting ship container operation tasks into work instructions, and initializing them in conjunction with the equipment information of quay cranes and horizontal transport vehicles. During scheduling, based on the set of executable tasks, unloading and loading tasks in the same column or bay are prioritized for matching, forming a dual-cycle operation mode of loading and unloading simultaneously. When the dual-cycle is not feasible, a single task is selected for execution. By introducing a mixed-integer linear programming model, constraints such as equipment allocation, dual-cycle mode, unloading before loading, resource non-conflict, and quay crane anti-crossing are set to minimize the maximum completion time, achieving optimized task scheduling. This method also supports rolling updates and exception handling, allowing for task decomposition and resource reassignment in case of vehicle delays or equipment conflicts, thereby ensuring operational continuity and safety. Compared to traditional scheduling methods, this application significantly reduces equipment idle travel and waiting time, improves ship loading and unloading efficiency, and is suitable for collaborative operations of multiple quay cranes and mixed loading and unloading scenarios of a single crane.

[0027] Furthermore, this application proposes a mixed-integer linear programming method for the loading and unloading scheduling problem of quay cranes and horizontal transport vehicles, using "columns" as the work unit and supporting dual-cycle loading and unloading. First, the container positions on the ship are parametrically modeled on a "bay-column-layer" structure, distinguishing between deck (D) and hold (H) layers, and defining process access rules and sequence rules within each column for "unloading from top to bottom and loading from bottom to top." The aforementioned work objects and attributes are encoded using the WorkInstruction / MoveKind data structure and input generator. Next, based on the crane's kinematics and vehicle round-trip time, linear time-lapse models for single loading, single unloading, and dual-cycle loading are established (including hoisting / swinging / hooking times and "yard" time). The round-trip time to the transfer point (TP) is used to provide a calculable expression for the task start / end time, serving as a time parameter for scheduling optimization. Furthermore, a double-loop Boolean variable, a quay crane / vehicle allocation variable, and a task sequence variable are introduced to construct a MILP with the objective of minimizing the maximum completion time (Makespan). The coupling constraints of "same quay crane, same vehicle" and "unloading immediately followed by loading" characterize loading and unloading simultaneously, while resource mutual exclusion and quay crane anti-crossing constraints eliminate equipment conflicts. Finally, combining model solving and rolling candidate generation: BayPhase / ColumnState is used to dynamically maintain the executable set, prioritizing matching loading and unloading pairs in the same column / bay during the lower deck stage, and triggering "disassembly of dual tasks and reassignment" when a vehicle is detected to be late, thereby significantly reducing idle travel and shortening the total completion time while ensuring safety and process sequence.

[0028] The method provided by 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.

[0029] Please refer to Figure 1 The following is a schematic flowchart of a control method for dock loading and unloading operations provided in an embodiment of this application. The specific implementation process of the method is as follows: Step 101: Obtain the work instruction set of the vessel to be operated.

[0030] In this embodiment, the ship container loading and unloading task will be abstracted into a structured set of work instructions through granular modeling, providing a precise data foundation for subsequent scheduling.

[0031] Specifically, in this embodiment, the work instruction set is a collection of digitized loading and unloading tasks for each container on the vessel to be operated. Its modeling granularity is based on a hierarchical structure of "bay-column-layer," where bay represents the lateral segment of the vessel, column represents the longitudinal stack of containers within the bay, and layer represents the height level of the stack. Thus, this application treats each work instruction as an abstract instruction unit, fully recording the corresponding container's location attributes (including its bay, column number, and layer number), operation type (unloading or loading), and destination location (for unloading tasks, the location to the yard; for loading tasks, the current location of the container in the yard). Through this refined modeling, the work instruction set transforms complex physical operation tasks into a unified data format that can be processed by a computer, ensuring that the scheduling system can accurately identify the spatial relationships and operational requirements of the tasks, thereby laying a data foundation for dynamic decision-making.

[0032] For details, please refer to Figure 2 The diagram illustrates a loading and unloading scenario involving the collaborative operation of a quay crane and a horizontal transport vehicle (HT) according to an embodiment of this application. It clearly demonstrates the physical layout and operational flow of the collaborative operation between the quay crane (QC), HT, and the container yard. The left side of the diagram, in the ship area, is labeled "Hatch 1," "Hatch 2," and "Hatch 3," along with their internal structures "Upper Tank Row," "Inner Tank Row," "Layer," and "Ship Bay Position," defining the spatial location of containers on the ship. The middle quay front and horizontal transport area show the round-trip path of the HT vehicles between the QC and the container yard. The right side of the diagram shows the container yard equipped with a "yard crane" for container stacking. Arrows clearly distinguish the loading and unloading directions and indicate the flow relationship between export and import containers, comprehensively demonstrating the process from QC loading and unloading containers from the ship, HT horizontal transport, and yard crane operations.

[0033] In one possible implementation, the present application embodiment can first obtain the list of container operation instructions and available equipment information of the vessel currently to be operated, thereby abstracting each container operation instruction into a work instruction (WI), and recording its bay and column, layer number, operation type (unloading or loading) and destination location (for unloading tasks, this includes unloading to the yard location; for loading tasks, this includes the current location of the container in the yard), thus obtaining the work instruction set of the vessel to be operated.

[0034] In one possible implementation, when acquiring the work instruction set of the operating vessel, this application can also acquire information on quay crane equipment and horizontal transport vehicles, such as quay crane numbers and vehicle queues. Furthermore, for all bay positions on the vessel, a mapping relationship is established to identify whether each bay position column has unloading and / or loading tasks, and the BayPhase of each bay position is initialized to "deck unloading phase" (if the bay position has deck unloading tasks) or the corresponding initial phase. All WIs are categorized and stored according to their bay position and column for subsequent rapid retrieval of task information within each column.

[0035] Specifically, the symbols and parameters for the working instruction set can be defined as follows in this application: : A set of columns of ships that require operations (each column corresponds to an independent operation unit, which may include unloading tasks, loading tasks, or both unloading and loading tasks).

[0036] : A collection of quay crane (QC) equipment. The quay crane numbers are arranged in order of their position on the side of the ship.

[0037] A collection of horizontal transport vehicles (e.g., container trucks / AGVs). .

[0038] For each bay column ,use Indicates whether the column has unloading tasks ( This indicates that there are imported containers in this column that need to be unloaded; otherwise, the value is 0. Indicate whether there is a loading task ( This indicates that the column contains export containers that need to be loaded onto a ship; otherwise, it is 0. At that time, the train was simultaneously carrying out unloading and loading tasks.

[0039] : Bet rank The unloading operation time (the time required for the quay crane to lift and unload a container from the train, including lifting, horizontal movement and placement).

[0040] : Bet rank Loading time (the time required for a quay crane to load a container into the train from the shore).

[0041] : Bet rank The overall operation time under the "loading and unloading simultaneously" dual-cycle mode. If the column... If a quay crane performs both unloading and loading tasks and employs a dual-cycle operation, it can unload one container and load another within one operating cycle. This combined operation time can be considered as... ( To save idle movement time.

[0042] Furthermore, the decision variables in this application may be as follows: , :List The start and end times of the unloading task (if) If the variable is invalid or can be set to empty, then the variable is invalid.

[0043] , :List Start and completion times of the loading task (if) If the variable is invalid, then the variable is invalid.

[0044] Assigning variables, if column The unloading task is handled by the quay crane. If executed, the value is 1; otherwise, it is 0.

[0045] Assigning variables, if column The loading task was handled by the quay crane. If executed, the value is 1; otherwise, it is 0.

[0046] Assigning variables, if column The unloading task is carried out by horizontal transport vehicles. If the value is positive, the value is 1; otherwise, the value is 0.

[0047] Assigning variables, if column The loading task was carried out by transport vehicles. If the value is positive, the value is 1; otherwise, the value is 0.

[0048] : Select variables for the dual-cycle operation mode, if column Implementing a dual-cycle operation of "loading and unloading simultaneously" ,otherwise Only when Only when allowed Otherwise, forced .

[0049] : The maximum completion time for the quay crane to complete all loading and unloading tasks (i.e., the Makespan variable).

[0050] Specifically, the objective function in this application embodiment is as follows. This objective function can be used to minimize the maximum time for the completion of the quay crane operation, that is, the upper limit of the completion time of all tasks:

[0051] This objective ensures the earliest possible completion time for the overall loading and unloading plan, i.e., minimizing the total crane operation time.

[0052] Specifically, the constraints in this application embodiment are as follows: (1) Task allocation constraints: Each loading and unloading task must be carried out by one quay crane and one transport vehicle.

[0053] For any column : The unloading task was assigned to a single quay crane and vehicle:

[0054] The loading task was assigned to a single quay crane and vehicle:

[0055] Thus, the above constraints ensure that if the train has unloading (or loading) tasks, exactly one quay crane and one transport vehicle must be selected to complete the task. If (No task unloaded) Automatic fulfillment; the same applies to loading tasks.

[0056] (2) Constraints of the dual-cycle operation mode: Dual-cycle (loading and unloading simultaneously) operations require unloading and loading to be treated as a single, continuous operation, completed by the same quay crane and the same vehicle. For trains with dual tasks... When choosing At that time, the following conditions should be met: Tongan Bridge Implementation:

[0057] Same as transport vehicle:

[0058] The work is tightly scheduled:

[0059] In summary, the above constraints can ensure that when At that time, the column Unloading and loading tasks are performed on the same quay crane and the same vehicle (at this time) and For a certain and Established), and at the same time The aforementioned constraints are automatically relaxed, and the quay crane / vehicle is not required to be identical. Furthermore, it ensures that loading operations can be immediately connected after unloading in dual-circulation mode (without waiting time): when From time to time ;like This constraint then degenerates into (Disassembly and reassembly are still required, but gaps are permissible). Here It is a sufficiently large constant.

[0060] Furthermore, for any column like or (Dual tasks do not exist), forced This can be represented by the following logical constraints:

[0061] (3) Job time association constraints: Define the completion time of each task as: start time + task duration. For existing unloading and loading tasks:

[0062] If a double-loop mode is used to execute the column The unloading / loading task can also be calculated using the combined time. Instead of describing it as the sum of the times of the two operation segments mentioned above, the continuous operation process is implicitly included in this model through the aforementioned constraints.

[0063] (4) Task procedures and hierarchical constraints: The "unload first, then load" principle: For each bay position... Unloading operations must be completed before loading operations can begin. This logic stems from the aforementioned... This has been demonstrated, ensuring that the order of unloading before installation is followed regardless of whether a dual-loop system is used. Furthermore, if the list... Operations involving containers on the upper deck and containers on the lower deck must also ensure that the lower deck operations can only proceed after the upper deck containers have been unloaded, in order to ensure the correct operation hierarchy (this logic can be pre-set in the input plan by task sequence or represented by similar sequential constraints).

[0064] (5) Resource non-conflict constraints: At any given time, each quay crane and each transport vehicle can perform at most one task to prevent equipment conflicts. Mutually exclusive quay crane operations: For any two tasks (columns) Task and column Task If they are assigned to the same shore bridge (Right now If these two tasks cannot overlap in time, then the task order on the quay crane can be expressed by a linear inequality of the "Big M" form: for any quay crane... On the task and tasks Introduce 0-1 order variables Indicates task Is it in the task? If completed previously, then:

[0065] The above constraints ensure that two tasks on the same quaybridge either Prior to , or Prior to Eliminate conflicts arising from parallel operations of quay cranes.

[0066] Transport vehicle operations are mutually exclusive: Similarly, for any two tasks using the same transport vehicle ( The same time sequence constraints must also be met to ensure that each transport vehicle serves only one container at any given time.

[0067] (6) Safety clearance / interference prevention constraints for quay cranes: When multiple quay cranes operate simultaneously on the same vessel, physical interference and collisions between them must be avoided. One linear modeling approach is to introduce a "non-intersection" constraint: if the quay cranes are in the same position... Position in the list The left side (referred to as) Represents column The position number is less than If this is not the case, then the situation where "the left column is operated by the right-side quay crane and the right column is operated by the left-side quay crane" is prohibited. The initial left-right order is represented by the size of the quay crane number; therefore, for any... and any two quay cranes satisfy ,need:

[0068] This constraint ensures that: if the column Physically located in the column On the left side, it is not permitted to operate the train from the quay crane located on the right. The task, simultaneously carried out by the quay crane operation train located on the left. This task aims to avoid cross-interference between quay cranes. If necessary, further minimum safety distance restrictions can be imposed on quay cranes (e.g., maintaining a minimum distance between two quay cranes). (the interval of each bay), but in this model it is assumed that non-crossing allocation is sufficient to prevent quay bridge collisions.

[0069] (7) Completion time definition constraints: Introducing Makespan variables This represents the upper bound of the time for completing all operations, and for each specific task (unloading task)... Or loading / unloading tasks All of them have:

[0070] This constraint ensures Not less than the completion time of any task. This is combined with minimizing the objective function. The model will drive It equals the latest completion time of all tasks, which is the maximum operation time for the quay crane to complete all tasks.

[0071] In summary, the above mixed-integer linear model is solved with the objective function as the objective, while satisfying the aforementioned constraints. This model can optimize the scheduling and operational sequence of quay cranes and transport vehicles, including whether to adopt a dual-loop strategy of loading and unloading simultaneously, thereby minimizing the total quay crane operation time (Makespan) while meeting process logic constraints such as unloading before loading and equipment capacity limitations.

[0072] Step 102: Based on the loading and unloading task progress of the vessel to be operated and the preset loading and unloading sequence constraints, select the set of executable tasks from the set of work instructions.

[0073] In this embodiment of the application, the real-time operating status of the ship and the preset constraint rules will be used to ensure that only loading and unloading tasks that meet the safety and process requirements are included in the candidate task execution range.

[0074] Specifically, this application will first obtain the current loading and unloading task progress of the vessel, including the bay stage status (identifying the currently allowed operation stage for each bay, such as the deck unloading stage or the hold loading stage) and the stacking status within the column (reflecting the actual stacking of containers in each column). Next, the work instruction set will be filtered according to preset loading and unloading sequence constraints. By traversing the work instruction set and verifying the constraints, the risk of unauthorized operations can be eliminated, ensuring the continuity and safety of the operation.

[0075] In one possible implementation, the embodiments of this application can determine the current ship's bay stage status and in-ship stacking status based on the progress of the loading and unloading task, match the allowed operation type with the work instruction set based on the loading and unloading sequence constraint indication, filter out the matching task set from the work instruction set, and then filter the matching task set based on the task position attribute indicated by the loading and unloading sequence constraint to obtain the executable task set.

[0076] In one possible implementation, the preset loading and unloading sequence constraints in this application embodiment include vertical sequence constraints and bay position stage constraints. The vertical sequence constraints are used to constrain unloading tasks to target the highest layer of containers in the current column and loading tasks to target the lowest container position to be loaded in the current column. The bay position stage constraints are used to restrict the matching of task type with the operation stage corresponding to the current bay position.

[0077] Specifically, this application can filter and obtain a list of executable tasks in the initial state based on the current BayPhase of each bay and the stacking status within the column. Vertical order constraints (intra-column constraints) require that unloading tasks must target the highest-level container in the current column (to ensure no other containers obstruct the view above), meaning they can only be executed if there are no other containers above them; loading tasks must target the lowest-level container in the current column (to ensure compliance with bottom-up loading), meaning they can only begin if there are no unloaded containers below their target position; bay phase constraints require that the task type must match the allowed operation phase of the current bay (e.g., the unloading phase only allows unloading tasks), meaning the task level must match the currently allowed operation phase of the bay (e.g., unloading tasks can only be executed when the bay is in the unloading phase). Thus, by traversing all WI lists and combining them with the column state ColumnState, each unloading and loading task that meets the above conditions is added to the executable set. For each alternative task, estimate its time cost to be performed by the currently available quay cranes and vehicles, such as the time required for the quay crane to move to the bay and the time required for the vehicle to travel from its current location to the quay crane, to provide a reference for subsequent scheduling decisions.

[0078] Step 103: Match the unloading and loading tasks in the executable task set to generate at least one double-loop candidate solution.

[0079] In this embodiment, unloading and loading tasks from the executable task set are matched to form a dual-cycle candidate scheme for simultaneous loading and unloading operations, thereby optimizing equipment utilization. Each successful pairing generates a dual-cycle candidate scheme, indicating that in a continuous operation cycle, the quay crane will simultaneously associate an unloading task and a loading task; that is, first unloading containers onto horizontal transport vehicles, and then retrieving containers from the same vehicle for loading onto the ship, forming a seamless unloading-and-loading operation. Thus, by maximizing dual-task opportunities through matching, a set of candidate schemes is provided for subsequent optimization decisions.

[0080] Specifically, the matching process in the application embodiment can prioritize the principle of spatial proximity, that is, first pair the unloading task and the loading task in the same column (for example, unloading the fifth layer of the container in column A and loading it into the third layer of the container in column A at the same time) to minimize the lateral movement distance of the shore crane; if there is no available pair in the same column, then extend to the tasks in other columns under the same position (such as unloading the task in column A and loading the task in column B).

[0081] In one possible implementation, embodiments of this application may match unloading and loading tasks in the same column based on the executable task set, and when it is determined that there are no unloading and loading tasks in the same column, match unloading and loading tasks in other columns under the same bay.

[0082] Specifically, this application embodiment will begin a rolling time-domain scheduling loop. Based on the set of executable tasks, it will prioritize matching unloading and loading tasks in the same column or bay, forming a dual-loop candidate scheme set for simultaneous loading and unloading. In each loop of the scheduling algorithm, this application will make a decision based on the current set of executable tasks. For example, a dual-loop priority strategy will be adopted, that is, in each round, a pair of unloading and loading tasks that can form a dual task will be selected for simultaneous execution to maximize the efficiency of the quay crane. If both unloading and loading tasks exist in the executable set, dual-task matching and selection will be performed; if only a single type of task exists, a single task will be directly selected for execution.

[0083] Specifically, in this embodiment, a candidate unloading task d can be selected from the currently executable set of unloading tasks, and a matching loading task l can be found for it, thus achieving dual task matching and selection. This application prioritizes loading tasks located in the same bay column as unloading task d to minimize the quay crane lateral movement distance and spreader switching time. If no loading task is available in the same column, loading tasks in other columns under the same bay are considered as a secondary option. Next, for each candidate pair (d, l), the column order and stage conditions are further verified. For example, there must be no unloaded containers above the target position of loading task l (to ensure the bottom-up loading order within the column is met), and if containers above the corresponding layer of the target position of loading task l in the column of unloading task d have not yet been unloaded, loading cannot proceed (to avoid the violation of "loading below while unloading above"). At the same time, the current BayPhase phase requires that the respective operation types d and l be allowed to be executed. Generally, if it is in the in-hull unloading phase, it is allowed to match the in-hull loading task as a double cycle; if it is in the deck unloading phase, loading tasks are generally not allowed to intervene.

[0084] Step 104: Estimate the time cost of each dual-cycle candidate scheme, and determine the target scheme based on the obtained estimation results.

[0085] In this embodiment, the estimated completion time of each scheme is calculated, and the time cost of each generated double-loop candidate scheme is quantitatively evaluated to achieve local optimal decision-making. Based on the estimated results of all candidate schemes (such as the numerical completion time), the scheme with the earliest completion time is selected as the target scheme. By introducing a time model to compare the merits of the schemes, the scheduling achieves the effect of minimizing the job interval.

[0086] Specifically, in this embodiment, the time cost estimation can first be based on the real-time status of the horizontal transport vehicle (including its current location and idle time) to calculate its earliest preparation time to reach the quay crane transfer point. Then, combined with the quay crane's operating time constant (such as the standard operating time for different box types), for the dual-cycle candidate scheme, the completion time is estimated by accumulating the dual-cycle operating time constant (usually including unloading time, loading time, and saved idle travel time) starting from the earliest preparation time.

[0087] Specifically, after selecting a valid pair through the above screening, this application can calculate the completion time in its dual-loop mode, including the time required for the quay crane to move from its current position to the unloading bay and unload container d, the time to place the unloaded container onto the transport vehicle, the time for the quay crane to grab the corresponding container l from that position and hoist it onto the ship for placement, and any possible minor movements / adjustments of the quay crane. Let the completion time of this combination be denoted as... Simultaneously calculate the total completion time if unloading (d) and loading (l) are performed sequentially (not using a double loop, but rather one single task after another). Comparing the two, if Significantly smaller than If a combination has a slight advantage (or a slight advantage within a preset threshold range), then it is considered to have optimization value compared to sequential execution. The scheduling algorithm will select the combination with the earliest completion time from all candidate combinations as the best dual-task solution for this round. If a suitable (d, l) combination is found, it will be selected to enter the execution phase.

[0088] In one possible implementation, if no dual-task combination meets the conditions, i.e., if no dual tasks are available or not suitable for execution, the present application embodiment will not execute a double loop in this round, but will select a single task from the set of executable tasks to execute. A single task represents the shore crane performing one type of task operation at a time.

[0089] In one possible implementation, this application may use a single task in the executable task set as at least one alternative, estimate the time cost of each alternative, determine the second completion time corresponding to each alternative, compare the first completion time of each double-loop candidate alternative with the second completion time of each alternative, and take the alternative with the earliest completion time as the target alternative.

[0090] Specifically, this application can prioritize unloading tasks to quickly free up hold space and advance the bay preparation phase; alternatively, it can select tasks that contribute the most to the overall completion time based on specific optimization strategies (e.g., prioritizing the most time-consuming tasks). Regardless of whether an unloading or loading task is selected, available quay cranes and transport vehicle resources need to be allocated. If there is only one quay crane in the system, the quay crane is fixed; if there are multiple quay cranes, a suitable quay crane can be selected to perform the task based on factors such as the current location of the quay crane, the location of the task to be performed, and avoiding interference between quay cranes. Similarly, a vehicle is assigned to the task from the idle transport vehicle queue: for unloading tasks, an empty vehicle is assigned to the quay crane transfer point to wait for the unloaded containers; for loading tasks, a transport vehicle already loaded with containers is assigned to drive to the quay crane to provide the containers. After selecting the task and resources, its estimated start and completion times are recorded.

[0091] Step 105: Based on the target plan, control the shore crane and horizontal transport vehicle to perform the corresponding scheduling operations.

[0092] In this embodiment, the actual control operation will be physically executed according to the target scheme obtained from the aforementioned optimization decision, so as to achieve optimized scheduling and improve the efficiency of dock loading and unloading operations.

[0093] Specifically, the control process in this application may include equipment allocation and instruction issuance. That is, based on the task requirements of the target scheme, specific operating positions are assigned to the quay cranes (prioritizing equipment with the smallest lateral movement distance), and tasks are assigned to the horizontal transport vehicles (in a dual-cycle scheme, the same vehicle continuously serves unloading and loading; in a single-task scheme, empty or container-loaded vehicles are assigned according to type). Subsequently, the system issues execution instructions to the equipment controller, driving the quay cranes to operate in the scheme sequence (such as the continuous "unloading-loading" action in a dual-cycle scheme), while simultaneously monitoring the movement of the horizontal transport vehicles to ensure coordination.

[0094] In one possible implementation, after determining and executing the target plan, this embodiment of the application can update the ship's status, such as the ship's bay position stage and container position status within the column, as well as the equipment status, such as the current position of the quay crane and the next available time of the horizontal transport vehicle, based on the control results of the target plan. In response to the aforementioned status update operations, the target plan is iteratively updated, thereby enabling loading and unloading control through the updated target plan until the loading and unloading tasks of each container are completed.

[0095] Specifically, after determining the task plan to be executed in this round (whether it is a dual task or a single task), this application embodiment can remove the task from the list of tasks to be executed and send an execution instruction through the scheduler, while simultaneously monitoring its execution status. During execution, this application can update relevant status information: for unloading tasks, mark that the original position of the container on the ship has been unloaded, and remove the layer mark in the corresponding ColumnState; for loading tasks, mark that its target ship position has been occupied, and remove the corresponding loading layer mark in ColumnState. If all unloading tasks on the deck or in the hold of a certain bay are completed, the BayPhase of that bay is advanced to the next stage (e.g., from "deck unloading" to "hold unloading", or "hold unloading" to "hold loading", etc.); if the completion of the loading task causes all tasks of a certain bay to end, the BayPhase is set to the completed state.

[0096] Meanwhile, this application will update the equipment status, that is, the current position of the quay crane used to perform the task will be updated to the last operating bay position; the status of the transport vehicle will change according to the task type - the vehicle that has completed the unloading task will immediately load the container and drive to the yard, and it is expected that it can be reused after it arrives at the yard and returns to the quay crane transfer point, and its available_at time will be updated to the current task end time plus the round-trip yard time; the vehicle that has completed the loading task will become an empty vehicle after unloading the container at the quay crane, and can choose to return to the yard to pick up a container or stay on the quay crane to wait, and its available_at will be updated to the current task end time.

[0097] In one possible implementation, this application embodiment will continuously monitor key events, such as the arrival status of transport vehicles, during task execution. If it is detected that an assigned vehicle fails to arrive at the quay crane on schedule (usually determined by comparing the estimated arrival time (ETA) with the scheduled start time of the task), an exception handling mechanism is triggered: for tasks executed in this round that are a double-loop combination, if the delayed transport vehicle is a container vehicle used for loading onto the ship, the double-task splitting operation is immediately executed—the quay crane will no longer wait for the late vehicle after unloading the container, but will complete the unloading task as a single task; the originally planned loading task 1 is temporarily terminated, waiting for the vehicle to arrive before re-entering the executable set. At this time, to avoid affecting subsequent scheduling, the system can mark the loading task as "delayed loading" and try to reschedule it in a later scheduling loop. If the delay is due to an empty vehicle performing the unloading task being unable to arrive in time, the vehicle is reassigned for the unloading task: another idle and appropriately positioned transport vehicle is selected to replace the original vehicle to arrive at the quay crane as soon as possible to receive the unloaded container, minimizing the interruption of quay crane operations. Through the above-mentioned anomaly handling, the quay crane does not need to be idle due to waiting for vehicles, thus ensuring the continuity of operations to the greatest extent. After the anomaly handling is completed, the scheduler adjusts the plan of the corresponding tasks according to the actual situation: the split loading tasks are re-entered into the pending list, and their status and priority may be modified accordingly; the BayPhase of the relevant bays is also handled accordingly if it needs to be rolled back or remain unchanged (for example, after the unloading of the split dual tasks is completed, the bay may still remain in the loading stage but wait for the loading task to be completed).

[0098] Specifically, in this embodiment, after completing the current task (or task pair), the current time is updated to the time of the most recent completion of the quay crane operation. The above-mentioned target scheme generation and execution steps are repeated, and the next loop begins. In the new loop, the set of executable tasks, equipment idle status, bay position stage, etc., are refreshed according to the latest status. The algorithm continues to execute until all unloading and loading tasks are completed, that is, all Work Instructions are processed, at which point all ship loading and unloading operations are finished.

[0099] For details, please refer to Figure 3 and Figure 4 The diagrams shown are schematic diagrams illustrating the results of simultaneous loading and unloading under the same-shell operation and the different-shell operation of multiple quay cranes, respectively, according to embodiments of this application. Both clearly show the task type (single unloading, single loading, or dual loading and unloading tasks) and time sequence performed by the quay cranes in each operation cycle. Figure 3This paper demonstrates the dynamic rescheduling capability of this application in handling production interruptions under multi-shore crane operations. The figure compares the work sequences before QC01 interruption (the first 20 tasks) with those after QC01 interruption (rescheduling). It shows that after interruption point 20, the execution order of unloading and loading tasks such as "03-01", "03-02", and "03-03" in the original plan was optimized and adjusted. The rescheduled sequence significantly reduced the equipment idle time marked "Idle time for OC" in the figure, thus verifying that the control method of this application can respond to work interruptions in real time, quickly restoring efficient simultaneous loading and unloading operations by dynamically rearranging the task sequence, thereby ensuring the continuity of operations under the same crane position and minimizing the impact of interruptions on overall efficiency. On the other hand, Figure 4 This paper reveals the dynamic scheduling results of multi-mode collaboration in multi-shore crane operations with different shellfish locations. It shows the distribution of operation status of QC05 (shellfish location: 05) within the range of operation sequence 0 to 40. The operation status indicated by the vertical axis strictly follows the legend, including "loading and unloading simultaneously", "three-dimensional loading and unloading", "unloading only", and "loading only". As can be seen from the distribution, "loading and unloading simultaneously" and "three-dimensional loading and unloading" operations occupy the main proportion, and they are in an alternating collaborative state with "unloading only" and "loading only" modes on the time axis. This very intuitively verifies that in complex multi-shore crane operation scenarios, this application can dynamically generate and mix different operation modes for multiple shore cranes, thereby maintaining a high proportion of collaborative loading and unloading operations in cross-shellfish location operations, improving the overall resource utilization and loading and unloading efficiency.

[0100] Please see Figure 5 As shown, based on the same technical concept, this application embodiment also provides a computer device 50, which may include a memory 501 and a processor 502.

[0101] The memory 501 is used to store computer programs executed by the processor 502. The memory 501 mainly includes a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function, etc.; the data storage area may store data created based on the use of the computer device, etc. The processor 502 may be a central processing unit (CPU), or a digital processing unit, etc. This application embodiment does not limit the specific connection medium between the memory 501 and the processor 502. This application embodiment... Figure 5 The memory 501 and the processor 502 are connected via a bus 503, and the bus 503 is in Figure 5 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 503 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0102] Memory 501 may be volatile memory, such as random-access memory (RAM); memory 501 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 501 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 501 may be a combination of the above-mentioned memories.

[0103] The processor 502 is used to execute the control method for dock loading and unloading operations performed by the device in the various embodiments of this application when calling the computer program stored in the so-called memory 501.

[0104] In some possible implementations, various aspects of the control method for terminal loading and unloading operations provided in this application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to cause the computer device to perform the steps in the control method for terminal loading and unloading operations according to various exemplary embodiments of this application described above. For example, the computer device can execute the steps of each embodiment.

[0105] 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.

[0106] The program product of the embodiments of this application may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a computing 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 that may be used by or in conjunction with a command execution system, apparatus, or device.

[0107] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. 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.

[0108] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0109] Program code 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++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 control method for dock loading and unloading operations, characterized in that, The method includes: Obtain the work instruction set of the vessel to be operated; the work instruction set is an abstract instruction set obtained by granular modeling of the loading and unloading tasks of each container in the vessel to be operated, and each work instruction includes the location attributes, operation type and destination location of the corresponding container; Based on the loading and unloading task progress of the vessel to be operated and the preset loading and unloading sequence constraints, an executable task set is selected from the work instruction set; Match the unloading and loading tasks in the executable task set to generate at least one dual-cycle candidate scheme; each dual task in the dual-cycle candidate scheme represents a continuous operation cycle in which the shore crane is synchronously associated with an unloading task and a loading task. Time cost estimates are performed on each dual-cycle candidate scheme, and the target scheme is determined based on the obtained estimation results; Based on the target scheme, control the shore crane and horizontal transport vehicles to perform corresponding scheduling operations.

2. The method as described in claim 1, characterized in that, The step of selecting an executable task set from the work instruction set based on the loading and unloading task progress of the vessel to be operated and the preset loading and unloading sequence constraints includes: Based on the progress of the loading and unloading task, determine the current ship's bay position status and in-tank stacking status; Based on the permitted operation types indicated by the loading and unloading sequence constraints, the task types are matched with the work instruction set, and a matching task set is selected from the work instruction set. Based on the task location attribute indicated by the loading and unloading sequence constraint, the matching task set is filtered to obtain the executable task set.

3. The method as described in claim 2, characterized in that, The preset loading and unloading sequence constraints include vertical sequence constraints and bay position stage constraints. The vertical sequence constraints are used to restrict unloading tasks to the highest layer of containers in the current column and loading tasks to the lowest container position to be loaded in the current column. The bay position stage constraints are used to restrict the matching of task type with the operation stage corresponding to the current bay position.

4. The method as described in claim 1, characterized in that, The process of matching unloading and loading tasks in the executable task set to generate at least one double-loop candidate solution includes: Based on the set of executable tasks, match unloading tasks and loading tasks in the same column; If no unloading or loading tasks are found in the same column, the unloading and loading tasks in other columns under the same bay are matched.

5. The method as described in claim 1, characterized in that, The step of estimating the time cost of each dual-loop candidate scheme and determining the target scheme based on the obtained estimation results includes: For each dual-loop candidate scheme, the preparation time for the horizontal transport vehicle to arrive at the transfer point is determined based on the current location and idle time of the horizontal transport vehicle. Based on the preparation time and the operating time constant of the shore crane, the first completion time of each dual-cycle candidate scheme is determined; Based on the relative magnitudes of the first completion times, the double-loop candidate scheme with the shortest completion time is selected as the target scheme.

6. The method as described in claim 1, characterized in that, After matching the unloading and loading tasks in the executable task set to generate at least one double-loop candidate solution, the method further includes: Each single task in the executable task set is taken as at least one alternative, and the time cost of each alternative is estimated to determine the second completion time corresponding to each alternative; the single task represents the operation of one type of task performed by the shore crane at one time. The first completion time of each dual-cycle candidate scheme is compared with the second completion time of each alternative scheme, and the scheme with the earliest completion time is selected as the target scheme.

7. The method as described in claim 1, characterized in that, After controlling the shore crane and horizontal transport vehicle to execute the target plan based on the target plan, the method further includes: Based on the control results of the target scheme, update the ship status and equipment status; the ship status represents the ship's bay position stage and in-line container position status, and the equipment status includes the current position of the shore crane and the next available time of the horizontal transport vehicle; In response to the state update operation, the target scheme is iteratively updated, and loading and unloading control is performed based on the updated target scheme until the loading and unloading tasks of each container are completed.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

9. A computer storage medium storing computer program instructions thereon, characterized in that, When executed by a processor, the computer program instructions implement the steps of the method according to any one of claims 1 to 7.

10. A computer program product comprising computer program instructions, characterized in that, When executed by a processor, the computer program instructions implement the steps of the method according to any one of claims 1 to 7.

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