A port full-lithium electric tire crane power resource collaborative scheduling simulation system

Abstract

The present application relates to the technical field of digital simulation of port machinery equipment, and more particularly to a port full-lithium tire crane battery replacement resource collaborative scheduling simulation system.The simulation system comprises: a yard and tire crane configuration module for establishing yard and tire crane simulation objects; a unified simulation clock module for providing a unified simulation time reference for each module; a tire crane operation efficiency generation module for generating actual work efficiency within a preset time window; a tire crane battery power shutdown control module for calculating battery power consumption and executing corresponding device operation control actions; a battery replacement resource configuration management module for configuring and managing battery replacement resource parameters; and a battery replacement path time calculation module for calculating the go and return times of a battery replacement device to provide time length basis for battery replacement task allocation and resource collaborative scheduling.The present application realizes full-process collaborative simulation of yard operation, power consumption, battery replacement request, resource allocation and replenishment.

Description

Technical Field

[0001] This invention relates to the fields of digital simulation of port machinery and equipment, equipment energy management, battery swapping scheduling and control and industrial software technology, and more specifically, to a port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system. Background Technology

[0002] Against the backdrop of the ongoing national "dual carbon" goals and the green and low-carbon transformation of ports, traditional port loading and unloading equipment is rapidly upgrading towards green technologies. As one of the core pieces of equipment in port yards, rubber-tired gantry cranes are gradually being fully equipped with lithium batteries. With the large-scale deployment of these lithium-ion-powered rubber-tired gantry cranes, achieving efficient, reliable, and economical (i.e., without requiring large-scale modifications to the yard) refueling while ensuring continuous terminal operations has become a key issue in port equipment configuration and operation management.

[0003] Currently, the primary method for recharging all-lithium battery-powered tire-mounted cranes is still traditional fixed-point charging. This method typically requires the tire-mounted crane to travel or park at a fixed charging location before recharging. This not only places additional demands on site layout and operational organization, requiring large-scale infrastructure modifications, but also results in relatively long charging times, which can easily affect the equipment's continuous operation capability. In high-intensity, high-continuity port production scenarios, relying solely on fixed-point charging often makes it difficult to balance recharging efficiency with production rhythm.

[0004] To address these issues, existing technologies are exploring energy replenishment methods that combine mobile battery swapping devices with backup batteries. Compared to fixed charging, mobile battery swapping solutions are more effective in improving equipment utilization, reducing operational downtime, and minimizing modifications to yard infrastructure. However, new questions arise: how many mobile battery swapping devices and backup batteries should a terminal be equipped with? What charging power is required for the swapped-out batteries? How many charging stations are needed to ensure that energy replenishment resources are matched with the yard size, number of equipment, and operational intensity? These questions cannot be accurately determined based on experience alone and require a specialized simulation analysis tool for quantitative evaluation and theoretical support.

[0005] Existing technologies lack dedicated configuration evaluation tools for all-lithium-battery tire-mounted gantry crane (RTG) energy replenishment systems, making it difficult to systematically demonstrate terminal battery swapping and replenishment schemes. Specifically, this manifests in several ways: difficulty in quantifying the appropriate number of mobile battery swapping devices and backup batteries, which can easily lead to resource redundancy or insufficiency; difficulty in assessing whether the charging power and charging position configuration of swapped batteries match the actual operational rhythm and energy replenishment needs of the terminal; existing methods cannot uniformly consider the linkage between RTG operational fluctuations, location distribution, battery state of charge (SOC) evolution, and battery swapping resource scheduling; and the lack of visualization simulation and statistical output tools for terminal scheme demonstration makes it difficult to provide quantitative basis for project construction, equipment configuration, and investment decisions.

[0006] Therefore, there is an urgent need for a simulation system for demonstrating the configuration of all-lithium-electric tire cranes for power swapping and replenishment in ports, so as to provide a theoretical basis for terminal construction, energy replenishment system configuration and equipment investment decisions. Summary of the Invention

[0007] The purpose of this invention is to provide a port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system to solve the problems of unreasonable resource allocation, poor scheduling simulation matching, and easy occurrence of resource scheduling conflicts in existing all-lithium battery tire crane power swapping systems.

[0008] To achieve the above objectives, this invention provides a port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system, comprising: The Yard and Rubber-Road Crane Configuration Module is used to create a Yard and Rubber-Road Crane simulation object that includes the Yard foundation parameters and the Rubber-Road Crane foundation parameters. The unified simulation clock module is used to provide a unified simulation time base for all modules, driving all modules to run in parallel on the same time axis; The tire crane operation efficiency generation module is used to generate the actual working efficiency within a preset time window based on the tire crane's basic parameters, and output it to the tire crane power shutdown control module. The tire crane power shutdown control module is used to calculate battery power consumption based on the tire crane's basic parameters and actual working efficiency, and to execute corresponding equipment operation control actions based on the power consumption results. The battery swapping resource configuration management module is used to configure and manage battery swapping resource parameters and output them to the battery swapping path time calculation module. The battery swapping path time calculation module is used to calculate the outbound and return times of the battery swapping device based on the yard's basic parameters, battery swapping resource parameters, and target tire crane location parameters, providing a time basis for battery swapping task allocation and resource collaborative scheduling.

[0009] In some embodiments, in the yard and rubber-tired gantry crane configuration module, the yard basic parameters include the yard's unique identifier, starting coordinates, and yard length; The basic parameters of the tire crane include tire crane number, storage yard, initial battery SOC, minimum SOC threshold, warning margin value, reset target SOC, energy consumption per move (operation cycle), battery capacity, basic working efficiency, and operating coefficient range.

[0010] In some embodiments, the yard and tire crane configuration module is further configured to: The starting coordinates of the storage yard and the coordinates of the charging station are placed in the same two-dimensional plane coordinate system, so that the position of the tire crane is updated in real time within the storage yard as the simulation progresses, and is mapped as a dynamic graphic object on the front-end interface.

[0011] In some embodiments, the unified simulation clock module is configured to synchronously perform tire crane operation status updates, SOC deductions, battery swapping scheduling, battery charging, and report statistics operations within each simulation step.

[0012] In some embodiments, the tire crane operation efficiency generation module is configured to: Each tire-mounted crane is configured with an idle coefficient and a peak coefficient, wherein the idle coefficient is not greater than the peak coefficient; Within each consecutive preset time window, a value is randomly sampled from the interval formed by the idle coefficient and the peak coefficient as the work coefficient; Based on the basic work efficiency and the aforementioned work coefficient, the effective actual work efficiency within the current time window is calculated.

[0013] In some embodiments, the tire crane power shutdown control module is configured as follows: Calculate power consumption based on actual working efficiency, energy consumption per move, and battery capacity, and update remaining SOC in real time; When the SOC of the tire crane drops to the warning threshold, a battery swapping request signal is triggered. When the SOC of the tire crane drops to the minimum SOC threshold, the tire crane status is set to shutdown and the downtime is accumulated.

[0014] In some embodiments, the battery swapping resource parameters configured by the battery swapping resource configuration management module include: charging station coordinates, number of battery swapping devices, number of backup batteries, target initial capacity of backup batteries, charging power, number of charging piles, and operating speed of battery swapping devices. After receiving a battery swapping request from the tire crane power shutdown control module, the battery swapping resource configuration management module checks whether there are any idle battery swapping devices and available backup batteries that have reached the target initial power level. If any condition is not met, it enters a waiting state.

[0015] In some embodiments, the battery swapping path time calculation module is configured to: The outbound distance is obtained by summing the absolute values ​​of the x-axis and y-axis coordinate differences between the charging station and the tire crane. The return distance is obtained by calculating the sum of the outbound distance and the length of the yard to which the rubber-tired crane belongs; After converting the unit of the battery swapping device's operating speed, the outbound and return times are obtained by combining the outbound and return distances respectively. The fixed battery swapping operation time is added to the outbound time to form the complete outbound plus battery swapping total time.

[0016] In some embodiments, the battery swapping path time calculation module is further configured to: The battery swapping device is displayed as a progress bar with time information on the front-end interface, which is used to show the task completion percentage, remaining time and total time in real time.

[0017] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system further includes a backup battery charging and resource recovery module: The backup battery charging and resource recovery module is communicatively connected to the unified simulation clock module and the battery swapping resource configuration management module, respectively, and is used to perform recovery, queuing, charging and restoration of availability management on the retrieved low-power batteries.

[0018] In some embodiments, the backup battery charging and resource recovery module is configured to: Record the remaining charge of the low-charge batteries that are retrieved after the battery swapping task is completed; If an available charging station is available, the low-power battery will be charged at a preset charging power. When the battery level recovers to the initial target level of the backup battery, charging stops and the battery is remarked as a usable battery. If no charging station is available, the user will enter a queue to wait for charging.

[0019] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system further includes a preventative early battery swapping module: The preventative early battery swapping module is communicatively connected to the unified simulation clock module, the tire crane power shutdown control module, and the battery swapping resource configuration management module, respectively. It is used to selectively initiate early battery swapping for one of the multiple tire cranes when their expected arrival time for battery swapping warning is close.

[0020] In some embodiments, the preventative early battery swapping module is configured to: Periodically read the estimated arrival time for battery swapping warnings for all tire-mounted cranes; When the difference between the estimated arrival time of the battery swap warning for any two tire cranes is less than a preset percentage threshold, it is determined that there is a potential risk of simultaneous battery swapping, and the tire crane with the higher current remaining power is selected as the preventive battery swapping target. Battery swapping is initiated in advance when the SOC of the tire crane drops to the preventive battery swapping trigger threshold; The preventive battery swapping trigger threshold is determined by the sum of the minimum SOC threshold, the warning margin value, and the configurable early battery swapping margin.

[0021] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system further includes a tire crane operation work order reading and writing module: The tire crane operation work order reading and writing module is communicatively connected to the unified simulation clock module and is used to periodically read and write work order data files in a standardized format to achieve data interaction with external systems.

[0022] In some embodiments, the tire crane work order reading and writing module is configured to: Periodically write the tire crane's identifier, location coordinates, operating frequency, working time, unit operating energy consumption, remaining power, estimated time to battery swap warning, battery swap signal, and equipment stop working time into the work order data file.

[0023] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system further includes a report output module: The report output module is communicatively connected to the unified simulation clock module and is used to output a simulation run report file after the simulation is completed. The simulation run report file contains configuration data and simulation statistics data.

[0024] In some embodiments, the simulation run report file output by the report output module includes at least: Yard configuration, rubber-tired gantry crane configuration, battery swapping resource configuration, operating time of each rubber-tired gantry crane, cumulative number of operations, average / maximum / minimum operating efficiency, number of battery swaps, minimum battery swapping capacity, downtime, and total number of operations, overall average operating efficiency, and total downtime of all rubber-tired gantry cranes.

[0025] The port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system provided by this invention achieves full-process collaborative simulation of yard operations, power consumption, battery swapping requests, resource allocation and replenishment by establishing a yard and tire crane model under a unified simulation clock, generating dynamic operation efficiency, controlling power consumption, scheduling battery swapping resources, and calculating path time based on yard length correction. This provides a theoretical basis for the quantitative configuration of the number of mobile battery swapping devices, the number of backup batteries, charging power and the number of charging positions, and solves the technical problems of lack of systematic demonstration of battery swapping and replenishment configuration and frequent resource conflicts in the prior art. Attached Figure Description

[0026] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always denote the same features, wherein: Figure 1 A schematic diagram of a port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to an embodiment of the present invention is disclosed. Figure 2 A schematic diagram of the first stage of a stockpile and RTG animation view according to an embodiment of the present invention is disclosed; Figure 3 A second-stage schematic diagram of a stockpile and RTG animation view according to an embodiment of the present invention is disclosed; Figure 4 A schematic diagram of the third stage of the stockpile and RTG animation view according to an embodiment of the present invention is disclosed; Figure 5 A schematic diagram of a stockyard module parameter configuration interface according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of a tire crane parameter configuration interface according to an embodiment of the present invention is disclosed; Figure 7 A schematic diagram of a charging station / battery swapping device / backup battery parameter configuration interface according to an embodiment of the present invention is disclosed; Figure 8 An animated schematic diagram of a charging station / battery swapping device according to an embodiment of the present invention is disclosed; Figure 9 A schematic diagram of a tire crane status list according to an embodiment of the present invention is provided; Figure 10 A schematic diagram of the operation interface of a simulation system according to an embodiment of the present invention is disclosed; Figure 11 A schematic diagram of a simulation system preloading interface according to an embodiment of the present invention is disclosed; Figure 12 A schematic diagram of a simulation run report file according to an embodiment of the present invention is shown.

[0027] The meanings of the labels in the figures are as follows: Simulation system for collaborative scheduling of power swapping resources for all-lithium-battery tire cranes in 100 ports; 101 Yard and Rubber-Rolled Crane Configuration Module; 102 Unified Simulation Clock Module; 103 Tire-mounted crane operation efficiency generation module; 104 Tire Crane Power Shutdown Management Module; 105 Battery Swapping Resource Allocation Management Module; 106 Battery Swapping Path Time Calculation Module; 107 Backup Battery Charging and Resource Recovery Module; 108 Preventive Early Battery Swap Module; 109 Tire Crane Operation Work Order Reading and Writing Module; 110 report output module. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0029] To address the shortcomings of existing technologies, such as the lack of theoretical support for all-lithium battery-powered tire crane (LTG) battery swapping and replenishment configurations, the disconnect between RTG operation simulation and battery swapping resource simulation, passive battery swapping timing, frequent resource conflicts, and insufficient data integration capabilities, this invention proposes a port all-lithium battery-powered LTG battery swapping resource collaborative scheduling simulation system. By establishing simulation objects including the yard and the LTG, a unified simulation clock, dynamic operation efficiency generation, power consumption and downtime control, battery swapping resource configuration management, and battery swapping path time calculation based on coordinates and yard length correction, this system achieves full-process collaborative simulation of yard operations, remaining power consumption of the power battery, battery swapping station resource configuration, battery swapping device scheduling, backup battery charging and replenishment, and battery swapping timing prediction. This provides unified and quantitative theoretical support for the configuration of port battery swapping and replenishment systems.

[0030] Figure 1 A schematic diagram of a port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to an embodiment of the present invention is disclosed, such as... Figure 1 As shown, the present invention proposes a port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system 100, which includes: a yard and tire crane configuration module 101, a unified simulation clock module 102, a tire crane operation efficiency generation module 103, a tire crane power outage control module 104, a battery swapping resource configuration management module 105, and a battery swapping path time calculation module 106. The modules work together to realize integrated collaborative simulation and scheduling of battery swapping resources.

[0031] The port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system 100 proposed in this invention, through the coordinated linkage of the above core modules and the combination of optional extension modules, realizes yard modeling, dynamic generation of operation intensity, precise triggering of battery swapping demand, intelligent scheduling of battery swapping resources, accurate calculation of path time and quantitative output of simulation results. It fully covers the simulation requirements of the entire process of all-lithium battery tire crane battery swapping, and provides scientific and reliable theoretical support for the parameter configuration of the terminal battery swapping and energy replenishment system.

[0032] The functions, implementation details, and collaborative logic of each module of the present invention will be described in detail below with reference to specific embodiments.

[0033] The yard and rubber-tired gantry crane configuration module 101 is used to create a yard and rubber-tired gantry crane simulation object containing yard basic parameters and rubber-tired gantry crane basic parameters, providing basic scene boundary conditions for the entire simulation system.

[0034] In some embodiments, in the yard and tire crane configuration module 101, each yard is defined by yard basic parameters, which include the yard's unique identifier, starting coordinates, and yard length.

[0035] Each rubber-tired gantry crane contains several basic parameters, including the gantry crane number, the storage yard it belongs to, the initial state of charge (SOC) of the battery, the minimum SOC threshold, the warning margin value, the reset target SOC, the energy consumption of a single move, the battery capacity, the basic working efficiency, and the range of the operating coefficient.

[0036] Optionally, the yard and tire crane configuration module 101 is further configured to: place the starting coordinates of the yard and the coordinates of the charging station in the same two-dimensional plane coordinate system, so that the position of the tire crane is updated in real time within the yard as the simulation progresses, and is mapped to a dynamic graphic object corresponding to the coordinates in the front-end interface of the view, so that the operator can intuitively observe the real-time working position of the tire crane.

[0037] Specifically, this module is used to establish the basic simulation objects for the storage yard and rubber-tired gantry cranes, and its implementation details are as follows: The core function of the yard and tire crane configuration module 101 proposed in this invention is to determine the yard size, the number of tire cranes and their spatial distribution range. Based on this, it provides scenario boundary conditions for the configuration requirements of mobile battery swapping devices, backup batteries, charging power and charging positions, thereby solving the basic problem of determining the yard size and the number of equipment.

[0038] The unified simulation clock module 102 is used to provide a unified simulation time reference for each module, drive each module to run in parallel on the same time axis, and ensure the data synchronization of each module and the accuracy of the simulation results.

[0039] Preferably, the unified simulation clock module 102 is configured to synchronously perform tire crane operation status updates, SOC deductions, battery swapping scheduling, battery charging, and report statistics operations within each simulation step, ensuring the continuity of the simulation process and the consistency of the data.

[0040] All objects in this invention share the same simulation timeline. The simulation system supports global start, stop, reset, and accelerated operation. The simulation time serves as the sole benchmark for all statistical values, avoiding data deviations caused by different time sources used by different modules.

[0041] The unified simulation clock module 102 proposed in this invention enables the comparison of tire crane shutdown, battery swapping waiting and battery replenishment results under different resource configuration schemes under the same time conditions by unifying the simulation time base, thereby providing a unified evaluation scale for determining the number of mobile battery swapping devices, the number of backup batteries, the charging power and the number of charging positions.

[0042] The tire crane operation efficiency generation module 103 is used to generate the actual working efficiency within a preset time window based on the tire crane's basic parameters, and output it to the tire crane power shutdown control module 104 to simulate the efficiency fluctuations in the actual operation of the tire crane.

[0043] Preferably, the tire crane operation efficiency generation module is configured to: configure an idle coefficient and a peak coefficient for each tire crane, wherein the idle coefficient is not greater than the peak coefficient; randomly sample a value within the interval formed by the idle coefficient and the peak coefficient in each consecutive preset time window as the operation coefficient; and calculate the effective actual operation efficiency within the current time window based on the basic work efficiency and the operation coefficient.

[0044] To more closely approximate actual working conditions, this embodiment does not directly use the configured work efficiency as a fixed value. Instead, it introduces a work coefficient that is resampled every 60 minutes of simulation time. This work coefficient is a value randomly selected by the system, falling between the idle coefficient and the peak coefficient, and is used by the system to actively distribute the workload of the equipment in a discrete manner.

[0045] Each tire-mounted crane has two parameters: an idle coefficient and a peak coefficient. Both are decimals greater than 0 and less than or equal to 1, with the idle coefficient not exceeding the peak coefficient. Each machine has a base efficiency representing the number of work cycles per hour. The idle coefficient represents the minimum number of work cycles per hour based on the base efficiency during idle periods, while the peak coefficient represents the maximum number of work cycles per hour based on the base efficiency during busy periods. For example, if the base efficiency is set to 20 moves / hour, the idle coefficient is set to 0.4, and the peak coefficient is set to 1, then a value between 0.4 and 1 will be sampled per hour as the work coefficient. This work coefficient will then be multiplied by the base efficiency to obtain the actual work efficiency of the machine for that hour.

[0046] For each tire-mounted crane, within each consecutive 60-minute simulation time window, a coefficient is randomly selected from the interval formed by the idle coefficient and the peak coefficient. Optionally, the preset time window can be adjusted to 30 minutes, 60 minutes, or 120 minutes, etc., according to actual needs.

[0047] Multiplying the baseline working efficiency by this random coefficient and rounding the result yields the effective actual working efficiency within the current 60-minute window. It should be noted that the baseline working efficiency is an empirical value set based on actual port data and can be adjusted according to the operational characteristics of different ports. It is typically defined as the highest working efficiency value of equipment at the terminal. However, in actual operations, equipment cannot operate at this efficiency 24 hours a day. Therefore, by randomly sampling between the idle coefficient and the peak coefficient for discretization, the simulation can be made closer to reality.

[0048] The statistics for the rubber-tired gantry crane, including energy consumption, cumulative number of operations, average operating efficiency, highest operating efficiency, and lowest operating efficiency, are all calculated based on this effective working efficiency. Energy consumption is a preset value, which can be set in the interface based on the average energy consumption of one operating cycle at each dock. The cumulative number of operations is a value accumulated over time in the program. It is calculated by multiplying the hourly random operation coefficient by the base working efficiency to obtain the current hourly effective working efficiency. Then, the time required for each working cycle within that hour is obtained, and the number of operations is accumulated by advancing the time frame until the coefficient changes in the next 60 minutes. Throughout the simulation, the highest effective working efficiency is recorded as the highest working efficiency, and the lowest effective working efficiency is recorded as the lowest operating efficiency.

[0049] This invention, through a tire crane operation efficiency generation module 103, can simulate the fluctuations of a tire crane between idle, normal, and busy operating conditions, rather than treating the equipment as a constant load object. This module extends the tire crane's operating intensity from fixed parameters to a dynamic load that fluctuates over time, thereby enabling the assessment of whether mobile battery swapping devices, backup batteries, charging power, and charging positions can still meet the demand under different operating intensity conditions, solving the problem of matching operating intensity with resource allocation.

[0050] The tire crane power shutdown control module 104 is used to calculate battery power consumption based on the tire crane's basic parameters and actual working efficiency, and execute corresponding equipment operation control actions based on the power consumption results, so as to realize real-time monitoring of tire crane power and precise triggering of battery replacement and shutdown.

[0051] Preferably, the tire crane power shutdown control module 104 is configured to: calculate power consumption based on the actual working efficiency, energy consumption per move, and battery capacity, and update the remaining SOC in real time; trigger a battery swapping request signal when the tire crane's SOC drops to the warning threshold; and set the tire crane to shutdown and accumulate the shutdown time when the tire crane's SOC drops to the minimum SOC threshold.

[0052] In practice, after the tire crane is "activated," its power consumption is calculated based on the current effective actual working efficiency, energy consumption per move, and battery capacity. For any tire crane, the energy consumption per unit time is directly proportional to the effective move / hour, the energy consumption per move, and the battery capacity. When the tire crane's State of Charge (SOC) drops to the warning line (i.e., the warning threshold), the system triggers a battery swapping request signal. When the tire crane's SOC drops to the minimum SOC threshold, the system sets the tire crane to shutdown, stops further operation, and accumulates the downtime to prevent excessive battery discharge and damage.

[0053] Optionally, when the system receives a confirmation signal from an external interactive file, the tire crane automatically returns to the reset target SOC and automatically resumes its working state, ensuring the continuity of the simulation process.

[0054] The tire crane power outage control module 104 proposed in this invention continuously calculates the tire crane's power consumption and triggers early warning, battery swapping, and shutdown states, generating the time, frequency, and consequences of battery swapping demand. Based on this, it can determine whether the number of existing mobile battery swapping devices and backup batteries is sufficient to avoid tire crane shutdown, providing a demand-side basis for determining the scale of the above two types of resources.

[0055] The battery swapping resource configuration management module 105 is used to configure and manage battery swapping resource parameters and output them to the battery swapping path time calculation module 106.

[0056] Preferably, the battery swapping resource configuration management module 105 configures the following battery swapping resource parameters: charging station coordinates, number of battery swapping devices, number of backup batteries, target initial capacity of backup batteries, charging power, number of charging piles, and operating speed of battery swapping devices.

[0057] After receiving a battery swapping request from the tire crane power shutdown control module 104, the battery swapping resource configuration management module 105 checks whether there are any idle battery swapping devices and available backup batteries that have reached the target initial power level. If any condition is not met, it enters a waiting state.

[0058] In practice, the battery swapping resource parameters configured in the battery swapping resource configuration management module 105 are as follows: The coordinates of the charging station are in the same two-dimensional plane coordinate system as the starting coordinates of the storage yard, and are used to determine the starting position of the battery swapping device. The number of battery swapping devices can be configured according to simulation requirements, such as 2, 3 or 5 units, to perform battery swapping tasks; The number of spare batteries can be flexibly configured, such as 10 or 15. The capacity of the spare batteries is consistent with the battery capacity of the tire crane to be serviced, and no separate configuration is required. The target initial charge of the backup battery, such as 90% SOC, ensures that the tire crane can operate normally for a certain period of time after the battery is swapped. Charging power, such as 50kW, is used to determine the charging speed of a low-charge battery; The number of charging stations should match the number of backup batteries, for example, 8 or 12, to enable multiple batteries to be charged simultaneously. The operating speed of the battery swapping device, for example, 10 km / h, is used to calculate the path time of the battery swapping device.

[0059] When any tire crane issues a battery swapping request, the system schedules according to the following logic: (1) Check if there is an available battery swapping device; (2) Check if there is an available backup battery that has reached the initial power level of the set target; (3) If either the battery swapping device or the backup battery does not meet the conditions, the request enters a waiting state; (4) If both conditions are met, a battery swapping device and a backup battery are assigned to perform the battery swapping task.

[0060] The scheduling logic described above controls three core issues: First, determining whether there are vehicles available for battery swapping (number of battery swapping devices, station location coordinates, operating speed); second, whether there are batteries available for swapping (number of spare batteries, initial battery capacity); and third, whether the batteries are in a swappable state (charging power, number of charging stations). Essentially, the scheduling logic checks whether battery swapping resources meet the demand, while the parameter settings determine the initial state and dynamic changes of the resources.

[0061] The battery swapping resource configuration management module 105 proposed in this invention integrates the number of mobile battery swapping devices, the number of backup batteries, the charging power, and the number of charging positions as configurable resource variables into a unified simulation framework. It allocates, occupies, and handles the waiting status of resources according to the battery swapping request of the tire crane. Therefore, it can be directly used to evaluate the four core issues of "how many mobile battery swapping devices, how many backup batteries, how much charging power is required to replace the battery, and how many charging positions need to be set up for a dock".

[0062] The battery swapping path time calculation module 106 is used to calculate the outbound and return times of the battery swapping device based on the yard basic parameters, battery swapping resource parameters, and target tire crane location parameters, providing a time basis for battery swapping task allocation and resource collaborative scheduling.

[0063] Preferably, the charging path time calculation module 106 is configured to: obtain the outbound distance by calculating the sum of the absolute values of the x-axis coordinate difference and the y-axis coordinate difference between the charging station and the RTG; obtain the return distance by calculating the sum of the outbound distance and the length of the yard where the RTG belongs; after converting the unit of the operation speed of the battery swapping device, combine the outbound distance and the return distance respectively to obtain the outbound time and the return time; and superimpose a fixed battery swapping operation duration on the basis of the outbound time to form the total time of the complete outbound trip plus battery swapping.

[0064] In a preferred embodiment, the charging path time calculation module 106 is further configured to display the battery swapping device as a progress bar with time information on the front-end interface, for real-time display of the task completion percentage, remaining time, and total time, facilitating the operator to monitor the battery swapping progress in real time.

[0065] In order to be closer to the internal road organization mode of the yard, in this embodiment, instead of using the straight-line distance, a path model based on the coordinate difference and yard length correction is adopted.

[0066] Specifically, the outbound distance of the battery swapping device is calculated as follows: Outbound distance = |x_station - x_rtg| + |y_station - y_rtg|; Where, x_station and y_station are the x-axis and y-axis coordinates of the charging station, and x_rtg and y_rtg are the x-axis and y-axis coordinates of the target RTG.

[0067] The return distance of the battery swapping device is calculated as follows: Return distance = |x_station - x_rtg| + |y_station - y_rtg| + block_length; Where, x_station and y_station are the x-axis and y-axis coordinates of the charging station, x_rtg and y_rtg are the x-axis and y-axis coordinates of the target RTG, and block_length is the length of the yard where the RTG belongs. The yard length is introduced to simulate the actual situation of detouring or returning along a one-way path.

[0068] After converting the operation speed of the battery swapping device from km / h to m / min, the outbound time and the return time are obtained respectively. A fixed battery swapping operation duration is superimposed in the outbound stage to form the total time of the complete outbound trip plus battery swapping, which is used to evaluate the single service cycle of the battery swapping device.

[0069] On the front-end interface, the battery swapping device can be changed from an icon to a progress bar with time information, for real-time display of the task completion percentage, remaining time, and total time.

[0070] The battery swapping path time calculation module 106 proposed in this invention reflects the actual characteristic that the internal travel routes of ports are not Euclidean straight lines, and incorporates the length of the yard where the rubber-tired gantry crane is located into the return trip calculation, further improving the accuracy of path time calculation. This module calculates the outbound trip time, battery swapping operation time, and return trip time of the mobile battery swapping device from the charging station to the rubber-tired gantry crane, obtaining the actual occupancy time for a single mobile battery swapping device to complete a single service. This allows for the calculation of its service capacity limit, helping to determine the optimal number of mobile battery swapping devices to be configured.

[0071] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system 100 further includes a backup battery charging and resource recovery module 107. The backup battery charging and resource recovery module 107 is communicatively connected to the unified simulation clock module 102 and the battery swapping resource configuration management module 105, respectively, and is used to perform recycling, queuing, charging, and restoration of availability management on retrieved low-power batteries.

[0072] After the battery swapping task is completed, the retrieved low-charge batteries are returned to the charging station.

[0073] Preferably, the backup battery charging and resource recovery module 107 is configured to: record the remaining power of the low-power battery retrieved after the battery swapping task is completed; if there is an available charging station, charge the low-power battery at a preset charging power; when its power is restored to the target initial power of the backup battery, stop charging and re-mark it as a usable battery; if there is no available charging station, the battery enters a queuing state to wait for charging, and charging is started immediately once a charging station becomes available.

[0074] Through the above scheme, this invention can simultaneously simulate three types of constraints: battery swapping equipment occupancy, backup battery occupancy, and charging pile occupancy. This module manages the recycling, queuing, charging, and restoration of usability of swapped-out batteries, enabling it to determine whether backup battery turnover is timely, whether charging power is sufficient, and whether charging positions are saturated. Therefore, it primarily addresses the determination of the minimum number of backup batteries needed, the required charging power for swapped-out batteries, and the number of charging positions required.

[0075] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system 100 further includes a preventative early battery swapping module 108. The preventative early battery swapping module 108 is communicatively connected to the unified simulation clock module 102, the tire crane power shutdown control module 104, and the battery swapping resource configuration management module 105, respectively. It is used to selectively initiate early battery swapping for one of the multiple tire cranes when their expected arrival times for battery swapping are close, thereby reducing the risk of battery swapping resource conflicts.

[0076] A key innovation of this invention is that, through the preventive early battery swapping module 108, not only can passive battery swapping be performed when the tire crane reaches the battery swapping warning, but also preventive battery swapping can be proactively triggered in advance by predicting future battery swapping conflicts among multiple machines.

[0077] Preferably, the preventative early battery swapping module 108 is configured as follows: Periodically read the estimated arrival time to battery swap warning for all tire cranes (time_to_reach_swap_warning); When the difference between the estimated arrival times of any two rubber-tired gantry cranes for battery swapping is less than a preset percentage threshold, it is determined that there is a potential risk of simultaneous battery swapping between the two. This preset percentage threshold can be any value from 1 to 100, and can be set by the user according to the actual situation of the terminal. It should be noted that the difference in yard size and working efficiency will affect this preset percentage threshold, and the optimal value can be found through multiple simulations and adjustments.

[0078] Of the two tire cranes, the one with the higher remaining battery power will be prioritized for preventative battery swapping. Battery swapping is initiated in advance when the SOC of the tire crane drops to the preventive battery swapping trigger threshold; The preventive battery swapping trigger threshold is determined by the sum of the minimum SOC threshold, the warning margin value, and the configurable early battery swapping margin.

[0079] More specifically, the expression for the preventative battery swapping trigger threshold is as follows: Preventive battery swap trigger threshold = soc_min_threshold + soc_warning_margin + defendant_swap_margin; Among them, soc_min_threshold is the minimum SOC threshold, soc_warning_margin is the warning margin value, and defendant_swap_margin is a configurable early battery swap margin. In the example, it can be set to 10%, thereby achieving approximately 40% early battery swap in typical cases.

[0080] This battery swapping task will be specially marked in the system to distinguish it from ordinary early warning battery swapping tasks.

[0081] The port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system 100 proposed in this invention, through its preventive early battery swapping module 108, identifies the potential risk of multiple tire cranes swapping simultaneously and schedules battery swapping tasks in advance to reduce the instantaneous concentration of resource demand. This significantly reduces equipment congestion and resource squeeze caused by multiple tire cranes arriving at the battery swapping demand point at the same time in a short period of time. It avoids distorted overestimation or underestimation of the number of mobile battery swapping devices, the number of backup batteries, the charging power, and the number of charging positions due to short-term squeeze, and achieves a corrective effect on resource allocation. It solves the technical problem of resource allocation distortion caused by passive battery swapping timing and frequent resource conflicts in the prior art.

[0082] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system 100 further includes a tire crane operation work order reading and writing module 109. The tire crane operation work order reading and writing module 109 is communicatively connected to the unified simulation clock module 102 and is used to periodically read and write work order data files in a standardized format to achieve data interaction with external systems.

[0083] Preferably, the tire crane operation work order reading and writing module 109 is configured to periodically write the tire crane's identifier, location coordinates, operation frequency, working time, unit operation energy consumption, remaining power, estimated arrival time for battery swapping warning, battery swapping signal, and equipment stop working time into the work order data file.

[0084] This invention sets up a standardized tire crane operation work order data file, and in one embodiment, RTG_work_order.json is used as the work order file name.

[0085] Each tire-mounted crane periodically writes the following data: tire-mounted crane ID (RTG_ID), x-axis coordinate (position_x), y-axis coordinate (position_y), working frequency (move_frequency), working time (working_time), energy consumption per unit of work (move_energy_consumption), remaining power (remaining_energy(Soc)), time to reach swap warning (time_to_reach_swap_warning), battery swap signal trigger (Battery_swap_signal), and equipment stop time (Crane_stop_time).

[0086] The estimated time to reach the battery swap warning (time_to_reach_swap_warning) indicates the estimated time required to reach the battery swap warning state under the current operating conditions, which helps operators to arrange battery swap resources in advance.

[0087] When the tire crane reaches the battery swap warning condition, the battery swap signal (Battery_swap_signal) is written as "Swap" to send a battery swap request.

[0088] When the external system writes the battery swapping signal as "OK", the system automatically triggers the corresponding tire crane to reset, restores its SOC to the set target value, and automatically switches its operating status back to working status. Then, the system resets the signal to "0", realizing closed-loop interaction with the external system.

[0089] The port all-lithium battery tire crane resource collaborative scheduling simulation system 100 proposed in this invention, through its tire crane operation work order reading and writing module 109, standardizes and outputs data such as the tire crane's location, power, operation frequency, battery swapping request, and warning remaining time, providing real-time input data for mobile battery swapping device scheduling, backup battery allocation, and charging resource assessment. At the same time, the system can operate independently or serve as a digital interface layer for scheduling systems, control systems, or upper computer systems, thereby solving the data acquisition problem required for various resource allocation assessments.

[0090] In some embodiments, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system 100 further includes a report output module 110: The report output module 110 is communicatively connected to the unified simulation clock module 102 and is used to output a simulation run report file after the simulation is completed. The simulation run report file includes configuration data (configuration of yard, tire crane, and battery swapping resources) and simulation statistics data (statistics data of a single tire crane and global statistics data).

[0091] This invention also provides a report output mechanism. After the simulation system runs for a certain period of time and is paused, a text report can be exported.

[0092] Preferably, the simulation run report file output by the report output module 110 includes at least: Yard configuration, including basic parameters such as unique yard identifier, starting coordinates, and yard length; The configuration of the tire-mounted cranes includes parameters such as the number of each tire-mounted crane, the storage yard it belongs to, the initial state of charge of the battery, the minimum state of charge threshold, the warning margin value, the energy consumption of a single move, the battery capacity, the basic working efficiency, the idle factor, and the peak factor. Battery swapping resource configuration includes the configuration of charging stations, battery swapping devices, and backup batteries, such as parameters like charging station coordinates, number of battery swapping devices, number of backup batteries, target initial capacity of backup batteries, charging power, number of charging piles, and operating speed of battery swapping devices; Statistical data for a single rubber-tired crane, such as the operating time, cumulative number of operations, average / maximum / minimum operating efficiency, number of battery swaps, minimum battery swap capacity, and downtime for each crane; Global statistical data, such as the total number of operations of all tire cranes, the overall average operating efficiency, and the total downtime.

[0093] This report can be used for subsequent operational analysis, parameter optimization, and demonstration of the effectiveness of patent implementation.

[0094] The port all-lithium battery tire crane battery swapping resource collaborative scheduling simulation system 100 proposed in this invention, through its report output module 110, outputs a simulation operation report after the simulation ends, which includes yard configuration, tire crane configuration, battery swapping resource configuration, single tire crane statistical data and global statistical data, so as to realize the quantitative comparison of different resource configuration schemes, thereby solving the problem of determining and verifying the number of mobile battery swapping devices, the number of backup batteries, the charging power and the number of charging positions.

[0095] In summary, the port all-lithium-battery tire crane battery swapping resource collaborative scheduling simulation system 100 proposed in this invention, through the coordinated operation of the above-mentioned functional modules, realizes the full-process simulation of yard modeling, operation intensity generation, battery swapping demand generation, resource scheduling, path time calculation, battery replenishment and report comparison. It forms a set of quantitative configuration demonstration methods for determining the number of mobile battery swapping devices, the number of backup batteries, charging power and the number of charging positions, effectively solving the technical problems of lack of theoretical support and resource configuration distortion in the existing technology of battery swapping and energy replenishment configuration.

[0096] In a specific application example, the system of this invention adopts a web architecture, with the backend simulation engine using FastAPI and the frontend interface implemented using HTML, CSS, and JavaScript, without separating the frontend and backend. The backend is responsible for status maintenance, clock progression, scheduling calculations, file reading and writing, and report export, while the frontend is responsible for parameter configuration, animation display, and manual operation. The system can be deployed on a typical office-grade host or industrial control computer with a 6-core CPU, 16GB of memory, and a 50GB SSD to meet the operational requirements.

[0097] First, we introduce the modeling of storage yards and rubber-tired gantry cranes. Several storage yards are configured using the storage yard and rubber-tired gantry crane configuration module 101, with each yard assigned a unique number, lower left starting coordinates, and yard length. Then, one or more rubber-tired gantry cranes are added to each storage yard. Each crane is configured with initial SOC, minimum SOC threshold, warning margin value, reset target SOC, single move energy consumption, battery capacity, basic move frequency, idle coefficient, and peak coefficient.

[0098] Next, the tire crane's operating conditions and energy consumption are calculated. The system is driven by the unified simulation clock of the unified simulation clock module 102. For any tire crane, at the beginning of each 60-minute simulation window, the tire crane operation efficiency generation module 103 randomly selects a value k from the interval between its idle coefficient and peak coefficient, multiplies the basic peak move frequency f by k, and rounds it to obtain the effective move / h for the current window.

[0099] Within any time step Δt, the increment of the move count is obtained by converting the effective move / h to the time step. The tire crane power shutdown control module 104 calculates the SOC decrease within this time step: ΔSOC = (move_increment × e_move / C_battery) × 100%; Here, move_increment is the increment of the number of moves within the time step, e_move is the energy consumption of a single move (this value is obtained from another energy consumption calculation tool), and C_battery is the battery capacity.

[0100] The system updates the remaining SOC, cumulative move count, running time, and estimated time required to reach the battery swap warning based on this.

[0101] Next, we will introduce the work order file interaction. The system uses the work order read / write module of the tire crane to write the current status information of each tire crane to RTG_work_order.json every second, and at the same time read the control signals in the file. If it is detected that the Battery_swap_signal of a tire crane has been written as OK by the external system, the system will automatically restore the battery of the tire crane to the preset target value, switch back to working status, and then rewrite the signal to 0.

[0102] Next, we will introduce the scheduling of battery swapping devices. When the Battery_swap_signal of a certain tire crane is Swap or it is selected by the preventive early battery swapping module 108, the battery swapping resource configuration management module 105 searches for idle battery swapping devices and backup batteries that meet the minimum available power requirements. If both are available, a battery swapping task is generated.

[0103] Let the coordinates of the battery swapping station be (x_s, y_s), the coordinates of the target tire crane be (x_r, y_r), the length of the storage yard to which the tire crane belongs be L_block, and the speed of the battery swapping device be v_kmh.

[0104] The battery swapping path time calculation module 106 first converts the speed v_kmh from kilometers per hour to meters per minute to obtain v_mpm, with the corresponding expression as follows: v_mpm = v_kmh × 1000 / 60.

[0105] The outbound distance d_out and the return distance d_back are respectively: d_out = |x_s - x_r| + |y_s - y_r|; d_back = |x_s - x_r| + |y_s - y_r| + L_block.

[0106] The outbound travel time t_out and the return travel time t_back are respectively: t_out = d_out / v_mpm; t_back = d_back / v_mpm.

[0107] If the battery swapping operation has a fixed time of t_swap, then the total outbound time t_out_total is: t_out_total = t_out + t_swap.

[0108] The system displays the battery swapping device's task execution process in the front end using a progress bar. During the outbound phase, the progress increases from 0% to 100%, and during the return phase, it decreases from 100% back to 0%.

[0109] Next, we will introduce the management of backup batteries and charging stations. After the battery swap is completed, the removed low-charge battery is brought back to the charging station. The backup battery charging and resource recovery module 107 records its SOC at the time of return and adds it to the charging queue. When an available charging station is available, the charging amount is calculated according to the charging power until the battery is restored to the set initial backup battery capacity. After being fully charged, the battery is put back into the available inventory.

[0110] Next, we will introduce the preventative early battery swapping mechanism. The system continuously compares the time_to_reach_swap_warning of each tire crane through the preventative early battery swapping module 108. If the difference in this value between any two tire cranes is less than a preset proportional threshold, it is determined that there is a risk of simultaneous battery swapping in the near future, and the one with the higher current battery level is selected as the candidate for early battery swapping.

[0111] Let the minimum SOC threshold of the tire crane be T_min, the warning margin be T_warn, and the preventive battery swap margin be T_def. Then the early battery swap trigger condition for the tire crane is: SOC ≤ T_min + T_warn + T_def.

[0112] When the current SOC value of the tire crane is less than or equal to the sum of three thresholds, the system activates the preventive battery swapping mechanism. Once the above conditions are met, even if the tire crane has not yet entered the normal battery swapping warning, a battery swapping task is generated in advance, and a "preventive early battery swapping" mark is added to the task record.

[0113] When the simulation runtime exceeds the set value and is paused by the user, the report output module 110 outputs a text report. The report includes configuration data and simulation statistics, which can be directly saved as a text file for subsequent analysis and archiving.

[0114] To more intuitively demonstrate the operating status and configuration process of the system of the present invention, this embodiment provides a visual interactive interface, with each interface view corresponding to the functions of the aforementioned modules.

[0115] Figure 2 A first-stage schematic diagram of a stockpile and RTG animation view according to an embodiment of the present invention is disclosed, such as... Figure 2 As shown, the storage yard, tire-mounted cranes, and charging stations are placed in the same two-dimensional coordinate system. The green dots represent tire-mounted cranes, the square in the lower right corner is the starting point of the charging area for the battery swapping device, and the black horizontal lines represent the battery swapping lanes in the storage yard. The tire-mounted cranes move in real time within their respective storage yard areas, and their positions are updated as the simulation progresses, and mapped to corresponding dynamic graphical objects in the view.

[0116] The first stage is the initial state, where all rubber-tired cranes are in normal working condition, and are therefore displayed as green dots, making it easy for users to intuitively observe the initial distribution of each rubber-tired crane and the layout of the yard.

[0117] Figure 3 A second-stage schematic diagram of the stockpile and RTG animation view according to an embodiment of the present invention is disclosed, such as... Figure 3 As shown, after the simulation starts and runs for a period of time, when the SOC of the tire crane drops to the warning threshold, its icon changes from green to yellow, indicating that the battery swap warning state has been reached and battery swapping needs to be arranged.

[0118] Figure 4 A third-stage schematic diagram of the stockpile and RTG animation view according to an embodiment of the present invention is disclosed. (See diagram below.) Figure 4 As shown, if battery swapping is not arranged in time during the early warning state, when the State of Charge (SOC) of the rubber-tired gantry crane continues to drop to the minimum SOC threshold, its icon turns red, indicating that it has entered a low-power shutdown protection state and will stop operation. This state indicates that the current number of battery swapping devices, the number of backup batteries, or the charging capacity cannot meet the needs of continuous operation of the rubber-tired gantry crane. This is also one of the core application scenarios of the simulation system of this invention, namely, by identifying such situations in advance, optimizing the battery swapping resource configuration scheme, and avoiding the problem of rubber-tired gantry crane shutdown and affecting the efficiency of dock operations in actual operations.

[0119] Figure 5 A schematic diagram illustrating a stockyard module parameter configuration interface according to an embodiment of the present invention is shown, such as... Figure 5 As shown, this interface corresponds to the aforementioned yard and tire crane configuration module 101. Operators can add or remove yards through this interface, and set the unique identifier (block_id), starting coordinates (start_x, start_y), and yard length for each yard. This interface also supports batch addition of yards, facilitating the rapid creation of large-scale simulation scenarios.

[0120] Figure 6 A schematic diagram of a tire-mounted tow truck (RTG) parameter configuration interface according to an embodiment of the present invention is shown, such as... Figure 6 As shown, this interface corresponds to the aforementioned yard and rubber-tired gantry crane configuration module 101 and rubber-tired gantry crane operation efficiency generation module 103. Operators can configure key parameters for each rubber-tired gantry crane, including: gantry crane number (rtg_id), affiliated yard (block_id), initial SOC, minimum SOC threshold, warning margin value, reset target SOC, single move energy consumption, basic working efficiency (move_frequency), battery capacity, as well as idle coefficient (IDEL coefficient) and peak coefficient (Peak coefficient). It also provides a batch configuration function, which can quickly complete the parameter settings for multiple rubber-tired gantry cranes, adapting to large-scale simulation scenarios.

[0121] Figure 7 A schematic diagram of a parameter configuration interface for a charging station / battery swapping device / backup battery according to an embodiment of the present invention is shown, such as... Figure 7 As shown, this interface corresponds to the aforementioned battery swapping resource configuration management module 105. Operators can configure the charging station coordinates (charging_station_start_x, charging_station_start_y), the number of battery swapping devices (swap_device_count), the number of spare batteries (spare_battery_count), the target initial capacity of the spare batteries (spare_battery_initial_soc), the charging power (battery_charge_power), the number of charging piles (charger_pile_count), the operating speed of the battery swapping devices (swap_device_speed), and the percentage of margin for preventative battery swapping (defendant_swap). Through this interface, users can flexibly set the initial configuration of battery swapping resources for simulation comparisons under different schemes.

[0122] Figure 8 An animated schematic diagram of a charging station / battery swapping device according to an embodiment of the present invention is shown. Figure 8 As shown, the front-end interface graphically displays the real-time status of the battery swapping devices and backup batteries. Each battery swapping device (e.g., SD_1, SD_2, SD_3) displays its current status (e.g., "Standby") and operating speed; each backup battery (e.g., BAT_1, BAT_2, BAT_3) displays its current battery percentage and charging status (e.g., "Charging #1"). This animated view allows operators to intuitively monitor the occupancy of battery swapping resources and the charging progress.

[0123] Figure 9 A schematic diagram illustrating a tire-mounted gantry (RTG) status list according to an embodiment of the present invention is shown, such as... Figure 9 As shown, this list displays detailed operating records for each tire-mounted crane in tabular form, including: crane number, yard affiliation, current state of charge (SOC), runtime, cumulative move count, current move / hour, downtime, current location coordinates, operating status (e.g., paused, low_soc_stop), and corresponding operation buttons (parameters, pause / start, reset, remove). This list allows users to quickly understand the real-time operating status and battery swapping needs of each tire-mounted crane.

[0124] Figure 10 A schematic diagram of the user interface of a simulation system according to an embodiment of the present invention is shown. Figure 10 As shown, the operation interface provides global simulation control buttons, including "Start," "Stop," "Reset," and "Output Report," as well as a global acceleration ratio selection (1x, 2x, 4x, 8x, 16x, 32x). It should be noted that global acceleration does not speed up the operation of a single object, but rather the unified simulation clock module 102 controls the advancement ratio of the entire simulation clock. Under this mechanism, all time-dependent operations, such as tire crane operations, SOC changes, battery swapping task advancement, backup battery charging, and preventative battery swapping judgments, are synchronously accelerated at the same ratio. Even at a higher ratio, the system will perform segmented processing at the boundary of the 60-minute operation coefficient sampling window to ensure that the logic of "resampling the operation coefficient every 60 minutes" is not skipped. The top of the interface also displays the current simulation time, operating status, number of yards, number of tire cranes, and the average SOC of all tire cranes.

[0125] Figure 11 A schematic diagram of a simulation system parameter preloading interface according to an embodiment of the present invention is shown. Figure 11 As shown, due to the relatively complex initial configuration of the simulation system, the system provides "Save Simulation Parameter Configuration" and "Load Simulation Parameter Configuration" functions to facilitate the review and comparison of historical simulations. Users can save multiple sets of configuration records and quickly load them in subsequent simulations, effectively improving the efficiency of parameter debugging and scheme demonstration.

[0126] Figure 12 A schematic diagram of a simulation run report file according to an embodiment of the present invention is shown. Figure 12 As shown, after the simulation ends, the report output module 110 can generate a simulation operation report in text format (.txt), which includes statistical data for each tire crane (such as minimum move / h, number of battery swaps, minimum battery swap SOC, downtime, etc.) and a global operation overview (such as the total number of operations of all tire cranes, overall average operating efficiency, total downtime, etc.). This report can be saved directly for subsequent operation analysis, parameter optimization, and scheme demonstration.

[0127] Through the aforementioned visual interactive interface, the system of this invention realizes full-process visualization of simulation configuration, process monitoring and result analysis, presenting the logic of the aforementioned functional modules in an intuitive way, which is convenient for users to operate and understand, and further improves the practicality and ease of use of the system.

[0128] This invention provides a simulation system for collaborative scheduling of power swapping resources for all-lithium-battery tire cranes in ports, which has the following advantages: 1) By placing the storage yard, tire crane, charging station, battery swapping device, backup battery and charging pile under the same two-dimensional plane coordinate system and the same simulation clock, the parallel advancement and collaborative simulation of each element on the same time axis can be realized, which effectively avoids the data deviation problem caused by multiple time bases; 2) Based on the working intensity, single-cycle energy consumption parameters and battery capacity of the tire crane, the remaining power (SOC), remaining time for battery swap warning and shutdown status of each tire crane are calculated in real time, providing a reliable basis for accurate judgment of battery swap timing; 3) Upon receiving the battery swapping dispatch request, the round-trip travel time of the battery swapping device is calculated based on the spatial coordinates of the battery swapping station and the tire crane, as well as the actual length of the storage yard. The battery swapping equipment is then driven to complete the entire process, forming a complete closed loop for the execution of the battery swapping task. 4) When the battery swapping warning time of multiple tire cranes is close, the system can automatically identify potential battery swapping conflicts and selectively perform preventive battery swapping on one of them in advance based on a preset threshold. This effectively alleviates the instantaneous rush of battery swapping resources, reduces the risk of equipment congestion, and avoids operation interruption due to resource conflicts. 5) By continuously reading and writing the tire crane's operation work order information through standardized work order interaction files, standardized data access interfaces are reserved for external systems such as dispatching systems, control systems, or host computers, thereby improving the system's scalability and integration capabilities. 6) After the simulation is completed, the system automatically outputs a report containing configuration parameters and simulation statistics, providing a quantitative basis for subsequent scheduling strategy optimization, energy replenishment system demonstration and engineering implementation.

[0129] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0130] Those skilled in the art will understand that information, signals, and data can be represented using any of a variety of different techniques and skills. For example, the data, instructions, commands, information, signals, bits, symbols, and chips described throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, light fields or optical particles, or any combination thereof.

[0131] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0132] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0133] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of both. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor such that the processor can read and write information to / from the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and storage medium may reside as discrete components in the user terminal.

[0134] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. A simulation system for collaborative scheduling of power swapping resources for all-lithium-electric tire cranes in ports, characterized in that, include: The Yard and Rubber-Road Crane Configuration Module is used to create a Yard and Rubber-Road Crane simulation object that includes the Yard foundation parameters and the Rubber-Road Crane foundation parameters. The unified simulation clock module is used to provide a unified simulation time base for all modules, driving all modules to run in parallel on the same time axis; The tire crane operation efficiency generation module is used to generate the actual working efficiency within a preset time window based on the tire crane's basic parameters, and output it to the tire crane power shutdown control module. The tire crane power shutdown control module is used to calculate battery power consumption based on the tire crane's basic parameters and actual working efficiency, and to execute corresponding equipment operation control actions based on the power consumption results. The battery swapping resource configuration management module is used to configure and manage battery swapping resource parameters and output them to the battery swapping path time calculation module. The battery swapping path time calculation module is used to calculate the outbound and return times of the battery swapping device based on the yard's basic parameters, battery swapping resource parameters, and target tire crane location parameters, providing a time basis for battery swapping task allocation and resource collaborative scheduling.

2. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, In the configuration module for the storage yard and rubber-tired gantry crane, the basic parameters of the storage yard include the unique identifier of the storage yard, the starting coordinates, and the length of the storage yard; The basic parameters of the tire crane include tire crane number, storage yard, initial battery SOC, minimum SOC threshold, warning margin value, reset target SOC, energy consumption per move, battery capacity, basic working efficiency, and operating coefficient range.

3. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 2, characterized in that, The yard and tire crane configuration module is also configured to: The starting coordinates of the storage yard and the coordinates of the charging station are placed in the same two-dimensional plane coordinate system, so that the position of the tire crane is updated in real time within the storage yard as the simulation progresses, and is mapped as a dynamic graphic object on the front-end interface.

4. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, The tire crane operation efficiency generation module is configured as follows: Each tire-mounted crane is configured with an idle coefficient and a peak coefficient, wherein the idle coefficient is not greater than the peak coefficient; Within each consecutive preset time window, a value is randomly sampled from the interval formed by the idle coefficient and the peak coefficient as the work coefficient; Based on the basic work efficiency and the aforementioned work coefficient, the effective actual work efficiency within the current time window is calculated.

5. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 2, characterized in that, The tire crane power shutdown control module is configured as follows: Calculate power consumption based on actual working efficiency, energy consumption per move, and battery capacity, and update remaining SOC in real time; When the SOC of the tire crane drops to the warning threshold, a battery swapping request signal is triggered. When the SOC of the tire crane drops to the minimum SOC threshold, the tire crane status is set to shutdown and the downtime is accumulated.

6. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, The battery swapping resource configuration management module configures the following battery swapping resource parameters: charging station coordinates, number of battery swapping devices, number of backup batteries, target initial capacity of backup batteries, charging power, number of charging piles, and operating speed of battery swapping devices. After receiving a battery swapping request from the tire crane power shutdown control module, the battery swapping resource configuration management module checks whether there are any idle battery swapping devices and available backup batteries that have reached the target initial power level. If any condition is not met, it enters a waiting state.

7. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, The battery swapping path time calculation module is configured as follows: The outbound distance is obtained by summing the absolute values ​​of the x-axis and y-axis coordinate differences between the charging station and the tire crane. The return distance is obtained by calculating the sum of the outbound distance and the length of the yard to which the rubber-tired crane belongs; After converting the unit of the battery swapping device's operating speed, the outbound and return times are obtained by combining the outbound and return distances respectively. The fixed battery swapping operation time is added to the outbound time to form the complete outbound plus battery swapping total time.

8. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 7, characterized in that, The battery swapping path time calculation module is also configured to: The battery swapping device is displayed as a progress bar with time information on the front-end interface, which is used to show the task completion percentage, remaining time and total time in real time.

9. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, It also includes a backup battery charging and resource recovery module: The backup battery charging and resource recovery module is communicatively connected to the unified simulation clock module and the battery swapping resource configuration management module, respectively, and is used to perform recovery, queuing, charging and restoration of availability management on the retrieved low-power batteries.

10. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 9, characterized in that, The backup battery charging and resource recovery module is configured as follows: Record the remaining charge of the low-charge batteries that are retrieved after the battery swapping task is completed; If an available charging station is available, the low-power battery will be charged at a preset charging power. When the battery level recovers to the initial target level of the backup battery, charging stops and the battery is remarked as a usable battery. If no charging station is available, the user will enter a queue to wait for charging.

11. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, It also includes a preventative early battery swapping module: The preventative early battery swapping module is communicatively connected to the unified simulation clock module, the tire crane power shutdown control module, and the battery swapping resource configuration management module, respectively. It is used to selectively initiate early battery swapping for one of the multiple tire cranes when their expected arrival time for battery swapping warning is close.

12. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 11, characterized in that, The preventative early battery swapping module is configured as follows: Periodically read the estimated arrival time for battery swapping warnings for all tire-mounted cranes; When the difference between the estimated arrival time of the battery swap warning for any two tire cranes is less than a preset percentage threshold, it is determined that there is a potential risk of simultaneous battery swapping, and the tire crane with the higher current remaining power is selected as the preventive battery swapping target. Battery swapping is initiated in advance when the SOC of the tire crane drops to the preventive battery swapping trigger threshold; The preventive battery swapping trigger threshold is determined by the sum of the minimum SOC threshold, the warning margin value, and the configurable early battery swapping margin.

13. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, It also includes a tire crane operation work order reading and writing module: The tire crane operation work order reading and writing module is communicatively connected to the unified simulation clock module and is used to periodically read and write work order data files in a standardized format to achieve data interaction with external systems.

14. The port all-lithium battery tire crane power swapping resource collaborative scheduling simulation system according to claim 1, characterized in that, It also includes a report output module: The report output module is communicatively connected to the unified simulation clock module and is used to output a simulation run report file after the simulation is completed. The simulation run report file contains configuration data and simulation statistics data.

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