CN102807103B - A kind of automated container terminal three-dimensional track equipment mixed allocation method - Google Patents

Abstract

The present invention relates to a kind of automated container terminal three-dimensional track equipment mixed allocation method, the method comprises the following steps: the state 1) checking each equipment of the three-dimensional track of automated container terminal, sets up total free device collection C; 2) check in total free device collection C whether comprise the necessary various equipment of loading and unloading container, if lack any one equipment, return the first step, otherwise, enter next step; 3) from total free device collection C, select bank bridge to equipment collection C1, select low bridge small rail car, companion ladder to equipment collection C1, select case district to equipment collection C1, select ground small rail car, RMG to equipment collection C1; 4) the various equipment in equipment collection C1 are combined, calculate the loadingunloading time of each equipment combination, obtain the equipment combination of minimal time value T1 and correspondence; 5) the equipment combination of minimal time is utilized to perform Container Transport.Compared with prior art, the present invention has and greatly can improve the advantages such as handling efficiency.

Description

A kind of automated container terminal three-dimensional track equipment mixed allocation method

Technical field

The present invention relates to the container handling technology of container wharf, especially relate to a kind of automated container terminal three-dimensional track equipment mixed allocation method.

Background technology

The nineties in 20th century, European Rotterdam, NED and Hamburg, Germany port have built up advanced automation harbour container carrying and transmission system in succession, and its horizontal transportation system all adopts AGV and automatic Guided Vehicle system.But there is two problems: (1) capital intensive, AGV dolly cost is up to 1,000,000 U.S. dollars; (2) efficiency of actual is still lower than traditional manually-operated harbour efficiency.Although these two automatic docks are still in operation, its solution technique fails widespread use, does not also have application example at home at present.

In recent years, domestic in harbor accommodation manufacture and Wharf Construction process, achieve fast speed development, for the defect based on AGV dolly automatic dock, more domestic companies propose some automatic dock schemes.The Chinese patent being 200610025860.6 as application number discloses a kind of container wharf arrangement, for the container wharf of storage yard container orientation perpendicular to freight container orientation on ship, comprise: bank crane, the freight container of its handling is in first direction all the time; Low bridge system, comprise along the low bridge track of first direction, low bridge crane carriage and low bridge flat truck, low bridge crane carriage can load and unload low bridge flat truck, and low bridge system can realize handling by bank crane; Pass on cart system, pass on trolley track and the dolly that passes on along second direction, the dolly that passes on can make its freight container loaded carry out the rotation of 90, and the cart system that passes on can be loaded and unloaded by low bridge system; Stockyard hoisting crane, has the stockyard crane track of second direction, and stockyard hoisting crane can load and unload passing on cart system.Program low bridge and rotary trolley replace expensive AGV, the original transport undertaken by AGV is decomposed into horizontal transport 3 actions of the horizontal transport of low bridge upper flat plate car (TC), the vertical transport of low bridge crane carriage (OBC) and ground rotation dolly (GC), successfully solves the transportation problem of AGV on two dimensional surface by an overhead crossing.

But each facility assignment is the key link determining automatic dock handling efficiency.In the prior art scheme, the major defect that facility assignment exists is that bank bridge and low bridge track adopt one_to_one corresponding binding mechanism, low bridge track rate of hurrying can be caused in any case widely different, and namely certain low bridge track is always busy, and another always idle situation.

Summary of the invention

Object of the present invention is exactly provide a kind of automated container terminal that greatly can improve handling efficiency three-dimensional track equipment mixed allocation method to overcome defect that above-mentioned prior art exists.

Object of the present invention can be achieved through the following technical solutions: a kind of automated container terminal three-dimensional track equipment mixed allocation method, it is characterized in that, the method comprises the following steps: the state 1) checking the bank bridge of automated container terminal solid included by track, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane, and the state of equipment is gathered, set up total free device collection C, 2) check in total free device collection C whether comprise the necessary various equipment of loading and unloading container, if lack any one equipment, delay time, D, returned the first step, otherwise, enter next step, 3) from total free device collection C, select bank bridge to equipment collection C1, rule is bank bridge numbering 1≤QC (i)≤[M+1]/2, select low bridge small rail car, companion ladder is to equipment collection C1, rule is low bridge small rail car numbering, companion ladder numbering is respectively mod (TC (i))=1, mod (OBC (i))=1, select case district to equipment collection C1, rule is case district's numbering 1≤BA (i)≤[(P+1)/2], select ground small rail car, RMG is to equipment collection C1, rule is ground rail dolly numbering, RMG numbering 1≤GC (i), RMG (i)≤[(P+1)/2] * 2, 4) the various equipment integrated by equipment in C1 carry out combining and to be unshiped down by freight container to meet and to be transported to case district or freight container is transported to ship as principle from case district, need to meet TC (i)=OBC (i), GC (i) in equipment combination, RMG (i)=2*BA (i)-1 or GC (i), RMG (i)=2*BA (i), calculate the loadingunloading time of each equipment combination, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) }, 5) the equipment combination of minimal time is utilized to perform Container Transport.

Described step 2) in necessary various equipment be bank bridge, low bridge small rail car, companion ladder, ground rail dolly, stockyard hoisting crane.

Described step 4) calculate each equipment combination loadingunloading time, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) } be specially

1) math modeling of apparatus for establishing distribution is as follows:

$MinT=Max\left(\begin{array}{c}Max\left(\begin{array}{c}{S}_{Qi}*S_{Tj}*T_{TM1ij}+T_Q+S_{Qi}*S_{Gj}*T_{TM2ij},\\ S_{Oi}*S_{Gj}**T_{OMij},S_{Ti}*S_{Gj}*T_{GM1ij}\end{array}\right)+T_O+S_{Ti}*S_{Bj}*T_{GM2ij}\\ S_{Ri}*S_{Bj}*T_{RMij}\end{array}\right)+T_R$

S.t.

$\begin{array}{ccc}{T}_{TM1ij}=\frac{|X_{Tj}-X_{Qi}|}{V_{TE}}& T_{TM2ij}=\frac{|X_{Gj}-X_{Qi}|}{V_{TF}}& T_{OMij}=\frac{|X_{Gj}-X_{Oi}|}{V_O}\end{array}$

$\begin{array}{ccc}{T}_{GM1ij}=\frac{|Y_{Gj}-Y_{Ti}|}{V_{GE}}& T_{GM2ij}=\frac{|Y_{Bj}-Y_{Ti}|}{V_{GF}}& T_{RMij}=\frac{|Y_{Bj}-Y_{Ri}|}{V_{RE}}\end{array}$

$\begin{array}{ccc}\underset{i=1}{\overset{M}{\Σ}}{S}_{Qi}=1& \underset{i=1}{\overset{2N}{\Σ}}{S}_{Ti}=1& S_{Oi}=S_{Ti}\end{array}$

$\begin{array}{ccc}\underset{i=1}{\overset{P}{\Σ}}{S}_{Bi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Gi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Ri}=1\end{array}$

S _Qi+B _Qi≤1S _Ti+B _Ti≤1S _Oi+B _Oi≤1S _Gi+B _Gi≤1S _Ri+B _Ri≤1

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T\left(2j\right)}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{P+1}{2}\]}{\Σ}}{S}_{Bj}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=\[\frac{P+1}{2}\]}{\overset{P}{\Σ}}{S}_{Bj}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

S _G(2j-1)+S _G(2j)≤S _BjS _R(2j-1)+S _R(2j)≤S _Bj

In model, the implication of each symbol is as follows:

M--bank bridge number; N--low bridge track number; P--case district number;

T _q--the bank bridge single job time;

T _o--a vertical lifting operating time of companion ladder;

T _tM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _tM2ij--low bridge small rail car is by the shifting time of bank bridge i small rail car j earthward;

T _oMij--the shifting time of companion ladder i small rail car j earthward;

T _gM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _gM2ij--ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _rMij--RMGi is to the shifting time in j room, case district;

X _qi--bank bridge i horizontal position coordinate;

X _tj--low bridge small rail car j horizontal position coordinate;

Y _tj--low bridge small rail car j vertical position coordinate;

X _oi--companion ladder i horizontal position coordinate;

X _gj--ground rail dolly j horizontal position coordinate;

Y _gj--ground rail dolly j vertical position coordinate;

Y _ri--RMGj vertical position coordinate;

Y _bi--i room, case district vertical position coordinate;

V _tE--the unloaded moving velocity of low bridge small rail car;

V _tF--low bridge small rail car is fully loaded with moving velocity;

V _o--companion ladder horizontal movement velocity;

V _gE--the unloaded moving velocity of ground rail dolly;

V _gF--ground rail dolly is fully loaded with moving velocity;

V _rE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the equipment combination of minimal time value T1 and correspondence.

Compared with prior art, the present invention has the following advantages:

1, abandon traditional bank bridge and low bridge track one_to_one corresponding binding mechanism, then adopt mixed allocation mechanism, solve device busy rate uneven, be i.e. always busy and other the always idle problems of certain low bridge small rail car, thus improve handling efficiency;

2, each equipment adopts general synchronization shift strategy, and after namely receiving handling task, in equipment combination, each equipment moves to target location simultaneously, but not point moved further adopted at present, make handling efficiency have also been obtained large increase.

Accompanying drawing explanation

Fig. 1 is diagram of circuit of the present invention.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

Embodiment

Usual freight container transports to the uninstall process in stockyard from boats and ships, first case got by bank bridge (QC), be put on low bridge small rail car (TC), then TC moves toward target location ground rail, meanwhile, companion ladder (OBC) is toward also moving toward target location ground rail, and the freight container then got on TC by OBC is vertically put on ground rail dolly (GC), last GC moves to object position, by RMG chest is mentioned and is put on goal box position.Otherwise, freight container transports to the loading process of boats and ships from stockyard, first RMG gets case, be put on GC, then GC is toward distributing low bridge rail moving, meanwhile, TC, OBC move toward GC, then the freight container got on GC by OBC is vertically put on TC, and last TC moves toward QC and moves, and chest is mentioned on the goal box position be put on ship by QC.The present invention is that to be applied to application number be on the Chinese patent of 200610025860.6, and therefore hardware components annexation is omitted, and bank bridge (QC) is equivalent to bank crane; Low bridge small rail car (TC) is equivalent to low bridge flat truck; Companion ladder (OBC) is equivalent to low bridge crane carriage; Ground rail dolly (GC) is equivalent to pass on dolly; RMG is equivalent to stockyard hoisting crane;

As shown in Figure 1, a kind of automated container terminal three-dimensional track equipment mixed allocation method, the method comprises the following steps:

Step 1) check the state of the three-dimensional bank bridge included by track of automated container terminal, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane, and the state of equipment is gathered, set up total free device collection C;

Step 2) check in total free device collection C whether comprise the necessary various equipment of loading and unloading container, if lack any one equipment, delay time, D, returned the first step, otherwise, enter next step;

Step 3) from total free device collection C, select bank bridge to equipment collection C1, rule is bank bridge numbering 1≤QC (i)≤[M+1]/2, select low bridge small rail car, companion ladder is to equipment collection C1, rule is low bridge small rail car numbering, companion ladder numbering mod (TC (i))=1, mod (OBC (i))=1, select case district to equipment collection C1, rule is case district's numbering 1≤BA (i)≤[(P+1)/2], select ground small rail car, RMG is to equipment collection C1, rule is ground rail dolly numbering, RMG numbering 1≤GC (i), RMG (i)≤[(P+1)/2] * 2,

Step 4) equipment combination possible in computing equipment collection C1, need to meet TC (i)=OBC (i), GC (i) in equipment combination, RMG (i)=2*BA (i)-1 or GC (i), RMG (i)=2*BA (i), calculate the loadingunloading time of each equipment combination, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) };

Step 5) from total free device collection C, select bank bridge to equipment collection C2, rule is bank bridge numbering [M+1]/2≤QC (i)≤M, select low bridge small rail car, companion ladder is to equipment collection C2, rule is low bridge small rail car numbering, companion ladder numbering mod (TC (i))=0, mod (OBC (i))=0, select case district to equipment collection C2, rule is case district numbering [(P+1)/2]≤BA (i)≤P, select ground small rail car, RMG is to equipment collection C2, rule is ground rail dolly numbering, RMG numbers [(P+1)/2] 2≤TC (i), RMG (i)≤2P,

Step 6) equipment combination possible in computing equipment collection C2, need to meet TC (i)=OBC (i), GC (i) in equipment combination, RMG (i)=2*BA (i)-1 or GC (i), RMG (i)=2*BA (i), calculate the loadingunloading time of each equipment combination, obtain equipment combination MINC2{GC (i) of minimal time value T2 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) };

Step 7) compare T1 and T2, optimal device combination MINC{GC (i) of time of return minimum value T and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) }.

Step 8) the like, finally compare the equipment combination drawing shortest time;

Step 9) utilize the equipment combination of minimal time to perform Container Transport.

Step 2) in necessary various equipment be bank bridge, low bridge small rail car, companion ladder, ground rail dolly, stockyard hoisting crane.

Described step 4) calculate each equipment combination loadingunloading time, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) } be specially

1) math modeling of apparatus for establishing distribution is as follows:

$MinT=Max\left(\begin{array}{c}Max\left(\begin{array}{c}{S}_{Qi}*S_{Tj}*T_{TM1ij}+T_Q+S_{Qi}*S_{Gj}*T_{TM2ij},\\ S_{Oi}*S_{Gj}**T_{OMij},S_{Ti}*S_{Gj}*T_{GM1ij}\end{array}\right)+T_O+S_{Ti}*S_{Bj}*T_{GM2ij}\\ S_{Ri}*S_{Bj}*T_{RMij}\end{array}\right)+T_R$

S.t.

$\begin{array}{ccc}{T}_{TM1ij}=\frac{|X_{Tj}-X_{Qi}|}{V_{TE}}& T_{TM2ij}=\frac{|X_{Gj}-X_{Qi}|}{V_{TF}}& T_{OMij}=\frac{|X_{Gj}-X_{Oi}|}{V_O}\end{array}$

$\begin{array}{ccc}{T}_{GM1ij}=\frac{|Y_{Gj}-Y_{Ti}|}{V_{GE}}& T_{GM2ij}=\frac{|Y_{Bj}-Y_{Ti}|}{V_{GF}}& T_{RMij}=\frac{|Y_{Bj}-Y_{Ri}|}{V_{RE}}\end{array}$

$\begin{array}{ccc}\underset{i=1}{\overset{M}{\Σ}}{S}_{Qi}=1& \underset{i=1}{\overset{2N}{\Σ}}{S}_{Ti}=1& S_{Oi}=S_{Ti}\end{array}$

$\begin{array}{ccc}\underset{i=1}{\overset{P}{\Σ}}{S}_{Bi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Gi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Ri}=1\end{array}$

S _Qi+B _Qi≤1S _Ti+B _Ti≤1S _Oi+B _Oi≤1S _Gi+B _Gi≤1S _Ri+B _Ri≤1

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T\left(2j\right)}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{P+1}{2}\]}{\Σ}}{S}_{Bj}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=\[\frac{P+1}{2}\]}{\overset{P}{\Σ}}{S}_{Bj}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

S _G(2j-1)+S _G(2j)≤S _BjS _R(2j-1)+S _R(2j)≤S _Bj

In model, the implication of each symbol is as follows:

M--bank bridge number; N--low bridge track number; P--case district number;

T _q--the bank bridge single job time;

T _o--a vertical lifting operating time of companion ladder;

T _tM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _tM2ij--low bridge small rail car is by the shifting time of bank bridge i small rail car j earthward;

T _oMij--the shifting time of companion ladder i small rail car j earthward;

T _gM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _gM2ij--ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _rMij--RMGi is to the shifting time in j room, case district;

X _qi--bank bridge i horizontal position coordinate;

X _tj--low bridge small rail car j horizontal position coordinate;

Y _tj--low bridge small rail car j vertical position coordinate;

X _oi--companion ladder i horizontal position coordinate;

X _gj--ground rail dolly j horizontal position coordinate;

Y _gj--ground rail dolly j vertical position coordinate;

Y _ri--RMGj vertical position coordinate;

Y _bi--i room, case district vertical position coordinate;

V _tE--the unloaded moving velocity of low bridge small rail car;

V _tF--low bridge small rail car is fully loaded with moving velocity;

V _o--companion ladder horizontal movement velocity;

V _gE--the unloaded moving velocity of ground rail dolly;

V _gF--ground rail dolly is fully loaded with moving velocity;

V _rE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the equipment combination of minimal time value T1 and correspondence.

Corresponding noted earlier, when unloading case, bank bridge hangs from box ship simultaneously and gets two 40 forty equivalent unit 40s to low bridge flat bogie; After low bridge flat bogie connects case, along low bridge track to assigned address; Rise the freight container on low bridge flat bogie by companion ladder, after low bridge flat bogie leaves, case is unloaded on floor slab dolly; After floor slab dolly connects case, run along ground rail to heap field direction; Behind in-position, by stockyard RMG, case is winched to the case position of specifying.Binning process backward and going.

The present invention, according to three-dimensional rail mounted automated container terminal actual handling flow process, obtains optimal device combination by algorithm, realizes the loadingunloading time the shortest.In system initialization process, all devices, all in the desired location that system is initial, reports current device information to dispatching system in time in equipment running process.In actual handling task, first by the combination of this algorithm determination optimal device, then adopt this equipment to combine and perform handling task, the task that every platform equipment executes its correspondence discharges immediately, enters free device collection.

Claims (2)

1. an automated container terminal three-dimensional track equipment mixed allocation method, it is characterized in that, the method comprises the following steps:

1) check the state of the bank bridge of automated container terminal solid included by track, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane, and the state of equipment is gathered, set up total free device collection C;

2) check in total free device collection C whether comprise the necessary various equipment of loading and unloading container, if lack any one equipment, delay time, D, returned the first step, otherwise, enter next step;

3) from total free device collection C, select bank bridge to equipment collection C1, rule is bank bridge numbering 1≤QC (i)≤[M+1]/2, select low bridge small rail car, companion ladder is to equipment collection C1, rule is low bridge small rail car numbering, companion ladder numbering is respectively mod (TC (i))=1, mod (OBC (i))=1, select case district to equipment collection C1, rule is case district's numbering 1≤BA (i)≤[(P+1)/2], select ground small rail car, RMG is to equipment collection C1, rule is ground rail dolly numbering, RMG numbering 1≤GC (i), RMG (i)≤[(P+1)/2] * 2,

4) the various equipment integrated by equipment in C1 carry out combining and to be unshiped down by freight container to meet and to be transported to case district or freight container is transported to ship as principle from case district, need to meet TC (i)=OBC (i) and GC (i) in equipment combination, RMG (i)=2*BA (i)-1 or GC (i), RMG (i)=2*BA (i), calculate the loadingunloading time of each equipment combination, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) };

5) the equipment combination of minimal time is utilized to perform Container Transport;

Described step 4) calculate each equipment combination loadingunloading time, obtain equipment combination MINC1{GC (i) of minimal time value T1 and correspondence, TC (i), OBC (i), GC (i), RMG (i), BA (i) } be specially

1) math modeling of apparatus for establishing distribution is as follows:

$MinT=Max\left(\begin{array}{c}Max\left(\begin{array}{c}{S}_{Qi}*S_{Tj}*T_{TM1ij}+T_Q+S_{Qi}*S_{Gj}*T_{TM2ij},\\ S_{Oi}*S_{Gj}*T_{OMij},S_{Ti}*S_{Gj}*T_{GM1ij}\end{array}\right)+T_O+S_{Ti}*S_{Bj}*T_{GM2ij},\\ S_{Ri}*S_{Bj}*T_{RMij}\end{array}\right)+T_R$

S.t.

$\begin{array}{ccc}{T}_{TM1ij}=\frac{|X_{Tj}-X_{Qi}|}{V_{TE}}& T_{TM2ij}=\frac{|X_{Gj}-X_{Qi}|}{V_{TF}}& T_{OMij}=\frac{|X_{Gj}-X_{Oi}|}{V_O}\end{array}$

$\begin{array}{ccc}{T}_{GM1ij}=\frac{|Y_{Gj}-Y_{Ti}|}{V_{GE}}& T_{GM2ij}=\frac{|Y_{Bj}-Y_{Ti}|}{V_{GF}}& T_{RMij}=\frac{|Y_{Bj}-Y_{Ri}|}{V_{RE}}\end{array}$

b _ti, B _oi, B _gi, B _ri, B _bialso be 0-1 variable, define similar

s _ti, S _oi, S _gi, S _ri, S _bialso be 0-1 variable, define similar

$\begin{array}{ccc}\underset{i=1}{\overset{M}{\Σ}}{S}_{Qi}=1& \underset{i=1}{\overset{2N}{\Σ}}{S}_{Ti}=1& S_{Oi}=S_{Ti}\end{array}$

$\begin{array}{ccc}\underset{i=1}{\overset{P}{\Σ}}{S}_{Bi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Gi}=1& \underset{i=1}{\overset{2P}{\Σ}}{S}_{Ri}=1\end{array}$

S _Qi+B _Qi≤1S _Ti+B _Ti≤1S _Oi+B _Oi≤1S _Gi+B _Gi≤1S _Ri+B _Ri≤1

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=1}{\overset{\[\frac{N}{2}\]+1}{\Σ}}{S}_{T\left(2j\right)}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

$\begin{array}{cc}\underset{j=1}{\overset{\[\frac{P+1}{2}\]}{\Σ}}{S}_{Bj}=\underset{i=1}{\overset{\[\frac{M+1}{2}\]}{\Σ}}{S}_{Qi}& \underset{j=\[\frac{P+1}{2}\]}{\overset{P}{\Σ}}{S}_{Bj}=\underset{i=\[\frac{M+1}{2}\]}{\overset{M}{\Σ}}{S}_{Qi}\end{array}$

S _G(2j-1)+S _G(2j)≤S _BjS _R(2j-1)+S _R(2j)≤S _Bj

In model, the implication of each symbol is as follows:

M--bank bridge number; N--low bridge track number; P--case district number;

T _q--the bank bridge single job time;

T _o--a vertical lifting operating time of companion ladder;

T _tM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _tM2ij--low bridge small rail car is by the shifting time of bank bridge i small rail car j earthward;

T _oMij--the shifting time of companion ladder i small rail car j earthward;

T _gM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _gM2ij--ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _rMij--RMGi is to the shifting time in j room, case district;

X _qi--bank bridge i horizontal position coordinate;

X _tj--low bridge small rail car j horizontal position coordinate;

Y _tj--low bridge small rail car j vertical position coordinate;

X _oi--companion ladder i horizontal position coordinate;

X _gj--ground rail dolly j horizontal position coordinate;

Y _gj--ground rail dolly j vertical position coordinate;

Y _ri--RMGj vertical position coordinate;

Y _bi--i room, case district vertical position coordinate;

V _tE--the unloaded moving velocity of low bridge small rail car;

V _tF--low bridge small rail car is fully loaded with moving velocity;

V _o--companion ladder horizontal movement velocity;

V _gE--the unloaded moving velocity of ground rail dolly;

V _gF--ground rail dolly is fully loaded with moving velocity;

V _rE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the equipment combination of minimal time value T1 and correspondence.

2. a kind of automated container terminal according to claim 1 three-dimensional track equipment mixed allocation method, it is characterized in that, described step 2) in necessary various equipment be bank bridge, low bridge small rail car, companion ladder, ground rail dolly, stockyard hoisting crane.