CN109784547A - A kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge - Google Patents
A kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge Download PDFInfo
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Abstract
The invention discloses a kind of harbour gantry cranes to cooperate with Optimization Scheduling with field bridge, include the following steps: gantry crane and Chang Qiao being set to scheduler object, using container stack as minimum handling unit, in conjunction with sailing schedule and container ship and stockyard position, to complete all container handlings any spent minimum time and gantry crane and the short target as gantry crane and the scheduling of field bridge of field bridge moving distance on a ship, building inlet and outlet container synchronous handling operation mathematical model with shellfish obtains optimal gantry crane and field bridge scheduling scheme under given inlet and outlet container handling task.Harbour gantry crane of the present invention and field bridge Optimization Scheduling design the improved adaptive GA-IAGA based on entropy matching principle, substantially increase the solution ability of algorithm, improve gantry crane and field bridge cooperative scheduling ability by designing Entropy Assessment system.
Description
Technical field
The invention belongs to harbor equipments to cooperate with Optimization Scheduling field, and in particular to a kind of harbour gantry crane and Chang Qiao
Cooperate with Optimization Scheduling.
Background technique
With the fast development of world economic integration, Container Shipping plays particularly important angle in international logistics
Color.Container Transport is developed so far nearly 30 years, and in addition to global economic crisis period in 2009, container throughput is always maintained at surely
It is fixed to increase, wherein preceding 20 annual growth is 10% or so, although increasing and being slowed down for nearly 10 years, but still keep 5% or so.Packaging
The fast development of case transport has driven the keen competition between container terminal, only shortening dock operation time and reduction harbour
The operation cost of container ship, could competitive superiority.Using same shellfish synchronization job mode, the work of harbor equipment is improved
Industry ability becomes the target of harbour development.
Gantry crane was put forward for the first time with shellfish synchronization job mode in 2003, applied to greatly improving container after harbour
Handling operation efficiency.It is not only related with gantry crane itself work capacity with the efficiency of loading and unloading of shellfish synchronization job mode, also by interior truck
It is influenced with the work compound degree of field bridge.Therefore for the synchronous handling operation mode of contract shellfish, Yard case is separately stored up
Strategy also mixes heap strategy by stockyard and replaces.Stockyard mixes heap and improves the heavily loaded rate of itself utilization rate and field bridge and truck, but also increases
The cooperative scheduling of gantry crane and field bridge and stockyard has been added to store up the difficulty of operation.
Summary of the invention
Cooperative scheduling and stockyard stockpiling operation in order to solve the problems, such as harbour gantry crane and field bridge is difficult, the present invention provides
A kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge.
The invention is realized by the following technical scheme:
A kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge, includes the following steps:
Step 1: gantry crane and Chang Qiao are set to scheduler object, in conjunction with sailing schedule and container in the position in ship and stockyard,
To complete target of all any spent minimum times of container handling as gantry crane and the scheduling of field bridge, structure on a ship
It builds inlet and outlet container and synchronizes handling operation mathematical model with shellfish；
Step 2: indicating that the container in ship and stockyard stores up state using Entropy Assessment system, using double layers chromosome pair
Container handling sequence is encoded, and the entropy based on each stack of ship and stockyard designs Revised genetic algorithum, solves container
The synchronous handling operation mathematical model with shellfish obtains optimal gantry crane and field bridge cooperative scheduling in the case of given container handling task
Scheme；
Further, in the above-mentioned technical solutions, the container handling sequence is using the double-deck real coding.
Further, in the above-mentioned technical solutions, the Entropy Assessment system, it is characterised in that: be considered as container
The particle Jz of open system, wherein to loading and unloading container and needing mould turnover container-combination to be set as each particle under fx state to be had
ENERGY E fx, it is known that probability P of the storage system in a certain state (jz, fx)jz,fxFor
Storage system entropy H is
Wherein: K is proportionality coefficient；α is Particles Moving rate；β is energy dissipation rate；D is entropy factor.
Deriving storage system entropy evaluation index H according to formula (15) and formula (16) is
Further, in the above-mentioned technical solutions, the gantry crane and field bridge cooperative scheduling mathematical model indicate are as follows:
Objective function are as follows:
Constraint condition are as follows:
(ltcg'(b', z', c') > 0 | ltcg'(b', z', c'+1) > 0) b'=1,2 ..., B', z'=1,2 ...,
Z', c'=1,2 ..., C'-1 (2)
Wherein, B, Z, C respectively indicate shellfish digit, stack number and the stockpiling height in stockyard；B', Z', C' respectively indicate the shellfish position of ship
Number, stack number and stockpiling height；O indicates the container customer quantity for needing to unload；WXoIndicate the container quantity of o-th of client, o=
1,2 ..., O；ZLxz, ZLzzThe container total amount for needing to unload and load is respectively indicated,
G' indicates total number of stages, G'=ZLxz+ZLzz；Qc, yc respectively indicate gantry crane and field bridge is numbered, qc=1, and 2, yc=1,2；Respectively indicate single time heavy duty of gantry crane and unloaded required time；The time required to indicating the mobile shellfish position of gantry crane；
Average time needed for indicating gantry crane mould turnover once；Respectively indicate single time heavy duty of a bridge and unloaded required time；Table
The time required to showing the mobile shellfish position of a bridge；Average time needed for indicating field bridge mould turnover once；ltc0(b', z', c') is indicated
Ship initially stores up information,ltcg'(b',z',
C') indicate that g' stage ship stores up information, g' ∈ G'；Respectively indicate i-th of packaging of gantry crane qc unloading
The shellfish position number that case is placed, stack number and level number, qc=1,2, i=1,2 ..., XZqc； Respectively indicate a bridge yc dress
The shellfish position number that i-th of the container carried is placed, stack number, level number, yc=1,2, i=1,2 ..., ZZ'yc；Table respectively
Show gantry crane qc load i-th of container at the beginning of and the end time, qc=1,2, i=1,2 ..., ZZqc；Point
Not Biao Shi gantry crane qc unload i-th of container at the beginning of and the end time, qc=1,2, i=1,2 ..., XZqc；It respectively indicates at the beginning of a bridge yc loads i-th of container and the end time, yc=1,2, i=1,2 ..., ZZ'yc；It respectively indicates at the beginning of a bridge yc unloads i-th of container and the end time, qc=1,2, i=1,2 ...,
XZqc；Gantry crane qc and field bridge yc are respectively indicated in time t present position, I-th of container for respectively indicating gantry crane qc loading is placed
Shellfish position number, stack number and level number, qc=1,2, i=1,2 ..., ZZqc；Respectively indicate a bridge yc unloading
I-th of container place shellfish position number, stack number and level number, yc=1,2, i=1,2 ..., XZ'yc；ZZqc, XZqcIt respectively indicates
The container loading total amount and unloading total amount of gantry crane qc, obtains job sequence [1,2 ..., ZZ according to sequencingqc], [1,
2,…,XZqc], qc=1,2；ZZ'yc, XZ'ycThe container loading total amount and unloading total amount for respectively indicating a bridge yc, according to successive
Sequence obtain job sequence [1,2 ..., ZZ'yc], [1,2 ..., XZ'yc], yc=1,2.
Further, in the above-mentioned technical solutions, the step 2 specifically comprises the following steps:
Step (1): initial code is carried out to all container handling tasks, generates gantry crane and field bridge scheduling scheme；
Chromosome scale is set as ch item, crossing-over rate jc, aberration rate by, the number of iterations are ge generation；
All container tasks are encoded according to stack number using two layers of array, each group of coding represent a kind of bridge with
The scheduling scheme of gantry crane, wherein first layer is Containers For Export task, on the spot the scheduling scheme of bridge, and the second layer is import container
Task, the i.e. scheduling scheme of gantry crane.When coding: the front two number of each group represents the shellfish number of container task, following digital with
Two are each stack number in group's representative shellfish number, successive suitable when the sequencing in chromosome represents handling
Sequence.And so on until all container tasks be all arranged to encode；Ch chromosome is all made of such coding staff in total
Formula.
Step (2): container is matched according to entropy matching degree supreme principle and imports and exports stack；
In ch chromosome of generation, the upper layer and lower layer of every chromosome have determined Containers For Export and import packaging respectively
The sequence of operation of case generates random number and judges whether to intersect or make a variation；If intersect, according to entropy matching principle to chromosome into
Intersect in row group, and obtains ch chromosome；If variation, stack number is randomly generated and replaces existing stack number.
Step (3): new code set is generated for the new chromosome of ch item generated in step (2), is made respectively according to handling
Industry sequence calculates the time spent required for each stack container, and the maximum time point and gantry crane that all tasks are fully completed with
Field bridge driving path length is as last solution.
Step (4): whether the value for judging each group chromosome solution is current optimal solution, take the minimum value of current algebraic solution with it is upper
Generation solution minimum value compares, if, using when the minimum value of former generation solution is as optimal solution, otherwise optimal solution is upper when former generation solution is more excellent
The minimum value of generation solution.
Step (5): by target function value corresponding to group solution, after as low as big sequence, preceding 10% chromosome is direct
Into the next generation, last 10% chromosome is rejected, and again with the chromosome of the generation of method described in step (1) 10%；?
In the case where ensuring that chromosome total amount is constant, guarantee that population is integrally not easy to fall into local optimum.
Step (6): it generates random number and judges whether to intersect or make a variation；If intersecting, according to entropy matching principle to dyeing
Body intersect in group, and obtains ch chromosome；If variation, stack number is randomly generated and replaces existing stack number.
Step (7): whether judgement reaches termination condition when former generation, if so, termination algorithm；If it is not, then entering step
(2)。
Intersecting in group according to shellfish is minimum unit, and determines and intersect segment gene position length.
When import container task amount and Containers For Export task amount are inconsistent, chromosome length is true by wherein the greater
It is fixed, and 0 is mended in place of the subsequent curtailment of another layer of chromosome.
When intersecting, entropy matching principle is using the entropy of each shellfish as the first matching principle, when import container task shellfish
When being closer to the entropy of Containers For Export task shellfish, absolute position of the two in the chromosome of respective place layer keeps one
It causes；Using the entropy of each stack as the second matching principle, when import container task stack and Containers For Export task stack entropy compared with
When close, absolute position of the two in the chromosome segment of respective place shellfish is consistent.
Further, in the above-mentioned technical solutions, the chromosome quantitative ch=100, the crossover probability jc=0.8,
The mutation probability by=0.05, the maximum number of iterations ge=1000.
Further, preceding 10% chromosome does not execute step (6) in step (4), and newly generated 10% chromosome is not
It executes step (6).
The invention has the benefit that
(1) harbour gantry crane of the present invention cooperates with Optimization Scheduling with field bridge, proposes and considers the truck waiting time
Field bridge cooperates with Optimization Scheduling with gantry crane, under conditions of multiple realistic constraint conditions, by import container operation task and outlet
Container operation task distributes to a bridge and gantry crane, while distributing inlet and outlet container in the dropping place point in ship and stockyard, finally
Make the handling operation utilization rate highest of harbour, the truck waiting time is most short, and then reduces ship in the layover time of harbour, reduces
The operating cost of harbour.
(2) harbour gantry crane of the present invention cooperates with Optimization Scheduling with field bridge, by designing Entropy Assessment system table
The container stockpiling state for showing ship and stockyard, devises Revised genetic algorithum, substantially increases the solution ability of algorithm, mention
High gantry crane and field bridge cooperative scheduling ability.
Detailed description of the invention
The present invention is described in further detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is that harbour gantry crane of the invention cooperates with Optimization Scheduling flow diagram with field bridge；
Fig. 2 is Entropy Assessment system schematic diagram of the invention；
Fig. 3 a~Fig. 3 b is improved adaptive GA-IAGA iteration diagram of the invention, and wherein Fig. 3 a is the optimal solution iteration diagram of algorithm,
Fig. 3 b is the optimal solution average value iteration diagram of algorithm；
Fig. 4 a~Fig. 4 b is the movement routine figure of gantry crane and field bridge, and wherein Fig. 4 a is the gantry crane movement routine of certain near-optimal solution
Figure, Fig. 4 b is the field bridge movement routine figure of certain near-optimal solution；
Fig. 5 is the difference of the improved adaptive GA-IAGA of the invention based on entropy matching principle and traditional genetic algorithm optimal solution
Figure；
Fig. 6 is the optimal solution graph of ship of the invention and stockyard under the conditions of different scales and different entropy absolute values；
Specific implementation method
Technical solution of the present invention is completely described with case study on implementation with reference to the accompanying drawing.
Embodiment 1
As shown in Figure 1, a kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge, include the following steps:
Step 1: gantry crane and Chang Qiao are set to scheduler object, in conjunction with sailing schedule and container in the position in ship and stockyard,
To complete target of all any spent minimum times of container handling as gantry crane and the scheduling of field bridge, structure on a ship
It builds inlet and outlet container and synchronizes handling operation mathematical model with shellfish；
Step 2: indicating that the container in ship and stockyard stores up state using Entropy Assessment system, using double layers chromosome pair
Container handling sequence is encoded, and the entropy based on each stack of ship and stockyard designs Revised genetic algorithum, solves container
The synchronous handling operation mathematical model with shellfish obtains optimal gantry crane and field bridge cooperative scheduling in the case of given container handling task
Scheme；
Further, in the above-mentioned technical solutions, the container handling sequence is using the double-deck real coding.
Further, in the above-mentioned technical solutions, the Entropy Assessment system, it is characterised in that: be considered as container
The particle Jz of open system, wherein to loading and unloading container and needing mould turnover container-combination to be set as each particle under fx state to be had
ENERGY E fx, it is known that probability P of the storage system in a certain state (jz, fx)jz,fxFor
Storage system entropy H is
Wherein: K is proportionality coefficient；α is Particles Moving rate；β is energy dissipation rate；D is entropy factor.According to formula (15)
Deriving storage system entropy evaluation index H with formula (16) is
Further, in the above-mentioned technical solutions, the gantry crane and field bridge cooperative scheduling mathematical model indicate are as follows:
Objective function are as follows:
Constraint condition are as follows:
(ltcg'(b', z', c') > 0 | ltcg'(b', z', c'+1) > 0) b'=1,2 ..., B', z'=1,2 ...,
Z', c'=1,2 ..., C'-1 (2)
Wherein, B, Z, C respectively indicate shellfish digit, stack number and the stockpiling height in stockyard；B', Z', C' respectively indicate ship
Shellfish digit, stack number and stockpiling height；O indicates the container customer quantity for needing to unload；WXoIndicate the packaging of o-th of client
Box number, o=1,2 ..., O；ZLxz, ZLzzThe container total amount for needing to unload and load is respectively indicated,G' indicates total number of stages, G'=ZLxz+ZLzz；Qc, yc respectively indicate gantry crane and field bridge is compiled
Number, qc=1,2, yc=1,2；Respectively indicate single time heavy duty of gantry crane and unloaded required time；Indicate that gantry crane is mobile
The time required to one shellfish position；Average time needed for indicating gantry crane mould turnover once；Respectively indicate single time heavy duty of a bridge and
The time required to unloaded；The time required to indicating the mobile shellfish position of field bridge；Average time needed for indicating field bridge mould turnover once；
ltc0(b', z', c') indicates that ship initially stores up information,
ltcg' (b', z', c') expression g' stage ship stockpiling information, g' ∈ G'；Respectively indicate gantry crane qc unloading
I-th of container place shellfish position number, stack number and level number, qc=1,2, i=1,2 ..., XZqc； Respectively
The shellfish position number that i-th of container that expression field bridge yc is loaded is placed, stack number, level number, yc=1,2, i=1,2 ..., ZZ'yc；Respectively indicate gantry crane qc load i-th of container at the beginning of and the end time, qc=1,2, i=1,2 ...,
ZZqc；Respectively indicate gantry crane qc unload i-th of container at the beginning of and the end time, qc=1,2, i=1,
2,…,XZqc；It respectively indicates at the beginning of a bridge yc loads i-th of container and the end time, yc=
1,2, i=1,2 ..., ZZ'yc；Respectively indicate at the beginning of a bridge yc unloads i-th of container and at the end of
Between, qc=1,2, i=1,2 ..., XZqc；Gantry crane qc and field bridge yc are respectively indicated in time t present position, It respectively indicates
The shellfish position number that i-th of container that gantry crane qc is loaded is placed, stack number and level number, qc=1,2, i=1,2 ..., ZZqc；Respectively indicate the shellfish position number that i-th of container of bridge yc unloading is placed, stack number and level number, yc=1,
2, i=1,2 ..., XZ'yc；ZZqc, XZqcThe container loading total amount and unloading total amount for respectively indicating gantry crane qc, according to successively suitable
Sequence obtain job sequence [1,2 ..., ZZqc], [1,2 ..., XZqc], qc=1,2；ZZ'yc, XZ'ycRespectively indicate a collection of bridge yc
Vanning loading packet and unloading total amount, obtain job sequence [1,2 ..., ZZ' according to sequencingyc], [1,2 ..., XZ'yc],
Yc=1,2.
Wherein formula (1) is objective function, objective function in order to by solve minimize ship in ETB expected time of berthing and gantry crane and
The moving distance of field bridge determines optimal scheduling scheme, and the application calculates separately each by formulating a variety of scheduling schemes
Scheduling scheme executed after all container tasks Maximal Makespan and field bridge and gantry crane moving distance, wherein
It is minimized, and as optimal scheduling scheme；
Formula (2) ensure that container does not face empty placement；
Formula (3) and (4) ensure that the temporal logic sequence of container handling ship；
Formula (5) and (6) ensure that a container lot can only place a container；
Formula (7) and (8) ensure that the safe distance of gantry crane Yu the operation of field bridge；
Formula (9) ensure that a gantry crane while can only one container of operation；
Formula (10) ensure that a field bridge while can only one container of operation；
Formula (11)~(14) ensure that the stockpiling information in each stage can be updated in a timely manner；
Further, in the above-mentioned technical solutions, the step 2 specifically comprises the following steps:
Gantry crane of the present invention cooperates in Optimization Scheduling with field bridge, and the inlet box task refers to needs from container
It is unloaded, and is filled on interior truck by gantry crane on ship, stockyard side is then transported to by interior truck, deposited container by field bridge
Enter the container lot in stockyard, that so far completes an import container unloads case operation；
The EXPORT CARTON task refers to that needs are removed from the stockpiling case position of Container Yard by field bridge, and is filled to interior collection
On card, water front side is then transported to by interior truck, container is stored in by the container lot in ship by gantry crane, so far completes one
A Containers For Export unloads case operation；
The synchronous handling operation of the same shellfish refer to a bridge complete one outlet container take case task after, closely follow task
Case task is put for import container.
After the synchronous handling operation of the same shellfish refers to the handling task that gantry crane completes one outlet container, task is closely followed
For the unloading task of an import container.
Step (1): initial code is carried out to all container handling tasks, generates gantry crane and field bridge scheduling scheme；Setting
Chromosome scale is ch item, and crossing-over rate jc, aberration rate by, the number of iterations is ge generation；Using two layers of array to all packagings
Case task is encoded according to stack number, and wherein first layer is Containers For Export task, and the second layer is import container task.Coding
When: the front two number of each group represents the shellfish number of container task, and following digital is with two in group's representative shellfish number
Each stack number, sequencing in chromosome represents sequencing when handling.And so on until all container
Task is all arranged to encode；
The each group chromosome coding generated in the present embodiment represents a kind of scheduling scheme, due to being filled using synchronous with shellfish
Operation is unloaded, therefore when container in each stack is loaded and unloaded is sequence in stack from top to bottom, cannot be changed.
Step (2): container is matched according to entropy matching degree supreme principle and imports and exports stack；
In ch chromosome of generation, the upper layer and lower layer of every chromosome have determined Containers For Export and import packaging respectively
The sequence of operation of case generates random number and judges whether to intersect or make a variation；If intersect, according to entropy matching principle to chromosome into
Intersect in row group, and obtains ch chromosome；If variation, stack number is randomly generated and replaces existing stack number.
Entropy matching principle refers to that, when gantry crane carries out handling operation synchronous with shellfish with field bridge, import container and outlet collect
Vanning is as unit of stack, and matching generates one group of inlet and outlet container handling operation group two-by-two, so that interior collection be made to be stuck in handling operation
When can be as few as possible the generation waiting time.
Stockyard and ship are made of multiple groups container stack, are produced after each container stack is carried out various combination according to tandem
Raw a variety of whole entropy, are up to principle with the whole entropy matching degree of the sequence of operation in ship and stockyard, interior collection are made to be stuck in dress
Whole waiting time when unloading operation is most short.
Step (3): new code set is generated for the new chromosome of ch item generated in step (2), is made respectively according to handling
Industry sequence calculates the time spent required for each stack container, and the maximum time point and gantry crane that all tasks are fully completed with
Field bridge driving path length is as last solution.
Step (4): whether the value for judging each group chromosome solution is current optimal solution, take the minimum value of current algebraic solution with it is upper
Generation solution minimum value compares, if, using when the minimum value of former generation solution is as optimal solution, otherwise optimal solution is upper when former generation solution is more excellent
The minimum value of generation solution.
Step (5): by target function value corresponding to group solution, after as low as big sequence, last 10% dye is rejected
Colour solid, and again with the chromosome of the generation of method described in step (1) 10%；In the case where ensuring that chromosome total amount is constant,
Guarantee that population is integrally not easy to fall into local optimum.
Step (6): it generates random number and judges whether to intersect or make a variation；If intersecting, according to entropy matching principle to dyeing
Body intersect in group, and obtains ch chromosome；If variation, stack number is randomly generated and replaces existing stack number.
Step (7): whether judgement reaches termination condition when former generation, if so, termination algorithm；If it is not, then entering step
(2)。
Intersecting in group according to shellfish number is minimum unit, and determines and intersect segment gene position length.
When import container task amount and Containers For Export task amount are inconsistent, chromosome length is true by wherein the greater
It is fixed, and 0 is mended in place of the subsequent curtailment of another layer of chromosome.
Entropy matching principle is using the entropy of each shellfish as the first matching principle, when import container task shellfish and outlet packaging
When the entropy of case task shellfish is closer to, absolute position of the two in the chromosome of respective place layer is consistent；With each stack
Entropy is as the second matching principle, when the entropy of import container task stack and Containers For Export task stack is closer to, the two
Absolute position in the chromosome segment of respective place shellfish is consistent.
The application regulation gantry crane, truck, field bridge can only deliver each packaging of a container, ship and stockyard every time
Case position can only stack a container.Inlet and outlet container total amount can accommodate in range in ship and stockyard.
Setting harbour is configured to gantry crane quantity qc=2, field bridge quantity yc=2, stockyard shellfish digit B=10, stack number Z=
10, the high C=5 of layer.Remaining parameter beta=0.9, δ=0.05,
It is optimal from optimal value broken line and Fig. 3 (b) the average optimal value convergence curve of Fig. 3 (a) it is found that when using entropy matching principle
Value can obviously restrain, and very fast in the convergence rate in preceding 100 generation, and then the convergence rate in 900 generations is due to having been approached optimal value,
Therefore convergence rate is slower.The average value of chromosome population also can obviously restrain.
From the gantry crane movement routine figure of Fig. 4 (a) and the field bridge movement routine figure of Fig. 4 (b) it is found that two gantry cranes and two fields
For bridge during entire handling operation, mutual spacing is not less than 2 always, is consequently belonging to safe operation range, is solved to
Feasible solution.
The scale initial parameter of each example is as shown in table 1, and the improved adaptive GA-IAGA and not of entropy matching principle is respectively adopted
Consider that the matched genetic algorithm of entropy solves, the GAP of two kinds of derivation algorithms is as shown in Figure 5.
Each scale example initial parameter of table 1
Pass through the initial parameter of table 1 and the result of Fig. 5, it can be seen that the improvement of the invention based on entropy matching principle is lost
Propagation algorithm has good effect for solving gantry crane and field bridge cooperative scheduling optimization model, compares common genetic algorithm, most
The effect of excellent solution can improve 8% to 10%, and with the expansion of problem scale, effect of optimization is continuously improved, therefore, the application
The derivation algorithm of design is effective.
The container for adjusting ship and stockyard stores up reset condition, according to Entropy Assessment system, adjusts whole entropy from one
Grade is respectively applied in the example of each scale of table 1 to six grades, and is solved using the derivation algorithm of the application design, as a result such as Fig. 6
It is shown.
As shown in Figure 6, the derivation algorithm of the application design can effectively inhibit entropy to increase and bring optimal solution value
Increase, and problem scale then determines the lower bound of model optimal value, as problem scale increases, optimal solution value is obviously increased.
Algorithm of the present invention has very high solution quality and solution efficiency, can solve extensive problem, also can
The stevedoring shop problem for enough solving high entropy meets the demand of the actual schedule in each situation of harbour.
The gantry crane constructed below according to step 1 cooperates with Optimal Operation Model with field bridge, illustrates the present invention in conjunction with specific example
Technical solution in step 2 part operation process:
Step (1): initial code is carried out to all inlet and outlet container stacks, generates gantry crane and field bridge system scheduling scheme；
The container handling task that 3 stacks in 1 shellfish are arranged in this example carries out initial code, and the following are two groups of volumes of generation
Code generates two kinds of scheduling schemes,
| Containers For Export | 1 | 2 | 3 |
| Import container | 1 | 2 | 3 |
| Containers For Export | 1 | 2 | 3 |
| Import container | 3 | 1 | 2 |
Step (2): container is matched according to entropy matching degree supreme principle and imports and exports stack
Since container stack is in handling, need according to from up to small principle, therefore in first group of coding, field bridge
Container operation sequence is 101011011011111001, and the container operation sequence of gantry crane is 101011111001011011；
In second group of coding, the container operation sequence of field bridge is 101011011011111001, and the container operation sequence of gantry crane is
011011101011111001.Wherein, it 1 represents to operation container, 0 representative needs the container of mould turnover.
It is found that above two handling sequence, entropy matching degree are lower.And when using entropy matching principle, work as outlet
When the stacked job sequence of container is 123, the stacked job sequence of import container is 132, i.e., two kinds of container operation sequence
It is 101011011011111001.
The above, preferable specific implementation method only of the invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (2)
1. a kind of harbour gantry crane cooperates with Optimization Scheduling with field bridge, characterized by the following steps:
Step 1: gantry crane and Chang Qiao being set to scheduler object, in conjunction with sailing schedule and container in the position in ship and stockyard, with complete
At any spent minimum time of container handlings all on a ship as gantry crane and field bridge scheduling target, construct into
Containers For Export synchronous handling operation mathematical model with shellfish；The gantry crane and field bridge cooperative scheduling mathematical model are as follows:
Objective function are as follows:
Constraint condition are as follows:
(ltcg'(b', z', c') > 0 | ltcg'(b', z', c'+1) > 0) b'=1,2 ..., B', z'=1,2 ..., Z', c'=
1,2,...,C'-1 (2)
Wherein, B, Z, C respectively indicate shellfish digit, stack number and the stockpiling height in stockyard；B', Z', C' respectively indicate ship shellfish digit,
Stack number and stockpiling height；O indicates the container customer quantity for needing to unload；WXoIndicate the container quantity of o-th of client, o=1,
2 ..., O；ZLxz, ZLzzThe container total amount for needing to unload and load is respectively indicated,G'
Indicate total number of stages, G'=ZLxz+ZLzz；Qc, yc respectively indicate gantry crane and field bridge is numbered, qc=1, and 2, yc=1,2；
Respectively indicate single time heavy duty of gantry crane and unloaded required time；The time required to indicating the mobile shellfish position of gantry crane；Indicate gantry crane
Mould turnover once needed for average time；Respectively indicate single time heavy duty of a bridge and unloaded required time；Indicate that field bridge is mobile
The time required to one shellfish position；Average time needed for indicating field bridge mould turnover once；ltc0(b', z', c') indicates that ship is initially stored up
Information,ltcg'(b', z', c') indicates the g' stage
Ship stores up information, g' ∈ G'；Respectively indicate the shellfish position number that i-th of container of gantry crane qc unloading is placed, stack
Number and level number, qc=1,2, i=1,2 ..., XZqc； I-th of container that a bridge yc is loaded is respectively indicated to place
Shellfish position number, stack number, level number, yc=1,2, i=1,2 ..., ZZ'yc；It respectively indicates gantry crane qc and loads i-th of packaging
At the beginning of case and the end time, qc=1,2, i=1,2 ..., ZZqc；It respectively indicates gantry crane qc and unloads i-th of collection
At the beginning of vanning and the end time, qc=1,2, i=1,2 ..., XZqc；A bridge yc is respectively indicated to load i-th
At the beginning of container and the end time, yc=1,2, i=1,2 ..., ZZ'yc；Respectively indicate bridge yc unloading the
At the beginning of i container and the end time, qc=1,2, i=1,2 ..., XZqc；Respectively indicate gantry crane qc and Chang Qiao
Yc in time t present position, Respectively indicate gantry crane qc loading i-th of container place shellfish position number, stack number and level number, qc=1,2, i
=1,2 ..., ZZqc；Respectively indicate the shellfish position number that i-th of container of bridge yc unloading is placed, stack number
And level number, yc=1,2, i=1,2 ..., XZ'yc；ZZqc, XZqcContainer loading total amount and the unloading for respectively indicating gantry crane qc are total
Amount, obtains job sequence [1,2 ..., ZZ according to sequencingqc], [1,2 ..., XZqc], qc=1,2；ZZ'yc, XZ'ycTable respectively
The container loading total amount and unloading total amount for showing a bridge yc, obtain job sequence [1,2 ..., ZZ' according to sequencingyc], [1,
2,…,XZ'yc], yc=1,2；
Step 2: indicating that the container in ship and stockyard stores up state using Entropy Assessment system, Entropy Assessment system is by container
It is considered as the particle Jz of open system, wherein to loading and unloading container and mould turnover container-combination is needed to be set as each particle institute under fx state
The ENERGY E fx having, it is known that probability P of the storage system in a certain state (jz, fx)jz,fxAre as follows:
Storage system entropy H are as follows:
Wherein: K is proportionality coefficient；α is Particles Moving rate；β is energy dissipation rate；D is entropy factor.
Deriving storage system entropy evaluation index H according to formula (15) and formula (16) is
Container handling sequence is encoded using double layers chromosome, the entropy design based on each stack of ship and stockyard is improved
Genetic algorithm solves container with shellfish and synchronizes handling operation mathematical model；It obtains in the case of given container handling task most
Excellent gantry crane and field bridge cooperative scheduling scheme；It specifically includes:
Step (1): initial code is carried out to all container handling tasks, generates gantry crane and field bridge scheduling scheme；
Chromosome scale is set as ch item, crossing-over rate jc, aberration rate by, the number of iterations are ge generation；
All container tasks are encoded according to stack number using two layers of array, each group of coding represents a kind of bridge and gantry crane
Scheduling scheme, wherein first layer is Containers For Export task, and the scheduling scheme of bridge on the spot, the second layer is import container times
Business, the i.e. scheduling scheme of gantry crane.When coding: the front two number of each group represents the shellfish number of container task, and following digital is with two
Position is each stack number in group's representative shellfish number, and the sequencing in chromosome represents sequencing when handling.
And so on until all container tasks be all arranged to encode；Ch chromosome is all made of such coding mode in total,
When import container task amount and Containers For Export task amount are inconsistent, chromosome length is determined by wherein the greater, and another
0 is mended in place of the subsequent curtailment of one layer of chromosome.
Step (2): container is matched according to entropy matching degree supreme principle and imports and exports stack；
Container handling sequence is using the double-deck real coding.In ch chromosome of generation, the upper layer and lower layer point of every chromosome
The sequence of operation of Containers For Export and import container has not been determined, has generated random number and judges whether to intersect or make a variation；If intersecting,
A group interior intersection is then carried out to chromosome according to entropy matching principle, and obtains ch chromosome, wherein the interior intersection of group is according to shellfish
Minimum unit, and determine and intersect segment gene position length；If variation, stack number is randomly generated and replaces existing stack number.
Step (3): generating new code set for the new chromosome of ch item generated in step (2), suitable according to handling operation respectively
Sequence calculates the time spent required for each stack container, and the maximum time point and gantry crane and Chang Qiao that all tasks are fully completed
Driving path length is as last solution.
Step (4): whether the value for judging each group chromosome solution is current optimal solution, takes the minimum value and previous generation of current algebraic solution
Solution minimum value compares, if, using when the minimum value of former generation solution is as optimal solution, otherwise optimal solution is previous generation when former generation solution is more excellent
The minimum value of solution.
Step (5): by target function value corresponding to group solution, after as low as big sequence, preceding 10% chromosome directly into
Enter the next generation, reject last 10% chromosome, and again with the chromosome of the generation of method described in step (1) 10%；True
In the case that guarantor's chromosome total amount is constant, guarantee that population is integrally not easy to fall into local optimum.
Step (6): it generates random number and judges whether to intersect or make a variation；If intersect, according to entropy matching principle to chromosome into
Intersect in row group, and obtains ch chromosome；If variation, stack number is randomly generated and replaces existing stack number.
Step (7): whether judgement reaches termination condition when former generation, if so, termination algorithm；If it is not, then entering step (2).
2. harbour gantry crane cooperates with Optimization Scheduling with field bridge according to claim 1, it is characterised in that: when intersecting, entropy
It is worth matching principle using the entropy of each shellfish as the first matching principle, when import container task shellfish and Containers For Export task shellfish
When entropy is closer to, absolute position of the two in the chromosome of respective place layer is consistent；Using the entropy of each stack as
Two matching principles, when the entropy of import container task stack and Containers For Export task stack is closer to, the two is where respective
Absolute position in the chromosome segment of shellfish is consistent.
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