CN111785028A - Vehicle-port-ship cooperative scheduling method and system - Google Patents
Vehicle-port-ship cooperative scheduling method and system Download PDFInfo
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/00—Traffic control systems for road vehicles
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- G08G7/00—Traffic control systems for simultaneous control of two or more different kinds of craft
Abstract
The invention discloses a vehicle-port-ship cooperative scheduling method and a system, wherein the method comprises the following steps: respectively acquiring key information of a ship and a vehicle; respectively constructing a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship and the vehicle; acquiring the estimated arrival time of the ship according to the ship arrival prediction model, and acquiring the estimated arrival time of the vehicle according to the vehicle arrival prediction model; and adjusting a dispatching operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle. Meanwhile, the invention is based on the chain structure and connects five operation links of berth, shore bridge, automatic guided vehicle, yard bridge and storage yard of the port in series, thereby realizing the cooperative scheduling of multiple resources of ships, berth, shore bridge, automatic guided vehicle, yard bridge, storage yard and vehicles and improving the transfer efficiency of the port.
Description
Technical Field
The invention relates to the field of port equipment scheduling, in particular to a vehicle-port-ship cooperative scheduling method and system.
Background
The port is used as an important hub of 'silk roads on the sea' and plays an important role in sea trade and transportation. However, due to the limitation of the information communication technology, the port cannot accurately acquire real-time information of the berthing ship and the port collecting vehicle, so that cooperative scheduling among the vehicle, the port and the ship is lost, further, events such as port ship pressure, vehicle access port road congestion and the like frequently occur, and the port transfer efficiency is seriously reduced. Therefore, high-speed and low-delay communication technology and efficient vehicle-port-ship coordinated dispatching are the keys for solving the port congestion problem and improving the port transfer efficiency.
Disclosure of Invention
The invention aims to provide a vehicle-port-ship cooperative scheduling method and a vehicle-port-ship cooperative scheduling system, which are used for realizing multi-resource cooperative scheduling of berthing ships, various operation links inside ports and port collecting vehicles and improving port transfer efficiency.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a vehicle-port-ship cooperative scheduling method comprises the following steps:
and respectively acquiring key information of the ship and the vehicle.
And respectively constructing a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship and the vehicle.
And acquiring the estimated arrival time of the ship according to the ship arrival prediction model, and acquiring the estimated arrival time of the vehicle according to the vehicle arrival prediction model.
And adjusting a dispatching operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle.
Preferably, the key information of the ship includes: position information of the ship, a running speed of the ship, a distance from the ship to the port, a water traffic weather condition and a wind speed;
the key information of the vehicle includes: location information of the vehicle, a travel speed of the vehicle, a distance of the vehicle to the port, land traffic weather conditions, and road conditions.
Preferably, the key information of the ship and the vehicle is acquired according to preset interval time so as to update the key information of the ship and the vehicle at regular time.
Preferably, the ship arrival prediction model is as follows:
wherein T isi p(t) estimated arrival time of ship i at time t, Di(t) represents the distance from the ship i to the port at time t, Vi(t) is the travel speed of the ship i at time t,
showing the influence of weather on the running speed of the ship i at the time t, sigma (v (t)) showing the influence of wind speed on the running speed of the ship i at the time t, and W (t) and v (t) are the weather condition and the wind speed of the water traffic at the time t respectively;
the vehicle arrival prediction model is as follows:
wherein
Indicating the estimated time of arrival, D, of vehicle j at time tj(t) represents the distance from the vehicle j to the port at time t, Vj(t) is the travel speed of the vehicle j at time t,
represents the influence of weather on the running speed of the vehicle j at the time t, mu (TS (t)) represents the influence of the road condition at the time t on the running speed of the vehicle j,
and TS (t) is the land traffic weather condition and road condition at time t, respectively.
Preferably, the step of adjusting the scheduling operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle includes:
adjusting the berthing plan of the port according to the estimated arrival time of the ship;
adjusting the yard plan of the port according to the estimated arrival time of the vehicle; and
and constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port.
Preferably, five operation links of a berth, a shore bridge, an automatic guided vehicle, a yard bridge and a storage yard of the port are equivalent to five different chain units, and each chain unit is connected in series with other chain units through a chain structure, so that the berth-shore bridge cooperative scheduling model is connected in series with the shore bridge-automatic guided vehicle cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model is connected in series with the automatic guided vehicle-yard bridge cooperative scheduling model, the automatic guided vehicle-yard bridge cooperative scheduling model is connected in series with the yard bridge-storage yard cooperative scheduling model respectively, and a vehicle-port-ship cooperative scheduling model is formed;
when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles;
when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
In another aspect, the present invention further provides a vehicle-port-ship cooperative scheduling system, including:
the first equipment terminal is arranged on a ship at a port and used for acquiring key information of the ship.
And the second equipment terminal is arranged on the vehicle of the harbor and used for acquiring the key information of the vehicle.
And the port control center is respectively connected with the first equipment terminal and the second equipment terminal and is used for receiving key information of the ship and the vehicle so as to adjust a dispatching operation plan of a port.
Preferably, the key information of the ship includes: position information of the ship, a running speed of the ship, a distance from the ship to the port, a water traffic weather condition and a wind speed;
the key information of the vehicle includes: location information of the vehicle, a travel speed of the vehicle, a distance of the vehicle to the port, land traffic weather conditions, and road conditions.
Preferably, the first device terminal and the second device terminal respectively obtain the key information of the ship and the vehicle according to a preset interval time, so as to update the key information of the ship and the vehicle at regular time.
Preferably, the port control center respectively constructs a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship and the vehicle so as to obtain the estimated arrival time of the ship and the estimated arrival time of the vehicle;
adjusting a berthing plan of the port according to the estimated arrival time of the ship, and adjusting a yard plan of the port according to the estimated arrival time of the vehicle; and
constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port;
the five operation links of berthing, a shore bridge, an automatic guided vehicle, a yard bridge and a storage yard of the port are equivalent to five different chain units, and each chain unit is connected with other chain units in series through a chain structure, so that the berth-shore bridge cooperative scheduling model is connected with the shore bridge-automatic guided vehicle cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model is connected with the automatic guided vehicle-yard bridge cooperative scheduling model, the automatic guided vehicle-yard bridge cooperative scheduling model is connected with the yard bridge-storage yard cooperative scheduling model in series respectively, and a vehicle-port-ship cooperative scheduling model is formed;
when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles;
when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
Compared with the prior art, the invention has at least one of the following advantages:
the invention provides a vehicle-port-ship cooperative scheduling method and system, which can acquire key information of ships and vehicles and accurately predict the arrival time of the ships and the arrival time of the vehicles through a ship arrival prediction model and a vehicle arrival prediction model.
The invention can reasonably schedule and distribute berth, shore bridge, automatic guided vehicle, field bridge and storage yard resources of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle, thereby improving the utilization rate of port equipment and the port transfer efficiency.
The invention is based on a chain structure, and connects five operation links of port berth, shore bridge, automatic guided vehicle, yard bridge and storage yard in series, thereby realizing the coordinated dispatching of multiple resources of ships, berth, shore bridge, automatic guided vehicle, yard bridge, storage yard and vehicles, avoiding the situations of port congestion and port equipment waste, and improving the port transfer efficiency.
Drawings
Fig. 1 is a flowchart of a vehicle-port-ship cooperative scheduling method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a chain structure of a vehicle-port-ship cooperative scheduling method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a vehicle-port-ship cooperative dispatching system according to an embodiment of the present invention.
Detailed Description
The following describes a car-port-ship cooperative scheduling method and system according to the present invention in detail with reference to the accompanying drawings and embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
As shown in fig. 1 to 2, the vehicle-port-ship cooperative scheduling method provided in this embodiment includes: step S1, respectively acquiring key information of the ship and the vehicle; step S2, respectively constructing a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship and the vehicle; step S3, acquiring the estimated arrival time of the ship according to the ship arrival prediction model, and acquiring the estimated arrival time of the vehicle according to the vehicle arrival prediction model; and step S4, adjusting the dispatching operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle.
With continued reference to fig. 1, the key information of the ship includes: position information of the ship, a running speed of the ship, a distance from the ship to the port, a water traffic weather condition and a wind speed; the key information of the vehicle includes: location information of the vehicle, a travel speed of the vehicle, a distance of the vehicle to the port, land traffic weather conditions, and road conditions.
It will be appreciated that in some other embodiments, the critical information of the vessel and the vehicle is obtained according to a preset interval time so as to update the critical information of the vessel and the vehicle regularly.
Specifically, in this embodiment, an interval time T (for example, 15 minutes) may be preset according to the requirement on the accuracy of the key information of the ship and the vehicle, and information such as position information, driving speed, distance to the port, and the like of the ship and the vehicle may be updated at regular time according to the preset interval time T, so as to obtain the latest key information of the ship and the vehicle, but the invention is not limited thereto.
Referring to fig. 1, the ship arrival prediction model is:
wherein T isi p(t) estimated arrival time of ship i at time t, Di(t) represents the distance from the ship i to the port at time t, Vi(t) is the travel speed of the ship i at time t,
showing the influence of weather on the running speed of the ship i at the time t, sigma (v (t)) showing the influence of wind speed on the running speed of the ship i at the time t, and W (t) and v (t) are the weather condition and the wind speed of the water traffic at the time t respectively;
the vehicle arrival prediction model is as follows:
wherein
Indicating the estimated time of arrival, D, of vehicle j at time tj(t) represents the distance from the vehicle j to the port at time t，Vj(t) is the travel speed of the vehicle j at time t,
represents the influence of weather on the running speed of the vehicle j at the time t, mu (TS (t)) represents the influence of the road condition at the time t on the running speed of the vehicle j,
and TS (t) is the land traffic weather condition and road condition at time t, respectively.
Specifically, in this embodiment, the key information of the ship and the vehicle is updated once every time T (for example, 15 minutes), and the estimated arrival time of the ship and the estimated arrival time of the vehicle are calculated by the ship arrival prediction model and the vehicle arrival prediction model, respectively; the estimated arrival time of the ship and the estimated arrival time of the vehicle can be updated once every interval T so that the estimated arrival times of the ship and the vehicle can be more accurate. If the estimated arrival time of the ship and the vehicle is changed before, the scheduling operation plan of the port can be adjusted in time, so that the situations of port pressing of the ship, road congestion of the vehicle entering and exiting the port and the like of the port and the situation of port equipment resource waste caused by delay of the ship and the vehicle are avoided.
Referring to fig. 1 and 2, the step S4 of adjusting the dispatch operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle includes: adjusting the berthing plan of the port according to the estimated arrival time of the ship; adjusting the yard plan of the port according to the estimated arrival time of the vehicle; and constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port.
It is understood that, in some other embodiments, five operation links of the port berth, the shore bridge, the automatic guided vehicle, the yard bridge and the yard are equivalent to five different chain units, and each chain unit is connected in series with other chain units through a chain structure, so that the berth-shore bridge cooperative scheduling model and the shore bridge-automatic guided vehicle cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model and the automatic guided vehicle-yard bridge cooperative scheduling model, the automatic guided vehicle-yard bridge cooperative scheduling model and the yard bridge-yard cooperative scheduling model are respectively connected in series to form a vehicle-port-ship cooperative scheduling model; when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles; when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
Specifically, the berthing plan (including the position and time of the berthing of the ship) and the yard plan (including the position and time of the yard of the vehicle) of the port can be dynamically adjusted according to the estimated arrival time of the ship and the estimated arrival time of the vehicle, which are updated once every time T (for example, 15 minutes), so that the waiting time of the berthing and the yard is minimized; and according to the berth plan, the yard plan, the port shore bridge information, Automatic Guided Vehicle (AGV) information and yard bridge information, the berth-shore bridge cooperative scheduling model, the shore bridge-AGV cooperative scheduling model, the AGV-yard bridge cooperative scheduling model and the yard bridge-yard cooperative scheduling model can be constructed, so that the shore bridge operation plan, the AGV operation plan and the yard bridge operation plan of the port can be dynamically adjusted, but the invention is not limited thereto.
In this embodiment, the shortest waiting time of the berth is:
wherein FbRepresents the shortest waiting time of berth b, T'ibRepresenting the time that berth b is planned to reserve for vessel i,
representing the time at which the vessel i actually arrives at berth b,
representing the time at which the vessel i is expected to arrive at the berth b, abi(t) represents a 0-1 decision variable, C represents a ship set, and B represents a berth set.
The shortest waiting time of the yard is:
wherein FnRepresents the shortest waiting time, T'jnRepresenting the time that yard n is scheduled to reserve for vehicle j,
representing the time at which vehicle j actually arrives at yard n,
represents the time, a, at which the vehicle j is expected to arrive at the yard nnj(t) represents a 0-1 decision variable, M represents a set of vehicles, and N represents a set of yards.
Specifically, as shown in fig. 2, in some embodiments, the five operation links of the harbor berthing, the shore bridge, the AGV, the yard bridge and the yard can be respectively equivalent to a berth chain unit, a shore bridge chain unit, an AGV chain unit, a yard bridge chain unit and a yard chain unit. Each chain unit all contains an interface, a chain link and an interface down the chain on the chain, wherein chain link corresponds the task space of chain unit (be the job task of berth, shore bridge, AGV, yard bridge or storage yard), the interface corresponds the task forward constraint (including time constraint and space constraint) on the chain, the interface corresponds the task backward constraint (including time constraint and space constraint) under the chain. Each chain unit can be connected with other chain units through the chain upper interface or the chain lower interface, so that five chain units of a berth, a shore bridge, an AGV, a yard bridge and a storage yard inside the port are connected in series through a chain structure, but the invention is not limited thereto.
In this embodiment, according to the connection relationship among five chain units of a berth, a shore bridge, an AGV, a yard bridge and a yard, the berth-shore bridge cooperative scheduling model, the shore bridge-AGV cooperative scheduling model, the AGV-yard bridge cooperative scheduling model and the yard bridge-yard cooperative scheduling model are correspondingly connected in series to form a vehicle-port-ship cooperative scheduling model, so that the cooperative scheduling of multiple resources of a ship, the berth, the shore bridge, the AGV, the yard bridge and the vehicle is realized.
Specifically, in this embodiment, when transferring imported goods, that is, transferring the goods from the berth of the port to the yard, the berth plan is used as input data of the berth-shore bridge cooperative scheduling model, and output data of a shore bridge in the berth-shore bridge cooperative scheduling model is used as input data of the shore bridge in the shore bridge-AGV cooperative scheduling model; the output data of the AGV in the shore bridge-AGV cooperative scheduling model is used as the input data of the AGV in the AGV-field bridge cooperative scheduling model; output data of a bridge in the AGV-bridge collaborative scheduling model is used as input data of the bridge in the bridge-yard collaborative scheduling model, and output data of a yard in the bridge-yard collaborative scheduling model is finally obtained; and dynamically adjusting the yard plan according to the output data of the yard and the estimated arrival time of the vehicles, and realizing the multi-resource cooperative scheduling of ship-berth-shore bridge-AGV-yard bridge-yard-vehicle, thereby improving the transfer efficiency of the port.
When the export goods are transferred, namely the goods are transferred from the storage yard of the port to the berth, the storage yard plan is used as the input data of the bridge-storage yard cooperative scheduling model, and the output data of the bridge in the bridge-storage yard cooperative scheduling model is used as the input data of the bridge in the AGV-bridge cooperative scheduling model; the output data of the AGV in the AGV-yard bridge cooperative scheduling model is used as the input data of the AGV in the shore bridge-AGV cooperative scheduling model; output data of a shore bridge in the shore bridge-AGV cooperative scheduling model is used as input data of the shore bridge in the berth-shore bridge cooperative scheduling model, and output data of berths in the berth-shore bridge cooperative scheduling model is finally obtained; and dynamically adjusting the berth plan according to output data of berths and estimated arrival time of the ship, and realizing cooperative scheduling of multiple resources of vehicle-storage yard-field bridge-AGV-shore bridge-berth-ship, thereby improving the transfer efficiency of the port.
Referring to fig. 3, based on the same inventive concept, the embodiment further provides a car-port-ship cooperative scheduling system, including: the first equipment terminal 101 is arranged on a ship 100 at a port and used for acquiring key information of the ship 100; the second equipment terminal 161 is arranged on the vehicle 160 of the harbor and used for acquiring key information of the vehicle 160; and a port control center 180 connected to the first equipment terminal 101 and the second equipment terminal 161, respectively, for receiving key information of the ship 100 and the vehicle 160 to adjust a scheduling operation plan of a port.
With continued reference to fig. 3, the key information of the ship 100 includes: position information of the ship 100, a traveling speed of the ship 100, a distance of the ship 100 to the port, a water traffic weather condition, and a wind speed; the key information of the vehicle 160 includes: location information of the vehicle 160, a travel speed of the vehicle 160, a distance of the vehicle 160 to the port, land traffic weather conditions, and road conditions.
It is understood that, in some other embodiments, the first device terminal 101 and the second device terminal 161 respectively obtain the key information of the ship 100 and the vehicle 160 according to a preset interval time, so as to update the key information of the ship 100 and the vehicle 160 at regular time.
Specifically, in this embodiment, the first equipment terminal 101 and the second equipment terminal 161 may respectively update information such as position information, driving speed, distance to the port, and the like of the ship 100 and the vehicle 160 at regular time according to a preset interval time T (for example, 15 minutes) and upload the updated information to the port control center 180, so that the port control center 180 may obtain the latest key information of the ship 100 and the vehicle 160, but the present invention is not limited thereto.
Referring to fig. 3, the port control center 180 respectively constructs a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship 100 and the vehicle 160, so as to obtain the estimated arrival time of the ship and the estimated arrival time of the vehicle; adjusting a berthing plan of the port according to the estimated arrival time of the ship, and adjusting a yard plan of the port according to the estimated arrival time of the vehicle; and constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port.
The five operation links of berthing, a shore bridge, an automatic guided vehicle, a yard bridge and a storage yard of the port are equivalent to five different chain units, and each chain unit is connected with other chain units in series through a chain structure, so that the berth-shore bridge cooperative scheduling model is connected with the shore bridge-automatic guided vehicle cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model is connected with the automatic guided vehicle-yard bridge cooperative scheduling model, the automatic guided vehicle-yard bridge cooperative scheduling model is connected with the yard bridge-storage yard cooperative scheduling model in series respectively, and a vehicle-port-ship cooperative scheduling model is formed; when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles; when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
Specifically, in this embodiment, the port control center 180 constructs the ship arrival prediction model shown in formula (1) according to the key information of the ship 100 updated once every time T (for example, 15 minutes), and constructs the vehicle arrival prediction model shown in formula (2) according to the key information of the vehicle 160 updated once every time T (for example, 15 minutes), so as to obtain the estimated arrival time of the ship and the estimated arrival time of the vehicle.
The port control center 180 may dynamically adjust the berth plan and the yard plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle, which are updated once every time T (for example, 15 minutes), and then construct the berth-shore bridge cooperative scheduling model, the shore bridge-AGV cooperative scheduling model, the AGV-yard bridge cooperative scheduling model and the yard bridge-yard cooperative scheduling model according to the berth plan, the yard plan and the shore bridge information, AGV information and yard bridge information of the port, so as to dynamically adjust the shore bridge operation plan, the AGV operation plan and the yard bridge operation plan of the port.
In this embodiment, the port control center 180 may further correspondingly connect the berth-shore bridge cooperative scheduling model, the shore bridge-AGV cooperative scheduling model, the AGV-yard bridge cooperative scheduling model and the yard bridge-yard cooperative scheduling model in series according to a connection relationship among five chain units of berth, shore bridge, AGV, yard bridge and yard, so as to form a vehicle-port-ship cooperative scheduling model, and implement cooperative scheduling of multiple resources of the ship 100, the berth 110, the shore bridge 120, the AGV130, the yard bridge 140, the yard 150 and the vehicle 160. If the estimated arrival time of the ship or the estimated arrival time of the vehicle is changed before, the port control center 180 can adjust the berth plan and the yard plan in time, and adjust the shore bridge operation plan, the AGV operation plan and the yard bridge operation plan through a vehicle-port-ship cooperative scheduling model composed of a plurality of cooperative scheduling models, so as to realize the rescheduling distribution of multiple resources of the ship 100, the berth 110, the shore bridge 120, the AGV130, the yard bridge 140, the yard 150 and the vehicle 160, thereby improving the utilization rate of port equipment and the transfer efficiency of the port.
Referring to fig. 3, the car-port-ship cooperative scheduling system further includes: a cloud server 170; the cloud server 170 is connected to the first device terminal 101, the second device terminal 161, and the port control center 180, and is configured to receive the key information of the ship 100 and the vehicle 160 uploaded by the first device terminal 101 and the second device terminal 161, and send the key information to the port control center 180.
Specifically, in this embodiment, the first device terminal 101 and the second device terminal 161 respectively upload the key information of the ship 100 and the vehicle 160 to the cloud server 170 through a first communication module and a second communication module; the port control center 180 may read key information of the ship 100 and the vehicle 160 from the cloud server 170 through a third communication module, but the invention is not limited thereto.
In addition, in this embodiment, the number of the ships 100 and the vehicles 160 may be several according to the requirement of the cargo handling task, and the number of the berths 110, the shore bridge 120, the AGVs 130, the yard bridges 140 and the yard 150 inside the port is not less than one, but the present invention is not limited thereto.
In summary, the vehicle-port-ship cooperative scheduling method and system provided by the embodiment can acquire the key information of the ship and the vehicle and update the key information at regular time according to the preset interval time; the estimated arrival time of the ship and the vehicle can be obtained through a ship arrival prediction model and a vehicle arrival prediction model which are respectively constructed by key information of the ship and the vehicle; according to the estimated arrival time of the ship and the vehicle, the berthing plan, the storage yard plan, the shore bridge operation plan, the automatic guided vehicle operation plan and the yard bridge operation plan of the port can be dynamically adjusted, the coordinated scheduling of multiple resources of the ship, the berthing, the shore bridge, the AGV, the yard bridge, the storage yard and the vehicle is realized, the resources are reasonably distributed, and the transfer efficiency of the port is improved.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A vehicle-port-ship cooperative scheduling method is characterized by comprising the following steps:
respectively acquiring key information of a ship and a vehicle;
respectively constructing a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship and the vehicle;
acquiring the estimated arrival time of the ship according to the ship arrival prediction model, and acquiring the estimated arrival time of the vehicle according to the vehicle arrival prediction model;
and adjusting a dispatching operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle.
2. The vehicle-port-ship co-ordination scheduling method as claimed in claim 1,
the key information of the ship includes: position information of the ship, a running speed of the ship, a distance from the ship to the port, a water traffic weather condition and a wind speed;
the key information of the vehicle includes: location information of the vehicle, a travel speed of the vehicle, a distance of the vehicle to the port, land traffic weather conditions, and road conditions.
3. The vehicle-port-ship co-ordination scheduling method according to claim 2, wherein the key information of the ship and the vehicle is obtained according to a preset interval time so as to update the key information of the ship and the vehicle regularly.
4. The vehicle-port-ship co-ordination scheduling method as claimed in claim 1,
the ship arrival prediction model is as follows:
wherein T isi p(t) estimated arrival time of ship i at time t, Di(t) represents the distance from the ship i to the port at time t, Vi(t) is the travel speed of the ship i at time t,
showing the influence of weather on the running speed of the ship i at the time t, sigma (v (t)) showing the influence of wind speed on the running speed of the ship i at the time t, and W (t) and v (t) are the weather condition and the wind speed of the water traffic at the time t respectively;
the vehicle arrival prediction model is as follows:
wherein
Indicating the estimated time of arrival, D, of vehicle j at time tj(t) representsDistance from vehicle j to port, V, at time tj(t) is the travel speed of the vehicle j at time t,
represents the influence of weather on the running speed of the vehicle j at the time t, mu (TS (t)) represents the influence of the road condition at the time t on the running speed of the vehicle j,
and TS (t) is the land traffic weather condition and road condition at time t, respectively.
5. The vehicle-port-ship co-ordination scheduling method according to claim 1, wherein the step of adjusting the scheduling operation plan of the port according to the estimated arrival time of the ship and the estimated arrival time of the vehicle comprises:
adjusting the berthing plan of the port according to the estimated arrival time of the ship;
adjusting the yard plan of the port according to the estimated arrival time of the vehicle; and
and constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port.
6. The vehicle-port-ship co-ordination scheduling method as claimed in claim 5,
five operation links of berths, shore bridges, automatic guided vehicles, field bridges and storage yards of the ports are equivalent to five different chain units, and each chain unit is connected with other chain units in series through a chain structure, so that the berth-shore bridge cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model, the automatic guided vehicle-field bridge cooperative scheduling model, the field bridge-storage yard cooperative scheduling model and the automatic guided vehicle-storage yard cooperative scheduling model are respectively connected in series to form a vehicle-port-ship cooperative scheduling model;
when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles;
when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
7. A vehicle-port-ship cooperative scheduling system, comprising:
the system comprises a first equipment terminal (101) arranged on a ship (100) at the port of the harbor and used for acquiring key information of the ship (100);
the second equipment terminal (161) is arranged on a vehicle (160) of the harbor and used for acquiring key information of the vehicle (160);
a port control center (180) connected to the first equipment terminal (101) and the second equipment terminal (161), respectively, for receiving key information of the ship (100) and the vehicle (160) to adjust a dispatch operation plan of a port.
8. The vehicle-port-ship co-ordination scheduling system as claimed in claim 7,
the key information of the vessel (100) includes: -position information of the vessel (100), -speed of travel of the vessel (100), -distance of the vessel (100) to the port, -water traffic weather conditions and wind speed;
the key information of the vehicle (160) includes: location information of the vehicle (160), a travel speed of the vehicle (160), a distance of the vehicle (160) to the port, land traffic weather conditions, and road conditions.
9. The vehicle-port-ship co-ordination scheduling system as claimed in claim 8,
the first equipment terminal (101) and the second equipment terminal (161) respectively acquire the key information of the ship (100) and the vehicle (160) according to preset interval time so as to update the key information of the ship (100) and the vehicle (160) at regular time.
10. The vehicle-port-ship co-ordination scheduling system as claimed in claim 7,
the port control center (180) respectively constructs a ship arrival prediction model and a vehicle arrival prediction model according to the key information of the ship (100) and the vehicle (160) so as to obtain the estimated arrival time of the ship and the estimated arrival time of the vehicle;
adjusting a berthing plan of the port according to the estimated arrival time of the ship, and adjusting a yard plan of the port according to the estimated arrival time of the vehicle; and
constructing a berth-shore bridge cooperative scheduling model, a shore bridge-automatic guided vehicle cooperative scheduling model, an automatic guided vehicle-field bridge cooperative scheduling model and a field bridge-storage yard cooperative scheduling model according to the berth plan and the storage yard plan so as to adjust a shore bridge operation plan, an automatic guided vehicle operation plan and a field bridge operation plan of the port;
the five operation links of berthing, a shore bridge, an automatic guided vehicle, a yard bridge and a storage yard of the port are equivalent to five different chain units, and each chain unit is connected with other chain units in series through a chain structure, so that the berth-shore bridge cooperative scheduling model is connected with the shore bridge-automatic guided vehicle cooperative scheduling model, the shore bridge-automatic guided vehicle cooperative scheduling model is connected with the automatic guided vehicle-yard bridge cooperative scheduling model, the automatic guided vehicle-yard bridge cooperative scheduling model is connected with the yard bridge-storage yard cooperative scheduling model in series respectively, and a vehicle-port-ship cooperative scheduling model is formed;
when goods are transferred from a berth of the port to a storage yard, the berth plan serves as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the storage yard in the bridge-storage yard cooperative scheduling model, and the storage yard plan is adjusted according to the output data of the storage yard and the estimated arrival time of the vehicles;
when goods are transferred to a berth position from a storage yard of the port, the storage yard plan is used as input data of the vehicle-port-ship cooperative scheduling model, the vehicle-port-ship cooperative scheduling model outputs output data of the berth in the berth-shore bridge cooperative scheduling model, and the berth plan is adjusted according to the output data of the berth and estimated arrival time of the ship.
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