CN114358665A - Ground station locking dynamic scheduling method considering ART (active technology architecture) front buffer area and ART (active technology architecture) rear buffer area - Google Patents
Ground station locking dynamic scheduling method considering ART (active technology architecture) front buffer area and ART (active technology architecture) rear buffer area Download PDFInfo
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Abstract
The invention provides a ground lock station dynamic scheduling method considering an ART preposed buffer area and a postpositive buffer area, which respectively schedules the ART entering the lock station and the buffer area when unloading a ship and entering the lock station and loading the ship according to the dynamic change conditions of the lock station and the buffer area: when unloading the ship, the locking stations are distributed for ART according to the first-come first-obtained and nearby distribution strategy; when loading, according to the operation efficiency of the lock station, the estimated time of the ART reaching the shore bridge, the logical relation of container loading, the real-time position of the ART, the distance between the front buffer area and the ART and the estimated remaining running time of the lock station and the front buffer area, the lock station and the front buffer area are distributed for the ART, and when the system receives the completion information of the ART padlock unlocking operation of loading in the lock station, the ART which is completed by the padlock unlocking operation is automatically controlled to enter the idle rear buffer area. The invention can improve the utilization rate of the locking station and the shore bridge and relieve the congestion phenomenon of the working lanes of the locking station and the shore bridge.
Description
Technical Field
The invention belongs to the technical field of port facilities, and particularly relates to a ground lock station dynamic scheduling method considering ART (engineering technology) front buffer area and ART (engineering technology) rear buffer area.
Background
In recent years, the port industry, especially the port industry related to container transportation, has been increasingly efficient and intelligent in equipment scheduling. In the existing container port, the scheduling schemes of the lock station and the front and rear buffer areas are relatively fixed, and the scheduling schemes are seriously dependent on a single scheduling strategy, so that the utilization rates of the lock station and the buffer areas are often low, the jam condition occurs in a shore bridge and a lock station operation area, and the port operation efficiency is seriously reduced. Meanwhile, the dynamic change of the equipment state is not considered in the scheduling strategy, and only a single fixed scheduling scheme result is followed, so that the scheduling result is not ideal, and finally, the port efficiency is low.
As the amount of loading and unloading work increases, the time cost lost by the conventional scheduling scheme also increases accordingly. Therefore, in order to effectively improve the overall production efficiency and productivity level of the port and reduce the congestion of the port operation area, it is necessary to design a ground lock station dynamic scheduling method considering the ART (Artificial intelligent transport Robot) front buffer and the back buffer.
Disclosure of Invention
Aiming at the problems in the prior ART, the invention innovatively provides a ground station locking dynamic scheduling method considering ART front and rear buffer areas in order to improve the intelligent degree of scheduling of the station locking and front and rear buffer areas, improve the equipment utilization rate and the port operation efficiency and reduce the congestion condition of an operation area. According to the scheme, the internal ART can be scheduled to enter the locking station and the buffer area according to the dynamic state change condition of the locking station and the buffer area. The utilization rate of the production equipment in the automatic wharf is improved while paying attention to efficient work.
A ground lock station dynamic scheduling method considering ART preposition and postposition buffer areas comprises the following steps of respectively scheduling ART entering a lock station during ship unloading and entering the lock station and scheduling ART entering the lock station, the front buffer area and the rear buffer area during ship loading according to the dynamic change conditions of the lock station and the buffer area:
when unloading the ship, according to the principle of first arrival and next distribution, ART is distributed to lock stations;
during shipment, comprehensively calculating to distribute locking stations and a front buffer area for ART according to the locking station operation efficiency, the estimated time of arrival of ART at a shore bridge, the container shipment logical relation, the real-time position of ART, the distance between the front buffer area and the ART, the estimated residual travel time of the locking stations and the front buffer area and other factors; meanwhile, when the system receives completion information of ART padlock unlocking operation of loading the ship in the lock station during loading the ship, the ART completing the padlock unlocking operation is automatically controlled to enter an idle rear buffer area;
when loading, the steps of allocating locking stations and front buffer areas for ART are as follows:
and (3) calculating in real time:
s11, judging the predicted time that the ART reaches the target shore bridge according to the acquired target shore bridge current operation task efficiency of the ART and the calculated sequence of the ART vehicle-mounted task in the target shore bridge task sequence;
s12, calculating the current operation task efficiency of each lock station and sequencing to form a lock station efficiency list;
s13, acquiring an ART real-time position;
s14, obtaining the ship loading sequence allowed by the ART vehicle-mounted container, namely whether the container after the ship loading sequence is allowed to be loaded first or not, and providing data basis for subsequent adjustment and station locking distribution;
station locking and pre-selection allocation of front buffer:
s21, calculating and sequencing the space distance between each front buffer area and ART to form a front buffer area distance matrix;
s22, calculating the predicted residual running time of each lock station and the corresponding front buffer area;
s23, according to the ART current position, estimated arrival time of the shore bridge and a station locking efficiency list, combining a front buffer area distance matrix, each station locking and the estimated remaining travel time of the corresponding front buffer area, selecting a proper station locking and distributing to the ART, distributing the corresponding front buffer area according to a station locking distribution result to obtain a pre-selection front buffer area, and finishing pre-selection distribution of the front buffer area so as to enable the ART to arrive at the target shore bridge within a specified time.
Preferably, the front buffer area is used for adjusting a ship loading time sequence or waiting for an idle lock station before entering the lock station when ART is used for ship loading, and the ART does not carry out padlock unlocking at the moment; and the rear buffer area is used for adjusting the ship loading sequence after the ship is taken out of the locking station during ART ship loading.
Preferably, a pre-selection front buffer area is obtained, and after the pre-selection allocation of the front buffer area is completed, a final target front buffer area is further determined for ART through a check mode, and the process is as follows:
when a buffer area before a certain lock station is released, the system automatically calculates all ARTs which are allocated with the buffer area before the ARTs arrive, performs buffer area allocation verification before the release, and determines the target foremost buffer area according to the verification result.
Further, the step of verifying the buffer allocation before releasing is as follows:
s31, judging whether the position of the released front buffer area is positioned between the current ART and the position of the planned arrival front buffer area;
s32, judging whether the position of the released front buffer zone meets ART turning radius limiting conditions or not;
s33, judging whether the advancing direction of the ART is consistent with the direction of the released front buffer area;
s34, judging whether the ART enters the currently released front buffer area to have shorter running time or not and having higher efficiency;
and S35, if the judgment results of the steps are yes, taking the released front buffer area as an ART final target front buffer area, and otherwise, taking the pre-selection front buffer area as the ART final target front buffer area.
Further, when the pre-selection and check results of the front buffer areas are different, the check front buffer area distribution result is applied, and the ART updates tasks and replans paths according to the final front buffer area distribution result.
Preferably, the ART directly leaves the lock station after the vehicle completes the unlocking operation during the ship unloading process and does not enter the rear buffer area.
The ground lock station dynamic scheduling method considering the ART preposed buffer area and the ART postpositioned buffer area can coordinate the allocation of the front buffer area and the back buffer area according to the dynamic change conditions of the lock station and the buffer area, when unloading the ship, the ART enters the lock station and the buffer area scheduling, execute the allocation strategy of many-to-many of the lock station and the shore bridge, the lock station and the front buffer area, realize the decoupling scheduling of the shore bridge and the unlocking equipment, improve the operation efficiency, ensure the operation balance of the equipment, simultaneously execute the multi-buffer area sequence adjusting method when the vehicle enters the lock station, solve the traffic jam problem and realize the ship loading in strict sequence.
The method effectively improves the utilization rate of the locking station and the shore bridge, and improves the utilization rate of the equipment in the automatic wharf while paying attention to the cooperative work of all the equipment.
Drawings
Fig. 1 is a schematic diagram of the lock station and the arrangement of the front buffer area and the back buffer area of the ground lock station dynamic scheduling method considering the ART front buffer area and the back buffer area according to the present invention;
fig. 2 is a schematic diagram of the lock station allocation of the ground lock station dynamic scheduling method considering the ART pre-buffer and post-buffer according to the present invention;
fig. 3 is a flow chart of the pre-release buffer allocation verification method of the ground lock station dynamic scheduling method considering the ART pre-buffer and post-buffer according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The embodiment of the invention provides a dynamic allocation strategy of a lock station and a buffer area, ART enters the lock station and the buffer area to be scheduled according to the dynamic change condition of each device, and the allocation strategy of many-to-many lock station and a shore bridge is adopted to coordinate the allocation of the front buffer area and the rear buffer area, thereby improving the utilization rate of the lock station and the shore bridge and reducing the congestion condition of the lock station and the shore bridge operation lane.
As shown in fig. 1, the ground lock station is located below the canopy area, one lock station can park one ART for unlocking the padlock, each lock station is pre-allocated with a corresponding front buffer area and a corresponding rear buffer area, which are respectively located at predetermined positions, and as shown in fig. 1, after the lock station is allocated, the corresponding front buffer area and the corresponding rear buffer area are allocated correspondingly.
As shown in fig. 1, the front buffer area is used for adjusting a ship loading time sequence or waiting for an idle lock station before entering the lock station when ART ships, and ART does not unlock locks at the moment; the rear buffer area is used for adjusting the ship loading sequence after the ART goes out of the locking station during ship loading.
The invention provides a ground lock station dynamic scheduling method considering ART preposition and postposition buffer areas, which schedules the ART entering into a lock station during ship unloading and schedules the ART entering into the lock station and the buffer area during ship loading according to the dynamic change conditions of the lock station and the buffer area:
when unloading the ship, selecting a lock station for the ship unloading ART according to a first-arrival and near distribution strategy, and not distributing a front buffer area for the ship unloading ART;
when loading, according to the work efficiency of the lock station, the estimated time of the ART arriving at the shore bridge, the container loading logical relation, the real-time position of the ART, the distance between the front buffer area and the ART, the estimated remaining running time of the lock station and the front buffer area and the like, the ART is comprehensively calculated to be the loading ART allocation lock station, when the front buffer area of a certain lock station is released, the system can automatically calculate all the ARTs which are allocated with the front buffer area but not arrived, the front buffer area is allocated through the comparison of the pre-selection and the check results, the position of the ART target front buffer area is automatically adjusted, and when receiving the completion information of the ART padlock releasing operation of the loading in the lock station, the system automatically controls the ART which is completed by the padlock releasing operation to enter the idle rear buffer area.
As shown in fig. 2, the lock station selection of the ship ART includes the following specific steps:
and (3) calculating in real time:
s11, judging the predicted time that the ART reaches the target shore bridge according to the current work task efficiency of the target shore bridge of the ART and the sequence of the ART vehicle-mounted task in the target shore bridge task sequence;
s12, calculating the current operation task efficiency of each lock station and sequencing to form a lock station efficiency list;
s13, acquiring an ART real-time position;
s14, obtaining the ship loading sequence allowed by the ART vehicle-mounted container, namely whether the container after the ship loading sequence is allowed to be loaded first or not, and providing data basis for subsequent adjustment and station locking distribution;
station locking allocation and pre-selection allocation of front buffer area:
s21, calculating and sequencing the space distance between each front buffer area and ART to form a front buffer area distance matrix;
s22, calculating the predicted residual running time of each lock station and the corresponding front buffer area;
s23, according to the ART current position, estimated arrival time of the shore bridge and a station locking efficiency list, combining a front buffer area distance matrix, each station locking area and the estimated remaining travel time of the corresponding front buffer area, selecting a proper station locking and distributing to the ART to complete station locking distribution, determining the front buffer area according to the distribution result of the station locking and obtaining a pre-selection front buffer area, and realizing pre-selection distribution of the front buffer area so as to enable the ART to arrive at the target shore bridge within the specified time.
In addition, if the loading sequence of the ART vehicle-mounted containers is allowed to be adjusted, the distribution result of the locking station can be dynamically adjusted according to the actual operation condition of the locking station and the allowable adjustment condition of the loading sequence of the containers.
Wherein, after the ART finishes the boxing operation in the storage yard, the system allocates a front buffer zone for the ART.
The system preselects and checks the front buffer area, and the preselection result of the front buffer area is the front buffer area corresponding to the station locking distributed in the station locking distribution step, namely the preselection front buffer area;
the process of determining the final target front buffer area by means of check distribution comprises the following steps:
when a certain pre-lock buffer area is released, the system automatically calculates all ARTs which are allocated with the pre-lock buffer area but not reached, performs pre-release buffer area allocation verification, and determines a final target pre-lock buffer area according to a verification result.
As shown in fig. 3, the specific procedure of the pre-release buffer allocation verification is as follows:
s31, judging whether the position of the released front buffer area is positioned between the current ART and the position of the planned arrival front buffer area;
s32, judging whether the position of the released front buffer zone meets ART turning radius limiting conditions or not;
s33, judging whether the advancing direction of the ART is consistent with the direction of the released front buffer area;
s34, judging whether the ART enters the currently released front buffer area to have shorter running time or not and having higher efficiency;
and S35, if the judgment results of the steps are yes, taking the released front buffer area as an ART final target front buffer area, and otherwise, taking the pre-selection front buffer area as the ART final target front buffer area.
Compared with the traditional station locking scheduling mode, the station locking scheduling method is more flexible and efficient, can effectively relieve the congestion condition of an operation area, improves the utilization rate of asset equipment in an automatic wharf, and simultaneously improves the efficiency of station locking and a buffer area, thereby improving the overall operation efficiency of the wharf.
Finally, it should be noted that the above-mentioned embodiments are only intended to illustrate and explain the present invention, and are not intended to limit the present invention within the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, all of which fall within the scope of the invention as claimed.
Claims (6)
1. A ground lock station dynamic scheduling method considering ART preposition and postposition buffer areas is characterized in that the ART enters the lock station for scheduling during ship unloading and enters the lock station, the front buffer area and the rear buffer area for scheduling during ship loading according to the dynamic change conditions of the lock station and the buffer areas:
when unloading the ship, the ART is allocated with locking stations according to the allocation strategy of first arrival, first acquisition and near allocation;
when loading, according to the operation efficiency of the lock station, the estimated time of the ART reaching the shore bridge, the logical relation of container loading, the real-time position of the ART, the distance between the front buffer area and the ART and the estimated residual running time of the lock station and the front buffer area, the lock station and the front buffer area are distributed for the ART, and simultaneously, when loading, the system receives the completion information of the ART padlock releasing operation of loading in the lock station, the ART which completes the padlock releasing operation is automatically controlled to enter the idle rear buffer area;
when loading, the steps of distributing locking stations and front buffer areas for ART are as follows:
and (3) calculating in real time:
s11, judging the predicted time that the ART is to reach the target shore bridge according to the acquired target shore bridge current operation task efficiency of the ART and the calculated sequence of the ART vehicle-mounted task in the target shore bridge task sequence;
s12, calculating the current operation task efficiency of each lock station and sequencing to form a lock station efficiency list;
s13, acquiring an ART real-time position;
s14, acquiring a ship loading sequence of the ART vehicle-mounted container;
station locking allocation and pre-selection allocation of front buffer area:
s21, calculating and sequencing the space distances between each front buffer area and ART to form a front buffer area distance matrix;
s22, calculating the predicted residual running time of each lock station and the corresponding front buffer area;
s23, according to the ART current position, estimated arrival time of the shore bridge and a station locking efficiency list, combining a front buffer area distance matrix, each station locking and the estimated remaining travel time of the corresponding front buffer area, selecting the station locking to distribute the ART, distributing the corresponding front buffer area according to the station locking distribution result to obtain a pre-selection front buffer area, and finishing the pre-selection distribution of the front buffer area so as to enable the ART to arrive at the target shore bridge at the specified time.
2. The dynamic scheduling method of ground lock station considering ART pre and post buffers as claimed in claim 1, wherein the pre buffer is used for adjusting ship loading time sequence or waiting for idle lock station before entering lock station when ART is loaded on ship, and ART does not unlock the lock at this time; and the rear buffer area is used for adjusting the ship loading sequence after the ship is taken out of the locking station during ART ship loading.
3. The ground lock station dynamic scheduling method considering the ART pre-buffer and post-buffer as claimed in claim 1, wherein the pre-selection pre-buffer is obtained, and after the pre-selection allocation of the pre-buffer is completed, the final target pre-buffer is further determined for the ART by means of check, and the process is as follows:
when a certain pre-lock buffer area is released, the system performs pre-release buffer area distribution verification on all ARTs which are distributed with the pre-lock buffer area but not reach, and determines a final target pre-lock buffer area according to a verification result.
4. The method for dynamically scheduling ground lock stations considering ART pre-buffer and post-buffer as claimed in claim 3, wherein the step of pre-release buffer allocation verification is:
s31, judging whether the position of the released front buffer area is positioned between the current ART and the position of the front buffer area planned to arrive;
s32, judging whether the position of the released front buffer zone meets ART turning radius limiting conditions or not;
s33, judging whether the advancing direction of the ART is consistent with the direction of the released front buffer area;
s34, judging whether the ART enters a released front buffer area to have shorter running time and higher efficiency;
and S35, if the judgment results are yes, taking the released front buffer area as an ART final target front buffer area, and otherwise, taking the pre-selection front buffer area subjected to pre-selection distribution as the ART final target front buffer area.
5. The method for dynamically scheduling ground lock stations considering the ART pre-buffer and post-buffer as claimed in claim 4, wherein if the pre-selection and the check result of the pre-buffer are different, the check pre-buffer allocation result is applied, and the ART performs task update and re-planning the path according to the final pre-buffer allocation result.
6. The method for dynamically scheduling ground lock stations according to claim 1, wherein the ART directly leaves the lock station and does not enter the back buffer zone after the vehicle completes the unlocking operation during the ship unloading process.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427075A (en) * | 2015-11-24 | 2016-03-23 | 山东科技大学 | Hybrid dynamic scheduling method used for port container truck |
| WO2016113515A1 (en) * | 2015-01-15 | 2016-07-21 | Batterie Mobile | Method of loading/unloading containers in a port facility |
| WO2019153759A1 (en) * | 2018-02-06 | 2019-08-15 | 华为技术有限公司 | Method for determining transportation scheme, and method and device for training fast loading model |
| CN113792990A (en) * | 2021-08-24 | 2021-12-14 | 天津港第二集装箱码头有限公司 | Intelligent dynamic ground station locking arrangement method considering front buffer area and rear buffer area |
| CN114118639A (en) * | 2022-01-29 | 2022-03-01 | 天津港第二集装箱码头有限公司 | Automatic wharf ART dynamic scheduling method for shore-following type side loading and unloading |
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- 2022-03-21 CN CN202210274648.2A patent/CN114358665B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016113515A1 (en) * | 2015-01-15 | 2016-07-21 | Batterie Mobile | Method of loading/unloading containers in a port facility |
| CN105427075A (en) * | 2015-11-24 | 2016-03-23 | 山东科技大学 | Hybrid dynamic scheduling method used for port container truck |
| WO2019153759A1 (en) * | 2018-02-06 | 2019-08-15 | 华为技术有限公司 | Method for determining transportation scheme, and method and device for training fast loading model |
| CN113792990A (en) * | 2021-08-24 | 2021-12-14 | 天津港第二集装箱码头有限公司 | Intelligent dynamic ground station locking arrangement method considering front buffer area and rear buffer area |
| CN114118639A (en) * | 2022-01-29 | 2022-03-01 | 天津港第二集装箱码头有限公司 | Automatic wharf ART dynamic scheduling method for shore-following type side loading and unloading |
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