CN114408613B - Intelligent wharf ART dynamic sequence adjusting method adaptive to ship loading mode - Google Patents
Intelligent wharf ART dynamic sequence adjusting method adaptive to ship loading mode Download PDFInfo
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- 238000011068 loading method Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 9
- 238000011217 control strategy Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 6
- 235000015170 shellfish Nutrition 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000003139 buffering effect Effects 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/603—Loading or unloading ships using devices specially adapted for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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Abstract
The invention provides an intelligent wharf ART dynamic sequence adjusting method adaptive to a shipping mode, which comprises the following steps: the TOS system selects a corresponding shipping mode according to the required level of the current container shipping sequence, and issues an ART differential regulation strategy under the corresponding shipping mode, and then the TOS system adjusts the time of each ART reaching the operating position of the shore bridge by combining the differential regulation strategy and the running state of the ART fed back by the fleet management system, and the ART sets and executes a proper speed, a proper buffer waiting time and a proper buffer waiting position according to the arrival time and the self state. The invention achieves the purpose of adjusting the container ship-loading operation sequence by regulating and controlling the speed and the locking operation state in the ART driving process, effectively reduces the ART queuing waiting time and improves the operation efficiency of the intelligent wharf.
Description
Technical Field
The invention relates to the technical field of intelligent container terminal ART scheduling, in particular to an intelligent terminal ART dynamic sequence adjusting method adaptive to a shipping mode.
Background
With the prosperity and development of the container transportation industry, the cargo handling capacity of a container terminal is increased, the large-scale development of container ships tends to be realized, and the condition of card collecting operation queuing congestion is more and more obvious. The problem to be solved urgently is to improve the container shipping efficiency and relieve the phenomenon of wharf truck-collecting queuing.
The speed of traditional pier collection card is fixed, and adopts the mode of entering port at random, and a large amount of collection cards arrive the harbour at the peak period, and the concentrated entering port of collection card causes the jam and the lining up of pier gate, has reduced harbour collection and transportation efficiency and collection card motorcade operation efficiency on the one hand, and on the other hand has increased the traffic pressure in the harbour district, and the carbon emission that the in-process of waiting produced has aggravated the environmental pollution in harbour district. The invention relates to three intelligent wharf shipping modes: the container loading method comprises a strict loading mode, a loose loading mode and a free loading mode, wherein the strict loading mode has the highest requirement on the container loading sequence, the loose loading mode has the second lowest requirement, and the free loading mode has the lowest requirement. Especially, under a strict shipping mode and a loose shipping mode, when strict requirements are imposed on the boxing sequence, the random entry mode easily causes incorrect boxing sequence, the container trucks can only wait on the shore, large-area queuing and blocking conditions are easily caused, and the operation efficiency of the container terminal is seriously influenced. Therefore, how to solve the problem of traffic jam of the wharf through reasonable dispatching of the container trucks is significant for improving the operation efficiency of the wharf.
Disclosure of Invention
The invention aims to solve the problem of ART traffic jam of an intelligent wharf, and provides an ART dynamic sequence adjusting method of the intelligent wharf adaptive to a shipping mode, so that the port collection and distribution efficiency and the ART operation efficiency are improved, the traffic pressure in a port area is relieved, the carbon emission and the environmental pollution in the port area are reduced, the formulation and the efficient implementation of an operation plan of a container wharf are promoted, and the operation efficiency of the whole port is improved.
The invention is realized by the following technical scheme:
the invention provides an intelligent wharf ART dynamic sequence adjusting method adaptive to a shipping mode, which adjusts the time of ART reaching a shore bridge operation position to ensure the shipping sequence of containers by controlling the vehicle speed and buffering and adjusting the sequence by locking a station in the ART driving process, and the ART sets and executes proper speed, buffering waiting time and buffering waiting position according to the time of reaching the shore bridge operation position and the self state;
wherein, the differential speed sequence adjustment comprises the following steps:
s11, selecting a corresponding shipping mode by the TOS system according to the required level of the current container shipping sequence;
s12, issuing ART differential speed regulation strategies under corresponding ship loading modes by a TOS system;
s13, the fleet management system feeds back the operation state of the ART to the TOS system in real time;
s14, adjusting the time of each ART reaching the shore bridge operation position by combining a differential speed regulation strategy and the operation state of the ART by the TOS system;
and S15, ART calculates a proper speed according to the arrival time and the self state and executes the calculated speed.
Further, the shipping modes comprise a strict shipping mode, a loose shipping mode and a free shipping mode; the strict shipping mode means that each container must be placed at a specified position, and the containers are not allowed to cross seashells, columns and layers; the loose shipping mode refers to that the containers are equally divided into shells for shipping according to the flow direction, the empty weight, the destination port, the size and the attribute, and the containers are allowed to cross columns and layers and are not allowed to cross shells; the free-loading mode refers to the loading of containers according to the arrival time sequence.
Furthermore, the TOS system is a wharf operating system and is responsible for scheduling the operation tasks of the ART, the motion state and the remaining running distance of the ART are monitored in real time, a corresponding differential speed regulation strategy flow is executed according to a ship loading mode, and the ART arrival time is output and fed back to the fleet management system.
Further, the ART differential regulation strategy comprises a differential regulation strategy in a strict ship loading mode, a differential regulation strategy in a loose ship loading mode and a differential regulation strategy in a free ship loading mode.
Preferably, the differential speed regulation strategy specifically comprises the following sub-steps:
the differential speed regulation and control strategy under the strict ship loading mode comprises the following steps:
s21, determining the shipping sequence of the containers and the completion states of all horizontal transportation tasks and rejecting the completed tasks;
s22, the TOS system searches Ʌ horizontal transportation tasks to be completed with the minimum current operation sequence and an ART set ɸ which is driven before Ʌ tasks;
s23, judging whether the ɸ set is empty, if so, adjusting the ART speed corresponding to Ʌ to be the maximum, and executing a step S27; if not, go to step S24;
s24, lowering the ART speed in the ɸ set and adjusting the ART speed corresponding to Ʌ to be maximum;
s25, when the TOS system judges that the vehicle reaches a distance threshold value, searching an ART set ɸ before Ʌ tasks;
s26, judging ɸ whether the set is empty, if yes, executing step S27; if not, ɸ stopping the ART driving in the set, executing step S27;
s27, completing the operation by ART corresponding to Ʌ;
s28, discharging the ART in the ɸ set into a TOS system again and entering the next operation cycle;
and S29, finishing differential speed regulation.
The differential speed regulation and control strategy in the loose ship-loading mode comprises the following steps:
s31, determining the ship loading berth sequence and the completion states of all horizontal transportation tasks and rejecting the completed tasks;
s32, the TOS system searches an ART set Ω of the horizontal transportation task to be completed with the minimum current scallop working order and an ART set Є running before the set Ω;
s33, judging Є whether the set is empty, if yes, adjusting the ART speed in the Ω set to the maximum, and executing the step S37; if not, go to step S34;
s34, lowering the ART speed in the Є set and adjusting the ART speed in the Ω set to the maximum;
s35, when the TOS system judges that the vehicle reaches the distance threshold, searching an ART set Є which runs before the set Ω;
s36, judging Є whether the set is empty, if yes, executing S37; if not, Є stops ART driving, and step S37 is executed;
s37, completing operation by ART corresponding to the omega set;
s38, discharging ART in the set Є into a TOS system again and entering the next operation cycle;
and S39, finishing differential speed regulation.
The differential speed regulation strategy in the free ship loading mode is to keep the ART current speed and follow the principle of first come first load.
Furthermore, the fleet management system can record the ART current position, the working state, the technical state and the like in real time and feed back the ART current position, the working state, the technical state and the like to the TOS system in real time, so that the scheduling of the ART by the TOS system is facilitated.
Preferably, the buffering sequence adjustment is to utilize the buffer area before the lock station, the buffer area after the lock station and the buffer area before the lock station to complete the control of the passing speed and the passing time of the operation vehicles according to the sequence requirement of the loading and unloading operation of the containers in the shipping mode, so as to realize the sequence adjustment of each horizontal transport vehicle.
Compared with the prior ART, the ART dynamic sequence adjusting method is designed aiming at different loading mode requirements, and based on the differential sequence adjusting method, the differential regulation and control strategies under the strict loading mode, the loose loading mode and the free loading mode are realized, the arrival time of the ART dynamic sequence adjusting method is controlled by adjusting the ART speed, and the ART queuing waiting time is reduced; meanwhile, the sequence adjustment of the vehicles is completed by utilizing a locking station three-level buffer sequence adjusting mechanism based on a buffer sequence adjusting method; the two sequence adjusting methods are comprehensively used, the ART operation efficiency and the port collecting and transporting efficiency are improved, the ART congestion phenomenon and the traffic pressure in a port area are relieved, and the formulation and the efficient implementation of the operation plan of the container wharf are promoted.
Drawings
Fig. 1 is an overall framework diagram of the intelligent wharf ART dynamic sequence adjustment method adapting to the ship loading mode according to the invention.
Fig. 2 is a schematic flow chart of the intelligent wharf ART differential sequence adjustment method adopting the ship loading mode.
Fig. 3 is a schematic flow chart of the intelligent wharf ART differential sequence adjustment method adapting to the strict ship loading mode.
Fig. 4 is a schematic flow chart of the intelligent wharf ART differential sequence adjustment method adapting to the loose shipment mode.
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.
As shown in fig. 1, the present invention implements two ART (Artificial Intelligence Robot of Transportation) sequence adjusting methods, namely, a differential sequence adjusting method and a buffer sequence adjusting method, based on different loading mode requirements of an intelligent dock, wherein the two sequence adjusting methods cooperate with each other in vehicle Transportation operation to cooperatively complete vehicle sequence control.
As shown in fig. 2, the overall process of the intelligent wharf ART dynamic sequence adjustment method adapting to the ship loading mode provided by the present invention specifically includes the following steps:
s1, an intelligent wharf ART differential sequence regulation method adapting to a ship loading mode comprises the following steps:
s11, selecting a corresponding shipping mode by a TOS system (a wharf operating system) according to the requirement level of the current container shipping sequence, wherein the intelligent wharf shipping modes related by the invention are three types: the container shipping method comprises a strict shipping mode, a loose shipping mode and a free shipping mode, wherein the strict shipping mode has the highest requirement level on the shipping sequence of the containers, the loose mode has the next lowest requirement level, and the free mode has the lowest requirement level;
the strict shipping mode means that each container must be placed at a specified position, and the containers are not allowed to cross seashells, columns and layers; the loose shipping mode means that the containers are shipped according to the flow direction, the empty weight, the destination port, the size and the attribute decibel, and the containers are allowed to cross columns and layers and are not allowed to cross shellfish; the free-loading mode refers to the containers being loaded according to the arrival time sequence.
S12, issuing ART differential speed regulation strategies under corresponding ship loading modes by a TOS system, wherein the ART differential speed regulation strategies are different aiming at different ship loading modes;
s13, the real-time recording of ART running states by the fleet management system comprises the following steps: the current position, the working state, the technical state and the like are fed back to the TOS system in real time;
s14, adjusting the time of each ART reaching the operating position of a shore bridge by combining the TOS system with a differential speed regulation strategy in a corresponding ship loading mode and the operation state of the ART, and feeding back the time to the fleet management system;
and S15, adjusting the ART arrival time by the fleet management system, and calculating the proper speed and executing the ART by combining the ART with the self condition.
The TOS system is a wharf task management system and is responsible for scheduling the operation tasks of the ART, the motion state and the remaining running distance of the ART are monitored in real time, the corresponding differential speed regulation strategy process is executed according to the shipping mode, and the ART arrival time is output and fed back to a Fleet Management System (FMS).
Real-time scheduling of ART is realized by calling a TOS system (wharf operating system) and a Fleet Management System (FMS), differential regulation and control of the ART in different shipping modes are completed, the shipping sequence of the containers is consistent with the arrival time sequence, the queuing waiting time of the ART is reduced, and the operating efficiency of an intelligent wharf are improved.
As shown in fig. 3, the intelligent wharf ART differential sequence adjustment method flow adapted to the strict ship loading mode provided by the present invention specifically includes the following steps:
s2, a differential speed regulation strategy in a strict ship loading mode:
s21, determining the container shipping sequence and the completion states of all horizontal transportation tasks in a strict shipping mode and rejecting the completed tasks;
s22, the TOS system searches Ʌ horizontal transportation tasks to be completed with the minimum current work sequence and an ART set ɸ which runs before a task Ʌ;
s23, judging ɸ whether the set is empty, if so, adjusting the ART speed corresponding to Ʌ to be maximum, and executing the step S27; if not, go to step S24;
s24, lowering the ART speed in the ɸ set and adjusting the ART speed corresponding to Ʌ to the maximum, ensuring that the shipping sequence of the containers is consistent with the arrival sequence, and reducing the ART queuing waiting time;
s25, when judging that the vehicle reaches a distance threshold value, the TOS system searches an ART set ɸ before Ʌ tasks;
s26, judging ɸ whether the set is empty, if yes, executing step S27; if not, ɸ stopping the ART driving in the set, executing step S27;
s27, completing the operation of ART corresponding to Ʌ;
s28, discharging the ART in the ɸ set into a TOS system again and entering the next operation cycle;
s29, finishing differential speed regulation.
According to the strategy, the running speed of the container is adjusted in the ART running process, so that the arrival sequence of the containers is consistent with the shipping sequence in a strict shipping mode, the ART queuing waiting time can be effectively reduced, the ART operating efficiency is improved, the port traffic pressure is relieved, and the whole intelligent wharf running efficiency is improved.
As shown in fig. 4, the intelligent wharf ART differential sequence adjustment method flow adapted to the loose shipment mode provided by the present invention specifically includes the following steps:
s3, a differential speed regulation and control strategy in a loose ship loading mode:
s31, determining the container shipping berth sequence and the completion states of all horizontal transportation tasks in a loose shipping mode and rejecting the completed tasks;
s32. the TOS system searches for an ART set Ω and an ART set Є which run before the set Ω and have the minimum current shellfish position operation order and are used for completing the horizontal transportation task;
s33, judging Є whether the set is empty, if yes, adjusting ART speed in the set of Ω to the maximum, and executing the step S37; if not, go to step S34;
s34, lowering Є ART speed in the set and adjusting the ART speed in the set of Ω to the maximum, ensuring that the ship-loading berth sequence of the container is consistent with the arrival sequence, and reducing ART queuing waiting time;
s35, when the TOS system judges that the vehicle reaches the distance threshold, searching an ART set Є running before the set Ω;
s36, judging Є whether the set is empty, if yes, executing S37; if not, Є stops ART driving, and step S37 is executed;
s37, completing operation by ART corresponding to the omega set;
s38, discharging ART in the set Є into a TOS system again and entering the next operation cycle;
and S39, finishing differential speed regulation.
The differential speed regulation strategy in the free ship loading mode is to keep the ART current speed and follow the principle of first come first load.
Furthermore, the fleet management system can record the ART current position, the working state, the technical state and the like in real time and feed back the ART current position, the working state, the technical state and the like to the TOS system in real time, so that the TOS system can conveniently schedule the ART.
According to the strategy, the running speed of the container is adjusted in the ART running process, so that the arrival sequence of the containers is consistent with the sequence of the shipping berths in a loose shipping mode, the ART queuing waiting time can be effectively shortened, the ART operating efficiency is improved, the port traffic pressure is relieved, and the running efficiency of the whole intelligent wharf is improved.
The buffer sequence adjustment provided by the invention specifically comprises the following steps:
according to the sequence requirements of the shipping mode on container loading and unloading operation, the control on the passing speed and the passing time of the operation vehicles is completed by utilizing the buffer area before the lock station, the lock station operation area and the buffer area after the lock station, and further the sequence adjustment of each horizontal transport vehicle is realized.
The operation mode of the invention is as follows:
the TOS system selects a shipping mode according to the shipping order requirement of the current batch of containers, issues an ART (ART) train order dynamic regulation and control strategy under the corresponding shipping mode at the same time, and executes the train order regulation and control strategy by combining the ART running state fed back by the fleet management system in real time, and the fleet management system calculates the running speed according to the ART arrival time and the residual running distance fed back by the TOS system so as to ensure that the ART arrival sequence is consistent with the shipping sequence.
Finally, it should be noted that: the foregoing examples are provided for illustration and description of the invention only and are not intended to limit the invention to the scope of the described examples.
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 present invention as claimed.
Claims (6)
1. An intelligent wharf ART dynamic sequence adjusting method adaptive to a shipping mode is characterized in that the method is used for adjusting the time of ART reaching a shore bridge operation position through differential sequence adjustment and buffer sequence adjustment in the ART driving process so as to ensure the container shipping sequence, and the ART sets and executes appropriate speed, buffer waiting time and buffer waiting position according to the time of reaching the shore bridge operation position and the self state;
wherein, the differential speed sequence adjustment comprises the following steps:
s11, selecting a corresponding shipping mode by the TOS system according to the required level of the current container shipping sequence; the TOS system is a wharf task management system;
s12, issuing ART differential speed regulation strategies under corresponding ship loading modes by a TOS system;
s13, the fleet management system feeds back the operation state of the ART to the TOS system in real time;
s14, adjusting the time of each ART reaching the shore bridge operation position by combining a differential speed regulation strategy and the operation state of the ART by the TOS system;
s15, calculating a proper speed according to the arrival time and the state of the ART and executing the speed;
the shipping mode comprises a strict shipping mode, a loose shipping mode and a free shipping mode, wherein the strict shipping mode means that each container must be placed at a specified position, and the containers are not allowed to span shellfish, columns and layers; the loose shipping mode means that the containers are shipped according to the flow direction, the empty weight, the destination port, the size and the attribute decibel, and the containers are allowed to cross columns and layers and are not allowed to cross shellfish; the free shipment mode refers to the containers being shipped according to the arrival time sequence;
in step S12, the ART differential regulation strategy includes a differential regulation strategy in a strict shipping mode, a differential regulation strategy in a loose shipping mode, and a differential regulation strategy in a free shipping mode;
the differential speed regulation and control strategy in the strict ship-loading mode specifically comprises the following substeps:
s21, determining the shipping sequence of the containers and the completion states of all horizontal transportation tasks and rejecting the completed tasks;
s22, the TOS system searches Ʌ horizontal transportation tasks to be completed with the minimum current operation sequence and an ART set ɸ which is driven before Ʌ tasks;
s23, judging whether the ɸ set is empty, if so, adjusting the ART speed corresponding to Ʌ to be the maximum, and executing a step S27; if not, go to step S24;
s24, lowering the ART speed in the ɸ set and adjusting the ART speed corresponding to Ʌ to the maximum;
s25, when the TOS system judges that the vehicle reaches a distance threshold value, searching an ART set ɸ before Ʌ tasks;
s26, judging ɸ whether the set is empty, if yes, executing step S27; if not, ɸ stopping the ART driving in the set, executing step S27;
s27, completing the operation by ART corresponding to Ʌ;
s28, discharging ART in the set ɸ into a TOS system again and entering the next operation cycle;
and S29, finishing differential speed regulation.
2. The intelligent wharf ART dynamic sequence adjusting method adapted to the shipping mode as claimed in claim 1, wherein in step S11, the TOS system is responsible for scheduling the operation task of ART, by monitoring the motion state and the remaining travel distance of ART in real time, executing the corresponding differential speed regulation strategy flow according to the shipping mode, outputting the arrival time of ART and feeding back the arrival time to the fleet management system.
3. The intelligent wharf ART dynamic sequence adjusting method for adapting to the ship loading mode according to claim 1, characterized in that the steps of the differential speed regulation strategy in the loose ship loading mode are as follows:
s31, determining the ship loading berth sequence and the completion states of all horizontal transportation tasks and rejecting the completed tasks;
s32. the TOS system searches for an ART set Ω and an ART set Є which run before the set Ω and have the minimum current shellfish position operation order and are used for completing the horizontal transportation task;
s33, judging Є whether the set is empty, if yes, adjusting ART speed in the set of Ω to the maximum, and executing the step S37; if not, go to step S34;
s34, lowering the ART speed in the Є set and adjusting the ART speed in the Ω set to the maximum;
s35, when the TOS system judges that the vehicle reaches the distance threshold, searching an ART set Є which runs before the set Ω;
s36, judging Є whether the set is empty, if yes, executing S37; if not, Є stopping the ART driving in the set, executing step S37;
s37, completing the operation by ART corresponding to the set of Ω;
s38, discharging ART in the set Є into a TOS system again and entering the next operation cycle;
and S39, finishing differential speed regulation.
4. The intelligent wharf ART dynamic sequence adjusting method of the adaptive shipment mode as claimed in claim 1, wherein the differential speed regulation and control strategy in the free shipment mode is to maintain the ART current speed and follow the first come first load principle.
5. The intelligent wharf ART dynamic sequence adjusting method of the adaptive shipment mode as claimed in claim 1, wherein in step S13, the fleet management system can record the ART running status including the current position, the working status, the technical status in real time and feed back to the TOS system.
6. The intelligent wharf ART dynamic sequence adjusting method adapted to the shipping mode as claimed in claim 1, wherein the buffer sequence adjustment is to utilize a buffer area before a lock station, a lock station operation area and a buffer area after the lock station to complete the control of the passing speed and the passing time of the operation vehicles according to the sequence requirement of the shipping mode on the container loading and unloading operation, thereby realizing the sequence adjustment of each horizontal transport vehicle.
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