CN117689295A - Automatic container terminal yard end operation position selection dynamic change method - Google Patents
Automatic container terminal yard end operation position selection dynamic change method Download PDFInfo
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- CN117689295A CN117689295A CN202410037850.2A CN202410037850A CN117689295A CN 117689295 A CN117689295 A CN 117689295A CN 202410037850 A CN202410037850 A CN 202410037850A CN 117689295 A CN117689295 A CN 117689295A
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- 230000003993 interaction Effects 0.000 claims abstract description 68
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Abstract
The invention discloses an automatic container terminal yard operation position selection dynamic changing method, which is implemented on a container pre-placed in a yard field, and is characterized in that a dynamic stacking strategy is implemented, when a sea side interaction area is required to be interacted with a yard bridge due to overlong time of one-time task of the yard bridge operation, the container is placed in a temporary stacking area by an adjusting yard bridge, and the distance between the temporary stacking area and the sea side interaction area is shorter than the distance between the container and the sea side interaction area at a target position of the yard field, so that the yard bridge can return to the sea side interaction area to execute interaction operation as soon as possible after the current container is placed in the temporary stacking area, thereby realizing the fastest release of yard bridge resources, reducing the operation distance of a single-task yard bridge, reducing the single-operation time of the yard bridge, avoiding congestion phenomenon of the sea side interaction area, effectively improving the operation efficiency of a loading and unloading ship of the whole yard, and transferring the temporarily stacked container to the target position under the condition that the yard bridge is idle.
Description
Technical Field
The invention belongs to the technical field of container terminals, and particularly relates to a method for dynamically changing position selection of automatic container terminal yard operation.
Background
The yard layout of the automatic wharf is mainly vertical layout, the operation equipment related to the sea side interaction area mainly comprises an AGV (automatic guided vehicle) and an ASC (yard bridge), the sea side interaction area is divided into two interaction modes, namely direct interaction and bracket interaction, under normal working conditions, after the AGV conveys a container to the sea side interaction area, if the AGV is in the bracket interaction mode, the AGV lifts the container to a bracket and then directly leaves the container, the ASC conveys the container to a target position of a yard from the bracket position, if the AGV is in the direct interaction mode, the AGV stops at the direct interaction position and waits for the ASC to grasp the container to finish, the AGV leaves, and the container is directly conveyed to the target position of the yard by the ASC.
The yard bridge scheduling of the existing automatic wharf control system can only directly convey boxes from a sea interactive area to a target position of a storage yard, once the field operation is busy, ASC operation tasks are more, if the box target position of the storage yard is far away from the sea, the time for one time of the ASC operation is too long, the conditions of untimely box sending of shipping boxes, congestion of the interactive area and the like can be caused, and the efficiency of the whole loading and unloading ship is reduced.
Disclosure of Invention
The invention aims to provide an automatic container terminal yard operation position selection dynamic changing method, which is used for temporarily placing a box needing to enter a yard according to the number of directly-interacted transfer-in (sea interaction area- > yard) tasks to be operated at the sea side, the number of transfer-in tasks interacted by a bracket to be operated at the sea side and the number of shellfish position of a container target position from the sea interaction area under the condition of automatic container terminal yard end-to-end yard layout, and then placing the box from the temporary yard position to the actual box target position under the condition that ASC is idle, so that the fastest release of ASC equipment resources is realized, the operation distance of single task ASC is reduced, the ASC single task operation time is shortened, the congestion phenomenon in the sea side interaction area is avoided, and the overall loading and unloading ship operation efficiency of the dock is effectively improved.
The invention is realized by adopting the following technical scheme:
the method for dynamically changing the position selection of the terminal operation of the container terminal comprises the following steps:
s1, acquiring task data to be operated in a current yard field;
s2, judging whether the first distance between the object position of the box and the sea-side interaction area exceeds the second distance between the temporary stacking area and the sea-side interaction area; if yes, the field bridge is arranged at the target position of the field bridge;
s3, judging whether to trigger temporary stacking operation or not based on the number of tasks to be operated when the first distance exceeds the second distance;
s4, when the temporary stacking operation needs to be triggered, acquiring temporary stacking area information;
s5, controlling a field bridge to place the container in the temporary stacking area, wherein the method comprises the following steps:
constructing a temporary field position model, and calculating the score of each temporary field position of the temporary stacking area:；
wherein a is the priority of the temporary field bit, b is a constant, (a is b) is the basic score of matching the container with the temporary field bit, s is the basic information of the container, w is the weight occupied by different basic information, and c is a constant; the basic information comprises container size, container attribute and temporary field position;
finding a temporary target field position with the highest score S, and controlling a field bridge to place a container in the temporary target field position; when the temporary target field position with the highest score S is larger than 1, selecting the temporary field position closest to the sea interaction area;
s6, when the field bridge is idle, the container is displaced from the temporary target field to the target position.
In some embodiments of the invention, between step S5 and step S6, the method comprises:
generating a temporary stacking job task, setting a starting position as the temporary target site and setting an ending position as the target position;
in step S6, when the bridge is idle, the temporary stacking task is called and executed.
In some embodiments of the present invention, if the task to be worked includes a direct interaction task and a stand interaction task, in step S3, determining whether to trigger a temporary stacking operation includes:
when the task to be operated is a direct interaction task, judging whether the number of the tasks of the current direct interaction task exceeds a first threshold, and triggering temporary stacking operation when the number of the tasks exceeds the first threshold;
when the task to be operated is the bracket interaction task, judging whether the task number of the bracket interaction task exceeds a second threshold, and triggering temporary stacking operation when the task number exceeds the second threshold.
In some embodiments of the invention, between steps S1 and S2, the method further comprises;
and setting the range of the temporary stacking area according to the number of tasks to be operated and/or the busyness of horizontal transportation equipment operated in the current yard field.
In some embodiments of the invention, between steps S1 and S2, the method further comprises:
and setting the distance between the temporary stacking area and the sea-side interaction area according to the number of tasks to be operated and/or the busyness of horizontal transportation equipment operated in the current yard field area.
A container yard is provided, each yard field is configured with a temporary stacking operation process, and when the temporary stacking operation process is enabled based on the front end configuration of a dock operation system, the container placing operation of the yard field with the temporary stacking operation enabled is executed based on the automatic container dock yard end operation position selection dynamic change method.
Compared with the prior art, the invention has the advantages and positive effects that: according to the automatic container terminal operation position selection dynamic changing method and the container yard, a temporary stacking operation process is configured for each yard field region of the container yard, whether the temporary stacking operation of one or a plurality of yard field regions is started or not can be configured at the front end of a dock operation system, after the temporary stacking operation of one or a plurality of yard field regions is started, the dock operation system obtains current task data to be operated of the yard field regions, whether the target position of a container is far away from the distance between the temporary stacking region divided by the yard field regions and a sea side interaction region is judged, if the target position of the container is far away from the distance between the temporary stacking region divided by the yard field regions and the sea side interaction region, whether the temporary stacking operation is executed is further judged according to the number of the current tasks, the temporary stacking operation is triggered when the number of the current tasks exceeds a threshold value, the temporary stacking operation is controlled by a yard bridge to place the container in the temporary stacking region, if the target position of the container is not exceeding the distance between the temporary stacking region divided by the sea side interaction region in the yard field regions, and the temporary stacking operation is not exceeding the threshold value; based on the container placing method provided by the invention, a dynamic stacking strategy is implemented on the container pre-placed in the yard field, when the yard bridge works for a long time and needs a sea side interaction area to wait for interaction with the yard bridge, the yard bridge is adjusted to place the container in a temporary stacking area, the distance between the temporary stacking area and the sea side interaction area is shorter than the distance between the container and the sea side interaction area at the target position of the yard field, so that the yard bridge can return to the sea side interaction area to execute interaction operation as soon as possible after the current container is placed in the temporary stacking area, thereby realizing the fastest release of yard bridge resources, reducing the working distance of the single-task yard bridge, further reducing the single-time operation time of the yard bridge, avoiding the congestion phenomenon of the sea side interaction area, effectively improving the overall ship loading and unloading operation efficiency of the dock, and transferring the temporary stacked container to the target position under the condition that the yard bridge is idle.
Further, when the container is placed in the temporary stacking area, a temporary field position model is constructed to calculate the score of each temporary field position in the temporary stacking area, and the temporary field position with the highest score is found to be used as a temporary target field position; in the temporary field position model, the temporary field position priority is used as a first parameter, and is related to a stacking column and a stacking layer in a temporary field region, so that the influence on the field bridge operation efficiency is represented; taking basic information of the container as a second parameter, wherein the basic information of the container comprises the size of the container, the attribute of the container and the position of the current temporary field, and the influence on the operation efficiency of the transfer case is represented; the invention combines the first parameter and the second parameter to give consideration to the field bridge operation efficiency and the transfer box operation efficiency.
In some embodiments of the present invention, in combination with the actual operation situation in the sea interactive area, a first threshold and a second threshold for triggering temporary stacking operation are set for direct interactive operation and bracket interactive operation respectively, and the first threshold and the second threshold can be dynamically configured at the front end of the dock operating system, so as to achieve the effect of being able to dynamically allocate in combination with the actual operation situation of the yard field, thereby not only ensuring the operation efficiency of the yard bridge, but also taking into account the actual operation requirement or requirement of the dock.
In some embodiments of the present invention, after a container is placed in a temporary stacking area, a temporary stacking task for the container is generated, a start position and an end position are set for the temporary stacking task, and when the bridge is idle, the temporary stacking task can be invoked to implement a box.
In some embodiments of the present invention, a temporary stacking area may be configured at the front end of the dock operating system in a dividing area of the yard field, so as to achieve an effect of dynamically adapting the size of the dividing area according to the actual operation situation and the requirement of the yard field.
In some embodiments of the present invention, the distance between the temporary stacking area and the sea-side interaction area can be configured at the front end of the dock operating system, so as to achieve an effect of dynamically adapting the distance of the dividing area according to the actual operation condition and the requirement of the yard field.
Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention, without limitation to the invention. It is evident that the figures in the following description are only examples, from which other figures can be obtained, without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of the implementation of the method for dynamically changing the position of a yard-end operation of an automated container terminal;
fig. 2 is a schematic diagram of a method for calculating temporary target sites in the automatic container terminal yard operation site selection dynamic change method provided by the invention.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; either directly or via an intermediary profile. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The automatic container terminal yard operation position selection dynamic changing method provided by the invention is applied to container yards, a temporary stacking operation process is configured for each yard field of the container yards, the temporary stacking operation process is used for executing a box placing method, the configuration can be carried out through the front end of a terminal operation system, and the process can be selectively enabled or closed.
Specifically, after the temporary stacking operation process of one or more yard areas is enabled by the front end of the dock operating system, as shown in fig. 1, the container stacking operation is performed according to the following steps:
s1: and acquiring task data to be operated in the current yard field.
The task data to be worked here includes, but is not limited to, the number of tasks to be worked, the attribute of the container to be interacted with, the size, the target location at the yard site allocated by the dock operating system, and the like.
S2: and judging whether the first distance between the target position of the box and the sea-side interaction area exceeds the second distance between the temporary stacking area and the sea-side interaction area.
That is, whether the target position of the container to be interacted in the storage yard field is far away from the sea side interaction area by the distance from the temporary stacking area to the sea side interaction area is judged, when the target position is far away from the sea side interaction area by the distance from the temporary stacking area, the running distance of the field bridge is overlong, the container is interacted on the sea side, the container can interact with the field bridge after waiting for a certain period of time, the container is accumulated in the sea side interaction area, and the operation time of horizontal conveying equipment is delayed.
When the target position is far, that is, the first distance exceeds the second distance, step S3 is executed, and when the target position is close to the sea interaction area, the container is placed at the target position according to the conventional operation.
S3: and judging whether to trigger temporary stacking operation or not based on the number of tasks to be operated.
According to the invention, whether the temporary stacking operation is triggered is judged according to the current task quantity to be operated, if the current task quantity to be operated does not cause stacking of the containers in the sea side interaction area, the temporary stacking operation is not triggered even if the target position is far away from the sea side interaction area, the containers are placed in the target position according to normal operation, and if the task quantity to be operated causes the containers to wait for stacking in the sea side interaction area, the temporary stacking operation is triggered, and the step S4 is executed.
In some embodiments of the present invention, in combination with the actual operation situation in the sea interactive area, a first threshold and a second threshold for triggering temporary stacking operation are set respectively for the direct interactive operation and the bracket interactive operation types, and the first threshold and the second threshold can be dynamically configured at the front end of the dock operating system, so as to achieve the effect of being capable of dynamically allocating in combination with the actual operation situation of the yard field, thereby not only ensuring the operation efficiency of the yard bridge, but also taking into account the actual operation requirement or requirement of the dock. In actual operation, whether the number of tasks to be operated of the direct interaction type exceeds a first threshold value and whether the number of tasks to be operated of the bracket interaction type exceeds a second threshold value are respectively judged, and when the number of tasks to be operated of the bracket interaction type exceeds the first threshold value and/or exceeds the second threshold value, temporary stacking operation is triggered.
S4: and acquiring temporary stacking area information.
The temporary stack area information includes, but is not limited to, a temporary stack area range, and data of each temporary field position in the temporary stack area.
S5: the control field bridge places the containers in a temporary stacking area.
In the implementation of temporary stacking, the embodiment of the invention finds the temporary target field position by constructing a temporary field position model, as shown in fig. 2, and includes:
s51: and constructing a temporary field position model to calculate the score of each temporary field position in the temporary stacking area.
The temporary field bit model is:；
wherein a is the priority of the temporary field bit, b is a constant, (a is b) is the basic score of matching the container with the temporary field bit, s is the basic information of the container, w is the weight occupied by different basic information, and c is a constant; the base information includes container size, container attributes, and temporary field locations.
When a container is placed in a temporary stacking area, a temporary field position model is constructed to calculate the score of each temporary field position in the temporary stacking area, and the temporary field position with the highest score is found to be used as a temporary target field position; in the temporary field position model, the temporary field position priority is used as a first parameter, and is related to a stacking column and a stacking layer in a temporary field region, so that the influence on the field bridge operation efficiency is represented; taking basic information of the container as a second parameter, wherein the basic information of the container comprises the size of the container, the attribute of the container and the position of the current temporary field, and the influence on the operation efficiency of the transfer case is represented; the invention combines the first parameter and the second parameter to give consideration to the field bridge operation efficiency and the transfer box operation efficiency
S52: finding the temporary target site with the highest score S, and controlling the site bridge to place the container in the temporary target site.
And when the temporary target field position with the highest score S is larger than 1, selecting the temporary field position closest to the sea interaction area.
S53: generating a temporary stacking task for the container, setting a starting position as a temporary target site and setting an end position as a target position of equipment.
After a container is placed in the temporary stacking area, a temporary stacking job task for the container is generated, and a starting position and an ending position are set for the temporary stacking job task so that the temporary stacking job task can be invoked to implement a transfer box when the on-site bridge is idle.
S6: the container is displaced from the temporary target field to its target location when the field bridge is idle.
And (3) calling the temporary stacking job task generated in the step (S53) to transfer the container stacked in the temporary target site to the target site.
In some embodiments of the present invention, a temporary stacking area may be configured at the front end of the dock operating system in a divided area of the yard field, where when the number of tasks to be operated is higher than the defined threshold, the range division of the temporary stacking field is larger, and when the number of tasks to be operated is lower than the defined threshold, the range division of the temporary stacking field is smaller, or when the busyness of the horizontal transport device operated in the current yard field is higher, the range division of the temporary stacking field is larger, and when the busyness of the horizontal transport device operated in the current yard field is not very high, the range division of the temporary stacking field may be smaller; the effect of dynamically adapting to the size of the division area according to the actual operation condition and the requirement of the storage yard field is achieved.
In some embodiments of the present invention, a distance between a temporary stacking area and a sea-side interaction area may be configured at a front end of a dock operating system, when the number of tasks to be operated is higher than a defined threshold, the temporary stacking area is divided to be closer to the sea-side interaction area, when the number of tasks to be operated is lower than the defined threshold, the temporary stacking area is divided to be farther from the sea-side interaction area, or when the busyness of horizontal transport equipment for operation in a current yard field area is higher, the temporary stacking area is divided to be closer to the sea-side interaction area, and when the busyness of horizontal transport equipment for operation in the current yard field area is not higher, the temporary stacking area is divided to be farther from the sea-side interaction area; the effect of dynamically adapting and dividing the distance of the region according to the actual operation condition and the requirement of the storage yard field is realized.
It should be noted that the above description is not intended to limit the invention, but rather the invention is not limited to the above examples, and that variations, modifications, additions or substitutions within the spirit and scope of the invention will be within the scope of the invention.
Claims (5)
1. An automatic container terminal yard end operation position selection dynamic change method is characterized by comprising the following steps:
s1, acquiring task data to be operated in a current yard field;
s2, judging whether the first distance between the object position of the box and the sea-side interaction area exceeds the second distance between the temporary stacking area and the sea-side interaction area; if yes, the field bridge is arranged at the target position of the field bridge;
s3, judging whether to trigger temporary stacking operation or not based on the number of tasks to be operated when the first distance exceeds the second distance;
s4, when the temporary stacking operation needs to be triggered, acquiring temporary stacking area information;
s5, controlling a field bridge to place the container in the temporary stacking area, wherein the method comprises the following steps:
constructing a temporary field position model, and calculating the score of each temporary field position of the temporary stacking area:；
wherein a is the priority of the temporary field bit, b is a constant, (a is b) is the basic score of matching the container with the temporary field bit, s is the basic information of the container, w is the weight occupied by different basic information, and c is a constant; the basic information comprises container size, container attribute and temporary field position;
finding a temporary target field position with the highest score S, and controlling a field bridge to place a container in the temporary target field position; when the temporary target field position with the highest score S is larger than 1, selecting the temporary field position closest to the sea interaction area;
s6, when the field bridge is idle, the container is displaced from the temporary target field to the target position.
2. The method for dynamically changing the position of a terminal operation of an automated container terminal according to claim 1, wherein between step S5 and step S6, the method comprises:
generating a temporary stacking job task, setting a starting position as the temporary target site and setting an ending position as the target position;
in step S6, when the bridge is idle, the temporary stacking task is called and executed.
3. The method for dynamically changing the position of a terminal job of an automated container terminal according to claim 1, wherein the task to be worked includes a direct interaction task and a bracket interaction task, and when step S3 determines whether to trigger a temporary stacking operation, the method comprises:
when the task to be operated is a direct interaction task, judging whether the number of the tasks of the current direct interaction task exceeds a first threshold, and triggering temporary stacking operation when the number of the tasks exceeds the first threshold;
when the task to be operated is the bracket interaction task, judging whether the task number of the bracket interaction task exceeds a second threshold, and triggering temporary stacking operation when the task number exceeds the second threshold.
4. The method for dynamically changing the position of a terminal operation of an automated container terminal according to claim 1, wherein between the steps S1 and S2, the method further comprises;
and setting the range of the temporary stacking area according to the number of tasks to be operated and/or the busyness of horizontal transportation equipment operated in the current yard field.
5. The automated container terminal yard-side job site-selection dynamic altering method of claim 1, wherein between steps S1 and S2, the method further comprises:
and setting the distance between the temporary stacking area and the sea-side interaction area according to the number of tasks to be operated and/or the busyness of horizontal transportation equipment operated in the current yard field area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410037850.2A CN117689295A (en) | 2024-01-10 | 2024-01-10 | Automatic container terminal yard end operation position selection dynamic change method |
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| CN202410037850.2A CN117689295A (en) | 2024-01-10 | 2024-01-10 | Automatic container terminal yard end operation position selection dynamic change method |
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