JP2018039622A - Automatic deployment decision system of transfer crane and shortest move path calculation method of movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic deployment decision system of transfer cranes which can reduce adjustment parameters by rule decision such as case division on deployment indicate of transfer cranes.SOLUTION: A system comprises: storing means 12 keeping records of multiple arrangement points to arrange transfer cranes, maps determining a move path to link between each arrangement point, and first program to solve shortest path problems between the arrangement points; and operation means 14 calculating the shortest move path when passing the specified multiple arrangement points or moving the arrangement points by starting the first program. The operation means 14 converts time following operation of the transfer crane into distance, and adds the value responding to the distance to the move path.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a mobile body automatic deployment determination system, and more particularly to a transfer crane automatic deployment determination system in a container terminal, and a mobile body shortest movement path calculation method applied to this automatic deployment.

  In the container yard of the container terminal, there are a plurality of transfer cranes that can move in all directions to handle containers. Transfer cranes that can move in all directions can move across lanes where containers are placed, so there is no need to install transfer cranes for each lane, and the number of installed cranes can be reduced. There is a merit that you can. However, on the other hand, as the number of installed cranes decreases, the distance traveled by each transfer crane increases, and depending on the arrangement and work instructions, the non-working time becomes longer and the work efficiency of container handling is greatly reduced. Will get.

  In order to solve such problems, Non-Patent Document 1 has been disclosed as a technique for performing an efficient movement path and arrangement of a transfer crane. The technology disclosed in Non-Patent Document 1 is designed to speed up the selection of an efficient movement path of a transfer crane in response to a work command, and to narrow down the flow line by providing case classification and restriction for each case. This is a technique for issuing an instruction for an optimal placement operation after being performed in time.

  By using such a technique, it is possible to narrow down an enormous amount of movement paths and instantly derive an optimal placement operation.

Shinichi Eto and 5 other authors "Automatic placement planning of transfer cranes at container terminals" The Japan Society of Mechanical Engineers 10th Transportation and Logistics Conference Proceedings [2001-12.5-7. Kawasaki] p271-274

  Certainly, by adopting a technique as disclosed in Non-Patent Document 1, the number of arithmetic processes can be reduced, and the time until the placement operation command is output can be shortened. it is conceivable that.

  However, with the technique disclosed in Non-Patent Document 1, even if attention is paid only to the determination of the movement route, there are a wide variety of pre-processing patterns for performing case classification. In addition, with such a technique, there is a possibility that cases other than patterns defined by the system cannot be handled.

  Therefore, the present invention has an object to provide a transfer crane automatic deployment determination system and a method for calculating the shortest movement path of a moving body, which can reduce adjustment parameters by rule determination such as case classification when placing a transfer crane. And The automatic deployment decision system here uses a transfer crane and a cargo handling system that optimizes these physical quantities based on the physical quantities such as the time required for the transfer crane to move to perform the cargo handling work and the distance between the transfer crane and the cargo handling work site. It is a system for allocating work and is characterized in that a physical quantity can be used as an adjustment parameter or an objective function, there are few adjustment parameters, and an adjustment guideline can be easily obtained.

  A transfer crane automatic deployment determination system for achieving the above object is a map in which a plurality of placement points for placing a transfer crane in order to perform container handling in a container terminal, and a movement route connecting the placement points are defined. , And a storage means in which a first program for solving the shortest path problem between the arrangement points is recorded, and the first program is activated to pass through the plurality of designated arrangement points, or Calculating means for obtaining the shortest movement path when moving, wherein the calculating means uses a time corresponding to a moving operation of the transfer crane or a time difference between a scheduled time at which a cargo handling operation can be started and a current time as a distance. Conversion is performed, and a value corresponding to the distance is added to the movement route.

  In the transfer crane automatic deployment determination system having the characteristics as described above, the calculation means sets a value larger than any value added to the movement path for the prohibition operation on the transfer crane. It is preferable to add to the configuration.

  By having such characteristics, the shortest path that takes into account the costs associated with the movement of the transfer crane can be obtained simply by solving the shortest path problem without giving other adjustment parameters, and the prohibition operation is automatically avoided. The Rukoto.

  Further, in the automatic arrangement determination system for transfer cranes having the above-described features, the calculation means is configured to increase a value added to the movement route according to a predetermined height according to a predetermined height in a virtual space. It is good to have a structure to express.

  By having such a feature, a long distance in the virtual space is inevitably given to the movement path connecting the arrangement point given the height and the other arrangement points. Therefore, the shortest path problem can be solved based on the distance indicated in this virtual space, and it includes the operation agreements such as costs and prohibitions associated with the movement of the transfer crane without the need for other arrangements. It is possible to select a route to be performed.

  Further, in the transfer crane automatic deployment determination system having the above-described characteristics, the storage means collects the arrangement points where the container handling operation is generated among the plurality of arrangement points existing on the map. For solving the set partitioning problem obtained by solving the shortest path problem by using the shortest path distance between all the arrangement points as a cost, and dividing into a plurality of groups so that the sum of the costs is minimized. It is preferable to record the second program.

  By having such a feature, it is possible to make an arrangement of work sharing for enabling efficient work by a plurality of transfer cranes.

  Furthermore, in the automatic arrangement determination system for transfer cranes having the above-described characteristics, the calculation means corresponds to the number of transfer cranes arranged on the map when the group is created via the second program. The storage means is obtained by solving the shortest path problem with the shortest path distance from the current transfer crane position as the cost for the highest priority work position of each group. It is preferable that a third program for solving the generalized assignment problem for determining the combination of the transfer crane and the highest priority work of each group is recorded so that the sum is minimized.

  By having such a feature, each of the plurality of transfer cranes can assign a group that can work most efficiently.

  Furthermore, by predicting the time that the transfer crane can be deployed at the work position for the combination of the transfer crane and the highest priority work of each group, and comparing it with the work start possible time from the work plan, The waiting time or the waiting time for the work is calculated, and if there is a work for which the work waits for 10 minutes or more and a work for which the transfer crane waits for 20 minutes or more, for example, It is preferable that the fourth program for resolving the generalized assignment problem by switching the work is recorded.

  By having such characteristics, the work position and work start possible time can be taken into consideration, and the most efficient combination of transfer crane and work group can be determined.

  Further, for each combination of the transfer crane and work group obtained by executing the first to fourth programs, the total travel distance and work end time until each transfer crane finishes all work are calculated. It is preferable that the fifth program is recorded.

  Further, the second to fifth programs are executed while the number of divisions of the set division problem is sequentially reduced from the same number as the number of operating transfer cranes, and the total traveling distance and the work completion time are minimized. The combination of the transfer crane and work group is selected by selecting the number of divisions with the minimum number of times, or by multiplying the average speed of the transfer crane by the average speed of the transfer crane and the dimension of the distance and adding it to the total travel distance. It is preferable that the sixth program to be recorded is recorded.

  By having such a feature, it is possible to assign a group in which a plurality of transfer cranes can work most efficiently as a whole while minimizing the movement of the transfer crane.

  Furthermore, the storage means performs an operation for predicting a time that the transfer crane can be deployed at a work position with respect to the combination of the transfer crane and the highest priority work of each group by the operation means. By comparing the calculated predicted deployment time with the work start possible time of each work based on a predetermined work plan, the time when the transfer crane waits or the time when each work waits is calculated, The waiting time is converted into a distance divided by the average speed of the transfer crane, and an increased dimension height is given to the arrangement point where the cargo handling operation is arranged in the virtual space. Then, a distance divided by the average speed is added to the moving path of the transfer crane, and the seventh path is obtained again. Grams may be so recorded.

  By having such a feature, the working level parameter can be set to the conversion distance only. As a result, even if the working position in the real space is close, the transfer crane is efficient between the work with a long waiting time and the work with a short waiting time even if the distance in the real space is slightly apart. Arrangement determination is facilitated, and it is easy to optimize work priorities.

  Further, the shortest movement path calculation method of the moving body for achieving the above-described object is a calculation method for calculating the shortest movement path of the moving body that moves between a plurality of arrangement points determined in correspondence with the real space, For a map having a movement path connecting between the arrangement points, a step of converting a time required for an operation determined for a moving body moving on the map into a distance, and a value corresponding to the distance is set to the movement path And a path when the moving body moves between specific placement points, and solving the shortest path problem using the distance as a cost.

  Further, in the method for calculating the shortest moving path of the moving object having the above-described characteristics, a value larger than any value added to the moving path is added to the moving path with respect to the prohibiting operation for the moving object. It is good to make it.

  The prohibition operation can be avoided only by solving the shortest path problem without giving other adjustment parameters.

  Further, in the method for calculating the shortest movement path of a moving object having the above-described characteristics, the magnitude of the value added to the movement path may be adjusted by changing the height of the dimension increased in the virtual space.

  By having such a feature, a long distance in the virtual space is inevitably given to the movement path connecting the arrangement point given the height and the other arrangement points. Therefore, the shortest path problem is solved based on the distance shown in this virtual space, and it is possible to select a path that includes a moving body operation arrangement without requiring another arrangement. Become.

  According to the transfer crane automatic deployment determination system having the above-described features and the method for calculating the shortest movement path of a moving object, the adjustment parameters for determining the rules such as the case classification are reduced when the transfer crane (moving object) is instructed. It becomes possible to do. Also, physical quantities such as distance and time can be used as adjustment parameters, and adjustment guidelines can be easily obtained.

It is a block diagram which shows the structure of the automatic deployment determination system which concerns on embodiment. It is a top view which shows the model of the container yard on the real space applied in embodiment. It is a figure which shows the map on the plane produced based on the model of a container yard. It is a figure which shows the three-dimensional map which added the value of the height direction to the node on the map shown in FIG. This is a dissimilarity matrix (Euclidean square distance) when the shortest path problem is solved in consideration of the three-dimensional map shown in FIG. It is a flowchart which shows the process process at the time of implementing the automatic deployment determination system which concerns on invention.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments relating to a transfer crane automatic deployment determination system and a moving body shortest movement route calculation method of the present invention will be described below in detail with reference to the drawings.

  The transfer crane automatic deployment determination system according to the present embodiment (hereinafter simply referred to as the automatic deployment determination system 10) includes at least a storage unit 12 and a calculation unit 14. The storage means 12 stores at least a map of the container yard 20 at the container terminal to be deployed with the transfer cranes A to C (see FIG. 2) and various programs for deriving deployment instructions for the transfer cranes A to C. Yes.

  As shown in FIG. 3, the map of the container yard 20 includes a plurality of (01 to 72 in FIG. 3) arrangement points (nodes) indicated by the positions where the containers 22 are arranged and stacked, and the stop positions. The movement paths (edges) of the transfer cranes A to C connecting the nodes are shown. Here, a plurality of nodes indicating the arrangement and stacking positions of the containers 22 are provided at positions corresponding to the lanes indicating the arrangement of the containers 22 shown in FIG. On the other hand, the node indicating the stop position is provided at a position where the transfer crane changes direction, a position straddling the passage for passing the vehicle, or the like.

  Note that the arrangement of the containers 22 in the container yard 20 shown in FIG. 2 is simplified for the sake of simplicity, and the number of lanes in which the containers 22 are arranged and the number of containers 22 themselves are increased or decreased. This does not affect the implementation of the present invention.

  The program mainly includes a first program for solving the shortest path problem, a second program for solving the set partition problem (cluster analysis), and a third program for solving the generalized assignment problem. it can.

  The shortest path problem is, for example, to select a route that minimizes the distance or time (cost) that passes through the edge from the first node to the last node when passing through all nodes defined as a plurality of work command positions. This is an analysis method. By using such an analysis method, it is possible to obtain the shortest path distance between all work command positions and the shortest path and distance between the transfer crane and the work command position.

  There are various classifications for the set partitioning problem (cluster analysis). In this embodiment, hierarchical cluster analysis is adopted. Specifically, a group corresponding to the number of transfer cranes A to C to be deployed is created so that the shortest path distance between each work command position derived from the shortest path problem is a cost and the total cost is minimized. This is an analysis method. By using such an analysis method, the transfer cranes A to C can work efficiently, that is, the moving distance for performing the work is minimized.

  The generalized assignment problem is an analysis method for selecting a combination that provides the minimum cost when each of the deployed transfer cranes A to C performs actual work. In this embodiment, first, priorities are determined for a plurality of work commands included in each group divided by cluster analysis. Next, the shortest path problem is solved between the node where the highest order (highest priority) work command is issued in each group and the node where each transfer crane A to C is deployed, The combination of the transfer cranes A to C that minimize the cost sum and the group is selected. By using such an analysis method, it is possible to select which group of work commands is efficiently executed for each of the plurality of deployed transfer cranes A to C.

  The calculation means 14 is an element for deriving a deployment instruction to be output to the transfer cranes A to C based on a work command given from the outside, a map recorded in the storage means 12, and various programs. Recording of work instructions from the outside and development of the program by the calculation means 14 may be performed in the primary storage means 18 connected to the calculation means 14 and the bus 16 in the automatic deployment determination system 10. it can.

  In the present embodiment, as described above, nodes are also arranged at locations that require a change of direction or at locations that straddle the path between lanes as a rule on the map. And it is set as the structure which adds the cost of a height direction with respect to the node of an applicable location. In general, the transfer cranes A to C need to rotate the direction of the wheels when the direction is changed. Therefore, the movement is stopped when performing the operation. For this reason, the time required for the load operation (operation without movement) of the transfer cranes A to C is replaced with a distance, and the cost is set as a distance in the height direction longer than the actual movement distance, so that a complicated arrangement, case classification It is possible to derive the shortest path considering the load operation only by solving the shortest path problem. In addition, when crossing the passage between lanes, it is necessary to temporarily stop or slow down for safety reasons. For this reason, even when such a speed change is accompanied, it is preferable to replace the delay time associated with the speed change with a distance and determine the cost as a distance in the height direction longer than the actual moving distance.

  Next, an example of the automatic deployment determination system 10 according to the embodiment will be described with reference to FIG. In the automatic deployment determination system 10 having such a configuration, first, the positions of the containers 22 and transfer cranes A to C in the real space shown in FIG. A virtual map is created based on information (step 20) on the work plan (position and time for work).

  Creation of the virtual map is performed based on the coordinates of the work point (work command position) based on the work plan information, the coordinates of the movement point (node) of the transfer crane, the movement cost, and the traffic stop information. Specifically, as shown in FIG. 3, first, the arrangement of nodes on the plane map, the arrangement of edges connecting the nodes, and the arrangement of work command positions a to m are performed. Thereafter, a cost is added to each edge defined on the map. The nodes are arranged corresponding to the respective work command positions a to m and the positions at which the transfer cranes A to C perform an operation accompanied by a stop of movement. For this reason, the cost added to each edge is basically determined as a value corresponding to the distance between nodes, that is, the length of the edge. Here, the position corresponding to the position corresponding to the stop and the position corresponding to the traffic stop is positioned in the height direction in the virtual space as shown in FIG. (Although not shown, in practice, the node corresponding to the position where the transfer cranes A to C exist is also positioned in the height direction.) As a result, the edge connecting the node defined at the stop position and the node defined at the work command position is virtually extended in length, adding more cost than the travel distance in real space. Will be.

  For example, when the transfer cranes A to C are moved, the stop time is determined in the virtual space as an edge of an equivalent distance in a node that stops in order to rotate a wheel by 90 ° in order to perform a lane change. For example, when the stop time is 1 minute, the distance of the normal moving speed of the transfer cranes A to C × 1 minute may be given as the position in the height direction of the node (Z-axis value).

  As an example, when a plane map corresponding to a container yard as shown in FIG. 2 is represented as shown in FIG. 3 and a height corresponding to a three-dimensional virtual space is added thereto, as shown in FIG. Map. Here, the cost between adjacent nodes is “1”, the cost added to the edge connected to the node corresponding to the stop position is “5”, the cost of the edge crossing each lane is “2”, In order to stop the node corresponding to 15 in 3 in FIG. 3, the additional cost of the edge connecting the node adjacent to this node is set to “40” (see FIG. 4). Although not shown in the figure, the transfer cranes A to C cannot run while rubbing each other, so the load cost of the edge connected to the node corresponding to the node where each transfer crane A to C is located is also the same value as the road closure It is said that.

  In FIG. 4, two nodes having different positioning values in the height direction are arranged in a passage located between two lanes arranged on the extension line. When the transfer cranes A to C pass through the passages arranged between the lanes, there are a pattern accompanied by a lane change and a pattern in which the transfer cranes A to C simply move across the passage to the opposite lane. For this reason, the time required for passage differs. Therefore, a node that is positioned in the height direction corresponding to the time required for each operation is determined.

  The nodes shown in FIG. 3 and FIG. 4 show the nodes 01 to 76, and each node is connected by an edge arranged corresponding to the movable path of the transfer cranes A to C. Here, in the container yard 20, transfer crane A, transfer crane B, and transfer crane C are arranged at nodes 02, 36, and 63, respectively, and there are 13 work command positions indicated by a to m. If it is determined, automatic deployment of the transfer cranes A to C is determined as follows (step 30).

  First, the expected loading / unloading work time is read from the given work command (vessel work information, in-yard shift work information, etc.), and ranking is performed in order of the expected loading / unloading work time. For example, as shown in FIG. 3, when there are 13 work commands from a to m, the priorities are m, l, k, g, h, f, c, b, a, d, e, Assume that i and j are in this order. In the automatic deployment determination system 10, the calculation means 14 starts the first program from the storage means 12, and calculates the shortest distance between all work command positions by solving the shortest path problem. When this is shown as a state that can be visually analyzed, it can be shown as a dissimilarity matrix (Euclidean square distance) as shown in FIG. 5, for example. (Step 40).

  Next, based on the result of the shortest path problem, cluster analysis is performed using the cost between nodes on the moving path as a cluster. As a result, the group indicated as the shortest path is divided into a plurality of groups that are recognized as close to each work instruction position. In the present embodiment, the number of transfer cranes A to C arranged in the container yard 20 is divided into three groups. In the case of the example shown in FIG. 5, the closest distances are indicated by g, h and i, j working positions, and the cost between the nodes is 3. In this way, the work instruction positions that are sequentially approximated may be combined and divided into three groups (step 50).

  Next, the priority order of the work commands in each divided group is determined. After that, solve the shortest path problem between the node where the highest order of work in each group is issued and each transfer crane A to C deployed in the container yard, and solve the generalized assignment problem. By solving, the combination of the transfer cranes A to C that minimize the sum of the costs of the entire work command and the group is selected.

  Here, when solving the shortest path problem, a plurality of transfer cranes A to C do not overlap by giving virtual coordinates in the height direction to the node where each transfer crane A to C is located. Reproduce the situation in the virtual space. That is, the value in the Z-axis direction of the node where the transfer cranes A to C are located is set to a value equivalent to that of the node represented as closed, and the cost of the edge tied to the core is increased.

  The automatic deployment determination system 10 that performs such control replaces the operation arrangements such as stopping and changing directions of the transfer cranes A to C, prohibiting passage, and prohibiting rubbing with the required time, and creates a virtual for generating the operation command. Shown as a change in distance to space. For this reason, the shortest path problem, the set division problem, and the generalized allocation problem can be calculated for the calculation of the movement route and arrangement of the transfer cranes A to C without providing complicated arrangements such as case division according to individual cases. It is possible to respond by only assigning and executing known analysis methods. That is, the adjustment parameter in the present embodiment can be only the addition or subtraction of the value in the Z-axis direction given to the node arranged in the virtual space (step 60).

  According to the automatic deployment determination system 10 according to the present embodiment, the following processing can be performed in addition to the basic deployment of the transfer cranes A to C as described above.

  Specifically, for each transfer crane A to C, first, the expected time until the transfer crane A to C can be deployed at each work position while tracing the work order in the group in charge. Ask. The expected time may be obtained by dividing the distance corresponding to the cost (the moving distance in this embodiment) by the moving speed (average speed) of the transfer cranes A to C.

  Next, the expected cargo handling time is obtained based on the ship work information that can be acquired as information in the container yard 20 and the yard shift work information. Thereafter, the expected deployment time of the transfer cranes A to C and the expected cargo handling time are compared to determine which waiting time is longer and how long.

  When the expected cargo handling time is a predetermined time or more (for example, the waiting time of the transfer crane is 10 minutes), or when the expected deployment time of the transfer cranes A to C is a predetermined range or more (for example, the work waiting time is 20 minutes). Replaces the order of the cargo handling work of the ship and the cargo handling work by the transfer cranes A to C, solves the generalized assignment problem, and again selects the transfer cranes A to C in charge of the work.

  In addition, for outpatient work such as carrying in the container 22, the calculation for deploying the transfer cranes A to C is performed while increasing the priority of the work based on the waiting time from the time when the outpatient occurs to the present. You should do it. For example, if the work order is set from 1st to 20th, the priority is set to 20th when an outpatient occurs. After that, if the waiting time is increased by 1 minute and the priority of the work is incremented by one, 20 minutes after the outbreak occurs, the priority becomes the first and the work is performed with the highest priority. Thus, the transfer cranes A to C will be deployed. By performing such a process, it is possible to reduce the waiting time of the trailer or the like in the outpatient work, and it is possible to suppress the congestion, noise, increase in CO2 emission, and the like due to this (Step 70).

  Thereafter, in the automatic deployment determination system 10, the program recorded in the storage unit 12 is activated, and the calculation unit 14 calculates the total travel distance and time until each transfer crane A to C finishes all the operations. This is recorded in the primary storage means 18 (step 80).

  Next, with respect to the number of divisions when solving the set division problem, the number of transfer cranes that are actually in operation is used as a reference (N), and this is sequentially reduced and the calculation is repeated. Then, the value obtained by adding the total travel distance of the transfer cranes A to C, the time required for the transfer cranes A to C to complete the instruction work, and the average speed of the transfer cranes A to C is obtained. The minimum division number is derived, and the combination of the transfer cranes A to C and the work is determined based on the division number.

  The selection of the number of divisions may be to select the number of divisions that minimizes at least one of the total travel distance or work end time of each transfer crane A to C (step 90).

  In the above embodiment, in FIG. 4, when adding a value in the height direction to a node, a value in the plus direction is given. However, the value in the height direction given to the node in the virtual space may be a negative value. This is because even in such a setting, there is no change in the increase / decrease in the cost added to the edge.

  Moreover, in the said embodiment, when adding cost to an edge, the process of extending an edge on a virtual space was performed by adding the value of a height direction to a node on a three-dimensional virtual space. However, the process of adding the cost to the edge is simply performed by changing the operation arrangement of the transfer cranes A to C on the plane map as shown in FIG. 3 without giving a value in the height direction to the node. The replacement (replacement) may be performed with a moving distance per required time in the transfer cranes A to C, and a process (arrangement) for determining a cost corresponding to the distance on the edge may be performed. In solving the shortest path problem, the cost added to the nodes on the path and the edges connecting the nodes becomes a problem. Therefore, even when such a method is taken, it is possible to obtain the same effect as in the above embodiment.

  In the above embodiment, the description has been made with respect to the movement of the transfer cranes A to C in the container yard 20. However, the method of calculating the shortest movement route of the moving body according to the present invention can be applied to a movement instruction in a closed space that is not limited to the container yard 20.

  In the above embodiment, the work command position is set to the reference plane (the value in the Z-axis direction is 0) in the virtual space. However, the distance according to the priority of work, for example, the difference between the scheduled time at which work can be started and the current time is set to a value in the height direction (value in the Z-axis direction), or the transfer cranes A to C described above are arranged. The waiting time when the expected time and the expected cargo handling time of the container 22 are compared is converted into a distance, and the distance corresponding to the waiting time for each work command position (for the movement route to the work command position) A value in the height direction (value in the Z-axis direction) may be added. Therefore, after performing such a process, the storage means 12 solves the shortest path problem again, and performs a process of directing the transfer cranes A to C to work command positions that are close in the virtual space. It is good to record the program.

  By performing such processing, the parameter for determining the priority order is only the distance (virtual distance). Therefore, it is not necessary to determine a threshold value with respect to time, and a more efficient placement command can be performed by simple processing.

  Moreover, in the said embodiment, it described that a cluster analysis was directly performed with respect to the result of the shortest path | route problem. However, after performing the cluster analysis after solving the shortest path problem, the distance according to the priority of the above work, that is, the difference between the scheduled time at which the work can be started and the current time is set in the height direction value (Z (The value in the axial direction) or the waiting time when comparing the expected deployment time of the transfer cranes A to C and the expected cargo handling time of the container 22 is converted into a distance, and for each work command position (work command position) In order to add a distance according to the waiting time, a value in the height direction (value in the Z-axis direction) added to the node may be added. In this way, the cluster analysis is performed with the cost in consideration of the priority order added to the edge, so that it can be divided into groups that are more suitable for actual work (groups that are close to the work position with priority given). It becomes possible to do.

DESCRIPTION OF SYMBOLS 10 ......... Automatic deployment determination system, 12 ......... Storage means, 14 ......... Calculation means, 16 ......... Bus, 18 ......... Primary storage means, 20 ......... Container yard, 22 ......... Container.

Claims (12)

A map in which a plurality of arrangement points where transfer cranes are arranged to perform container handling in the container terminal, a movement route connecting the respective arrangement points is defined, and a first for solving the shortest path problem between the arrangement points Storage means in which the program is recorded;
A calculation means for activating the first program and obtaining a shortest movement path when moving through the plurality of designated arrangement points or moving the arrangement points;
The calculation means converts a time corresponding to the movement operation of the transfer crane or a time difference between a scheduled time when a cargo handling operation can be started and a current time into a distance, and adds a value corresponding to the distance to the movement route. An automatic deployment decision system for transfer cranes.   The said calculating means is set as the structure which adds a value larger than any value added to the said movement path | route with respect to the prohibition operation | movement with respect to the said transfer crane. Transfer crane automatic deployment decision system.   3. The transfer crane according to claim 1, wherein the calculation unit represents a value added to the moving path by a height of a dimension increased in a virtual space according to a predetermined agreement. Automatic deployment decision system.   The storage means recognizes, as a set, arrangement points where a container handling operation is occurring among a plurality of the arrangement points existing on the map, and sets the shortest path distance between all the arrangement points as a cost. A second program for solving a set partitioning problem obtained by solving the shortest path problem and dividing into a plurality of groups so as to minimize the total cost is recorded. 4. The automatic deployment determination system for a transfer crane according to any one of 3 above. The computing means, when creating the group through the second program, is divided into groups corresponding to the number of transfer cranes arranged on the map,
The storage means is obtained by solving the shortest path problem using the shortest path distance from the current transfer crane position as the cost for the highest priority work position of each group, so that the total cost is minimized. A third program for solving a generalized assignment problem for determining which of the transfer cranes to determine the combination of the transfer crane and the highest priority work of each group is to be recorded is recorded. 4. An automatic deployment determination system for a transfer crane according to 4. In the storage means, for the combination of the transfer crane and the highest priority work of each group by the computing means, a calculation for predicting the time that the transfer crane can be deployed at a work position,
By calculating the expected deployment time obtained by the calculation and the work start possible time for each work based on a predetermined work plan, the time when the transfer crane waits or the time when each work waits is calculated. And
If there is a work for which the work waits for a predetermined time or more and a work for which the transfer crane waits for a predetermined time or more, the work is exchanged to solve the generalized assignment problem again. The transfer crane automatic deployment determination system according to claim 5, wherein the program is recorded.   In the storage means, the total traveling until each transfer crane finishes all operations for the combination of each transfer crane and each operation obtained by executing the first to fourth programs. 7. The transfer crane automatic deployment determination system according to claim 6, wherein a fifth program for calculating at least one of the distance and the work end time is recorded. The storage means executes the second to fifth programs by reducing the number of divisions based on the same number of divisions of the set division problem as the number of operating transfer cranes, At least one of the total travel distance or the work end time is a minimum number of divisions, or an index obtained by multiplying the work end time by the average speed of the transfer crane and adding a distance dimension to the total travel distance Select the smallest number of divisions,
8. The transfer crane automatic deployment determination system according to claim 7, wherein a sixth program for determining a combination of the transfer crane and each work is recorded. In the storage means, for the combination of the transfer crane and the highest priority work of each group by the computing means, a calculation for predicting the time that the transfer crane can be deployed at a work position,
By calculating the expected deployment time obtained by the calculation and the work start possible time for each work based on a predetermined work plan, the time when the transfer crane waits or the time when each work waits is calculated. And
By converting the waiting time into a distance obtained by dividing the waiting crane by the average speed of the transfer crane, the height of the increased dimension is set with respect to the arrangement point where the cargo handling operation is arranged in the virtual space. The transfer crane according to claim 5, wherein a seventh program is recorded for adding the distance divided by the average speed to the moving path of the transfer crane and obtaining the shortest path again. Automatic deployment decision system. A calculation method for calculating a shortest movement path of a moving body that moves between a plurality of arrangement points determined in correspondence with a real space,
For a map having a movement path connecting between the arrangement points, a step of converting a time required for an operation determined for a moving body moving on the map into a distance;
Adding a value according to the distance to the travel path;
A method of calculating a shortest movement path of a moving body, comprising solving a shortest path problem by using the distance as a cost for a path when the moving body moves between the specific arrangement points.   The method for calculating the shortest movement path of a moving body according to claim 10, wherein a value larger than any value added to the movement path is added to the movement path with respect to the prohibition operation on the moving body.   The method of calculating the shortest movement path of a moving body according to claim 10 or 11, wherein the magnitude of the value added to the movement path is adjusted by a change in height defined in a virtual space.