自动化码头装卸混合模式下QC、L-AGV及ARMG协同调度方法

Collaborative scheduling of QCs,L-AGVs and ARMGs under mixed loading and unloading mode in automated terminals

为解决复杂的自动化码头设备协同调度问题,考虑码头各作业间的相互作用和制约,以最小化船舶在港时间和主要设备作业成本为目标,构建新的装卸混合模式下岸桥(quay crane,QC)、顶升式自动引导车(lifting automated guided vehicle,L-AGV)及自动化轨道吊(automated rail mounted gantry crane,ARMG)协同调度的混合整数非线性规划模型。提出一种遗传算法与启发式策略结合的协同调度方法,实现在系统整体性能最优情况下的设备作业序列优化。该模型能充分保障QC、L-AGV、ARMG之间的协同性,并引入QC调度的主要约束,更利于与QC调度模型进一步集成。数值试验证明了该方法的有效性,可为码头装卸作业调度提供决策支持。

In order to solve the complex collaborative scheduling problem of automated terminal equipments,considering the interaction and restriction among various operations in terminals,a new mixed integer nonlinear programming model is constructed for quay cranes(QCs),lifting automated guided vehicles(L-AGVs)and automated rail mounted gantry cranes(ARMGs)collaborative scheduling under the mixed loading and unloading mode.The model objectives are to minimize the ship turnround time at a port and to minimize the operation cost of key equipments.A collaborative scheduling method based on the genetic algorithm and the heuristic strategy is proposed to obtain an optimized operation sequence of equipments under the condition of the optimal overall performance of the system.The model fully guarantees the cooperativity of QCs,L-AGVs and ARMGs,and the main constraints of QC scheduling are introduced,which is more conducive to the further integration with QC scheduling model.A numerical test is taken to demonstrate the effectiveness of the method.It can provide decision support for loading and unloading operations of automated terminals.