Integrated Scheduling Optimization With Space-time Constraints Of Facility And Equipment Resources

Promoting the automation of container terminal is an important work for many ports at present.In China,major ports have continuously invested a lot of money and technology to renovate or build new automated container terminals,and much work has been done in new layout design of facilities,equipment selection and technology introduction.These efforts have led to remarkable achievements in equipment automation,site unmanned and full visualization.New facilities and equipments integrated a large number of automation technologies have obvious advantages over old equipments in reducing labor costs and significantly improving the production and operation efficiency of the terminals.However,in actual operation,the high performance of these new facilities and equipments cannot been fully utilized due to the remaining reliance on old scheduling and management methods,which results in a waste of resources to some extent.Therefore,it is an important issue for operators of automated container terminals to make full use of the performance advantages of these facilities and equipments through integrated scheduling,and further improve the production and operation efficiency.Based on the container operation process at the shipside part of automated container terminals in China,this dissertation summarizes the resource elements of facilities and equipments affecting the overall operation efficiency,and finds that integrated scheduling of facility and equipment system is the main direction to improve the production and operation efficiency of automated container terminals.Therefore,this thesis studies the integrated scheduling optimization with space-time constraints of facility and equipment resources in automated container terminal,considering the actual work chain of automated container terminals,as well as the integration of the working process and space-time occupancy situation of key resource elements of facilities and equipment.It is further divided into three integrated scheduling optimizations in work chain of automated container terminals,which are the integrated scheduling optimization considering the space-time constraints of dual-trolley quayside crane and loading lane,the integrated scheduling optimization considering the space-time constraints of multi-lane AGV road network,and the integrated scheduling optimization considering the space-time constraints of AGV battery power and charging station.To address these three integrated scheduling issues,the space-time network characterization model,the optimization model and solution algorithm are established respectively for each issue according to the characteristics of three problems in this thesis.The specific research work is as follows.(1)The framework of integrated scheduling optimization with space-time constraints of facility and equipment resources in automated container terminal.This section systematically first sorts out and defines the key resource elements of facilities and equipments of automated container terminals,core operation processes and key problems of various types of resources,and proposes the facility and equipment resource system of automated container terminals.And then for the key resources of facilities and equipments that still need to be focused on in the integrated scheduling problem,this section specfies the road network scenario,its spatial resource structure and traffic characteristics in this thesis,as well as the operational characteristics and supporting facilities of the battery power resources supplementation.Furthermore,the key problems and basic model descriptions corresponding to the multi-vehicle road network,AGV battery power and supporting facilities are elaborated.Finally,from the perspective of optimizing facility and equipment resource utilization,the basic framework of the integrated scheduling optimization with space-time constraints of facility and equipment resources is constructed.These work provides theoretical support for the following research on specific problems.(2)Integrated scheduling optimization considering the space-time constraints of dual-trolley quayside crane and loading lane.Firstly,this section decomposes the operation process of import and export containers by dual-trolley quayside crane and AGV,and specifies the fact that the resources coordination of dual-trolley quayside crane,AGV and loading/unloading lane is the key point in this operation process.Furthermore,the sub-equipment capacity constraint of dual-trolley quayside crane and the waiting process of operation convergence,as well as the decision-making requirements of loading/unloading lane are specially analyzed.Then,this section designs the space-time network characterization model for the waiting process and the dynamic occupation of resources in the operation connection process.Based on it,a integrated scheduling optimization model of the dual-trolley quayside crane and the AGV for container operation tasks with the objective of minimizing the latest completion time is constructed based on the performance limitation and synergistic relationship of facility and equipment resource elements,and a solution algorithm is designed by improving the adaptive largescale neighborhood search algorithm.Finally,the validity of the model and the advantages of the designed algorithm are verified by taking Shanghai Yangshan Port Phase IV automated container terminal as experimental calculation examples.(3)Integrated scheduling optimization considering the space-time constraints of multi-lane AGV road network.Firstly,this section decomposes the operation process of import and export containers by dual-trolley quayside crane,AGV and ARMG,and focuses on dual-trolley quayside crane,AGV and ARMG and multi-lane road network.The operation connection waiting process between each equipment,and three types of traffic conflicts caused by AGV travel on the road network are taken into consideration to solve operation problems about equipment scheduling,loading and unloading lanes and AGV conflict-free driving path.Secondly,a space-time network characterization model is designed for the multiple equipment activities and multiple resource elements in this operation process.On this basis,a integrated scheduling optimization model of the dual-trolley quayside crane,the AGV and the ARMG for container operation tasks is constructed,considering the operational logic of equipment and the capacity constraints and traffic characteristics requirements of road network facilities.Thirdly,a two-layer hybrid genetic forbidden search algorithm and a two-layer genetic algorithm based on the combination of conflict resolution rules are designed to solve the model.Finally,based on experimental examples of Shanghai Yangshan Port Phase IV automated container terminals considering equipment performance and road network conditions,the advantages of the two algorithms in terms of obtaining near-optimal solution quality and algorithm operation time are demonstrated.It also confirms the higher stability of the proposed intersection penetration link cross-conflict mitigation rules,which can effectively solve the traffic conflicts in this problem.(4)Integrated scheduling optimization considering the space-time constraints of AGV battery power and charging station.First of all,this section decomposes the operation process of import and export containers by dual-trolley quayside crane and AGV and synchronized charging process of AGV,and focuses on the dual-trolley quayside crane and AGV,multi-vehicle road network,AGV battery power and charging station of AGV.In this section,the mutual influence of equipment scheduling scheme and charging scheme,the influence of traffic conflict of AGV travel on the charging station resources,and the charging queuing of AGV are took into consideration to solve these operation problems about equipment scheduling,AGV charging,loading and unloading lanes,AGV conflict-free path planning and charging queuing.In order to characterize the equipment resources,road network resources,AGV battery power resources and charging station resources,this section designs a space-time network characterization model based on multiple attribute elements and their characterization methods.Based on the characterization model,a integrated scheduling optimization model of the dual-trolley quayside crane and the AGV for container operation tasks and charging tasks is constructed taking into account of the operational logic requirements,AGV battery power constraints,and capacity constraints of road networks and charging stations in the process.Meanwhile,a hybrid adaptive large-scale neighborhood search algorithm is designed for the model solution.Finally,experimental examples of Shanghai Yangshan Port Phase IV automated container terminals considering actual operational parameters is present,which verifies the validity of the model and algorithm and also demonstrated that the proposed AGV charging queuing strategy and intersection conflict mitigation strategy can reduce the full operation time more effectively.