| Under the background of the rapid development of "Internet Plus" and 5G era,creating a green,intelligent and efficient automated container terminal has become the main direction of the development of the international shipping industry.In Automated container terminals,reasonable and efficient dispatch of terminal core equipment collaborative operation has become the research focus to improve terminal operation efficiency.In this paper,under the mixed loading and unloading mode of automated container terminals,considering the influence of AGV charging process on terminal operation system,Automated Quay Crane,AQC,Automated Guided Vehicle(AGV)cooperative scheduling and AGV power change task optimization scheduling problem,with the goal of minimizing the total operation time and total energy consumption as a two-layer programming model.First,based on the analysis of the characteristics of the operating system of the automated container terminal and the AGV charging process in the synchronous operation mode of mixed loading and unloading,the necessity of the "AQC-AGV" collaborative scheduling of the automated terminal is discussed,and the "AQC-AGV" collaborative scheduling structure model of the automated terminal considering the factors of power change is constructed.Considering the battery life of AGV and the changing characteristics of air-heavy SOC,combined with the operation characteristics and power changing process of automated terminal power changing station,a two-layer programming model of "AQC-AGV" collaborative scheduling considering power changing factors was constructed.Among them,the upper layer model is the "AQC-AGV" cooperative scheduling model with the optimization objective of minimizing the total operation time and total energy consumption,which is used to solve the cooperative scheduling scheme of AQC and AGV and the container operation sequence.The lower model is a scheduling optimization model of AGV power changing tasks with the optimization objective of minimizing the total working time and total energy consumption of AGV power changing tasks,which is used to optimize the AGV power changing task sequence.Secondly,according to the characteristics of double-layer model with high concurrency and multiple cycles,an improved Drosophila algorithm was designed by referring to the solution idea of hybrid flow shop scheduling problem.The olfactory search strategy of the standard Drosophila algorithm was improved,and three kinds of unsynchronously long search strategies were designed.At the same time,the global cooperation mechanism was introduced to reflect the cooperation of the algorithm,which improved the olfactory search ability and global cooperation ability of the algorithm,and solved the cooperative scheduling problem of AQC and AGV.In order to solve the problem that good genes are easy to be lost in the process of solving the traditional genetic algorithm,the lower algorithm introduces the idea of grey Wolf optimization algorithm into the selection operator,so as to reasonably choose the electric change time of AGV.Finally,through the design of different sizes of examples,using the common genetic algorithm and the double-layer programming algorithm to solve the model,from many aspects of the calculation results are compared and analyzed,to verify the rationality of the model and the effectiveness of the algorithm.Numerical experiments of different scales show that the model and algorithm proposed in this paper can optimize the container operation sequence under the cooperation of AQC and AGV,reasonably select the power change time of AGV and the quantity allocation of AQC and AGV,effectively reduce the operating cost of the terminal operating system,and is suitable for the actual dispatching of terminal AGVs. |
