基于时间窗的双小车岸桥与AGV协调调度研究
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摘要
针对自动化集装箱码头(automated container terminal,ACT)的自动导引车(automatic guided vehicle,AGV)与自动化双小车岸桥(double-trolley quay crane,QC)协调调度优化问题,以上海洋山港四期工程的实际布局和装卸工艺为基础,考虑装卸同时进行条件下以最小化任务总完工时间为目标,建立带有时间窗约束的双小车岸桥和AGV的协调调度模型,并采用遗传算法对实际算例进行求解。通过灵敏度分析,验证了该模型及算法的有效性,并对遗传算法参数设置的有效性进行检验。结果分析表明,该调度方法有助于提高自动化集装箱码头的作业效率,减少集装箱船的在港时间,提高码头竞争力。
As for the problem of coordinating optimization between the automatic guided vehicles(AGV) and the double-trolley quay cranes(QC) in the automated container terminals(ACT),this paper was based on the actual layout and loading and unloading technology of Shanghai Yangshan Port Fourth project. It took the total task completion time as objective function considering the condition of dual cycle. It established and used a double-trolley quay crane and AGV model with time window constraints to calculate the practical example by using the genetic algorithm. The sensitivity analysis verifies the validity of the model and the algorithm,and tests the validity of the genetic algorithm parameter setting. The results show that this method can help improve the operating efficiency of automated container terminals,reduce the container at port time and improve the terminal competitiveness.
As for the problem of coordinating optimization between the automatic guided vehicles(AGV) and the double-trolley quay cranes(QC) in the automated container terminals(ACT),this paper was based on the actual layout and loading and unloading technology of Shanghai Yangshan Port Fourth project. It took the total task completion time as objective function considering the condition of dual cycle. It established and used a double-trolley quay crane and AGV model with time window constraints to calculate the practical example by using the genetic algorithm. The sensitivity analysis verifies the validity of the model and the algorithm,and tests the validity of the genetic algorithm parameter setting. The results show that this method can help improve the operating efficiency of automated container terminals,reduce the container at port time and improve the terminal competitiveness.
引文
[1]吴沙坪,何继红,罗勋杰.洋山四期自动化集装箱码头装卸工艺设计[J].水运工程,2016(9):159-162,166.(Wu Shaping,He Jihong,Luo Xunjie.Handling technology design for automated container terminal of Yangshan deepwater port phaseⅣproject[J].Port&Waterway Engineering,2016(9):159-162,166.)
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[4]刘艳涛,胡旻晖,单磊.一种双小车岸边集装箱起重机的小车防撞设计方法[J].港口装卸,2017(3):26-28.(Liu Yantao,Hu Minhui,Shan Lei.An anti-collision method for double trolley ship-toshore crane[J].Port Operation,2017(3):26-28.)
[5]Fazlollahtabar H,Saidi-Mehrabad M,Balakrishnan J.Mathematical optimization for earliness/tardiness minimization in a multiple automated guided vehicle manufacturing system via integrated heuristic algorithms[J].Robotics and Autonomous Systems,2015,72(C):131-138.
[6]Zaghdoud R,Mesghouni K,Dutilleul S C,et al.A hybrid method for assigning containers to AGVs in container terminal[J].Original Research Article FAC-Papers Online,2016,49(3):96-103.
[7]马越汇,胡志华.不确定环境下自动化集装箱码头AGV调度与配置问题[J].广西大学学报:自然科学版,2016,41(2):589-597.(Ma Yuehui,Hu Zhihua.The dispatching and scheduling problems of AGVs at automated container terminals under uncertainty conditions[J].Journal of Guangxi University:Natural Science Edition,2016,41(2):589-597.)
[8]Luo Jiabin,Wu Yue,Bergsten A.Mendes modelling of integrated vehicle scheduling and container storage problems in unloading process at an automated container terminal original research article[J].Computers&Industrial Engineering,2016,94(4):32-44.
[9]康志敏.集装箱自动化码头AGV路径优化和调度研究[D].武汉:武汉理工大学,2011.(Kang Zhiming.The research of routing optimization and scheduling for AGV on automated container terminals[D].Wuhan:Wuhan University of Technology,2011.)
[10]Homayounis M,Tangs H,Napsiah I.Using simulated annealing algorithm for optimization of quay crane sand automated guided vehicles scheduling[J].International Journal of the Physical Sciences,2011,6(27):6286-6294.
[11]柯冉绚,任亚东.集装箱码头AGV调度优化[J].集美大学学报:自然科学版,2016,21(1):35-41.(Ke Ranxuan,Ren Yadong.(Study on optimizing AGV control in container terminals[J].Journal of Jimei University:Natural Science Edition,2016,21(1):35-41.)
[12]Homayounis M,Tangs H,Motlagh O.A genetic algorithm for optimization of integrated scheduling of cranes,vehicles,and storage platforms at automated container terminals[J].Journal of Computational and Applied Mathematics,2014,270(1):545-556.
[13]Kim K H,Nguyen V D.A dispatching method for automated lifting vehicles in automated port container terminals[J].Computers&Industrial Engineering,2009,56(3):1002-1020.
[14]汤鹏飞,梁承姬,丁一,等.考虑岸桥缓存区的ALV调度优化问题研究[J].广西大学学报:自然科学版,2015,40(6):1540-1550.(Tang Pengfei,Liang Chengji,Ding Yi,et al.Research on automated lifting vehicles scheduling optimization under considering of buffer space of quay crane[J].Journal of Guangxi University:Natural Science Edition,2015,40(6):1540-1550.)
[2]周崎,张氢,张勇,等.双小车岸边集装箱起重机自动装卸集装箱的关键技术[J].起重运输机械,2016(3):70-74.(Zhou Qi,Zhang Qing,Zhang Yong,et al.Critical technology of automatic loading&unloading container of dual-trolley quayside container crane[J].Hoisting and Conveying Machinery,2016(3):70-74.)
[3]李锋,何钢,汤婷.双小车岸边集装箱起重机优化选型仿真分析[J].起重运输机械,2015(3):58-59,69.(Li Feng,He Gang,Tang Ting.Simulation analysis for optimal selection of double-trolley quayside container crane[J].Hoisting and Conveying Machinery,2015(3):58-59,69.)
[4]刘艳涛,胡旻晖,单磊.一种双小车岸边集装箱起重机的小车防撞设计方法[J].港口装卸,2017(3):26-28.(Liu Yantao,Hu Minhui,Shan Lei.An anti-collision method for double trolley ship-toshore crane[J].Port Operation,2017(3):26-28.)
[5]Fazlollahtabar H,Saidi-Mehrabad M,Balakrishnan J.Mathematical optimization for earliness/tardiness minimization in a multiple automated guided vehicle manufacturing system via integrated heuristic algorithms[J].Robotics and Autonomous Systems,2015,72(C):131-138.
[6]Zaghdoud R,Mesghouni K,Dutilleul S C,et al.A hybrid method for assigning containers to AGVs in container terminal[J].Original Research Article FAC-Papers Online,2016,49(3):96-103.
[7]马越汇,胡志华.不确定环境下自动化集装箱码头AGV调度与配置问题[J].广西大学学报:自然科学版,2016,41(2):589-597.(Ma Yuehui,Hu Zhihua.The dispatching and scheduling problems of AGVs at automated container terminals under uncertainty conditions[J].Journal of Guangxi University:Natural Science Edition,2016,41(2):589-597.)
[8]Luo Jiabin,Wu Yue,Bergsten A.Mendes modelling of integrated vehicle scheduling and container storage problems in unloading process at an automated container terminal original research article[J].Computers&Industrial Engineering,2016,94(4):32-44.
[9]康志敏.集装箱自动化码头AGV路径优化和调度研究[D].武汉:武汉理工大学,2011.(Kang Zhiming.The research of routing optimization and scheduling for AGV on automated container terminals[D].Wuhan:Wuhan University of Technology,2011.)
[10]Homayounis M,Tangs H,Napsiah I.Using simulated annealing algorithm for optimization of quay crane sand automated guided vehicles scheduling[J].International Journal of the Physical Sciences,2011,6(27):6286-6294.
[11]柯冉绚,任亚东.集装箱码头AGV调度优化[J].集美大学学报:自然科学版,2016,21(1):35-41.(Ke Ranxuan,Ren Yadong.(Study on optimizing AGV control in container terminals[J].Journal of Jimei University:Natural Science Edition,2016,21(1):35-41.)
[12]Homayounis M,Tangs H,Motlagh O.A genetic algorithm for optimization of integrated scheduling of cranes,vehicles,and storage platforms at automated container terminals[J].Journal of Computational and Applied Mathematics,2014,270(1):545-556.
[13]Kim K H,Nguyen V D.A dispatching method for automated lifting vehicles in automated port container terminals[J].Computers&Industrial Engineering,2009,56(3):1002-1020.
[14]汤鹏飞,梁承姬,丁一,等.考虑岸桥缓存区的ALV调度优化问题研究[J].广西大学学报:自然科学版,2015,40(6):1540-1550.(Tang Pengfei,Liang Chengji,Ding Yi,et al.Research on automated lifting vehicles scheduling optimization under considering of buffer space of quay crane[J].Journal of Guangxi University:Natural Science Edition,2015,40(6):1540-1550.)