多工况集装箱船配载与堆场翻箱优化研究
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摘要
集装箱运输因其快速、安全、质优、价廉的特点,在国际范围内得到了迅猛发展,已成为国际贸易的最佳运输方式。集装箱船配载是集装箱运输过程的一个核心环节,其目的是解决船舶在不同港口装卸集装箱时,在遵循配载基本原则、保证船舶稳性和强度并兼顾后续港口快速装卸的基础上,确定集装箱在船上的具体位置,减少中途港倒箱作业,提高船舶运输效率。集装箱船配载对确保船舶安全、货物安全以及保证船期有着重要影响。配载方案的优劣直接影响着客户、船方和集装箱码头的效益,也间接影响着与货物相关产业的供应链。因此,集装箱船配载问题一直是集装箱码头营运领域的重点和难点课题,对其研究也引起了国内外专家、学者的兴趣,并提出了许多解决方法。但由于集装箱配载问题是带有复杂约束的多目标组合优化问题,属于NP-Hard问题。随着集装箱船舶的大型化发展、新型港口机械设备及装卸工艺的应用,集装箱船配载问题得到了延伸,对这种情况下的快速、高效进行集装箱装卸作业提出了更高要求。然而,如何解决在多种作业工况条件下的集装箱船配载问题,尚未引起足够的重视,对于综合考虑与配载密切相关的堆场翻箱问题的研究还处于起步阶段。
针对上述问题,本文首先对传统集装箱船配载问题的约束进行了分析和处理,提出了求解思路和并建立相应的数学模型。在此基础上,分析了双40ft(foot,英尺)岸桥作业模式,给出了多工况作业的含义,全面考虑集装箱船、集装箱和码头三方面的约束,建立了多工况的集装箱船配载问题的数学模型,并设计了启发式算法进行求解。其次,本文研究了在给定堆场集装箱堆存状态和集装箱装船配载方案的情况下,如何确定合理的集装箱装船顺序；针对集装箱堆场翻箱问题,建立了以倒箱量最小并考虑场桥代价为目标的数学模型。最后,开发的多工况集装箱船配载仿真原型系统对上述研究成果进行了验证。论文的主要工作概括如下：
(1)首先从集装箱码头工艺、集装箱船配载问题研究方法、建模与仿真技术在集装箱码头问题的研究应用等角度,详细综述了近年来集装箱船舶配载问题的研究现状和存在问题,引出了本文的研究内容和研究意义；
(2)分析了集装箱码头的装卸工艺组成和典型装卸工艺,在此基础上研究了一种由双40ft岸桥、低架桥分配系统和双40ft场桥构成的新型自动化集装箱码头装卸工艺,给出了多工况作业的含义和表达方法,分析了配载问题的约束并提出了处理方法,为研究多工况集装箱船配载问题奠定基础；
(3)在传统配载问题的基础上,引入集装箱码头岸桥作业工况和岸桥并行作业的因素,建立了多工况集装箱船配载优化的数学模型。将多工况集装箱船配载问题划分为预配载和倍位(Bay)排箱两个子问题,设计了启发式算法用于求解倒箱量最少、岸桥作业成本最小、满足集装箱船的稳性、强度和浮态的配载方案。通过实例进行了比较和分析,验证了该方法的有效性；
(4)针对集装箱堆场快速、准确发箱的要求,在给定堆场集装箱堆存状态和集装箱装船配载的情况下,建立了集装箱装船顺序优化模型。以最大程度地减少倒箱操作实现快速、高效装船为目标,设计了启发式算法和基于规则的改进策略,通过对比分析表明改进策略能有效解决堆场装船顺序问题,提高码头堆场利用率和码头通过能力,降低码头装卸设备的运营成本；
(5)为尽可能减少集装箱堆场的翻箱操作,深入分析了翻箱产生的原因。针对倒箱数量不足以全面反应场桥的装卸效率,提出了兼顾场桥的代价的思路,建立倒箱数最少且场桥成本最小的多目标堆场翻箱问题数学模型,并设计了基于定向搜索的启发式算法进行求解,实例对比验证了算法的准确性和有效性；
(6)最后,基于自主开发的虚拟现实平台VRFlier,结合本文研究内容和关键技术开发了多工况集装箱船配载仿真原型系统CSPSS。实现了集装箱码头装卸工艺的仿真、多工况集装箱船配载方案的优化和仿真,为工艺方案和配载方案的评估提供了可视化环境,从而对本文的研究成果进行了验证。
Benefit from its fast, safe, high quality and low cost, Container transport has developed rapidly all around the world and become the best transporting way for international trade. Containership stowage planning problem (CSP) is an important part among the container transport processes. The purpose is to determine containers' specific location in the ship when ships are loading and unloading containers in different ports to reduce the half-way re-handle container operations and improve shipping efficiency, when following the basic principles of stowage, ensuring stability and strength of the ship and taking into account that ships in the following port can also load or unload containers quickly. For safety of the vessel, cargo security and to ensure the schedules, CSP has an important impact on it. Stowage plan will not only directly affect the customers, ship and the efficiency of the container terminal, but also affect the supply chain of the industries related with goods indirectly. Therefore, CSP has always been a key and difficult issue in the field of port operations. A lot of researchers and scholars are interested in this problem, and put forward many solutions. However, due to the container stowage problem is a multi-objective optimization problem with complex constrains, and it is NP-Hard problem. So far, the research of the complete model of CSP with all kinds of constrains is still under way. The development of large-scale container ships, advanced equipment, and new loading and unloading technology, greatly expand the area of CSP, and bring new challenges at the same time. How to solve the CSP under a variety of operating conditions has not yet attracted enough attention. In addition, the research on optimization methods of container relocation in container yard related with CSP is still at the early stage.
In response to these problems, the paper analysis double-40ft QC (quay crane) shore mode of operation, proposed the meaning and contents of multiple working conditions. Based on this, multi-conditions CSP is proposed and analyzed. Taking constraints from container ships, containers and container terminal side, the mathematical model of the CSP is built, and a heuristic algorithm is designed to solve the problem. This paper attempts to study how to determine a reasonable sequence of a container loading under the given storage state in the container storage yard and the containership stowage planning of the situation. Containers on the yard handling problem are proposed, with minimizing container volume and the cost of the crane as the objective. For the fast, efficient, accurate loading of the container vessel, theoretical methods and a prototype system are provided. The main research works of this thesis are summarized as follows:
1. First of all, the present state and existing problems on containership stowage researches are introduced in detail, from processes of the container terminal, to research methods of the CSP. Then the starting point of this study and its significance are put forward.
2. Container terminal handling technology and the typical handling technology are compared. A new automatic type of loading and unloading technology for the container terminal constituted by double-40ft QC from the shore, a bridge allocation system and the yard crane are studied. The meaning and contents of multiple working conditions are proposed to lay the foundation for the study of the multi-working CSP.
3. Focusing on the complexity of the CSP, the relevant constraints and processing methods are evaluated comprehensively, the first time the container terminal QC operating conditions and container ships operating in parallel are considered in the CSP, a CSP with multiple loading conditions is proposed and the corresponding mathematical model is built. Multiple loading conditions CSP are divided into two sub-problems, namely pre-stowage and bay arrangement. The heuristic algorithm is designed to get the stowage scheme which can minimize the cost of QC operation to meet the container ships of the stability and strength and attitude of the loading program. A comparative analysis through examples verifies the effectiveness of the method.
4. Based on the requirement of the container yard that sending container rapidly and accurately, the given state of the container storage yard and container stowage situation on board, container loading sequence of the optimization problem was studied. In order to minimize re-handle container operation for fast and efficient shipment target, the heuristic algorithm and rule-based improvement strategies are designed. Comparison and analysis shows that the yard loading sequence with improved strategies can effectively solve the problem and improve the utilization of the terminal yard and the capacity of terminal, reduce production cost of terminal.
5. To minimize the container relocation operations in the container yard, the causes of the container turning operations are analyzed deeply. Limited of container turning operations cannot reflect handling efficiency fully, a multi-objective mathematical model was established to minimize the number of container turning operations and the cost of the crane. Heuristic algorithm with filtered directional search is designed. Instance comparison verifies the accuracy and effectiveness of the algorithm.
6. Finally, based on the virtual reality platform VRFlier, which is developed independently, and the above researches results, a container ship under multi-working conditions loading simulation prototype system called CSPSS (containership stowage planning simulation system) is developed. It can achieve the simulation of container terminal handling process, optimization and simulation of the multi-condition of the containership stowage plans, optimization and simulation of container turning operations in container yards. It provides a visual environment for evaluation of the process and stowage. CSPSS verifies the correctness and validity of research further. It provides feasible attempts and schemes for the multi-container ship stowage commercial application software systems.
针对上述问题,本文首先对传统集装箱船配载问题的约束进行了分析和处理,提出了求解思路和并建立相应的数学模型。在此基础上,分析了双40ft(foot,英尺)岸桥作业模式,给出了多工况作业的含义,全面考虑集装箱船、集装箱和码头三方面的约束,建立了多工况的集装箱船配载问题的数学模型,并设计了启发式算法进行求解。其次,本文研究了在给定堆场集装箱堆存状态和集装箱装船配载方案的情况下,如何确定合理的集装箱装船顺序；针对集装箱堆场翻箱问题,建立了以倒箱量最小并考虑场桥代价为目标的数学模型。最后,开发的多工况集装箱船配载仿真原型系统对上述研究成果进行了验证。论文的主要工作概括如下：
(1)首先从集装箱码头工艺、集装箱船配载问题研究方法、建模与仿真技术在集装箱码头问题的研究应用等角度,详细综述了近年来集装箱船舶配载问题的研究现状和存在问题,引出了本文的研究内容和研究意义；
(2)分析了集装箱码头的装卸工艺组成和典型装卸工艺,在此基础上研究了一种由双40ft岸桥、低架桥分配系统和双40ft场桥构成的新型自动化集装箱码头装卸工艺,给出了多工况作业的含义和表达方法,分析了配载问题的约束并提出了处理方法,为研究多工况集装箱船配载问题奠定基础；
(3)在传统配载问题的基础上,引入集装箱码头岸桥作业工况和岸桥并行作业的因素,建立了多工况集装箱船配载优化的数学模型。将多工况集装箱船配载问题划分为预配载和倍位(Bay)排箱两个子问题,设计了启发式算法用于求解倒箱量最少、岸桥作业成本最小、满足集装箱船的稳性、强度和浮态的配载方案。通过实例进行了比较和分析,验证了该方法的有效性；
(4)针对集装箱堆场快速、准确发箱的要求,在给定堆场集装箱堆存状态和集装箱装船配载的情况下,建立了集装箱装船顺序优化模型。以最大程度地减少倒箱操作实现快速、高效装船为目标,设计了启发式算法和基于规则的改进策略,通过对比分析表明改进策略能有效解决堆场装船顺序问题,提高码头堆场利用率和码头通过能力,降低码头装卸设备的运营成本；
(5)为尽可能减少集装箱堆场的翻箱操作,深入分析了翻箱产生的原因。针对倒箱数量不足以全面反应场桥的装卸效率,提出了兼顾场桥的代价的思路,建立倒箱数最少且场桥成本最小的多目标堆场翻箱问题数学模型,并设计了基于定向搜索的启发式算法进行求解,实例对比验证了算法的准确性和有效性；
(6)最后,基于自主开发的虚拟现实平台VRFlier,结合本文研究内容和关键技术开发了多工况集装箱船配载仿真原型系统CSPSS。实现了集装箱码头装卸工艺的仿真、多工况集装箱船配载方案的优化和仿真,为工艺方案和配载方案的评估提供了可视化环境,从而对本文的研究成果进行了验证。
Benefit from its fast, safe, high quality and low cost, Container transport has developed rapidly all around the world and become the best transporting way for international trade. Containership stowage planning problem (CSP) is an important part among the container transport processes. The purpose is to determine containers' specific location in the ship when ships are loading and unloading containers in different ports to reduce the half-way re-handle container operations and improve shipping efficiency, when following the basic principles of stowage, ensuring stability and strength of the ship and taking into account that ships in the following port can also load or unload containers quickly. For safety of the vessel, cargo security and to ensure the schedules, CSP has an important impact on it. Stowage plan will not only directly affect the customers, ship and the efficiency of the container terminal, but also affect the supply chain of the industries related with goods indirectly. Therefore, CSP has always been a key and difficult issue in the field of port operations. A lot of researchers and scholars are interested in this problem, and put forward many solutions. However, due to the container stowage problem is a multi-objective optimization problem with complex constrains, and it is NP-Hard problem. So far, the research of the complete model of CSP with all kinds of constrains is still under way. The development of large-scale container ships, advanced equipment, and new loading and unloading technology, greatly expand the area of CSP, and bring new challenges at the same time. How to solve the CSP under a variety of operating conditions has not yet attracted enough attention. In addition, the research on optimization methods of container relocation in container yard related with CSP is still at the early stage.
In response to these problems, the paper analysis double-40ft QC (quay crane) shore mode of operation, proposed the meaning and contents of multiple working conditions. Based on this, multi-conditions CSP is proposed and analyzed. Taking constraints from container ships, containers and container terminal side, the mathematical model of the CSP is built, and a heuristic algorithm is designed to solve the problem. This paper attempts to study how to determine a reasonable sequence of a container loading under the given storage state in the container storage yard and the containership stowage planning of the situation. Containers on the yard handling problem are proposed, with minimizing container volume and the cost of the crane as the objective. For the fast, efficient, accurate loading of the container vessel, theoretical methods and a prototype system are provided. The main research works of this thesis are summarized as follows:
1. First of all, the present state and existing problems on containership stowage researches are introduced in detail, from processes of the container terminal, to research methods of the CSP. Then the starting point of this study and its significance are put forward.
2. Container terminal handling technology and the typical handling technology are compared. A new automatic type of loading and unloading technology for the container terminal constituted by double-40ft QC from the shore, a bridge allocation system and the yard crane are studied. The meaning and contents of multiple working conditions are proposed to lay the foundation for the study of the multi-working CSP.
3. Focusing on the complexity of the CSP, the relevant constraints and processing methods are evaluated comprehensively, the first time the container terminal QC operating conditions and container ships operating in parallel are considered in the CSP, a CSP with multiple loading conditions is proposed and the corresponding mathematical model is built. Multiple loading conditions CSP are divided into two sub-problems, namely pre-stowage and bay arrangement. The heuristic algorithm is designed to get the stowage scheme which can minimize the cost of QC operation to meet the container ships of the stability and strength and attitude of the loading program. A comparative analysis through examples verifies the effectiveness of the method.
4. Based on the requirement of the container yard that sending container rapidly and accurately, the given state of the container storage yard and container stowage situation on board, container loading sequence of the optimization problem was studied. In order to minimize re-handle container operation for fast and efficient shipment target, the heuristic algorithm and rule-based improvement strategies are designed. Comparison and analysis shows that the yard loading sequence with improved strategies can effectively solve the problem and improve the utilization of the terminal yard and the capacity of terminal, reduce production cost of terminal.
5. To minimize the container relocation operations in the container yard, the causes of the container turning operations are analyzed deeply. Limited of container turning operations cannot reflect handling efficiency fully, a multi-objective mathematical model was established to minimize the number of container turning operations and the cost of the crane. Heuristic algorithm with filtered directional search is designed. Instance comparison verifies the accuracy and effectiveness of the algorithm.
6. Finally, based on the virtual reality platform VRFlier, which is developed independently, and the above researches results, a container ship under multi-working conditions loading simulation prototype system called CSPSS (containership stowage planning simulation system) is developed. It can achieve the simulation of container terminal handling process, optimization and simulation of the multi-condition of the containership stowage plans, optimization and simulation of container turning operations in container yards. It provides a visual environment for evaluation of the process and stowage. CSPSS verifies the correctness and validity of research further. It provides feasible attempts and schemes for the multi-container ship stowage commercial application software systems.
引文
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