自动化集装箱码头自动导引小车与轨道式龙门起重机的协同调度

为解决自动导引小车(Automated Guided Vehicle,AGV)与轨道式龙门起重机(Rail-Mounted Gantry Crane,RMG)的协同调度问题,考虑AGV和RMG的任务分配约束,以卸船作业最小完工时间为目标,建立混合整数规划(Mixed Integer Programming,MIP)模型.改变AGV,岸桥和箱区数量的配置,得出不同条件下的完工时间.对该问题设计两组算例:小规模算例采用CPLEX软件和遗传算法(Genetic Algorithm,GA)分别进行求解,通过结果对比验证GA的有效性;大规模算例采用GA求解,给出自动化码头设备调度优化方案.分析结果表明,卸船完工时间随着卸船任务量的增加而增加,随着AGV,岸桥和箱区数量的增加而减少,且AGV和岸桥数量的增加对完工时间的影响大于箱区数量的增加时完工数量的影响.

Integrated scheduling of automated guided vehicles and rail mounted gantry cranes at automated container terminals

For the integrated scheduling issue of Automated Guided Vehicles (AGVs) and Rail Mounted Gantry Cranes (RMGs), a Mixed Integer Programming (MIP) model is proposed so as to minimize the makespan of unloading operation with task allocation constraints of AGVs and RMGs. Changing the numbers of AGVs, quay cranes and blocks, the makespans under different conditions are obtained. Two groups of examples are performed. The small sized examples are solved by CPLEX software and Genetic Algorithm (GA) respectively, and the validity of GA is verified by comparing the results. The large sized examples are solved only using GA, and the equipment scheduling scheme at an automated container terminal is given. The results show that the makespan increases with the increase of unloading task, and decreases with the increase of the numbers of AGVs, quay cranes and blocks, where the effects of the increase of the numbers of AGVs and quay cranes on the makespan are greater than that of the increase of the number of blocks.