CN102807103A - Mixed distribution method for stereoscopic track equipment of automatic container wharf - Google Patents

Abstract

The invention relates to a mixed distribution method for the stereoscopic track equipment of an automatic container wharf, which comprises the following steps of: 1) checking the state of each piece of equipment of the stereoscopic track equipment of the automatic container wharf, and building a total idle equipment set C; 2) checking whether the total idle equipment set C comprises various pieces of equipment required for loading and unloading a container, returning to step 1) if any piece of equipment is missed, and otherwise, entering next step; 3) selecting a shore bridge to an equipment set C1 from the total idle equipment set C, selecting a low bridging track trolley and an elevator to the equipment set C1, selecting a box area to the equipment set C1, and selecting a ground track trolley and RMG (ranging machine gun) to the equipment set C1; 4) combining various pieces of equipment in the equipment set C1, calculating the loading and unloading time of each piece of combination equipment, and obtaining a minimum time value T1 and the corresponding equipment combination; and 5) executing the container transportation by the equipment combination with the minimum time. Compared with the prior art, the mixed distribution method has the advantages that the loading and unloading efficiency can be greatly improved.

Description

The three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour method

Technical field

The present invention relates to the container handling technology of container wharf, especially relate to the three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour method.

Background technology

The nineties in 20th century, European Rotterdam, NED and Hamburg, Germany port have been built up advanced carrying of automation harbour container and transmission system in succession, and it is the automatic navigation cart system that its horizontal transport systems all adopts AGV.But have two problems: (1) investment is expensive, and AGV dolly cost is up to 1,000,000 U.S. dollars; (2) actual service efficiency still is lower than the harbour efficient of traditional manual operation.Though these two automatic docks are still in operation, its scheme technology not seen widespread use does not also have application example at present at home.

In recent years, domesticly in harbor accommodation manufacturing and Wharf Construction process, obtained the fast speed development, to the defective based on AGV dolly automatic dock, more domestic companies have proposed some automatic dock schemes.Like application number is that 200610025860.6 Chinese patent discloses a kind of container wharf arrangement; Be used for the container wharf of storage yard container orientation perpendicular to freight container orientation on the ship; Comprise: bank crane, the freight container of its loading and unloading is in first direction all the time; The low bridge system comprises low bridge track, low bridge crane carriage and low bridge flat truck along first direction, and the low bridge crane carriage can load and unload the low bridge flat truck, and the low bridge system can realize loading and unloading by bank crane; Pass on cart system, along second direction pass on trolley track with pass on dolly, the dolly that passes on can make its cargo-carring freight container carry out 90 rotation, the cart system that passes on can be loaded and unloaded by the low bridge system; The stockyard hoisting crane, the stockyard crane track with second direction, the stockyard hoisting crane can load and unload passing on cart system.This scheme replaces expensive AGV with low bridge and rotary trolley; The transportation that former cause AGV is carried out is decomposed into the level transportation of low bridge upper flat plate car (TC), the vertical transport of low bridge crane carriage (OBC) and the level of ground rotary trolley (GC) and transports 3 actions, by the successful solution of overhead crossing the transportation problem of AGV on the two dimensional surface.

Yet each facility assignment is the key link of decision automatic dock handling efficiency.In the prior art scheme; The major defect that facility assignment exists is that the bank bridge adopts corresponding one by one binding mechanism with the low bridge track; Under a stable condition, can cause the busy rate of low bridge track widely different, promptly certain bar low bridge track is busy always, and another idle always situation.

Summary of the invention

The object of the invention is exactly for the defective that overcomes above-mentioned prior art existence a kind of three-dimensional track equipment mixed allocation of automatic cabinet harbour method that can improve handling efficiency greatly to be provided.

The object of the invention can be realized through following technical scheme: the three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour method; It is characterized in that; This method may further comprise the steps: the state of 1) checking the included bank bridge of the three-dimensional track of automatic cabinet harbour, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane; And the state of equipment gathered, set up total free device collection C; 2) whether comprise the necessary various device of loading and unloading container among the total free device collection C of inspection, if lack any equipment, delay time, D returned the first step, otherwise, get into next step; 3) from total free device collection C, select the bank bridge to equipment collection C1; Rule is bank bridge numbering 1≤QC (i)≤[M+1]/2; Select low bridge small rail car, companion ladder to equipment collection C1, rule is respectively mod (TC (i))=1, mod (OBC (i))=1 for low bridge small rail car numbering, companion ladder numbering, selects the case district to equipment collection C1; Rule is case district numbering 1≤BA (i)≤[(P+1)/2]; Select ground small rail car, RMG to equipment collection C1, rule is numbered 1≤GC (i), RMG (i)≤[(P+1)/2] 2 for ground rail dolly numbering, RMG; 4) various device among the equipment collection C1 is made up freight container is unshiped down and is transported to the case district or freight container is transported to ship from the case district is principle to satisfy, equipment need satisfy TC (i)=OBC (i), GC (i), RMG (i)=2*BA (i)-1 or GC (i) in making up; RMG (i)=2*BA (i) calculates the loadingunloading time that each equipment makes up, and obtains time minimum value T1 and corresponding equipment combination MINC1{GC (i); TC (i), OBC (i), GC (i); RMG (i), BA (i) }; 5) utilize minimum equipment combination of time to carry out freight container traffic.

Described step 2) the necessary various device in is bank bridge, low bridge small rail car, companion ladder, ground rail dolly and stockyard hoisting crane.

Described step 4) is calculated the loadingunloading time of each equipment combination, obtains time minimum value T1 and corresponding equipment combination MINC1{GC (i), TC (i), OBC (i), GC (i), RMG (i), BA (i) } be specially,

1) math modeling of apparatus for establishing distribution is following:

$\mathrm{MinT}=\mathrm{Max}\left(\begin{array}{c}\mathrm{Max}\left(\begin{array}{c}{S}_{\mathrm{Qi}}*S_{\mathrm{Tj}}*T_{\mathrm{TM}1\mathrm{ij}}+T_Q+S_{\mathrm{Qi}}*S_{\mathrm{Gj}}*T_{\mathrm{TM}2\mathrm{ij}},\\ S_{\mathrm{Oi}}*S_{\mathrm{Gj}}*T_{\mathrm{OMij}},S_{\mathrm{Ti}}*S_{\mathrm{Gj}}*T_{\mathrm{GM}1\mathrm{ij}}\end{array}\right)+T_O+S_{\mathrm{Ti}}*S_{\mathrm{Bj}}*T_{\mathrm{GM}2\mathrm{ij}},\\ S_{\mathrm{Ri}}*S_{\mathrm{Bj}}*T_{\mathrm{BMij}}\end{array}\right)+T_R$

S.t.

$T_{\mathrm{TM}1\mathrm{ij}}=\frac{|X_{\mathrm{Tj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TE}}}$ $T_{\mathrm{TM}2\mathrm{ij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TF}}}$ $T_{\mathrm{OMij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Oi}}|}{V_O}$

$T_{\mathrm{GM}1\mathrm{ij}}=\frac{|Y_{\mathrm{Gj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GE}}}$ $T_{\mathrm{GM}2\mathrm{ij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GF}}}$ $T_{\mathrm{RMij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ri}}|}{V_{\mathrm{RE}}}$

B _Ti, B _Oi, B _Gi, B _Ri, B _BiAlso be the 0-1 variable, define similar

S _Ti, S _Oi, S _Gi, S _Ri, S _BiAlso be the 0-1 variable, define similar

$\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}=1$ $\underset{i=1}{\overset{2N}{\mathrm{\Σ}}}{S}_{\mathrm{Ti}}=1$ S _Oi＝S _Ti

$\underset{i=1}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Gi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Ri}}=1$

S _Qi+B _Qi≤1?S _Ti+B _Ti≤1?S _Oi+B _Oi≤1?S _Gi+B _Gi≤1?S _Ri+B _Ri≤1

$\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T\left(2j\right)}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

$\underset{j=1}{\overset{\left[\frac{P+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=\left[\frac{P+1}{2}\right]}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

S _G(2j-1)+S _G(2j)≤S _Bj?S _R(2j-1)+S _R(2j)≤S _Bj

The implication of each symbol is following in the model:

M--bank bridge number; N--low bridge track number; P--case district number;

T _Q--the bank bridge single job time;

T _o--vertical lifting operating time of companion ladder;

T _TM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _TM2ij--the low bridge small rail car is by the bank bridge i shifting time of small rail car j earthward;

T _OMij--companion ladder i is the shifting time of small rail car j earthward;

T _GM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _GM2ij--the ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _RMij--RMG i is to the shifting time in j room, case district;

X _Qi--bank bridge i level attitude coordinate;

X _Tj--low bridge small rail car j level attitude coordinate;

Y _Tj--low bridge small rail car j upright position coordinate;

X _Oi--companion ladder i level attitude coordinate;

X _Gj--ground rail dolly j level attitude coordinate;

Y _Gj--ground rail dolly j upright position coordinate;

Y _Ri--RMG j upright position coordinate;

Y _Bi--upright position, i room, case district coordinate;

V _TE--the unloaded moving velocity of low bridge small rail car;

V _TF--the low bridge small rail car is fully loaded with moving velocity;

V _O--companion ladder parallel motion speed;

V _GE--the unloaded moving velocity of ground rail dolly;

V _GF--the ground rail dolly is fully loaded with moving velocity;

V _RE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the combination of time minimum value T1 and corresponding equipment.

Compared with prior art, the present invention has the following advantages:

1, abandoned traditional bank bridge and the corresponding one by one binding mechanism of low bridge track, then adopted mixed allocation mechanism, it is uneven to solve the device busy rate, i.e. busy always and other idle always problems of certain low bridge small rail car, thus improve handling efficiency;

2, each equipment adopts general synchronization shift strategy, promptly receive the loading and unloading task after, each equipment moves to the target location simultaneously in the equipment combination, but not the branch moved further that adopts at present makes handling efficiency also obtain large increase.

Description of drawings

Fig. 1 is a diagram of circuit of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.

Embodiment

Usually freight container transports to the uninstall process in stockyard from boats and ships, and at first bank bridge (QC) is got case, is put on the low bridge small rail car (TC); Ground rail moves TC toward the target location then; Meanwhile, companion ladder (OBC) is toward also ground rail moves toward the target location, and the freight container of then having been got on the TC by OBC vertically is put on the ground rail dolly (GC); Last GC moves to the purpose position, is mentioned chest by RMG to be put on the goal box position.Otherwise freight container transports to the loading process of boats and ships from the stockyard, and at first RMG gets case; Be put on the GC, GC moves toward distributing the low bridge track then, meanwhile; TC, OBC move toward GC; The freight container of then having been got on the GC by OBC vertically is put on the TC, and last TC moves toward QC and moves, and is mentioned chest on the goal box position that is put on the ship by QC.The present invention is that to be applied to application number be on 200610025860.6 the Chinese patent, so the hardware components annexation omits, and bank bridge (QC) is equivalent to bank crane; Low bridge small rail car (TC) is equivalent to the low bridge flat truck; Companion ladder (OBC) is equivalent to the low bridge crane carriage; Ground rail dolly (GC) is equivalent to pass on dolly; RMG is equivalent to the stockyard hoisting crane;

As shown in Figure 1, the three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour method, this method may further comprise the steps:

Step 1) is checked the state of the included bank bridge of the three-dimensional track of automatic cabinet harbour, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane, and the state of equipment is gathered, and sets up total free device collection C;

Step 2) whether comprise the necessary various device of loading and unloading container among the total free device collection C of inspection, if lack any equipment, delay time, D returned the first step, otherwise, get into next step;

Step 3) selects the bank bridge to equipment collection C1 from total free device collection C; Rule is bank bridge numbering 1≤QC (i)≤[M+1]/2; Select low bridge small rail car, companion ladder to equipment collection C1, rule selects the case district to equipment collection C1 for low bridge small rail car numbering, companion ladder numbering mod (TC (i))=1, mod (OBC (i))=1; Rule is case district numbering 1≤BA (i)≤[(P+1)/2]; Select ground small rail car, RMG to equipment collection C1, rule is numbered 1≤GC (i), RMG (i)≤[(P+1)/2] 2 for ground rail dolly numbering, RMG;

Equipment possible among the step 4) computing equipment collection C1 makes up, and need satisfy TC (i)=OBC (i), GC (i), RMG (i)=2*BA (i)-1 or GC (i) in the equipment combination; RMG (i)=2*BA (i) calculates the loadingunloading time that each equipment makes up, and obtains time minimum value T1 and corresponding equipment combination MINC1{GC (i); TC (i), OBC (i), GC (i); RMG (i), BA (i) };

Step 5) selects the bank bridge to equipment collection C2 from total free device collection C; Rule is bank bridge numbering [M+1]/2≤QC (i)≤M; Select low bridge small rail car, companion ladder to equipment collection C2, rule selects the case district to equipment collection C2 for low bridge small rail car numbering, companion ladder numbering mod (TC (i))=0, mod (OBC (i))=0; Rule is case district numbering [(P+1)/2]≤BA (i)≤P; Select ground small rail car, RMG to equipment collection C2, rule is numbered [(P+1)/2] 2≤TC (i), RMG (i)≤2P for ground rail dolly numbering, RMG;

Equipment possible among the step 6) computing equipment collection C2 makes up, and need satisfy TC (i)=OBC (i), GC (i), RMG (i)=2*BA (i)-1 or GC (i) in the equipment combination; RMG (i)=2*BA (i) calculates the loadingunloading time that each equipment makes up, and obtains time minimum value T2 and corresponding equipment combination MINC2{GC (i); TC (i), OBC (i), GC (i); RMG (i), BA (i) };

Step 7) is T1 and T2 relatively, time of return minimum value T and cooresponding optimal device combination MINC{GC (i), TC (i), OBC (i), GC (i), RMG (i), BA (i) }.

Step 8) and the like, the equipment combination that the time that finally relatively draws is the shortest;

Step 9) utilizes minimum equipment combination of time to carry out freight container traffic.

Step 2) the necessary various device in is bank bridge, low bridge small rail car, companion ladder, ground rail dolly and stockyard hoisting crane.

Described step 4) is calculated the loadingunloading time of each equipment combination, obtains time minimum value T1 and corresponding equipment combination MINC 1{GC (i), TC (i), OBC (i), GC (i), RMG (i), BA (i) } be specially,

1) math modeling of apparatus for establishing distribution is following:

$\mathrm{MinT}=\mathrm{Max}\left(\begin{array}{c}\mathrm{Max}\left(\begin{array}{c}{S}_{\mathrm{Qi}}*S_{\mathrm{Tj}}*T_{\mathrm{TM}1\mathrm{ij}}+T_Q+S_{\mathrm{Qi}}*S_{\mathrm{Gj}}*T_{\mathrm{TM}2\mathrm{ij}},\\ S_{\mathrm{Oi}}*S_{\mathrm{Gj}}*T_{\mathrm{OMij}},S_{\mathrm{Ti}}*S_{\mathrm{Gj}}*T_{\mathrm{GM}1\mathrm{ij}}\end{array}\right)+T_O+S_{\mathrm{Ti}}*S_{\mathrm{Bj}}*T_{\mathrm{GM}2\mathrm{ij}},\\ S_{\mathrm{Ri}}*S_{\mathrm{Bj}}*T_{\mathrm{BMij}}\end{array}\right)+T_R$

S.t.

$T_{\mathrm{TM}1\mathrm{ij}}=\frac{|X_{\mathrm{Tj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TE}}}$ $T_{\mathrm{TM}2\mathrm{ij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TF}}}$ $T_{\mathrm{OMij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Oi}}|}{V_O}$

$T_{\mathrm{GM}1\mathrm{ij}}=\frac{|Y_{\mathrm{Gj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GE}}}$ $T_{\mathrm{GM}2\mathrm{ij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GF}}}$ $T_{\mathrm{RMij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ri}}|}{V_{\mathrm{RE}}}$

B _Ti, B _Oi, B _Gi, B _Ri, B _BiAlso be the 0-1 variable, define similar

S _Ti, S _Oi, S _Gi, S _Ri, S _BiAlso be the 0-1 variable, define similar

$\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}=1$ $\underset{i=1}{\overset{2N}{\mathrm{\Σ}}}{S}_{\mathrm{Ti}}=1$ S _Oi＝S _Ti

$\underset{i=1}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Gi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Ri}}=1$

S _Qi+B _Qi≤1?S _Ti+B _Ti≤1?S _Oi+B _Oi≤1?S _Gi+B _Gi≤1?S _Ri+B _Ri≤1

$\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T\left(2j\right)}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

$\underset{j=1}{\overset{\left[\frac{P+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=\left[\frac{P+1}{2}\right]}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

S _G(2j-1)+S _G(2j)≤S _Bj?S _R(2j-1)+S _R(2j)≤S _Bj

The implication of each symbol is following in the model:

M--bank bridge number; N--low bridge track number; P--case district number;

T _Q--the bank bridge single job time;

T _O--vertical lifting operating time of companion ladder;

T _TM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _TM2ij--the low bridge small rail car is by the bank bridge i shifting time of small rail car j earthward;

T _OMij--companion ladder i is the shifting time of small rail car j earthward;

T _GM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _GM2ij--the ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _RMij--RMG i is to the shifting time in j room, case district;

X _Qi--bank bridge i level attitude coordinate;

X _Tj--low bridge small rail car j level attitude coordinate;

Y _Tj--low bridge small rail car j upright position coordinate;

X _Oi--companion ladder i level attitude coordinate;

X _Gj--ground rail dolly j level attitude coordinate;

Y _Gj--ground rail dolly j upright position coordinate;

Y _Ri--RMG j upright position coordinate;

Y _Bi--upright position, i room, case district coordinate;

V _TE--the unloaded moving velocity of low bridge small rail car;

V _TF--the low bridge small rail car is fully loaded with moving velocity;

V _O--companion ladder parallel motion speed;

V _GE--the unloaded moving velocity of ground rail dolly;

V _GF--the ground rail dolly is fully loaded with moving velocity;

V _RE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the combination of time minimum value T1 and corresponding equipment.

Corresponding noted earlier, the bank bridge hangs simultaneously from box ship and gets on two 40 forty equivalent unit 40 to low bridge flat bogies when unloading case; After the low bridge flat bogie connects case, along the low bridge track to assigned address; Rise the freight container on the low bridge flat bogie by companion ladder, treat that the low bridge flat bogie leaves after, case is unloaded to the floor slab dolly; After the floor slab dolly connects case, along ground rail to the stockyard direction operation; Behind the in-position, case is winched to the case position of appointment by stockyard RMG.Vanning process backward and going.

The present invention obtains the optimal device combination according to the actual loading and unloading of three-dimensional rail mounted automatic cabinet harbour flow process through algorithm, realizes that the loadingunloading time is the shortest.In the system initialization process, all devices is in time reported current device information to dispatching system all in the initial desired location of system in equipment running process.In the actual loading and unloading task, at first confirm the optimal device combination by this algorithm, adopt this equipment combination to carry out the loading and unloading task then, every equipment executes its cooresponding task and discharges immediately, gets into the free device collection.

Claims (3)

1. the three-dimensional track equipment mixed allocation of automatic cabinet harbour method is characterized in that this method may further comprise the steps:

1) state of the included bank bridge of the three-dimensional track of inspection automatic cabinet harbour, low bridge small rail car, companion ladder, case district, ground rail dolly, stockyard hoisting crane, and the state of equipment gathered, total free device collection C set up;

2) whether comprise the necessary various device of loading and unloading container among the total free device collection C of inspection, if lack any equipment, delay time, D returned the first step, otherwise, get into next step;

3) from total free device collection C, select the bank bridge to equipment collection C1; Rule is bank bridge numbering 1≤QC (i)≤[M+1]/2; Select low bridge small rail car, companion ladder to equipment collection C1, rule is respectively mod (TC (i))=1, mod (OBC (i))=1 for low bridge small rail car numbering, companion ladder numbering, selects the case district to equipment collection C1; Rule is case district numbering 1≤BA (i)≤[(P+1)/2]; Select ground small rail car, RMG to equipment collection C1, rule is numbered 1≤GC (i), RMG (i)≤[(P+1)/2] 2 for ground rail dolly numbering, RMG;

4) various device among the equipment collection C1 is made up freight container is unshiped down and is transported to the case district or freight container is transported to ship from the case district is principle to satisfy, equipment need satisfy TC (i)=OBC (i), GC (i), RMG (i)=2*BA (i)-1 or GC (i) in making up; RMG (i)=2*BA (i) calculates the loadingunloading time that each equipment makes up, and obtains time minimum value T1 and corresponding equipment combination MINC1{GC (i); TC (i), OBC (i), GC (i); RMG (i), BA (i) };

5) utilize minimum equipment combination of time to carry out freight container traffic.

2. the three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour according to claim 1 method; It is characterized in that described step 2) in necessary various device be bank bridge, low bridge small rail car, companion ladder, ground rail dolly and stockyard hoisting crane.

3. the three-dimensional track equipment mixed allocation of a kind of automatic cabinet harbour according to claim 1 method is characterized in that described step 4) is calculated the loadingunloading time of each equipment combination; Acquisition time minimum value T1 and corresponding equipment combination MINC1{GC (i), TC (i), OBC (i); GC (i); RMG (i), BA (i) } be specially

1) math modeling of apparatus for establishing distribution is following:

$\mathrm{MinT}=\mathrm{Max}\left(\begin{array}{c}\mathrm{Max}\left(\begin{array}{c}{S}_{\mathrm{Qi}}*S_{\mathrm{Tj}}*T_{\mathrm{TM}1\mathrm{ij}}+T_Q+S_{\mathrm{Qi}}*S_{\mathrm{Gj}}*T_{\mathrm{TM}2\mathrm{ij}},\\ S_{\mathrm{Oi}}*S_{\mathrm{Gj}}*T_{\mathrm{OMij}},S_{\mathrm{Ti}}*S_{\mathrm{Gj}}*T_{\mathrm{GM}1\mathrm{ij}}\end{array}\right)+T_O+S_{\mathrm{Ti}}*S_{\mathrm{Bj}}*T_{\mathrm{GM}2\mathrm{ij}},\\ S_{\mathrm{Ri}}*S_{\mathrm{Bj}}*T_{\mathrm{BMij}}\end{array}\right)+T_R$

S.t.

$T_{\mathrm{TM}1\mathrm{ij}}=\frac{|X_{\mathrm{Tj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TE}}}$ $T_{\mathrm{TM}2\mathrm{ij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Qi}}|}{V_{\mathrm{TF}}}$ $T_{\mathrm{OMij}}=\frac{|X_{\mathrm{Gj}}-X_{\mathrm{Oi}}|}{V_O}$

$T_{\mathrm{GM}1\mathrm{ij}}=\frac{|Y_{\mathrm{Gj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GE}}}$ $T_{\mathrm{GM}2\mathrm{ij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ti}}|}{V_{\mathrm{GF}}}$ $T_{\mathrm{RMij}}=\frac{|Y_{\mathrm{Bj}}-Y_{\mathrm{Ri}}|}{V_{\mathrm{RE}}}$

B _Ti, B _Oi, B _Gi, B _Ri, B _BiAlso be the 0-1 variable, define similar

S _Ti, S _Oi, S _Gi, S _Ri, S _BiAlso be the 0-1 variable, define similar

$\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}=1$ $\underset{i=1}{\overset{2N}{\mathrm{\Σ}}}{S}_{\mathrm{Ti}}=1$ S _Oi＝S _Ti

$\underset{i=1}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Gi}}=1$ $\underset{i=1}{\overset{2P}{\mathrm{\Σ}}}{S}_{\mathrm{Ri}}=1$

S _Qi+B _Qi≤1?S _Ti+B _Ti≤1?S _Oi+B _Oi≤1?S _Gi+B _Gi≤1?S _Ri+B _Ri≤1

$\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T(2j-1)}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=1}{\overset{\left[\frac{N}{2}\right]+1}{\mathrm{\Σ}}}{S}_{T\left(2j\right)}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

$\underset{j=1}{\overset{\left[\frac{P+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=1}{\overset{\left[\frac{M+1}{2}\right]}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$ $\underset{j=\left[\frac{P+1}{2}\right]}{\overset{P}{\mathrm{\Σ}}}{S}_{\mathrm{Bj}}=\underset{i=\left[\frac{M+1}{2}\right]}{\overset{M}{\mathrm{\Σ}}}{S}_{\mathrm{Qi}}$

S _G(2j-1)+S _G(2j)≤S _Bj?S _R(2j-1)+S _R(2j)≤S _Bj

The implication of each symbol is following in the model:

M--bank bridge number; N--low bridge track number; P--case district number;

T _Q--the bank bridge single job time;

T _O--vertical lifting operating time of companion ladder;

T _TM1ij--the shifting time of low bridge small rail car j onshore bridge i;

T _TM2ij--the low bridge small rail car is by the bank bridge i shifting time of small rail car j earthward;

T _OMij--companion ladder i is the shifting time of small rail car j earthward;

T _GM1ij--ground rail dolly j is to the shifting time of low bridge small rail car i;

T _GM2ij--the ground rail dolly is by the shifting time of low bridge small rail car i to j room, case district;

T _RMij--RMG i is to the shifting time in j room, case district;

X _Qi--bank bridge i level attitude coordinate;

X _Tj--low bridge small rail car j level attitude coordinate;

Y _Tj--low bridge small rail car j upright position coordinate;

X _Oi--companion ladder i level attitude coordinate;

X _Gj--ground rail dolly j level attitude coordinate;

Y _Gj--ground rail dolly j upright position coordinate;

Y _Ri--RMG j upright position coordinate;

Y _Bi--upright position, i room, case district coordinate;

V _TE--the unloaded moving velocity of low bridge small rail car;

V _TF--the low bridge small rail car is fully loaded with moving velocity;

V _O--companion ladder parallel motion speed;

V _GE--the unloaded moving velocity of ground rail dolly;

V _GF--the ground rail dolly is fully loaded with moving velocity;

V _RE--the unloaded moving velocity of RMG;

2) bring selected equipment combination into, calculate the combination of time minimum value T1 and corresponding equipment.

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