The key problem of operation optimization for automated container terminal is the coordinated scheduling of automated quay crane (QC), automated guided vehicle (AGV), and automated stacking crane (ASC). In order to solve this problem, this paper proposed a new method to optimize the scheduling of ASC and AGV. In the automated container terminal, each container block is equipped with twin ASCs. At the same time, buffer zones are set at both ends of the container block to achieve the decoupling operation among ASC, AGV, and container truck. Considering the buffer capacity constraint and twin ASC operation interference, and introducing the design of handshake area, this paper developed a collaborative scheduling model of AGV and ASC in automatic terminal relay operation mode. This model is designed based on the genetic algorithm. The model aims to minimize the AGV waiting time and the ASC running time. The results indicated that the introduction of handshake area can effectively reduce the ASC operation interference by 10.56% on average. Also, it can be found that increasing buffer capacity can reduce the waiting time of AGV by about 4.25% on average, and the effect of relay operation is more obvious in large-scale operation. It was proved that buffer zone and handshake area can reduce task delay time and improve coordination between AGV and ASC.

中文翻译：

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自动化集装箱码头接力工作模式下AGV与ASC的协同调度

自动集装箱码头的操作优化的关键问题是自动码头起重机（QC），自动导引车（AGV）和自动堆垛起重机（ASC）的协调调度。为了解决这个问题，本文提出了一种优化ASC和AGV调度的新方法。在自动集装箱码头，每个集装箱区都配备了两个ASC。同时，在集装箱模块的两端设置缓冲区，以实现ASC，AGV和集装箱卡车之间的去耦操作。考虑到缓冲区容量的约束和双ASC操作的干扰，并介绍了握手区域的设计，建立了AGV与ASC在自动终端中继操作模式下的协同调度模型。该模型是基于遗传算法设计的。该模型旨在最小化AGV等待时间和ASC运行时间。结果表明，握手区域的引入可以有效地减少ASC操作干扰，平均减少10.56％。此外，可以发现增加缓冲区容量可以平均减少AGV的等待时间约4.25％，并且在大规模操作中中继操作的效果更加明显。实践证明，缓冲区和握手区可以减少任务延迟时间，提高AGV与ASC之间的协调性。在大规模运行中，继电器运行的效果更加明显。实践证明，缓冲区和握手区可以减少任务延迟时间，提高AGV与ASC之间的协调性。在大规模运行中，继电器运行的效果更加明显。实践证明，缓冲区和握手区可以减少任务延迟时间，提高AGV与ASC之间的协调性。