Digital twin-driven proactive-reactive scheduling framework for port multi-equipment under a complex uncertain environment

The pervasive uncertainties in multiple port equipment scheduling frequently result in container handling delays or ineffective plans. To address the complexities and uncertainties of port multiple equipment integrated scheduling problem, this paper introduces a Digital Twin-driven (DT-driven) proactive-reactive scheduling framework for the first time. This framework is designed to promptly respond to uncertainties in the scheduling process and provide a transparent visualization of operational information. It specifically tackles the integrated scheduling problem of port quay cranes, Intelligent Guided Vehicles (IGVs), and yard cranes, considering uncertainties such as fluctuations in operating time, equipment failures, and IGV route conflicts. By developing a virtual container port simulation, which features a U-shaped port layout and double-cycling mode drawn from real-world scenarios, the paper evaluates the proposed framework's effectiveness. The experimental results demonstrate that the digital twin framework method significantly improves efficiency and conserves energy. Additionally, in large-scale conditions, the makespan difference between the DT-driven approach and the non-DT-driven approach is as much as 19.56 %. In terms of energy consumption savings, the DT-driven approach's scheduling plan can save 3.67 % of energy consumption under large-scale conditions. Moreover, as the fluctuation index increases, the energy consumption savings become even more significant. This paper also discusses the potential implications of adopting this framework for port companies, highlighting its benefits in enhancing operational and energy efficiency and its incorporation into port management systems. The sensitivity analysis can offer guidance to port companies on optimal equipment allocation strategies.