【目的】通过对成对自动堆垛起重机在堆场调度问题的研究,为自动化集装箱码头中的运输问题的解决提供理论依据。【方法】针对成对自动堆垛起重机,建立了以最小化外集卡和船舶延时为目标函数的不对称的多旅行商模型,引入了接力、缓冲、干扰等关键约束,并利用并行实时调度策略对多组情景进行案例研究分析。【结果】模型设立了多个缓冲区以及使用接力作业,结果表明这些对减少外集卡和自动引导小车的等待时间,从而提高作业效率有着重要作用。【结论】设主缓冲区以及接力区可以减少作业延时,并且在海侧作业量较多时,增加缓冲区的容量可以更有效地增加作业效率。 【Objective】 By studying the problem of paired automatic stacking cranes in yard scheduling, this paper provides a theoretical basis for solving the transportation problems in automated container terminals. 【Method】 Aiming at paired automatic stacking cranes, an asymmetric multi-traveling salesman model with objective function of minimizing exterior card and ship delays was established. The key constraints such as relay, buffer and interference were introduced and the parallel real-time Scheduling Strategy Case study and analysis of multiple scenarios. 【Result】 The model established multiple buffers and used relay operation, the results show that these have an important role in reducing the waiting time of external card and automatic guided car, thus improving the work efficiency. 【Conclusion】 Supposing that the main buffer zone and the relay zone can reduce the operation delay, and increasing the workload on the sea side, increasing the capacity of the buffer zone can increase the working efficiency more effectively.