Aiming at the problem of high energy consumption and labor cost caused by the unbalanced use of mechanical equipment such as ship unloaders and belt conveyors at bulk cargo terminals, considering the impact of ship unloaders and belt conveyors on the ship berthing plan, and on the basis of the studying equilibrium mechanism and modeling of the loading and unloading equipment at bulk cargo terminals, a mixed integer programming model was established to minimize the total service cost of ships and the total idle time of ship unloaders in the planning period. Models were solved by CPLEX, and as result, derived information such as the berthing position, berthing time, and operation duration of each ship in the example. The results show that under the goal of minimizing total cost, the indicators related to the total service cost of ships during the planning cycle have been optimized. When the total idle time of ship unloader for all ships during the planning cycle is consistent, the total service cost is reduced by 9.375% by minimizing the total service cost in the example. Compared with 4 h per unit time, the comprehensive resource utilization rate of ship unloaders with a unit time of 8 h decreased by 1.67%, which shows that the change of unit period length can cause the change of comprehensive resource utilization rate of loading and unloading equipment.