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Automated container terminal with multi-automatically guided vehicle path conflict elimination method

A technology of automatic guidance and vehicle routing, applied in the direction of vehicle position/route/height control, motor vehicles, transportation and packaging

Active Publication Date: 2017-05-31
SHANGHAI ZPMC ELECTRIC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0018] The purpose of the present invention is to provide a method for resolving the problem of path conflicts of multiple automatic guided vehicles in an automated container terminal, so as to make up for the defects of the existing prevention methods

Method used

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  • Automated container terminal with multi-automatically guided vehicle path conflict elimination method
  • Automated container terminal with multi-automatically guided vehicle path conflict elimination method
  • Automated container terminal with multi-automatically guided vehicle path conflict elimination method

Examples

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Embodiment

[0158] Taking the process of two AGVs performing their respective transportation tasks as an example, the path conflict resolution method proposed by the present invention is described below, as Figure 11 to Figure 16 shown. The time points of each scene in the figure are after the dynamic division is completed and before the allowable length is updated. In the figure, A and B are used to mark the intersection of the path; a large dot is used to represent the feature point farthest from the starting point in the subset of occupied points, and R is used to mark I and R II To distinguish; the feature point farthest from the starting point in the application point subset is represented by a big diamond, and marked with C I and C II Make a distinction. The meanings of other symbols in the figure are the same as figure 1 in the same.

[0159] Figure 11 Among them, the path planning of No. I AGV has been completed, the starting point of the path is in lane 10, the end point...

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Abstract

The invention discloses an automated container terminal with multi-automatically guided vehicle path conflict elimination method. The method includes the following steps that: step 1, the path features of the paths of automatically guided vehicles are set; step 2, the paths of the automatically guided vehicles are discretized into feature points and feature directions, wherein the feature points are a limited number of points selected from path trajectories, and the feature directions are the directions of the feature points; step 3, the paths of automatically guided vehicles are dynamically divided, and the feature point set of the paths is divided into four subsets according to a driving sequence, namely, a passed point subset, an occupied point subset, an application point subset and a detection point subset; step 4, feature point conflicts are detected according to an oriented bounding box method; step 5, path conflicts are predicted, and when path conflicts possibly occur, a part of the paths are adjusted, so that the path conflicts can be avoided; step 6, when new automatically guided vehicle paths are generated, and the step 1 and the step 2 are executed for the new automatically guided vehicle paths; and step 7, the step 3 to the step 5 are executed repeatedly according to determined time intervals until the all the automatically guided vehicles arrive at end points and do not run.

Description

technical field [0001] The invention relates to a method for solving the path conflict problem of multiple automatic guided vehicles in an automated container wharf, and more specifically relates to a method for resolving the path conflict of multiple automatic guided vehicles in an automated container wharf. Background technique [0002] An automated container terminal is a container terminal that uses automated equipment. The container terminal is a place where containers are transferred between land and sea. Its equipment system consists of shore cranes (referred to as quay cranes, the same below), yard cranes (referred to as yard cranes, the same below) and horizontal transportation equipment: the quay cranes are mainly responsible for The container loading and unloading operations, the yard bridge is mainly responsible for the container loading and unloading operations in the terminal yard, and the horizontal transportation equipment is responsible for the horizontal tr...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0287G05D1/0289
Inventor 王小进郎昱边志成
Owner SHANGHAI ZPMC ELECTRIC
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