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Path conflict resolution method for multiple automatic guided vehicles in automated container terminal

An automated guidance, vehicle routing technology for vehicle position/route/altitude control, motor vehicles, transportation, and packaging

Active Publication Date: 2019-11-08
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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  • Path conflict resolution method for multiple automatic guided vehicles in automated container terminal
  • Path conflict resolution method for multiple automatic guided vehicles in automated container terminal
  • Path conflict resolution method for multiple automatic guided vehicles in automated container terminal

Examples

Experimental program
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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 a path conflict resolution method for multiple automatic guided vehicles in an automated container terminal, which includes: setting the path characteristics of the automatic guided vehicle path; A limited number of points are taken from the trajectory, and the feature direction is the direction of the feature points; the path of the automatic guided vehicle is dynamically divided, and the feature point set of the path is divided into four subsets according to the driving sequence: the passed point subset, the occupied point subset , Apply for a subset of points and a subset of detection points; detect feature point conflicts based on the direction bounding box method; predict path conflicts, and adjust part of the path to avoid path conflicts when path conflicts may occur; when a new automatic guided vehicle path is generated, for Execute steps 1 and 2 for the newly generated route; repeat steps 3 to 5 according to the determined time interval, until all the automatic guided vehicles arrive at the destination and end driving.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0287G05D1/0289G05D2201/0216
Inventor 王小进郎昱边志成
Owner SHANGHAI ZPMC ELECTRIC
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