Handling equipment scheduling method considering AGV collision avoidance

A technology for collision avoidance, loading and unloading equipment, used in transportation and packaging, control/regulation systems, two-dimensional position/channel control, etc.

Active Publication Date: 2018-02-09
SHANGHAI MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the problem of collision-free scheduling of loading and unloading equipment in automated container terminals, the present invention proposes a schedu...

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  • Handling equipment scheduling method considering AGV collision avoidance
  • Handling equipment scheduling method considering AGV collision avoidance
  • Handling equipment scheduling method considering AGV collision avoidance

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Experimental program
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Embodiment Construction

[0104] Step 1: Establish a three-stage equipment model

[0105] In the present invention, multiple QCs, multiple AGVs and multiple ASCs in an automated container terminal are considered. The operation of the three types of equipment can be regarded as a three-stage mixed flow workshop. In a mixed flow workshop, each task performed has to go through several stages of processing. The same equipment at each stage can process part of a task in parallel. The processing sequence of each task is the same and the processing time of each stage of each task is fixed. In the three-stage flow workshop, a task is defined as a complete process of transporting a container from a ship to a designated location in the storage area.

[0106] (1) Phase 1: Multiple QC

[0107] (2) Phase 2: Multiple AGVs

[0108] (3) Stage 3: Multiple ASCs

[0109] All operations of the defined three-stage mixed flow workshop are such as figure 1 Shown. P i 1 Defined as the position of container i on the ship, P i 2 w...

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Abstract

The invention presents a handling equipment scheduling method considering AGV collision avoidance. A dynamic model of container terminal handling equipment and two types of collision avoidance modelsare built. The discrete event of the equipment is dynamically considered as a hybrid flow shop scheduling problem, and all container tasks in the hybrid flow shop are scheduled through an overall graphic order approach. Finally, under the condition of considering two kinds of collision avoidance cases, a state monitoring controller sends operation time windows to a phase controller according to ahierarchical control structure introduced, the phase controller assigns the operation time windows to specific equipment, and the operation time of AGVs is updated according to the minimum time control problem to realize collision-free scheduling of all the tasks of AGVs. The scheduling method considering both AGV collision avoidance and handling equipment can meet the optimization requirements ofscheduling and management of large automated container terminals.

Description

Technical field [0001] The invention relates to the field of automated container terminal transportation, in particular to the field of automated container terminal handling equipment scheduling, and in particular to a handling method of handling equipment considering AGV collision avoidance. Background technique [0002] The problem of container terminal AGV trajectory planning has received extensive attention from many researchers due to the close connection between equipment and the complexity of the environment. At present, the scheduling of container terminal loading and unloading equipment usually ignores the actual trajectory planning of the equipment. In addition, in the research of container terminals, it is generally assumed that the equipment is operating without interference, and such a scheduling plan does not include interference caused by collision avoidance. In addition, some scholars study the traditional three-stage mixed flow shop of automated container termin...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0216
Inventor 王洋洋朱瑾魏亚茹
Owner SHANGHAI MARITIME UNIVERSITY
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