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A Loading and Unloading Equipment Scheduling Method Considering AGV Collision Avoidance

A collision avoidance, loading and unloading equipment technology, applied in the direction of transportation and packaging, control/adjustment system, two-dimensional position/channel control, etc.

Active Publication Date: 2020-05-29
SHANGHAI MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 scheduling method for loading and unloading equipment considering AGV collision avoidance, so as to realize collision-free scheduling of wharf quay bridges, AGVs and field bridges

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  • A Loading and Unloading Equipment Scheduling Method Considering AGV Collision Avoidance
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  • A Loading and Unloading Equipment Scheduling Method Considering AGV Collision Avoidance

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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 present invention proposes a loading and unloading equipment scheduling method that considers AGV collision avoidance. By establishing a dynamic model of container terminal loading and unloading equipment and two types of collision avoidance models; treating the discrete event dynamics of the equipment as a hybrid flow shop scheduling problem, and then using the overall graph sequence method to schedule all container tasks in the hybrid flow shop; Finally, when considering two types of collision avoidance, according to the introduction of the hierarchical control structure, the status monitoring controller sends each operation time window generated to the stage controller, and the stage controller assigns each operation time window to a specific device. The operation time of AGV is updated according to the minimum time control problem to achieve collision-free scheduling of all tasks of AGV. This scheduling method that simultaneously considers AGV collision avoidance and loading and unloading equipment can meet the optimization needs of large-scale automated container terminal scheduling and management problems.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 王洋洋朱瑾魏亚茹
Owner SHANGHAI MARITIME UNIVERSITY
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