AGV (Automatic Guided Vehicle) flow space-time interference detection and avoidance method in time-varying environment

Abstract

The invention discloses an AGV (Automatic Guided Vehicle) flow space-time interference detection and avoidance method in a time-varying environment. The method comprises the following steps: researching time-varying uncertain factors and dynamic performance of an AGV time-varying moving trajectory under a conduction effect thereof; performing dynamic analysis on a terminal traffic net AGV flow byusing a Markov chain; analyzing the space-time occupancy characteristics of the AGV flow and the AGV moving trajectory path from space dimension, time dimension and business dimension; analyzing a dynamic interaction relationship between AGV space-time interference objects; researching space-time interference uncertainty and randomness; and performing dynamic detection and avoidance on the AGV space-time interference. The method disclosed by the invention has the advantages that the operating task lag problem brought by AGV space-time interference while running is solved, the operating continuity is ensured, operating wait of a gantry crane or a rail-mounted gantry crane is reduced and avoided, and reference and support can be provided for AGV path planning and transport optimization, so that the operating cost of the whole automated container terminal is reduced, and the loading and unloading efficiency and safety of the container terminal are improved.

Description

technical field [0001] The invention relates to a method for detecting and avoiding spatio-temporal interference of an AGV flow in a time-varying environment. Background technique [0002] Automated Guided Vehicle (AGV) is the mainstream horizontal transportation tool in automated terminals at present, and it undertakes container handling operations between the quay crane and the storage yard and between the storage yard and the storage yard. Different from traditional terminals (the bottleneck of the operating system is the quay bridge and field bridge), the automated terminal is affected by factors such as the improvement of the loading and unloading capacity of the quayside crane and field bridge, the scale of operation, the horizontal transportation distance, and the number of AGVs operating in parallel. AGV horizontal transportation is positive It becomes a new bottleneck of the automated terminal operation system and determines the overall loading and unloading efficie...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a method for detecting and avoiding spatio-temporal interference of AGV flow in a time-varying environment, which solves the problem of task lag caused by the spatio-temporal interference of the running AGV, ensures the continuation of the operation, and reduces and avoids the operation waiting of the quay bridge and the rail crane , to provide reference and support for AGV path planning and transportation optimization, so as to reduce the operating cost of the entire automated container terminal and improve the loading and unloading efficiency and safety of the terminal

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