Automatic terminal automated guided vehicle (AGV) container delivery path optimization method and system
An automated terminal and route optimization technology, applied in transportation, packaging, storage devices, etc., can solve the problems of large differences in the complexity of AGV delivery routes and low work efficiency.
Active Publication Date: 2019-02-15
QINGDAO PORT INT +1
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Problems solved by technology
[0006] This application provides a method and system for optimizing the delivery path of AGVs in automated terminals, which solves the technical problem of low work efficiency caused by the large difference in the complexity of the existing AGV delivery paths
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[0024] The specific implementation manners of the present application will be described in further detail below in conjunction with the accompanying drawings.
[0025] As described in the background technology, the existing AGV box delivery path is composed of three basic actions: straight travel, turning and oblique travel. Among them, the efficiency of straight travel is the highest, followed by oblique travel, and turning is the slowest. Based on this, this application is considering When optimizing the path, consider straight travel first, followed by oblique travel. When these two paths cannot achieve the expected purpose, consider other complex paths to optimize the AGV’s delivery path. In practical applications, consider the AGV buffer zone and The lanes in the sea-side interaction area are not in one-to-one correspondence, so it is an ideal state to go straight from the AGV buffer zone to the sea-side interaction area lane, but in fact it is mainly oblique.
[0026]The...
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The invention discloses an automatic terminal automated guided vehicle (AGV) container delivery path optimization method and system. The automatic terminal AGV container delivery path optimization method comprises the steps that S1, after ship unloading, whether a target storage yard is provided with available lanes or not is judged; if yes, S2, aiming at each available lane, the distance difference value between the available lanes and each buffer lane is calculated; S3, based on the current vehicle speed of an AGV, a buffer lane set where the AGV can directly enter by turning by 90 degrees is determined; and S4, in the buffer land set, the buffering lane with the smallest distance difference value from the available lane is selected as the target buffer lane, and the AGV is controlled tobe driven into the target buffer lane. The buffer lanes where the AGV is about to enter after being driven out of an interaction area with a shore bridge are planned and distributed, thus the container delivery path of the AGV traveling from the distributed buffer lane to the sea-side interaction area lanes of the target storage yard is limited maximally possibly within the mode range of going straight and going slantly, application of the complex path is reduced, thus the AGV container delivery time is shortened, and the working efficiency of the AGV is improved.
Description
technical field [0001] The invention belongs to the technical automation wharf field, in particular, relates to an automatic wharf AGV box delivery path optimization method and system. Background technique [0002] AGV (Automated Guided Vehicle, automatic guided transport vehicle) is equipped with automatic guidance devices such as electromagnetic or optical, so that it can drive along the prescribed guidance path. [0003] Such as figure 1 As shown, the existing architecture of the automated terminal includes: wharf quay 1, quay crane and AGV interaction area 2 (several lanes parallel to the wharf quay), AGV buffer zone 3 (several lanes perpendicular to the wharf quay), AGV high-speed operation area 4. Interaction area 5 on the sea side (several lanes perpendicular to the wharf wall) and storage yard; in the box delivery operation of the existing automated wharf, the AGV trolley drives into the AGV buffer zone 3 after receiving boxes from the quay bridge and the AGV intera...
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CPCB65G63/004
Inventor 许浩然李永翠徐永宁王罡吴艳丽李波荆嘉宝
Owner QINGDAO PORT INT