AGV intelligent scheduling method for automatic container terminal

Abstract

The invention discloses an AGV intelligent scheduling method for an automatic container wharf. The method comprises the following steps of constructing an AGV scheduling model by taking a bay and a box area as nodes and taking the distance between the box area and the bay with a scheduling task relationship as an edge, and solving an AGV optimal path by adopting a genetic algorithm by taking the minimum value of the constructed AGV scheduling model as an objective function. Under the condition that the number of AGVs is limited, a path optimization model capable of increasing AGV utilization rate as much as possible is given. AGV path planning can be carried out according to the operation state and the expected operation time of the AGVs based on the model, AGV path optimization with the shortest invalid operation time is achieved, and idle driving and waiting time of the AGVs can be more effectively shortened. AGV paths are calculated in a real-time manner and optimized by adopting agenetic algorithm according to the transition of positions and time of containers of the loading and unloading ship, good global calculation performance is achieved, and the calculation process can beeffectively prevented from being converged to a local optimal solution.

Description

technical field [0001] The invention belongs to the technical field of automated container terminals, and in particular relates to an intelligent scheduling method for AGVs in automated container terminals. Background technique [0002] The horizontal transportation of container terminals is mostly based on trucks. In the route planning process of truck fleets, distance is a very important parameter. In order to reduce the fuel consumption of trucks and increase the workload of trucks at the same fuel cost, the route planning , giving priority to the path with the shortest length. In order to ensure the shortest travel path of the collection truck, it will inevitably cause the collection truck to wait for the quay crane or the rail crane. [0003] In the automated container terminal, AGV (Automatic Guided Vehicle) is the main horizontal transportation. AGV uses electric drive, opportunistic charging, and no battery life limit. In its path planning, it does not need to consi...

AI Technical Summary

Problems solved by technology

[0004] In the current research stage of the AGV horizontal transportation system of the automated terminal, the greedy algorithm is mainly used to calculate the optimal solution of the path, but the algorithm has the problem of falling into the local optimal solution. When the number of AGVs is small, the calculation results are more accurate, but as the number of AGVs The more the number of AGVs increases, the more obvious the disadvantages of the algorithm for global scheduling will be. Some AGV paths will be excellent while other AGV paths will increase significantly. With the expansion of the terminal scale, the number of AGVs will need dozens or even hundreds. Based on the greedy algorithm The path planning method can no longer meet the requirements

Images