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Planning method for AGV reentry and reexit path of automatic container wharf with quay crane buffer area

A buffer and container technology, which is applied in the field of re-entry and re-exit path planning of AGVs in automated container terminals, can solve problems such as waste of time and resources and impact on transportation links.

Active Publication Date: 2020-12-08
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Facing the increasingly large throughput, the single-lading and single-collection operation mode will cause waste of time and resources, which will affect the entire transportation link of quay crane-horizontal transport area-yard bridge

Method used

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  • Planning method for AGV reentry and reexit path of automatic container wharf with quay crane buffer area
  • Planning method for AGV reentry and reexit path of automatic container wharf with quay crane buffer area
  • Planning method for AGV reentry and reexit path of automatic container wharf with quay crane buffer area

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] Such as figure 1 As shown, this embodiment 1 proposes a re-entry and re-exit path planning method for an automated container terminal AGV with a quay bridge buffer zone, which is a path optimization method for re-entry and re-exit of multiple AGVs on a single cargo ship.

[0114] At the container terminal, the task of the AGV is to carry the container from the side of the quay crane to the yard area, unload the container and return to the quay bridge, or drive from the quay bridge to the yard, load the container and carry it back to the quay bridge.

[0115]The re-entry and re-exit mode proposed in Example 1 means that the AGV reloads the container immediately after each unloading is completed, so as to realize the two-way container transportation between the quay crane and the yard, such as figure 2 shown.

[0116] The goal of the path optimization method in this embodiment is to complete all the container transportation work in the shortest distance by re-entry and ...

Embodiment 2

[0236] Such as Figure 5 As shown, the present embodiment 2 also describes a re-entry and re-exit path planning method for an automated container terminal AGV with a quay bridge buffer zone, the method includes the following steps:

[0237] I. Establish a shore bridge buffer zone, which includes a packing buffer zone and an unloading buffer zone.

[0238] II. Construct the AGV re-entry and re-exit scheduling model of the automated container terminal with the buffer zone of the quay crane.

[0239] III. Generate the initial solution. In the process of generating the initial solution, filter the same task points to reduce the size of the solution space searched by the hybrid particle swarm optimization algorithm to optimize the hybrid particle swarm optimization algorithm.

[0240] IV. Using the hybrid particle swarm optimization algorithm to solve the re-entry and re-exit scheduling model of the automated container terminal AGV.

[0241] It should be noted that the process of...

Embodiment 3

[0270] Such as Figure 6 As shown, the present embodiment 3 also describes a re-entry and re-exit path planning method for an automated container terminal AGV with a quay bridge buffer zone. The method includes the following steps:

[0271] I. Establish quayside crane buffer zone, including packing buffer zone and unloading buffer zone.

[0272] II. Construct the AGV re-entry and re-exit scheduling model of the automated container terminal with the buffer zone of the quay crane.

[0273] III. Generate the initial solution. In the process of generating the initial solution, the simulated annealing algorithm is optimized by screening the same task points to reduce the size of the solution space searched by the simulated annealing algorithm.

[0274] IV. Using the simulated annealing algorithm to solve the automatic container terminal AGV re-entry and re-exit scheduling model.

[0275] It should be noted that the process of steps I-III in this embodiment 3 is exactly the same a...

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Abstract

The invention discloses a planning method for an AGV reentry and reexit path of an automatic container wharf with a quay crane buffer area. According to the method, the quay crane buffer area is addedto achieve low coupling between quay crane container loading and unloading work and AGV transportation, and the constraint relation between the quay crane container loading and unloading work and AGVtransportation is eliminated; due to the fact that the quay crane buffer area is added, the sequence of loading and unloading of all containers in a port does not need to be considered, and then a sea side AGV reentry and reexit model is constructed; the reentry and reexit AGV scheduling mode provides two-way container carrying of a quay crane and a storage yard, so the AGV no-load phenomenon inthe container carrying process is effectively reduced, and the working efficiency of the AGV is improved. In addition, the problem model can be well solved by using related algorithms. According to the experimental result, for a series of known tasks, the method can effectively solve the scheduling process meeting the reentry and reexit requirements, transportation work of all containers can be conveniently completed within the shortest time, and therefore the efficiency of the wharf transportation link is improved.

Description

technical field [0001] The invention relates to a re-entry and re-exit path planning method for an automated container terminal AGV with a quay bridge buffer zone. Background technique [0002] In the field of automated container terminals, AGV (Automatic Guided Vehicle) is responsible for the container transportation between the ship loading and unloading area and the yard area, and plays a key role in the realization of terminal automation. [0003] Usually, the work of transporting containers from the berthing area to the storage yard is as follows: the AGV trolley loads the container in the loading and unloading area of ​​the quay bridge, transports it to the exchange area of ​​the storage yard through the planned route, and loads and unloads the container to the storage yard by the gantry crane. [0004] Correspondingly, transporting containers from the yard to the ship is a reverse process: the AGV trolley loads the container in the exchange area of ​​the yard, transpo...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G06Q10/08G06N3/12B65G67/60
CPCG06Q10/047G06Q10/083G06N3/126B65G67/603
Inventor 亓亮徐艺翔张福新马慧娟栾文静
Owner SHANDONG UNIV OF SCI & TECH
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