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A re-entry and re-exit path planning method for an automated container terminal AGV with a buffer zone for quay cranes

A buffer zone and container technology, applied in the field of AGV re-entry and re-exit path planning in automated container terminals, can solve problems such as waste of time resources, impact on transportation links, etc., and achieve the effects of improving efficiency, improving work efficiency, and eliminating constraints

Active Publication Date: 2022-03-11
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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  • A re-entry and re-exit path planning method for an automated container terminal AGV with a buffer zone for quay cranes
  • A re-entry and re-exit path planning method for an automated container terminal AGV with a buffer zone for quay cranes
  • A re-entry and re-exit path planning method for an automated container terminal AGV with a buffer zone for quay cranes

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] Such as figure 1 As shown, the first embodiment proposes an automated container terminal AGV with a shore bridge buffer, which is a path optimization method for re-re-re-re-reforming a single cargo vessel.

[0114] In the container terminal, the AGV task is to carry containers to the yard side from the shore bridge, uninstall the container back to the shore bridge, or carry the container carrier back the shore bridge after driving from the shore bridge.

[0115]The re-retransmission mode proposed in this Example 1 refers to the addition of the container after the AGV is completed, and the two-way container carrying between the shore bridge and the yard, such as figure 2 Indicated.

[0116] The goal of the path optimization method of this embodiment is to complete all container transportation in the shortest distance, and the total distance of all AGV trains is shorter.

[0117] In this Example 1, by increasing the shore bridge buffer, facilitating the low coupling between t...

Embodiment 2

[0236] Such as Figure 5 As shown, the second embodiment also describes an automated container terminal AGV in-strait bridge buffer, which includes the following steps:

[0237] I. Create a shore bridge buffer that includes a box buffer and a unloading buffer.

[0238] II. Constructing an automated container terminal AGV with a shore bridge buffer Terminal AGV re-retransmission scheduling model.

[0239] III. Generate the initial solution, by screening the same task point in the process of generating the initial solution to reduce the mixed particle group algorithm to reduce the spatical space scale search for the mixed particle group algorithm.

[0240] IV. Solution of the automated container terminal AGV in the automated container terminal by mixed particle group algorithm.

[0241] It should be noted that the process of step I-III in this Example 2 is exactly the same as that of the first embodiment, and the present embodiment is no longer disclosed, and the solution process of ...

Embodiment 3

[0270] Such as Image 6 As shown, the third embodiment also describes an automated container terminal AGV re-feed returning path planning method with a shore bridge buffer, which includes the following steps:

[0271] I. Create a shore bridge buffer, including packing buffers, and unloading buffers.

[0272] II. Constructing an automated container terminal AGV with a shore bridge buffer Terminal AGV re-retransmission scheduling model.

[0273] Iii. To generate the same task point in the process of generating initial solutions to reduce the simulated annealing algorithm to reduce the solution space scale search for an annealing algorithm.

[0274] IV. Solving the Automated Container Terminal AGV Reburses the Solution of Automated Container Terminal.

[0275] It should be noted that the process of step I-III in the present embodiment is exactly the same as that of the first embodiment, and the present embodiment is no longer disclosed, and the solution process of the annealing algori...

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Abstract

The invention discloses a re-entry and re-exit path planning method for an automated container wharf AGV with a quay bridge buffer zone. The method increases the buffer zone of the quay crane to realize the low coupling between the loading and unloading work of the quay crane and the AGV transportation, and eliminates the restriction relationship between the two. Due to the increase of the buffer zone of the quay crane, the method of the present invention does not need to consider each The order of each container during loading and unloading, and then build a sea-side AGV re-entry and re-exit model. The re-entry and re-exit AGV scheduling mode provides two-way container transportation between the quay bridge and the yard, effectively reducing the AGV empty load during the container transportation process. Phenomenon, improve the work efficiency of AGV. In addition, the present invention can better solve the problem model by using related algorithms. According to the experimental results, for a series of known tasks, the method of the present invention can effectively solve the scheduling process that satisfies re-entry and re-exit, so as to facilitate the completion of the transportation of all containers in the shortest time, thereby improving the efficiency of the terminal transportation link.

Description

Technical field [0001] The present invention relates to a container terminal with a quay crane buffer AGV one kind of heavy weight into a path planning method. Background technique [0002] In the field of automated container terminal, AGV (Automatic Guided Vehicle) Automatic Guided Vehicle responsible for container transport between the work area and the ship loading and unloading yard area, play a key role in achieving the pier automation. [0003] Typically the container transport ship from the docking area to the yard work: AGV loading trolley quayside container loading area to transport to the yard exchange zone through the planned path from the yard container handling gantry cranes. [0004] Accordingly, the container vessel is transported from the yard to a reverse process: AGV trolley loaded in a container yard exchange zone, transported to the quay crane loading area through the planned path, a scheduling policy adopted by a crane mounted on a ship. [0005] The task of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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