CN107313316A - A kind of AGV paths implementation method - Google Patents
A kind of AGV paths implementation method Download PDFInfo
- Publication number
- CN107313316A CN107313316A CN201710653675.XA CN201710653675A CN107313316A CN 107313316 A CN107313316 A CN 107313316A CN 201710653675 A CN201710653675 A CN 201710653675A CN 107313316 A CN107313316 A CN 107313316A
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- track
- cycle operation
- bank bridge
- area
- handling
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
- E01C1/002—Design or lay-out of roads, e.g. street systems, cross-sections ; Design for noise abatement, e.g. sunken road
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention provides a kind of AGV paths implementation method, traffic zone is divided into traveling area and loading place, the track in the traveling area and the track of the loading place are one-way road；The track in the traveling area includes going to the track of bank bridge, goes to stockyard and be back to the track of maintenance area, wherein going to stockyard and to be back to the track of maintenance area opposite with the track direction for going to bank bridge；The loading place includes handling track and passes through track, and track is passed through in a side in any handling track to be described, and another side is another handling track being disposed adjacent.The inventive method substantially reduces the complexity of AGV road networks so that the haulage vehicle AGV in turnover stockyard is not easy collision, congestion and obstruction occur, so as to improve operating efficiency by being provided with going out trade, returning trade, work road, pass through for single file.
Description
Technical field
The present invention relates to AGV (Automated Guided Vehicle, automatical pilot transportation vehicle) path implementation method, fit
For places such as stockyard, harbours.
Background technology
Traditional traffic jam is primarily due to stockyard intersection road conditions complexity, traffic flow and concentrated.
Stockyard is the place for depositing container, is responsible for importing and exporting the handing-over and keeping of container.Imported and exported as container
The buffer strip of link, stockyard ensure that the continuity and high efficiency of container handling operation.According to current domestic container code
Head operating type, after certain incoming vessel rests in berth, disc despatch is unloaded in order to shorten, unused bank bridge by track all
Move together, only need to ensure to leave certain safe distance between bank bridge.Although so improving the efficiency of loading and unloading,
When bank bridge quantity increase to a certain extent after, the average efficiency of loading and unloading of bank bridge does not improve significantly, on the contrary than unit make
Industry efficiency has declined, and this is primarily due to excessive dolly, and movement occurs in that jam situation between stockyard ahead of the curve.According to right
The actual investigational data of certain domestic container terminal shows, when using 6 with debark bridge one ship of operation simultaneously when, ship is made
Industry efficiency when only using 4 compared with do not improve significantly.
Stockyard is area maximum, the region of container logisticses concentration in container terminal, and the complexity of road network to pass in and out heap
Easily there is collision, congestion and obstruction in haulage vehicle AGV in.This is all directly connected to the operating efficiency of bank bridge, easily goes out
Existing bank bridge waits AGV phenomenon, and then influences the overall operation efficiency of harbour.Although the arrangement form in case area, road width, heap
The traffic that production plan can be all had influence on inside stockyard, but some in these factors when harbour is initially built
Decide, it is impossible to change easily.Thus stockyard AGV traffic control into whole harbour traffic control emphasis.
Stockyard intersection is the wagon flow steering of different directions, the place for intersecting and converging, and easily occurs crowded, collision, order
Sequence is chaotic.Based on safety and operating efficiency problem, suitable traffic control must be carried out to it.Intersection in stockyard is unlike general
Have on accessible by road provided with traffic lights, belong to unsignalized intersection.The quality of unsignalized intersection running situation, may influence whole
The operation of individual road grid traffic system.Similar to traffic counting situation at the parting of the ways, stockyard intersection wagon flow primary cross,
Three kinds of fundamemtal phenomenas of shunting and interflow.The conflict formed when the wagon flow of different directions intersects mainly has intersection conflict
Horizontal cross and square crossing；The conflict that the wagon flow in one direction is formed when the wagon flow of two different directions is punished into separation
It is shunting conflict；The wagon flow of different directions is dissolved into meet and together form interflow conflict, and basic condition such as Fig. 1 is represented.
The particular problem of stockyard intersection collision can mainly be described as following three kinds：
1) on equidirectional, because collision caused by AGV speed different (unloaded and heavy duties) may；
2) in a certain track in stockyard, a certain AGV found in traveling before there is an AGV serving a bridge operation；
3) there are many AGV at certain moment while reaching intersection.
The content of the invention
The technical problem to be solved in the present invention, is to provide a kind of AGV paths implementation method, by being provided with going out for single file
Trade, return trade, work road, pass through, substantially reducing the complexity of AGV road networks so that the haulage vehicle in turnover stockyard
AGV is not easy collision, congestion and obstruction occur, so as to improve operating efficiency.
What the present invention was realized in：A kind of AGV paths implementation method, traveling area and handling are divided into by traffic zone
Area, the track in the traveling area and the track of the loading place are one-way road；
The track in the traveling area includes going to the track of bank bridge, goes to stockyard and be back to the track of maintenance area, wherein
Go to stockyard and to be back to the track of maintenance area opposite with the track direction for going to bank bridge；
The loading place includes handling track and passes through track, and car is passed through in a side in any handling track to be described
Road, another side is another handling track being disposed adjacent.
In addition, present invention additionally comprises cycle operation area, for current between bank bridge and stockyard；
The cycle operation area is made up of several cycle operation lines, and each cycle operation line includes the car by going to bank bridge
The remittance section in road connection handling track, by loading and unloading the remittance abroad section that the track of bank bridge is gone in track connection, the remittance section and remittance abroad
One end of section is closed to the handling track setting of bank bridge, and the other end is closed to described go to stockyard and be back to the car of maintenance area
Road.
Cycle operation area generting machanism is：Locate to set centered on bank bridge group；The bank bridge group refers to as same ship
All bank bridges of oceangoing ship operation.With the movement of bank bridge group, the cycle operation area also follows bank bridge to move together.
A cycle operation line is used alone in each handling track close to handling district center；Close to the 2- of handling area edge
3 handling tracks share a cycle operation line.
The process in cycle operation area is described in vehicle remittance remittance abroad：
(1) vehicle is entered the remittance of the corresponding cycle operation line in the cycle operation area by a track for going to bank bridge
Section；
(2) vehicle enters corresponding handling track by correspondence cycle operation line, and the handling track setting for reaching bank bridge enters
Luggage is unloaded；
(3) after vehicle completed loading, entered by the corresponding handling track by the remittance abroad section of correspondence cycle operation line and gone
Toward the track in stockyard, if now meeting other vehicles, go to stockyard via the track of passing through for the track side for going to stockyard or return
It is back to maintenance area.
The invention has the advantages that：By being provided with going out trade, returning trade, work road, pass through, significantly for single file
Reduce the complexity of AGV road networks so that the haulage vehicle AGV in turnover stockyard is not easy collision, congestion and obstruction occur, so that
Improve operating efficiency；The present invention also utilizes the create-rule in cycle operation area in addition, and every vehicle line is strictly distinguished,
Ensure that the vehicle flowrate of each circuit is balanced, further the frequency of interaction of reduction vehicle, so that it is crowded, clogging to reduce vehicle
Occur.
Brief description of the drawings
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the situation that existing stockyard intersection vehicles collide.
Fig. 2 is the schematic diagram of AGV of the present invention driving path.
Fig. 3 travels the structural representation of the specific embodiment of area one for the present invention.
Fig. 4 is the structural representation of the specific embodiment of loading place one of the present invention.
Fig. 5 is the structural representation of the specific embodiment of cycle operation area one of the present invention.
Fig. 6 is the structural representation of cycle operation area of the present invention another specific embodiment.
Fig. 7 generates the structural representation of example for the work route in cycle operation area of the present invention.
Embodiment
The inventive method is that whole harbour is automated into the traffic zone that regional processing is controlled into a no signal lamp, is passed through
The travel direction of vehicle is limited the classifying rationally of traffic zone, the no signal lamp commander of vehicle is realized.As shown in Figure 2, AGV
Travel route can be subdivided into 3 stage of route.By taking AGV ship-discharging operations as an example, AVG unloading route can be divided into：AGV is arrived
An Qiao, bank bridge to stockyard and stockyard to maintenance area, and each stage AGV travel routes by traffic rules control.
The AGV paths implementation method of the present invention, traveling area and loading place, the car in the traveling area are divided into by traffic zone
The track of road and the loading place is one-way road；
The track in the traveling area includes going to the track of bank bridge, goes to stockyard and be back to the track of maintenance area, wherein
Go to stockyard and to be back to the track of maintenance area opposite with the track direction for going to bank bridge；
The loading place includes handling track and passes through track, and car is passed through in a side in any handling track to be described
Road, another side is another handling track being disposed adjacent.
In addition, present invention additionally comprises cycle operation area, for current between bank bridge and stockyard；
The cycle operation area is made up of several cycle operation lines, and each cycle operation line includes the car by going to bank bridge
The remittance section in road connection handling track, by loading and unloading the remittance abroad section that the track of bank bridge is gone in track connection, the remittance section and remittance abroad
One end of section is closed to the handling track setting of bank bridge, and the other end is closed to described go to stockyard and be back to the car of maintenance area
Road.
Cycle operation area generting machanism is：Locate to set centered on bank bridge group；The bank bridge group refers to as same ship
All bank bridges of oceangoing ship operation.With the movement of bank bridge group, the cycle operation area also follows bank bridge to move together.
A cycle operation line is used alone in each handling track close to handling district center；Close to the 2- of handling area edge
3 handling tracks share a cycle operation line.
The process in cycle operation area is described in vehicle remittance remittance abroad：
(1) vehicle is entered the remittance of the corresponding cycle operation line in the cycle operation area by a track for going to bank bridge
Section；
(2) vehicle enters corresponding handling track by correspondence cycle operation line, and the handling track setting for reaching bank bridge enters
Luggage is unloaded；
(3) after vehicle completed loading, entered by the corresponding handling track by the remittance abroad section of correspondence cycle operation line and gone
Toward the track in stockyard, if now meeting other vehicles, go to stockyard via the track of passing through for the track side for going to stockyard or return
It is back to maintenance area.
As shown in Fig. 3 to Fig. 7, in order to which the present invention is better described, below by taking automatic dock as an example：
Such as the area distribution schematic diagram that Fig. 3 to Fig. 7 is an automatic dock in a specific embodiment of the invention, it includes 6
The track of bar traveling and the track of 7 loading places.
As Fig. 3 shows, by the inventive method, it travels area and goes to the direction in bank bridge and stockyard by 6 traveling lanes according to AGV
Sorted out, wherein ①②③ roads AGV travel directions are unidirectionally turned left, thus three road cars enter An Qiao operation areas to AGV；④⑤⑥
Road AGV travel directions are unidirectionally turned right, and thus three tracks enter storage yard operation area or are back to maintenance area AGV.
As shown in figure 4, AGV loading place driveway travel directions be it is unidirectional to the left.Because considering that same ship may
There are many bank bridges to be serviced for it, in order to avoid previous bank bridge operation track occupies latter service bank bridge AGV current car
Road, therefore by the inventive method, by loading place lane design is handling track and passes through track.Wherein 1. 4. 7. it is to pass through car
6. 5. 3. road, be 2. handling track.When AGV goes to 6. track operation, discovery can be led to by other AGV road occupyings, now AGV
Cross 7. track walk to 6. track, then converge into the 6. track job position；Similarly AGV can pass through the 4. car
Road is walked to the 5. track and the 3. track, AGV can by 1. track walk to the 2. track.
As shown in figure 5, according to the present invention, the traffic rules in the current use cycle operation area between bank bridge and stockyard, root
According to the track one-way trip characteristic in traveling area and loading place, it can be followed in one cycle operation area of place's design centered on bank bridge
Ring operation area is constituted by several cycle operation lines and (is depended on traveling area's dextrad one way road number), each cycle operation line closure
In the handling track setting of bank bridge.With the movement of bank bridge, also follower's bank bridge is moved together in cycle operation area.
As shown in fig. 6, the cycle operation area generating principle of the harbour：It is 4 in view of handling track, travels area's dextrad list
Runway is 3, therefore 2. 3. handling track shares one bar of cycle operation line 1 by the, and 5. the load and unload track Special circulation production line
2,6. the load and unload track Special circulation production line 3, take by the 2. 3. handling track shares one bar of cycle operation line the reason for be
Because production line 1 is in the outer most edge in cycle operation area, the big road conditions to inner side cycle operation line of this circuit vehicle flowrate are disturbed
It is smaller.
If as shown in fig. 7, when many bank bridges are same shipping work, these bank bridges can be processed as to a list
Position, forms cycle operation area one big, that is, place is set centered on bank bridge group, and the bank bridge group refers to as same ship
All bank bridges of operation.
Although the foregoing describing the embodiment of the present invention, those familiar with the art should manage
Solution, the specific embodiment described by us is merely exemplary, rather than for the restriction to the scope of the present invention, is familiar with this
The equivalent modification and change that the technical staff in field is made in the spirit according to the present invention, should all cover the present invention's
In scope of the claimed protection.
Claims (6)
1. a kind of AGV paths implementation method, it is characterised in that：Traffic zone is divided into traveling area and loading place, the traveling
The track of the track in area and the loading place is one-way road；
The track in the traveling area includes going to the track of bank bridge, goes to stockyard and be back to the track of maintenance area, wherein going to
Stockyard and to be back to the track of maintenance area opposite with the track direction for going to bank bridge；
The loading place includes handling track and passes through track, and track is passed through in a side in any handling track to be described,
Another side is another handling track being disposed adjacent.
2. a kind of AGV paths implementation method according to claim 1, it is characterised in that：Also include cycle operation area, be used for
It is current between bank bridge and stockyard；
The cycle operation area is made up of several cycle operation lines, and each cycle operation line includes being connected by the track for going to bank bridge
Tipping unload track remittance section, by load and unload track connection go to bank bridge track remittance abroad section, it is described import section and remittance abroad section
One end is closed to the handling track setting of bank bridge, and the other end is closed to described go to stockyard and be back to the track of maintenance area.
3. a kind of AGV paths implementation method according to claim 2, it is characterised in that：The cycle operation area generates machine
System is：Locate to set centered on bank bridge group；The bank bridge group refers to as all bank bridges of same shipping work.
4. a kind of AGV paths implementation method according to claim 3, it is characterised in that：It is described with the movement of bank bridge group
Cycle operation area also follows bank bridge to move together.
5. a kind of AGV paths implementation method according to claim 3, it is characterised in that：Close to each of handling district center
Load and unload track and a cycle operation line is used alone；The 2-3 handling track close to handling area edge shares a cycle operation
Line.
6. a kind of AGV paths implementation method according to claim 3, it is characterised in that：Vehicle is imported and circulated described in remittance abroad
The process of operation area is：
(1) vehicle is entered the remittance section of the corresponding cycle operation line in the cycle operation area by a track for going to bank bridge；
(2) vehicle enters corresponding handling track by correspondence cycle operation line, and the handling track setting for reaching bank bridge enters luggage
Unload；
(3) after vehicle completed loading, entered by the corresponding handling track by the remittance abroad section of correspondence cycle operation line and go to heap
Track, if now meeting other vehicles, go to stockyard via the track of passing through for the track side for going to stockyard or be back to
Maintenance area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653675.XA CN107313316A (en) | 2017-08-03 | 2017-08-03 | A kind of AGV paths implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653675.XA CN107313316A (en) | 2017-08-03 | 2017-08-03 | A kind of AGV paths implementation method |
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| Publication Number | Publication Date |
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| CN107313316A true CN107313316A (en) | 2017-11-03 |
Family
ID=60170010
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710653675.XA Pending CN107313316A (en) | 2017-08-03 | 2017-08-03 | A kind of AGV paths implementation method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108109435A (en) * | 2018-01-23 | 2018-06-01 | 唐山港集团股份有限公司 | A kind of road transition |
| CN108382870A (en) * | 2018-02-05 | 2018-08-10 | 青岛港国际股份有限公司 | AGV passes in and out the optimization method and system in operation track under gantry crane |
| CN109213163A (en) * | 2018-09-06 | 2019-01-15 | 青岛港国际股份有限公司 | AGV method for optimizing route and system in automatic dock QCTP operation |
| CN110009919A (en) * | 2019-03-30 | 2019-07-12 | 共享智能铸造产业创新中心有限公司 | It is mixed with automatic control system and its working method of the vehicle in intersection of AGV |
| CN110347156A (en) * | 2019-06-28 | 2019-10-18 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the method for optimizing route and system in operation lane under gantry crane |
| CN111815161A (en) * | 2020-07-07 | 2020-10-23 | 中船重工信息科技有限公司 | Traffic control rule application method of horizontal transportation scheduling system |
| CN114194872A (en) * | 2021-12-20 | 2022-03-18 | 中国海洋大学 | Automatic wharf shore bridge operation method based on double buffer models |
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| CN204569208U (en) * | 2015-02-13 | 2015-08-19 | 中交第三航务工程勘察设计院有限公司 | Full-automatic container depot double-deck overhead purlin, harbour car delivery system |
| CN206188034U (en) * | 2016-09-08 | 2017-05-24 | 程子谦 | Arrangement structure in full automated container pier place ahead operation area |
| CN106743014A (en) * | 2016-12-29 | 2017-05-31 | 云南卓沛科技有限公司 | The warehousing system and storage, warehouse-out method of loading small handcart are transported based on AGV |
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| JPH1030203A (en) * | 1996-07-18 | 1998-02-03 | Tokyu Car Corp | Passage device for traveling vehicle |
| CN204569208U (en) * | 2015-02-13 | 2015-08-19 | 中交第三航务工程勘察设计院有限公司 | Full-automatic container depot double-deck overhead purlin, harbour car delivery system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108109435A (en) * | 2018-01-23 | 2018-06-01 | 唐山港集团股份有限公司 | A kind of road transition |
| CN108382870A (en) * | 2018-02-05 | 2018-08-10 | 青岛港国际股份有限公司 | AGV passes in and out the optimization method and system in operation track under gantry crane |
| CN109213163A (en) * | 2018-09-06 | 2019-01-15 | 青岛港国际股份有限公司 | AGV method for optimizing route and system in automatic dock QCTP operation |
| CN110009919A (en) * | 2019-03-30 | 2019-07-12 | 共享智能铸造产业创新中心有限公司 | It is mixed with automatic control system and its working method of the vehicle in intersection of AGV |
| CN110009919B (en) * | 2019-03-30 | 2021-12-21 | 共享智能铸造产业创新中心有限公司 | Automatic control system for vehicle mixed with AGV at intersection and working method thereof |
| CN110347156A (en) * | 2019-06-28 | 2019-10-18 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the method for optimizing route and system in operation lane under gantry crane |
| CN110347156B (en) * | 2019-06-28 | 2022-07-19 | 青岛港国际股份有限公司 | Method and system for optimizing path of AGV entering and exiting from working lane under shore bridge |
| CN111815161A (en) * | 2020-07-07 | 2020-10-23 | 中船重工信息科技有限公司 | Traffic control rule application method of horizontal transportation scheduling system |
| CN114194872A (en) * | 2021-12-20 | 2022-03-18 | 中国海洋大学 | Automatic wharf shore bridge operation method based on double buffer models |
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