WO2020048138A1 - 自动化码头qctp作业中agv路径优化方法和*** - Google Patents

自动化码头qctp作业中agv路径优化方法和*** Download PDF

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Publication number
WO2020048138A1
WO2020048138A1 PCT/CN2019/083417 CN2019083417W WO2020048138A1 WO 2020048138 A1 WO2020048138 A1 WO 2020048138A1 CN 2019083417 W CN2019083417 W CN 2019083417W WO 2020048138 A1 WO2020048138 A1 WO 2020048138A1
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Prior art keywords
agv
lane
qctp
loading
interactive
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PCT/CN2019/083417
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English (en)
French (fr)
Inventor
王罡
杨杰敏
李永翠
王夕铭
吴艳丽
刘俊杰
陈强
耿卫宁
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青岛港国际股份有限公司
青岛新前湾集装箱码头有限责任公司
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Application filed by 青岛港国际股份有限公司, 青岛新前湾集装箱码头有限责任公司 filed Critical 青岛港国际股份有限公司
Priority to JP2020572905A priority Critical patent/JP7152530B2/ja
Publication of WO2020048138A1 publication Critical patent/WO2020048138A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria

Definitions

  • the invention belongs to the technical field of automated terminals, and in particular relates to a method and a system for optimizing AGV paths in QCTP operations of automated terminals.
  • the operation zone in front of the container terminal refers to the area between the front line of the yard and the front line of the terminal. Its function is to serve the loading and unloading operations of the dock's shore bridge and the operation of the container in and out of the yard. The key is to determine the operating efficiency of the terminal.
  • the AGV Automated Guided Vehicle, AGV
  • AGV Automated Guided Vehicle
  • the existing QCTP lane planning method found in the application that the operation volume of lane 6 is less than that of the other three lanes, and the idle time is the most among the four lanes 2/3/5/6. Especially in the case of less loading and unloading operations at the terminal, the idle state of lane 6 is particularly obvious, which caused a waste of resources to a certain extent and also indirectly affected the operating efficiency of AGV.
  • This application provides a method and system for optimizing AGV paths in QCTP operations of automated terminals. By optimizing the application of QCTP lanes, the technical effect of improving AGV operation efficiency is achieved.
  • This paper proposes an AGV path optimization method for the automated terminal QCTP operation to determine the busyness of the loading and unloading ships at the automated terminal.
  • the control lane of the QCTP lane is switched from the AGV interactive lane to AGV Passing lanes so that AGVs can pass on the set lanes.
  • the method further includes: when determining that the loading and unloading vessel is busy above a set condition, controlling and maintaining the set lane as an AGV interactive lane.
  • judging the busyness of the loading and unloading ships of the automated terminal is specifically: judging the frequency of the AGVs entering and leaving the QCTP lane.
  • the QCTP lanes are cyclically arranged in the form of an AGV traffic lane and two AGV interactive lanes starting from the direction of the dock shore wall and away from the dock shore wall; the set lanes are the same as the ending
  • the AGV traffic lane is adjacent to the AGV interactive lane.
  • the AGV is controlled to run on the set lane in a straight or turning operation mode.
  • An AGV path optimization system for the QCTP operation of an automated terminal which includes a loading and unloading vessel busyness judgment module, a lane setting module, and an AGV control module.
  • the loading and unloading vessel busyness judgment module is used to determine the loading and unloading vessel busyness of an automated terminal
  • the set lane switching module is used to control the set lane of the QCTP lane from the AGV interactive lane to the AGV traffic lane when the loading and unloading vessel is less busy than the set condition; the AGV control module is used to: The control AGV can pass through the set lane.
  • system further includes a set lane keeping module; the set lane keeping module is configured to control and maintain the set lane as an AGV interactive lane when the loading and unloading vessel is busy above a set condition.
  • the loading and unloading vessel busyness determination module is specifically configured to determine an access frequency of an AGV entering or leaving the QCTP lane.
  • the QCTP lanes are cyclically arranged in the form of an AGV traffic lane and two AGV interactive lanes starting from the direction of the dock shore wall and away from the dock shore wall; the set lanes are the same as the ending
  • the AGV traffic lane is adjacent to the AGV interactive lane.
  • the AGV control module is further configured to control the AGV to run on the set lane in a straight or curved running mode after the set lane is switched from an AGV interactive lane to an AGV traffic lane.
  • one AGV interactive lane in the QCTP lane is set as the setting lane, and the AGV interactive lane adjacent to the last AGV lane in the QCTP is preferably set.
  • the fixed lane can switch different functions according to the busyness of the loading and unloading ship.
  • the AGV interactive lane function of the set lane is maintained.
  • the set lane is switched to the AGV traffic lane. The function enables the AGV to pass through the set lane during the operation, including entering or exiting the AGV interactive lane in a straight or turning operation mode, reducing the AGV running distance, thereby improving the AGV operation efficiency.
  • Figure 1 is the architecture diagram of the QCTP lane of the automated terminal
  • FIG. 3 is a system architecture diagram of an AGV path optimization system in an automated terminal QCTP operation proposed in this application.
  • the AGV path optimization method in the automated terminal QCTP operation proposed in this application, as shown in Figure 2, includes the following steps:
  • Step S11 Determine the busyness of the loading and unloading ships at the automated terminal.
  • the busyness of loading and unloading ships which characterizes the current volume of operations of the automated terminal, and defines a set condition, such as the container loading and unloading rate per hour, or the utilization rate of bridge cranes or yard cranes within a set period of time.
  • a set condition such as the container loading and unloading rate per hour, or the utilization rate of bridge cranes or yard cranes within a set period of time.
  • the level of the AGV entering and exiting the QCTP lane it is possible to determine the level of the AGV entering and exiting the QCTP lane.
  • Step S12 When the busyness of the loading and unloading ship is lower than the set condition, control the set lane of the QCTP lane to be switched from the AGV interactive lane to the AGV traffic lane so that the AGV can pass on the set lane.
  • Step S13 When it is judged that the busy level of the loading and unloading ship is higher than the set condition, the control keeps the set lane as the AGV interactive lane.
  • the QCTP lanes of the automated terminal start from the direction of the quayside and move away from the quayside. They are cyclically arranged in the form of an AGV traffic lane and two AGV interactive lanes, and they end with the AGV traffic lane.
  • the AGV interactive lane is adjacent to the AGV interactive lane; the QCTP lane shown in FIG. 1, where lanes 1, 4, and 7 are AGV interchange lanes, and lanes 2, 3, 5, and 6 are AGV lanes.
  • the set lane is lane 6.
  • lane 6 remains as the AGV interactive lane; after the AGV loads the unloading container in lane 6, enters lane 7 from lane 6 and exits from lane 7 into the buffer lane, or After loading the shipping container from the yard, AGV entered the traffic lane No. 7 and entered from lane No. 6 to interact with the bridge crane.
  • the AGV interactive lane is lanes 2, 3, and 5, and the AGV traffic lane is lanes 1, 4, 6, and 7.
  • the interactive lane with the bridge crane and the AGV loaded with the unloading container can directly enter lane 6 from lane 5 and exit QCTP in a straight way, or turn straight through lanes 6 and 7 to exit QCTP; from The yard is loaded with AGVs loaded with shipping containers, and can directly go through lanes 7 and 6 to enter the AGV interactive lane 5. Because lane 6 is switched to the AGV communication lane, the AGV's running distance is reduced and the operating mode is more free. , To a certain extent improve the operational efficiency of AGV.
  • the present application also proposes an AGV path optimization system in the QCTP operation of the automated terminal.
  • FIG. 3 it includes a loading and unloading vessel busyness determination module 31 and a lane setting module. 32 and AGV control module 33; loading and unloading vessel busyness judging module 31 is used to judge the loading and unloading vessel busyness of the automated terminal; lane setting module 32 is used to control the setting of the QCTP lane when the loading and unloading vessel busyness is lower than the set conditions The fixed lane is switched from the AGV interactive lane to the AGV traffic lane; the AGV control module 33 is used to control the AGV to pass on the set lane.
  • the AGV path optimization system in the automated terminal QCTP operation proposed in the present application further includes a lane setting module 34 for controlling and maintaining the set lane as an AGV interactive lane when the loading and unloading vessel is busy above the set condition.
  • the loading / unloading vessel busyness determination module 31 is specifically configured to determine an access frequency of an AGV entering or leaving a QCTP lane.
  • the QCTP lanes are cyclically arranged in the form of an AGV traffic lane and two AGV interactive lanes, starting from the direction of the wharf wall and away from the wharf wall, and ending with the AGV traffic lane; setting the lane to be the ending AGV
  • the traffic lane is adjacent to the AGV interactive lane.
  • the AGV control module 33 is further configured to control the AGV to run on the set lane in a straight or cornering operation mode after the set lane is switched from the AGV interactive lane to the AGV traffic lane.
  • the AGV path optimization method and system for the automatic terminal QCTP operation proposed in the present application set a setting lane, and set the lane as an AGV interactive lane when the loading and unloading operations are busy, and when the loading and unloading operations are not busy, then Switching the set lane to the AGV traffic lane reduces the AGV work path, improves the freedom of AGV driving, and improves the work efficiency of AGV.
  • the lane setting is not limited to the embodiment proposed in this application. According to the actual application situation of the QCTP lane, the lane setting may be a lane other than the application embodiment, which is not limited in this application.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种自动化码头QCTP作业中AGV路径优化方法，判断自动化码头的装卸船繁忙程度（S11），在装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道（S12），以使得AGV可在设定车道上通行，在装卸船繁忙程度高于设定条件时，保持设定车道为AGV交互车道（S13），由此减小了AGV作业路径，提高了AGV行驶自由度，从而提高了AGV的作业效率。

Description

自动化码头QCTP作业中AGV路径优化方法和*** 技术领域
本发明属于自动化码头技术领域，具体地说，是涉及一种自动化码头QCTP作业中AGV路径优化方法和***。
 背景技术
集装箱码头前方作业带是指堆场前边线至码头前沿线之间的区域，其功能是服务于码头岸桥装卸船作业以及集装箱进出堆场作业，在集装箱码头设计中码头前方作业带的布置极为关键，决定着码头的营运效率。在全自动化集装箱码头的堆场海侧，通过AGV（Automated Guided Vehicle，自动引导车）实现码头与堆场间的自动化作业交接。
现有的自动化集装箱码头，通常为每个岸桥配置7条QCTP（Quay Crane Transpoint，平行于码头岸壁的用于AGV同岸桥进行交互或者穿行的一段固定长度和宽度的区域）车道，如图1所示，其中，1/4/7号三条车道供AGV穿行，2/3/5/6号四条车道供AGV与桥吊进行交互（AGV不能直接穿行）。
 技术问题
现有这种QCTP车道的规划方式，在应用中发现，6号车道作业量相比其他三条车道的作业量较少，处于空闲状态的时间在2/3/5/6号四条车道中最多，尤其在码头装卸船作业较少的情况下，6号车道的空闲状态尤为明显，这在一定程度上造成了资源浪费，也间接影响了AGV的作业效率。
 技术解决方案
本申请提供了一种自动化码头QCTP作业中AGV路径优化方法和*** ，通过优化QCTP车道的应用方式，起到提高AGV作业效率的技术效果。
为实现上述技术效果，本申请采用以下技术方案予以实现：
提出一种自动化码头QCTP作业中AGV路径优化方法，判断自动化码头的装卸船繁忙程度；在所述装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道，以使得AGV可在所述设定车道上通行。
进一步的，所述方法还包括：在判断所述装卸船繁忙程度高于设定条件时，控制保持所述设定车道为AGV交互车道。
进一步的，判断自动化码头的装卸船繁忙程度，具体为：判断出入所述QCTP车道的AGV的出入频率。
进一步的，所述QCTP车道从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；所述设定车道为与结束的AGV通行车道相邻的AGV交互车道。
进一步的，在所述设定车道从AGV交互车道切换为AGV通行车道之后，控制AGV以直行或拐弯的运行方式在所述设定车道上运行。
提出一种自动化码头QCTP作业中AGV路径优化***，包括装卸船繁忙程度判断模块、设定车道切换模块和AGV控制模块；所述装卸船繁忙程度判断模块，用于判断自动化码头的装卸船繁忙程度；所述设定车道切换模块，用于在所述装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道；所述AGV控制模块，用于控制AGV可在所述设定车道上通行。
进一步的，所述***还包括设定车道保持模块；所述设定车道保持模块，用于在所述装卸船繁忙程度高于设定条件时，控制保持所述设定车道为AGV交互车道。
进一步的，所述装卸船繁忙程度判断模块，具体用于判断出入所述QCTP车道的AGV的出入频率。
进一步的，所述QCTP车道从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；所述设定车道为与结束的AGV通行车道相邻的AGV交互车道。
进一步的，所述AGV控制模块，还用于在所述设定车道从AGV交互车道切换为AGV通行车道之后，控制AGV以直行或拐弯的运行方式在所述设定车道上运行。
 有益效果
本申请提出的自动化码头QCTP作业中AGV路径优化方法和***中，将QCTP车道中的一条AGV交互车道设定为设定车道，优选QCTP中最后一条AGV通行车道相邻的AGV交互车道，该设定车道根据装卸船繁忙程度的不同可以切换不同的功能，在装卸船繁忙程度高时，保持设定车道的AGV交互车道功能，在装卸船繁忙程度低时，切换该设定车道为AGV通行车道功能，使得AGV在作业中可以从该设定车道通行，包括以直行或者拐弯的运行方式进入或驶出AGV交互车道，减少了AGV的运行距离，从而能够提高AGV作业效率。
 附图说明
图1 为自动化码头QCTP车道的架构图；
图2为本申请提出的自动化码头QCTP作业中AGV路径优化方法的流程图；
图3为本申请提出的自动化码头QCTP作业中AGV路径优化***的***架构图。
 本发明的最佳实施方式
下面结合附图对本申请的具体实施方式作进一步详细地说明。
本申请提出的自动化码头QCTP作业中AGV路径优化方法，如图2所示，包括如下步骤：
步骤S11：判断自动化码头的装卸船繁忙程度。
装卸船繁忙程度，表征自动化码头当前作业的作业量多少，并界定给一个设定条件，例如每小时集装箱装卸量、或设定时间段内桥吊或场吊的利用率等等，在本申请实施例中，可以针对QCTP车道，判断出入QCTP车道的AGV的出入频率的高低。
步骤S12：在装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道，以使得AGV可在设定车道上通行。
步骤S13：在判断装卸船繁忙程度高于设定条件时，控制保持设定车道为AGV交互车道。
目前自动化码头的QCTP车道，从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；而设定车道优选为与结束的AGV通行车道相邻的AGV交互车道；如图1所示的QCTP车道，其中1、4、7车道为AGV交互车道，而2、3、5、6车道为AGV通行车道，本申请实施例中，设定车道则为6号车道。
当装卸船作业繁忙时，6号车道保持作为AGV交互车道使用；AGV在6号车道装载卸船集装箱后，从6号车道进入7号车道后，从7号车道通行驶出进入缓冲车道，或，AGV从堆场装载装船集装箱后，驶入7号车道通行，并从7号车道进入6号车道与桥吊交互。
当装卸船作业不繁忙时，则切换6号车道作为AGV车道使用，此时，AGV交互车道为2、3、5号车道，而AGV通行车道为1、4、6、7号车道，从5号交互车道与桥吊交互装载了卸船集装箱的AGV，可以直接从5号车道进入6号车道，以直行方式驶出QCTP，或者直接拐弯穿过6号车道和7号车道驶出QCTP；从堆场装载了装船集装箱的AGV，可以直接穿行7号车道和6号车道进入5号AGV交互车道，由于6号车道被切换成了AGV通信车道，AGV的运行距离减小且运行方式更自由，一定程度上提高了AGV的作业效率。
基于上述提出的自动化码头QCTP作业中AGV路径优化方法，本申请还提出一种自动化码头QCTP作业中AGV路径优化***，如图3所示，包括装卸船繁忙程度判断模块31、设定车道切换模块32和AGV控制模块33；装卸船繁忙程度判断模块31用于判断自动化码头的装卸船繁忙程度；设定车道切换模块32用于在装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道；AGV控制模块33用于控制AGV可在设定车道上通行。
本申请提出的自动化码头QCTP作业中AGV路径优化***还包括设定车道保持模块34，用于在装卸船繁忙程度高于设定条件时，控制保持设定车道为AGV交互车道。
具体的，装卸船繁忙程度判断模块31具体用于判断出入QCTP车道的AGV的出入频率。
本申请实施例中，QCTP车道从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；设定车道为与结束的AGV通行车道相邻的AGV交互车道。
AGV控制模块33还用于在设定车道从AGV交互车道切换为AGV通行车道之后，控制AGV以直行或拐弯的运行方式在设定车道上运行。
具体的自动化码头QCTP作业中AGV路径优化***的优化方式，已经在上述提出的自动化码头QCTP作业中AGV路径优化方法中详述，此处不予赘述。
上述本申请提出的自动化码头QCTP作业中AGV路径优化方法和***，设定一个设定车道，在装卸船作业繁忙时，设定车道作为AGV交互车道使用，而在装卸船作业不繁忙时，则切换该设定车道为AGV通行车道使用，减小了AGV作业路径，提高了AGV行驶自由度，从而提高了AGV的作业效率。
设定车道不限定于本申请提出的实施例，根据实际QCTP车道的应用情况，设定车道可以为申请实施例以外的其他车道，本申请不予限定。
应该指出的是，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的普通技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (10)

  1. 自动化码头QCTP作业中AGV路径优化方法，其特征在于，
    判断自动化码头的装卸船繁忙程度；
    在所述装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道，以使得AGV可在所述设定车道上通行。
  2. 根据权利要求1所述的自动化码头QCTP作业中AGV路径优化方法，其特征在于，所述方法还包括：
    在判断所述装卸船繁忙程度高于设定条件时，控制保持所述设定车道为AGV交互车道。
  3. 根据权利要求1所述的自动化码头QCTP作业中AGV路径优化方法，其特征在于，判断自动化码头的装卸船繁忙程度，具体为：
    判断出入所述QCTP车道的AGV的出入频率。
  4. 根据权利要求1所述的自动化码头QCTP作业中AGV路径优化方法，其特征在于，所述QCTP车道从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；所述设定车道为与结束的AGV通行车道相邻的AGV交互车道。
  5. 根据权利要求1所述的自动化码头QCTP作业中AGV路径优化方法，其特征在于，在所述设定车道从AGV交互车道切换为AGV通行车道之后，控制AGV以直行或拐弯的运行方式在所述设定车道上运行。
  6. 自动化码头QCTP作业中AGV路径优化***，其特征在于，包括装卸船繁忙程度判断模块、设定车道切换模块和AGV控制模块；
    所述装卸船繁忙程度判断模块，用于判断自动化码头的装卸船繁忙程度；
    所述设定车道切换模块，用于在所述装卸船繁忙程度低于设定条件时，控制QCTP车道的设定车道从AGV交互车道切换为AGV通行车道；
    所述AGV控制模块，用于控制AGV可在所述设定车道上通行。
  7. 根据权利要求6所述的自动化码头QCTP作业中AGV路径优化***，其特征在于，所述***还包括设定车道保持模块；
    所述设定车道保持模块，用于在所述装卸船繁忙程度高于设定条件时，控制保持所述设定车道为AGV交互车道。
  8. 根据权利要求6所述的自动化码头QCTP作业中AGV路径优化***，其特征在于，所述装卸船繁忙程度判断模块，具体用于判断出入所述QCTP车道的AGV的出入频率。
  9. 根据权利要求6所述的自动化码头QCTP作业中AGV路径优化***，其特征在于，所述QCTP车道从码头岸壁方向开始向远离码头岸壁方向、按照一条AGV通行车道、两条AGV交互车道的形式循环排列，并以AGV通行车道结束；所述设定车道为与结束的AGV通行车道相邻的AGV交互车道。
  10. 根据权利要求6所述的自动化码头QCTP作业中AGV路径优化***，其特征在于，所述AGV控制模块，还用于在所述设定车道从AGV交互车道切换为AGV通行车道之后，控制AGV以直行或拐弯的运行方式在所述设定车道上运行。
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