CN114194872A - Automatic wharf shore bridge operation method based on double buffer models - Google Patents

Automatic wharf shore bridge operation method based on double buffer models Download PDF

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Publication number
CN114194872A
CN114194872A CN202111561739.6A CN202111561739A CN114194872A CN 114194872 A CN114194872 A CN 114194872A CN 202111561739 A CN202111561739 A CN 202111561739A CN 114194872 A CN114194872 A CN 114194872A
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China
Prior art keywords
buffer
quay crane
buffer area
agv
method based
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CN202111561739.6A
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CN114194872B (en
Inventor
耿增涛
丁香乾
郭乙运
任福鑫
丁英姿
李新照
刘迅
于周讯
陈爱成
徐欣欣
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Ocean University of China
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Ocean University of China
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/60Loading or unloading ships
    • B65G67/603Loading or unloading ships using devices specially adapted for articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00Auxiliary measures taken, or devices used, in connection with loading or unloading
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60Electric or hybrid propulsion means for production processes

Abstract

The invention relates to the technical field of intelligent ports, in particular to an automatic wharf shore bridge operation method based on a double-buffer model. The invention provides a smooth and stable operation area, improves the loading and unloading efficiency of the automatic wharf, further improves the handling capacity of the port, shortens the port service time of the ship and reduces the operation cost.

Description

Automatic wharf shore bridge operation method based on double buffer models
Technical Field
The invention relates to the technical field of intelligent ports, in particular to an automatic wharf quay crane operation method based on a double-buffer model.
Background
The traditional container terminal is increasingly labored to deal with the upsizing of ships, the rising of labor cost, complex weather factors and the like. The difference between the automatic container terminal and the traditional container terminal lies in that the automatic terminal comprehensively applies automatic equipment and an automatic control technology, the manual operation of the traditional container terminal is replaced to realize the autonomous operation and the intelligent control of the quayside loading and unloading, the horizontal transportation and the yard loading and unloading of the container terminal, the application of the automatic loading and unloading equipment and the intelligent control technology can obviously improve the loading and unloading efficiency of each link of the terminal, and the operation time of the quayside loading and unloading, the horizontal transportation and the yard loading and unloading of the terminal is reduced. The automatic wharf can improve the handling capacity of a port, shorten the service time of ships in the port and reduce the operation cost, and has become a necessary trend for the development of container wharfs.
The automatic wharf is a large-scale complex logistics system composed of ships, berths, shore bridges, storage yards, Automatic Guided Vehicles (AGV), track cranes and other resources, reasonably schedules and optimizes the existing loading and unloading resources of the wharf, and can effectively improve the wharf operation efficiency.
The automated dock vessel loading and unloading operation can be roughly divided into three stages. Taking an import container as an example, the first stage is that after a ship arrives at a wharf, a shore bridge starts unloading the import container from the ship; the second stage is that the AGV transports the container between the front edge of the wharf and the storage yard; the third stage is the completion of the trolley unloading and stacking of the bins from the AGV.
In the whole process, the actual loading and unloading time of the shore bridge is short, but the AGV randomly arrives under the shore bridge to wait, so that traffic jam is caused, the whole operation field area is disordered, and most of time is wasted in the waiting and queuing process. Therefore, how to ensure the smoothness and the order of the operation field area, shorten the queuing waiting time and then improve the whole operation efficiency is the key point of attention.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses an automatic wharf quay crane operation method based on a double-buffer model, which is used for solving the problems of traffic jam and disordered operation areas caused by disordered queuing after an automatic wharf AGV randomly arrives at a quay crane.
The invention is realized by the following technical scheme:
the invention provides an automatic wharf shore bridge operation method based on a double-buffer model, which uses the double-buffer model comprising a vertical buffer area and a horizontal buffer area, wherein the vertical buffer area is provided with a driving-in buffer area and a driving-out buffer area, when the operation is carried out under a shore bridge, an AGV firstly stops to the driving-in buffer area available for the shore bridge, and when the horizontal buffer area of the shore bridge is idle, the AGV driving-in buffer area is allowed to drive to the idle horizontal buffer area, and finally after the loading and unloading operation is finished under the shore bridge, and when the driving-out buffer area is idle, the AGV is allowed to drive out of the horizontal buffer area to the idle driving-out buffer area.
Further, in the method, the vertical buffer is located at a far sea side of the shore bridge and is used for parking an AGV associated with the shore bridge.
Furthermore, in the method, the vertical buffer area is shared by 1 or more shore bridges, and the vertical buffer area is composed of a plurality of spaces for accommodating an AGV.
Further, in the method, the driving buffer is a part of the vertical buffer on the driving side of the AGV in the shore bridge work cycle direction.
Further, in the method, the exit buffer is a part of the vertical buffer on the exit side of the AGV in the shore bridge work circulation direction.
Further, in the method, the horizontal buffer is located on a parallel lane under the shore bridge.
Furthermore, in the method, the parallel lanes include a traffic lane and a working lane, and the horizontal buffer area is composed of the working lane.
Further, in the method, the horizontal buffer area is unique to each land bridge, and the horizontal buffer area moves with the movement of the position of the land bridge.
Further, in the method, the horizontal buffer can accommodate at least one AGV on parallel lanes under each quay crane.
The invention has the beneficial effects that:
the invention provides a smooth and stable operation area, improves the loading and unloading efficiency of the automatic wharf, further improves the handling capacity of the port, shortens the port service time of the ship and reduces the operation cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a double buffer model according to an embodiment of the present invention;
FIG. 2 is a diagram of an example dual buffer model according to an embodiment of the present invention;
FIG. 3 is a flow chart of the usage of the double buffer model according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment of the invention provides an automatic wharf quay crane operation method based on a double-buffer model.
When the operation is performed under the shore bridge, the AGV firstly stops to the driving buffer area available for the shore bridge, and when the horizontal buffer area of the shore bridge is idle, the AGV driving into the buffer area is allowed to drive to the idle horizontal buffer area.
After the loading and unloading operation is finally completed under the shore bridge, and the AGV is allowed to run out of the horizontal buffer area to the idle running-out buffer area when the running-out buffer area is idle.
The embodiment can ensure the smoothness and the order of the operation field area, shorten the queuing waiting time and further improve the whole operation efficiency.
Example 2
In a specific implementation level, the embodiment provides a double-buffer model, as can be seen from fig. 1, each shore bridge has its vertical buffer and horizontal buffer, and the horizontal buffer is owned by each shore bridge individually, and is essentially a piece of physical space on the working lane under the shore bridge. As shown in fig. 3, one rectangular physical parking space on 2, 3, 5, 6 lanes directly below each quay crane can be used as a horizontal buffer area of the quay crane.
The horizontal buffer area of this embodiment has a plurality ofly, has also formed redundancy mutually, has four horizontal buffer areas to mean four AGV that can berth under the bank bridge, and the bank bridge selects a certain AGV as required to carry out the loading and unloading operation.
The vertical buffer area of the embodiment is composed of a plurality of parking spaces which are well divided and located at the far sea side of the shore bridge, and the parking spaces in each vertical buffer area can be allocated to one shore bridge or a plurality of shore bridges for use.
The shore bridge is movable, and what of the vertical buffer areas can be used as an entering buffer area or an exiting buffer area of a certain shore bridge is changed along with the change of the position of the shore bridge and is also related to the operation circulation direction of the shore bridge.
Example 3
In this embodiment, on the basis of embodiment 2, taking fig. 2 as an example, if the circulation direction of the shore bridge is clockwise, all the vertical buffers on the left side of the shore bridge can be used as their driving buffers; all the vertical buffer areas on the right side of the shore bridge can be used as outgoing buffer areas.
In the embodiment, if the shore bridge works anticlockwise, all the vertical buffer areas on the right side of the shore bridge can be used as the driving buffer areas; all vertical buffers on the left side of the shore bridge can be used as outgoing buffers.
The vertical buffer and the horizontal buffer form a double buffer model in this embodiment, and the operation mode is as shown in fig. 3: an AGV that needs to work below the shore bridge needs to first drive to some empty drive buffer of the shore bridge and ask the shore bridge whether it can enter the horizontal buffer. The condition that the quay crane can enter the horizontal buffer area is that the horizontal buffer area of the quay crane has free parking spaces.
According to the method, once the horizontal buffer area of the shore bridge has the empty parking space, the AGV can drive to the horizontal buffer area of the shore bridge from the driving buffer area. And after the AGV reaches the horizontal buffer area, the shore bridge carries out corresponding ship loading and unloading operation.
After the loading and unloading operation of the shore bridge is completed, the AGV needs to run out of the horizontal buffer area to vacate positions for other AGVs. And the AGV can only exit from the horizontal buffer area when the exit buffer area of the shore bridge has a free parking space, and the AGV travels to the exit buffer area, so that the whole operation process of the double-buffer model is completed.
In conclusion, the method and the device have been verified in practical application, the method and the device can ensure the orderly operation of the AGVs, and the model of the double buffer areas ensures that the AGVs in operation can stop at the buffer parking spaces in the whole loading and unloading process of the shore bridge, thereby ensuring the continuous operation of the shore bridge, reducing congestion and providing more efficient ship loading and unloading service.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. The method is characterized in that a double-buffer model comprising a vertical buffer area and a horizontal buffer area is used, wherein the vertical buffer area is provided with a driving-in buffer area and a driving-out buffer area, when the operation is carried out under the shore bridge, an AGV firstly stops to the driving-in buffer area available for the shore bridge, when the horizontal buffer area of the shore bridge is idle, the AGV driving into the buffer area is allowed to drive to the idle horizontal buffer area, and finally after the loading and unloading operation is finished under the shore bridge, and when the driving-out buffer area is idle, the AGV is allowed to drive out of the horizontal buffer area to the idle driving-out buffer area.
2. The automated quay crane operation method based on double buffer model according to claim 1, characterized in that in the method, the vertical buffer is located at the far sea side of the quay crane for docking the AGV associated with the quay crane.
3. The automated quay crane operation method based on double buffer model of claim 2, wherein the vertical buffer is shared by 1 or more quay cranes, and the vertical buffer is composed of a plurality of spaces for accommodating one AGV.
4. The automated quay crane operation method based on double buffer model according to claim 1, characterized in that in the method the drive buffer is part of the vertical buffer of the AGV drive side along the shore crane operation cycle.
5. The automated quay crane operation method based on double buffer model according to claim 1, characterized in that in the method the outgoing buffer is part of the vertical buffer at the outgoing side of the AGV in the direction of the quay crane operation cycle.
6. The automated quay crane operation method based on double buffer model according to claim 1, characterized in that in the method, the horizontal buffer zone is located on parallel lanes below the quay crane.
7. The automated quay crane operation method based on double buffer model according to claim 6, characterized in that in the method, the parallel lanes comprise a traffic lane and an operation lane, and the horizontal buffer zone is composed of the operation lane.
8. The automated quay crane operation method based on double buffer model according to claim 1, characterized in that in the method, the horizontal buffer zone is unique to each quay crane, and the horizontal buffer zone moves with the movement of the position of the quay crane.
9. The automated quay crane operation method based on double buffer model according to claim 8, characterized in that the horizontal buffer can accommodate at least one AGV on parallel lanes under each quay crane.
CN202111561739.6A 2021-12-20 2021-12-20 Automatic wharf shore bridge operation method based on double buffer models Active CN114194872B (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105059955A (en) * 2015-06-29 2015-11-18 天津东方海陆集装箱码头有限公司 Loading and unloading system for distribution center type automated container terminal
CN105174072A (en) * 2015-08-10 2015-12-23 中交第三航务工程勘察设计院有限公司 Loading and unloading method capable of preventing automatic container terminal AGV and quay crane from waiting for each other and quay crane
CN107313316A (en) * 2017-08-03 2017-11-03 爱普(福建)科技有限公司 A kind of AGV paths implementation method
CN110516976A (en) * 2019-08-30 2019-11-29 大连海事大学 A kind of automated container terminal AGV dispatching method of optional handling completion date
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
CN112052991A (en) * 2020-08-24 2020-12-08 山东科技大学 Automatic container terminal AGV re-entry and re-exit path planning method with quayside crane buffer area
CN112573219A (en) * 2019-09-30 2021-03-30 山东启和云梭物流科技有限公司 Intelligent port based on multi-type intermodal rail system
CN113792990A (en) * 2021-08-24 2021-12-14 天津港第二集装箱码头有限公司 Intelligent dynamic ground station locking arrangement method considering front buffer area and rear buffer area

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105059955A (en) * 2015-06-29 2015-11-18 天津东方海陆集装箱码头有限公司 Loading and unloading system for distribution center type automated container terminal
CN105174072A (en) * 2015-08-10 2015-12-23 中交第三航务工程勘察设计院有限公司 Loading and unloading method capable of preventing automatic container terminal AGV and quay crane from waiting for each other and quay crane
CN107313316A (en) * 2017-08-03 2017-11-03 爱普(福建)科技有限公司 A kind of AGV paths implementation method
CN110516976A (en) * 2019-08-30 2019-11-29 大连海事大学 A kind of automated container terminal AGV dispatching method of optional handling completion date
CN112573219A (en) * 2019-09-30 2021-03-30 山东启和云梭物流科技有限公司 Intelligent port based on multi-type intermodal rail system
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
CN112052991A (en) * 2020-08-24 2020-12-08 山东科技大学 Automatic container terminal AGV re-entry and re-exit path planning method with quayside crane buffer area
CN113792990A (en) * 2021-08-24 2021-12-14 天津港第二集装箱码头有限公司 Intelligent dynamic ground station locking arrangement method considering front buffer area and rear buffer area

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