WO2020048138A1

WO2020048138A1 - Agv paths optimization method and system in qctp operation of automated container terminal

Info

Publication number: WO2020048138A1
Application number: PCT/CN2019/083417
Authority: WO
Inventors: 王罡; 杨杰敏; 李永翠; 王夕铭; 吴艳丽; 刘俊杰; 陈强; 耿卫宁
Original assignee: 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
Priority date: 2018-09-06
Filing date: 2019-04-19
Publication date: 2020-03-12
Also published as: CN109213163A; JP2022514447A; JP7152530B2

Abstract

Disclosed is an AGV (Automated Guided Vehicle) paths optimization method in the QCTP (Quay Crane Transpoint) operation of an automated container terminal. The method comprises: determining a busyness degree of shipment at the automated container terminal (S11); when the busyness degree of shipment is lower than a designed condition, controlling the switch of a designed lane of the QCTP lane from an AGV alternate lane to an AGV lane (S12); when the busyness degree of shipment is higher than the designed condition, maintaining a designed lane as the AGV alternate lane (S13). Therefore, the AGV operation paths are reduced and the degree of freedom for AGV is improved, improving the operation efficiency of AGV.

Description

Method and system for AGV path optimization in automated terminal QCTP operation

Technical field

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.

Background technique

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. On the seaside of the fully automated container terminal yard, the AGV (Automated Guided Vehicle, AGV) is used to realize the automatic transfer of operations between the terminal and the yard.

For existing automated container terminals, there are usually 7 QCTP (Quay Crane Transpoint, a section of a fixed length and width area parallel to the terminal wall for AGV to interact with or pass through the shore bridge) for each shore bridge, as shown in the figure. As shown in Figure 1, three lanes 1/4/7 are for AGV to pass, and four lanes 2/3/5/6 are for AGV to interact with the bridge crane (AGV cannot pass directly).

technical problem

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.

Technical solutions

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.

In order to achieve the above technical effects, this application uses the following technical solutions to achieve:

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. When the busyness of the loading and unloading ships is lower than the set conditions, 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.

Further, 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.

Further, 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.

Further, 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.

Further, after the set lane is switched from an AGV interactive lane to an AGV traffic 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 is proposed, 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.

Further, the 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.

Further, 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.

Further, 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.

Beneficial effect

In the method and system for optimizing the AGV path in the QCTP operation of the automated terminal proposed in this application, 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. When the loading and unloading ship is busy, the AGV interactive lane function of the set lane is maintained. When the loading and unloading vessel is busy, 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.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is the architecture diagram of the QCTP lane of the automated terminal;

2 is a flowchart of an AGV path optimization method in an automated terminal QCTP operation proposed in this application;

FIG. 3 is a system architecture diagram of an AGV path optimization system in an automated terminal QCTP operation proposed in this application.

Best Mode of the Invention

The specific implementation of the present application will be further described in detail below with reference to the accompanying drawings.

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. In the embodiment, for 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.

At present, 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. In the embodiment of the present application, , The set lane is lane 6.

When the loading and unloading operations are busy, 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.

When the loading and unloading operations are not busy, switch lane 6 as the AGV lane. At this time, 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.

Based on the AGV path optimization method proposed in the QCTP operation of the automated terminal, the present application also proposes an AGV path optimization system in the QCTP operation of the automated terminal. As shown in 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.

Specifically, 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.

In the embodiment of the present application, 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 specific optimization method of the AGV path optimization system in the automatic terminal QCTP operation has been described in detail in the AGV path optimization method proposed in the automatic terminal QCTP operation above, and will not be repeated here.

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.

It should be noted that the above description is not a limitation on the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are not limited. It should also belong to the protection scope of the present invention.

Claims

The method of AGV path optimization in automated terminal QCTP operations is characterized by:

Judging the busyness of loading and unloading ships at automated terminals;

When the loading and unloading vessel is less busy than the set condition, the set lane of the QCTP lane is controlled to switch from the AGV interactive lane to the AGV traffic lane so that the AGV can pass on the set lane.
The method for optimizing AGV paths in an automated terminal QCTP operation according to claim 1, wherein the method further comprises:

When it is determined that the loading and unloading vessel is more busy than a set condition, control maintains the set lane as an AGV interactive lane.
The method for optimizing the AGV path in the QCTP operation of an automated terminal according to claim 1, wherein determining the busyness of the loading and unloading ships of the automated terminal is specifically:

Determining the frequency of AGVs entering and leaving the AGC in the QCTP lane.
The method for optimizing the AGV path in the QCTP operation of an automated terminal according to claim 1, characterized in that the QCTP lanes are cycled from the direction of the quay wall to the direction far from the quay wall, in the form of one AGV traffic lane and two AGV interactive lanes Arranged and ended with an AGV traffic lane; the set lane is an AGV interactive lane adjacent to the closed AGV traffic lane.
The method for optimizing the AGV path in the QCTP operation of an automated terminal according to claim 1, characterized in that, after the set lane is switched from an AGV interactive lane to an AGV traffic lane, the AGV is controlled to run in a straight or turning manner on the Set lanes to run.
The AGV path optimization system in the automated terminal QCTP operation is characterized in that it includes a loading and unloading vessel busyness judgment module, a lane setting module and an AGV control module;

The busyness judgment module for loading and unloading ships is used to determine the busyness of loading and unloading ships at an automated terminal;

The set lane switching module is configured 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 configured to control AGV to pass on the set lane.
The AGV path optimization system in the automated terminal QCTP operation according to claim 6, wherein the system further comprises a lane setting 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 system for optimizing AGV paths in the QCTP operation of an automated terminal according to claim 6, wherein the loading and unloading vessel busyness determination module is specifically configured to determine the frequency of AGVs entering and leaving the QCTP lane.
The AGV path optimization system in an automated terminal QCTP operation according to claim 6, characterized in that the QCTP lanes are cycled from the direction of the quay wall to the direction far from the quay wall, in the form of one AGV traffic lane and two AGV interactive lanes. Arranged and ended with an AGV traffic lane; the set lane is an AGV interactive lane adjacent to the closed AGV traffic lane.
The AGV path optimization system in an automated terminal QCTP operation according to claim 6, wherein the AGV control module is further configured to control the AGV to switch the set lane from an AGV interactive lane to an AGV traffic lane. The straight or curved running mode runs on the set lane.