Research On Virtual Operation System And AGV Dispatching Optimization Of Container Terminal

With the continuous expansion of maritime trade,the operating capacity of traditional container terminals has entered a bottleneck,and container terminal automation has become a consensus among container terminal operators worldwide.The AGV(Automated Guided Vehicle,AGV)operating system has the highest coupling and the largest complexity of the site loading and unloading equipment.It is one of the core factors restricting the terminal's operating capacity.It has great practical significance to research it.In addition,the general simulation software modeling of the terminal system is too ideal,simplistic,and insufficient consideration of equipment interaction,and the simulation effect is limited.This paper studies terminal AGV scheduling,path planning,and terminal visualization system simulation.Main work is as follows:Based on the analysis of the development status,loading and unloading technology of domestic and international automated container terminals,and the similarities and differences with traditional terminals,a new layout of the terminal land area was designed combining the advantages of RZ port positioning,demand,and other automatic terminal layouts.Based on this layout plan,the terminal operation process was determined.The Unity engine was used to develop a 3D visualized virtual operation system for the 1: 1 reduction of the RZ container terminal and support for various working conditions and the entire operation process,it provides a platform for the research in the related fields of the AGV system.The "full-working-area" strategy is the basis of AGV scheduling,and the visualization platform fully considers the interaction of equipment during the task transfer process,and adopts the "rolling horizon control" method to flexibly determine the triggering timing of the dispatch,and the complex large-scale static optimization problem is decomposed into a continuous,small-scale dynamic optimization problem.The optimization target is to minimize the total invalid waiting time between AGVs and loading and unloading equipments to establish a Quay-crane-AGV-Yard-crane cooperative scheduling model.In addition,in order to solve the AGV scheduling problem,PSO is used for research.Firstly,the search space of the algorithm is preliminarily selected according to the selection principle of the equipment and the task complexity in the scheduling model,and then adaptive parameters are added to maintain the diversity of the population and the global search capability.The effectiveness and feasibility of the scheduling model and algorithm are proved through related cases.Aiming at the characteristics of the dynamic change of the dock road network,the frequent occurrence of random events,and the need for stable operation of the AGV system,a centralized-distributed strategy was adopted to design a two-stage path planning algorithm.In the first stage,heuristic information such as dynamic topology maps with weights and AGV operating rules are used to quickly plan the optimal path for AGV.When a blocked road section appears in the road network,AGV determines whether the road section exists in the existing path plan.Existing.In the second stage,the particle swarm optimization algorithm is used to re-plan the AGV to avoid obstacles.The case proves that the algorithm effectively improves the processing capacity of AGV on dynamically changing road networks.