自动化集装箱码头AGV调度与换电双层模型求解

Solution of AGV scheduling and battery exchange two-layer model for automated container terminal

为降低自动化集装箱码头AGV换电问题对码头整体作业效率的影响,首先分析了AGV调度和换电的相互影响和内在联系.其次考虑AGV耗电差异和换电阈值等约束以最小化最终完工时间为目标建立AGV调度模型(上层模型),考虑换电站数量和排队等约束以最小化换电总时间为目标建立AGV换电模型(下层模型),并针对两者之间的双层耦合关系,设计换电需求和换电方案为公用变量进行解耦.最后使用自动化集装箱码头实际作业参数设计算例,分别采用GAMS求解器和遗传算法循环迭代求解.算例结果表明,双层耦合模型合理地决策了AGV调度和换电问题,换电排队时间控制在4 min之内,降低了AGV换电总时间和最终完工时间,提升了AGV利用率.

In order to reduce the impact of the AGV battery exchange problem on the overall operation efficiency of the automated container terminal,firstly,the mutual influence and internal connection between AGV scheduling and battery exchange are analyzed.Then considering the constraints of the AGV power consumption difference and the switching threshold to minimize the final completion time,an AGV scheduling model(upper layer model)is established,and considering the constraints such as the number of battery exchange stations and queuing to minimize the total battery exchange time,an AGV battery exchange model(lower layer model)is established.Aiming at the two-layer coupling relationship between the two models,battery exchange demand and battery exchange plan are designed as common variables to decouple.Finally,the actual operation parameters of the automated container terminal are used to design calculation examples,and the GAMS solver and genetic algorithm are used to solve the examples through loop iteration.The results of the calculation example show that the two-layer coupling model reasonably decides the AGV scheduling and battery exchange issues,and the battery exchange queuing time is controlled within 4 minutes,which reduces the total time of AGV battery exchange and the final completion time,and improves the AGV utilization rate.