自动化码头智能运输机器人差速调序控制仿真分析

Simulation of differential speed sequence control of intelligent transportation robot in automated container terminal

文中针对自动化集装箱港口装卸作业中交通拥堵和效率低下的问题,在传统智能运输机器人无差速调控策略基础上,提出一种适用于自动化码头智能运输机器人的差速调序策略。该策略通过控制智能运输机器人行驶过程中的车速,调整智能运输机器人到达岸边集装箱起重机作业位置的时间,以保证集装箱装船次序。最后,利用专业仿真软件Anylogic建立码头模型,对差速调序方案与无差速方案进行分析比较。仿真结果显示,差速调序策略相较于无差速策略在排队时间,装卸效率等指标上提升了55.77%和5.3%。研究表明,与无差速方案相比,差速调序策略可以有效提高码头作业效率,解决码头拥堵问题。

To solve the problems such as traffic congestion and low efficiency of automated containers in port loading and unloading operations,based on the non-differential control strategy of traditional intelligent transportation robots,a differential control strategy for intelligent transportation robots in automated terminals is proposed.By controlling the speed of intelligent transportation robot,the strategy adjusts the time when intelligent transportation robot arrives at the working position of container crane on the shore,so as to ensure the container loading order.Finally,a container terminal model is established by using the professional simulation software Anylogic,so as to compare the differential sequencing scheme with the non-differential scheme.The simulation results show that the queuing time of differential sequencing strategy is reduced by 55.77%and the loading and unloading efficiency is improved by 5.3%compared with the non-differential strategy.The research shows that,compared with the non-differential scheme,the differential sequencing strategy can effectively improve the operation efficiency of the container terminal and solve the congestion.