关键词: 自动化集装箱码头, 自动导引车, 动态调度, 数字孪生, 闭环交互

Abstract: The Automatic Guided Vehicle(AGV)scheduling is a key link in the automated container terminal operation,and its efficiency is also one of the decisive factors affecting the overall work efficiency of the terminal.To deal with the problems of uncertain events,asymmetric information and low transparency of production information,a multi-AGV dynamic scheduling method for an automated container terminal based on digital twin was proposed.The closed-loop interaction between physical space and twin space was used to improve the AGV scheduling efficiency and reduce scheduling deviation.A digital twin framework and scheduling problem model of multi-AGV dynamic scheduling were constructed,and the operation mechanism of data service platform,digital twin model and interaction between virtual and reality of terminal were deeply explored.On this basis,the multi-AGV dynamic scheduling process based on digital twin and the corresponding algorithm design were elaborated in detail.Taking the actual AGV scheduling process of an automated terminal as an example,a prototype system was designed to illustrate the effectiveness of the proposed AGV scheduling mode.

Key words: automated container terminal, automatic guided vehicle, dynamic scheduling, digital twin, closed-loop interaction