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

摘要： 自动导引车(AGV)调度是自动化集装箱码头作业的关键环节,其效率也是影响码头整体作业效率的决定性因素之一。为了应对作业中不确定事件、信息不对称以及生产信息透明度低等问题对AGV调度效率和稳定性产生的影响,提出了一种基于数字孪生的自动化集装箱码头多AGV动态调度方法,通过码头物理空间和孪生空间的闭环交互以提高调度效率和减少调度偏差。构建了一种多AGV动态调度数字孪生框架和调度问题模型,深入探索了数据服务平台、数字孪生多维多尺度模型的构建、虚实一致性验证的运行机理以及码头虚实交互;详细阐述了基于数字孪生的多AGV动态调度流程和相应算法设计,并以某自动化码头实际的AGV调度过程为例,设计了原型系统来验证所提出AGV调度模式的有效性。

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