The intelligent guided vehicle is an unmanned IGV vehicle using the Beidou navigation system. IGVs carry containers between the yard and the terminal berths at speeds of 25-30 kilometers per hour, efficiently and precisely.
Apply unmanned technology to IGV vehicles, replacing magnetic nail navigation with satellite navigation; According to the scheduling instructions of the big data center, drive accurately to the designated location under the quay bridge, load the container, and return to the yard in an orderly manner.
At present, the port mainly has three automation solutions: AGV automated guided vehicles, ASC unmanned straddle carriers and unmanned trucks. Among them, AGV automatic guided vehicles have a long history of application.
In 1993, the world's first container automation terminal was put into operation in the port of Rotterdam in the Netherlands, etc Delta Sealand, and the horizontal transportation of containers from shore to yard stacks used AGVs to operate along a fixed circular route, which was the first time AGVs were used in port operations. Since then, AGVs have appeared in the Port of London in the UK, the Port of Hamburg in Germany and automated terminals in China.
It is worth noting that the AGV put into use in the early stage of the port adopts magnetic nail navigation technology, which needs to lay magnetic tracks to cooperate with operation, and the vehicle travels on a fixed route, the route is long and inflexible, which will produce disadvantages such as blockage and large area occupied by the front of the yard, and face problems such as high operation and maintenance costs and difficult upgrading and transformation in the later stage.
In recent years, with the country's in-depth promotion of smart port construction, the intelligent and unmanned transformation of ports has accelerated, and the application of unmanned technology has become more mature. With the blessing of new technologies, port guidance vehicles have been continuously upgraded, and products with different names such as IGV, ART, AIGT, IMV and so on have appeared.
IGV
IGV (Intelligent Guided Vehicle) intelligent guided vehicle, equipped with satellite navigation and positioning, lidar SLAM (synchronous positioning and mapping), visual SLAM and other multi-sensor fusion positioning technology, compared with the traditional magnetic guide AGV, IGV navigation mode is more flexible, can freely shuttle between terminal yards, and transport containers to each yard box.
In the Nansha Phase IV Terminal of Guangzhou Port, 70 IGVs put into use are jointly built by Zhenhua Heavy Industry and Yiqing Innovation, which is also a large-scale IGV application project in domestic ports. In addition, Zhenhua Heavy Work is the general contractor of the terminal automation project system, and its self-developed operation mode of "single trolley automatic quay bridge + intelligent guided vehicle (IGV) + parallel arrangement of yard" is also the first in the world. At the same time, an automatic charging device is set up in the parking space of the terminal, which can be automatically charged by IGV to achieve unlimited battery life.
At Hefei Port International Container Terminal, the first "Hongqing F01" IGV unmanned container carrier cooperated by Guotang Automobile and Cangqing Intelligent arrived at the port early last month to start container transportation services. The vehicle is built based on the working conditions of port container loading and unloading operations, and real-time intelligent management according to port operation needs, effectively improving operational efficiency and reducing operational costs.
ART
ART (Artificial Intelligence Robot of Transportation) artificial intelligence transportation robot, the body adopts laser, vision, millimeter wave, mechanical anti-collision four-fold safety protection, equipped with a set of intelligent visual management system, with three-dimensional visual interface, remote condition monitoring function, maintenance dynamic management and other functions, can easily achieve efficient and convenient life cycle management.
In the northern port area of Tianjin Port, 76 ARTS units built and Mainline Technology have been delivered and put into operation. The vehicle adopts a 4-axle and 8-wheel chassis system to realize all-wheel drive and steering, which has the advantages of smaller turning radius, more flexible operation and more accurate control; In addition, the lightweight design concept makes it only 23 tons in total weight, reducing the energy consumption of equipment operation.
It is reported that Xijing Technology provided the unmanned fleet management and scheduling system FMS for the terminal of Section C of the Beijiang Port Area, and provided a bicycle unmanned intelligent system for some ART equipment, improving the automatic driving technology; Stäubli provided ART with a fast automated charging (QCC) solution that supports 4-5 hours of continuous operation of ART in 20 minutes, greatly reducing ART charging time and improving vehicle transportation efficiency.
AIGT
AIGT (AI Guided Transporter) unmanned container transporter, composed of six major systems of "frame assembly, cabinet assembly, chassis assembly, electrical assembly, power system, exterior assembly", adopts satellite navigation and positioning, lidar SLAM, visual SLAM and other multi-sensor fusion positioning technologies, can build maps in real time and multi-vehicle collaborative sharing of environmental information fusion positioning method, which not only saves costs, improves efficiency but also makes it safer.
IMV
IMV (Intelligent Mobile Vehicle) intelligent mobile transportation flatbed truck adopts the combination of vehicle and cloud, does not need to rely on cloud scheduling, eliminates the breakpoint problems of resource allocation, data timeliness, and system stability under the cloud, and realizes end-to-end unmanned and efficient operation. It truly solves the two major pain points of traditional mixed dock operation scenarios, which cannot independently avoid obstacles and stop obstacles and operate stably and safely.
epilogue
From the above products, although the names are different, the shape and function of the vehicle are basically the same, and the appearance design of 4 axles and 8 wheels is generally adopted, and they are responsible for the round-trip transportation of goods between ships and yards in the port. However, these products use a variety of sensor fusion technologies, so compared with traditional magnetic AGVs, the vehicle is more flexible and does not need to use any markers to drive; And the path is flexible and changeable, flexible scheduling according to actual production needs, and simple planning.
In general, at present, in the construction of smart ports in China, the number and scale of applications of unmanned port transport vehicles are still the largest, no matter how the product name changes, vehicle technology is developing in the direction of meeting the reliable, stable and efficient operation requirements in the complex environment of the port. In particular, the technological breakthrough of unmanned perception system is crucial for unmanned vehicles to truly achieve all-day, all-climate, and fully unmanned operations in ports.
Port machinery Artificial Intelligence Transport Vehicle XAGV70E
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