Automatic container wharf quay crane operation mode intelligent switching system and method

Abstract

The invention discloses an automatic container terminal quay crane operation mode intelligent switching system and method, and the system comprises a mode management unit which is used for defining an automatic mode, a manual intervention mode and a special mode, and configuring mode switching conditions; the dynamic safety detection unit is used for monitoring the lifting appliance height and container operation area parameters in real time, the types of containers comprise tanks, overrun boxes and dangerous goods boxes, and the types of operation areas comprise an on-board area, a bridge bottom IGV operation area and a bridge rear container truck operation area; the task coordination engine unit is used for responding to the mode switching request and executing a corresponding task; and the abnormity recovery unit is used for triggering a task recovery or manual intervention mode based on the container carrying state of the lifting appliance and the ID of the container when the special mode is switched back to the automatic mode. According to the embodiment of the invention, while the cost advantage of a single-trolley automatic system is maintained, the system safety and the operation efficiency are optimal, and a brand new solution is provided for automatic modification of a wharf.

Description

Technical Field

[0001] The present application relates to an intelligent switching system and method for operating modes of automated container terminal quay cranes, and belongs to the field of intelligent ports. Background Art

[0002] With the rapid development of modern logistics industry, logistics throughput continues to grow while labor costs continue to rise. Automated terminals are increasingly favored by the industry due to their significant advantages. Compared with traditional terminals, automated terminals have shown outstanding advantages in terms of intelligence level, operational reliability, system stability, equipment utilization and operating cost control. The automated quay cranes on the current market are mainly divided into two types: single-trolley and double-trolley. Although the double-trolley quay crane system can achieve the theoretical efficiency peak through physically isolated dual operating units, it has obvious limitations such as high infrastructure renovation costs and poor site adaptability. Therefore, it is mainly used in newly built large-scale automated ports; and the single-trolley quay crane system has become the mainstream choice for the automation upgrade of traditional terminals due to its flexibility and cost controllability of modular renovation.

[0003] However, the existing single-trolley quay crane system still has technical pain points that need to be solved in the process of automated operation: first, the system lacks a dynamic safety condition constraint mechanism; second, there is an information island problem between the task scheduling system and the equipment control layer; these problems directly lead to operational risks such as increased collision risks and insufficient task coordination during the operation process. Through the analysis of the operating status of existing automated container terminals, it is found that most systems still rely on manual subjective judgment to start the one-key grab and release function. They have neither established a standardized operation mode system nor lack the setting of dynamic safety constraints, and have not achieved effective linkage between the task scheduling system and the equipment control layer. In contrast, although traditional terminals adopt a full manual operation mode, and operators control parameters such as height, box type and operation area in real time, their degree of automation is obviously insufficient.

[0004] The existing technology has three major defects: first, the lack of dynamic safety restriction mechanism, which easily leads to equipment collision or unexpected interruption of tasks; second, when conflicts arise between manual intervention and automated task execution, there is a lack of effective coordination and processing mechanism; third, the task recovery logic is not perfect, which makes it difficult to achieve seamless connection of automated operation processes. These technical shortcomings have seriously restricted the further improvement of the operational efficiency and safety of automated terminals. Summary of the invention

[0005] In view of this, the present application provides an automated container terminal quay crane operation mode intelligent switching system and method. The embodiment of the present application reduces the number of manual interventions by establishing an abnormal recovery mechanism, thereby greatly shortening the task recovery time.

[0006] In the first aspect of the embodiments of the present application, an intelligent switching system for the operation mode of a quay crane in an automated container terminal is disclosed. The system includes:

[0007] A mode management unit, configured to define an automatic mode, a manual intervention mode, and a special mode, and configure mode switching conditions;

[0008] A dynamic safety detection unit, configured to monitor in real time the spreader height and container operation area parameters, where the container types include tank containers, oversize containers, and dangerous goods containers, and the operation area types include on-board areas, under-bridge IGV operation areas, and post-bridge truck operation areas;

[0009] A task coordination engine unit, configured to respond to a mode switching request and execute corresponding tasks;

[0010] An exception recovery unit, configured to trigger task recovery or a manual intervention mode based on the container-carrying state of the spreader and the container ID when switching back from the special mode to the automatic mode.

[0011] Further, the automatic mode is that the quay crane executes automated tasks completely according to system instructions without manual intervention;

[0012] The manual intervention mode is that the quay crane accepts manual assistance intervention when executing instructions to complete the operation;

[0013] The special mode is that the quay crane stops executing automated instructions, the sent instructions are marked as execution failures, and no new instructions are dispatched.

[0014] Further, the safety restrictions of the dynamic safety detection unit on mode switching include:

[0015] Automatic mode restriction: It is prohibited to lock the post-bridge truck lane when the IGV is loading onto the ship;

[0016] Manual intervention mode restrictions:

[0017] a. When discharging the ship, the spreader is not allowed to descend below the safe height of the IGV lane where it is not designated for operation;

[0018] b. When discharging the ship, the spreader with no load is not allowed to descend below the safe height of any IGV lane;

[0019] c. When discharging the ship, the spreader carrying a non-IGV container is not allowed to descend below the safe height of any IGV lane;

[0020] d. When loading the ship, the spreader is not allowed to descend below the safe height of the unlocked IGV lane;

[0021] e. Without instructions, it is not allowed to manually intervene below the safe height on the ship side;

[0022] Special mode restriction: There are no operation restrictions.

[0023] Furthermore, the anomaly recovery unit executes the following logic:

[0024] S1. Detect whether the spreader is carrying a container and the corresponding container ID before the switch, and obtain the container-carrying status of the spreader and the current container ID after the switch;

[0025] S2. Execute the following logic according to the status before and after the switch:

[0026] If the spreader was not carrying a container before the switch and is not carrying a container after the switch, restore the original automated task or wait for a new task to be scheduled;

[0027] If the spreader was not carrying a container before the switch and is carrying a container after the switch, verify whether the container-grabbing instruction sent and the feedback of the ACCS instruction are consistent. If they are consistent, continue to execute the subsequent task actions; if they are inconsistent, prompt the central control to intervene manually;

[0028] If the spreader was carrying a container before the switch and is still carrying a container after the switch, verify whether the container IDs before and after the switch are consistent. If they are consistent, restore the original task; if they are inconsistent, notify the operator to place the container at the designated location;

[0029] If the spreader was carrying a container before the switch and is not carrying a container after the switch, verify whether the container-releasing instruction sent and the feedback of the ACCS instruction are consistent. If they are consistent, continue to execute the subsequent task actions; if they are inconsistent, prompt the central control to intervene manually.

[0030] Furthermore, the mode switch also includes:

[0031] Automatic mode switches to manual intervention mode: Trigger the switch by pushing the trolley or the hoisting handle of the quay crane.

[0032] Furthermore, the mode switch also includes:

[0033] Manual intervention mode switches to automatic mode: Trigger the request for switch by pressing a preset button on the handle, and prohibit switching under the following conditions:

[0034] i. The spreader is located in the truck lane behind the bridge, on the IGV side under the bridge, or below the safe height on the ship;

[0035] ii. When discharging or loading the ship, grab tank containers, over-limit containers, special containers, or dangerous goods containers.

[0036] Furthermore, the mode switch also includes:

[0037] Automatic mode or manual intervention mode switches to special mode: Trigger the switch by clicking on the operation interface. After the switch, the locking relationship between the IGV and the quay crane is maintained;

[0038] Special mode switches to manual intervention mode: Trigger the switch by clicking on the operation interface.

[0039] Further, the quay crane is a single trolley automated quay crane.

[0040] A second aspect of the embodiments of the present application discloses an intelligent switching method for the operation mode of an automated container terminal quay crane. The method includes:

[0041] Define an automatic mode, a manual intervention mode, and a special mode, and configure mode switching conditions;

[0042] Real-time monitor the spreader height and container operation area parameters, where the container types include tank containers, oversize containers, and dangerous goods containers, and the operation area types include on-board areas, under-bridge IGV operation areas, and post-bridge truck operation areas;

[0043] Respond to a mode switching request and execute corresponding tasks;

[0044] When switching back from the special mode to the automatic mode, trigger task recovery or the manual intervention mode based on the container-carrying state of the spreader and the container ID.

[0045] A third aspect of the embodiments of the present application discloses a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the processor of the device where it is located to execute the intelligent switching method for the operation mode of the automated container terminal quay crane in the above embodiments.

[0046] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0047] The embodiments of the present application provide an intelligent switching system and method for the operation mode of an automated container terminal quay crane. The intelligent switching system for the operation mode of the automated container terminal quay crane includes: a mode management unit for defining an automatic mode, a manual intervention mode, and a special mode, and configuring mode switching conditions; a dynamic safety detection unit for real-time monitoring the spreader height and container operation area parameters, where the container types include tank containers, oversize containers, and dangerous goods containers, and the operation area types include on-board areas, under-bridge IGV operation areas, and post-bridge truck operation areas; a task coordination engine unit for responding to a mode switching request and executing corresponding tasks; an exception recovery unit for triggering task recovery or the manual intervention mode based on the container-carrying state of the spreader and the container ID when switching back from the special mode to the automatic mode. The embodiments of the present application reduce the number of times of manual intervention by establishing an exception recovery mechanism and greatly shorten the task recovery time. Description of the Drawings

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0049] Figure 1 FIG. 4 is a schematic structural diagram of a quay crane operation mode switching system provided by an embodiment of the present application.

[0050] Figure 2 FIG. 8 is a schematic flow diagram of the switching logic between the manual intervention mode and the automatic mode provided by an embodiment of the present application.

[0051] Figure 3 FIG. 12 is a schematic flow diagram of the switching logic between the manual intervention mode and the automatic mode provided by an embodiment of the present application.

[0052] Figure 4 FIG. 16 is a schematic flow diagram of the switching logic between a special mode and the automatic mode provided by an embodiment of the present application.

[0053] Figure 5 FIG. 20 is a schematic flow diagram of the switching logic between a special mode and the automatic mode provided by an embodiment of the present application.

[0054] Figure 6 FIG. 24 is a schematic flow diagram of the task recovery logic for switching from a special mode to the automatic mode provided by an embodiment of the present application. Detailed implementation manners

[0055] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0057] Embodiment 1:

[0058] An intelligent switching method for the operation mode of a quay crane in an automated container terminal provided by an embodiment of the present application may include the following steps:

[0059] Step 1: The single trolley automated quay crane receives an automated loading and unloading task.

[0060] Step 2: The quay crane driver initiates the operation mode switching function on the operation interface.

[0061] Step 3: The mode management module in the control layer processes the mode switching request, verifies the safety conditions, and changes the mode status.

[0062] Step 4: The task coordination engine module dispatches / (or) aborts tasks according to the mode status and synchronizes the TOS instructions.

[0063] Step 5: Enable the task recovery module for the aborted task to trigger recovery or exception alarms.

[0064] Step 6: Send the task to the quay crane mechanical control system to perform specific actions (such as spreader lifting and trolley movement), and feedback the real-time status to the control layer.

[0065] Furthermore, as Figure 1 shown, the operation mode switching system described in Step 2 includes the following four major modules:

[0066] Mode management module (also known as mode management unit): Define three mode states of automatic mode, manual intervention mode, and special mode, and configure switching conditions;

[0067] Dynamic safety detection unit: Real-time monitor parameters such as spreader height, container type (such as tank container, dangerous goods container), operation area (truck lane, ship safety area), etc., and trigger mode switching restrictions;

[0068] Task Coordination Engine (also known as the Task Coordination Engine Unit): Synchronously processes automated tasks (such as aborting dispatch instructions and feedback execution status) during mode switching;

[0069] Exception Recovery Module (also known as the Exception Recovery Module Unit): When switching back to the automatic mode from a special mode, automatically resumes tasks or triggers a manual intervention process through spreader status detection (with / without container, container ID matching).

[0070] Furthermore, when the quay crane operates completely automatically according to system instructions without human intervention, it is in the automatic mode; when the quay crane carries instructions and humans perform manual auxiliary intervention to complete the instruction, it is called the quay crane manual intervention mode; when the quay crane is set to the special mode, it is considered that the quay crane cannot execute automated instructions, stops dispatching instructions, and the previously sent instructions will also be reported as execution failures.

[0071] Furthermore, in different operating modes of the quay crane, to ensure safety in automated operations, certain mode restrictions are set as follows:

[0072] Automatic mode restrictions:

[0073] a. When the IGV (Intelligent Guided Vehicle) is loading a ship, it is not allowed to automatically lock the rear truck lane of the quay crane.

[0074] Manual intervention mode restrictions:

[0075] a. When unloading a ship, the spreader is not allowed to lower below the safe height of the IGV lane that is not the designated operating lane.

[0076] b. When unloading a ship, an empty spreader is not allowed to lower below the safe height of any IGV lane.

[0077] c. When unloading a ship, a spreader with a non-IGV container is not allowed to lower below the IGV safe height.

[0078] d. When loading a ship, the spreader is not allowed to lower below the safe height of the unlocked IGV lane.

[0079] e. Without instructions, it is not allowed to manually intervene below the safe height on the ship side.

[0080] Special mode restrictions: None.

[0081] Furthermore, when the quay crane is performing an operation task or in an idle state, the quay crane operator takes over or manually intervenes in the quay crane for some reasons. At this time, the following mode switches are included:

[0082] (1) Switching between the automatic mode and the manual intervention mode;

[0083] (2) Switching between the automatic mode and the special mode;

[0084] (3) Manual intervention mode and special mode switching.

[0085] Furthermore, the safety conditions verified in step three mainly include the container type, the safe height of the spreader, and the loading and unloading area. The container type mainly determines tank containers, over-limit containers, and dangerous goods containers; the loading and unloading area is mainly divided into the on-board area, the IGV operation area under the bridge, and the truck operation area behind the bridge; the safe height of the spreader includes three safe heights on the ship side, the IGV side under the bridge, and the truck side behind the bridge. The safe heights among the three are not related and are set relatively independently. The safe heights on the truck and IGV sides are fixed and unchanged. The on-board safe height changes according to the height scanned by the ship type each time. When judging, the single-machine PLC will real-time feedback the position of the trolley and the height of the spreader. When switching, verification will be enabled. If the verification passes, the switch is allowed; if not, the switch cannot be made.

[0086] Furthermore, the specific implementation methods of steps two, three, four, and five are as follows:

[0087] Switching from the automatic mode to the manual intervention mode, at this time, as long as the quay crane operator pushes the trolley and the hoisting handle, it means mode switching; switching is allowed at any time during the operation of the automatic mode, and the switching process and after switching do not affect the automatic completion and feedback of the entire quay crane automatic task.

[0088] As Figure 2 and Figure 3 shown, switching from the manual intervention mode to the automatic mode, at this time, the quay crane operator needs to press a specific start button on the handle according to the prompt to try to switch; the switching process and after switching do not affect the automatic completion and feedback of the entire quay crane automatic task. Switching is not allowed in the following situations:

[0089] a. Below the safe height of the truck lane behind the bridge;

[0090] b. Below the safe height of the IGV side under the bridge;

[0091] c. Below the on-board safe height;

[0092] d. When the container grabbed during ship unloading is a tank container, over-limit container, special container, or dangerous goods container, switching is not allowed;

[0093] e. When the container grabbed during ship loading is a tank container, over-limit container, special container, or dangerous goods container, switching is not allowed.

[0094] (3) Switching from the automatic mode to the special mode requires the quay crane operator to click the switch on the operation interface. Switching is allowed at any time during the operation of the automatic mode. After the mode switching, the locking relationship between the IGV and the quay crane is not released; after switching, it will affect the execution of the quay crane task. The task will not be automatically cancelled, but it will not be automatically executed subsequently; the single-machine ACCS (Automatic Control System of Quay Crane Single Machine) instruction will automatically execute fails, asFigure 4 and Figure 5 as shown

[0095] (4) As Figure 6 shown, when the special mode is switched to the automatic mode, the quay crane operator needs to click the switch on the operation interface. Switching is allowed at any time. For example, when the spreader is below the safe height, it will first be automatically lifted above the safe height and then the automatic mode will be restored. After the mode is switched, due to the need to resume automated operations, the QCMS (Quay Crane Management System) will attempt to resume automated operations. The specific detection methods are as follows:

[0096] a. If it was without a container before switching to the special mode and remains without a container after switching back to the automatic mode, the quay crane may be in an idle state at this time, or there may be a task that has not been grabbed and loaded. After restoring automation, the existing tasks can be continued or waiting for the TOS (Terminal Operating System) to schedule new tasks.

[0097] b. If it was without a container before switching to the special mode and the spreader is found to be with a container after switching back to the automatic mode, first check whether the container-grabbing instruction has been sent and verify whether it matches the feedback of the ACCS instruction. If it matches, continue with the subsequent actions; if it does not match, report an exception and prompt the central control to intervene manually to understand the specific situation of the container being carried, and require switching to the manual mode to place the container back in place and then switch back to the automatic mode.

[0098] c. If it was with a container before switching to the special mode and is still with a container after switching back to the automatic mode, check whether the refID (reference identifier) is the same. If the refID is the same after switching back, automatically resume the task and continue with the subsequent task actions; if the refIDs are different, it is assumed that they are not the same container, and the driver needs to be notified to place the container back in place or at the specified location manually. If the central control needs to confirm the location, the location also needs to be confirmed. (Only supports the driver to place the container on the ship or at the temporary berth. It does not support placing the container on the container yard truck or IGV.)

[0099] d. If it was with a container before switching to the special mode and is without a container after switching back to the automatic mode, first check whether the container-dropping instruction has been sent and verify whether it matches the execution feedback of the ACCS. If it matches, continue with the subsequent actions; if it does not match, report an exception and prompt the central control to intervene manually to understand the specific situation. The central control personnel need to confirm the location of the container and feedback it to the TOS, and then wait to receive new tasks (only supports the driver to place the container on the ship or at the temporary berth. It does not support placing the container on the container yard truck or IGV. Temporary berth: The location where containers are temporarily placed on the shore, usually set under or behind the bridge without affecting the normal operation of the IGV / container yard truck).

[0100] (5) When the manual intervention mode switches to the special mode, the quay crane operator needs to click the switch on the operation interface. The switch is allowed at any time during the operation of the manual intervention mode. After the mode switch, the locking relationship between the IGV and the quay crane is not released; the switch will affect the execution of the quay crane tasks. The tasks will not be automatically cancelled, but will not be automatically executed subsequently; the single-machine ACCS command will automatically execute unsuccessfully; the settings are basically the same as those for switching from the automatic mode to the special mode.

[0101] (6) When the special mode switches to the manual intervention mode, the quay crane operator needs to click the switch on the operation interface. The switch is allowed at any time; after the mode switch, due to the need to resume automated operations, the QCMS will attempt to resume automated operations, and the specific detection method is the same as that for switching back to the automatic mode.

[0102] Embodiment 2:

[0103] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium includes a stored executable program. When the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0104] The above computer storage medium may refer to a medium in a computer memory for storing a certain discontinuous physical quantity. The computer storage medium mainly includes semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc.; the stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer and run on an electronic computer, which is an information tool to meet certain needs of people.

[0105] Embodiment 3:

[0106] The embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0107] The above computer program product may refer to a software program that has been written, tested, and released and can run on a computer or other device. The computer program product may include application programs, operating systems, tool software, etc., and is used to implement specific functions or solve specific problems.

[0108] Embodiment 4:

[0109] The embodiment of the present application also provides a computer program product, including a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium is used to store a computer program. When the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0110] The above non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep data from being lost when the power is off and can be used to store data for long-term preservation, such as operating systems, application programs, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical discs, and flash storage devices, etc.

[0111] Example 5:

[0112] An embodiment of the present application also provides a computer program, which when executed by a processor implements the methods in the above various embodiments of the present invention.

[0113] The above computer program may refer to a collection of a series of instructions for telling a computer to perform specific tasks or operations. The computer program can be written by a programmer using a specific programming language and can include contents such as algorithms, data structures, logic, and control flows. The computer program can be used for various purposes, including application software, operating systems, etc.

[0114] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own focuses. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0116] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, the various functional units in the various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0118] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0119] In summary, to adapt the application of the single-hoist automated quay crane in the automated container terminal, from the perspectives of operation safety and operation efficiency, an intelligent switching system and method for the operation mode of the single-hoist quay crane in the automated container terminal are proposed, including each module in the method and the control flow between the modules. The concepts of the automatic mode, manual intervention mode, and special mode of the quay crane and the conversion logic between each mode are proposed, thus achieving the following beneficial effects: 1) Improve safety: By dynamically detecting height, container type, and area, the risk of misoperation is reduced; 2) Enhance compatibility: Support the coordination of manual intervention and automated tasks, and reduce the task interruption rate; 3) Optimize efficiency: The abnormal recovery mechanism reduces the number of times of manual intervention, and the task recovery time is shortened by more than 40%.

[0120] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent switching system for the operation mode of a quay crane in an automated container terminal, characterized in that, It includes: A mode management unit, which is used to define an automatic mode, a manual intervention mode, and a special mode, and configure mode switching conditions; A dynamic safety detection unit, which is used to monitor the spreader height and container operation area parameters in real time, where the container types include tank containers, over-limit containers, and dangerous goods containers, and the operation area types include on-board areas, under-bridge IGV operation areas, and post-bridge truck operation areas; A task coordination engine unit, which is used to respond to mode switching requests and execute corresponding tasks; An exception recovery unit, which is used to trigger task recovery or manual intervention mode based on the container-carrying state of the spreader and the container ID when switching back from the special mode to the automatic mode.

2. The system according to claim 1, wherein The automatic mode means that the quay crane fully executes automated tasks according to system instructions without manual intervention; The manual intervention mode means that the quay crane accepts manual assistance intervention when executing instructions to complete operations; The special mode means that the quay crane stops executing automated instructions, and the sent instructions are marked as execution failures and no new instructions are dispatched.

3. The system according to claim 1, wherein The safety restrictions of the dynamic safety detection unit on mode switching include: Automatic mode restriction: It is prohibited to lock the post-bridge truck lane when the IGV is loading onto the ship; Manual intervention mode restriction: a. When discharging the ship, the spreader is not allowed to descend below the safe height of the IGV lane where it is not designated for operation; b. When discharging the ship, the spreader without a container is not allowed to descend below the safe height of any IGV lane; c. When discharging the ship, the spreader carrying a non-IGV container is not allowed to descend below the safe height of any IGV lane; d. When loading the ship, the spreader is not allowed to descend below the safe height of the unlocked IGV lane; e. Without instructions, it is not allowed to manually intervene below the safe height on the ship side; Special mode restriction: There are no operation restrictions.

4. The system according to claim 1, characterized in that, The exception recovery unit executes the following logic: S1. Detect whether the spreader carried a container before the switch and the corresponding container ID, and obtain the container-carrying state of the spreader and the current container ID after the switch; S2. Execute the following logic according to the states before and after the switch: If the spreader did not carry a container before the switch and does not carry a container after the switch, resume the original automated task or wait for a new task to be scheduled; If the spreader did not carry a container before the switch and carries a container after the switch, verify whether the sent container-grabbing instruction is consistent with the ACCS instruction feedback. If they are consistent, continue to execute the subsequent task actions. If they are inconsistent, prompt the central control to intervene manually; If the spreader carried a container before the switch and still carries a container after the switch, verify whether the container IDs before and after the switch are consistent. If they are consistent, resume the original task. If they are inconsistent, notify the operator to place the container at the designated position; If the spreader carried a container before the switch and does not carry a container after the switch, verify whether the sent container-releasing instruction is consistent with the ACCS instruction feedback. If they are consistent, continue to execute the subsequent task actions. If they are inconsistent, prompt the central control to intervene manually.

5. The system according to claim 1, wherein Mode switching also includes: Switching from the automatic mode to the manual intervention mode: Trigger the switch by pushing the trolley or the hoisting handle of the quay crane.

6. The system according to claim 1, wherein Mode switching also includes: Switching from the manual intervention mode to the automatic mode: Trigger a preset button on the handle to request the switch, and it is prohibited to switch under the following conditions: i. The spreader is below the safe height in the post-bridge truck lane, on the side of the under-bridge IGV, or on the ship; ii. When discharging or loading the ship, grabbing tank containers, over-limit containers, special containers, or dangerous goods containers.

7. The system according to claim 1, characterized in that, Mode switching also includes: Switch from the automatic mode or manual intervention mode to the special mode: Trigger the switch by clicking on the operation interface. After the switch, the locking relationship between the IGV and the quay crane remains; Switch from the special mode to the manual intervention mode: Trigger the switch by clicking on the operation interface.

8. The system according to claim 1, wherein The quay crane is a single trolley automated quay crane.

9. An intelligent switching method for the operation mode of a quay crane in an automated container terminal, characterized in that, It includes: Define the automatic mode, manual intervention mode and special mode, and configure the mode switching conditions; Real-time monitor the spreader height and container operation area parameters, where the container types include tank containers, oversize containers and dangerous goods containers, and the operation area types include on-board area, IGV operation area under the bridge and truck operation area behind the bridge; Respond to the mode switching request and execute the corresponding tasks; When switching back from the special mode to the automatic mode, trigger the task recovery or manual intervention mode based on the container-carrying state of the spreader and the container ID.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program runs, it controls the processor of the device where it is located to execute the intelligent switching method for the operation mode of the automated container terminal quay crane described in claim 9.

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