A real-time test system for automated container terminals

Abstract

The present invention discloses a real-time test system for an automated container terminal, characterized in that it comprises the following parts: at least one ship server, at least one quay crane server, at least one AGV server, at least one field crane server, at least one loading and unloading area server, at least one transportation area server, at least one yard area server, a real-time status display, a real-time control management server, and a management control system server. All of the above servers are provided with matching communication units, and the servers perform wired or wireless signal transmission with each other through the communication units.

Description

Technical Field

[0001] The invention relates to a real-time test system for an automated container terminal, belonging to the technical field of special equipment safety testing. Background Art

[0002] Automated container terminals are new terminals that use advanced information means and integrated control methods to automate the entire process of container loading and unloading, transportation, and stacking. Compared with traditional container terminals, automated container terminals can realize the informatization of business processes, precise scheduling of ship schedules, real-time and efficient control of operations, efficient loading and unloading, and unmanned terminals, and have significant advantages in efficiency, cost, and safety. Management control systems or management control algorithms are the core technologies for the safe and efficient operation of automated container terminals, and reliable testing of management control systems or management control algorithms is particularly important. Existing testing technologies can only perform non-real-time offline simulation tests on them, and cannot test equipment failures or emergencies in the work area in real time. In the actual operation of automated container terminals, equipment failures such as ships, quay cranes, AGVs (automated guided vehicles), and yard cranes occur from time to time, often causing operation interruptions and task blockages. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the existing testing methods for automated container terminal management and control systems or management and control algorithms are mostly non-real-time offline simulation tests, which are unable to test equipment failures or emergencies in the work area in real time, and there is still a large gap between the actual operational tasks that the management and control systems or management and control algorithms need to handle.

[0004] In order to solve the above technical problems, the technical solution of the present invention is to provide a real-time test system for an automated container terminal, characterized in that it includes the following parts: at least one ship server, at least one shore crane server, at least one AGV server, at least one field crane server, at least one loading and unloading area server, at least one transport area server, at least one yard area server, a real-time status display, a real-time control management server, and a management control system server. All of the above servers are equipped with matching communication units, and wired or wireless signal transmission is performed between the servers through the communication units.

[0005] Among them, a management control system is installed in the management and control system server; the management and control system server generates or receives externally input test data, generates or receives externally input fault data and emergency data in real time, and sends the management and control data required by the management and control algorithm to the real-time control management server; the real-time control management server receives the management and control data, sends it to the ship server, the quay crane server, the AGV server, the field crane server, the loading and unloading area server, the transportation area server, the yard area server and sends the test data to the real-time status display in real time.

[0006] Among them, the ship server corresponds to managing the ship. The ship server receives the ship name, voyage, berth, berthing time, bay position, container type, number of containers and ship fault data in the management and control data sent by the real-time control management server and sends the ship's current loading status data to the loading and unloading area server.

[0007] Among them, the quay crane server corresponds to the management quay crane, and the quay crane server receives the quay crane task data and quay crane fault data in the management and control data sent by the real-time control management server and sends the current operation, position, movement and energy consumption data of the quay crane to the loading and unloading area server.

[0008] Among them, the AGV server corresponds to the management AGV, and the AGV server receives the AGV task data and AGV fault data in the management and control data sent by the real-time control management server, and sends the AGV current operation, position, movement, and energy consumption data to the loading and unloading area server, the transportation area server, and the yard area server.

[0009] Among them, the field bridge server corresponds to the management field bridge, and the field bridge server receives the field bridge task data and field bridge fault data in the management and control data sent by the real-time control management server, and sends the field bridge current operation, position, movement, and energy consumption data to the yard area server.

[0010] Among them, the loading and unloading area server corresponds to the management loading and unloading area. The loading and unloading area server receives the loading and unloading area emergency data in the management and control data sent by the real-time control management server, receives the current packing status data sent by the ship server, and the current operation, position, movement, and energy consumption data sent by the quay crane server and the AGV server, calculates and analyzes the container loading and unloading quantity, loading and unloading time, loading and unloading efficiency, and loading and unloading energy consumption data in the loading and unloading area, and sends them to the real-time control management server.

[0011] Among them, the transport area server corresponds to the management transport area, and the transport area server receives the transport area emergency data in the management and control data sent by the real-time control management server, receives the current operation, position, movement, and energy consumption data sent by the AGV server, calculates and analyzes the container transportation quantity, transportation time, transportation efficiency, and transportation energy consumption data in the transport area, and sends them to the real-time control management server.

[0012] Among them, the yard area server corresponds to the management yard area, and the yard area server receives the yard area emergency data in the management and control data sent by the real-time control management server, receives the current operation, position, movement, and energy consumption data sent by the yard bridge server and the AGV server, calculates and analyzes the number of container stacks, stacking time, stacking efficiency, and stacking energy consumption data in the yard area, and sends them to the real-time control management server.

[0013] Among them, the real-time status display receives the data sent by the real-time control management server, and displays the status data of the ship server, quay crane server, AGV server, field crane server, loading and unloading area server, transportation area server, yard area server, and management control system server in real time.

[0014] The advantage of the present invention is that it provides a real test environment to perform semi-physical real-time simulation verification and evaluation on the management control system or management control algorithm of the automated container terminal, especially its special equipment operation, to ensure the safe, reliable, efficient and economical operation of the automated container terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural diagram of the system of the present invention;

[0016] Figure 2 Schematic diagram of signal transmission of the system of the present invention. DETAILED DESCRIPTION

[0017] In order to make the present invention more clearly understood, preferred embodiments are described in detail below with reference to the accompanying drawings.

[0018] The present invention is a real-time test system for an automated container terminal, comprising the following parts:

[0019] 1. Ship Server 10-1~10-n

[0020] Used to manage corresponding ships. One ship corresponds to one ship server.

[0021] Receive data such as ship name, voyage, berth, berthing time, bay position, container type, number of containers, and ship fault data sent by the real-time control management server, and send data such as the current loading status of the ship to the loading and unloading area server.

[0022] 2. Quay crane server 20-1~20-n

[0023] Used to manage the corresponding quay crane. One quay crane corresponds to one quay crane server.

[0024] Receive the quay crane task data and quay crane fault data sent by the real-time control management server, and send the quay crane current operation, position, movement, energy consumption and other data to the loading and unloading area server.

[0025] 3. AGV (automated guided vehicle) server 30-1~30-n

[0026] Used to manage the corresponding AGV. One AGV corresponds to one AGV server.

[0027] Receive AGV task data and AGV fault data sent by the real-time control management server, and send AGV current operation, position, movement, energy consumption and other data to the loading and unloading area server, transportation area server and yard area server.

[0028] 4. Field bridge server 40-1~40-n

[0029] Used to manage the corresponding field bridge. One field bridge corresponds to one field bridge server.

[0030] Receive the field crane task data and field crane fault data sent by the real-time control management server, and send the field crane current operation, position, movement, energy consumption and other data to the yard area server.

[0031] 5. Loading and unloading area servers 50-1 to 50-n

[0032] Used to manage the corresponding loading and unloading areas. One independent loading and unloading area corresponds to one loading and unloading area server.

[0033] Receive emergency data of the loading and unloading area sent by the real-time control management server, receive data such as the current packing status sent by the ship server in the loading and unloading area, and data such as the current operation, position, movement, energy consumption, etc. sent by the quay crane server and AGV server, calculate and analyze data such as the number of containers loaded and unloaded in the loading and unloading area, loading and unloading time, loading and unloading efficiency, loading and unloading energy consumption, etc., and send them to the real-time control management server.

[0034] 6. Transport Zone Server 60-1~60-n

[0035] Used to manage the corresponding transport area. One independent transport area corresponds to one transport area server.

[0036] Receive emergency data of the transport area sent by the real-time control management server, receive current operation, position, movement, energy consumption and other data sent by the AGV server in the loading and unloading area, calculate and analyze data such as the number of container transports, transport time, transport efficiency, transport energy consumption and other data in the transport area, and send them to the real-time control management server.

[0037] 7. Yard area servers 70-1~70-n

[0038] Used to manage the corresponding yard area. One independent yard area corresponds to one yard area server.

[0039] Receive emergency data of the yard area sent by the real-time control management server, receive current operation, position, movement, energy consumption and other data sent by the yard bridge server and AGV server in the yard area, calculate and analyze data such as the number of container stacking, stacking time, stacking efficiency, stacking energy consumption and other data in the yard area, and send them to the real-time control management server.

[0040] 8. Real-time status display

[0041] Receive data sent by the real-time control management server, and display the status data of the ship server, quay crane server, AGV server, yard crane server, loading and unloading area server, transportation area server, yard area server, and management control system server in real time.

[0042] 9. Real-time control and management server

[0043] Automatically generate or receive externally input test data; automatically generate or receive in real time externally input fault data and emergency data; receive management and control data generated by the management and control system server according to the management and control algorithm; and send to the ship server, quay crane server, AGV server, yard crane server, loading and unloading area server, transportation area server, and yard area server; send the data required by the management and control algorithm to the management and control system server; send real-time test data to the real-time status display; receive data from the loading and unloading area server, transportation area server, and yard area server, analyze, calculate and evaluate the safety, reliability, operating efficiency and economy of the current management and control algorithm; control the test process to ensure that the test operation is synchronized with the physical reality; store, query, use and maintain the test data.

[0044] 10. Management and control system server

[0045] A developed MC system or a server capable of running the MC system algorithm to be tested.

[0046] Receive real-time control management server data, calculate through management and control algorithm, form management and control data, and send it to the real-time control management server.

[0047] All of the above servers are equipped with matching communication units, and wired or wireless signal transmission is performed between servers through the communication units.

[0048] The following is a specific example to illustrate the system working process:

[0049] like Figure 1 As shown, each module is a ship server 10-1, a quay crane server 20-1, 20-2, an AGV server 30-1, 30-2, a yard crane server 40-1, 40-2, a loading and unloading area server 50-1, a transportation area server 60-1, a yard area server 70-1, a real-time status display 8, a real-time control management server 9, and a management control system server 10.

[0050] The real-time control management server 9 generates or receives external test data, as well as generates or receives external fault data and emergency data in real time, and sends them to the management control system server 10. The management control algorithm calculates and forms management and control data, and sends them to the real-time control management server 9.

[0051] Fault data includes:

[0052] Ship failure data: hatch cover cannot be opened, etc.

[0053] Quay crane failure data: large vehicle unable to operate, small vehicle unable to operate, etc.;

[0054] AGV fault data: Faulty stop at the same place, navigation system failure, etc.

[0055] Field bridge failure data: large vehicle cannot run, small vehicle cannot run, etc.;

[0056] Emergency data includes:

[0057] Data on emergencies in loading and unloading areas: some areas of the loading and unloading area are prohibited from use, etc.;

[0058] Transport zone emergency data: some sections of the transport zone are prohibited from use, etc.;

[0059] Emergency data in the yard area: some passages in the yard area are prohibited from use, etc.;

[0060] Fault data and emergency data may be generated by the real-time control management server 9 or may be input from the outside at any time.

[0061] The real-time control management server 9 sends initialization data such as bay position and number of containers and ship fault data to the ship server 10-1, sends task data and quay crane fault data to the quay crane servers 20-1 and 20-2, sends task data and AGV fault data to the AGV servers 30-1 and 30-2, sends task data and field crane fault data to the field crane servers 40-1 and 40-2, sends loading and unloading area emergency data to the loading and unloading area server 50-1, sends transportation area emergency data to the transportation area server 60-1, and sends yard area emergency data to the yard area server 70-1.

[0062] The quay crane servers 20-1 and 20-2 perform operations according to the task data, arrive at the designated location, and load and unload containers 1# and 2# from the corresponding bays of the ship server 10-1 to the AGV servers 301- and 30-2 in the loading and unloading area. During this period, the current operation, position, movement, energy consumption and other data are sent to the loading and unloading area server 50-1.

[0063] The number of containers of ship server 10-1 is reduced by 2.

[0064] The energy consumption of the quay crane servers 20-1 and 20-2 are Q201 and Q202 respectively.

[0065] AGV servers 30-1 and 30-2 perform operations according to the task data, enter the designated location of the loading and unloading area, and start to leave the loading and unloading area after containers 1# and 2# are loaded. During the operation of the loading and unloading area, they send current operation, location, movement, energy consumption and other data to the loading and unloading area server 50-1.

[0066] The energy consumption of AGV servers 30 - 1 and 30 - 2 are Q301 and Q302 respectively.

[0067] The number of containers loaded and unloaded by the loading and unloading zone server 50-1 increases by 2, and the loading and unloading time increases by t 卸 , loading and unloading efficiency η 卸 =2 / t 卸 , Loading and unloading energy consumption Q 卸 =Q201+Q202+Q301+Q302, and sent to the real-time control management server 9.

[0068] AGV servers 30-1 and 30-2 perform operations according to the task data, carry containers 1# and 2# into the transportation area, operate according to the task route, and send current operation, position, movement, energy consumption and other data to the transportation area server 60-1 during operation in the transportation area.

[0069] The energy consumptions of the AGV servers 30 - 1 and 30 - 2 are Q' 301 and Q' 302 respectively.

[0070] The number of container transports for transport zone server 60-1 increases by 2 and the transport time increases by t 运 , transport efficiency η 运 =2 / t 运 , transport energy consumption Q 运 =Q'301+Q'302, and sent to the real-time control management server 9.

[0071] AGV servers 30-1 and 30-2 perform operations according to the task data, enter the designated location of the yard area, and start to leave the yard area after containers 1# and 2# are unloaded. During the operation of the yard area, they send current operation, location, movement, energy consumption and other data to the yard area server 70-1.

[0072] The energy consumption of AGV servers 30-1 and 30-2 are Q"301 and Q"302 respectively.

[0073] The yard bridge servers 40-1 and 40-2 perform operations according to the task data, arrive at the designated location, and stack containers 1# and 2# from the AGV servers 30-1 and 30-2 to the designated location of the yard area 70-1. During this period, the current operation, location, movement, energy consumption and other data are sent to the loading and unloading area server 70-1.

[0074] The energy consumption of the field bridge servers 40-1 and 40-2 are Q401 and Q402 respectively.

[0075] The number of containers stacked on the server 50-1 in the yard area increases by 2, and the stacking time increases by t 堆 , stacking efficiency η 堆 =2 / t 堆 , Stacking box energy consumption Q 堆 =Q401+Q402+Q”301+Q”302, and sent to the real-time control management server 9.

[0076] The real-time control management server 9 can receive fault data and emergency data input from the outside at any time, and verify the safety and reliability of any management control algorithm.

[0077] The real-time control management server 9 calculates the loading and unloading efficiency η under different management control algorithms 卸 , transport efficiency η 运 , stacking efficiency η 堆 , Loading and unloading energy consumption Q 卸 , transport energy consumption Q 运 , Stacking box energy consumption Q 堆 Comparative analysis.

[0078] The real-time status display shows the simulation status data in real time, which is convenient for real-time control of the simulation process.

Claims

1. A real-time test system for an automated container terminal, characterized in that: It includes the following parts: at least one ship server, at least one quay crane server, at least one AGV server, at least one yard crane server, at least one loading and unloading area server, at least one transportation area server, at least one yard area server, a real-time status display, a real-time control management server, and a management control system server. All of the above servers are equipped with matching communication units, and the servers transmit wired or wireless signals to each other through the communication units; the management control system server is equipped with a management control system; the management control system server generates or receives externally input test data, generates or receives externally input fault data and emergency data in real time, and sends the management and control data required by the management and control algorithm to the real-time control management server; The real-time control management server receives management and control data, sends it to the ship server, the shore crane server, the AGV server, the field crane server, the loading and unloading area server, the transportation area server, the yard area server and sends test data to the real-time status display in real time.

2. The real-time test system for an automated container terminal according to claim 1, characterized in that: The ship server corresponds to the management ship. The ship server receives the ship name, voyage, berth, berthing time, bay position, container type, number of containers and ship fault data in the management and control data sent by the real-time control management server and sends the current loading status data of the ship to the loading and unloading area server.

3. A real-time test system for an automated container terminal according to claim 2, characterized in that: The quay crane server corresponds to the management quay crane. The quay crane server receives the quay crane task data and quay crane fault data in the management and control data sent by the real-time control management server and sends the quay crane's current operation, position, movement, and energy consumption data to the loading and unloading area server.

4. A real-time test system for an automated container terminal according to claim 3, characterized in that: The AGV server corresponds to the management AGV. The AGV server receives the AGV task data and AGV fault data in the management and control data sent by the real-time control management server, and sends the AGV current operation, position, movement, and energy consumption data to the loading and unloading area server, the transportation area server, and the yard area server.

5. A real-time test system for an automated container terminal according to claim 4, characterized in that: The field bridge server corresponds to the management field bridge. The field bridge server receives the field bridge task data and field bridge fault data in the management and control data sent by the real-time control management server, and sends the field bridge current operation, position, movement, and energy consumption data to the yard area server.

6. A real-time test system for an automated container terminal according to claim 5, characterized in that: The loading and unloading area server corresponds to the management loading and unloading area. The loading and unloading area server receives the loading and unloading area emergency data in the management and control data sent by the real-time control management server, receives the current packing status data sent by the ship server, and the current operation, position, movement, and energy consumption data sent by the quay crane server and the AGV server, calculates and analyzes the container loading and unloading quantity, loading and unloading time, loading and unloading efficiency, and loading and unloading energy consumption data in the loading and unloading area, and sends them to the real-time control management server.

7. A real-time test system for an automated container terminal according to claim 6, characterized in that: The transport area server corresponds to the management transport area. The transport area server receives the transport area emergency data in the management and control data sent by the real-time control management server, receives the current operation, position, movement, and energy consumption data sent by the AGV server, calculates and analyzes the container transportation quantity, transportation time, transportation efficiency, and transportation energy consumption data in the transport area, and sends them to the real-time control management server.

8. The real-time test system for an automated container terminal according to claim 7, characterized in that: The yard area server corresponds to the management yard area. The yard area server receives the yard area emergency data in the management and control data sent by the real-time control management server, receives the current operation, position, movement, and energy consumption data sent by the yard bridge server and the AGV server, calculates and analyzes the number of container stacks, stacking time, stacking efficiency, and stacking energy consumption data in the yard area, and sends them to the real-time control management server.

9. A real-time test system for an automated container terminal according to claim 8, characterized in that: The real-time status display receives data sent by the real-time control management server, and displays the status data of the ship server, quay crane server, AGV server, field crane server, loading and unloading area server, transportation area server, yard area server, and management control system server in real time.

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