Control method for adjacent vehicle avoidance of train-mounted coil car unloading into a warehouse

Abstract

The application discloses a control method for adjacent vehicle avoidance of train-mounted steel coil unloading and warehouse entering. The method comprises the following steps: assigning the nearest instruction to each vehicle according to the current position of the vehicle; judging the advancing direction of the vehicle according to the current position and the current target position, and determining whether to return true or false, or to return true newly-added adjacent vehicle avoidance, or to return false newly-added adjacent vehicle avoidance, or to return false newly-added self-avoidance. The application can ensure the stable operation and safety of two vehicles under the condition that the train is long, and can realize the scheduling of two vehicles to complete the instruction in sequence to hoist and transport the steel coil in the train compartment into the warehouse at the fastest speed.

Description

Technical Field

[0001] This invention belongs to the field of operational transportation technology, specifically relating to a control method for adjacent trains to avoid collisions when unloading steel coils from trains into a warehouse. Background Technology

[0002] Currently, in logistics warehouses, steel coils are mainly transported by trucks, flatbed trucks, ground-mounted trolleys, and trains, with overhead cranes handling the hoisting and warehousing. Existing overhead cranes, when hoisting steel coils from trucks, flatbed trucks, and ground-mounted trolleys, typically use lasers to scan and obtain laser data, which is then compared with upstream data uploaded by handheld devices to obtain accurate steel coil specifications and coordinate information to guide crane operations. However, due to the long distances between trains, lasers struggle to obtain complete and accurate data, making it impossible to perform the function of unloading steel coils from trains into warehouses. Furthermore, due to the long train distances, existing technologies lack control methods for how adjacent overhead cranes can avoid collisions when unloading steel coils from trains and simultaneously operating. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the aforementioned background technology, overcome the problem of low efficiency in train loading and unloading, and provide a control method for adjacent trains to avoid collisions when unloading steel coils from trains into warehouses.

[0004] The technical solution adopted in this invention is: a control method for adjacent trains to avoid collisions when unloading and storing steel coils on trains. This method acquires the specifications and coordinate data of the steel coils, generates storage instructions based on storage location recommendation rules, and schedules two trains to sequentially complete the instructions to lift and transport the steel coils into the storage facility.

[0005] Step 1: Assign the instruction closest to the lifting position to each crane based on the current position of the crane. Determine the crane's direction of travel based on the current position and the current target position. If the crane's direction of travel is the general direction, check if there is a vehicle in front of the crane. If not, return true; if so, proceed to Step 2. If the crane's direction of travel is the minor direction, check if there is a vehicle in front of the crane. If not, return true; if so, proceed to Step 4.

[0006] Step 2: Obtain the driving data of the two vehicles respectively, calculate the movement of the two vehicles, and return true if the two vehicles do not interfere; if the two vehicles are contained, proceed to step 3; depending on the intersection of the two vehicles, proceed to step 5 or step 6.

[0007] Step 3: Return true if the adjacent train is idle; return false if the adjacent train is in operation.

[0008] Step 4: Obtain the driving data of the two vehicles respectively, calculate the driving situation of the two vehicles, return true when the two vehicles do not interfere; return false when the two vehicles are contained, and add the adjacent vehicle avoidance; depending on the intersection situation of the two vehicles, execute step 5 or execute step 6.

[0009] Step 5: When the distance between the two vehicles is greater than the safe distance, return true and add a temporary vehicle avoidance; when the distance between the two vehicles is too close, return false and add a temporary vehicle avoidance.

[0010] Step 6: If the adjacent vehicle is loaded, return true and add the adjacent vehicle to the yield list; if the adjacent vehicle is empty, determine whether to return false and add the current vehicle to the yield list based on whether the current vehicle is empty or loaded, or return false and add the adjacent vehicle to the yield list.

[0011] In the above scheme,

[0012] When the return value is true, the vehicle executes the current instruction; when the return value is false, the vehicle stops and waits for a new avoidance instruction to be generated by a neighboring vehicle or the vehicle itself before reassessing the situation.

[0013] Added avoidance: Pre-assigns avoidance instructions to specified vehicles, and executes the pre-assigned avoidance instructions when the vehicle requests instructions again.

[0014] In step 2 above, the situations where two vehicles cross include: when the adjacent vehicle interferes and is manually controlled, return false and clear the instructions for this vehicle; when the adjacent vehicle reaches the target position and has no avoidance history, return false and add an adjacent vehicle avoidance instruction; when the adjacent vehicles move in the same direction, enter the following mode and execute step 5; when the adjacent vehicles move in opposite directions, this vehicle approaches the red line and stops to wait, reduces the priority of the instructions, and executes step 6.

[0015] In step 4 above, the situations where two vehicles cross include: when the adjacent vehicle interferes and is manually controlled, return false and clear the current command; when the adjacent vehicle reaches the target position, return false and add a neighboring vehicle to avoid; when the two vehicles move in the same direction, enter the following mode and execute step 5; when the adjacent vehicles move in opposite directions, the vehicle approaches the red line and stops to wait, reduces the command priority weight, and executes step 6.

[0016] In step 6 above, when the vehicle is empty, if the adjacent vehicle turns back, return false and add a vehicle to avoid; if the adjacent vehicle is going straight and the vehicle is going straight, return false and add a vehicle to avoid; if the adjacent vehicle is going straight and the vehicle is turning back, return false, the vehicle is close and add a vehicle to avoid.

[0017] In step 6 above, when the vehicle is carrying another vehicle, if the adjacent vehicle turns back, return false and add a condition for the vehicle to avoid it; if the adjacent vehicle is traveling in a straight line, determine whether the vehicle and the adjacent vehicle are in conflict.

[0018] If this vehicle conflicts with the adjacent vehicle, return false and add the vehicle to yield; if the adjacent vehicle is suitable to yield, return false and add the adjacent vehicle to yield.

[0019] The general direction of vehicle movement is defined as the direction in which the vehicle moves towards the increasing X coordinate, while the minor direction is defined as the direction in which the vehicle moves towards the decreasing X coordinate.

[0020] Two vehicles intersecting means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in opposite directions; two vehicles containing means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in the same direction.

[0021] An empty adjacent car means the adjacent car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. A loaded adjacent car means the adjacent car has already clamped the steel coil; the next step is to prepare to unload the coil or avoid it.

[0022] The empty car means the car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. The loaded car means the car has already clamped the steel coil; the next step is to unload the coil or avoid it.

[0023] This invention solves the problem of how adjacent trains can avoid each other when multiple trains are operating simultaneously to unload steel coils from trains and store them in warehouses due to long train distances.

[0024] This invention assigns the nearest instructions sequentially based on the current position of the train, minimizing the train's travel distance. When the train's travel range overlaps, an avoidance instruction is assigned, and the operation is completed sequentially. When the instructions executed by the trains are uninterrupted, the operation is completed simultaneously. Even with long train distances, this invention ensures the stable operation and safety of two trains simultaneously, and enables the fastest possible dispatching of both trains to sequentially complete instructions and transport steel coils from the train carriages into the depot. Attached Figure Description

[0025] Figure 1 A schematic diagram showing the unloading and storage of steel coils from a train.

[0026] Figure 2 This is a schematic diagram illustrating the general direction of the vehicle's current forward movement in this invention.

[0027] Figure 3 This is a schematic diagram illustrating the current driving direction of the vehicle in the minor direction according to the present invention.

[0028] In the diagram, 101 is a steel coil, 102 is a train carriage, 103 is a landmark, 104 is a laser moving device, and 105 is a laser. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments to facilitate a clear understanding of the present invention, but these descriptions do not constitute a limitation on the present invention.

[0030] like Figure 1As shown, a steel coil 101 is placed inside the train carriage 102. Landmarks 103 are used to mark the train carriage 102, delineating a rectangular area for the train to stop as the train parking space. Using the length of the train carriage as the interval, the parking space is divided into several small areas in sequence using landmarks 103. A handheld device scans and uploads the landmarks 103 of the area where the train head and the parking space are located, ensuring that the area between two landmarks 103 includes the entire train body, thus determining the position of the train in the parking space.

[0031] Laser 105 is mounted on laser moving device 104. Laser moving device 104 moves at low speed to drive laser 105 to scan all train carriages 102. Laser 105 scans the steel coils 101 on the train carriages 102 to identify the position, shape and quantity of the steel coils 101. Then it matches the steel coil data submitted in the database of the handheld device to obtain complete steel coil specifications and coordinate data. This data is then used for subsequent unloading and storage by the crane. The WMSS system (intelligent warehouse management system) generates storage instructions based on storage location recommendation rules and dispatches the crane to complete the instructions in sequence to lift the steel coils into the warehouse.

[0032] This invention relates to a control method for adjacent trains to avoid each other when unloading and storing steel coils on trains, specifically including two trains for the automated unloading and storage of steel coils 101.

[0033] like Figure 2 , Figure 3 As shown, the flow of the control method for adjacent trains to avoid collisions during the unloading and storage of steel coils on trains according to the present invention is as follows:

[0034] Step 1: The WMS system obtains the steel coil specifications and coordinate data, generates an inbound instruction based on the warehouse location recommendation rules, and dispatches two overhead cranes to sequentially complete the instruction and transport the steel coil into the warehouse. Based on the current position of each crane, it assigns an instruction closest to the lifting position. It determines the crane's direction of travel based on the current position and the target position. If the crane's direction of travel is a general direction, it checks if there is a nearby crane ahead. If not, it returns true; if so, it proceeds to Step 2. If the crane's direction of travel is a minor direction, it checks if there is a nearby crane ahead. If not, it returns true; if so, it proceeds to Step 5.

[0035] Step 2: Obtain the driving data of the two vehicles respectively, calculate the movement of the two vehicles. If the two vehicles do not interfere, return true; if the two vehicles are contained within each other, proceed to step 3; if the two vehicles cross each other, proceed to step 4.

[0036] Step 3: Return true if the adjacent train is idle; return false if the adjacent train is in operation.

[0037] Step 4: When a neighboring vehicle intervenes and is manually controlled, return to false and clear the instructions for this vehicle; when a neighboring vehicle reaches the target position and has no avoidance history, return to false and add a neighboring vehicle avoidance instruction; when the neighboring vehicles move in the same direction, enter the following mode and execute Step 7; when the neighboring vehicles move in opposite directions, this vehicle approaches the red line and stops to wait, reduces the instruction priority, and executes Step 8.

[0038] Step 5: Obtain the driving data of the two vehicles respectively, calculate the driving situation of the two vehicles. If the two vehicles do not interfere, return true; if the two vehicles are contained, return false and add adjacent vehicle avoidance; if the two vehicles cross, execute step 6.

[0039] Step 6: When a neighboring vehicle intervenes and is manually controlled, return to false and clear the current command; when a neighboring vehicle reaches the target position, return to false and add a neighboring vehicle avoidance command; when the two vehicles move in the same direction, enter the following mode and execute Step 7; when the neighboring vehicles move in opposite directions, the vehicle approaches the red line and stops to wait, reduces the command priority, and executes Step 8.

[0040] Step 7: When the distance between the two vehicles is greater than the safe distance, return true and add a temporary vehicle avoidance; when the distance between the two vehicles is too close, return false and add a temporary vehicle avoidance.

[0041] Step 8: If the adjacent vehicle is carrying another vehicle, return true and add an adjacent vehicle avoidance option; if the adjacent vehicle is empty, proceed to step 9.

[0042] Step 9: If the vehicle is empty, proceed to step 10; if the vehicle is loaded, proceed to step 11.

[0043] Step 10: When the adjacent vehicle turns back, return false and add a vehicle-to-avoidance condition; when the adjacent vehicle is moving straight and the vehicle is moving straight, return false and add a vehicle-to-avoidance condition; when the adjacent vehicle is moving straight and the vehicle is turning back, return false, the vehicle is close and adds a vehicle-to-avoidance condition.

[0044] Step 11: When the adjacent vehicle turns back, return to false and add the vehicle's avoidance action; when the adjacent vehicle travels in a straight line, execute step 12.

[0045] Step 12: When the vehicle collides with the adjacent vehicle, return false and add the vehicle to avoid the collision; when the adjacent vehicle is suitable for avoidance, return false and add the adjacent vehicle to avoid the collision.

[0046] When the return value is true, the vehicle executes the current instruction; when the return value is false, the vehicle stops and waits for a new avoidance instruction to be generated by a neighboring vehicle or the vehicle itself before reassessing the situation.

[0047] Added avoidance: Pre-assigns avoidance instructions to specified vehicles, and executes the pre-assigned avoidance instructions when the vehicle requests instructions again.

[0048] The general direction of vehicle movement is defined as the direction in which the vehicle moves towards the increasing X-coordinate, while the minor direction is defined as the direction in which the vehicle moves towards the decreasing X-coordinate. For example... Figure 1 As shown in the diagram, the rightward direction is the X-direction, and the upward direction is the Y-direction.

[0049] Two vehicles intersecting means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in opposite directions; two vehicles containing means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in the same direction.

[0050] An empty adjacent car means the adjacent car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. A loaded adjacent car means the adjacent car has already clamped the steel coil; the next step is to prepare to unload the coil or avoid it.

[0051] The empty car means the car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. The loaded car means the car has already clamped the steel coil; the next step is to unload the coil or avoid it.

[0052] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A control method for adjacent trains to avoid collisions when unloading and storing steel coils on a train, comprising acquiring the specifications and coordinate data of the steel coils, generating storage instructions based on storage location recommendation rules, and scheduling two trains to sequentially complete the instructions to lift and transport the steel coils into the storage facility, characterized in that: Also includes Step 1: Assign each crane the instruction closest to the lifting position based on its current location; Determine the driving direction based on the current position and the current target position. If the driving direction is the general direction, check if there is a vehicle ahead. If not, return true; if so, proceed to step 2. If the driving direction is the minor direction, check if there is a vehicle ahead. If not, return true; if so, proceed to step 4. Step 2: Obtain the driving data of the two vehicles respectively, calculate the movement of the two vehicles, and return true if the two vehicles do not interfere; if the two vehicles are contained, proceed to step 3; depending on the intersection of the two vehicles, proceed to step 5 or step 6. Step 3: Return true if the adjacent train is idle; return false if the adjacent train is in operation. Step 4: Obtain the driving data of the two vehicles respectively, calculate the driving situation of the two vehicles, return true when the two vehicles do not interfere; return false when the two vehicles are contained, and add the adjacent vehicle avoidance; depending on the intersection situation of the two vehicles, execute step 5 or execute step 6. Step 5: When the distance between the two vehicles is greater than the safe distance, return true and add a temporary vehicle avoidance; when the distance between the two vehicles is too close, return false and add a temporary vehicle avoidance. Step 6: If the adjacent vehicle is loaded, return true and add the adjacent vehicle to the yield list; if the adjacent vehicle is empty, determine whether to return false and add the current vehicle to the yield list based on whether the current vehicle is empty or loaded, or return false and add the adjacent vehicle to the yield list. When the return value is true, the vehicle executes the current instruction; when the return value is false, the vehicle stops and waits for a new avoidance instruction to be generated by a neighboring vehicle or the vehicle itself before reassessing the situation. Added avoidance: Pre-assigns avoidance instructions to specified vehicles, and executes the pre-assigned avoidance instructions when the vehicle requests instructions again; In step 2 above, the situations where two vehicles cross include: when the adjacent vehicle interferes and is manually controlled, return false and clear the instructions for this vehicle; when the adjacent vehicle reaches the target position and has no avoidance history, return false and add an adjacent vehicle avoidance instruction; when the adjacent vehicles move in the same direction, enter the following mode and execute step 5; when the adjacent vehicles move in opposite directions, this vehicle approaches the red line and stops to wait, reduces the priority of the instructions, and executes step 6. In step 4 above, the situations where two vehicles cross include: when the adjacent vehicle interferes and is manually controlled, return false and clear the current command; when the adjacent vehicle reaches the target position, return false and add a neighboring vehicle to avoid; when the two vehicles move in the same direction, enter the following mode and execute step 5; when the adjacent vehicles move in opposite directions, and the vehicle approaches the red line and stops to wait, reduce the command priority weight and execute step 6. In step 6 above, when the vehicle is empty, if the adjacent vehicle turns back, return false and add a vehicle to avoid; if the adjacent vehicle is going straight and the vehicle is going straight, return false and add a vehicle to avoid; if the adjacent vehicle is going straight and the vehicle is turning back, return false, the vehicle is close and add a vehicle to avoid. In step 6 above, when the vehicle is carrying another vehicle, if the adjacent vehicle turns back, return false and add a condition for the vehicle to avoid it; if the adjacent vehicle is traveling in a straight line, determine whether the vehicle and the adjacent vehicle are in conflict.

2. The control method for adjacent trains avoiding each other during the unloading and storage of steel coils on trains according to claim 1, characterized in that: If this vehicle conflicts with the adjacent vehicle, return false and add the vehicle to yield; if the adjacent vehicle is suitable to yield, return false and add the adjacent vehicle to yield.

3. The control method for adjacent trains avoiding each other during the unloading and storage of steel coils on trains according to claim 1, characterized in that: The general direction of vehicle movement is defined as the direction in which the vehicle moves towards the increasing X coordinate, while the minor direction is defined as the direction in which the vehicle moves towards the decreasing X coordinate.

4. The control method for adjacent trains avoiding each other during the unloading and storage of steel coils on trains according to claim 1, characterized in that: Two vehicles intersecting means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in opposite directions; two vehicles containing means that the instruction paths assigned to the two vehicles overlap, and the two vehicles move in the same direction.

5. The control method for adjacent trains avoiding each other during the unloading and storage of steel coils on a train as described in claim 1, characterized in that: An empty adjacent car means the adjacent car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. A loaded adjacent car means the adjacent car has already clamped the steel coil; the next step is to prepare to unload the coil or avoid it.

6. The control method for adjacent trains avoiding each other during the unloading and storage of steel coils on a train as described in claim 1, characterized in that: The empty car means the car's clamps have not yet clamped the coil; the next step should be to retrieve the coil or avoid it. The loaded car means the car has already clamped the steel coil; the next step is to unload the coil or avoid it.

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