Port equipment mobile route planning device

Abstract

According to one embodiment of the present invention, a port equipment mobile route planning device is disclosed, which includes: a first expected path generation unit, which generates a first expected path for unmanned transportation equipment; a second expected path generation unit, which generates a second expected path for unloading equipment; a judgment unit, which judges whether the first expected path overlaps with a part of the second expected path within a preset time period; and a modification request unit, which sends a modification request message to modify the first expected path or the second expected path when the first expected path overlaps with at least a part of the second expected path.

Description

Technical Field

[0001] The invention relates to a port equipment moving route planning device.

[0002] This research was supported by the Korea Institute of Marine Science and Technology (KIMST) funded by the Ministry of Oceans and Fisheries (20220583). Background Art

[0003] A yard tractor is a device that tows a yard chassis within a container terminal and transports and loads containers between the terminal and the container yard.

[0004] Recently, the Connected Autonomous Yard Tractor (CAYT) is being developed. By combining autonomous driving technology with yard tractors, containers can be automatically transported to the required location without human intervention.

[0005] Currently, most Korean ports are at the level of semi-automated terminals. Although some major ports have achieved automation of yard cranes, yard tractors that move containers still rely on manpower.

[0006] When integrating autonomous driving technology into yard tractors to unmanned vehicles, accidents can occur when the movement paths of the yard tractor, unloading equipment, and operators overlap.

[0007] Therefore, a technology is needed to predict the movement paths of yard tractors, unloading equipment, and operators in the port and plan the movement paths to prevent the movement paths from overlapping. Summary of the invention

[0008] Technical problem to be solved by the invention

[0009] The technical problem to be solved by an embodiment of the present invention includes predicting the moving paths of a yard tractor, unloading equipment and operators, and planning the moving routes to prevent the moving paths from overlapping.

[0010] The technical problems to be solved by the present invention are not limited to the above-mentioned technical problems. Ordinary technicians in the technical field to which the present invention belongs can clearly understand other unmentioned technical problems through the following description.

[0011] Technical solutions to the problem

[0012] In order to solve the above technical problems, a port equipment mobile route planning device according to one aspect of the present invention includes: a first expected path generation unit, which generates a first expected path for unmanned transportation equipment; a second expected path generation unit, which generates a second expected path for unloading equipment; a judgment unit, which judges whether the first expected path overlaps with a part of the second expected path within a preset time period; and a modification request unit, which sends a modification request message to modify the first expected path or the second expected path when the first expected path overlaps with at least a part of the second expected path.

[0013] In addition, it also includes a third expected path generation unit for generating a third expected path of the operator, and the judgment unit can judge whether a portion of at least two of the first expected path, the second expected path and the third expected path overlap within a preset time period.

[0014] The modification request unit may select a path to be modified from the first expected path or the second expected path based on a preset priority order.

[0015] The first expected path may include a plurality of nodes included in the path along which the unmanned transport equipment travels and links connecting the nodes.

[0016] The method may further include: a attention area setting unit for setting an area where a part of at least two of the first expected path, the second expected path and the third expected path overlap within the preset time period as a attention area.

[0017] The judgment unit may judge whether there is an overlap based on the coordinate values ​​of a first node included in the first expected path and a second node included in the second expected path.

[0018] In addition, the system may further include: a prompt message sending unit, which sends a prompt message when it is predicted that at least one of the unmanned transport equipment, the unloading equipment and the operator is about to move to the attention area.

[0019] In addition, the method may further include: a display unit for displaying the first expected path and the second expected path on a map according to a preset time period.

[0020] The priority order may be determined as the one with the least required travel time and the least cost among the first expected path, the second expected path and the third expected path.

[0021] Effects of the Invention

[0022] As described above, according to the embodiments and various aspects of the present invention, the operation information of the unmanned transport equipment is displayed externally and used for the safety and decision-making of on-site operators or manned truck drivers in the driving routes and working spaces within the port.

[0023] It should be understood that the effects of the present invention are not limited to the above-mentioned effects but include all effects that can be inferred from the structure of the present invention described in the description of the present invention or the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a block diagram showing a port equipment moving route planning device according to an embodiment of the present invention.

[0025] Figure 2 The figure is a diagram showing an example of an expected path of an unmanned transport equipment generated by a port equipment movement route planning device according to an embodiment of the present invention.

[0026] Figure 3 The figure is a diagram showing an example of an expected path of unloading equipment generated by a port equipment movement route planning device according to an embodiment of the present invention.

[0027] Figure 4 The figure shows an example of an expected path of an operator generated by a port equipment movement route planning device according to an embodiment of the present invention.

[0028] Figure 5 The diagram is used to illustrate a process of determining overlap of expected paths by a port equipment movement route planning device according to an embodiment of the present invention.

[0029] Figure 6 It is a diagram for explaining the travel path structure of the port equipment movement route planning device according to an embodiment of the present invention.

[0030] Figure 7 The flowchart shows a moving route planning method executed by a port equipment moving route planning device according to an embodiment of the present invention.

[0031] Description of Reference Numerals

[0032] 10: Port equipment mobile route planning device;

[0033] 100: a first expected path generating unit;

[0034] 200: a second expected path generating unit;

[0035] 300: a third expected path generating unit;

[0036] 400: judging unit;

[0037] 500: modify the request unit;

[0038] 600: Note the locale unit;

[0039] 700: prompt message sending unit;

[0040] 800: Display unit. DETAILED DESCRIPTION

[0041] Next, the present invention will be described with reference to the accompanying drawings. However, the present invention can be implemented in various forms and is not limited to the embodiments described herein. In order to clearly describe the present invention in the accompanying drawings, parts not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

[0042] Throughout the specification, when it is mentioned that one component is "connected (connected, in contact with, combined with)" to another component, it includes not only "direct connection" but also "indirect connection" through another component in between. In addition, when it is mentioned that one component "includes" another component, this does not exclude other technical features but includes other technical features, unless otherwise specified.

[0043] The terms used in this specification are only used to illustrate specific embodiments and are not used to limit the present invention. Unless the context clearly stipulates otherwise, singular expressions include plural expressions. In this specification, it should be understood that the terms "including" or "having" refer to the presence of features, numbers, steps, operations, technical features, components or combinations thereof recorded in the specification, but do not exclude the presence of one or more other features, numbers, steps, operations, technical features, components or combinations thereof and additional possibilities.

[0044] Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0045] An embodiment of the present invention relates to a port equipment moving route planning device.

[0046] Figure 1 It is a block diagram showing a port equipment moving route planning device according to an embodiment of the present invention.

[0047] refer to Figure 1 According to an embodiment of the present invention, a port equipment mobile route planning device 10 includes a first expected path generation unit 100, a second expected path generation unit 200, a third expected path generation unit 300, a judgment unit 400, a modification request unit 500, a attention area setting unit 600, a prompt message sending unit 700 and a display unit 800.

[0048] The port equipment mobile route planning device 10 according to an embodiment of the present invention is a device for generating expected paths for unmanned transport equipment, unloading equipment and operators, and determining whether at least a portion of the generated expected paths overlap and modifying the paths.

[0049] Among them, unmanned transportation equipment can include connected autonomous yard tractor (CAYT).

[0050] In addition, the unloading equipment may include a transfer crane (TC).

[0051] The first expected path generating unit 100 generates a first expected path of the unmanned transport equipment.

[0052] The second expected path generating unit 200 generates a second expected path for uninstalling the device.

[0053] The third expected path generating unit 300 generates a third expected path of the operator.

[0054] According to an embodiment of the present invention, the first expected path may include a plurality of nodes and links connecting the nodes included in the path of the unmanned transport equipment. In addition, the second expected path and the third expected path may also include a plurality of nodes and links connecting the nodes included in the paths of the unloading equipment and the operator, respectively.

[0055] Will be in Figure 6 The structure of the driving path of the port equipment mobile route planning device according to one embodiment of the present invention is described in detail.

[0056] The determination unit 400 may determine whether a portion of the first expected path and the second expected path overlap within a preset time period, or determine whether a portion of at least two of the first expected path, the second expected path and the third expected path overlap within a preset time period.

[0057] Specifically, the determination unit 400 may determine whether there is an overlap based on the coordinate values ​​of a first node included in the first expected path and a second node included in the second expected path.

[0058] Will be in Figure 5 The process of determining the overlap of expected paths by a port equipment mobile route planning device according to an embodiment of the present invention is described in detail.

[0059] When the first expected path overlaps at least a portion of the second expected path, the modification request unit 500 sends a modification request message to modify the first expected path or the second expected path.

[0060] In addition, when a portion of at least two of the first expected path, the second expected path and the third expected path overlap within a preset time period, the modification request unit 500 sends a modification request message to modify at least one of the first expected path, the second expected path or the third expected path.

[0061] The modification request unit 500 may select a path to be modified from the first expected path or the second expected path, or select a path to be modified from the first expected path, the second expected path, and the third expected path based on a preset priority order.

[0062] Specifically, the priority order may be determined as the one with the least required travel time and cost among the first expected path, the second expected path, and the third expected path.

[0063] For example, the first expected path of the unmanned transport device may be modified to take into account the minimum movement time.

[0064] Additionally, the operator's third expected path may be modified taking into account minimal cost.

[0065] The modification request unit 500 may select and modify at least one of the first expected path, the second expected path, and the third expected path based on the priority order preset by the user, so that the route change may be performed efficiently.

[0066] The attention area setting unit 600 may set an area where a portion of at least two of the first expected path, the second expected path, and the third expected path overlap within a preset time period as the attention area.

[0067] When it is predicted that at least one of the unmanned transport equipment, the unloading equipment and the operator is about to move to the caution area, the prompt message sending unit 700 may send a prompt message.

[0068] The display unit 800 may display the first expected path and the second expected path on a map according to a preset time period.

[0069] In addition, the third expected path may be displayed on the map according to a preset time period.

[0070] Furthermore, by displaying the area set as the caution area on the map, the user can confirm the caution area.

[0071] The steps executed in the device for planning a mobile route for port equipment according to an embodiment of the present invention may be implemented in various processors or integrated in one processor.

[0072] Figure 2 An example is given of an expected path of an unmanned transport equipment generated by a port equipment mobile route planning device according to an embodiment of the present invention.

[0073] refer to Figure 2 , the first expected path generation unit 100 generates a first expected path of the unmanned transportation equipment.

[0074] Figure 2 a shows the path of the unmanned transport equipment predicted according to the preset destination.

[0075] Figure 2 b shows the 1-1th expected path Y1 of the unmanned transport equipment during a preset first time period.

[0076] Figure 2 c shows the 1st-2nd expected path Y2 of the unmanned transport equipment during the preset second time period.

[0077] In one embodiment of the present invention, the time period is set to 30 seconds, assuming that the unmanned transport device moves at a speed of 8 meters per second, but the user can set a different time period.

[0078] When a port equipment mobile route planning device according to an embodiment of the present invention generates an expected path for unmanned transport equipment according to a time period, even if the paths of the port equipment expected according to a preset destination overlap, there is no need to change the path if the overlapping positions at each time are different. Therefore, even if the expected paths between the port equipment overlap, the trouble of changing the path can be avoided, thereby improving the operating efficiency of the port equipment.

[0079] Figure 3 An example is shown of an expected path of unloading equipment generated by a port equipment movement route planning device according to an embodiment of the present invention.

[0080] refer to Figure 3 , the second expected path generating unit 200 generates a second expected path for uninstalling the device.

[0081] In one embodiment of the present invention, it is shown that the first expected path and the second expected path are displayed on the display unit at the same time, but the user may also display only one expected path.

[0082] Figure 3 A shows the paths of the unmanned transport equipment and the unloading equipment predicted according to the preset destination.

[0083] Figure 3 b shows the 1-1st expected path Y1 and the 2-1st expected path C1 of the unmanned transport equipment and the unloading equipment during the preset first time period.

[0084] Figure 3 c shows the 1st-2nd expected path Y2 and the 2nd-2nd expected path C2 of the unmanned transport equipment and the unloading equipment during the preset second time period.

[0085] In one embodiment of the present invention, the time period is set to 30 seconds, assuming that the unmanned transport equipment moves at a speed of 8 meters per second and the unloading equipment moves at a speed of 2 meters per second, but the user can set a different time period.

[0086] refer to Figure 3 a, the paths of the unmanned transport equipment and the unloading equipment predicted according to the preset destination may have some overlap, but if Figure 3 b and Figure 3 As shown in c, it can be confirmed that the expected paths of the unmanned transport equipment and the unloading equipment according to the time period do not overlap.

[0087] Therefore, even if the paths of the port equipment predicted according to the preset destination overlap, there is no need to change the paths if the overlapping positions are different each time. Therefore, even if the expected paths between the port equipment overlap, the trouble of changing the paths can be avoided, which can improve the operating efficiency of the port equipment.

[0088] Figure 4 An example is given of an expected path of an operator generated by a port equipment movement route planning device according to an embodiment of the present invention.

[0089] refer to Figure 4 , the third expected path generating unit 300 generates a third expected path of the operator.

[0090] In one embodiment of the present invention, it is shown that the first expected path, the second expected path and the third expected path are displayed on the display unit at the same time, but the user may display only one expected path.

[0091] Figure 4 A shows the paths of the unmanned transport equipment, unloading equipment and operators predicted according to the preset destination.

[0092] Figure 4 b shows the 1-1st expected path Y1, the 2-1st expected path C1 and the 3-1st expected path P1 of the unmanned transport equipment, the unloading equipment and the operator during the preset first time period.

[0093] Figure 4 C shows the 1st-2nd expected path Y2, the 2nd-2nd expected path and the 3rd-2nd expected path P2 of the unmanned transport equipment, unloading equipment and operator during the preset second time period.

[0094] In one embodiment of the present invention, the time period is set to 30 seconds, assuming that the unmanned transport equipment moves at a speed of 8 meters per second, the unloading equipment moves at a speed of 2 meters per second, and the operator moves at a speed of 1.5 meters per second, but the user can set a different time period.

[0095] refer to Figure 4 a, the paths of the unmanned transport equipment and the unloading equipment predicted according to the preset destination may have some overlap, but if Figure 4 b and Figure 4 As shown in c, it can be confirmed that the expected paths of the unmanned transport equipment and the unloading equipment according to the time period do not overlap.

[0096] In addition, refer to Figure 4 a, the paths of the unmanned transport equipment and the operator predicted according to the preset destination partially overlap. Figure 4 In b, the expected paths of the unmanned transport equipment and operators according to the time period do not overlap, but in Figure 4 In c, it can be confirmed that some sections of the expected paths of the unmanned transport equipment and the operator according to the time period overlap.

[0097] Therefore, the judgment unit 400 judges that a portion of the first expected path and the third expected path overlap in a preset time period, and the modification request unit 500 sends a modification request message to the first expected path generation unit or the third expected path generation unit to modify the first expected path or the third expected path.

[0098] Figure 5 The invention is used to illustrate a process of determining the overlap of expected paths by a port equipment mobile route planning device according to an embodiment of the present invention.

[0099] refer to Figure 5 According to an embodiment of the present invention, the judgment unit 400 of the port equipment mobile route planning device can judge whether a part of the first expected path and the second expected path overlap within a preset time period, or judge whether a part of at least two of the first expected path, the second expected path and the third expected path overlap within a preset time period.

[0100] like Figure 5 As shown in a, specifically, the judgment unit 400 can judge whether there is an overlap based on the coordinate value between the first node included in the first expected path and the second node included in the second expected path.

[0101] For example, the judgment unit 400 judges the intersection / overlap area between different machine models in each time period, and based on the coordinate values ​​of the nodes contained in each expected path, displays the moving path of the unmanned transportation equipment in each time period, the moving path of the unloading equipment in each time period, and the moving path of the operator in each time period in the space formed by the time axis and the space axis, and confirms the intersection area between each moving path.

[0102] Therefore, if Figure 5As shown in b, it can be confirmed that a portion of section 01 of the expected path of the unmanned transport equipment and the operator according to the time period overlaps.

[0103] Figure 6 The figure is used to illustrate the driving path structure of the port equipment mobile route planning device according to an embodiment of the present invention.

[0104] The port equipment movement route planning device according to an embodiment of the present invention can receive the operation information of the port equipment from the control system of the port terminal.

[0105] The operation information may include the path information of the business area operation of the port equipment.

[0106] Figure 6 An example is given of a driving path of an unmanned transport device according to an embodiment of the present invention.

[0107] Specifically, Figure 6 As described above, a driving map showing a path generated for each lane of the unmanned transport equipment may be input on a plan view within the port.

[0108] In addition, the path information includes a plurality of nodes contained in the path along which the unmanned transport equipment travels and links connecting the nodes, including a starting point, an end point, and a passing point for changing the direction of travel to form a travel path.

[0109] The multiple nodes may respectively include coordinate information, and the link includes information connecting each node.

[0110] For example, refer to Figure 6 , may include: a first node N1, a second node N2 and a third node N3 corresponding to the starting point S, the passing point V and the end point e respectively included in the path of the unmanned transportation equipment, and a first link L1 connecting the point S1 where the unmanned transportation equipment is located and the first node N1, a second link L2 connecting the first node N1 and the second node N2, a third link L3 connecting the second node N2 and the third node N3, a fourth link L4 connecting the third node N3 and the path division point, a fifth link L5 connecting the path division point and the first destination D1, and a sixth link L6 connecting the path division point and the second destination D2.

[0111] Figure 7 The flowchart shows a moving route planning method executed by a port equipment moving route planning device according to an embodiment of the present invention.

[0112] refer to Figure 7According to an embodiment of the present invention, a port equipment mobile route planning device subdivides the mobile path of each time period for unloading equipment in step S110, subdivides the mobile path of each time period for transportation equipment in step S120, and subdivides the mobile path of each time period for on-site workers in step S130.

[0113] In other words, in steps S110 to S130, the first expected path generation unit 100 generates a first expected path for the unmanned transport equipment, the second expected path generation unit 200 generates a second expected path for the unloading equipment, and the third expected path generation unit 300 generates a third expected path for the operator.

[0114] Then, in step S140, it is identified whether there are areas where the moving paths intersect / overlap within the same time period. If there are intersecting / overlapping areas, a "safety accident attention area" is registered in step S150, and the safety accident attention object is notified in step S160.

[0115] In addition, if there are intersecting / overlapping areas, the moving path of the port equipment may be changed in step S170.

[0116] According to an embodiment of the present invention, a computer-readable recording medium having an application program for execution in a computer is provided, for executing a mobile route planning method executed in a mobile route planning device for port equipment.

[0117] Such computer-readable media may include program instructions, data files, data structures, etc., either individually or in combination. The program instructions recorded on the recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as read-only compact disks (CD-ROMs) and digital versatile disks (DVDs), magneto-optical media such as floppy disks, and hardware devices such as read-only memories (ROMs), random access memories (RAMs), flash memories, etc., that are specially configured to store and execute program instructions. Examples of program instructions include not only machine language codes such as those generated by compilers, but also high-level language codes that can be executed by computers using interpreters, etc. The above-mentioned hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

[0118] The above description of the present invention is only an example, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the embodiments described above are exemplary and non-restrictive in all aspects. For example, each technical feature described as a single type can be implemented in a decentralized manner, and similarly, the technical features described as decentralized can also be implemented in a combined form.

[0119] The scope of the present invention is indicated by the appended claims. All changes and modifications derived from the claims and their equivalents should be understood to be included in the scope of the present invention.

Claims

1. A port equipment mobile route planning device, characterized in that: include: A first expected path generating unit, based on the operation information provided by the control system of the port terminal, subdividing the moving path of the unmanned transport equipment in each time period to generate a first expected path; A second expected path generating unit, based on the operation information, subdividing the moving path of the unloading device in each time period to generate a second expected path; A third expected path generating unit, which generates a third expected path by subdividing the moving path of the operator in each time period based on the operation information; a determination unit, configured to determine whether a portion of at least two of the first expected path, the second expected path, and the third expected path overlap within a preset time period; a modification request unit, when at least two of the first expected path, the second expected path, and the third expected path partially overlap, sending a modification request message to modify at least one of the first expected path, the second expected path, or the third expected path, The judging unit judges, according to each of the preset time periods, whether a portion of at least two of the paths of each of the preset time periods of the first expected path, each of the preset time periods of the second expected path, and the path of the preset time periods of the third expected path overlap. The modification request unit selects a path to be modified within the preset time period from among the first expected path, the second expected path or the third expected path according to matters previously considered by the user in terms of required time and cost, and modifies the selected path.

2. The port equipment mobile route planning device according to claim 1, characterized in that: The first expected path includes a plurality of nodes included in the driving path of the unmanned transport equipment and links connecting the nodes.

3. The port equipment mobile route planning device according to claim 1, characterized in that: Also includes: The attention area setting unit sets an area where a part of at least two of the first expected path, the second expected path, and the third expected path overlap within the preset time period as a attention area.

4. The port equipment mobile route planning device according to claim 2, characterized in that: The determination unit determines whether there is an overlap based on coordinate values ​​of a first node included in the first expected path and a second node included in the second expected path.

5. The port equipment mobile route planning device according to claim 3, characterized in that: It also includes: a prompt message sending unit, which sends a prompt message when it is predicted that at least one of the unmanned transportation equipment, the unloading equipment and the operator is about to move to the attention area.

6. The port equipment mobile route planning device according to claim 1, characterized in that: The method further includes: a display unit for displaying the first expected path and the second expected path on a map according to a preset time period.

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