Operating method and system of automatic wharf corresponding to external towing and rail-mounted gantry crane interaction area

Abstract

The invention provides an operation method of an automatic wharf corresponding to an external towing and rail-mounted gantry crane interaction area, which comprises the following steps: after an external towing enters the interaction area, a TOS system prompts the external towing to enter a target position of the interaction area through a mobile communication device or a broadcaster; the camera device shoots the positioning stand columns and the outer tow of the corresponding lane, the video processing server identifies and analyzes the positioning stand columns and the outer tow to obtain the real-time accurate position and speed of the outer tow, and the real-time accurate position and speed of the outer tow are transmitted to the TOS system; the TOS system transmits the real-time accurate position of the external drag to the BMS system, and informs the BMS system of information that the external drag has working conditions; and the BMS system controls the specified rail-mounted gantry crane to cooperate with the outer drag under the rail-mounted gantry crane to perform collaborative operation. The invention further provides an operation system which comprises a TOS system, a BMS system, a rail crane, an outer support, a mobile communication device, a camera device, a video processing server and a positioning stand column. According to the invention, the operation efficiency in the external dragging and rail-mounted gantry crane interaction area of the automatic wharf is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated wharf transportation and collaborative operation, and in particular to an operation method and system for an automated wharf corresponding to an external towing and rail crane interaction zone. Background Art

[0002] In automated terminals, external trailers (referred to as "external trailers") need to perform container collection and delivery operations. Currently, most of these operations use interactive zone operation technology, and some terminals also use limited mixed operation (external trailers and IGVs travel in the same area at different times). Compared with the terminal's own horizontal transportation equipment, before the rail crane operates the external trailer (the rail crane only detects the external trailer directly below), there are a series of problems such as being unable to confirm whether the external trailer has arrived at the operating position, whether the external trailer has gone to the wrong position, whether the external trailer that has not started to interact blocks other external trailers that are interacting, whether the driver falls asleep in the interactive zone, and whether the driver plays with his mobile phone and cannot hear the operating instructions, which leads to low efficiency in the interactive zone.

[0003] Based on the above reasons, some automated terminals have set up a design scheme for applying RFID cards, and use RFID wireless card readers to read the relative position of the external trailer that has received the RFID card. However, the existing design scheme for applying RFID cards has the following disadvantages:

[0004] 1) The investment cost is high. If the same accuracy requirement is to be achieved, the deployment of RFID readers is relatively complex and the number of readers is large;

[0005] 2) Low positioning accuracy. For example, if one RFID reader is installed every 10 meters, the accuracy is only 5 meters (1 / 2 of 10 meters), which cannot accurately locate.

[0006] 3) Positioning stability is low, RFID cards have signal blocking and attenuation, and communication quality is difficult to guarantee;

[0007] 4) Communications other than position detection are not possible.

[0008] In addition, other positioning methods also have various disadvantages, such as: difficult to implement (such as UWB cannot block the signal), poor Bluetooth anti-interference, WIFI has regional restrictions, is easily interfered and does not support some foreign mobile phones, on-site manual communication with the driver consumes manpower and has poor communication efficiency, etc. In the existing external towing and rail crane interaction area, the operator cannot accurately grasp the dynamic position of the external towing, and only realizes that the external towing is not in place after the rail crane reaches the operating position, which wastes operation time and needs to readjust the operation logic, thus affecting the operation efficiency of the interaction area. Summary of the invention

[0009] In view of this, it is necessary to propose an operation method and system for the interaction area between the external towing and the rail crane of the automated terminal to overcome the shortcomings of the above-mentioned background technology, thereby solving the following technical problems:

[0010] How to optimize the scheduling and interactive operation methods of the towing and rail cranes of the automated terminal through the terminal scheduling system TOS, the rail crane management system BMS, the camera device and the mobile communication device, so as to improve the operation efficiency of the automated terminal.

[0011] To achieve the above object, the present invention adopts the following technical solutions:

[0012] The present invention proposes an operation method for an interaction zone between an outrigger and a rail crane of an automated terminal, which is applied to an automated terminal. The automated terminal includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of mobile communication devices located in an outrigger, a plurality of rail cranes and a plurality of outriggers entering the automated terminal. The mobile communication device exchanges information with the terminal dispatching system TOS. The automated terminal also includes a camera device for photographing the interaction zone between the outrigger and the rail crane, a video processing server for processing video information returned by the camera device, and a positioning column arranged on a lane corresponding to the interaction zone. The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively. The operation method includes the following steps performed in sequence:

[0013] Step S1, after the tow truck enters the interactive zone, the terminal dispatching system TOS prompts the tow truck to enter the target position of the interactive zone through a mobile communication device or a loudspeaker;

[0014] Step S2, the camera device shoots the positioning column and the outrigger of the corresponding lane, and the video processing server obtains the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmits the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS;

[0015] Step S3, the terminal dispatching system TOS transmits the real-time and accurate position of the outboard to the rail crane management system BMS, and notifies the rail crane management system BMS that the outboard has met the operating conditions;

[0016] Step S4, the rail crane management system BMS controls the designated rail crane to cooperate with the external towing under the rail crane to perform collaborative operations.

[0017] Furthermore, before S1, the following steps are also performed in sequence:

[0018] Step S100, the towing driver obtains the route and instruction task of the towing to the designated interactive area from the terminal dispatching system TOS through a mobile communication device, then enters the interactive area, and then executes step S200;

[0019] Step S200, when the towing vehicle meets the operating conditions in the interactive zone, the rail crane management system BMS notifies the terminal dispatching system TOS, and the terminal dispatching system TOS prompts the driver through the mobile communication device: the towing vehicle is allowed to enter the interactive zone, and then executes step S1.

[0020] Furthermore, before S100, the following steps are also performed in sequence:

[0021] Step S10001, install a camera device on the lamp post of the outermost lane of the interactive area, the detection angle of the camera device is parallel to the positioning column, the camera device is facing the interactive area, the positioning column is located in the middle of the image in the vertical direction, the actual position of the leftmost side of the interactive area is set to (0, 0), and the pixel coordinates corresponding to the actual position are (0, 0); then execute step S10002;

[0022] Step S10002, converting the pixel coordinates obtained by the camera device into actual coordinates according to the distortion coefficients obtained after calibrating the camera device; and then executing step S100.

[0023] Furthermore, in step S10001, the camera device is enabled to recognize the license plate number of the towed vehicle by setting a virtual pixel area corresponding to the camera device.

[0024] Furthermore, in S4, the designated rail crane is an idle rail crane or a rail crane that has finished interacting with the previous external tow vehicle.

[0025] Furthermore, in step S2, the camera device sends the location information of the outrigger to the video processing server for data processing, and the video processing server then sends the location information of the outrigger to the terminal dispatching system TOS, so that the terminal dispatching system TOS obtains the real-time location of the outrigger.

[0026] Furthermore, the interactive area is provided with at least 300 bays, and the number of camera devices is at least 20; when the outrigger is traveling to the task bay, the camera device at the positioning position starts to enable the positioning function, and the real-time position of the outrigger is identified by the camera device and sent to the terminal dispatching system TOS through the video processing server; when the camera device identifies that the actual position of the outrigger is less than N1 bays from the task bay, if the operable rail crane in the current interactive area has no task, the terminal dispatching system TOS sends an instruction to the rail crane management system BMS, and the rail crane management system BMS controls the operable rail crane to go to the task position and wait; if there is no idle rail crane in the interactive area, the rail crane management system BMS ignores the dispatching instruction of the terminal dispatching system TOS;

[0027] When the camera device recognizes that the actual position of the outrigger is less than N2 bays from the task bay, the terminal dispatching system TOS sorts the operation tasks according to the arrival information time and sends them to the rail crane management system BMS. The rail crane management system BMS adds the outrigger to the task sequence and sends the rail crane to the operation; N1 is greater than N2.

[0028] The present invention further proposes an operation system corresponding to the interaction area between the outrigger and the rail crane of the automated terminal, which is applied to the automated terminal. The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of rail cranes, a plurality of outriggers entering the automated terminal, a mobile communication device located in the outrigger, a positioning column corresponding to the lane of the interaction area between the outrigger and the rail crane and a camera device for shooting the outrigger, a video processing server and a positioning column arranged on the lane corresponding to the interaction area;

[0029] The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively;

[0030] The video processing server is used to determine the execution of the operation task according to the towing information of the rail crane management system BMS, and also processes the information transmitted back by the camera device to obtain the real-time position and speed of the towing, and transmits the arrival status of the towing and the normal / abnormal status of the towing to the terminal dispatching system TOS;

[0031] The terminal dispatching system TOS is used to prompt the tug to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the tug enters the interactive area; it is also used to transmit the real-time and accurate position of the tug to the rail crane management system BMS, and inform the rail crane management system BMS that the tug has met the operating conditions;

[0032] The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior;

[0033] The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

[0034] The present invention further proposes an operation system for an automated terminal corresponding to an external tug and a rail crane interaction zone, which is applied to an automated terminal. The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of rail cranes, a plurality of external tugs entering the automated terminal, a mobile communication device located in the external tug, a positioning column corresponding to a lane in the external tug and rail crane interaction zone and a camera device for shooting the external tug, a video processing server for processing video information sent back by the camera device, and a positioning column arranged on a lane corresponding to the interaction zone;

[0035] The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively;

[0036] The terminal dispatching system TOS is used to prompt the towing vehicle to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the towing vehicle enters the interactive area; the terminal dispatching system TOS is also used to determine the execution of the operation task according to the towing vehicle information of the rail crane management system BMS, and obtain the real-time position and real-time speed of the towing vehicle from the information transmitted back by the video processing server, so as to obtain the arrival status of the towing vehicle and the normal / abnormal status of the towing vehicle;

[0037] The video processing server is used to process the video information sent back by the camera device, and is also used to obtain the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmit the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS;

[0038] The camera device is used to photograph the positioning pillars and external trailers of the corresponding lanes;

[0039] The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior;

[0040] The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

[0041] The beneficial effects of the present invention are:

[0042] The visual positioning method of the present invention is relatively simple and has good visual coverage. It can accept that part of the positioning column is blocked, and has the advantages of low hardware cost, small investment, easy installation and wide applicability. The positioning accuracy of the present invention is high, and the speed of the outrigger can be detected. It belongs to meter-level positioning, with small error, and is suitable for confirming the position of the outrigger in the interactive area. Its positioning accuracy can be accurate to the position of each container. The present invention overcomes the defect of poor communication between the operating personnel in the operating area, port area or interactive area of ​​the automated terminal and the outrigger driver in the prior art, and also overcomes the shortcomings of the prior art that the dynamic position of the outrigger cannot be accurately grasped, and the driver is not clear about the interactive process of the automated terminal, thereby improving the operating efficiency of the interactive area between the outrigger and the rail crane and the operating efficiency of the port; the present invention overcomes the defect of the interactive area between the outrigger and the rail crane of the automated terminal in the prior art that the dynamic position of the outrigger cannot be accurately grasped, and avoids the risk of not being able to detect whether the outrigger is in place until the rail crane reaches the operating position, thereby avoiding wasting operating time and avoiding the trouble of needing to readjust the operating logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0044] Figure 1 It is a workflow diagram of an operation method corresponding to an external towing and rail crane interaction area of ​​an automated terminal of the present invention;

[0045] Figure 2 It is a structural principle diagram of an operation system corresponding to an external towing and rail crane interaction area of ​​an automated terminal in Example 4 of the present invention;

[0046] Figure 3 It is a working principle diagram of the positioning column and the camera device involved in the present invention;

[0047] Figure 4 The present invention is a top view of the layout of the automated terminal arranged in parallel with the storage yard. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0049] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0050] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0051] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0052] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0053] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0054] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0055] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0056] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0057] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0058] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0059] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0060] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0061] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0062] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0063] Example 1

[0064] like Figure 1 , Figure 3 , Figure 4 As shown:

[0065] This embodiment proposes an operation method for an automated terminal corresponding to an external tug and a rail crane interaction zone, which is applied to an automated terminal. The automated terminal includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of mobile communication devices located in an external tug, a plurality of rail cranes, and a plurality of external tugs entering the automated terminal. The mobile communication devices exchange information with the terminal dispatching system TOS. The automated terminal also includes a camera device for photographing the external tug and the rail crane interaction zone, a video processing server for processing video information sent back by the camera device, and a positioning column arranged on a lane corresponding to the interaction zone. The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively. The operation method includes the following steps executed in sequence:

[0066] Step S1, after the tow truck enters the interactive zone, the terminal dispatching system TOS prompts the tow truck to enter the target position of the interactive zone through a mobile communication device or a loudspeaker; then step S2 is executed;

[0067] Step S2, the camera device shoots the positioning column and the outrigger of the corresponding lane, and the video processing server obtains the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmits the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS; then executes step S3;

[0068] Step S3, the terminal dispatching system TOS transmits the real-time and accurate position of the outrigger to the rail crane management system BMS, and notifies the rail crane management system BMS that the outrigger has met the operating conditions; then executes step S4;

[0069] Step S4, the rail crane management system BMS controls the designated rail crane to cooperate with the external towing under the rail crane to perform collaborative operations.

[0070] Specifically, the mobile communication device is a mobile client (such as a smart phone) used by the towing driver.

[0071] Specifically, the loudspeaker is controlled by instructions of the terminal dispatching system TOS, and the loudspeaker is installed near the interactive area.

[0072] Example 2

[0073] Embodiment 2 is an optimized design of any technical solution in Embodiment 1;

[0074] like Figure 1 , Figure 3 , Figure 4 As shown:

[0075] Before S1, the following steps are also performed in sequence:

[0076] Step S100, the towing driver obtains the route and instruction task of the towing to the designated interactive area from the terminal dispatching system TOS through a mobile communication device, then enters the interactive area, and then executes step S200;

[0077] Step S200, when the towing vehicle meets the operating conditions in the interactive zone, the rail crane management system BMS notifies the terminal dispatching system TOS, and the terminal dispatching system TOS prompts the driver through the mobile communication device: the towing vehicle is allowed to enter the interactive zone, and then executes step S1.

[0078] Optimally, in S4, the designated rail crane is an idle rail crane or a rail crane that has finished interacting with the previous external tow vehicle.

[0079] Further optimized, step S100 includes the following sub-steps:

[0080] Step S1001, conveying the cabinet number information of picking up or receiving the cabinet by dragging outwards through the mobile communication device, and notifying the terminal dispatching system TOS after completion;

[0081] Step S1002, drag out to the interactive area.

[0082] Example 3

[0083] Embodiment 3 is an optimized design of any technical solution in Embodiment 2;

[0084] like Figure 1 , Figure 3 , Figure 4 As shown:

[0085] Before S100, the following steps are also performed in sequence:

[0086] Step S10001, install a camera device on the lamp post of the outermost lane of the interactive area, the detection angle of the camera device is parallel to the positioning column, the camera device is facing the interactive area, the positioning column is located in the middle of the image in the vertical direction, the actual position of the leftmost side of the interactive area is set to (0, 0), and the pixel coordinates corresponding to the actual position are (0, 0); then execute step S10002;

[0087] Step S10002, converting the pixel coordinates obtained by the camera device into actual coordinates according to the distortion coefficients obtained after calibrating the camera device; and then executing step S100.

[0088] Example 4

[0089] Embodiment 4 is an optimized design of any technical solution in Embodiment 3;

[0090] like Figure 1 , Figure 3 , Figure 4 As shown:

[0091] In step S10001, the camera device is enabled to recognize the license plate number of the towed vehicle by setting a virtual pixel area corresponding to the camera device.

[0092] Example 5

[0093] Embodiment 5 is an optimized design of any technical solution in Embodiment 1;

[0094] In step S2, the camera device sends the location information of the outboard to the video processing server for data processing, and the video processing server then sends the location information of the outboard to the terminal dispatching system TOS, so that the terminal dispatching system TOS obtains the real-time location of the outboard.

[0095] Example 6

[0096] Embodiment 6 is an optimized design of any technical solution in Embodiment 1;

[0097] like Figure 1 , Figure 3 , Figure 4 As shown:

[0098] The interactive area is provided with at least 300 bays, and the number of camera devices is at least 20; when the outrigger is traveling to the task bay, the camera device at the position starts to use the positioning function, and the real-time position of the outrigger identified by the camera device is sent to the terminal dispatching system TOS through the video processing server;

[0099] When the camera device recognizes that the actual position of the external towing is less than N1 bays from the task position, if the rail crane that can be operated in the current interactive area has no task, the terminal dispatching system TOS sends an instruction to the rail crane management system BMS, and the rail crane management system BMS controls the rail crane that can be operated to go to the task position and wait; if there is no idle rail crane in the interactive area, the rail crane management system BMS ignores the dispatching instruction of the terminal dispatching system TOS;

[0100] When the camera device recognizes that the actual position of the outrigger is less than N2 bays from the task bay, the terminal dispatching system TOS sorts the operation tasks according to the arrival information time and sends them to the rail crane management system BMS. The rail crane management system BMS adds the outrigger to the task sequence and sends the rail crane to the operation; N1 is greater than N2.

[0101] Example 7

[0102] Embodiment 7 is an optimized design of any technical solution in Embodiment 1;

[0103] like Figure 1 , Figure 3 , Figure 4 As shown:

[0104] The operation method of this embodiment can be applied to an automated terminal with only one road before entering the interactive zone. After entering the interactive zone, the real-time position of the external towing vehicle is realized by visual positioning of the camera device (positioning accuracy is at the centimeter level). The principle is as follows:

[0105] A camera device is installed on the high pole lamp of the outermost lane of the interactive area. The installation height of the camera device is 18m (adjustable). The viewing angle of the camera device is 120°, that is, the horizontal field of view HFOV, and the resolution is 1920*1080. The detection angle is parallel to the interactive area identification and positioning column. The distance between the identification and positioning column and the camera device is 21m. The width of each pixel = horizontal distance 21m × tan (HFOV / 2) / resolution 1920 / 2 = 2.32cm / pixel, and the accuracy can reach centimeters. Level, point the camera device directly at the interactive area so that it is located in the middle of the image in the vertical direction. The leftmost part of the interactive area is set to (0, 0) as the actual position, and the corresponding pixel coordinates are (0, 0). Considering the image distortion, the camera needs to be calibrated to obtain the distortion coefficient K (K1, K2, K3, K4...). Then the formula for converting the pixel coordinates (x, y) to the actual coordinates (X, Y) is (x, y)*width per pixel*K+n*(1920*width per pixel)=(X, Y), where n is the first pixel. camera devices, the first one is 0; a camera device can monitor an interactive area of ​​about 44 meters. In this area, high and low positioning columns are installed at intervals of 3 meters. The high positioning column is 2 meters and the low positioning column is 1.5 meters. They are painted red to assist the camera device in position recognition. The setting of high and low positioning columns can also be used as the calibration of the pixel coordinates of the early camera device, accurately defining the pixel coordinates of each positioning column on the left and right. When the external drag passes by and blocks the positioning column, the camera device reads the first left side of the blocked positioning column. The pixel coordinates of the first positioning column (x1, y1) are read, and then the first positioning column on the right outside the most blocked positioning column (x2, y2) is read, and (x2, y2)-(x1, y1) is converted into actual coordinates. The X value of the actual coordinates is the current location of the external drag. Then, by comparing every twelve frames of the image, the current speed of the external drag can be obtained (X2-X1) / 1s, in cm / s; the area monitored by the second camera device is 44 meters to 88 meters, and so on, until the entire interactive area is monitored;

[0106] A virtual pixel area is set in the camera device. The camera device identifies the license plate number on the top or front of the trailer and sends the location information of the trailer to the video processing server for data processing. The video processing server then sends the trailer location information to the terminal dispatching system TOS, which can know the real-time location of the trailer. In the interactive area of ​​up to 360 bays, a total of 25 camera devices are required, and the interval between the camera devices is 44m.

[0107] When the towing vehicle is moving to the task position, the camera device on the high pole lamp starts to use the positioning function and sends the real-time position to the terminal dispatching system TOS through the video processing server. When the actual position is less than 20 bays away from the task position, if there is no task for the operable rail crane in the current interactive area, the terminal dispatching system TOS sends a command to the rail crane management system BMS to let the operable rail crane go to the task position and wait; if there is no idle time, the information is ignored;

[0108] When the actual position is less than 5 bays away from the task bay, the terminal dispatching system TOS sorts the operation tasks according to the arrival information time and sends them to the rail crane management system BMS. The rail crane management system BMS adds the external tow vehicle to the task sequence and sends the rail crane to the operation.

[0109] Example 8

[0110] like Figure 2-Figure 4 As shown:

[0111] This embodiment proposes an operation system corresponding to the interaction area between the outrigger and the rail crane of an automated terminal, which is applied to the automated terminal. The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of rail cranes, a plurality of outriggers entering the automated terminal, a mobile communication device located in the outrigger, a positioning column corresponding to the lane of the interaction area between the outrigger and the rail crane and a camera device for shooting the outrigger, a video processing server, and a positioning column arranged on the lane corresponding to the interaction area;

[0112] The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively;

[0113] The video processing server is used to determine the execution of the operation task according to the towing information of the rail crane management system BMS, and also processes the information transmitted back by the camera device to obtain the real-time position and speed of the towing, and transmits the arrival status of the towing and the normal / abnormal status of the towing to the terminal dispatching system TOS;

[0114] The terminal dispatching system TOS is used to prompt the tug to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the tug enters the interactive area; it is also used to transmit the real-time and accurate position of the tug to the rail crane management system BMS, and inform the rail crane management system BMS that the tug has met the operating conditions;

[0115] The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior;

[0116] The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

[0117] Optimally, the terminal dispatching system TOS is also used to dispatch work tasks and overall control. When the external tow vehicle enters the final gate, the work tasks are sent to the video processing server.

[0118] Optimally, the terminal dispatching system TOS is also used to determine the dispatch of work tasks and whether to perform manual intervention on abnormal situations based on the information transmitted from the video processing server.

[0119] Optimally, if the towing vehicle stops moving and fails to reach the target location, the video processing server pushes the result to the terminal dispatching system TOS.

[0120] Optimally, during the entire operation of the operation system, users can monitor the entire operation status of the interactive zone in real time at the intelligent control center to ensure that the external tow truck can reach the target location promptly and smoothly after entering the interactive zone, and that the rail crane can come to perform the task in time when the external tow truck is about to arrive or has arrived at the target location, to avoid the situation where the rail crane issues a task but the external tow truck has not arrived or the external tow truck arrives early but there is no rail crane to collect and deliver the boxes. The entire process implements full-cycle closed-loop management of the external tow trucks entering and leaving the interactive zone, ensuring the service quality of the interactive zone.

[0121] Specifically, the mobile communication device is a mobile client (such as a smart phone) used by the towing driver.

[0122] Specifically, the loudspeaker is controlled by instructions of the terminal dispatching system TOS, and the loudspeaker is installed near the interactive area.

[0123] Further optimized, the operating system of this embodiment executes the operating method described in any one of Embodiments 1 to 7.

[0124] Example 9

[0125] The present invention further proposes an operation system for an automated terminal corresponding to an external tug and a rail crane interaction zone, which is applied to an automated terminal. The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of rail cranes, a plurality of external tugs entering the automated terminal, a mobile communication device located in the external tug, a positioning column corresponding to a lane in the external tug and rail crane interaction zone and a camera device for shooting the external tug, a video processing server for processing video information sent back by the camera device, and a positioning column arranged on a lane corresponding to the interaction zone;

[0126] The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively;

[0127] The terminal dispatching system TOS is used to prompt the towing vehicle to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the towing vehicle enters the interactive area; the terminal dispatching system TOS is also used to determine the execution of the operation task according to the towing vehicle information of the rail crane management system BMS, and obtain the real-time position and real-time speed of the towing vehicle from the information transmitted back by the video processing server, so as to obtain the arrival status of the towing vehicle and the normal / abnormal status of the towing vehicle;

[0128] The video processing server is used to process the video information sent back by the camera device, and is also used to obtain the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmit the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS;

[0129] The camera device is used to photograph the positioning pillars and external trailers of the corresponding lanes;

[0130] The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior;

[0131] The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

[0132] Further optimized, the operating system of this embodiment executes the operating method described in any one of Embodiments 1 to 6.

[0133] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An operation method for an automated terminal corresponding to an external tug and a rail crane interaction zone, applied to an automated terminal, the automated terminal comprising a terminal dispatching system TOS, a rail crane management system BMS, a plurality of mobile communication devices located in an external tug, a plurality of rail cranes and a plurality of external tugs entering the automated terminal, the mobile communication device performs information exchange with the terminal dispatching system TOS, characterized in that: The automated terminal also includes a camera device for photographing the interaction area between the external towing and the rail crane, a video processing server for processing the video information sent back by the camera device, and a positioning column arranged on the corresponding lane of the interaction area. The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively. The operation method includes the following steps executed in sequence: Step S1, after the tow truck enters the interactive zone, the terminal dispatching system TOS prompts the tow truck to enter the target position of the interactive zone through a mobile communication device or a loudspeaker; Step S2, the camera device shoots the positioning column and the outrigger of the corresponding lane, and the video processing server obtains the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmits the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS; Step S3, the terminal dispatching system TOS transmits the real-time and accurate position of the outboard to the rail crane management system BMS, and notifies the rail crane management system BMS that the outboard has met the operating conditions; Step S4, the rail crane management system BMS controls the designated rail crane to cooperate with the external towing under the rail crane to perform collaborative operations.

2. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 1, characterized in that: Before S1, the following steps are also performed in sequence: Step S100, the towing driver obtains the route and instruction task of the towing to the designated interactive area from the terminal dispatching system TOS through a mobile communication device, then enters the interactive area, and then executes step S200; Step S200, when the towing vehicle meets the operating conditions in the interactive zone, the rail crane management system BMS notifies the terminal dispatching system TOS, and the terminal dispatching system TOS prompts the driver through the mobile communication device: the towing vehicle is allowed to enter the interactive zone, and then executes step S1.

3. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 2, characterized in that: Before S100, the following steps are also performed in sequence: Step S10001, install a camera device on the lamp post of the outermost lane of the interactive area, the detection angle of the camera device is parallel to the positioning column, the camera device is facing the interactive area, the positioning column is located in the middle of the image in the vertical direction, the actual position of the leftmost side of the interactive area is set to (0, 0), and the pixel coordinates corresponding to the actual position are (0, 0); then execute step S10002; Step S10002, converting the pixel coordinates obtained by the camera device into actual coordinates according to the distortion coefficients obtained after calibrating the camera device; and then executing step S100.

4. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 3 is characterized in that: In step S10001, the camera device is enabled to recognize the license plate number of the towed vehicle by setting a virtual pixel area corresponding to the camera device.

5. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 1, characterized in that: In S4, the designated rail crane is an idle rail crane or a rail crane that has finished interacting with the previous external towing vehicle.

6. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 1, characterized in that: In step S2, the camera device sends the location information of the outboard to the video processing server for data processing, and the video processing server then sends the location information of the outboard to the terminal dispatching system TOS, so that the terminal dispatching system TOS obtains the real-time location of the outboard.

7. The method for operating the interaction zone between the external towing and the rail crane of the automated terminal according to claim 1, characterized in that: The interactive area is provided with at least 300 bays, and the number of camera devices is at least 20; when the outrigger is traveling to the task bay, the camera device at the positioning position starts to use the positioning function, and the real-time position of the outrigger is identified by the camera device and sent to the terminal dispatching system TOS through the video processing server; when the camera device identifies that the actual position of the outrigger is less than N1 bays from the task bay, if the rail crane that can be operated in the current interactive area has no task, the terminal dispatching system TOS sends an instruction to the rail crane management system BMS, and the rail crane management system BMS controls the rail crane that can be operated to go to the task position and wait; if there is no idle rail crane in the interactive area, the rail crane management system BMS ignores the dispatching instruction of the terminal dispatching system TOS; When the camera device recognizes that the actual position of the outrigger is less than N2 bays from the task bay, the terminal dispatching system TOS sorts the operation tasks according to the arrival information time and sends them to the rail crane management system BMS. The rail crane management system BMS adds the outrigger to the task sequence and sends the rail crane to the operation; N1 is greater than N2.

8. An operating system for the interaction area between an external tug and a rail crane of an automated terminal, applied to an automated terminal, characterized in that: The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a number of rail cranes, a number of tugs entering the automated terminal, a mobile communication device located in the tug, a positioning column of a corresponding lane in the interaction area between the tug and the rail crane and a camera device for shooting the tug, a video processing server and a positioning column arranged on a corresponding lane in the interaction area; The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively; The video processing server is used to determine the execution of the operation task according to the towing information of the rail crane management system BMS, and also processes the information transmitted back by the camera device to obtain the real-time position and speed of the towing, and transmits the arrival status of the towing and the normal / abnormal status of the towing to the terminal dispatching system TOS; The terminal dispatching system TOS is used to prompt the tug to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the tug enters the interactive area; it is also used to transmit the real-time and accurate position of the tug to the rail crane management system BMS, and inform the rail crane management system BMS that the tug has met the operating conditions; The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior; The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

9. An operation system for the interaction area between an outrigger and a rail crane of an automated terminal, applied to an automated terminal, characterized in that: The operation system includes a terminal dispatching system TOS, a rail crane management system BMS, a plurality of rail cranes, a plurality of tugs entering the automated terminal, a mobile communication device located in the tug, a positioning column of a lane corresponding to the tug and rail crane interaction zone and a camera device for shooting the tug, a video processing server for processing video information sent back by the camera device, and a positioning column arranged on a lane corresponding to the interaction zone; The terminal dispatching system TOS communicates with the video processing server and the rail crane management system BMS respectively, and the terminal dispatching system TOS exchanges information with each mobile communication device respectively; The terminal dispatching system TOS is used to prompt the towing vehicle to enter the target position of the interactive area through a mobile communication device or a loudspeaker after the towing vehicle enters the interactive area; the terminal dispatching system TOS is also used to determine the execution of the operation task according to the towing vehicle information of the rail crane management system BMS, and obtain the real-time position and real-time speed of the towing vehicle from the information transmitted back by the video processing server, so as to obtain the arrival status of the towing vehicle and the normal / abnormal status of the towing vehicle; The video processing server is used to process the video information sent back by the camera device, and is also used to obtain the real-time accurate position and speed of the outrigger by identifying and analyzing the positioning column and the outrigger, and transmit the real-time accurate position and speed of the outrigger to the terminal dispatching system TOS; The camera device is used to photograph the positioning pillars and external trailers of the corresponding lanes; The mobile communication device is used as a communication device for notifying the driver and manually intervening in abnormal behavior; The rail crane management system BMS is used to control the designated rail crane to work in coordination with the external tug under the rail crane.

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