Automatic container wharf IGV maintenance site safety system

Abstract

The invention belongs to the technical field of port transportation loading and unloading, and particularly relates to an automatic container wharf IGV maintenance site safety system which comprises a forbidden area switch arranged at a maintenance parking space entrance and used for generating a forbidden area; the variable-color underground lamps are laid at the edge frame line positions of the maintenance parking spaces and used for informing different forbidden area information by changing colors; the dispatching system is used for generating a virtual forbidden area in the automatic wharf virtual map and judging whether the maintenance parking space is in the forbidden area or not; the dispatching system is connected with the variable-color underground lamp and used for controlling the variable-color underground lamp to display light corresponding to the maintenance parking space. The method can eliminate the potential safety hazard existing in the management of the forbidden area of the maintenance site of the horizontal transportation equipment, and has a good market application prospect.

Description

Technical Field

[0001] The invention belongs to the technical field of port transportation and loading and unloading, and in particular relates to an automated container terminal IGV maintenance site safety system. Background Art

[0002] At present, there are relatively few automated container terminals in China, and the safety management of the intersection of automated areas and areas where personnel can move is still a major difficulty. In automated terminals, when the horizontal transport equipment Intelligent Guided Vehicles (IGVs) are undergoing routine maintenance and overhaul, they need to be dispatched to a dedicated IGV maintenance parking space through the fleet management system (VMS). After the vehicle arrives, the central control draws a no-go zone on the dispatching system, prohibiting other vehicles from entering the maintenance parking space and making it impossible for the vehicles in the parking space to be remotely controlled, to ensure the safety of maintenance personnel entering the maintenance parking space to overhaul the vehicle.

[0003] The management of restricted areas in horizontal transportation equipment maintenance sites currently used in automated terminals has many safety hazards, for example: 1. The dispatch duty room where the central controller is located is separated from the on-site maintenance personnel by a large space, and the on-site personnel cannot seamlessly grasp the on-site restricted area information (whether there is a restricted area, its size, and the parking space number where the restricted area is located) at any time; 2. The on-site personnel cannot grasp the visual vehicle berthing plan and location information on the dispatch program interface at any time like the dispatch personnel; 3. The on-site personnel have no direct control over the restricted areas in the maintenance area, while the dispatch personnel can delete or add restricted areas at any time. In order to eliminate the safety hazards in the management of restricted areas in horizontal transportation equipment maintenance sites mentioned above, the present invention provides an automated container terminal IGV maintenance site safety system.

[0004] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a safety system for an automated container terminal IGV maintenance yard, so as to eliminate the potential safety hazards in the management of prohibited areas in a horizontal transportation equipment maintenance yard.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An automated container terminal IGV maintenance site safety system, comprising:

[0008] The no-drive zone switch is set at the entrance of the maintenance parking lot to generate a no-drive zone;

[0009] Variable color underground lights are installed at the edge of each maintenance parking space to indicate different prohibited areas by changing colors.

[0010] The dispatching system is used to generate a virtual restricted zone in the virtual map of the automated terminal and determine whether the maintenance parking space is within the restricted zone; the dispatching system is connected to the variable color underground lamp and is used to control the variable color underground lamp to display a light corresponding to the maintenance parking space.

[0011] Preferably, the variable color underground light includes four signal modes: red, green, flashing orange, and red flowing on and off; when the light color is red, it indicates that there is no no-entry zone in the area and people are prohibited from entering; when the light color is green, it indicates that a no-entry zone has been marked in the area and it is safe to enter; when the light signal is flashing orange, it indicates that the no-entry zone needs to be lifted and people are warned to leave; when the light signal is red flowing on and off, it indicates that an IGV will enter the maintenance parking space.

[0012] Preferably, the specific steps for generating the virtual forbidden zone in the scheduling system interface include: first, defining the forbidden zone and defining a class to capture the mouse click event; then, recording the coordinates when the mouse is pressed, and generating an orange semi-transparent rectangular frame diagram with an opaque edge line based on the mouse movement path; recording the coordinates when the mouse is released, ensuring that the left boundary is less than or equal to the right boundary, and that the top boundary is less than or equal to the bottom boundary; then, adjusting the width and height of the rectangle, and storing the coordinates in the forbidden zone list; finally, initializing the selector, and generating the orange semi-transparent rectangular forbidden zone.

[0013] Preferably, the specific steps for determining whether the maintenance parking space is in the restricted area are as follows: first, the four vertices of the maintenance parking space are defined, the function traverses all defined restricted areas, and checks whether each vertex of the maintenance parking space is within the rectangular range of any restricted area; then, checks whether the maintenance parking space is in the restricted area; if it is detected that the maintenance parking space is in the restricted area, the green light is on; if it is detected that the maintenance parking space is no longer in the restricted area, the red light is on.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The automated container terminal IGV maintenance site safety system of the present invention is to lay color-changing underground lights around the edge frame of each maintenance parking space, and to inform different prohibited areas by changing colors, so that on-site personnel can seamlessly grasp the prohibited area information at any time.

[0016] (2) The automated container terminal IGV maintenance site safety system of the present invention generates a no-go zone that cannot be remotely removed by pressing the no-go zone switch at the maintenance parking space entrance, thereby ensuring that vehicles in the maintenance parking space cannot be remotely controlled by the dispatching system or other personnel, and other vehicles cannot enter the area, thereby greatly protecting the personal safety of on-site personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the prohibited area generated in the virtual map of the automated terminal;

[0018] Figure 2 This is a schematic diagram of IGVs bypassing restricted areas;

[0019] Figure 3 This is a schematic diagram of the four maintenance parking spaces being marked as no-driving zones;

[0020] Figure 4 It is a schematic diagram of VMS issuing new instructions and coordinates. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solution of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1

[0025] The invention discloses an automated container terminal IGV maintenance site safety system, which is composed of a color-changeable underground lamp and a no-go zone switch.

[0026] The color-changing underground lights will surround the edge frame of each maintenance parking space, and change colors to inform different prohibited areas. When the light is green, it means that the area has been marked as a prohibited area and it is safe to enter; when the light is red, it means that the area has not been marked as a prohibited area and people are prohibited from entering; when the light signal is red and it turns on and off, it means that an IGV will enter the parking space; when the light signal flashes orange, it means that the prohibited area needs to be lifted, and people are warned to leave.

[0027] The no-drive zone switch is installed at the entrance of the maintenance parking space. When the maintenance personnel press the switch, a no-drive zone will be generated in the area, and the no-drive zone cannot be lifted remotely. If a no-drive zone already exists in the area, pressing the switch can ensure that the no-drive zone will not be lifted remotely, which can greatly protect the safety of on-site personnel.

[0028] The restricted areas in the virtual map of the automated terminal are composed of rectangles. When a restricted area is drawn, the dispatching system will start creating it from the 0th restricted area. Subsequent restricted areas will be sorted by (0, 1, 2, 3...) and the coordinates of the vertices of the restricted areas will be stored in the restricted area directory. The implementation principle is as follows:

[0029] First, define the forbidden area and define a class to capture the mouse click event;

[0030] Then, record the coordinates when the mouse is pressed, and generate an orange semi-transparent rectangular frame with the mouse movement path as the axis, and the edge is opaque; record the coordinates when the mouse is released, and ensure that the left boundary is less than or equal to the right boundary, and that the top boundary is less than or equal to the bottom boundary;

[0031] Then, adjust the width and height of the rectangle and store the coordinates in the forbidden area list;

[0032] Finally, the selector is initialized and an orange semi-transparent rectangular prohibited area is generated.

[0033] See attached Figure 1 The orange semi-transparent rectangular frame is the prohibited area of ​​the automated operation area. Automated equipment will not be able to pass through the prohibited area. Figure 2 As shown, there is a prohibited zone marked in the direction of the IGV's advance, and the IGV will go around the prohibited zone.

[0034] When the dispatching system determines whether the maintenance parking space is in the restricted area, it will control the variable color underground lamp to display the corresponding light. The implementation principle is as follows: First, define the four vertices of the maintenance parking space. The function traverses all defined restricted areas and checks whether each vertex of the maintenance parking space is within the rectangular range of any restricted area; then, check whether the maintenance parking space is in the restricted area; if it is detected that the maintenance parking space is in the restricted area, the green light will be on; if it is detected that the maintenance parking space is no longer in the restricted area, the red light will be on.

[0035] See attached Figure 3 , 4 IGV maintenance parking spaces are marked with no-go zones. The no-go zone switch uses a zigbee physical switch, which is incorporated into the production network in an associate manner (Associate). When the detection switch is pressed, a highest priority no-go zone covering the 4 maintenance parking spaces and surrounding activity areas is automatically generated. The no-go zone switch is set at the entrance to the maintenance parking space. When the maintenance personnel press the switch, a no-go zone will be generated in the area, and the no-go zone cannot be remotely lifted. If a no-go zone already exists in the area, pressing the switch can ensure that the no-go zone will not be remotely lifted. This design can greatly ensure the safety of on-site personnel. The front end of the no-go zone is the maintenance personnel waiting area and the maintenance tool and material area, and the back end is the automated operation area. When the underground light is always green to indicate that it is safe to enter, the maintenance personnel press the local switch of the maintenance area, and the no-go zone cannot be remotely lifted, ensuring that the vehicles in the parking space cannot be remotely controlled by the dispatching system or other personnel, and other vehicles cannot enter the area, ensuring the personal safety of personnel entering the intersection area.

[0036] In addition, the automatic dispatch of IGV is performed by the fleet management system (VMS). When the vehicle has a new task or route, the VMS will send a new instruction containing the target point coordinates (x, y) to the navigation PLC of the IGV. Figure 4 As shown, the program determines whether to turn on or off the red light by comparing whether the target point of the VMS and the maintenance area are overlapped.

[0037] When judging whether a vehicle is about to enter the restricted area, it is necessary to compare the vertex coordinates of the maintenance parking space with the target point coordinates issued by the VMS to determine whether the target is in the maintenance parking space; if it is judged that a vehicle is entering, the orange light will flash on and off.

[0038] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. An automated container terminal IGV maintenance site safety system, characterized in that: include: The no-drive zone switch is set at the entrance of the maintenance parking lot to generate a no-drive zone; Variable color underground lights are installed at the edge of each maintenance parking space to indicate different prohibited areas by changing colors. The dispatching system is used to generate a virtual restricted zone in the virtual map of the automated terminal and determine whether the maintenance parking space is within the restricted zone; the dispatching system is connected to the variable color underground lamp and is used to control the variable color underground lamp to display a light corresponding to the maintenance parking space.

2. The automated container terminal IGV maintenance site safety system according to claim 1, characterized in that: The variable color underground light includes four signal modes: red, green, flashing orange, and red flowing on and off; when the light color is red, it means that there is no restricted area in the area and people are prohibited from entering; when the light color is green, it means that a restricted area has been marked in the area and it is safe to enter; when the light signal is flashing orange, it means that the restricted area needs to be lifted and people are warned to leave; when the light signal is red flowing on and off, it means that an IGV will enter the maintenance parking space.

3. The automated container terminal IGV maintenance site safety system according to claim 2, characterized in that: The specific steps of generating the virtual forbidden zone in the scheduling system interface include: first, defining the forbidden zone and defining a class to capture the mouse click event; then, recording the coordinates when the mouse is pressed, and generating an orange semi-transparent rectangular frame diagram with an opaque edge line based on the mouse movement path; recording the coordinates when the mouse is released, ensuring that the left boundary is less than or equal to the right boundary, and the top boundary is less than or equal to the bottom boundary; then, adjusting the width and height of the rectangle, and storing the coordinates in the forbidden zone list; finally, initializing the selector, and generating the orange semi-transparent rectangular forbidden zone.

4. The automated container terminal IGV maintenance site safety system according to claim 3, characterized in that: The specific steps to determine whether the maintenance parking space is in the restricted area are as follows: first, define the four vertices of the maintenance parking space. The function traverses all defined restricted areas and checks whether each vertex of the maintenance parking space is within the rectangular range of any restricted area; then, check whether the maintenance parking space is in the restricted area; if it is detected that the maintenance parking space is in the restricted area, the green light is on; if it is detected that the maintenance parking space is no longer in the restricted area, the red light is on.

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