Multi-rail-mounted gantry crane operation method of parallel layout automatic wharf

Abstract

The invention relates to a multi-rail-mounted crane operation method for an automatic wharf with parallel layout. The queuing waiting time of storage yard tasks is shortened. Comprising the steps that a region plan is set, and the region plan is the task receiving range of the rail-mounted gantry crane; setting a safe operation distance between the rail-mounted cranes; the area plans of the rail-mounted cranes in the same operation line are mutually covered, task scores of operation tasks corresponding to all the rail-mounted cranes in the operation line are obtained, and the task scores are used for reflecting the priority sequence of the operation tasks; setting the maximum workable instruction number of the storage yard, and not arranging a new task to the storage yard if the maximum workable instruction number is exceeded; the storage yard efficiency is set, wherein the storage yard efficiency is the ratio of the storage yard operation container amount to the operation time; and the number of the rail-mounted cranes in the storage yard is adjusted to realize multi-rail-mounted crane collaborative operation.

Description

Technical Field

[0001] The present application relates to the field of automated docks, and in particular to a multi-track crane operation method for a parallel-arranged automated dock. Background Art

[0002] With the rapid development of my country's economy, labor costs have gradually exceeded machinery costs, and manual operations often rely on experience, making it difficult to make optimal judgments. Therefore, terminal companies have begun to seek a solution to reduce costs, increase efficiency, and achieve intelligent production. During the operation of the rail crane, the dispatching system automatically and reasonably arranges tasks to ensure the efficiency of yard operations.

[0003] At present, most of my country's automated terminals adopt a vertical layout structure, with multiple high-speed rail cranes operating a long yard line, and the yard is separated from the container truck and the automated operation area. This solution is not replicable for traditional terminals. Some semi-automated terminals are horizontally laid out, but one yard and one track, and the operation method follows the traditional terminal operation method. Summary of the invention

[0004] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a multi-track crane operation method for a parallel layout automated terminal, thereby reducing the waiting time for yard tasks.

[0005] The present invention provides a multi-track crane operation method for a parallel layout automated wharf, the method comprising:

[0006] Setting a regional plan, wherein the regional plan is the scope of the rail crane receiving tasks;

[0007] Set safe working distance between rail cranes;

[0008] Overlay the regional plans of the rail cranes in the same operation line to obtain the task scores of the corresponding operation tasks of all the rail cranes in the operation line, and the task scores are used to reflect the priority of the operation tasks;

[0009] Set the maximum number of operable instructions for the yard. If the maximum number of operable instructions is exceeded, no new tasks will be assigned to the yard.

[0010] Setting the yard efficiency, which is the ratio of the number of boxes operated in the yard to the operation time;

[0011] Adjust the number of rail cranes in the yard to realize collaborative operation of multiple rail cranes.

[0012] Furthermore, when the rail crane is operating and the container is 40 feet or longer, the safe operating distance is 10 Bei; when the rail crane is operating and the container is 20 feet, the safe operating distance is 11 Bei.

[0013] Furthermore, the yard task operation position of the multi-track crane collaborative operation is divided into multiple equal parts, and the number of bays in each part is the difference between the maximum bay and the minimum bay of the yard task operation position divided by the number of track cranes, and the track cranes operate within the range of the corresponding bay positions.

[0014] Furthermore, the difference between the maximum and minimum benzyls is greater than 11.

[0015] Furthermore, if the yard efficiency of the collaborative operation of the multiple rail cranes meets the yard task and a new yard task is generated in an adjacent yard, the rail cranes in the yard are dispatched to the adjacent yard, and the operation positions of the yard tasks of the collaborative operation of the multiple rail cranes are re-divided.

[0016] Furthermore, the task score is

[0017] Furthermore, after the yard efficiency is set for the yard, the rail crane will be arranged to work in coordination; when the yard efficiency is not set, only one rail crane will be arranged to work in the yard.

[0018] Furthermore, the method includes a target yard efficiency, and when the yard efficiency is less than the target yard efficiency, the priority of the yard operation task is increased.

[0019] Furthermore, when the yard efficiency is greater than 120% of the target yard efficiency, the redundant rail cranes will be driven to other yards for operation.

[0020] Furthermore, the yard efficiency will be reset every hour.

[0021] The method proposed in the present invention uses a dispatching system to calculate the production situation of the terminal and flexibly deploy the automated rail cranes on the same operation line for collaborative operation. The purpose is to automatically calculate and allocate yard tasks through the dispatching system, improve the yard operation efficiency, and propose a new solution for the collaborative operation of automated rail cranes. By combining the TOS system, the dispatching system arranges yard tasks, effectively utilizes idle rail crane resources, and reduces task accumulation or unreasonable task allocation. In addition, the dispatching system in this method can be used to transform traditional terminals into automated terminals to provide a favorable reference.

[0022] The main advantages of the present invention are:

[0023] First, the rail crane will go to the operation location in advance according to the intelligent judgment of the dispatching system, reducing the waiting time of IGV in the yard task and improving the yard operation efficiency;

[0024] Second, the dispatching system outputs a more reasonable order of yard operation tasks in real time based on the activated tasks;

[0025] Third, multi-track cranes work together to focus on the yard according to demand to avoid the problem of untimely collection or delivery of containers;

[0026] Fourth, it saves a lot of manpower and material resources, and uses fewer rail cranes to achieve the same yard efficiency;

[0027] Fifth, traditional terminals can learn from or copy this operating model to achieve automation transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of a multi-track crane operation method for a parallel layout automated terminal according to the present invention.

[0029] Figure 2 The present invention is a single track crane operation flow chart.

[0030] Figure 3 The figure is a flow chart of the multi-track crane operation of the present invention.

[0031] Figure 4 It is a schematic diagram of the three-track collaborative operation of the present invention.

[0032] Figure 5 This is a schematic diagram of the distribution of rail cranes with multiple yard tasks according to the present invention.

[0033] Figure 6 It is a schematic diagram of the operation of the single track crane of the present invention. DETAILED DESCRIPTION

[0034] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0035] The present application provides an embodiment of a multi-track crane operation method for a parallel layout automated terminal, such as Figure 1 , methods include:

[0036] Setting a regional plan, wherein the regional plan is the scope of the rail crane receiving tasks;

[0037] Set safe working distance between rail cranes;

[0038] Overlay the regional plans of the rail cranes in the same operation line to obtain the task scores of the corresponding operation tasks of all the rail cranes in the operation line, and the task scores are used to reflect the priority of the operation tasks;

[0039] Set the maximum number of operable instructions for the yard. If the maximum number of operable instructions is exceeded, no new tasks will be assigned to the yard.

[0040] Setting the yard efficiency, which is the ratio of the number of boxes operated in the yard to the operation time;

[0041] Adjust the number of rail cranes in the yard to realize collaborative operation of multiple rail cranes.

[0042] In the terminal field, the basic operation mode of rail crane is composed of TOS system and dispatching system. TOS system is responsible for sending and receiving tasks, monitoring yard task status, and adjusting dispatching system parameters; the dispatching system outputs the task sequence according to the algorithm and arranges rail crane to work according to the plan. The dispatching system task is WORK_INSTRUCTION(WI), and the rail crane task is ASC_CMD. Figure 2 ,When a single track crane is operating, the dispatching system receives the yard task sending information ,from the TOS system, and determines whether the task is in a suspended state. If so, the task is ,ignored; otherwise, the task information is read, such as the task operation ,location, task type, task priority, etc.

[0043] The yard tasks of traditional terminals require the rail crane driver to check the task terminal before going to work, so the efficiency of accepting and operating tasks often depends on the personal ability and experience of the rail crane driver. There is a risk that the rail crane driver goes to the wrong work location or performs the wrong operation. In this embodiment, there is a rail crane area plan, that is, the range within which the rail crane is allowed to receive tasks. The scheduling system accepts the rail crane area plan data of the TOS system, reads the rail crane information, and receives the rail crane status information transmitted by the rail crane management system (BMS), and then allocates the yard location according to the box information, rail crane information, etc., and searches for rail cranes whose task operation locations are covered by the area plan, and screens out rail cranes in automatic mode to arrange operations. In this embodiment, the rail crane accepts tasks quickly and operates strictly in accordance with the area plan and task information, avoiding the risk of incorrect operations.

[0044] In the TOS system, after the yard location is manually specified, that is, the yard container collection plan group is manually set, the unloading and container transfer tasks without a specified yard location can be arranged by the scheduling system according to the yard container collection plan, container attributes, rail crane information, etc. The location is transmitted to the scheduling calculation pool.

[0045] Traditional terminals lack the means to reasonably arrange yard tasks. Usually, rail crane drivers select work tasks based on the vehicles under the track, and the intermediate process is extremely time-consuming. In this embodiment, the dispatching system reads the position of the container truck in real time, and puts the yard tasks carried by the container truck that has arrived at the yard entrance into the dispatching calculation pool. At the same time, it receives the yard position assigned according to the container information, rail crane information, etc. and adds it to the dispatching calculation pool. Tasks that have not yet arrived at the yard entrance are temporarily shelved. Under this scheme, the dispatching system directly arranges tasks, and the rail crane can move the truck to the work position, which ensures the efficiency of yard operations and reduces the time spent by the rail crane driver in the intermediate link of selecting tasks. According to the computer resources available to the dispatching system, the terminal information administrator can adjust the scope of the dispatching calculation pool and adjust the nodes where tasks are placed in the dispatching calculation pool.

[0046] In this embodiment, according to the set project score and task priority information, the scheduling calculation pool information is obtained to calculate the task score, ensuring that key tasks are prioritized and tasks are reasonably arranged. The task score is also applicable to multi-track crane collaborative operations. Specifically, the task score is Thus, the calculation task sequence is obtained, and the sequence is used to generate the rail crane task, and the task result is returned to the scheduling calculation pool. At the same time, the rail crane moves the trolley to the working position in advance.

[0047] In this embodiment, the rail crane behavior and task operation are all set with scores, and the operation scores can be adjusted by the terminal information administrator:

[0048] Track hoisted trolley, -10 points;

[0049] Tracks are suspended over the street, -300 points;

[0050] For every 1 db movement of the track crane, -2 points;

[0051] The highest priority of WI tasks can be set to 99. Each time the priority is increased by 1, +1000 points;

[0052] For every 10 minutes that WI is not operated, +100 points will be awarded, with no upper limit.

[0053] Continuous operation with the same shell, +20 points;

[0054] The initial score for loading task is 200 points, unloading task is 190 points, and container transfer task is 180 points.

[0055] After the terminal information administrator modifies the score and the operator changes the task priority, the scheduling system updates the parameters and task information and recalculates the new round of task output.

[0056] The scheduling system outputs the task sequence to the rail crane management system (BMS), and the BMS generates ASC_CMD in sequence. The WI that has generated ASC_CMD will return the result to the scheduling system.

[0057] After the rail crane generates ASC_CMD, it will move the truck to the working position in advance, reducing task waiting time and improving yard efficiency.

[0058] When a new WI is put into the scheduling calculation pool, the scheduling system will adjust the WI output order after a new round of calculation. Even if the WI that has generated ASC_CMD has a lower score than the new WI, it will be output first, unless manual intervention or the ASC_CMD job is completed.

[0059] In this embodiment, the multi-track cranes mentioned work together, such as Figure 3 , the TOS system initiates multi-task sending requirements. When the yard location is not specified, the dispatching system reads the task information. The TOS system sets the rail safety bay position, regional plan, and yard instruction number of multiple rail cranes, and transmits them to the dispatching system. The dispatching system receives and reads the rail crane information and assigns the yard location. Then, the situation of the designated yard location and the situation of the unspecified yard location are transmitted to the dispatching calculation pool together. By setting the task priority and the yard must be protected in the TOS system, the task score is calculated in combination with the information of the dispatching calculation pool, and the rationality of the task allocation is calculated based on the task score, thereby generating the rail crane task.

[0060] Specifically, in some embodiments, the TOS system sets a regional plan, that is, the regional plan is the scope of the rail crane receiving tasks. Before multiple rail cranes work together, the regional plans of the rail cranes on the same operation line must overlap each other. When the task group is released on the operation line, the scheduling system calculates the score of each task for all rail cranes in automatic mode within the scope of the regional plan, allocates rail cranes according to the task score, and arranges the priority of the operation tasks.

[0061] The TOS system sets a safe operating distance between rail cranes to ensure the safety of multi-track collaborative operations. When operating multiple rail cranes, a safe operating distance must be maintained. When operating containers of 40 feet or more, the safe bevel is 10 bevels; when operating 20-foot containers, considering the need for alignment of container trucks, the rail cranes need to be spaced 11 bevels apart. The dispatching system will not arrange two rail cranes to operate within the safe operating distance. If the driver switches the rail crane to manual mode and moves the truck so that the distance between the rail cranes is less than the safe operating distance, the BMS will control the rail crane in automatic mode to stop the current task and prompt the operator until the distance between the rail cranes returns to the safe operating distance.

[0062] The TOS system sets the maximum number of instructions that can be operated in the yard. If the maximum number of instructions is exceeded, no new tasks will be assigned to the yard. Instruction number control means controlling the total number of tasks for each yard. Operators can set the upper limit of the number of instructions that can be operated in different yards in the TOS system. Based on this setting, the dispatching system will not assign tasks that exceed the number of yard instructions to the yard.

[0063] For tasks that specify a yard location, the scheduling system will control the number of such tasks added to the scheduling calculation pool. When the number of tasks that specify a yard location is greater than the number of control instructions for the yard, the scheduling system will only put the number of tasks with a longer waiting time and not greater than the number of control instructions into the scheduling calculation pool. In particular, when there are tasks with high priorities, these tasks will be put into the scheduling calculation pool for calculation first. The higher the task priority, the earlier it will be put into the scheduling calculation pool, but it will not exceed the set number of instructions.

[0064] For tasks without a specified yard location, the scheduling system will calculate a plan group for such tasks. When the number of pending tasks in the yard where the plan group is located exceeds the specified number of instructions, the scheduling system will no longer consider allocating tasks to the yard and the plan group, but will calculate eligible plan groups in other yards and select yards with idle rail cranes or fewer rail crane tasks to allocate tasks to the plan group to ensure even distribution of yard tasks.

[0065] Set the yard efficiency, which is the ratio of the yard operation volume to the operation time. The yard efficiency is related to the yard must be guaranteed, that is, the yard efficiency must be guaranteed, specifically:

[0066] The TOS system can set the yard efficiency for each yard. When the operation line resources are sufficient, the dispatching system will try its best to ensure that the yard efficiency reaches the set target efficiency, that is, arrange rail cranes for collaborative operations; if the yard efficiency is set to NULL, the dispatching system will only arrange one rail crane to operate the yard, and the rail crane can be preempted by the yard with the set yard efficiency.

[0067] When there are tasks in the yard and the yard efficiency of the yard production cannot reach the target efficiency, the scheduling system will increase the priority of the tasks in the yard. The priority is Therefore, when the yard efficiency is less than the target yard efficiency, the task priority of the yard will be increased, and the task operation score will also increase until it is higher than the operation score of the adjacent yard task. At this time, the rail crane of the adjacent yard will be preempted by this yard.

[0068] In some embodiments, when the number of yards with target efficiency is set ≥ the number of available rail hangers on the operation line, the scheduling system will no longer consider multi-track collaborative operations, but only arrange one yard for one track.

[0069] Specifically, after the TOS system confirms that the yard must be protected, the dispatching system ensures that the yard efficiency of the yard that must be protected reaches the set required efficiency. When a yard cannot reach the required efficiency, the dispatching system will call other rail cranes from the operation line to the yard. Specifically, a maximum of three other rail cranes will be called.

[0070] When the yard efficiency is greater than 120% of the target efficiency, the dispatching system will drive the excess rail cranes to other yards for operation.

[0071] The dispatch system resets the current yard efficiency every hour to prevent the following two situations:

[0072] The yard efficiency of a certain yard has not met the standard. The dispatching system keeps adding resources to the yard, resulting in no resources available for other yards.

[0073] The yard efficiency of a certain yard is too high, and the scheduling system no longer allocates resources to the yard, resulting in the yard's tasks not being completed.

[0074] The tasks of the operation line where the must-protected yard is located will not be judged based on the operation score as the first criterion. Even if the task score of the adjacent yard is greater than that of the must-protected yard, the scheduling system will still use the tasks of the must-protected yard as the first output object. The higher the task score in the must-protected yard, the earlier the operation sequence.

[0075] In this embodiment, the TOS system sets regional plans, safe operating distances between rail cranes, and yard efficiency, and based on the task scores of each operating task in the yard, a comprehensive evaluation is performed to obtain the optimal number of operating rail cranes in the yard. In the same operating line, multiple rail cranes operate in one yard at the same time, and at the same time, the number of rail cranes in the yard is adjusted in real time based on the yard efficiency, thereby achieving collaborative operation of multiple rail cranes.

[0076] In some embodiments, multi-track operations are coordinated, with the goal of each track crane not to move the large vehicle as much as possible, while taking into account other yard tasks of the operation line, and reasonably allocating the track cranes. It is proposed to divide the yard task operation position of the multi-track crane coordinated operation into multiple equal parts, and the number of bays in each part is the difference between the maximum bay and the minimum bay of the yard task operation position divided by the number of track cranes, and the track cranes operate within the range of the corresponding bays.

[0077] Specifically, for multiple rail cranes working in the same yard, the dispatching system logically divides the yard tasks into shares of the total number of rail cranes in the yard, and assigns tasks in different areas to each rail crane. Figure 4 , three-rail crane operation EA field, if there are tasks from 0 to 60 bays in the EA field, the scheduling system will divide the 60 bays into 20 bays, that is, 60 / 3, and distribute the tasks in every 20 bays to the three rail cranes.

[0078] When the tasks in a certain area are completed and the yard efficiency has not yet reached the target efficiency, the dispatching system will continue to divide the task area and dispatch it to the rail crane until the difference between the maximum and minimum bays of the remaining tasks in the yard is less than or equal to 11, that is, the difference between the maximum and minimum bays is greater than 11. At this time, in order to ensure the safety of the operation, the operation will be handed over to a rail crane.

[0079] When tasks appear in other yards of the operation line where the multi-track collaborative operation yard is located, the dispatching system will deploy rail cranes to other yards for operations based on factors such as yard efficiency, task priority, and yard protection. For example, the rail crane dispatching system in the yard will be dispatched to the adjacent yard.

[0080] like Figure 5 When the EA yard's stacking efficiency can be met by the collaborative operation of two rail cranes, and there are tasks at the DA yard at this time, the dispatching system assigns RC117 to work at the DA yard; the two rail cranes RC109 and RC101 divide the EA yard tasks, and each rail crane performs 60 / 2=30 shells of work.

[0081] like Figure 6 ,When the EA yard task can be completed by one rail crane operation, and the DA yard operation yard efficiency is insufficient, the dispatching system assigns RC117 and RC109 to work in the DA yard, and RC101 completes the remaining tasks.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A multi-track crane operation method for a parallel layout automated terminal, characterized in that: The method comprises: Setting a regional plan, wherein the regional plan is the scope of the rail crane receiving tasks; Set safe working distance between rail cranes; Overlay the regional plans of the rail cranes in the same operation line to obtain the task scores of the corresponding operation tasks of all the rail cranes in the operation line, and the task scores are used to reflect the priority of the operation tasks; Set the maximum number of operable instructions for the yard. If the maximum number of operable instructions is exceeded, no new tasks will be assigned to the yard. Setting the yard efficiency, which is the ratio of the number of boxes operated in the yard to the operation time; Adjust the number of rail cranes in the yard to realize collaborative operation of multiple rail cranes.

2. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: When the rail crane is operating, if the container is 40 feet or larger, the safe operating distance is 10 Bei; when the rail crane is operating, if the container is 20 feet, the safe operating distance is 11 Bei.

3. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: The yard task operation position of the multi-track crane collaborative operation is divided into multiple equal parts, and the number of bays in each part is the difference between the maximum bay and the minimum bay of the yard task operation position divided by the number of track cranes. The track crane operates within the range of the corresponding bay positions.

4. The multi-track crane operation method for a parallel layout automated terminal according to claim 3, characterized in that: The difference between the maximum and minimum beta is greater than 11.

5. The multi-track crane operation method for a parallel layout automated terminal according to claim 3, characterized in that: The yard efficiency of the collaborative operation of the multiple rail cranes meets the yard task and a new yard task is generated in an adjacent yard, the rail cranes in the yard are dispatched to the adjacent yard, and the operation positions of the yard tasks of the collaborative operation of the multiple rail cranes are re-divided.

6. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: The task score is the task type score + continuous operation score * continuous operation number + task priority score * task priority level + additional score for exceeding task waiting time * - Moving vehicle score - Street crossing score * Number of street crossings - Moving shell score * Shell position score.

7. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: After the yard efficiency is set for the yard, the rail crane will be arranged to work in coordination; when the yard efficiency is not set, only one rail crane will be arranged to operate the yard.

8. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: The method includes a target yard efficiency, and when the yard efficiency is less than the target yard efficiency, the priority of the yard operation task is increased.

9. The multi-track crane operation method for a parallel layout automated terminal according to claim 8, characterized in that: When the yard efficiency is greater than 120% of the target yard efficiency, the redundant rail cranes will be driven to other yards for operation.

10. The multi-track crane operation method for a parallel layout automated terminal according to claim 1, characterized in that: The yard efficiency will reset every hour.

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