Automatic container wharf yard crane transition street crossing method

Abstract

The invention relates to an automatic container terminal field bridge transition street crossing method. The problem that field bridge transition interferes with IGV passing areas is solved. The method comprises the steps of applying for transition to a target field; confirming that the destination field area of the field bridge transition crossing and the original field area do not belong to the same field area; triggering a transition street-crossing operation task of the field bridge, and driving the field bridge cart to a transition street-crossing waiting position which is located at the end position of two adjacent field areas; an exclusive area application is initiated, and the exclusive area is used for controlling the position of the exclusive area to transversely keep a safe distance between field bridges and longitudinally prohibit IGV passage; confirming that the exclusive area takes effect; and executing automatic transition and street crossing of the yard bridge, and releasing the exclusive area after the destination yard area is reached.

Description

Technical Field

[0001] The present application relates to the field of automated terminal management, and in particular to a method for transferring and crossing a yard bridge at an automated container terminal. Background Art

[0002] With the development of automated container terminals, terminal throughput continues to rise, and the requirements for the terminals' automated operation capabilities are becoming increasingly higher.

[0003] The yard crane transfer across the street is a yard crane scheduling method that often occurs in container terminals with horizontal yard layout. Due to the uneven distribution of container receiving and unloading tasks in the yard, peaks and troughs of operations appear alternately within a time period. When a peak occurs, the yard crane of the adjacent yard in the horizontal direction needs to be dispatched to assist in the operation, thereby improving the utilization rate of the yard crane and reducing the operating costs of the terminal.

[0004] At present, most automated container terminals have one or two yard cranes deployed in each yard, and the yard cranes rarely move across the street. This results in the inability to add yard cranes to assist in operations when a certain yard is busy and to quickly eliminate operational pressure. When operations are idle, a large number of yard cranes will be idle, which will also increase machinery costs.

[0005] The terminal-related systems and tools involved in the present invention include equipment control system (abbreviated as "ECS"), yard crane dispatching system (abbreviated as "BMS"), unmanned container truck dispatching system (abbreviated as "VMS"), automatically controlled yard crane (abbreviated as "ASC", the yard cranes mentioned in this application are all automatically controlled yard cranes), and unmanned container truck horizontal intelligent guided vehicle (abbreviated as "IGV"). Summary of the invention

[0006] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a method for crossing the street by a yard bridge of an automated container terminal to solve the problem of interference of the yard bridge transition with the IGV passing area.

[0007] The present invention provides a method for crossing a bridge at an automated container terminal, the method comprising:

[0008] Apply for transfer across the street to the destination area;

[0009] Confirm that the destination area where the bridge crosses the street is not the same as the original area;

[0010] Triggering the field bridge transfer and street crossing operation task, driving the field bridge trolley to the field bridge transfer and street crossing waiting position, the field bridge transfer and street crossing waiting position is located at the end position of two adjacent field areas;

[0011] Initiate an application for an exclusive zone, which is used to control the position of the exclusive zone to maintain a safe distance between field bridges in the horizontal direction and prohibit IGVs from passing in the vertical direction;

[0012] Confirmation of the entry into force of the exclusive zone;

[0013] The execution field bridge automatically transfers across the street and releases the exclusive area after arriving at the destination field area.

[0014] The technical effects produced by the present invention include:

[0015] 1. The dispatching system analyzes the operational conflicts between the yard crane and the IGV in advance, reasonably dispatches the IGV to avoid them, and improves the operating efficiency of the IGV.

[0016] 2. The dispatching system analyzes the operational conflicts between the field cranes in advance, and reasonably dispatches the field cranes to avoid them, so as to avoid affecting the field cranes' transfer and crossing the street.

[0017] 3. The system performs calculations and scheduling throughout the entire process, reducing manual intervention and improving terminal operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flow chart of an automated container terminal yard bridge transfer and street crossing method.

[0019] Figure 2 It is a schematic diagram of the exclusive area taking effect of the present invention.

[0020] Figure 3 This is a flowchart of the VMS exclusive area avoidance process of the present invention.

[0021] Figure 4 It is a schematic diagram of the field bridge avoidance processing of the present invention. DETAILED DESCRIPTION

[0022] 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.

[0023] In an automated container terminal, the yard area is responsible for receiving and unloading containers. From the layout point of view, the yard is divided into multiple areas, each area has multiple yard cranes, and the yard crane (abbreviated as "ASC") has an automatic control function and is responsible for grabbing, releasing and moving containers. The yard is generally laid out horizontally, and the yard crane can move left and right horizontally. The yard is a closed area, and the IGV can drive automatically in this area. To enter the yard and reach the yard crane, you need to enter from the longitudinal lanes between two adjacent yards, and to exit the yard, you also need to drive out from the longitudinal lanes between two adjacent yards.

[0024] In an automated terminal with a horizontal yard layout, the yard crane needs to turn around and cross the street. During the process, it will occupy the longitudinal traffic lane and conflict with the passing IGV. In addition, after the yard crane turns around, it may also have a position conflict with the yard crane in the new yard. Therefore, before the yard crane initiates the application for turning around and crossing the street, it is necessary to determine in advance whether the above conflicts exist, and dispatch the yard crane or IGV in advance through the dispatching system to avoid them.

[0025] This embodiment provides a method for an automated container terminal bridge to transfer to a street, such as Figure 1 , methods include:

[0026] S100: Apply for transfer across the street to the destination area;

[0027] S102: confirm that the destination area of ​​the bridge crossing the street is not the same as the original area;

[0028] S104: triggering the field bridge transfer and street crossing operation task, driving the field bridge vehicle to the field bridge transfer and street crossing waiting position, wherein the field bridge transfer and street crossing waiting position is located at the end position of two adjacent field areas;

[0029] S106: Initiate an application for an exclusive zone, where the exclusive zone is used to control the position of the exclusive zone to maintain a safe distance between field bridges in the horizontal direction and prohibit IGVs from passing in the vertical direction;

[0030] S108: Confirm that the exclusive area is effective;

[0031] S110: The field bridge automatically transfers across the street and releases the exclusive area after arriving at the destination field area.

[0032] In this embodiment, the rail crane under the yard bridge is used for container operations. When transferring and crossing the street, the following conditions need to be met, including:

[0033] The state of the track sling box does not allow transfer across the street;

[0034] No transfer across the street is allowed before the exclusive zone takes effect;

[0035] If the application for crossing the street is not approved within the time limit, the application for crossing the street will be cancelled and an abnormality will be reported;

[0036] If the exclusive area is not released within the timeout period, an exception will be reported.

[0037] The state of the box is that the rail crane is grabbing the container, and the operation task is still in progress. At this time, the transfer and crossing should not be carried out. In this embodiment, before executing the transfer and crossing, it is necessary to first confirm that the exclusive area is effective, that is, to block the exclusive area to avoid collision with the passing IGV when the field bridge is transferring and crossing. When the field bridge applies for a transfer and crossing, the application is set with a time limit. If the set time limit is exceeded and the application for transfer and crossing is still not approved, the application for transfer and crossing should be cancelled, and the opinion of disagreeing with the application should be fed back to the system. After completing the transfer and crossing, the restrictions on the exclusive area should be lifted in time. If the exclusive area is not released for a long time, it will cause a load impact on the scheduling of the area, and even affect the entire scheduling system.

[0038] In some embodiments, before the field bridge applies for a transfer to cross the street, the field bridge load in the transfer destination area is greater than a preset value, and the load is judged by the number of IGVs waiting for the field bridge, and the field bridge has no operating tasks in the original area. The preset value needs to be set according to the actual workload of the terminal, with the purpose of balancing the operating tasks of field bridges in different areas. As mentioned in this embodiment, the number of IGVs waiting for the field bridge is used for judgment. When the number of IGVs waiting for the field bridge is greater than the preset value, it is considered that the field bridge has a large load and needs support from field bridges in other adjacent areas. On the contrary, when the field bridge has no operating tasks within a certain time range, it is considered that the field bridge is idle and can be applied for a transfer to cross the street.

[0039] Preferably, the end positions of the two adjacent fields are set to 40 feet.

[0040] In some embodiments, the method further comprises setting a timer;

[0041] The confirmation time of the exclusive area is set with a timer to control the maximum confirmation time of the exclusive area, and an abnormality is fed back when the timer setting time is exceeded. The release of the exclusive area is set with a timer to control how long the exclusive area is released.

[0042] During the whole process of terminal management, especially the automated terminal management, the terminal operates 24 hours a day. If the yard transfer and crossing operation task is not completed for a long time, other operation tasks will not be completed on time. This embodiment solves this problem by setting a timer, that is, setting the maximum value of the confirmation time for the exclusive area to take effect and the release time of the exclusive area, so as to reduce the impact on the global operation task when the yard transfer and crossing is not completed for a long time.

[0043] In some embodiments, the exclusive zone first controls the horizontal distance between the field bridges, and the exclusive zone sets a buffer time. When the field bridge is transferred across the street, it is first determined whether the horizontal field bridge maintains a safe distance. When the field bridge is driving from the original field area to the destination field area, the field bridge that is transferred across the street must maintain a safe distance with the field bridge in the destination field area to avoid affecting the normal operation of the field bridge in the destination field area.

[0044] like Figure 4 When applying for the exclusive area, BMS will perform yard bridge avoidance processing, and judge whether the crossing position is sufficient according to the positions of different yard bridges on the same line. If the "crossing space position" is sufficient, BMS will dispatch the yard bridge to cross the street; if the "crossing space position" is not sufficient, BMS will suspend the yard bridge from crossing the street and wait for the yard bridge of the new yard to avoid at the "crossing waiting position". If ASC1 arrives at the "crossing waiting position" of yard B and the distance with ASC2 is less than the safety distance, BMS will let ASC1 wait at the "crossing waiting position" of yard A, and dispatch ASC2 to avoid. After ASC2 avoids, BMS will dispatch ASC1 to continue crossing the street.

[0045] Preferably, the horizontal safety distance between the field cranes is 32 meters and 10 20-foot bays. In terms of time, a buffer time is set for the exclusive area, because the entire terminal operation is a huge system, there is a certain delay in the interaction between subsystems, and there are also some human factors that affect the scheduling system. The system cannot complete the task completely according to the scheduled time, so a buffer time is added to the task of the exclusive area. If it is completed ahead of time, it can be fed back to the scheduling system in advance and release resources. In summary, when the field crane is transferred to cross the street, it is guaranteed from both the spatial and temporal dimensions to ensure the smooth completion of the task.

[0046] In some embodiments, the method for confirming the validity of the exclusive area includes:

[0047] IGVs already in the exclusive zone are allowed to pass through, and VMS schedules IGVs to leave in advance;

[0048] For IGVs that have generated a path but have not reached the exclusive area, VMS needs to calculate the IGV passing time and the time it takes to reach the field bridge;

[0049] When the IGV passing time is greater than or equal to the time it takes to reach the field bridge, the VMS needs to re-plan the path to schedule the IGV to avoid it by calculating the time it takes for the IGV to reach the destination field after waiting for the exclusive area to be released along the original path and the time it takes to reach the destination field after the re-planned path;

[0050] If the duration of the new IGV path is less than the duration of the original IGV path, the VMS will schedule according to the new path;

[0051] If the duration of the new IGV route is greater than or equal to the duration of the original IGV route, VMS will schedule according to the original route and compare the IGV arrival time with the time it takes to cross the street;

[0052] The arrival time of IGV is greater than or equal to the time it takes for the bridge to cross the street, and VMS can normally dispatch IGV to the exclusive area;

[0053] If the arrival time of the IGV is less than the time it takes for the field bridge to cross the street, the VMS needs to control the IGV to slow down so that the arrival time of the IGV is greater than or equal to the time it takes for the field bridge to cross the street.

[0054] Specifically, before the field bridge performs the task of crossing the street, the BMS needs to initiate an exclusive zone application, such as Figure 2 , generate a preset exclusive area, determine whether the current position of the IGV conflicts with the exclusive area, when the current position of the IGV is on the field bridge track, the preset exclusive area is not effective, when the current position of the IGV is not on the field bridge track, the preset exclusive area is effective;

[0055] When the field crane crosses the street in the automation area, there will be interference between the field cranes and between the field cranes and IGVs, so the BMS and VMS need to coordinate operations to avoid conflicts.

[0056] When applying for an exclusive zone, VMS will perform exclusive zone avoidance processing. According to the current path of the IGV, it will determine whether a conflict occurs by calculating the time it takes for the IGV and the field bridge to reach the exclusive zone. If a conflict occurs, the IGV will be scheduled in advance to avoid it. Figure 3 , including the following:

[0057] IGVs that are already in the exclusive area are allowed to pass through, and VMS schedules IGVs to leave in advance to avoid conflicts caused by IGVs staying in the exclusive area. Figure 2 Before the field bridge reaches the "crossing waiting position" of field B, VMS dispatches the IGVs in the exclusive area to leave the exclusive area.

[0058] For IGVs that have generated a path but have not reached the exclusive area, VMS needs to calculate the time it takes for the IGV to pass through the exclusive area and the time it takes for the field bridge to reach the "crossing waiting position", and conduct a comparative analysis to determine whether to allow the IGV to pass. The calculation formula is as follows:

[0059] IGV passing time = (IGV distance to exclusive area + exclusive area length) / IGV average speed

[0060] Time for the bridge to arrive = distance from the bridge to the "crossing waiting position" / speed of the bridge truck

[0061] When the IGV passing time is less than the bridge arrival time, there will be no conflict between the IGV and the bridge. The VMS will schedule the IGV according to the original path and allow the IGV to pass through the exclusive area. Figure 2 As shown in FIG. 1 , the IGV has passed through the exclusive area before the field bridge reaches the "street crossing waiting position" of field B.

[0062] When the passing time of the IGV ≥ the arrival time of the RTG, there will be a conflict between the IGV and the RTG. The VMS needs to re-plan the path to schedule the IGV to avoid it. By calculating the time for the IGV to reach the destination position after waiting for the exclusive area to be released along the original path and the time for the IGV to reach the destination position after re-planning the path, a comparison is made to determine how to avoid it. The calculation formula is as follows:

[0063] IGV arrival time = Distance of the IGV to reach the exclusive area / Average speed of the IGV

[0064] RTG transfer across the road time = Distance between yards across the road / RTG大车速度 + RTG pre-occupation time for crossing the road

[0065] RTG pre-occupation time for crossing the road: Used to calculate whether the release of the exclusive area is timed out, and the redundant time that needs to be added to the RTG transfer across the road

[0066] IGV original path time = Distance of the IGV's original path / Average speed of the IGV + RTG transfer across the road time

[0067] IGV new path time = Distance of the IGV's new path / Average speed of the IGV

[0068] If the IGV new path time < the IGV original path time, the VMS schedules according to the new path, and the IGV avoids the exclusive area and detours to reach the destination position. As Figure 2 shown, the IGV makes a U-turn at the intersection to bypass the exclusive area and travels along the new path to reach the destination position.

[0069] If the IGV new path time ≥ the IGV original path time, the VMS schedules according to the original path. In this case, there are two situations:

[0070] IGV arrival time ≥ RTG transfer across the road time

[0071] IGV arrival time < RTG transfer across the road time

[0072] When the IGV arrival time ≥ the RTG transfer across the road time, when the IGV reaches the exclusive area, the RTG has completed the transfer across the road, and the IGV is not affected. The VMS can normally schedule the IGV to reach the exclusive area without deceleration, and the IGV travels along the original path to reach the destination position.

[0073] If the IGV arrival time < the RTG transfer across the road time, when the IGV reaches the exclusive area, the RTG has not completed the transfer across the road. To avoid congestion caused by the IGV waiting at the exclusive area intersection, the VMS needs to control the IGV to decelerate so that the IGV arrival time is exactly equal to the RTG transfer across the road time. Then, the speed calculation formula of the IGV is as follows:

[0074] IGV arrival time = RTG transfer across the road time

[0075] IGV speed = IGV distance to exclusive area / bridge crossing time

[0076] In some embodiments, after the exclusive zone is released, in order not to affect the subsequent scheduling plans of other IGVs and minimize the impact, after the exclusive zone is released, when there are multiple IGVs prohibited from passing, a new path is planned for the second IGV that resumes passing to avoid the exclusive zone.

[0077] In some embodiments, the field bridge also includes returning to the original field area and setting a return to the transition street crossing waiting position. The field bridge waits at the return to the transition street crossing waiting position and executes the return when there is no IGV scheduling task at the transition street crossing waiting position.

[0078] 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. An automated container terminal bridge transfer method, characterized in that: The method comprises: Apply for transfer across the street to the destination area; Confirm that the destination area where the bridge crosses the street is not the same as the original area; Triggering the field bridge transfer and street crossing operation task, driving the field bridge trolley to the field bridge transfer and street crossing waiting position, the field bridge transfer and street crossing waiting position is located at the end position of two adjacent field areas; Initiate an application for an exclusive zone, which is used to control the position of the exclusive zone to maintain a safe distance between field bridges in the horizontal direction and prohibit IGVs from passing in the vertical direction; Confirmation of the entry into force of the exclusive zone; The execution field bridge automatically transfers across the street and releases the exclusive area after arriving at the destination field area.

2. The method for crossing the street by bridge at an automated container terminal according to claim 1, characterized in that: The field bridge for the transfer crossing includes: The box is not allowed to be transferred across the street; No transfer across the street is allowed before the exclusive zone takes effect; If the application for crossing the street is not approved within the time limit, the application for crossing the street will be cancelled and an abnormality will be reported; If the exclusive area is not released within the timeout period, an exception will be reported.

3. The method for crossing the street by bridge at an automated container terminal according to claim 1, characterized in that: The exclusive zone first controls the lateral direction to maintain a safe distance between field bridges, and a buffer time is set up in the exclusive zone.

4. The method for crossing the street by bridge in an automated container terminal according to claim 1, characterized in that: The method for confirming the effectiveness of the exclusive area includes: IGVs already in the exclusive zone are allowed to pass through, and VMS schedules IGVs to leave in advance; For IGVs that have generated a path but have not reached the exclusive area, VMS needs to calculate the IGV passing time and the time it takes to reach the field bridge; When the IGV passing time is greater than or equal to the time it takes to reach the field bridge, the VMS needs to re-plan the path to schedule the IGV to avoid it by calculating the time it takes for the IGV to reach the destination field after waiting for the exclusive area to be released along the original path and the time it takes to reach the destination field after the re-planned path; If the duration of the new IGV path is less than the duration of the original IGV path, the VMS will schedule according to the new path; If the duration of the new IGV route is greater than or equal to the duration of the original IGV route, VMS will schedule according to the original route and compare the IGV arrival time with the time it takes to cross the street; The arrival time of IGV is greater than or equal to the time it takes for the bridge to cross the street, and VMS can normally dispatch IGV to the exclusive area; If the arrival time of the IGV is less than the time it takes for the field bridge to cross the street, the VMS needs to control the IGV to slow down so that the arrival time of the IGV is greater than or equal to the time it takes for the field bridge to cross the street.

5. The method for crossing the street by bridge in an automated container terminal according to claim 1, characterized in that: The horizontal safety distance between the field bridges is 32 meters and 10 20-foot bays.

6. The method for crossing the street by bridge at an automated container terminal according to claim 1, characterized in that: The end positions of the two adjacent fields are set to 40 feet.

7. The method for crossing the street by bridge at an automated container terminal according to claim 1, characterized in that: The method further comprises: Before the field bridge applies for transfer to cross the street, the field bridge load in the transfer destination area is greater than a preset value. The load is determined by the number of IGVs waiting for the field bridge. At the same time, the field bridge has no operating tasks in the original area.

8. The method for crossing the street by bridge at an automated container terminal according to claim 1, characterized in that: The method also includes setting a timer; The confirmation time of the exclusive area taking effect is provided with a timer, which is used to control the maximum confirmation time of the exclusive area taking effect. If the timer setting time is exceeded, an abnormality is fed back; The release of the exclusive area is provided with a timer for controlling how long the exclusive area is released.

9. The method for crossing the street by bridge in an automated container terminal according to claim 1, characterized in that: After the exclusive area is released, when there are multiple IGVs prohibited from passing, a new path is planned for the second IGV that resumes passing to avoid the exclusive area.

10. The method for crossing the street by bridge in an automated container terminal according to claim 1, characterized in that: The method also includes returning the field bridge to the original field area, setting a return to the field transfer and street crossing waiting position, and the field bridge waits at the return to the field transfer and street crossing waiting position, and executes the return when there is no IGV scheduling task at the field transfer and street crossing waiting position.

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