Interaction method based on portal crane and IGV and storage medium

Abstract

The invention provides an interaction method based on a portal crane and an IGV and a storage medium, and solves the problem of low efficiency caused by lack of a dynamic scheduling mechanism and real-time path optimization in interaction of an existing portal crane and the IGV. The method comprises the following steps: acquiring IGV real-time state information and a scheduling plan, and installing a Beidou positioning device, a sensor and a camera on the IGV to acquire the real-time state information; obtaining a portal crane operation task, wherein the portal crane operation task is associated with the IGV scheduling plan; the lane configuration divides lanes into different types of exclusive lanes, and the exclusive lanes sequentially comprise a standby lane, an operation lane, a buffer lane, a departure lane, an emergency lane and a queuing lane; and a real-time interaction operation task is generated, and the real-time interaction operation task adjusts the exclusive lane corresponding to the IGV in real time and adjusts the portal crane operation task in real time based on the IGV real-time state information and the portal crane operation task information.

Description

Technical Field

[0001] The present application relates to the field of automated wharfs, and in particular to an interaction method and storage medium based on a gantry crane and an IGV. Background Art

[0002] In modern port logistics systems, the collaboration between intelligent horizontal transport equipment (IGV) and semi-automatic gantry cranes is an important part of improving operational efficiency, reducing labor costs and ensuring safety. With the development of global trade, the throughput of port containers has increased year by year, and traditional manual operations can no longer meet the needs of efficient, fast and accurate operations. Therefore, the introduction of automation technology, especially the intelligent scheduling and collaboration between IGV and the currently emerging semi-automatic gantry cranes, will greatly improve the automation level and overall efficiency of port operations.

[0003] Gantry cranes are indispensable equipment in port operations, responsible for loading and unloading containers. IGVs, as a new type of automated transportation tool, are responsible for moving containers from one location to another. With the development of technology, most existing gantry cranes operate in a semi-automatic or fully automated manner, but there are still some bottlenecks in scheduling and path planning. How to effectively manage their entry and exit, reduce congestion, and improve turnover efficiency are the main challenges facing current technical solutions. Summary of the invention

[0004] The present invention aims to overcome at least one defect of the above-mentioned prior art, and provides an interaction method and storage medium based on a door crane and an IGV, so as to solve the problem that the interaction between the existing door crane and the IGV is inefficient due to the lack of a dynamic scheduling mechanism and real-time path optimization.

[0005] Provided is a method for interaction between a door crane and an IGV, the method comprising:

[0006] Obtain real-time status information and scheduling plan of IGV by installing Beidou positioning, sensors and cameras on IGV to obtain real-time status information;

[0007] Obtaining a gantry crane operation task, wherein the gantry crane operation task is associated with the IGV scheduling plan;

[0008] Lane configuration, the lane configuration divides the lane into different types of exclusive lanes, the exclusive lanes include spare lanes, working lanes, buffer lanes, departure lanes, emergency lanes, and queuing lanes in sequence. The spare lane is used as a spare working lane, the working lane is used for the main loading and unloading operation lane of the gantry crane, the buffer lane is used for temporary parking of IGVs, the departure lane is used for IGVs to leave the lane after completing the working task, the emergency lane is dedicated to emergency parking, and the queuing lane is used for IGVs to enter the queuing area;

[0009] A real-time interactive operation task is generated. The real-time interactive operation task is based on the real-time status information of the IGV and the operation task information of the gantry crane, and adjusts the exclusive lane corresponding to the IGV and the operation task of the gantry crane in real time.

[0010] Furthermore, the lane configuration sets lane priorities, the working lane and the buffer lane are high priority, the exit lane is medium priority, and the lane priority of the emergency lane is adjustable for temporary passage.

[0011] Furthermore, when congestion occurs in the leaving lane, the IGV is dispatched to temporarily enter the buffer lane or the emergency lane to wait, and then return to the leaving lane after the congestion is relieved. The priority of the leaving lane can be adjusted.

[0012] Furthermore, when the gantry crane fails, the IGV associated with the gantry crane is dispatched to travel to the emergency lane, which has a high priority.

[0013] Furthermore, the method further comprises:

[0014] A queuing area is provided adjacent to the queuing lane, and the queuing area is divided into a plurality of small areas, each of which corresponds to a specific door machine.

[0015] Furthermore, the real-time adjustment of the door crane operation task includes setting the door crane priority, and a high-priority door crane can dispatch the IGV of a low-priority door crane.

[0016] Furthermore, the method further includes a vehicle grabbing mechanism, which is to borrow IGVs from the queueing areas corresponding to other gantry cranes. The order of the vehicle grabbing mechanism is:

[0017] Enter the queuing area from the IGV and grab the car in the gantry crane queuing area on the left side;

[0018] Enter the queuing area from the IGV and grab the car in the adjacent gantry crane queuing area on the right side;

[0019] Cross-zone car grabbing: the cross-zone car grabbing is to grab the car from the non-adjacent gantry cranes in turn to the left and right queuing areas.

[0020] Furthermore, when the vehicle grabbing is not achieved, the newly arrived IGV is driven into the queuing area and used to grab the vehicle.

[0021] Furthermore, the conditions for car snatching include:

[0022] A car snatching determination value is set, wherein the determination value is the difference between the priority of the car snatching door machine and the priority of the stolen door machine, and the ratio of the difference to the number of IGVs in the car snatching target queuing area plus 1;

[0023] Setting a threshold value, when the car snatching determination value is greater than the threshold value, car snatching is allowed;

[0024] The threshold is between 0.5 and 1.

[0025] The present invention also provides a computer-readable storage medium, which includes instructions, and when the instructions are executed, the computer executes the interaction method based on the door machine and the IGV.

[0026] The main advantages of the present invention are:

[0027] 1. Improve operating efficiency. Through dynamic allocation and path planning, this solution can optimize the scheduling of IGVs in real time and improve the efficiency of gantry crane operations.

[0028] 2. Intelligent queue management. This solution divides the IGV queue area into multiple sub-areas and dynamically adjusts the IGV queue strategy according to the status of the door crane and task priority.

[0029] 3. Emergency response capability. This solution is equipped with emergency lanes and a dynamic priority adjustment mechanism, which can quickly guide IGVs into spare lanes or other suitable areas for avoidance in emergencies such as equipment failure or traffic congestion.

[0030] 4. Car-grabbing mechanism and resource optimization: The car-grabbing mechanism in this solution allows flexible secondment of IGV resources in adjacent areas when high-priority tasks occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention is a flow chart of an interaction method based on a door crane and an IGV.

[0032] Figure 2 It is a schematic diagram of lane configuration of the present invention. DETAILED DESCRIPTION

[0033] 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.

[0034] The present application embodiment provides an interaction method based on a door crane and an IGV, such as Figure 1 , methods include:

[0035] S100: Obtain IGV real-time status information and scheduling plan by installing Beidou positioning, sensors and cameras on IGV to obtain real-time status information;

[0036] S102: Acquire a gantry crane operation task, where the gantry crane operation task is associated with the IGV scheduling plan;

[0037] S104: Lane configuration, the lane configuration divides the lane into different types of exclusive lanes, the exclusive lanes include spare lanes, working lanes, buffer lanes, leaving lanes, emergency lanes, and queuing lanes in sequence, the spare lanes are used as spare working lanes, the working lanes are used as main loading and unloading lanes for gantry cranes, the buffer lanes are used for temporary parking of IGVs, the leaving lanes are used for IGVs to leave the lanes after completing the working tasks, the emergency lanes are used exclusively for emergency parking, and the queuing lanes are used for IGVs to enter the queuing area;

[0038] S106: Generate a real-time interactive operation task, which adjusts the exclusive lane corresponding to the IGV and the door crane operation task in real time based on the real-time status information of the IGV and the door crane operation task information. In this embodiment, the real-time interactive operation task dynamically adjusts the lane usage and task allocation based on the lane flow, task priority and door crane status of the IGV.

[0039] In S100, IGV, as the main means of transportation in the automated terminal, shuttles between the bridge yard and the storage yard. With the improvement of intelligence, more and more intelligent transportation tools are put into terminal operations. Although IGV is managed by an intelligent system, IGV has a variety of driving environments and many unpredictable emergencies, which have a great impact on the intelligent scheduling and operation of IGV. In order to grasp the status of IGV in real time, various sensor devices and cameras are configured on IGV, including speed sensors, distance sensors, obstacle recognition sensors, etc., and combined with the image information collected by the camera, the status information of all IGVs can be obtained, such as the traffic situation of the lane where a certain IGV is currently located, the location of obstacles, etc. The dispatching system is responsible for dispatching all IGVs to operate. Each IGV has a corresponding dispatching plan, which may be to deliver or receive boxes to the bridge yard, or to deliver or receive boxes to the storage yard. Usually, the IGV works in collaboration with the gantry crane, which includes manual operation, semi-automation, and automation. The gantry crane interacts with the IGV to complete the operation task.

[0040] In S102, the operation task of the gantry crane is obtained, and the operation task is associated with the IGV. For example, in the scheduling plan generated by the IGV, there is corresponding gantry crane information. When the IGV reaches the corresponding gantry crane operation position, the gantry crane grabs and releases the container through the hoist to operate with the IGV.

[0041] In this embodiment, by acquiring real-time information of the gantry crane and IGV, the overall situation of the terminal is grasped, and then the actual situation of each gantry crane and each IGV is refined to dynamically adjust the operation tasks of the gantry crane and IGV.

[0042] Specifically, in S104, the bridge field lane is configured, such as Figure 2 There are 9 lanes in the gantry crane area, numbered from the sea side to the road side. The specific use and priority of each lane are as follows:

[0043] Lane No. 1 is the spare operation lane: it is mainly used as a spare operation lane to ensure that when Lane No. 2 cannot be used due to equipment failure or other force majeure factors, normal operations in the gantry crane area can still be maintained.

[0044] Lane No. 2 is the operating lane: This lane is the main lane for gantry crane loading and unloading operations. It gives priority to IGVs to enter and perform loading and unloading tasks. It has the highest traffic priority, ensuring that IGVs can enter and exit the operating area first to ensure efficient operations.

[0045] Lane 3 is a buffer lane: used for temporary parking, waiting and priority parking of IGVs to ensure smooth entry into the working lane.

[0046] Lanes 4 and 5 are departure lanes: After the IGV completes its work, it should enter the departure lane first to quickly exit the area and improve turnover efficiency. If the departure lane is congested, the optimal channel should be selected according to the urgency and priority of the IGV's task to ensure smooth passage.

[0047] Lane 6 is the emergency lane: it is reserved for special situations or faulty IGVs, with a higher priority for emergency handling. The emergency lane is activated in emergency situations such as equipment failure or congestion to ensure regional safety and smooth traffic. The system will monitor the equipment status in real time, and if there is an obstruction, it will automatically guide the IGV to enter the emergency lane, detour or temporarily park.

[0048] Lanes 7, 8, and 9 are lanes for entering the IGV queuing area: IGVs enter the IGV queuing area lanes. The system dynamically allocates IGVs to enter the corresponding queuing areas of different gantry cranes based on real-time lane flow and gantry crane operation tasks, optimizes flow and utilization, and avoids traffic pressure. IGVs will enter the operating lanes in sequence to ensure smooth operation of the operating lanes and buffer lanes.

[0049] In this embodiment, the lane priority is set for the lane configuration, which is divided into high priority, medium priority and low priority. The higher the priority, the earlier the scheduled time during the operation. The operation lane is the key to the interaction between the gantry crane and the IGV. When the gantry crane is collecting and releasing the box, the corresponding IGV is parked on the operation lane. In addition, in order to ensure that the congestion or blockage of the operation lane affects the operation task, the buffer lane set next to the operation lane can be used as a temporary parking to clear the operation lane. Therefore, the operation lane and the buffer lane are set to high priority and granted the right to pass at the first time. The departure lane is set to medium priority to ensure that the IGV leaves first after completing the operation. If an emergency event or lane congestion occurs, the system will automatically adjust the priority, enable the No. 6 emergency lane as a temporary passage, and increase the priority of this lane to the highest to ensure safety and passage in the gantry area.

[0050] When congestion occurs, the coping solutions proposed in this embodiment include:

[0051] Lane congestion response: When congestion occurs in the 4th or 5th exit lane, the system will guide the IGV to temporarily enter the 3rd buffer lane to wait, to avoid backlogs in the exit lane, and then enter the exit lane after the congestion is alleviated.

[0052] IGV dispatch priority adjustment: The system will dynamically allocate lanes based on the urgency of the task and the pressure of the queue lanes to ensure the smooth flow of working lanes and timely clearing of exit lanes to reduce detention in the area.

[0053] Through the above lane configuration and clear division of priorities, perfect operating rules and congestion response strategies, the safe and efficient passage of IGVs in the gantry area can be effectively guaranteed, congestion can be reduced and overall operating efficiency can be improved.

[0054] In some embodiments, if there is an equipment failure or special situation in the gantry area, the system will prioritize dispatching the IGV to the emergency lane, lane 6, to avoid obstacles. The IGV on the emergency lane will have priority to ensure smooth and safe traffic in the area under special circumstances. Specifically, when the gantry fails, the IGV associated with the gantry is dispatched to the emergency lane, which has a high priority.

[0055] If there is an obstacle in the lane ahead of the IGV, such as a broken-down vehicle or a temporary obstacle, the system will automatically guide the IGV into a spare lane, such as an emergency lane or an idle buffer lane, to avoid congestion.

[0056] When multiple IGVs merge into the same lane, the system automatically adjusts the lane usage order based on lane flow and IGV task priority, giving priority to IGVs that have completed their work to enter and leave the lane to reduce the time they stay in the area.

[0057] In some embodiments, after the IGV operation task is completed, the departure strategy includes:

[0058] A gradual release strategy is adopted, that is, during the peak departure period, the system will release IGVs in batches through "interval" scheduling to avoid congestion caused by excessive load in the departure lanes.

[0059] Under certain circumstances, the system will give priority to opening the emergency lane for the IGV to quickly leave the gantry area, thereby improving emergency response efficiency.

[0060] Through path priority division, environmental monitoring and dynamic allocation, dynamic adjustment and departure optimization, "dynamic path planning" is combined with the functional distribution of lanes in the gantry area to ensure the efficient and safe circulation of IGVs, reduce congestion and waiting time, and thus improve overall operational efficiency.

[0061] In some embodiments, a queue area is provided adjacent to the queue lane, and the queue area is divided into a plurality of small areas, each of which corresponds to a specific gate machine. Specifically, the IGV queue area is divided into a plurality of small areas, each of which serves a specific gate machine. For example, when gate machine A and gate machine B correspond to sub-areas A and B of the queue area directly in front, respectively. By default, IGVs are preferentially allocated to the sub-areas of the gate machine where they are located, reducing cross-regional scheduling and improving work efficiency. However, in the case of high priority or emergency tasks, the system will dynamically borrow IGV resources from adjacent areas based on the car grabbing mechanism.

[0062] When the gantry crane is operating, the gantry crane operation tasks are adjusted in real time, including setting the gantry crane priority. The gantry crane with a high priority can dispatch the IGV of the gantry crane with a low priority. The gantry crane priority is dynamically assigned according to the status of the gantry crane, such as loading and unloading frequency, emergency tasks, etc. The gantry crane with a high priority can temporarily dispatch the IGV of other gantry cranes, thereby effectively responding to sudden tasks or high-frequency tasks. When there is no IGV on standby in the sub-area of ​​the target gantry crane, the grabbing mechanism is triggered to try to borrow IGVs from other areas.

[0063] The car grabbing mechanism is to borrow IGVs from the queue areas corresponding to other gantry cranes. The order of the car grabbing mechanism is:

[0064] Enter the queuing area from the IGV and grab the car in the gantry crane queuing area on the left side;

[0065] Enter the queuing area from the IGV and grab the car in the adjacent gantry crane queuing area on the right side;

[0066] Cross-zone car grabbing means grabbing cars from non-adjacent gantry cranes in turn from the left or right queuing areas.

[0067] The above-mentioned order of car grabbing is grabbing on the left side, grabbing on the right side, and cross-zone car grabbing. When grabbing on the left side and the right side fails, cross-zone car grabbing will be implemented. The cross-zone car grabbing will continue from near to far and from left to right until the conditions are met or there are no cars to adjust.

[0068] When the conditions for grabbing a vehicle are met but the vehicle cannot be grabbed, the newly arrived IGV will have priority in entering the waiting area to speed up the operation of the gantry crane.

[0069] The above-mentioned car snatching conditions include:

[0070] Set a car snatching judgment value, which is the ratio of the difference between the priority of the car snatching door machine and the priority of the stolen door machine and the number of IGVs in the car snatching target queue area plus 1;

[0071] Set a threshold. When the judgment value of car snatching is greater than the threshold, car snatching is allowed.

[0072] The threshold is between 0.5 and 1.

[0073] Specifically,

[0074] To decide when to borrow an IGV from an adjacent area, it is necessary to calculate the vehicle grabbing conditions based on the mission priority, number of vehicles, and urgency of each gantry. Assume the following variables:

[0075] x: The number of IGVs in the target area for car-stealing.

[0076] i: The priority of grabbing the door machine. The higher the value, the higher the priority.

[0077] p: The priority of the stolen door machine. The higher the value, the higher the priority.

[0078] Car snatching judgment value = (ip) / (x+1)

[0079] When the "car grabbing judgment value" is greater than a certain threshold T, car grabbing is allowed. The selection of threshold T can be adjusted according to specific operation requirements, gantry crane waiting time, and IGV scheduling flexibility. It is usually recommended to set the T value between 0.5 and 1 to achieve balanced scheduling.

[0080] For a low threshold, such as 0.5, the car grabbing judgment value only needs to reach 0.5 to trigger the car grabbing. Therefore, even if the gate machine priority gap or IGV scarcity is slightly lower, the car grabbing logic will be entered, which makes IGV scheduling more flexible and car grabbing more likely to occur.

[0081] When the high threshold is set to 1, the car snatching judgment value must reach 1 before the car snatching is allowed. This will increase the difficulty of car snatching. Car snatching will only be triggered when the priority gap between gate machines is large or resources are tight, thereby reducing the frequency of car snatching and tending to dispatch within the area.

[0082] Therefore, the lower the threshold is set, the higher the probability that the IGV in the adjacent queuing area will be snatched when the car-snatching mechanism is triggered.

[0083] The vehicle grabbing formula and strategy designed in this way can ensure that high-priority tasks are responded to quickly, rationally utilize the IGV resources of adjacent gantry cranes, and improve overall operation efficiency.

[0084] In some embodiments, a computer-readable storage medium is further provided. The computer-readable storage medium includes instructions. When the instructions are executed, the computer executes an interaction method based on a door machine and an IGV.

[0085] 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 method for interaction between a door crane and an IGV, characterized in that: The method comprises: Obtain real-time status information and scheduling plan of IGV by installing Beidou positioning, sensors and cameras on IGV to obtain real-time status information; Obtaining a gantry crane operation task, wherein the gantry crane operation task is associated with the IGV scheduling plan; Lane configuration, the lane configuration divides the lane into different types of exclusive lanes, the exclusive lanes include spare lanes, working lanes, buffer lanes, departure lanes, emergency lanes, and queuing lanes in sequence. The spare lane is used as a spare working lane, the working lane is used for the main loading and unloading operation lane of the gantry crane, the buffer lane is used for temporary parking of IGVs, the departure lane is used for IGVs to leave the lane after completing the working task, the emergency lane is dedicated to emergency parking, and the queuing lane is used for IGVs to enter the queuing area; A real-time interactive operation task is generated. The real-time interactive operation task is based on the real-time status information of the IGV and the operation task information of the gantry crane, and adjusts the exclusive lane corresponding to the IGV and the operation task of the gantry crane in real time.

2. The method according to claim 1, characterized in that The lane configuration sets lane priorities, the working lane and the buffer lane are high priority, the exit lane is medium priority, and the emergency lane has an adjustable lane priority for temporary passage.

3. The method according to claim 2, characterized in that When congestion occurs in the leaving lane, the IGV is dispatched to temporarily enter the buffer lane or the emergency lane to wait, and then return to the leaving lane after the congestion is relieved. The priority of the leaving lane can be adjusted.

4. The method according to claim 2, characterized in that: When the door machine fails, the IGV associated with the door machine is dispatched to travel to the emergency lane, which has a high priority.

5. The method according to claim 1, characterized in that The method further comprises: A queuing area is provided adjacent to the queuing lane, and the queuing area is divided into a plurality of small areas, each of which corresponds to a specific door machine.

6. The method according to claim 1, characterized in that The real-time adjustment of the door machine operation task includes setting the door machine priority, and a high-priority door machine can dispatch the IGV of a low-priority door machine.

7. The method according to claim 5, characterized in that The method further includes a vehicle grabbing mechanism, which is to borrow IGVs from the queueing areas corresponding to other gantry cranes. The sequence of the vehicle grabbing mechanism is: Enter the queuing area from the IGV and grab the car in the gantry crane queuing area on the left side; Enter the queuing area from the IGV and grab the car in the adjacent gantry crane queuing area on the right side; Cross-zone car grabbing: the cross-zone car grabbing is to grab the car from the non-adjacent gantry cranes in turn to the left and right queuing areas.

8. The method according to claim 7, characterized in that When the car grabbing is not achieved, the newly arrived IGV is driven into the queuing area and used for car grabbing.

9. The method according to claim 7, characterized in that: The conditions for car snatching include: A car snatching determination value is set, wherein the determination value is the difference between the priority of the car snatching door machine and the priority of the stolen door machine, and the ratio of the difference to the number of IGVs in the car snatching target queuing area plus 1; Setting a threshold value, when the car snatching determination value is greater than the threshold value, car snatching is allowed; The threshold is between 0.5 and 1.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, which, when executed, enable the computer to perform the interaction method based on a door machine and an IGV according to any one of claims 1 to 9.

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