Single-cantilever rail-mounted gantry crane and outer container truck interactive operation method suitable for yard horizontally-arranged automatic wharf

Abstract

The invention relates to a single-cantilever rail-mounted gantry crane and external container truck interactive operation method suitable for an automatic wharf with horizontally arranged storage yards, which is used for solving the problem of insufficient external operation capability of the automatic wharf with horizontally arranged storage yards, and comprises the following steps: combining a plurality of adjacent storage yards into an interactive area; the position, close to the single-cantilever rail crane side, in the storage yard is set as an outer container truck lane, and the outer container truck lane at least comprises an operation lane and an overtaking lane; a fence is arranged to isolate the driving paths of the IGV and the outer container truck from each other; the driving path of the IGV is designed to be annular and surrounds the interaction area; an outer container truck operation lane parallel to the single-cantilever rail-mounted gantry crane operation lane is arranged in the interaction area, an outer container truck turning lane perpendicular to the single-cantilever rail-mounted gantry crane operation lane is arranged in the interaction area, and a plurality of one-way operation cycles can be formed by the outer container truck running path in the storage yard.

Description

Technical Field

[0001] The present application relates to the field of automated terminals, and more specifically to a method for interactive operation between a single-cantilever rail crane and an external container truck applicable to an automated terminal with a horizontal yard arrangement. Background Art

[0002] At present, the automated terminal is divided into two types according to the yard layout: the yard is vertically arranged with the shoreline and the yard is parallel to the shoreline. There are problems such as limited operation area. The interaction area can only be set up in the yard farthest from the shoreline. This yard is unique, and the maximum length is lower than the shoreline length. In addition, the container does not directly reach the inner yard. The number of containers exceeds the storage capacity and the containers need to be moved to the inner yard. This will cause two problems. First, a large number of additional lifting and horizontal transportation tasks will be generated in the operation path. Second, a large number of IGVs need to be configured for horizontal translation when the external container truck containers pass through the interaction area, which is not suitable for terminals with large interaction volume. External container trucks frequently enter and exit the yard and pass through intersections, and IGVs need to frequently avoid them, which greatly reduces the operating efficiency and poses safety risks. In addition, the large-scale use of double-cantilever rail cranes increases investment costs. Summary of the invention

[0003] The present invention aims to overcome at least one defect of the above-mentioned prior art, and provides a method for interactive operation between a single cantilever rail crane and an external container truck applicable to a horizontally arranged automated terminal in a yard, so as to solve the problem of insufficient external operation capacity of a parallel-arranged automated terminal. The present application proposes the following solutions, including:

[0004] Combine multiple adjacent storage yards into one interactive area;

[0005] The position near the single cantilever rail crane in the yard is set as an external truck lane, and the external truck lane includes at least one working lane and one passing lane;

[0006] Set up fences to separate the driving paths of IGVs and external container trucks from each other;

[0007] The driving path of the IGV is designed to be circular, surrounding the interaction area;

[0008] The outer container truck operating lane is arranged parallel to the single-arm rail crane operating lane in the interactive area, and the outer container truck turning lane is arranged perpendicular to the single-arm rail crane operating lane. The outer container truck driving path can form several one-way operating cycles in the yard.

[0009] The technical effects produced by the present invention include:

[0010] 1. All paths of IGV can form a ring to ensure efficiency and prevent blockages.

[0011] 2.IGV does not intersect with external container trucks and they are physically isolated from each other, ensuring safe operation.

[0012] 3. The solution does not affect IGV high-traffic areas such as intersections, and IGV operation efficiency is high.

[0013] 4. The operation logic changes are minor. When the interactive yard is not in use temporarily, the interactive function can be turned off and used as a normal yard.

[0014] 5. Can be combined with IGV operation to achieve direct loading and lifting.

[0015] 6. The trailer capacity has been improved, and the interactive capabilities have been significantly enhanced.

[0016] 7. The new interactive area can be equipped with a single cantilever rail crane that can be flexibly deployed for operations.

[0017] 8. The use of single cantilever reduces investment costs and is suitable for traditional dock reconstruction and existing automated dock upgrades.

[0018] 9. The yard is the destination yard, reducing the number of lifts and horizontal transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flow chart of a method for interactive operation between a single-cantilever rail crane and an external container truck applicable to an automated terminal with a horizontally arranged yard.

[0020] Figure 2 It is a schematic diagram of the automated terminal yard operation of the present invention.

[0021] Figure 3 It is a schematic diagram of the container area in the yard and the orientation of the IGV and the external container truck of the present invention.

[0022] Figure 4 It is a schematic diagram of the operation of transferring from the inner yard to the outer container truck interaction area according to the present invention.

[0023] Figure 5 The present invention is a flow chart of the operation of the rail crane.

[0024] Figure 6 This is a flowchart of the cabinet-lifting task of the present invention.

[0025] Figure 7 The figure is a flow chart of the returning task of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] The present application embodiment provides a method for interactive operation between a single-cantilever rail crane and an external container truck applicable to a horizontally arranged automated terminal in a yard, such as Figure 2 When the automated terminal yard is operated, the main equipment involved are rail cranes, IGVs, and container trucks. The rail cranes involved in the method are all single-cantilever rail cranes, and the rail cranes described in the attached drawings are all single-cantilever rail cranes. Figure 1 , methods include:

[0028] Combine multiple adjacent storage yards into one interactive area;

[0029] The position near the single cantilever rail crane in the yard is set as an external truck lane, and the external truck lane includes at least one working lane and one passing lane;

[0030] Set up fences to separate the driving paths of IGVs and external container trucks from each other;

[0031] The driving path of the IGV is designed to be circular, surrounding the interaction area;

[0032] The outer container truck operating lane is arranged parallel to the single-arm rail crane operating lane in the interactive area, and the outer container truck turning lane is arranged perpendicular to the single-arm rail crane operating lane. The outer container truck driving path can form several one-way operating cycles in the yard.

[0033] In this embodiment, the automated terminal usually has multiple yards, which are used for different yard tasks according to factors such as the location and size of the yards. The multiple yards are combined as a large interactive area. When performing interactive operations with external container trucks, the interactive area can be seen as a whole, which is convenient for the overall IGV and external container truck scheduling. The positions of several columns near the cantilever side in each yard are adjusted as double lanes for the external container trucks to travel, so that multiple rail cranes in the yard of the automated terminal can interact with external container trucks at the same time. Among them, the travel of external container trucks is designed as a double lane in the track, one operating lane and one overtaking lane. If the terminal business is busy, the number of lanes for external container trucks can be increased. Later, when the external container truck needs to overtake to the front operating position, it can continue to travel by changing to the adjacent lane, thus avoiding congestion caused by the waiting of the external container truck. Through the joint layout of multiple yards and special road arrangements, multiple rail cranes can interact with external container trucks at the same time, greatly improving the operating efficiency and workload, and improving the accommodation and operation capacity of external container trucks.

[0034] In the fully automatic mode, only IGVs circulate in the yard of the automated terminal, and no external container trucks interact.

[0035] like Figure 3 and Figure 4First, fences are placed to physically divide the roads between IGV and external container trucks, so that IGV does not intersect with external container trucks and isolates them from each other. In order to avoid conflicts with the operating routes of external container trucks, the driving path of IGV is designed to be circular, and its driving trajectory surrounds the interactive area formed by multiple yards.

[0036] In some embodiments, the method for locating the external collection card includes:

[0037] Set up a detection lane. The detection lane is to install binocular depth cameras on both sides of the cantilever of the single cantilever track. The binocular depth cameras are perpendicular to the external truck lane, with a height of 18m and a distance of 24.5m. That is, the baseline width is B = 24.5m. The resolution of each camera is 3840×2160, the focal length is f = 30mm, the sensor size is 7.2×5.3mm, and the detection range is set to 220m on both sides of the lane under the camera, with a frame rate of F = 30fps. Then the vertical field of view angle When the focal length is f=30mm, The frame rate is 30fps.

[0038] The top of the outer container card is provided with a license plate number;

[0039] When the foreign container truck enters the inspection lane, the binocular depth camera scans the license plate number of the foreign container truck, obtains image information through the binocular depth camera after identifying the number, and transmits the image information to the video image processing server, and the video image processing server calculates the position and speed of the foreign container truck;

[0040] Send the location and speed information of the external container truck to the TOS system (Terminal Management System, hereinafter referred to as TOS) and the VMS system;

[0041] The external container truck drives to the target location and is precisely guided by the container truck guidance system.

[0042] The calculation method of the external container truck position is:

[0043] Set the pixel coordinate position of the left camera of the binocular depth camera to (x l ,y l ), the pixel coordinates of the right camera are (x r ,y r ); The optical center coordinates of the binocular depth camera are obtained by calibration (c x ,c y ); Set the baseline width to B; Get the external container position as the single cantilever rail crane position

[0044] The external container truck rate calculation method is: Δt=1 / F, where F is the frame rate of the binocular depth camera.

[0045] In some embodiments, Figure 5 , the method further comprises:

[0046] Sending task information to the external container truck driver through a mobile communication device at the gate, the task information including the task of picking up the container and the task of returning the container;

[0047] The truck driver receives the task information from the mobile communication device and enters the corresponding exclusive area of ​​the yard to perform the task. The truck driver who picks up the container enters the exclusive unloading area of ​​the yard, and the truck driver who returns the container enters the exclusive receiving area of ​​the yard.

[0048] Displays and speakers are installed next to the truck lanes in the yard to indicate the docking location of the truck. The truck drives to the target location based on the information provided by the display and speaker.

[0049] In some embodiments, Figure 6 The external container card performs the following tasks:

[0050] The external container truck obtains the task information through the mobile communication device at the gate and then enters the gate;

[0051] The external container truck arrives at the exclusive unloading area of ​​the yard and waits in line according to the task information and instructions;

[0052] After the external container positioning and identification system of the single-cantilever rail crane detects that the external container is in place, the video processing server sends the location information to TOS and VMS;

[0053] If the container is in the exclusive unloading area of ​​the yard, the TOS will send a command to the single-arm rail crane to put the container from the yard onto the external container truck after receiving the arrival information from the video processing server;

[0054] If the container is not in the exclusive unloading area of ​​the yard, the VMS will plan a path for the IGV after receiving the arrival information from the video processing server to transport the required container to the IGV lane corresponding to the external container truck. After the IGV is in place, the TOS will send an instruction to the single cantilever rail crane to place the container from the IGV to the external container truck.

[0055] In some embodiments, Figure 7 The external container card performs the return task including:

[0056] The external container truck obtains the mission target information through the mobile communication device and then enters the gate;

[0057] The external container trucks arrive at the exclusive container collection area of ​​the yard and queue up according to the task information and instructions. When the exclusive container collection area is operating, the external container trucks queue up in the order of arrival. The single cantilever rail crane container collection operation is based on the order of arrival of the external container trucks. The first-come-first-served external container trucks will be used. If the yard is not full, the truck will not be used;

[0058] After the external container truck is in place, the external container truck positioning and identification system of the single cantilever rail crane detects that the external container truck is in place, and the video processing server sends the in-place information to TOS and VMS;

[0059] If there are enough IGVs and the containers carried by the external container truck meet the requirements for direct loading, the VMS will plan a path for the IGV to wait in the IGV lane corresponding to the external container truck after receiving the arrival information from the video processing server;

[0060] After the IGV is in place, the TOS sends a command to the single-arm rail crane to place the container from the external container truck onto the IGV;

[0061] If there are insufficient IGVs or the containers on the external container truck do not meet the requirements for direct loading, the TOS will receive the arrival information from the video processing server and send instructions to the single cantilever rail crane to place the container from the external container truck into the yard.

[0062] In some embodiments, the method further comprises:

[0063] When IGVs are used to track external container trucks, the operation of the single-arm rail crane is based on the order in which the IGVs arrive, and the first-arriving IGV will be assigned the task.

[0064] When general operations are carried out in the exclusive container collection area, which is different from the ordinary area, the external container trucks queue up in the order of their arrival. The rail crane container collection operation is based on the order of the external container trucks' arrival. The first-come-first-served external container trucks will be used. If the operating bay yard is not full, the truck will not be used, that is, the rail crane will operate at a fixed point.

[0065] When IGV tracks external container trucks, whether receiving or unloading containers, the rail crane operation is based on the order of IGV arrival, and the first-arrived IGV task is completed. One lift and one transport, that is, external container truck-single cantilever-IGV or IGV-single cantilever-external container truck, is realized. Compared with two lifts and one transport, external container truck-single cantilever-yard-single cantilever-IGV or IGV-single cantilever-yard-single cantilever-external container truck, the lifting efficiency is significantly improved, which can reduce the waiting time of the queue external container truck.

[0066] In some embodiments, the method further comprises:

[0067] The interactive area is connected with the track of the ordinary inner yard on an operating line. The single cantilever rail crane maintains a fully automatic operating mode when operating in the ordinary inner yard. After the single cantilever rail crane transfers to the interactive area, it automatically switches to a mixed operating mode according to the trolley positioning of the single cantilever rail crane.

[0068] In the interactive operation mechanism of the rail crane to the external container truck, the rail crane can switch between the fully automatic mode and the mixed operation mode. The interactive area is connected to the track of the ordinary inner yard on an operation line. The rail crane maintains the fully automatic operation mode when operating in the ordinary inner yard, that is, it operates fully automatically on the IGV cantilever side and inside the yard without manual intervention. After the rail crane is transferred to the interactive area, it can automatically switch to the mixed operation mode according to the positioning of the rail crane's trolley, that is, positioning in the direction of the rail operation line, and perform semi-automatic operations on several rows of external container trucks in the yard. After scanning the container truck bracket, the rail crane's spreader descends to a certain height and hovers, and is manually taken over to perform the final release of the container to the external container truck to ensure the safety of the operation.

[0069] In the fully automatic mode of the rail crane, the external container truck identification and guidance system and the container visual recognition OCR system (identification system, hereinafter referred to as OCR) are turned off, and the above systems are automatically turned on in the mixed operation mode.

[0070] In some embodiments, the method further comprises:

[0071] The external container truck can follow the IGV to the single-cantilever rail crane operation lane. After the IGV locks the external container truck, it can follow the single-cantilever rail crane cantilever side.

[0072] When unloading or collecting containers, the external container trucks follow the order of arrival at the port and the external container truck identification and guidance system and the container visual recognition OCR system identify the number of external container trucks entering the gate and the queue order. The VMS assigns the same number of IGVs to operate on the cantilever side of the single-cantilever rail crane.

[0073] The interaction between the rail crane and the external container truck is completed by the video processing server - VMS when the IGV locks the external container truck in the "one crane and one transport" mode. The external container truck identification and guidance function of the rail crane is used as an auxiliary verification. The external container truck can follow the rail crane to the operating lane, and the IGV also locks the external container truck and performs following operations on the cantilever side.

[0074] In the "one lift one transport" mode, when unloading or collecting containers, the external container trucks follow the order of entering the gate at the port. The external container truck identification and guidance system and the container visual recognition OCR system identify the number of external container trucks entering the gate and the queue order. VMS (IGV fleet management system, hereinafter referred to as VMS) assigns the same number of IGVs to operate on the cantilever side of the rail crane.

[0075] For example, the order of the external container trucks entering the gate is [a, b, c, d, e], and VMS will simultaneously assign 5 IGVs to wait on the cantilever side. According to the order of the external container truck queue, their tasks are assigned as [a, b, c, d, e]. If the order of the external container trucks is

[0076] [a,c,d,e,b], the IGV locked task can be adjusted to [a,c,d,e,b] for quick synchronization. According to the positioning position provided by the video processing server, the rail crane and its locked IGV can move to the corresponding operating range. The rail crane's laser radar can obtain accurate positioning coordinates after scanning the external container truck. The locked IGV can move according to the scanned positioning coordinates to achieve precise automatic operation.

[0077] In some embodiments, the method further comprises:

[0078] When multiple single-cantilever rail cranes are performing multiple bay operations, the interactive area is divided into zones to restrict the entry of external container trucks. External container trucks are identified and classified in advance, and external container trucks of the same type are only allowed to enter the interactive area when the previous external container truck has completed its operation.

[0079] In the normal container collection mode in the interactive area, the rail crane performs fixed-point operations, and the interactive identification of external container trucks is completed by the positioning card-BMS (yard management system of the rail crane). The external container truck identification and guidance function of the rail crane is used as an auxiliary verification, and the external container truck follows the vehicle to the operating position of the rail crane to operate.

[0080] In the common unloading mode of the interactive area and when a single rail crane is operating, the external container trucks are queued within a certain range of the exclusive unloading area of ​​the interactive area. The BMS identifies the queue order of the external container trucks based on the external container truck position information provided by the video processing server. After the rail crane grabs the container, it moves the truck to the top of the corresponding external container truck. After OCR recognition and confirmation, it locks with the external container truck to release the container. After the current external container truck completes the task of releasing the container, it can be transferred out of the interactive area, and the external container truck behind it moves with the vehicle to continue queuing.

[0081] In the normal unloading mode of the interactive area, when multiple rail cranes are operating in multiple bays, the interactive area is zoned to restrict the entry of external container trucks, and the external container trucks are identified and classified in advance. For example, there are 5 operating ranges of 5 rail cranes [A, B, C, D, E], and the corresponding external container trucks that need to enter the above operating ranges are 5 categories [a, b, c, d, e]. Class a external container trucks are allowed to enter the gate and enter the interactive area only when the previous class a external container truck has completed its operation. The 5 categories of external container trucks [a, b, c, d, e] enter the interactive area according to the operating time of the previous external container truck of the same type, independently and without affecting each other, so as to ensure the smoothness of the overall operation in different areas of the interactive area.

[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 method for interactive operation between a single-cantilever rail crane and an external container truck applicable to a horizontally arranged automated terminal, characterized in that: The method comprises: Combine multiple adjacent storage yards into one interactive area; The position near the single cantilever rail crane in the yard is set as an external truck lane, and the external truck lane includes at least one working lane and one passing lane; Set up fences to separate the driving paths of IGVs and external container trucks from each other; The driving path of the IGV is designed to be circular, surrounding the interaction area; The outer container truck operating lane is arranged parallel to the single-arm rail crane operating lane in the interactive area, and the outer container truck turning lane is arranged perpendicular to the single-arm rail crane operating lane. The outer container truck driving path can form several one-way operating cycles in the yard.

2. The method according to claim 1, characterized in that The positioning method of the external container card includes: Setting up an inspection lane, wherein a binocular depth camera is installed on both sides of the cantilever of the single cantilever track crane, and the binocular depth camera is perpendicular to the external truck lane; The top of the outer container card is provided with a license plate number; When the foreign container truck enters the inspection lane, the binocular depth camera scans the license plate number of the foreign container truck, obtains image information through the binocular depth camera after identifying the number, and transmits the image information to the video image processing server, and the video image processing server calculates the position and speed of the foreign container truck; Send the location and speed information of the external container truck to the TOS system and the VMS system; The external container truck drives to the target location and is precisely guided by the container truck guidance system.

3. The method according to claim 2, characterized in that The method for calculating the position of the external container truck is: Set the pixel coordinate position of the left camera of the binocular depth camera to (x l ,y l ), the pixel coordinates of the right camera are (x r ,y r ); The optical center coordinates of the binocular depth camera are obtained by calibration (c x ,c y ); Set the baseline width to B; Get the external container position as the single cantilever rail crane position The external container truck rate calculation method is: Δt=1 / F, where F is the frame rate of the binocular depth camera.

4. The method according to claim 1, characterized in that The method further comprises: Sending task information to the external container truck driver through a mobile communication device at the gate, the task information including the task of picking up the container and the task of returning the container; The truck driver receives the task information from the mobile communication device and enters the corresponding exclusive area of ​​the yard to perform the task. The truck driver who picks up the container enters the exclusive unloading area of ​​the yard, and the truck driver who returns the container enters the exclusive receiving area of ​​the yard. Displays and speakers are installed next to the truck lanes in the yard to indicate the docking location of the truck. The truck drives to the target location based on the information provided by the display and speaker.

5. The method according to claim 4, characterized in that The external container card performs the following tasks: The external container truck obtains the task information through the mobile communication device at the gate and then enters the gate; The external container truck arrives at the exclusive unloading area of ​​the yard and waits in line according to the task information and instructions; After the external container positioning and identification system of the single-cantilever rail crane detects that the external container is in place, the video processing server sends the location information to TOS and VMS; If the container is in the exclusive unloading area of ​​the yard, the TOS will send a command to the single-arm rail crane to put the container from the yard onto the external container truck after receiving the arrival information from the video processing server; If the container is not in the exclusive unloading area of ​​the yard, the VMS will plan a path for the IGV after receiving the arrival information from the video processing server to transport the required container to the IGV lane corresponding to the external container truck. After the IGV is in place, the TOS will send an instruction to the single cantilever rail crane to place the container from the IGV to the external container truck.

6. The method according to claim 4, characterized in that The external container card performs the following tasks: The external container truck obtains the mission target information through the mobile communication device and then enters the gate; The external container trucks arrive at the exclusive container collection area of ​​the yard and queue up according to the task information and instructions. When the exclusive container collection area is operating, the external container trucks queue up in the order of arrival. The single cantilever rail crane container collection operation is based on the order of arrival of the external container trucks. The first-come-first-served external container trucks will be used. If the yard is not full, the truck will not be used; After the external container truck is in place, the external container truck positioning and identification system of the single cantilever rail crane detects that the external container truck is in place, and the video processing server sends the in-place information to TOS and VMS; If there are enough IGVs and the containers carried by the external container truck meet the requirements for direct loading, the VMS will plan a path for the IGV to wait in the IGV lane corresponding to the external container truck after receiving the arrival information from the video processing server; After the IGV is in place, the TOS sends a command to the single-arm rail crane to place the container from the external container truck onto the IGV; If there are insufficient IGVs or the containers on the external container truck do not meet the requirements for direct loading, the TOS will receive the arrival information from the video processing server and send instructions to the single cantilever rail crane to place the container from the external container truck into the yard.

7. The method according to claim 1, characterized in that The method further comprises: When IGVs are used to track external container trucks, the operation of the single-arm rail crane is based on the order in which the IGVs arrive, and the first-arriving IGV will be assigned the task.

8. The method according to claim 1, characterized in that The method further comprises: The interactive area is connected with the track of the ordinary inner yard on an operating line. The single cantilever rail crane maintains a fully automatic operating mode when operating in the ordinary inner yard. After the single cantilever rail crane transfers to the interactive area, it automatically switches to a mixed operating mode according to the trolley positioning of the single cantilever rail crane.

9. The method according to claim 4, characterized in that The method further comprises: The external container truck can follow the IGV to the single-cantilever rail crane operation lane. After the IGV locks the external container truck, it can follow the single-cantilever rail crane cantilever side. When unloading or collecting containers, the external container trucks follow the order of arrival at the port and the external container truck identification and guidance system and the container visual recognition OCR system identify the number of external container trucks entering the gate and the queue order. The VMS assigns the same number of IGVs to operate on the cantilever side of the single-cantilever rail crane.

10. The method according to claim 1, characterized in that The method further comprises: When multiple single-cantilever rail cranes are performing multiple bay operations, the interactive area is divided into zones to restrict the entry of external container trucks. External container trucks are identified and classified in advance, and external container trucks of the same type are only allowed to enter the interactive area when the previous external container truck has completed its operation.

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