Intelligent marshalling and cooperative control system and method for mobile track equipment of dry bulk cargo wharf

Abstract

The invention discloses an intelligent marshalling and cooperative control system and method for mobile track equipment of a dry bulk cargo wharf, and the system comprises a hardware part and a software part. The hardware part comprises an equipment modularization classification module, a dynamic marshalling strategy module, a multi-machine cooperation control module and a global data cooperation platform; the software part comprises a TI module and an ECI module, is in interactive butt joint with a wharf operating system i-TOS upwards and interacts with a track stand-alone equipment control system downwards in a standardized interface mode. The invention further discloses an intelligent grouping and cooperative control method for the dry bulk cargo wharf moving track equipment. According to the intelligent marshalling and cooperative control system and method for the movable track equipment of the dry bulk cargo wharf, through a dynamic marshalling strategy and multi-machine cooperative control, automatic operation optimization of the whole process of ship unloading, stockpiling, material taking and ship loading is achieved, and the operation efficiency and the space utilization rate of the dry bulk cargo wharf are improved.

Description

Technical Field

[0001] The present invention relates to the field of port logistics automation technology, and more specifically, to an intelligent grouping and collaborative control system and method for mobile crawler equipment at a dry bulk cargo terminal. Background Art

[0002] With the increasing demand for storage capacity at large dry bulk storage and transportation terminals, mobile crawler equipment, due to its flexible mobility and scalability, has become a popular alternative to traditional conveyor belts and fixed-track stackers with limited operating radius. Mobile crawler equipment is widely used in large-scale yard scenarios for material handling operations such as unloading, stacking, retrieving, and loading. However, in actual production scenarios, the large number and complex types of mobile crawler equipment and the dynamic changes in their operation paths pose significant challenges to manual scheduling. On the one hand, operators must coordinate the collaborative operation of multiple equipment at different process stages (such as unloading to the yard, transfer between yards, and loading from the yard). Task allocation and path planning rely on manual experience, which can easily lead to equipment idleness, path conflicts, or operation interruptions due to decision delays or errors. On the other hand, while existing automation systems can achieve local control of individual equipment, they lack global coordination of the entire process (unloading, stacking, storage, retrieving, and loading). The lack of coordination among various equipment links makes it difficult to dynamically respond to real-time changes in terminal conditions, resulting in limited overall operational efficiency. In addition, the traditional dispatching system has the problem of information separation between the planning layer and the execution layer: the planning instructions need to be decomposed at multiple levels before being issued to individual equipment. The operation process is cumbersome, and the feedback of data such as equipment status and task progress lags, making it difficult to synchronize plan adjustments and equipment execution in real time. At the same time, multi-role personnel (such as dispatchers, equipment operators, and monitoring personnel) rely on traditional communication methods to interact, which has low information transmission efficiency and complex collaborative management, further reducing operational fluency and user experience. The above problems have become the key bottleneck restricting the automation and intelligent upgrade of the entire process of the terminal. There is an urgent need for an intelligent grouping and collaborative control system and method for mobile crawler equipment at dry bulk terminals. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent grouping and collaborative control system and method for mobile crawler equipment at dry bulk terminals to solve the technical problems of low manual scheduling efficiency of mobile crawler equipment at dry bulk terminals, insufficient global coordination of existing automation systems, and information fragmentation in the prior art. Through dynamic grouping strategies and multi-machine collaborative control, automated operation optimization of the entire process of unloading, stacking, retrieving materials, and loading is achieved, and intelligent scheduling of multiple devices, seamless connection of the entire process, and efficient collaborative operation of humans and machines are achieved.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An intelligent marshaling and collaborative control system for mobile crawler equipment at a dry bulk cargo terminal includes a hardware part and a software part. The hardware part includes:

[0006] Equipment modular classification module, which classifies mobile crawler equipment and generates basic data on conveying stroke, upstream and downstream coupling and marshaling equipment, instantaneous flow rate, and basic parameters of crawler chassis; and

[0007] Dynamic marshaling strategy module, which dynamically selects head and tail equipment and the number of process lines based on process type, and generates the optimal marshaling plan based on yard layout, task priority, and equipment status; and

[0008] The multi-machine collaborative control module calculates the coupling and uncoupling timing of mobile transfer machines in real time, coordinates equipment operations, and prioritizes high-power equipment to perform continuous tasks through energy management optimization; and

[0009] The global data collaboration platform builds a data closed loop between the planning and execution layers, enabling real-time decomposition and feedback of task instructions. The multi-role collaboration platform shares real-time operation data, improving interaction efficiency.

[0010] The software part interacts with the terminal operating system i-TOS upward, and interacts with the crawler stand-alone equipment control system downward through a standardized interface.

[0011] Furthermore, the equipment modular classification module includes:

[0012] Crawler bucket wheel reclaimer, responsible for continuous layered reclaiming, suitable for material transfer starting from large storage yards;

[0013] The crawler-type fan-shaped material placing boom is responsible for continuous stacking, supports boom pitching, extension and rotation, and is suitable for material transfer with large storage yards as the destination;

[0014] The bridge-type loader connects to the conveying path of the stacking and reclaiming equipment, is equipped with a material guide chute to ensure stable material transportation, and is connected to the crawler-type fan-shaped material placing machine to form a coordinated control group to complete the stacking and reclaiming;

[0015] Relay transfer machine dynamically connects the mobile transfer machine and the bridge transfer machine to eliminate path breakpoints;

[0016] The mobile transfer machine can expand the operation coverage, adjust the path by moving horizontally or vertically, and support coupling and uncoupling.

[0017] Furthermore, the software part includes a TI module and an ECI module. The TI module interacts with the terminal operating system i-TOS, and the ECI module interfaces with the PLC to issue terminal operation tasks.

[0018] Furthermore, the intelligent marshalling of the mobile crawler equipment of the dry bulk terminal and the internal modules of the collaborative control system adopt two communication methods: Kafka protocol and database. The Kafka protocol is used for real-time transmission and processing of data, and the database is used for complex queries and transaction processing as well as long-term storage.

[0019] A method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal, comprising the following steps:

[0020] S1. The terminal operating system (i-TOS) issues tasks based on process types, and the intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk terminal receives and interprets the tasks.

[0021] S2. If mobile crawler equipment is involved, start the mobile crawler equipment operation process. If mobile crawler equipment is not involved, directly align the end equipment and start the control operation process with one click;

[0022] S3. After dynamic adjustment of coupling and uncoupling is completed, the end equipment continues to operate in alignment, and a one-button stop controls the shutdown procedure.

[0023] Furthermore, the process types in S1 include a transfer process, an inbound and outbound direct storage process, and an outbound direct loading process. The process steps of the transfer process are as follows:

[0024] S11. The intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk cargo terminal receives the transfer task from the terminal operating system i-TOS, and the dynamic marshaling strategy module performs intelligent marshaling of the mobile crawler equipment;

[0025] S12. After the intelligent grouping of mobile crawler equipment is completed, the ECI module issues the linkage between the two according to the status of the crawler equipment cluster and the sequence number from the beginning to the end;

[0026] S13. The multi-machine collaborative control module dynamically calculates the timing for coupling or uncoupling the mobile transfer machine based on the pile alignment feedback, coordinates the operation of the preceding equipment, and issues coupling or uncoupling instructions.

[0027] S14. After the job is completed and each device reports completion, the ECI module performs shutdown control in a sequence from the beginning to the end and reports the status: the transfer task is completed.

[0028] Furthermore, the operation process of the mobile crawler equipment in S2 includes the following steps:

[0029] S21. The intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk terminal receives scheduled tasks from the terminal operating system (i-TOS) and sends them to the crawler module. Based on the location and task type, the dynamic marshaling strategy module dispatches the crawler mobile equipment set, sequence number, and temporary process number.

[0030] S22. The ECI module issues a marshaling command for the tracked equipment cluster and provides real-time feedback to the TI module. The ECI module provides feedback on collision avoidance detection during the marshaling process and, after marshaling is complete, waits for a coupling command.

[0031] During task execution, the system dynamically calculates the timing for coupling or uncoupling the mobile transfer machine, coordinates the operation of the preceding equipment, and issues coupling or uncoupling instructions. Once coupling is complete, the system enters the full process state and starts with a single button. The ECI module coordinates the operation from the end to the beginning, based on the order of the first and last units.

[0032] S24. After each device completes the feedback, the ECI module performs shutdown control according to the order from the beginning to the end, and feedbacks the completion of the task.

[0033] Furthermore, the dynamic coupling and decoupling in S3 includes the following steps:

[0034] S31. Linking process: the preparation phase for connecting the mobile crawler device or unconnecting the mobile crawler device, the linking phase for connecting the mobile crawler device or unconnecting the mobile crawler device, and the start-up phase;

[0035] S32. Unbundling process: Unbundling preparation phase, unbundling phase and single-machine operation phase of mobile crawler equipment in coupled state.

[0036] Furthermore, the connecting stage of S31 includes the following steps:

[0037] S311 to the crawler device according to the instructions to a certain speed and the crawler device is connected to the low-speed position, complete the two trains mechanically connected;

[0038] S312. Perform a pull test to verify the reliability of the coupling;

[0039] S313. The mobile crawler equipment cooperates with the signal to complete the electrical and CMS network connection in sequence, establish communication between the coupled crawler equipment, and the coupling is completed.

[0040] Furthermore, the decompilation stage in S32 includes the following steps:

[0041] S321. The mobile crawler equipment, in accordance with the instructions of the dry bulk terminal mobile crawler equipment intelligent marshaling and coordinated control system, disconnects the electrical and CMS networks of the two crawler equipment and disconnects the mechanical coupling between the two trains.

[0042] S322. The crawler equipment and signals cooperate to complete the electrical and CMS network connections, establish single-machine crawler equipment communication, and complete the decompilation.

[0043] By adopting the above technical solution, the present invention has the following advantages:

[0044] The present invention provides an intelligent grouping and collaborative control system and method for mobile crawler equipment at a dry bulk cargo terminal. Through modular classification of equipment, dynamic grouping strategy and multi-machine collaborative control, the automated operation of the entire process of unloading, stockpiling, retrieving and loading in a large-scale yard scenario is realized, covering the entire link from unloading to loading, reducing manual intervention and greatly improving efficiency. The modular combination of the intelligent grouping and collaborative control system of mobile crawler equipment at a dry bulk cargo terminal is suitable for different yard layouts, with improved space utilization and strong adaptability. The dynamic coupling mechanism responds to task changes, simplifies the information interaction process, and makes human-machine collaboration more efficient, greatly simplifying the information interaction process between dispatchers and operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0046] Figure 1 This is the architecture diagram of the intelligent marshaling and collaborative control system for mobile crawler equipment at dry bulk terminals;

[0047] Figure 2 It is a flow chart of the intelligent marshaling and collaborative control method for mobile crawler equipment in dry bulk cargo terminals;

[0048] Figure 3 It is a flow chart of the transfer process of the present invention;

[0049] Figure 4 It is a flow chart of the direct storage process of the present invention;

[0050] Figure 5 It is a flow chart of the direct loading process of the present invention;

[0051] Figure 6 is a flow chart of the operation of the mobile crawler equipment of the present invention;

[0052] Figure 7 It is a dynamic coupling and de-coupling flow chart of the present invention. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is described in detail below in conjunction with the drawings of the specification. The detailed features and advantages of the present invention are described in detail in the specific implementation mode. The content is sufficient to enable any technical personnel in this field to understand the technical content of the present invention and implement it accordingly. According to the description, claims and drawings disclosed in this specification, those skilled in the art can easily understand the relevant purposes and advantages of the present invention.

[0054] A smart marshaling and collaborative control system for mobile crawler equipment at dry bulk terminals, consisting of both hardware and software components, enables multi-machine collaborative operation and full-process automated control of mobile crawler equipment through modular equipment classification, scenario-based marshaling strategies, and dynamic scheduling algorithms. The hardware component includes a modular equipment classification module, a dynamic marshaling strategy module, a multi-machine collaborative control module, and a global data collaboration platform. The software interface with the terminal operating system (i-TOS) and interacts with the control systems of individual crawler equipment through standardized interfaces.

[0055] Among them, the equipment modular classification module: classifies mobile crawler equipment and forms basic data on conveying stroke, upstream and downstream coupling and marshaling equipment, instantaneous flow, and basic parameters of crawler chassis;

[0056] The equipment modular classification module includes the following aspects:

[0057] Crawler bucket wheel reclaimer: responsible for continuous layered reclaiming, suitable for material transfer starting from large storage yards.

[0058] Crawler fan-shaped concrete placing boom: responsible for continuous stacking, supports boom pitching, extension and rotation, and is suitable for material transfer with large storage yards as the destination.

[0059] Bridge-type loader: Connects to the stacking and reclaiming equipment's conveying path and features a guide chute to ensure stable material transport and improve path continuity. It can be connected to a crawler-type sector spreader or crawler-type bucket wheel excavator to form a coordinated control group to complete stacking and reclaiming.

[0060] Relay Transfer Machine: Dynamically connects the mobile transfer machine with the bridge transfer machine, eliminating path breakpoints and enhancing system flexibility. One machine is deployed per line, lifting the material flow to the bridge transfer machine on the stockpile side, arranged vertically.

[0061] Mobile transfer machine: Serves as an intermediate device to expand the operational coverage area. It can move horizontally and vertically to dynamically adjust the conveying path. This device is also used for the coupling and uncoupling equipment during stacking and reclaiming.

[0062] The scenario-based dynamic marshaling strategy module dynamically selects head and tail equipment and the number of process lines based on process type, and generates the optimal marshaling plan based on yard layout, task priority, and equipment status. It mainly reflects the following aspects:

[0063] a. Based on the process type, select the head and tail equipment (crawler bucket wheel reclaimer / crawler fan type spreader) and the number of process lines required. For example, the ship unloading and direct storage process requires two process lines.

[0064] b. Stacking and retrieving area: Calculate the spacing between the stacking and retrieving areas, and plan the maximum process path based on the stockpile properties of the yard;

[0065] c. Yard storage attributes: Plan process routes and add or remove storage areas for marshalling equipment based on storage range and workload estimates (supports manual demarcation / system planning modes)

[0066] d. Equipment cluster selection: First, based on the plan and the path given by the scheduling module algorithm, and according to the attributes and current status of each device, the type and required number of mobile crawler devices (primarily mobile transfer machines) are selected. The scheduling module sorts the data and sends it to the devices. Each mobile crawler device then automatically drives to the storage area given by the scheduling module.

[0067] e. Dynamic task allocation and grouping optimization: Dynamically generate the optimal grouping plan by combining real-time equipment performance parameters (operating speed, load capacity, energy efficiency), operating environment variables (terrain complexity, spatial layout), and task priorities (emergency unloading tasks, high-priority loading instructions).

[0068] Dynamic grouping strategy introduction:

[0069] Equipment cluster quantity rule: Based on the process type, strictly consider the number of mobile transfer machines, involving unpacking on the stockpile side and coupling on the reclaim side;

[0070] On the stockpile side, for example, direct storage / direct discharge is on the stockpile / reclaim side, while transfer storage is applicable to both sides; stockpile side: 1) crawler-type fan-shaped spreader; 2) bridge-type transfer machine; 3) relay transfer machine; 4) multiple mobile transfer machines; reclaiming side: 1) crawler-type bucket wheel reclaimer; 2) bridge transfer machine; 3) multiple mobile transfer machines;

[0071] Based on the different device attributes and path planning results, the required devices and their order are calculated:

[0072] Transfer process:

[0073] Crawler-type fan-shaped material spreading machine-->Bridge-type transfer machine-->Relay transfer machine-->Multiple mobile transfer machines-->Bridge-type transfer machine-->Crawler-type bucket wheel reclaimer

[0074] Unloading process:

[0075] A / B line: crawler fan-shaped spreader --> bridge-type transfer machine --> relay transfer machine --> multiple mobile transfer machines --> fixed transport line

[0076] Shipping process:

[0077] Crawler bucket wheel reclaimer --> Bridge type loader --> Multiple mobile loader --> Bridge type loader --> Fixed transport line

[0078] The multi-machine collaborative control module is responsible for the automatic docking system. During task execution, it dynamically calculates the timing for coupling / uncoupling of mobile transfer machines, coordinates the operation (stop) of preceding equipment, and issues coupling / uncoupling instructions to achieve rapid physical connection and information synchronization of equipment. Energy management optimization: Based on parameters such as the remaining battery power of equipment and charging time window, it dynamically adjusts the grouping strategy, prioritizing high-power equipment for continuous operations and reducing the risk of downtime.

[0079] The global data collaboration platform builds a closed data loop between the planning and execution layers, enabling real-time decomposition, distribution, and status feedback of task instructions. Sharing real-time operational data through the multi-role collaboration platform (dispatchers, operators, and monitoring personnel) improves information exchange efficiency and user experience.

[0080] The architecture diagram of the software part of the intelligent marshaling and collaborative control system for mobile crawler equipment in dry bulk terminals is as follows: Figure 1 As shown, the software interacts with the terminal operating system (i-TOS) upwards. The terminal operating system (i-TOS) uses an efficient and reasonable interactive method to interact with the intelligent marshaling and collaborative control system (ECS) of the mobile crawler equipment of the dry bulk terminal. That is, it receives the storage and transportation plan from i-TOS, including transfer, loading, and unloading tasks, and uses recursive algorithms and divide-and-conquer strategies to decompose it into independent and basically identical tasks suitable for PLC execution, especially the full-process control of the marshaling / coupling / connection of crawler equipment clusters. The core functions of the full-process intelligent marshaling and collaborative control system for mobile crawler equipment (planned task reception, crawler equipment cluster analysis, task decomposition, crawler equipment marshaling / coupling, execution information reception and merging feedback of decomposed tasks, task cancellation reception, and feedback of individual crawler equipment stand-alone operation information) are as follows. The software of the intelligent marshaling and collaborative control system for mobile crawler equipment of the dry bulk terminal interacts with the control system of the individual crawler equipment downwards through a standardized interface. The software part includes TI module and ECI module. The TI module interacts with the terminal operating system i-TOS. The TI module handles the interaction and logic with i-TOS. The TI module is divided into crawler mobile equipment module, ship unloader module, bucket loading (stacker loader, belt conveyor) module according to business. The ECI module is connected to the PLC to issue terminal operation tasks and tasks for moving crawler mobile equipment, ship unloader, and bucket loading.

[0081] The intelligent marshaling and collaborative control system (ECS) for mobile crawler equipment at dry bulk terminals receives and manages terminal operation tasks, dispatches them based on factors such as priority and equipment compatibility, dynamically adjusts equipment resources based on the allocation plan of the task management system, coordinates the operating sequence of multiple types of equipment, achieves efficient collaborative work, monitors equipment status and operating conditions in real time, and provides feedback to the task management system for dynamic strategy adjustment.

[0082] The internal modules of the intelligent marshaling and collaborative control system of mobile crawler equipment at dry bulk cargo terminals use two communication methods: Kafka protocol and database. The Kafka protocol is used for real-time transmission and processing of data, and the database is used for complex queries and transaction processing as well as long-term storage.

[0083] The software interacts with the crawler stand-alone equipment control system in a unified and standardized interface format. It uses a unified database interaction, including the subtask execution process status and detailed equipment status.

[0084] A method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal is specifically as follows: Figure 2 As shown, the following steps are included:

[0085] S1. The terminal operating system (i-TOS) issues tasks based on process types, and the intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk terminal receives and interprets the tasks.

[0086] The process types in S1 include transfer process, in-and-out direct storage process, and out-and-out direct loading process. The process steps of the transfer process are as follows: Figure 3 As shown:

[0087] After the S11.i-TOS transfer plan task is issued, the mobile crawler equipment's full-process intelligent grouping and collaborative control system automatically decomposes and issues it to the crawler bucket wheel reclaimer (target position and posture, layered components, and planned total quantity), mobile transfer machine (target position and posture), relay transfer machine (target position and posture), bridge transfer machine (target position and posture), and crawler fan-shaped material distributor (target position and posture, material distribution angle range); the full-process task status is READY.

[0088] S12. After the mobile crawler cluster arrives at the target location and completes the PARK response, the ECS issues coupling instructions between each of them in order from the beginning to the end. The entire task status is COUPLING.

[0089] S13. The operator of the whole process checks the process number and performs one-key control according to the prompt to enter the actual operation of the whole process control; the task status of the whole process changes from ENTERED to ARRIVING; according to the actual situation of the single machine (crawler bucket wheel reclaimer, mobile transfer machine, relay transfer machine, bridge transfer machine, crawler fan-shaped material spreading machine), manually click one-key preparation and automatically enter the task operation position; the task status of the whole process changes from ARRIVING to ARRIVED; observe the equipment monitoring interface of the operating console and the real-time CCTV image to confirm that each device has arrived at the task operation position; the task status of the whole process is ARRIVED; after waiting for the ARRIVED status, ECI automatically sends a one-key start to this transfer process, and each device automatically reverses the order until the crawler bucket wheel reclaimer starts and directly starts the reclaiming operation; the task status of the whole process changes from ARRIVED to ARRIVED RIVED changes to WORKING; when the material reclaiming quantity arrives (a mobile transfer machine at the stacking end can exit the cluster and prepare for unmarshalling / coupling), the crawler bucket wheel reclaimer automatically stops reclaiming, and the mobile crawler equipment full process intelligent marshalling and collaborative control system automatically pushes the unmarshalling / coupling time. When the waiting time is reached, the crawler bucket wheel reclaimer continues to the next quantity; the crawler fan-shaped material spreading machine continues to stack materials, and after the material flow is interrupted (a mobile transfer machine at the reclaiming end can exit the cluster and prepare for unmarshalling / coupling), the crawler bucket wheel reclaimer continues to the next quantity based on the calculated unmarshalling / coupling time and status; the overall transfer efficiency is improved, and thus the "one-shot to the end" transfer and the one-person / transfer process configuration goals are completed; the full process task status changes from WORKING to COUPLE_ON / OFF to indicate the unmarshalling / coupling process;

[0090] S14. After receiving confirmation that the transfer is complete, stop the transfer process with one click. All equipment will automatically stop in sequence until the crawler-type sector-shaped concrete placing boom stops. The task status of the entire process will change from WORKING to COMPLETE.

[0091] In addition, the process abnormal termination button requires the full process operator to cancel this process job due to abnormal circumstances (such as equipment failure or plan adjustment).

[0092] In addition, other process types such as direct storage process, that is, from the ship unloader to the fixed belt line and then through the temporary process line composed of crawler clusters to the storage yard, as shown in the following example. Figure 4 As shown in the figure, the direct loading process is from the temporary process line composed of crawler clusters to the fixed belt line and then to the ship through the ship loader. Figure 5 shown.

[0093] S2. If mobile crawler equipment is involved, start the mobile crawler equipment operation process. If mobile crawler equipment is not involved, directly align the end equipment and start the control operation program with one button. For mobile crawler equipment: it is enabled after the marshaling is completed. When the mobile crawler equipment is not operating, point-to-point control of the mobile crawler equipment is performed through wireless communication (human interaction interface) to receive movement / marshaling commands. During operation, optical fiber communication is used for unified point-line control (the temporary process is regarded as a ground process as a whole), and finally the full process operation, feedback status, etc. are realized to complete the sequential control logic of the marshaling process of the crawler mobile equipment.

[0094] The operation process of the mobile crawler equipment in S2 includes the following steps: Figure 6 As shown:

[0095] S21. The intelligent grouping and collaborative control system for mobile crawler equipment at the dry bulk terminal receives scheduled tasks from the terminal operating system (i-TOS) and sends them to the crawler module. Based on the from and to locations and task type, and using the intelligent grouping strategy, the system dispatches a cluster of mobile crawler equipment, assigns a sequence number, and a temporary process number.

[0096] S22. The ECI module issues a marshaling command for the tracked equipment cluster and provides real-time feedback to the TI module. The ECI module provides feedback on collision avoidance detection during the marshaling process and, after marshaling is complete, waits for a coupling command.

[0097] S23. During task execution, the system dynamically calculates the timing for coupling / uncoupling the mobile transfer machine, coordinates the operation (stop) of the preceding equipment, and issues coupling / uncoupling instructions, enabling rapid physical connection and information synchronization of the equipment. After coupling is complete, the system enters a full-process state, awaiting operation instructions (i.e., one-click start). The ECI performs coordinated operation control in a sequential order from end to end, based on the order of the first and last units.

[0098] S24. After each device completes its feedback, ECI performs shutdown control in a sequence from the beginning to the end and provides feedback indicating that the task is complete.

[0099] S3. After dynamic adjustment of coupling and uncoupling is completed, the end equipment continues to operate in alignment, and a one-button stop controls the shutdown procedure.

[0100] The dynamic coupling and decoupling in S3 includes the following steps: Figure 7 As shown:

[0101] S31. Linking process: the preparation phase for connecting the mobile crawler device or unconnecting the mobile crawler device, the linking phase for connecting the mobile crawler device or unconnecting the mobile crawler device, and the start-up phase;

[0102] The S31 continuous connection stage includes the following steps:

[0103] S311. The uncoupling crawler device performs low-speed alignment with the coupled crawler device at a speed of 0.3-0.5 m / min according to the instruction, completing the mechanical coupling of the two trains.

[0104] S312. Perform a pull test to verify the reliability of the coupling;

[0105] S313. The mobile crawler equipment cooperates with the signal to complete the electrical and CMS network connection in sequence, establish communication between the coupled crawler equipment, and the coupling is completed.

[0106] S32. Unbundling process: Unbundling preparation phase, unbundling phase and single-machine operation phase of mobile crawler equipment in coupled state.

[0107] The decompilation stage in S32 includes the following steps:

[0108] S321. The mobile crawler equipment, in accordance with the instructions of the dry bulk terminal mobile crawler equipment intelligent marshaling and coordinated control system, disconnects the electrical and CMS networks of the two crawler equipment and disconnects the mechanical coupling between the two trains.

[0109] S322. The crawler equipment and signals cooperate to complete the electrical and CMS network connections, establish single-machine crawler equipment communication, and complete the decompilation.

[0110] Finally, it should be pointed out that although the present invention has been described with reference to the current specific embodiments, ordinary technicians in this technical field should realize that the above embodiments are only used to illustrate the present invention and are not used to limit the present invention. Various equivalent changes or substitutions can be made without departing from the concept of the present invention. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present invention, they will fall within the scope of the claims of the present invention.

Claims

1. Intelligent marshaling and collaborative control system for mobile crawler equipment at dry bulk cargo terminals, characterized by: It includes hardware and software parts, and the hardware part includes: Equipment modular classification module, which classifies mobile crawler equipment and generates basic data on conveying stroke, upstream and downstream coupling and marshaling equipment, instantaneous flow rate, and basic parameters of crawler chassis; and Dynamic marshaling strategy module, which dynamically selects head and tail equipment and the number of process lines based on process type, and generates the optimal marshaling plan based on yard layout, task priority, and equipment status; and The multi-machine collaborative control module calculates the coupling and uncoupling timing of mobile transfer machines in real time, coordinates equipment operations, and prioritizes high-power equipment to perform continuous tasks through energy management optimization; and The global data collaboration platform builds a data closed loop between the planning and execution layers, enabling real-time decomposition and feedback of task instructions. The multi-role collaboration platform shares real-time operation data, improving interaction efficiency. The software part interacts with the terminal operating system i-TOS upward, and interacts with the crawler stand-alone equipment control system downward through a standardized interface.

2. The intelligent marshaling and coordinated control system for mobile crawler equipment at a dry bulk cargo terminal according to claim 1, characterized in that: The equipment modular classification module includes: Crawler bucket wheel reclaimer, responsible for continuous layered reclaiming, suitable for material transfer starting from large storage yards; The crawler-type fan-shaped material placing boom is responsible for continuous stacking, supports boom pitching, extension and rotation, and is suitable for material transfer with large storage yards as the destination; The bridge-type loader connects to the conveying path of the stacking and reclaiming equipment, is equipped with a material guide chute to ensure stable material transportation, and is connected to the crawler-type fan-shaped material placing machine to form a coordinated control group to complete the stacking and reclaiming; Relay transfer machine dynamically connects the mobile transfer machine and the bridge transfer machine to eliminate path breakpoints; The mobile transfer machine can expand the operation coverage, adjust the path by moving horizontally or vertically, and support coupling and uncoupling.

3. The intelligent grouping and coordinated control system for mobile crawler equipment at a dry bulk cargo terminal according to claim 1, characterized in that: The software part includes a TI module and an ECI module. The TI module interacts with the terminal operating system i-TOS, and the ECI module interfaces with the PLC to issue terminal operation tasks.

4. The intelligent grouping and coordinated control system for mobile crawler equipment at a dry bulk cargo terminal according to claim 1, characterized in that: The intelligent marshaling of the mobile crawler equipment at the dry bulk terminal and the internal modules of the collaborative control system adopt two communication methods: Kafka protocol and database. The Kafka protocol is used for real-time transmission and processing of data, and the database is used for complex queries and transaction processing as well as long-term storage.

5. Intelligent grouping and collaborative control method for mobile crawler equipment at dry bulk cargo terminals, characterized in that: The following steps are involved: S1. The terminal operating system (i-TOS) issues tasks based on process types, and the intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk terminal receives and interprets the tasks. S2. If mobile crawler equipment is involved, start the mobile crawler equipment operation process. If mobile crawler equipment is not involved, directly align the end equipment and start the control operation process with one click; S3. After dynamic adjustment of coupling and uncoupling is completed, the end equipment continues to operate in alignment, and a one-button stop controls the shutdown procedure.

6. The method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal according to claim 5, characterized in that: The process types in S1 include transfer process, inbound and outbound direct storage process, and outbound direct loading process. The process steps of the transfer process are as follows: S11. The intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk cargo terminal receives the transfer task from the terminal operating system i-TOS, and the dynamic marshaling strategy module performs intelligent marshaling of the mobile crawler equipment; S12. After the intelligent grouping of mobile crawler equipment is completed, the ECI module issues the linkage between the two according to the status of the crawler equipment cluster and the sequence number from the beginning to the end; S13. The multi-machine collaborative control module dynamically calculates the timing for coupling or uncoupling the mobile transfer machine based on the pile alignment feedback, coordinates the operation of the preceding equipment, and issues coupling or uncoupling instructions. S14. After the job is completed and each device reports completion, the ECI module performs shutdown control in a sequence from the beginning to the end and reports the status: the transfer task is completed.

7. The method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal according to claim 5, characterized in that: The mobile crawler equipment operation process in S2 includes the following steps: S21. The intelligent marshaling and collaborative control system for mobile crawler equipment at the dry bulk terminal receives scheduled tasks from the terminal operating system (i-TOS) and sends them to the crawler module. Based on the location and task type, the dynamic marshaling strategy module dispatches the crawler mobile equipment set, sequence number, and temporary process number. S22. The ECI module issues a marshaling command for the tracked equipment cluster and provides real-time feedback to the TI module. The ECI module provides feedback on collision avoidance detection during the marshaling process and, after marshaling is complete, waits for a coupling command. During task execution, the system dynamically calculates the timing for coupling or uncoupling the mobile transfer machine, coordinates the operation of the preceding equipment, and issues coupling or uncoupling instructions. Once coupling is complete, the system enters the full process state and starts with a single button. The ECI module coordinates the operation from the end to the beginning, based on the order of the first and last units. S24. After each device completes the feedback, the ECI module performs shutdown control according to the order from the beginning to the end, and feedbacks the completion of the task.

8. The method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal according to claim 5, characterized in that: The dynamic coupling and decoupling in S3 includes the following steps: S31. Linking process: the preparation phase for connecting the mobile crawler device or unconnecting the mobile crawler device, the linking phase for connecting the mobile crawler device or unconnecting the mobile crawler device, and the start-up phase; S32. Unbundling process: Unbundling preparation phase, unbundling phase and single-machine operation phase of mobile crawler equipment in coupled state.

9. The method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal according to claim 5, characterized in that: The connection stage of S31 includes the following steps: S311 to the crawler device according to the instructions to a certain speed and the crawler device is connected to the low-speed position, complete the two trains mechanically connected; S312. Perform a pull test to verify the reliability of the coupling; S313. The mobile crawler equipment cooperates with the signal to complete the electrical and CMS network connection in sequence, establish communication between the coupled crawler equipment, and the coupling is completed.

10. The method for intelligent grouping and coordinated control of mobile crawler equipment at a dry bulk cargo terminal according to claim 5, characterized in that: The decompilation stage in S32 includes the following steps: S321. The mobile crawler equipment, in accordance with the instructions of the dry bulk terminal mobile crawler equipment intelligent marshaling and coordinated control system, disconnects the electrical and CMS networks of the two crawler equipment and disconnects the mechanical coupling between the two trains. S322. The crawler equipment and signals cooperate to complete the electrical and CMS network connections, establish single-machine crawler equipment communication, and complete the decompilation.

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