Intelligent marshalling and cooperative control system and method for mobile crawler equipment of dry bulk cargo terminal

Abstract

The application discloses a kind of dry bulk cargo wharf mobile caterpillar equipment intelligent marshalling and collaborative control system and method, the mobile caterpillar equipment intelligent marshalling and collaborative control system includes hardware part and software part, hardware part includes equipment modular classification module, dynamic marshalling strategy module, multi-machine collaborative control module and global data collaborative platform;Software part includes TI module and ECI module, and upwards with wharf operating system i-TOS interactive docking, and downwards through standardized interface form and caterpillar single machine equipment control system interaction.The application further discloses a kind of dry bulk cargo wharf mobile caterpillar equipment intelligent marshalling and collaborative control method.The dry bulk cargo wharf mobile caterpillar equipment intelligent marshalling and collaborative control system and method realize the automation operation optimization of unloading, storage, taking material, loading whole process by dynamic marshalling strategy and multi-machine collaborative control, improve the operation efficiency and space utilization of dry bulk cargo wharf.

Description

Technical Field

[0001] This 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 tracked equipment at dry bulk cargo terminals. Background Technology

[0002] With the increasing demand for storage capacity at large dry bulk cargo storage and transportation terminals, mobile tracked equipment, due to its flexibility and scalability, has replaced traditional conveyor belts and fixed-track stacker-reclaimers with limited operating radii in large yard scenarios. Mobile tracked equipment is widely used in material handling processes such as unloading, stacking, reclaiming, and loading in large yards. However, in actual production scenarios, the large number and complexity of mobile tracked equipment, along with dynamically changing operating paths, pose significant challenges to manual scheduling. On the one hand, operators need to coordinate the collaborative operations of multiple devices in different process stages (such as unloading from ships to the yard, inter-yard transfers, and yard-to-ship loading). Task allocation and path planning rely on human experience, which can easily lead to equipment idleness, path conflicts, or operational interruptions due to decision-making delays or errors. On the other hand, while existing automated systems can achieve local control of individual devices, they lack overall coordination of the entire process from unloading to stacking to storage to reclaiming to loading. Insufficient coordination among devices in each stage makes it difficult to dynamically respond to real-time changes in terminal conditions, resulting in limited overall operational efficiency. Furthermore, traditional scheduling systems suffer from a disconnect between the planning and execution layers: planning instructions must be broken down into multiple levels before being issued to individual devices, resulting in cumbersome procedures and delayed feedback on equipment status and task progress, making it difficult to synchronize plan adjustments with equipment execution in real time. Simultaneously, interaction among multiple roles (such as dispatchers, equipment operators, and monitoring personnel) relies on traditional communication methods, leading to low information transmission efficiency and complex collaborative management, further reducing operational smoothness and user experience. These issues have become key bottlenecks restricting the automation and intelligent upgrading of the entire terminal process, necessitating an intelligent grouping and collaborative control system and method for mobile tracked equipment in dry bulk cargo terminals. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent grouping and collaborative control system and method for mobile tracked equipment in dry bulk cargo terminals, which solves the technical problems of low efficiency of manual scheduling of mobile tracked equipment in dry bulk cargo terminals, insufficient global coordination of existing automation systems, and information fragmentation. Through dynamic grouping strategies and multi-machine collaborative control, the invention optimizes the automated operation of the entire process of unloading, stacking, picking up materials, and loading, and realizes intelligent scheduling of multiple devices, seamless connection of the entire process, and efficient human-machine collaborative operation.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A smart grouping and collaborative control system for mobile tracked equipment at a dry bulk cargo terminal includes hardware and software components, wherein the hardware component includes:

[0006] The modular classification module categorizes mobile tracked equipment and generates basic data on conveying stroke, upstream and downstream coupling and assembly equipment, instantaneous flow rate, and basic parameters of the tracked chassis; and

[0007] The dynamic grouping strategy module dynamically selects the number of start and end equipment and process lines based on process type, and generates the optimal grouping scheme by combining yard layout, task priority, and equipment status; and

[0008] The multi-machine collaborative control module calculates the timing of coupling or uncoupling of mobile transfer machines in real time, coordinates equipment operation, and optimizes energy management to prioritize the scheduling of high-power equipment for continuous tasks; and

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

[0010] The software component interacts with the i-TOS terminal operating system at the top level, and interacts with the tracked single-machine equipment control system at the bottom level through a standardized interface.

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

[0012] Tracked bucket wheel reclaimers are responsible for continuous layered material reclaiming and are suitable for material transfer starting from large stockyards;

[0013] Tracked fan-shaped placing boom is responsible for continuous stacking, supports boom pitch, extension and rotation, and is suitable for material transfer with large stockyards as the destination.

[0014] The bridge-type transfer conveyor connects the stacker-reclaimer equipment's conveying path, is equipped with a guide chute to ensure stable material conveying, and docks with a tracked fan-shaped concrete placing boom to form a collaborative control group to complete the stacker-reclaim process;

[0015] The relay transfer machine dynamically connects the mobile transfer machine and the bridge transfer machine, eliminating path breakpoints.

[0016] Mobile transfer machine expands the work coverage area, can move horizontally or vertically to adjust the path, and supports coupling and uncoupling.

[0017] Furthermore, the software component 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 internal modules of the intelligent grouping and collaborative control system for the mobile tracked equipment at the dry bulk terminal adopt two communication methods: Kafka protocol and database. The Kafka protocol is used for real-time data transmission and processing, while the database is used for complex queries, transaction processing, and long-term storage.

[0019] A method for intelligent grouping and collaborative control of mobile tracked equipment at a dry bulk cargo terminal includes the following steps:

[0020] S1. The i-TOS terminal operating system issues tasks according to the process type, and the intelligent grouping and collaborative control system for mobile tracked equipment in the dry bulk terminal receives and parses the tasks.

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

[0022] S3. After the dynamic adjustment of the coupling and uncoupling is completed, the end equipment continues to operate in alignment, and the one-button stop control stops the machine.

[0023] Furthermore, the process types in S1 include transfer process, direct storage process, and direct loading process, wherein the process steps of the transfer process are as follows:

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

[0025] S12. After the intelligent grouping of mobile tracked equipment is completed, the ECI module issues the pairwise couplings in order from beginning to end according to the status of the tracked equipment cluster and the sequence number.

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

[0027] S14. After the waiting operation is completed, each device reports completion. The ECI module performs shutdown control according to the order from beginning to end and reports the status: Transfer task completed.

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

[0029] S21. The intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal receives the planned tasks issued by the terminal operating system i-TOS and issues them to the tracked module: Based on the location and task type, the dynamic grouping strategy module schedules the set of tracked mobile equipment, the sequence number and the temporary process number.

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

[0031] S23. During task execution, dynamically calculate the timing of coupling or decoupling of the mobile transfer machine, coordinate the operation of the preceding equipment, issue coupling or decoupling instructions, and after coupling is completed, enter the full process state and start with one key. The ECI module performs coordinated operation control according to the order of the beginning and end, from the end to the beginning.

[0032] S24. After each device has provided feedback, the ECI module performs shutdown control in the order from beginning to end and reports that the task is complete.

[0033] Furthermore, the dynamic linking and unlinking in S3 includes the following steps:

[0034] S31. Linkage process: preparation stage of the linked mobile tracked equipment or the mobile tracked equipment to be linked, linking stage of the linked mobile tracked equipment or the mobile tracked equipment to be linked, and start-up operation stage.

[0035] S32. Uncoupling process: preparation stage, uncoupling stage and stand-alone operation stage for mobile tracked equipment in coupled state.

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

[0037] S311. The decoupled tracked equipment aligns itself with the tracked equipment being coupled at a certain speed according to the instructions, thus completing the mechanical coupling of the two trains.

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

[0039] S313. The mobile tracked equipment, in coordination with the signal system, sequentially completes the electrical and CMS network connection, establishes communication between the coupled tracked equipment, and the coupling is completed.

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

[0041] S321. The mobile tracked equipment disconnects the electrical and CMS networks of two tracked equipment and disconnects the mechanical coupling of the two trains according to the instructions of the intelligent grouping and collaborative control system of the mobile tracked equipment in the dry bulk terminal.

[0042] S322. Tracked equipment and signaling work together to complete the electrical and CMS network connection, establish communication for individual tracked equipment, and complete the decoding and uncoding.

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

[0044] This invention provides an intelligent grouping and collaborative control system and method for mobile tracked equipment at dry bulk cargo terminals. Through modular classification of equipment, dynamic grouping strategies, and multi-machine collaborative control, it achieves automated operation of the entire process of unloading, storage, material retrieval, and loading in large-scale yard scenarios, covering the entire process from unloading to loading. It reduces manual intervention and greatly improves efficiency. The modular grouping and collaborative control system for mobile tracked equipment at dry bulk cargo terminals can be adapted to different yard layouts, improving space utilization and adaptability. The dynamic coupling mechanism responds to task changes, simplifies information interaction processes, and greatly simplifies human-machine collaboration, significantly simplifying the information interaction process between dispatchers and operators. Attached Figure Description

[0045] Other features, objects, and advantages of the 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 an architecture diagram of the intelligent grouping and collaborative control system for mobile tracked equipment at a dry bulk terminal.

[0047] Figure 2 This is a flowchart of a method for intelligent grouping and collaborative control of mobile tracked equipment at dry bulk cargo terminals;

[0048] Figure 3 This is a flowchart of the transfer process of the present invention;

[0049] Figure 4 This is a flowchart of the in-process direct storage technology of the present invention.

[0050] Figure 5 This is a flowchart of the direct-load process of the present invention;

[0051] Figure 6 This is a flowchart of the operation of the mobile tracked device of the present invention;

[0052] Figure 7 This is a flowchart of the dynamic linking and unlinking process of the present invention. Detailed Implementation

[0053] The technical solution of the present invention will be specifically described below with reference to the accompanying drawings. The detailed features and advantages of the present invention are described in detail in the specific embodiments. The content is sufficient to enable any person skilled in the art to understand the technical content of the present invention and implement it accordingly. Based on the specification, claims and drawings disclosed in this specification, those skilled in the art can easily understand the related objects and advantages of the present invention.

[0054] A smart grouping and collaborative control system for mobile tracked equipment at a dry bulk cargo terminal comprises hardware and software components. Through modular equipment classification, scenario-based grouping strategies, and dynamic scheduling algorithms, it achieves multi-machine collaborative operation and fully automated control of the mobile tracked equipment. The hardware component includes a modular equipment classification module, a dynamic grouping strategy module, a multi-machine collaborative control module, and a global data collaboration platform. The software component interfaces with the terminal's i-TOS operating system and interacts with the individual tracked equipment control systems via standardized interfaces.

[0055] Among them, the modular classification module classifies mobile tracked equipment and forms basic data such as conveying stroke, upstream and downstream coupling and assembly equipment, instantaneous flow rate, and basic parameters of tracked chassis;

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

[0057] Tracked bucket wheel reclaimer: Responsible for continuous layered material reclaiming, suitable for material transfer starting from large stockyards.

[0058] Tracked fan-shaped placing boom: responsible for continuous material stacking, supporting boom pitch, extension and rotation, and suitable for material transfer to large stockyards.

[0059] Bridge-type transfer conveyor: Connects the conveying path of stacker-reclaimer equipment, equipped with guide chutes to ensure stable material transport and improve path continuity. It docks with tracked fan-shaped placing booms or tracked bucket wheel excavators to form a coordinated control group to complete stacking and reclaiming operations.

[0060] Intermediate transfer conveyor: Dynamically connects the mobile transfer conveyor and the bridge transfer conveyor, eliminating path breakpoints and enhancing system flexibility. One conveyor is configured per production line to lift the material flow to the bridge transfer conveyor on the stockpile side, arranged vertically.

[0061] Mobile transfer conveyor: As an intermediate device, it extends the operational coverage area and can move laterally / vertically to dynamically adjust the conveying path. This is the device used for coupling and uncoupling during stacking and reclaiming.

[0062] The scenario-based dynamic grouping strategy module dynamically selects the number of start and end equipment and process lines based on the process type, and generates the optimal grouping scheme by combining yard layout, task priority, and equipment status; this is mainly reflected in the following aspects:

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

[0064] b. Stacking and Retrieval Areas: Calculate the spacing based on the stacking area / retrieval area, and plan the maximum process path based on the storage attributes of the stockpile;

[0065] c. Yard storage attributes: Based on the storage area and estimated workload, plan the process route and the storage area for adding or removing marshalling equipment; (Supports manual delineation / system planning mode)

[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 type of equipment, select the type and required quantity of each mobile tracked equipment (mainly mobile transfer machines). The scheduling module sorts and distributes the information to the equipment. Each mobile tracked equipment then automatically travels to the storage area given by the scheduling module.

[0067] e. Dynamic task allocation and grouping optimization: Combining real-time equipment performance parameters (operating speed, load capacity, energy efficiency), operational environment variables (terrain complexity, spatial layout) and task priorities (emergency unloading tasks, high-priority loading instructions), the optimal grouping scheme is dynamically generated.

[0068] Introduction to Dynamic Grouping Strategies:

[0069] Equipment cluster quantity rules: Based on the process type, the number of mobile transfer machines should be strictly considered, involving the uncoupling on the stacking side and the coupling on the retrieving side;

[0070] On the stockpile side, for example, direct storage / direct output is on the stockpile / reclaim side, while transfer storage is applicable to both sides; Stockpile side: 1) Tracked fan-shaped material placing machine; 2) Bridge transfer machine; 3) Intermediate transfer machine; 4) Multiple mobile transfer machines; Reclaim side: 1) Tracked bucket wheel reclaimer; 2) Bridge transfer machine; 3) Multiple mobile transfer machines;

[0071] Based on the different equipment attributes mentioned above and the path planning results, the required equipment and their order are calculated:

[0072] Transfer process:

[0073] Tracked fan-shaped concrete placing boom --> Bridge transfer conveyor --> Intermediate transfer conveyor --> Multiple mobile transfer conveyors --> Bridge transfer conveyor --> Tracked bucket wheel reclaimer

[0074] Unloading process:

[0075] Line A / B: Tracked fan-shaped concrete placing boom --> Bridge transfer conveyor --> Intermediate transfer conveyor --> Multiple mobile transfer conveyors --> Fixed transport line

[0076] Ship loading process:

[0077] Tracked bucket wheel reclaimer --> Bridge transfer conveyor --> Multiple mobile transfer conveyors --> Bridge transfer conveyor --> 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 of coupling / uncoupling of the mobile transfer machine, coordinates the operation (stop) of the preceding equipment, and issues coupling / uncoupling commands to achieve rapid physical connection and information synchronization of equipment. Energy management optimization: based on parameters such as the remaining battery power and charging time window of the equipment, it dynamically adjusts the grouping strategy, prioritizes scheduling high-power equipment to perform continuous operation tasks, and reduces the risk of downtime.

[0079] A global data collaboration platform constructs a data loop between the planning and execution layers, enabling real-time decomposition, distribution, and status feedback of task instructions. Real-time operational data is shared through a multi-role collaboration platform (dispatchers, operators, and monitoring personnel), improving information exchange efficiency and user experience.

[0080] The architecture diagram of the software component of the intelligent grouping and collaborative control system for mobile tracked equipment at dry bulk cargo terminals is as follows: Figure 1 As shown, the software interface with the terminal operating system (i-TOS). The i-TOS uses an efficient and rational interaction method to communicate with the Intelligent Grouping and Collaborative Control System (ECS) for mobile tracked equipment at the dry bulk terminal. Specifically, it receives storage and transportation plans from i-TOS, including tasks such as transfer, loading, and unloading, and uses recursive algorithms and divide-and-conquer strategies to decompose these into independent, essentially identical tasks suitable for PLC execution, particularly for the entire process control of tracked equipment cluster grouping / linking / access. The core functions of the intelligent grouping and collaborative control system for the entire process of mobile tracked equipment include: receiving planned tasks, parsing tracked equipment clusters, task decomposition, grouping / linking of tracked equipment, receiving and merging execution information of decomposed tasks, receiving task cancellation information, and feedback of individual tracked equipment operation information. The software of the intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal interacts with the control system of individual tracked equipment through standardized interfaces. The software component includes the TI module and the ECI module. The TI module interacts with the terminal operating system i-TOS, handling the interaction and logic between the TI module and i-TOS. The TI module is divided into tracked mobile equipment module, ship unloader module, and bucket loader (stacker reclaimer ship loader, belt conveyor) module according to business. The ECI module interfaces with the PLC to issue terminal operation tasks and tasks to the tracked mobile equipment, ship unloader, and bucket loader.

[0081] The Intelligent Grouping and Collaborative Control System (ECS) for mobile tracked equipment at dry bulk terminals receives and manages terminal operation tasks, schedules them according to factors such as priority and equipment compatibility, dynamically adjusts equipment resources based on the allocation scheme of the task management system, coordinates the operation sequence of multiple types of equipment to achieve efficient collaborative work, monitors equipment status and operation in real time, and feeds back to the task management system for dynamic adjustment strategies.

[0082] The internal modules of the intelligent grouping and collaborative control system for mobile tracked equipment at dry bulk terminals use both the Kafka protocol and a database for communication. The Kafka protocol is used for real-time data transmission and processing, while the database is used for complex queries, transaction processing, and long-term storage.

[0083] The software interacts with the control system of the tracked single-unit equipment using a unified and standardized interface. Database interaction is consistently employed, including the status of sub-task execution and detailed equipment status.

[0084] A method for intelligent grouping and collaborative control of mobile tracked equipment at a dry bulk cargo terminal is as follows: Figure 2 As shown, it includes the following steps:

[0085] S1. The i-TOS terminal operating system issues tasks according to the process type, and the intelligent grouping and collaborative control system for mobile tracked equipment in the dry bulk terminal receives and parses the tasks.

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

[0087] After the S11.i-TOS transfer plan task is issued, the intelligent grouping and collaborative control system for the entire process of the mobile tracked equipment automatically decomposes and issues the task to the tracked bucket wheel reclaimer (target position and attitude, layered components and planned total quantity), mobile transfer machine (target position and attitude), relay transfer machine (target position and attitude), bridge transfer machine (target position and attitude), and tracked fan-shaped placing machine (target position and attitude, placing angle range); the overall task status is READY.

[0088] S12. After the mobile tracked equipment cluster arrives at the target location and reports that PARK has been completed, ECS issues coupling instructions between each pair in sequence from beginning to end; the overall task status is COUPLING.

[0089] S13. The full-process operator verifies the process number and performs one-click control according to the prompts to enter the actual operation of the full-process control; the full-process task status changes from ENTERED to ARRIVING; based on the actual situation of each machine (tracked bucket wheel reclaimer, mobile transfer machine, relay transfer machine, bridge transfer machine, tracked fan-shaped concrete placing machine), the operator manually clicks one-click preparation and the machine automatically enters the task operation position; the full-process task status changes from ARRIVING to ARRIVED; observe the equipment monitoring interface on the control panel and the CCTV real-time screen to determine that each device has reached the task operation position; the full-process task status is ARRIVED; after receiving the ARRIVED status, the ECI automatically issues a one-click start for this transfer process, and each device automatically reverses its sequence until the tracked bucket wheel reclaimer starts and directly begins the material reclaiming operation; the full-process task status changes from ARRIVED to ARRIVED. RIVED changes to WORKING; once the material load arrives (one mobile transfer machine at the stacking end can leave the cluster and prepare for uncoupling / re-coupling), the tracked bucket wheel reclaimer automatically stops picking up material, and the mobile tracked equipment intelligent grouping and collaborative control system automatically pushes the uncoupling / re-coupling time. After the waiting time arrives, the tracked bucket wheel reclaimer continues with the next load; the tracked fan-shaped concrete placing machine continues to stack material. After the material flow is interrupted (one mobile transfer machine at the reclaiming end can leave the cluster and prepare for uncoupling / re-coupling), the tracked bucket wheel reclaimer continues with the next load based on the calculated uncoupling / re-coupling time and status; improving the overall transfer efficiency and thereby completing the "one-shot" transfer and the one-person / transfer process configuration goal; the entire process task status changes from WORKING to COUPLE_ON / OFF to indicate the uncoupling / re-coupling process;

[0090] S14. After receiving confirmation of completion of the transfer, stop the transfer process with one click. All equipment will automatically stop in sequence until the tracked fan-shaped concrete placing machine stops; the task status of the entire process changes from WORKING to COMPLETE.

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

[0092] In addition, other process types, such as the direct-inbound storage process, involve the material being stacked in the storage yard via a temporary process line composed of a tracked cluster after passing from the unloader to a fixed conveyor belt. (Specific details are omitted as they are not part of the original text.) Figure 4 As shown, the direct loading process involves taking / stacking materials from a temporary conveyor belt system (composed of tracked clusters) to a fixed conveyor belt, and then transporting them to the ship via a ship loader. Specifically... Figure 5 As shown.

[0093] S2. If mobile tracked equipment is involved, start the mobile tracked equipment operation process. If mobile tracked equipment is not involved, directly align the end equipment and start the control operation program with one click. For mobile tracked equipment: after the grouping is completed, it is activated. When the mobile tracked equipment is not in operation, it is controlled point-to-point via wireless communication (human interface) to receive movement / grouping commands. During operation, fiber optic communication is used for unified point-to-line control (the temporary process is treated as a whole ground process) to achieve full-process operation, feedback status, etc., and complete the sequential control logic of the tracked mobile equipment grouping process.

[0094] The operation process of the mobile tracked equipment in S2 includes the following steps, as detailed below: Figure 6 As shown:

[0095] S21. The intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal receives the planned tasks issued by the terminal operating system i-TOS and issues them to the tracked module: based on the from & to positions and task type, and according to the intelligent grouping strategy, it schedules the tracked mobile equipment cluster & sequence number & temporary process number.

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

[0097] S23. During task execution, dynamically calculate the timing of the mobile transfer machine's connection / deconnection, coordinate the operation (stop) of the preceding equipment, issue connection / deconnection commands, realize rapid physical connection and information synchronization of the equipment, and enter the full process state after connection is completed, waiting for the operation command, i.e., one-click start. ECI performs collaborative operation control according to the beginning and end order, from the end to the beginning.

[0098] S24. After each device has provided feedback, ECI performs shutdown control in the order from beginning to end and reports that the task is complete.

[0099] S3. After the dynamic adjustment of the coupling and uncoupling is completed, the end equipment continues to operate in alignment, and the one-button stop control stops the machine.

[0100] Dynamic linking and unlinking in S3 includes the following steps, as detailed below: Figure 7 As shown:

[0101] S31. Linkage process: preparation stage of the linked mobile tracked equipment or the mobile tracked equipment to be linked, linking stage of the linked mobile tracked equipment or the mobile tracked equipment to be linked, and start-up operation stage.

[0102] The coupling phase of S31 includes the following steps:

[0103] S311. The uncoupling tracked equipment aligns itself with the tracked equipment being coupled at a low speed of 0.3-0.5 m / min according to the instructions, thus 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 tracked equipment, in coordination with the signal system, sequentially completes the electrical and CMS network connection, establishes communication between the coupled tracked equipment, and the coupling is completed.

[0106] S32. Uncoupling process: preparation stage, uncoupling stage and stand-alone operation stage for mobile tracked equipment in coupled state.

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

[0108] S321. The mobile tracked equipment disconnects the electrical and CMS networks of two tracked equipment and disconnects the mechanical coupling of the two trains according to the instructions of the intelligent grouping and collaborative control system of the mobile tracked equipment in the dry bulk terminal.

[0109] S322. Tracked equipment and signaling work together to complete the electrical and CMS network connection, establish communication for individual tracked equipment, and complete the decoding and uncoding.

[0110] Finally, it should be noted that although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Various equivalent changes or substitutions can be made without departing from the concept of the present invention. Therefore, any changes or modifications to the above embodiments within the essential spirit of the present invention will fall within the scope of the claims of the present invention.

Claims

1. An intelligent grouping and collaborative control system for mobile tracked equipment at a dry bulk cargo terminal, characterized in that: It includes hardware and software components, wherein the hardware component includes: The modular classification module categorizes mobile tracked equipment and generates basic data on conveying stroke, upstream and downstream coupling and assembly equipment, instantaneous flow rate, and basic parameters of the tracked chassis; and The dynamic grouping strategy module dynamically selects the number of start and end equipment and process lines based on process type, and generates the optimal grouping scheme by combining yard layout, task priority, and equipment status; and The multi-machine collaborative control module calculates the timing of coupling or uncoupling of mobile transfer machines in real time, coordinates equipment operation, and optimizes energy management to prioritize the scheduling of high-power equipment for continuous tasks; and A global data collaboration platform builds a data closed loop between the planning and execution layers, enabling real-time decomposition and feedback of task instructions. A multi-role collaboration platform shares real-time operation data, improving interaction efficiency. The software component interacts with the i-TOS terminal operating system at the top level, and interacts with the tracked single-machine equipment control system at the bottom level through a standardized interface.

2. The intelligent grouping and collaborative control system for mobile tracked equipment at dry bulk cargo terminals as described in claim 1, characterized in that, The modular classification module for the equipment includes: Tracked bucket wheel reclaimers are responsible for continuous layered material reclaiming and are suitable for material transfer starting from large stockyards; Tracked fan-shaped placing boom is responsible for continuous stacking, supports boom pitch, extension and rotation, and is suitable for material transfer with large stockyards as the destination. The bridge-type transfer conveyor connects the stacker-reclaimer equipment's conveying path, is equipped with a guide chute to ensure stable material conveying, and docks with a tracked fan-shaped concrete placing boom to form a collaborative control group to complete the stacker-reclaim process; The relay transfer machine dynamically connects the mobile transfer machine and the bridge transfer machine, eliminating path breakpoints. Mobile transfer machine expands the work coverage area, can move horizontally or vertically to adjust the path, and supports coupling and uncoupling.

3. The intelligent grouping and collaborative control system for mobile tracked equipment at dry bulk cargo terminals as described in claim 1, characterized in that, The software component 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 collaborative control system for mobile tracked equipment at dry bulk cargo terminals as described in claim 1, characterized in that, The internal modules of the intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal use both the Kafka protocol and a database for communication. The Kafka protocol is used for real-time data transmission and processing, while the database is used for complex queries, transaction processing, and long-term storage.

5. A method for intelligent grouping and collaborative control of mobile tracked equipment at dry bulk cargo terminals, characterized in that, Includes the following steps: S1. The i-TOS terminal operating system issues tasks according to the process type, and the intelligent grouping and collaborative control system for mobile tracked equipment in the dry bulk terminal receives and parses the tasks. S2. If mobile tracked equipment is involved, start the mobile tracked equipment operation process; if mobile tracked equipment is not involved, directly align the end equipment and start the control operation program with one click. S3. After the dynamic adjustment of the coupling and uncoupling is completed, the end equipment continues to operate in alignment, and the one-button stop control stops the machine.

6. The intelligent grouping and collaborative control method for mobile tracked equipment at a dry bulk cargo terminal as described in claim 5, characterized in that, The process types in S1 include transfer process, direct storage process, and direct loading process. The transfer process has the following steps: S11. The intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal receives the transfer task from the terminal operating system i-TOS, and the dynamic grouping strategy module performs intelligent grouping of mobile tracked equipment. S12. After the intelligent grouping of mobile tracked equipment is completed, the ECI module issues the pairwise couplings in order from beginning to end according to the status of the tracked equipment cluster and the sequence number. S13. The multi-machine collaborative control module dynamically calculates the timing of coupling or uncoupling the mobile transfer machine based on the material pile alignment feedback, and coordinates the operation of the preceding equipment to issue coupling or uncoupling commands. S14. After the waiting operation is completed, each device reports completion. The ECI module performs shutdown control according to the order from beginning to end and reports the status: Transfer task completed.

7. The intelligent grouping and collaborative control method for mobile tracked equipment at dry bulk cargo terminals as described in claim 5, characterized in that, The operation process of the mobile tracked equipment in S2 includes the following steps: S21. The intelligent grouping and collaborative control system for mobile tracked equipment at the dry bulk terminal receives the planned tasks issued by the terminal operating system i-TOS and issues them to the tracked module: Based on the location and task type, the dynamic grouping strategy module schedules the set of tracked mobile equipment, the sequence number and the temporary process number. The S22.ECI module issues a grouping command for tracked equipment and provides real-time feedback to the TI module. The ECI module provides feedback on collision avoidance detection during the grouping process and waits for the coupling command after the grouping is completed. S23. During task execution, dynamically calculate the timing of coupling or decoupling of the mobile transfer machine, coordinate the operation of the preceding equipment, issue coupling or decoupling instructions, and after coupling is completed, enter the full process state and start with one key. The ECI module performs coordinated operation control according to the order of the beginning and end, from the end to the beginning. S24. After each device has provided feedback, the ECI module performs shutdown control in the order from beginning to end and reports that the task is complete.

8. The intelligent grouping and collaborative control method for mobile tracked equipment at a dry bulk cargo terminal as described in claim 5, characterized in that, The dynamic linking and unlinking in S3 includes the following steps: S31. Linkage process: preparation stage of the mobile tracked equipment to be linked or the mobile tracked equipment to be linked, linking stage of the mobile tracked equipment to be linked or the mobile tracked equipment to be linked, and start-up operation stage. S32. Uncoupling process: preparation stage, uncoupling stage and stand-alone operation stage for mobile tracked equipment in coupled state.

9. The intelligent grouping and collaborative control method for mobile tracked equipment at a dry bulk cargo terminal as described in claim 8, characterized in that, The coupling stage of S31 includes the following steps: S311. The decoupled tracked equipment aligns itself with the tracked equipment being coupled at a certain speed according to the instructions, thus completing the mechanical coupling of the two trains. S312. Perform a pull test to verify the reliability of the coupling; S313. The mobile tracked equipment, in coordination with the signal system, sequentially completes the electrical and CMS network connection, establishes communication between the coupled tracked equipment, and the coupling is completed.

10. The intelligent grouping and collaborative control method for mobile tracked equipment at a dry bulk cargo terminal as described in claim 8, characterized in that, The decompilation phase in S32 includes the following steps: S321. The mobile tracked equipment disconnects the electrical and CMS networks of two tracked equipment and disconnects the mechanical coupling of the two trains according to the instructions of the intelligent grouping and collaborative control system of the mobile tracked equipment in the dry bulk terminal. S322. Tracked equipment and signaling work together to complete the electrical and CMS network connection, establish communication for individual tracked equipment, and complete the decoding and uncoding.

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