Container wharf quay crane lower horizontal transportation robot one-key automatic switching ashore operation command method and system

Abstract

The invention relates to the field of automatic container wharf operation optimization, in particular to a one-key automatic ashore operation switching command method and system for a horizontal transportation robot under a quay crane of a container wharf, and the method comprises the following steps: monitoring the states of two quay cranes working on the same lane in real time; wherein the ashore-direction quay crane is far away from the ashore channel than the ashore-direction quay crane, and the operation position is less than that of the ashore-direction quay crane; identifying whether the quay crane in the ashore direction has a vehicle splicing difficulty or a hook waiting phenomenon; in response to a single'secondary bridge change 'operation instruction triggered by the central control dispatcher on the UI interface, a bridge change instruction is sent to a horizontal transportation robot which waits in line and is below the shore bridge in the ashore direction; and the horizontal transportation robot is controlled to be automatically switched to the quay crane in the deshore direction of the same lane to execute ship unloading operation. According to the method, a'secondary bridge change 'one-key operation mechanism is introduced, so that a traditional multi-step verification process is thoroughly eliminated, and the manual intervention complexity and response delay are greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automated container terminal operation optimization, and particularly relates to a one-key automatic switching onshore operation command method and system for a horizontal transport robot under a quay crane of a container terminal. BACKGROUND

[0002] In the operation of an automated container terminal, quay cranes as core handling equipment directly affect the overall production efficiency of the terminal. With the continuous development of automation technology, modern container terminals have widely adopted automated quay cranes to replace traditional manual operation, so as to realize intelligent and efficient operation processes and reduce labor costs.

[0003] However, in actual operation scenarios, due to the limitations of terminal space layout and dynamic unbalanced operation volume, multiple quay cranes often share the same lane for operation. In this mode, when the horizontal transport robots (ARTs) of two quay cranes for loading and unloading ships share the same lane, the quay crane in the onshore direction has limited number of operation sites and is far from the onshore passage, which easily leads to difficulties in vehicle continuation of the quay crane in the onshore direction. Even after enabling the unloading bridge switching function, with the improvement of terminal operation capacity, the vehicle continuation problem of the quay crane in the onshore direction is still difficult to effectively alleviate, thereby frequently causing the hook waiting phenomenon.

[0004] The above problems not only cause road congestion and reduce the turnover efficiency of the horizontal transport robot, but also directly restrict the continuous operation rhythm of the quay crane, leading to a decrease in unloading efficiency and affecting the overall production efficiency and operating efficiency of the terminal. At present, there is a lack of efficient solutions for this specific scenario in the existing technology, and it is difficult to break through the path limitations to adapt to dynamic operation demands by realizing flexible scheduling and optimizing the allocation of horizontal transport resources. Therefore, there is an urgent need for a command scheme that can realize the rapid and automatic switching of the operation quay crane of the horizontal transport robot to solve the above technical problems. SUMMARY

[0005] The present application aims to provide a one-key automatic switching onshore operation command method and system for a horizontal transport robot under a quay crane of a container terminal to solve the problems in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a one-key automatic switching onshore operation command method for a horizontal transport robot under a quay crane of a container terminal, comprising the following steps: S1, real-time monitoring of the states of two quay cranes operating in the same lane, wherein the quay crane in the onshore direction is farther from the onshore passage than the quay crane in the onshore direction, and has fewer operation sites than the quay crane in the onshore direction; S2, identifying whether the quay crane in the onshore direction has a vehicle continuation difficulty or a hook waiting phenomenon; S3. In response to the single "second bridge changing" operation instruction triggered by the central controller dispatcher on the UI interface, a bridge changing instruction is sent to the horizontal transport robot waiting in the queue under the onshore direction quay crane; S4. The horizontal transport robot is automatically switched to the off-shore direction quay crane in the same lane to perform unloading operations.

[0007] Preferably, step S1 comprises: S1.1. Record the position of each quay crane and its relative distance from the onshore channel; S1.2. Dynamically monitor the vehicle continuation state of the horizontal transport robot at the onshore direction quay crane; S1.3. Based on real-time position tracking and path planning, an optimized path for the robot to move to the target quay crane is generated.

[0008] Preferably, the dispatch of the bridge changing instruction in step S3 comprises: S3.1. The vehicle dispatching sequence and route are dynamically calculated by a scheduling algorithm, and the input parameters of the algorithm include: Real-time operation amount of each quay crane; Distribution density of robots under the quay crane; Traffic flow data in the terminal yard; S3.2. When vehicle continuation difficulty is detected, the "second bridge changing" instruction dispatching logic is automatically activated.

[0009] Preferably, it further comprises: S5, displaying the quay crane operation state, robot position and switching progress in real time on the UI interface; S6. Directly interface with the TOS system through the front-end operation button for the central controller dispatcher to manually trigger the bridge changing operation.

[0010] Preferably, the UI interface in step S5 integrates the following functions: Visual monitoring of the robot switching process; Real-time warning of vehicle continuation difficulty; Interactive operation interface providing a "second bridge changing" button.

[0011] The application also discloses a command system for implementing the method, comprising: A tracking and monitoring module embedded in the intelligent horizontal transport system, for: identifying and recording the position of each quay crane and its relative distance from the onshore channel; monitoring the real-time position and operation state of the horizontal transport robot; detecting vehicle continuation difficulty or hook waiting phenomenon at the onshore direction quay crane; An instruction dispatching module in communication connection with the tracking and monitoring module, for: dynamically generating the robot dispatching sequence and path based on the scheduling algorithm; sending a bridge changing instruction to the target robot in response to the "second bridge changing" operation instruction; A data feedback module integrated in the UI interface, configured to: display the status of the quay crane, the position of the robot, and the switching progress in real time; and provide front-end operation buttons connected to the TOS system.

[0012] Preferably, the input parameters of the scheduling algorithm include: quay crane operation volume, robot distribution density, and traffic flow in the yard; and after the "second bridge switching" operation instruction is triggered, the instruction directly penetrates into the TOS system for execution, without the need for manual verification.

[0013] Preferably, the UI interface includes: a visual map of the quay crane position and the lane layout; a real-time robot position tracking layer; a vehicle continuation difficulty early warning prompt window; and a "second bridge switching" physical / virtual button integrated in the operation panel.

[0014] Preferably, the instruction dispatching module controls the robot to perform the following actions: A. leave the current quay crane queue; B. overtake along the planned path to move to a quay crane in the same lane in the unloading direction; C. access the target quay crane operation sequence to perform the unloading task.

[0015] Compared with the prior art, the present application has the following advantages: By introducing the "second bridge switching" one-key operation mechanism, the present application completely eliminates the traditional multi-step verification process, so that the central control dispatcher only needs to click a button on the UI interface once to directly trigger the switching action of the horizontal transport robot, greatly reducing the complexity of manual intervention and response delay; at the same time, based on the real-time optimization of the robot path by the dynamic scheduling algorithm, the vehicle can quickly overtake to the idle quay crane in the same lane after leaving the congested quay crane, significantly reducing the hook waiting time and intersection detention, so that the effective operation time of a single horizontal transport robot is increased by more than 20%, and the overall path resource utilization rate of the terminal is increased by 15%-30%. By deeply embedding the tracking and monitoring, instruction dispatching, and data feedback modules into the existing TOS system, multi-source data fusion decision-making of the quay crane status, robot position, and traffic flow is realized, breaking through the limitations of the original "single quay crane independent scheduling"; when the vehicle continuation is difficult, the switching logic is automatically activated, so that the horizontal transport robot cluster can dynamically balance the operation load of the two quay cranes in the same lane, reduce the idle quay crane caused by vehicle queuing, and improve the unloading efficiency of the terminal by 10%-18%, saving the operation cost of a large container terminal by more than one million yuan per year without the need for additional hardware investment. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a one-key switching instruction flowchart of the present application; Figure 2 FIG. 2 is a real-time data feedback UI interface diagram; Figure 3For the specific implementation of the flowchart; Figure 4 For the TOS system function integration schematic diagram; Figure 5 For the quay crane operation state monitoring schematic diagram; Figure 6 For the horizontal transport robot bridge switching operation schematic diagram. DETAILED DESCRIPTION

[0017] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0018] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0019] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixed connection", "fixed connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0020] The specific embodiments of the present application will be described in detail below in combination with the drawings and preferred embodiments.

[0021] As Figure 1 shown, a container terminal quay crane horizontal transport robot one-key automatic switching onshore operation command method, comprising the following steps: S1, real-time monitoring of the state of two quay cranes in the same lane operation, wherein the off-shore direction quay crane is farther from the onshore passage than the onshore direction quay crane, and the operation site is less than the onshore direction quay crane; step S1 comprises: S1.1, record the position of each shore crane and its relative distance to the onshore passageway; S1.2, dynamically monitor the vehicle continuation state of the horizontal transport robot at the shore crane in the onshore direction; S1.3, based on real-time position tracking and path planning, generate an optimized path for the robot to move to the target shore crane.

[0022] S2, identify whether there is a vehicle continuation difficulty or hook waiting phenomenon at the shore crane in the onshore direction; S3, in response to a single "second bridge change" operation instruction triggered by the central control dispatcher on the UI interface, send a bridge change instruction to the horizontal transport robot under the onshore shore crane in the onshore direction; the dispatch of the bridge change instruction in step S3 includes: S3.1, dynamically calculate the vehicle dispatching order and route through a scheduling algorithm, the algorithm input parameters include: real-time work load of each shore crane; robot distribution density under the shore crane; terminal traffic flow data; S3.2, when a vehicle continuation difficulty is detected, automatically activate the "second bridge change" instruction dispatching logic.

[0023] S4, control the horizontal transport robot to automatically switch to the off-shore shore crane in the same lane to perform unloading operations.

[0024] S5, real-time display of the shore crane operation state, robot position and switching progress on the UI interface; the UI interface in step S5 integrates the following functions: visual monitoring of the robot switching process; real-time warning of vehicle continuation difficulty state; provide an interactive operation interface of the "second bridge change" button.

[0025] S6, directly connect to the TOS system through the front-end operation button for the central control dispatcher to manually trigger the bridge change operation.

[0026] The application also discloses a command system for implementing the method, comprising: 1, tracking and monitoring module embedded in the existing intelligent horizontal transport system, the functions include: identify and record the position of each shore crane and its relative distance to the onshore passageway; monitor the work state of the ART under each shore crane, focusing on tracking the vehicle continuation of the shore crane in the onshore direction; real-time tracking of the ART position and path planning to ensure its quick and accurate movement to the new shore crane; when a continuation difficulty or hook waiting phenomenon is detected at the shore crane in the onshore direction, start a one-key automatic switching mechanism.

[0027] 2, instruction dispatching module embedded in the existing intelligent horizontal transport system, the functions include: Based on the scheduling algorithm, according to the quay crane workload, ART distribution and traffic flow, the dispatching sequence and route are dynamically adjusted; When the automatic switching mechanism is triggered, the bridge replacement instruction is issued to the ART to be connected, realizing one-key switching (simplifying the multi-step process of the TOS system to one-key operation at the front end).

[0028] 3. Real-time data feedback module Embedding the existing intelligent horizontal transportation system, through the UI interface to realize: For the central control dispatcher to monitor the switching process and operation status, and to facilitate timely adjustment of strategies; The front end is connected to the TOS system, and the dispatcher can directly operate through the UI interface button. Specific implementation steps

[0029] 1. System preparation (S1) Integrate the TOS system function in the background, set up the "secondary bridge replacement" button, and complete the front-end arrangement in the horizontal transportation system UI interface.

[0030] 2. Operation monitoring and instruction triggering (S2) The central control dispatcher monitors the quay crane congestion during unloading through the UI interface, and observes whether there is difficulty in connecting vehicles on the onshore quay crane; If the onshore quay crane is difficult to connect, and the off-shore quay crane in the same lane is not busy, click the "secondary bridge replacement" button.

[0031] 3. ART executes instructions (S3) The ART queued on the onshore quay crane receives the "secondary bridge replacement instruction"; The ART overtakes to the off-shore quay crane in the same lane according to the planned path, and completes the unloading operation switching.

[0032] As Figure 1 shown in the figure, the figure is used to show the simplified process of the "secondary bridge replacement" instruction, which intuitively presents how the scheme realizes one-key completion through the front-end "secondary bridge replacement" button for the bridge replacement process in the TOS system which originally needs multi-step operation. The figure clearly shows the closed loop from instruction triggering to execution, including the whole process of central control dispatcher operation, system instruction generation, ART receiving instructions and response, highlighting the convenience of "one-key switching" and simplifying the complex steps of traditional bridge replacement operation.

[0033] As Figure 2As shown, this figure shows the UI interface layout and key data display content of the intelligent horizontal transportation system, including operation access and real-time monitoring information related to the "second bridge changing" function. For example, parameters such as "minimum number of vehicles to leave", "maximum number of empty positions", "ART Number (horizontal transportation robot number)", "Spreader Height (spreader height)", etc. may be displayed in the interface, with the connection status with the TOS system, FMS system marked, so that the central control dispatcher can real-time master the quay crane operation state, robot distribution and equipment parameters, providing data support for "second bridge changing" operation.

[0034] As shown in Figure 3 , this figure presents the complete implementation process of the scheme in a step-by-step manner, corresponding to the core steps of S1 to S3: S1: Integrate the TOS system function, set up the "second bridge changing" button and complete the front-end layout; S2: The central control dispatcher monitors the operation state and determines whether the bridge changing condition is met and triggers the button; S3: The horizontal transportation robot receives the instruction and executes the bridge changing operation.

[0035] The flowchart clearly shows the logical relationship between each link, and clearly shows the whole chain operation from system preparation to instruction execution.

[0036] As shown in Figure 4 , it is used to explain the integration method of the background TOS system and the "second bridge changing" function, focusing on the function configuration, data interface and linkage mechanism of the "second bridge changing" button in the TOS system with other modules (such as tracking and monitoring, instruction dispatching module), to ensure that the button operation can accurately call system resources and realize the rapid issuance of instructions.

[0037] As shown in Figure 5 , it intuitively presents the operation scene under the quay crane, including the position relationship of the upbound quay crane and the downbound quay crane, the distribution state and congestion of the horizontal transportation robot. Through the diagram, the distance difference between the two quay cranes and the upbound channel, the number difference of the operation positions can be clearly distinguished, helping the central control dispatcher to judge whether there is a vehicle continuation difficulty for the upbound quay crane, providing visual judgment basis for "second bridge changing" operation.

[0038] As shown in Figure 6 , it shows the specific process of the horizontal transportation robot executing the "second bridge changing" instruction, focusing on how the robots queuing under the upbound quay crane receive instructions, plan paths and overtake to the downbound quay crane in the same lane. The diagram clearly marks the moving route of the robot, the avoidance logic and the final operation position, intuitively reflecting the efficiency of the bridge changing process and the rationality of the path planning, verifying the feasibility of the scheme in actual operation.

[0039] Through the "second bridge replacement" mechanism, ART can quickly switch between the same lane quays without complex verification, solving the problem of connection difficulty and waiting for hooks. At the same time, the dispatching logic is optimized to reduce intersection congestion, improve ART utilization and terminal production efficiency, and enhance the operating efficiency of the automated terminal.

[0040] It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered within the scope of the present application.

Claims

1. A method for one-key automatic switching of onshore operation command of a container terminal quay crane lower horizontal transport robot, characterized in that, The method comprises the following steps: S1, real-time monitoring of the status of two quays in the same lane operation, wherein the lower quay is farther from the upper passage than the upper quay, and the operation site is less than the upper quay; S2, identifying whether the upper quay has vehicle continuation difficulty or hook waiting phenomenon; S3, in response to the single "second bridge switching" operation instruction triggered by the central control dispatcher on the UI interface, sending a bridge switching instruction to the horizontal transport robot waiting in the lower quay of the upper quay; S4, controlling the horizontal transport robot to automatically switch to the lower quay in the same lane to perform unloading operation.

2. The method of claim 1, wherein, Step S1 comprises: S1.1, recording the position of each quay and its relative distance from the upper passage; S1.2, dynamically monitoring the vehicle continuation state of the horizontal transport robot in the upper quay; S1.3, based on real-time position tracking and path planning, generating an optimized path for the robot to move to the target quay.

3. The method according to claim 1 or 2, characterized in that, The dispatch of the bridge switching instruction in step S3 comprises: S3.1, dynamically calculating the vehicle dispatching sequence and route by a scheduling algorithm, the algorithm input parameters including: Real-time operation amount of each quay; Robot distribution density under the quay; Traffic flow data in the terminal field; S3.2, when detecting vehicle continuation difficulty, automatically activating the "second bridge switching" instruction dispatching logic.

4. The method according to any one of claims 1 to 3, characterized in that, Further comprising: S5, real-time display of the quay operation status, robot position and switching progress on the UI interface; S6, directly connecting the TOS system through the front-end operation button for manual triggering of the bridge switching operation by the central control dispatcher.

5. The method of claim 4, wherein, The UI interface in step S5 integrates the following functions: Visual monitoring of the robot switching process; Real-time warning of vehicle continuation difficulty state; Providing an interactive operation interface with a "second bridge switching" button.

6. A command system implementing the method of any one of claims 1 to 5, characterized in that, It comprises: A tracking and monitoring module embedded in the intelligent horizontal transport system, which is used to identify and record the position of each quay and its relative distance from the upper passage, monitor the real-time position and operation state of the horizontal transport robot, and detect the vehicle continuation difficulty or hook waiting phenomenon of the upper quay; An instruction dispatching module in communication connection with the tracking and monitoring module, which is used to dynamically generate the robot dispatching sequence and path based on the scheduling algorithm, and send a bridge switching instruction to the target robot in response to the "second bridge switching" operation instruction; A data feedback module integrated in the UI interface, which is used to display the quay status, robot position and switching progress in real time, and provide a front-end operation button connected to the TOS system.

7. The system according to claim 6, wherein: The input parameters of the scheduling algorithm include: quay operation amount, robot distribution density, and field traffic flow; after the "second bridge switching" operation instruction is triggered, it directly penetrates into the TOS system for execution without manual verification.

8. The system of claim 6, wherein, The UI interface comprises: A visual map of quay position and lane layout; a robot real-time position tracking layer; a vehicle continuation difficulty warning prompt window; a "second bridge switching" physical / virtual button integrated in the operation panel.

9. The system according to claim 6, wherein: The instruction dispatching module controls the robot to perform the following actions: A, leaving the current quay queuing queue; B, overtaking and moving to the lower quay in the same lane along the planned path; C. Access the target quay crane operation sequence to perform the unloading task.

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