Port container loading and unloading multi-lane guiding method and system

Abstract

The invention provides a port container loading and unloading multi-lane guiding method and system, relates to the field of port lane guiding, aims to solve the problem that a crane can only carry out auxiliary guiding alignment on a single lane when loading and unloading containers at present, and solves the limitation that a traditional system only fixes a main operation lane by dynamically adjusting a detection range to match a target lane. The guiding system can be switched to any target lane according to actual operation requirements, flexible alignment guiding of multiple lanes is achieved, the multiple lanes can operate efficiently at the same time or in turns, the waiting time of lane switching is shortened, judgment errors are reduced through real-time distance calculation and action instruction guiding, and the working efficiency is improved. Operation delay or potential safety hazards caused by vehicle alignment deviation are reduced, and orderly loading and unloading operation is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of port lane guidance, in particular to a port container loading and unloading multi-lane guidance method and system. BACKGROUND

[0002] During the loading and unloading operation of a container terminal, a through-type multi-lane operation mode is adopted for a shore-based gantry crane to cooperate with a container carrying truck (vehicle). The shore-based gantry crane is a frame structure crane, and the vehicle runs on a lane located between the front door leg and the rear door leg of the shore-based crane. There are generally multiple lanes under each crane, which are parallel to the shoreline, and the width and spacing are standard values. The vehicle enters and stops under the crane along the lane on both sides of the crane, cooperates with the crane driver, and realizes the loading and unloading of containers through the lifting of a lifting tool. During the operation, there is generally a main operation lane, and the loading and unloading operation is mainly carried out in the main operation lane. If the size of the container transport ship is small, or in some special cases, the loading and unloading operation can also be carried out in multiple lanes in turn.

[0003] In order to improve the efficiency of the lane operation of the shore-based crane, there are currently some independent inner trailer alignment guidance systems, which generally use a laser scanner installed on a pan-tilt head to scan the main operation lane. Only the main operation lane can be provided with alignment guidance, and when multiple lanes are operated simultaneously, the actual operation lane cannot be quickly provided with alignment guidance information, and the operation efficiency is limited. SUMMARY

[0004] The purpose of the present application is to overcome the defects of the prior art, provide a port container loading and unloading multi-lane guidance method and system, break through the limitation of the traditional system that only supports the main operation lane, realize the quick switching and accurate guidance between multiple lanes, make multiple lanes can be operated simultaneously or in turn, reduce the waiting time of lane switching, reduce the operation delay or safety hazards caused by vehicle alignment deviation through real-time distance calculation and action instruction guidance, and ensure the orderly progress of the loading and unloading operation.

[0005] The first purpose of the present application is to provide a port container loading and unloading multi-lane guidance method, which adopts the following scheme: It comprises: Adjusting the detection range according to the obtained target lane information, matching the target lane, and detecting the vehicle position information on the target lane; Obtaining target position information, calculating the real-time distance between the vehicle position and the target position in combination with the vehicle position information, outputting the real-time distance and the vehicle action instruction, and displaying; After the real-time distance reaches the set range, send the alignment instruction and execute the operation.

[0006] Further, the target lane information is obtained from a crane control unit, which receives a terminal operating management system and a lane selector signal to obtain the target lane information and the target position information.

[0007] Further, the target selector accepts an external operating instruction to output the target lane information to the crane control unit.

[0008] Further, the adjusting the detection range comprises: rotating the detection assembly to the target lane direction according to the target lane information, changing the detection range to the target lane, and detecting the vehicle in the target lane range.

[0009] Further, the detection assembly comprises a pan-tilt controller and a laser scanner, the laser scanner is arranged above the lane through the pan-tilt controller, the pan-tilt controller adjusts the detection range of the laser scanner, and the laser scanner is used for scanning the vehicle on the target lane to obtain the vehicle position information.

[0010] Further, the detection assembly calculates the relative position of the vehicle and the detection assembly according to the detection direction and the distance between the vehicle and the detection assembly, and calculates the vehicle position information on the target lane according to the relative position of the detection assembly and the target lane.

[0011] Further, the outputting the real-time distance and the vehicle action instruction and displaying comprises: judging the relative position of the vehicle and the target position based on the real-time distance, so as to obtain the action instruction of the vehicle advancing, retreating or stopping, and displaying the real-time distance and the action instruction on the LED display unit.

[0012] Further, the operation item of the crane at the target position is obtained and displayed on the LED display unit.

[0013] The second object of the present application is to provide a port container loading and unloading multi-lane guiding system as described in the first object, comprising: The vehicle position obtaining unit is configured to adjust the detection range according to the obtained target lane information, match the target lane, and detect the vehicle position information on the target lane; The instruction display unit is configured to obtain the target position information, calculate the real-time distance between the vehicle position and the target position in combination with the vehicle position information, output the real-time distance and the vehicle action instruction and display; The positioning recognition unit is configured to send the positioning instruction and perform the operation after the real-time distance reaches the set range.

[0014] Further, it further comprises: The target lane information acquisition unit is configured to: acquire target lane information, including: acquiring target lane information from a crane control unit, the crane control unit receiving a terminal operator signal and a lane selector signal to acquire target lane information and target position information.

[0015] Compared with the prior art, the application has the advantages and positive effects that: In view of the problem that the crane can only assist in guiding and positioning for a single lane when loading and unloading containers, the detection range is matched with the target lane through dynamic adjustment, the limitation that the traditional system only fixes the main operation lane is solved, the guiding system can be switched to any target lane according to actual operation requirements, flexible positioning and guiding of multiple lanes are realized, multiple lanes can be simultaneously or alternately operated efficiently, the waiting time of lane switching is reduced, the judgment error is reduced through real-time distance calculation and action instruction guiding, the operation delay or safety hazard caused by vehicle positioning deviation is reduced, and the loading and unloading operation is ensured to be orderly.

[0016] The crane control unit serves as an information hub and simultaneously receives two types of signals, one is an automatic scheduling instruction of a terminal operation management system, and the other is an external operation instruction of a lane selector, the target lane is temporarily specified by a driver or a dispatcher through physical buttons, remote control or the like, the two are combined to ensure that the target lane information can follow the overall operation planning and respond to manual adjustment in emergency scenarios, and a flexible information input mechanism is provided for multiple lane switching.

[0017] The detection assembly drives the laser scanner to rotate to the target lane direction through the pan-tilt controller according to the target lane information, and focuses the scanning range on the lane. When the target lane is switched, the pan-tilt controller drives the laser scanner to rotate by a corresponding angle horizontally, so that the laser beam covers the full length and width of the target lane, ensures that only the vehicles in the target lane are scanned, avoids the interference of vehicles in other lanes, and realizes the quick switching of detection between multiple lanes. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the description of the exemplary embodiments of the present application and the explanation thereof serve to explain the present application, and do not constitute an improper limitation of the present application.

[0019] Fig. 1 A schematic diagram of the port container loading and unloading multi-lane guiding method in one or more embodiments of the present application.

[0020] Fig. 2 A structural schematic diagram of the detection assembly in one or more embodiments of the present application.

[0021] Fig. 3 A structural schematic diagram of the port container loading and unloading multi-lane guiding method in one or more embodiments of the present application. Detailed Implementation

[0022] Example 1 In a typical embodiment of the present invention, such as Figs. 1-3 As shown, a multi-lane guidance method for container loading and unloading in ports is presented.

[0023] Independent trailer alignment guidance systems can only provide alignment guidance for pre-set main operating lanes. When multiple lanes are operating simultaneously, they cannot quickly switch to the actual operating lane and provide alignment guidance information, resulting in limited improvement in operational efficiency. Based on this, this embodiment provides a multi-lane guidance method for port container loading and unloading. It achieves multi-lane guidance through a streamlined design that adjusts the detection range based on target lane information, matches the target lane and detects vehicle positions, calculates real-time distances and outputs commands, and sends positioning commands. The method revolves around dynamically adapting to the target lane and, through information acquisition and processing, covers multi-lane operating scenarios.

[0024] Specifically, such as Figs. 1-3 As shown, the multi-lane guidance method for container loading and unloading at ports includes: The detection range is adjusted based on the acquired target lane information to match the target lane and detect the vehicle position information in the target lane; Obtain target location information, calculate the real-time distance between the vehicle location and the target location by combining the vehicle location information, and output and display the real-time distance and vehicle action commands; Once the real-time distance reaches the set range, a position command is sent and the job is executed.

[0025] In this embodiment, by dynamically adjusting the detection range to match the target lane, the limitation of the traditional system that only fixes the main working lane is broken, so that the guidance system can quickly switch to any target lane according to the actual operation needs, and realize flexible alignment guidance of multiple lanes.

[0026] In this embodiment, the system first acquires target lane information, such as lane number and location, and adjusts the detection range of the detection equipment based on this information, such as the scanning angle and range of the detection components, so that the detection range accurately covers the target lane and completes the matching with the target lane. Within the matched target lane, the system detects the real-time position information of the vehicle and acquires the target position information for container loading and unloading, which can be the corresponding position of the spreader. The system calculates the real-time distance by combining the vehicle position and the target position, generates action commands for vehicle adjustment, such as forward, backward, and turning, and displays them to the driver to guide the vehicle's movement. When the real-time distance narrows to the set range, i.e., the vehicle is in position, the system sends a positioning command, and the crane performs container loading and unloading operations.

[0027] Break through the limitation of traditional system that only supports main lane, realize fast switching and accurate guidance among multiple lanes, make multiple lanes work efficiently at the same time or in turn, reduce waiting time of lane switching; adapt to the needs of different ship types (such as small container ships) and special operation scenarios, without manual re-setting of guidance parameters, improve the system's adaptability to complex operation environment; through real-time distance calculation and action instruction guidance, reduce the error of manual judgment, reduce the delay or safety hazards caused by vehicle alignment deviation, and ensure the orderly progress of loading and unloading operations.

[0028] With the crane control unit as the core, the scheduling information of the terminal operation management system is received, such as the target lane in the operation plan, and the external instructions of the lane selector, such as manual temporary switching of the lane, the target lane information and the target position information are comprehensively determined to form the instruction source of the guidance.

[0029] The detection assembly is composed of a pan-tilt controller and a laser scanner. The laser scanner is deployed above the lane, and the scanning direction and range are adjusted by the rotation of the pan-tilt controller to realize accurate coverage of the target lane and form a dynamic detection end. The distance information, action instructions and operation items are presented in real time through the LED display unit to form a human-machine interaction interface.

[0030] The crane control unit receives two types of signals as the information hub, one is the automatic scheduling instruction of the terminal operation management system, and the other is the external operation instruction of the lane selector. The target lane is assigned according to the ship loading and unloading plan, and the driver or dispatcher temporarily specifies the lane through physical buttons, remote control, etc. The combination of the two ensures that the target lane information can follow the overall operation plan and respond to manual adjustments in emergency scenarios, providing a flexible information input mechanism for multi-lane switching.

[0031] The detection assembly drives the laser scanner to rotate to the target lane direction through the pan-tilt controller according to the target lane information, and focuses the scanning range on the lane. For example, when the target lane is switched from No. 1 to No. 3, the pan-tilt controller drives the laser scanner to rotate horizontally by a corresponding angle, so that the laser beam covers the full length and width of No. 3 lane, ensuring that only the vehicles in the target lane are scanned, avoiding interference from other lane vehicles, and realizing fast aiming among multiple lanes.

[0032] After the laser scanner scans the vehicles in the target lane, the detection assembly first calculates the relative position of the vehicle and the scanner according to the scanning direction and the straight-line distance between the vehicle and the scanner; then combines the preset relative position of the detection assembly and the target lane, such as the distance from the scanner to the starting point of the lane and the offset of the lane center line, to finally convert the absolute position information of the vehicle in the target lane, such as the longitudinal distance from the loading and unloading point and the lateral offset, to provide accurate data for subsequent guidance.

[0033] The system judges whether the vehicle needs to go forward, backward or stop based on the real-time distance between the vehicle position and the target position, outputs a forward instruction when the distance is greater than a set value, outputs a backward instruction when the distance is less than the set value, and synchronously displays the distance value and the action instruction on the LED display unit, such as displaying "No. 1 lane, 2.5 meters away from the target position" on the LED display unit. At the same time, the LED display unit also displays the current work item, such as unloading to the truck, helping the driver to clearly understand the work target and reducing the operation misjudgment.

[0034] Through the multi-source information fusion of the crane control unit and the rapid steering of the pan-tilt controller, the switching time of the target lane guidance is greatly shortened, avoiding the waiting process of traditional system re-calibration, making the connection of multi-lane rotation work more smooth. The directional scanning of the laser scanner reduces the interference of irrelevant areas, combined with the double calculation of relative position and absolute position, the vehicle alignment error is smaller; the intuitive information display of the LED screen reduces the judgment cost of the driver, further improving the work accuracy. The linkage of the system with the terminal management system and the crane control unit makes the guidance process integrated into the overall work process, avoiding information silos; the access of external operation instructions retains the flexibility of manual intervention, adapting to the sudden needs of complex work scenes.

[0035] Specifically, in combination with Figs. 1-3 The port container loading and unloading multi-lane guidance method is analyzed and described in detail.

[0036] S1: The crane control unit sends a lane signal, which is transmitted by an industrial computer, and work information (the work information includes: loading or unloading instructions, 20-inch or 40-inch or double 20-inch instructions, 20-inch contains front 20-inch or rear 20-inch instructions); S2: After receiving the lane signal instruction, the pan-tilt controller rotates to the preset corresponding lane angle, completing the lane switching; S3: The laser scanner monitors the vehicle position on the lane in real time and sends the monitored vehicle position data to the control system; S4: According to the work information of the crane control unit, the calculated real-time position of the vehicle and the calibrated target position of the crane work, the distance between the vehicle and the target position is calculated, and the real-time distance and the action instruction are sent to the LED display unit. The LED display unit displays the real-time distance, and the truck driver controls the vehicle to move forward or backward through the distance on the display screen. When the target position is reached ± 5 cm, the control system sends a stop moving command to the LED display unit, and the truck driver stops the vehicle through the LED display unit.

[0037] S5: After the target guidance is in place, the guidance to position instruction is sent to the crane control unit, and after receiving the guidance to position instruction, the crane control unit continues the next step of loading and unloading work.

[0038] In S1, the crane control unit generates operation information instructions according to the terminal operation management system, wherein the lane instructions can be given by the terminal operation management system or through the lane selector.

[0039] In S2, the control system is in standby state when no operation instructions and information of the crane control unit are received, the detection assembly angle is kept on the lane of the last operation, when the operation information of the crane control unit is obtained, the system analyzes the instructions, obtains the lane information, and the detection assembly rotates to the preset corresponding lane angle to complete the lane switching.

[0040] In S3, the control system is in standby state when no operation instructions and information of the crane control unit are received, the LED display unit is in standby state and no information is displayed, when the operation information of the crane control unit is obtained, the system analyzes the instructions, obtains the operation information, the control system calculates the distance between the vehicle and the target position according to the operation information of the crane control unit, the real-time position of the vehicle and the calibrated target position of the crane operation, and sends the real-time distance and the action instructions to the LED display unit, the display screen displays the real-time distance, and the driver controls the vehicle to move forward or backward through the distance on the display screen, when reaching the target position ±5 cm, the control system sends a stop moving command to the LED display unit, and the driver stops the vehicle through the display screen.

[0041] The network switch is the core equipment in the network of the target guiding system, used for connecting the crane control unit, the industrial computer, the pan-tilt controller, the laser scanner and the LED display unit, and the main network switch is used for efficiently forwarding data frames in the system local area network.

[0042] The detection assembly includes the laser scanner and the pan-tilt controller, and the laser scanner and the pan-tilt controller are configured with corresponding state lights, power supply interfaces, network interfaces, waterproof safety seats and the like. The main body of the pan-tilt controller is a pan-tilt main body, the laser scanner is installed on the rotating shaft of the pan-tilt main body, the detection assembly fixing base is used for fixing the detection assembly, and the pan-tilt power supply interface and the pan-tilt network interface 8 and the laser scanner power supply and network interface provide power supply and communication for the detection assembly.

[0043] The detection assembly is installed at the lower part of the crane connecting beam, the LED display unit is arranged above the side of the vehicle driving direction, which is convenient for the driver to observe. The pan-tilt rotating shaft of the detection assembly is parallel to the vehicle driving direction, and the point cloud scanning direction of the laser scanner is parallel to the vehicle driving direction. The system rotates the rotating shaft by control, the rotating shaft drives the laser scanner to rotate, and then changes the scanning direction of the scanner to realize different lane switching.

[0044] After installation, the scanner is calibrated by rotating shaft to correspond to the angle of each lane, and the angle and lane number are written into the control system. The control system automatically rotates to the corresponding angle after receiving the corresponding lane number information, realizing lane switching.

[0045] For lane angle preset, the control system is provided with a debugging visual window module. The visual window mainly has functions of running monitoring, parameter setting, fault display, etc. The position of the scanner perpendicular to the ground is calibrated to 0°, the rotating shaft is rotated to lane 2, the corresponding lane angle a is measured and calibrated to the parameter setting lane number 2. When the control system gives the lane detection number 2, the rotating shaft of the cloud platform is rotated to the corresponding angle a, and then the detection of the target moving position of lane 2 is started.

[0046] Embodiment 2 In another typical embodiment of the present application, as shown in Figs. 1-3 a port container loading and unloading multi-lane guiding system is given.

[0047] A port container loading and unloading multi-lane guiding system comprises: The vehicle position acquisition unit is configured to adjust the detection range according to the acquired target lane information, match the target lane, and detect the vehicle position information on the target lane; The instruction display unit is configured to acquire the target position information, calculate the real-time distance between the vehicle position and the target position in combination with the vehicle position information, output and display the real-time distance and the vehicle action instruction; The positioning recognition unit is configured to send the positioning instruction and execute the operation after the real-time distance reaches the set range.

[0048] Further comprising: The target lane information acquisition unit is configured to acquire the target lane information, including acquiring the target lane information from the crane control unit. The crane control unit receives the wharf operation management system and the lane selector signal to acquire the target lane information and the target position information.

[0049] Wherein, the working process of the port container loading and unloading multi-lane guiding system refers to the port container loading and unloading multi-lane guiding method in embodiment 1, which will not be repeated here.

[0050] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A port container handling multi-lane guiding method, characterized by, The application relates to a crane position detection system and a crane position detection method. The target lane information is obtained, the real-time distance between the vehicle position and the target position is calculated by combining the vehicle position information, the real-time distance and the vehicle action instruction are output and displayed. When the real-time distance reaches the set range, the in-position instruction is sent and the operation is executed. The target lane information is obtained from a crane control unit, the crane control unit receives a terminal operation management system and a lane selector signal to obtain the target lane information and the target position information.

2. The port container freight handling multi-lane guiding method according to claim 1, wherein, The target selector receives an external operation instruction to output the target lane information to the crane control unit.

3. The port container handling multi-lane guidance method of claim 2, wherein, The detection range is adjusted according to the target lane information, the detection range is changed to the target lane, and the vehicle in the target lane range is detected.

4. The harbor container freight multi-lane guiding method according to claim 1, wherein, The detection assembly comprises a holder controller and a laser scanner, the laser scanner is arranged above the lane through the holder controller, the holder controller adjusts the detection range of the laser scanner, and the laser scanner is used for scanning the vehicle on the target lane to obtain the vehicle position information.

5. The port container handling multi-lane guidance method of claim 4, wherein, The detection assembly calculates the relative position of the vehicle and the detection assembly according to the detection direction and the distance between the vehicle and the detection assembly, and calculates the vehicle position information on the target lane according to the relative position of the detection assembly and the target lane.

6. The port container handling multi-lane guidance method according to claim 4 or 5, characterized in that, The real-time distance and the vehicle action instruction are output and displayed, the relative position of the vehicle and the target position is judged based on the real-time distance, the action instruction of the vehicle advancing, retreating or stopping is obtained, and the real-time distance and the action instruction are displayed on the LED display unit.

7. The harbor container freight station multi-lane guiding method according to claim 1, wherein, The operation items of the crane at the target position are obtained and displayed on the LED display unit.

8. The port container handling multi-lane guidance method of claim 7, wherein, The application relates to a crane position detection system and a crane position detection method.

9. A port container handling multi-lane guidance system, characterized in that, The target lane information is obtained, the real-time distance between the vehicle position and the target position is calculated by combining the vehicle position information, the real-time distance and the vehicle action instruction are output and displayed. When the real-time distance reaches the set range, the in-position instruction is sent and the operation is executed. The target lane information is obtained from a crane control unit, the crane control unit receives a terminal operation management system and a lane selector signal to obtain the target lane information and the target position information. ​ 10. The port container yard multi-lane guidance system of claim 9, wherein, ​ ​

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