A yard intelligent vehicle dispatching method and system based on parallel cooperation

By constructing a scheduling interference topology map and generating collision avoidance drive commands, the problems of physical deadlock and impact loss between equipment in traditional intelligent yard traffic scheduling are solved, realizing collaborative scheduling and smooth handling among multiple devices, and improving the safety and efficiency of port logistics.

CN122308314APending Publication Date: 2026-06-30SHANDONG XINNENG SHIPBUILDING CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHANDONG XINNENG SHIPBUILDING CO LTD
Filing Date
2026-06-01
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Traditional intelligent crane scheduling methods in yards are prone to physical deadlocks and flow interruptions when multiple devices perform handling tasks together, and pose safety hazards under complex operating conditions, especially due to equipment impact losses and compound torsional phenomena caused by rigid physical isolation and contact limit switches.

Method used

A parallel collaborative intelligent crane scheduling method for the yard is adopted. By generating directed edges with vertical stacking and horizontal interference, a scheduling interference topology graph is constructed. The in-degree of nodes is counted to generate a concurrent task queue. Collision avoidance drive commands are generated using three-dimensional intersection volume change parameters and visual swing angle acceleration. Combined with motor controller and frequency converter, deceleration braking and collaborative scheduling correction control are performed.

Benefits of technology

It achieves collision avoidance between multiple devices, reduces spatial conflicts between devices, ensures the stability and safety of handling, avoids the impact of rigid brakes on equipment, and improves the efficiency and safety of yard operations.

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Abstract

This invention relates to the field of port logistics technology, specifically to a parallel collaborative intelligent yard crane scheduling method and system. The method includes the following steps: integrating coordinate parameters to generate a scheduling interference topology graph; constructing a concurrent task queue and establishing operational status data; mapping a three-dimensional envelope surface to calculate the intersection volume difference; mapping the volume difference to a braking level and injecting it into the motor to output an avoidance command; and deriving and superimposing a compensation current based on the sway angle acceleration and the trolley acceleration. In this invention, the three-dimensional anti-collision logic is mapped to a graph structure priority topology stripping to ensure concurrent tasks are immune to spatial deadlock conflicts. The volume derivative is used to dynamically predict the multi-machine displacement overlap rate to achieve flexible trolley coasting and avoid physical collision losses from rigid brakes. The feedforward compensation current is extracted by combining the spatial cross-product nonlinear coupling deviation to compensate for off-center load swaying potential energy from the electrical level and ensure the smoothness of the crane handling process.
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