A collision avoidance method between IGV and gantry crane

Abstract

This invention relates to the field of port automation operations, specifically to a collision avoidance method for IGVs and gantry cranes. Within the yard, the IGV predicts the possibility of collision with each lane change after detecting the gantry crane. It stops lane changes at risk and resumes only after the risk has been eliminated. Meanwhile, the gantry crane monitors its distance from the IGV in real time, stopping its movement on a ramp if the distance is too close, thus providing secondary collision protection if the primary IGV collision avoidance protection fails. Off-site, the IGV actively avoids gantry cranes crossing the street for relocation, and a data platform provides differentiated alarms for the gantry cranes to minimize collisions. Individual control of the gantry crane and IGV is implemented both inside and outside the yard, achieving full-scene collision avoidance and improving the turnaround efficiency of IGV and gantry crane collaborative operations.

Description

Technical Field

[0001] This invention relates to the field of port automation operations, and specifically to a method for preventing collisions between an IGV and a gantry crane. Background Technology

[0002] Port automation refers to a system that utilizes technologies and equipment such as unmanned trucks, automated rubber-tired gantry cranes, and remotely controlled gantry cranes to replace traditional manual labor in core processes such as loading, unloading, transportation, and yard management. The entire process begins with the ship berthing at the port. Gantry cranes automatically or remotely grab and place containers, IGVs (Intelligent Guided Vehicles) or unmanned trucks automatically move containers between the yard and the quay front, and rubber-tired gantry cranes perform precise stacking within the yard. The entire process is uniformly scheduled by the Port Operating System (TOS) and integrates with intelligent tallying and electronic documentation systems to achieve data closure.

[0003] In practical applications, gantry cranes are responsible for stacking, retrieving, and repositioning containers within the yard, while IGVs (Inlet-Guard Vehicles) perform horizontal transport of containers on main roads between yards and on driveways within the yard. Because their operating spaces overlap both within the yard and on main roads, IGVs face the risk of collisions when working in conjunction with gantry cranes, causing queues and congestion, and reducing the turnaround efficiency of multiple IGVs and gantry cranes working together within the yard. Summary of the Invention

[0004] The purpose of this invention is to provide a collision avoidance method between IGVs and gantry cranes, aiming to improve the problem of collision risk faced by IGVs and gantry cranes in collaborative operation, causing operation queue congestion and reducing the turnover efficiency of multiple IGVs and gantry cranes working together in the yard.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A collision avoidance method between IGV and gantry crane. Within the yard area, the IGV vehicle-mounted perception system detects in real time whether there is a gantry crane in the work area. If there is, it obtains the real-time motion status data of the gantry crane to determine whether there is a collision risk. If so, the IGV stops changing lanes until the risk is eliminated. A lane-changing safety distance threshold is set around the gantry crane's travel perimeter. When the IGV requests a lane change in the yard and a moving gantry crane is detected nearby, the actual distance between the current position of the IGV and the current position of the gantry crane is calculated. The actual distance is compared with the lane-changing safety distance threshold. When the actual distance is less than the lane-changing safety distance threshold, the gantry crane platform stops moving, and manual control is taken over. Outside the site, a collision avoidance zone is generated around the gantry crane. After the IGV vehicle-mounted perception system detects the gantry crane, it determines whether the gantry crane is in a cross-street transfer state and uploads its own data and the distance data between it and the target gantry crane to the equipment data center. If the gantry crane is in a cross-street transfer state, the IGV determines that it has entered the collision avoidance zone, and if so, it immediately stops. The equipment data center matches and identifies the corresponding gantry crane's equipment number based on the positioning information and issues differentiated alarms based on the gantry crane's current control mode.

[0006] Furthermore, in the off-site area, before the gantry crane starts its cross-street relocation, it generates a cross-street relocation command and sends it to the equipment data platform. The equipment data platform forwards the cross-street relocation command to the IGV cloud server. The IGV cloud server generates a restricted area covering the off-site movement path of the gantry crane based on the cross-street relocation command. The IGV cloud server searches for all IGVs whose travel paths intersect with the restricted area, replans a new path for the corresponding IGV to avoid the restricted area, and sends the new path to the corresponding IGV. After the gantry crane completes the street crossing relocation, it generates a street crossing relocation completion command and sends it to the equipment data platform. The equipment data platform forwards the street crossing relocation completion command to the IGV cloud server, and the IGV cloud server immediately removes the corresponding restricted area upon receiving it.

[0007] Furthermore, the street-crossing relocation instruction includes the gantry crane's equipment number, the starting storage yard identifier, the main road route identifier, and the target storage yard identifier.

[0008] Furthermore, obtaining the real-time motion status data of the gantry crane includes the following steps: After the IGV detects the gantry crane, it uses its own positioning information and the coordinates of the gantry crane's detection position to match and identify the gantry crane's equipment number in the equipment data center, and obtains the gantry crane's real-time motion status data through the equipment number; The real-time motion status data includes the gantry crane's direction of travel and its travel speed.

[0009] Furthermore, the lane change safety distance threshold includes a first safety distance and a second safety distance, wherein the first safety distance is less than the second safety distance; When the gantry crane trolley and the IGV are traveling in the same direction, the lane change safety distance threshold is the first safety distance. When the gantry crane trolley and the IGV are traveling in opposite directions, the lane change safety distance threshold is the second safety distance.

[0010] Furthermore, the collision avoidance area includes a first collision avoidance area and a second collision avoidance area, wherein the area of ​​the first collision avoidance area is smaller than the area of ​​the second collision avoidance area; When the gantry crane is stationary, the collision avoidance zone around the gantry crane is the first collision avoidance zone; When the gantry crane is in motion, the collision avoidance zone around the gantry crane is the second collision avoidance zone.

[0011] Furthermore, the self-data includes the IGV device number and IGV coordinate information; After receiving the data reported by the IGV, the equipment data center determines whether the distance data is less than the preset near-distance alarm threshold. If so, it issues a differentiated alarm based on the current control mode of the gantry crane.

[0012] Furthermore, the differentiated alarm includes the following steps: When the gantry crane is in remote control mode, the equipment data center pushes a warning message to the gantry crane and issues a lock command. The gantry crane automatically locks and stops moving, and is then manually controlled. After the operator confirms safety at the remote control console, the lock is released and the crane can continue moving. When the gantry crane is in local mode, the equipment data center triggers the buzzer in the gantry crane cab through the communication module to alarm the driver in the cab.

[0013] Furthermore, the storage yards within the site are provided with overtaking lanes and work lanes adjacent to the storage yards, and the main roads between the storage yards outside the site are connected to the work lanes and overtaking lanes; The lane change refers to the IGV changing from the work lane to the overtaking lane or from the overtaking lane to the work lane.

[0014] Furthermore, the IGV vehicle-side perception system includes a main perception channel and a redundant perception channel. The main perception channel performs 3D target detection and positioning on the gantry crane. When the main perception channel fails, the redundant perception channel is activated.

[0015] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: Within the site, the IGV predicts the possibility of collision with each lane change after detecting the gantry crane. It halts lane changes at risk until the risk is eliminated. The gantry crane continuously monitors its distance from the IGV, stopping its movement on a ramp if the distance is too close, thus providing secondary collision protection if the IGV's primary collision avoidance protection fails. Off-site, the IGV actively avoids gantry cranes crossing the street for relocation, and the equipment data platform provides differentiated alarms for the gantry crane to minimize collisions. Individual control of the gantry crane and IGV is implemented both inside and outside the site, achieving full-scene collision avoidance and improving the turnaround efficiency of the coordinated operation of the IGV and gantry crane. Attached Figure Description

[0016] Figure 1 This is a block diagram of the IGV in-field collision avoidance method for the collision avoidance between IGV and gantry crane described in this invention; Figure 2This is a block diagram of the collision avoidance method between IGV and gantry crane described in this invention, showing the collision avoidance mechanism within the gantry crane yard. Figure 3 This is an off-site collision avoidance block diagram of the collision avoidance method between IGV and gantry crane described in this invention; Figure 4 This is a cloud-based anti-collision block diagram of the anti-collision method between IGV and gantry crane described in this invention; Figure 5 This is a schematic diagram of the collision avoidance method between the IGV and the gantry crane described in this invention. Figure 6 This is a schematic diagram of the IGV lane change within the field, illustrating the collision avoidance method between the IGV and the gantry crane described in this invention. Figure 7 This is a schematic diagram of the relative motion between the IGV and the gantry crane in the anti-collision method between the IGV and the gantry crane described in this invention; Figure 8 This is an off-site diagram of the collision avoidance method between the IGV and the gantry crane described in this invention; Figure 9 This is a schematic diagram of the off-site movement of the IGV and gantry crane in the anti-collision method between the IGV and the gantry crane described in this invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] Additionally, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are all based on the orientation or positional relationship shown in the accompanying drawings. They are merely for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element of the present invention must have a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0019] When an element is referred to as being "fixed to," "set on," or "contained on" another element, it can be directly on or indirectly on that other element. When an element is referred to as being "connected to," it can be directly connected to or indirectly connected to that other element.

[0020] Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0021] Please refer to Figure 1-9 As shown, this embodiment provides a method for preventing collisions between an IGV and a gantry crane. Please refer to [the relevant documentation]. Figure 1 , Figure 2 , Figures 5-7 As shown, within the yard area, the IGV vehicle-mounted sensing system continuously detects whether a gantry crane is present in the work area. If so, it acquires the gantry crane's real-time movement status data to determine if there is a collision risk. If so, the IGV stops changing lanes until the risk is eliminated. A lane-changing safety distance threshold is set around the gantry crane's travel perimeter. When the IGV requests a lane change within the yard and a moving gantry crane is detected nearby, the actual distance between the IGV's current position and the gantry crane's current position is calculated. This actual distance is compared to the lane-changing safety distance threshold. If the actual distance is less than the threshold, the gantry crane platform stops moving, and manual control takes over. Please refer to [reference needed]. Figure 3 , Figure 8 and Figure 9 As shown, in the off-site area, a collision avoidance zone is generated around the gantry crane. After the IGV vehicle-mounted perception system detects the gantry crane, it determines whether the gantry crane is in a cross-street transfer state and uploads its own data and the distance data between it and the target gantry crane to the equipment data center. If the gantry crane is in a cross-street transfer state, the IGV determines that it has entered the collision avoidance zone, and if so, it immediately stops. The equipment data center matches and identifies the corresponding gantry crane's equipment number based on the positioning information and issues differentiated alarms based on the gantry crane's current control mode.

[0022] Within the site, the IGV predicts the possibility of collision with each lane change after detecting the gantry crane. It halts lane changes at risk until the risk is eliminated. The gantry crane continuously monitors its distance from the IGV, stopping its movement on a ramp if the distance is too close, thus providing secondary collision protection if the IGV's primary collision avoidance protection fails. Off-site, the IGV actively avoids gantry cranes crossing the street for relocation, and the equipment data platform provides differentiated alarms for the gantry crane to minimize collisions. Individual control of the gantry crane and IGV is implemented both inside and outside the site, achieving full-scene collision avoidance and improving the turnaround efficiency of the coordinated operation of the IGV and gantry crane.

[0023] Please refer to Figure 4 and Figure 9 As shown in sub-diagram 3, within the off-site area, before the gantry crane initiates its street-crossing relocation, it generates a street-crossing relocation command and sends it to the equipment data platform. The equipment data platform forwards the command to the IGV cloud server. Based on the command, the IGV cloud server generates a restricted area encompassing the gantry crane's off-site movement path. The IGV cloud server then searches for all IGVs whose routes intersect with this restricted area, replans a new route for each IGV to avoid the restricted area, and sends the new route to the corresponding IGV. After the gantry crane completes the street-crossing relocation, it generates a street-crossing relocation completion command and sends it to the equipment data platform. The equipment data platform forwards the command to the IGV cloud server, which immediately removes the corresponding restricted area upon receipt. In conjunction with cloud-based real-time acquisition of gantry crane crossing and relocation needs, and the acquisition of their crossing and relocation routes, the IGV (Intrusion Container Vehicle) is controlled to avoid entering the corresponding routes, minimizing the possibility of collisions between the IGV and the gantry crane in off-site areas. Furthermore, after the gantry crane completes its crossing and relocation, the restricted area is promptly removed, allowing the IGV to move to the target location with the shortest possible distance. By pre-planning areas through the cloud, collision avoidance protection is upgraded from close-range emergency obstacle avoidance on the vehicle side to global cloud-based scheduling, preventing sudden braking and path lock-up issues caused by the IGV only detecting the gantry crane at close range.

[0024] The pedestrian crossing and relocation instructions include the gantry crane's equipment number, the starting storage yard identifier, the main road route identifier, and the destination storage yard identifier. By using the gantry crane's equipment number to obtain the gantry crane's location in real time via the cloud, and by obtaining the starting storage yard identifier, the destination storage yard identifier, and the main road route identifier, the accuracy of the gantry crane's travel path can be improved, and a restricted area matching the gantry crane's travel path can be generated.

[0025] Furthermore, obtaining the real-time motion status data of the gantry crane includes the following steps: After the IGV detects the gantry crane, it matches and identifies the gantry crane's equipment number in the equipment data platform using its own positioning information and the coordinates of the gantry crane's detection location, and obtains the gantry crane's real-time motion status data through the equipment number. The real-time motion status data includes the gantry crane's trolley's direction of travel and its travel speed. In this embodiment, the positioning information is GPS positioning information, but it can also be Beidou positioning information or other positioning information. The IGV obtains the corresponding gantry crane's equipment number in the equipment data platform through its own location and the location of the gantry crane being picked up, thereby obtaining the corresponding gantry crane's motion path and motion data, providing a basis for subsequent prediction of whether there is a collision risk.

[0026] Please refer to Figure 7 As shown, Figure 7The diagram illustrates the driving status of the IGV and the gantry crane. Solid arrows indicate the direction of travel, while dashed arrows indicate the IGV's lane-changing direction. Lane-changing safety distance thresholds include a first safety distance and a second safety distance, with the first safety distance being less than the second. When the gantry crane and IGV are traveling in the same direction, the lane-changing safety distance threshold is the first safety distance. When the gantry crane and IGV are traveling towards each other, the lane-changing safety distance threshold is the second safety distance. In this embodiment, the first safety distance is 40 meters, and the second safety distance is 80 meters. When both are traveling in the same direction, a smaller safety distance is set, resulting in a lower relative speed and allowing for a shorter safety distance, reducing unnecessary waiting time for the IGV and effectively preventing rear-end collisions. When both are traveling towards each other, a longer safety distance is set to provide greater safety space for the IGV to change direction, preventing collisions between the IGV and the gantry crane during lane changes.

[0027] Please refer to Figure 9 As shown in sub-figures 1 and 2, the collision avoidance zone includes a first collision avoidance zone and a second collision avoidance zone, with the area of ​​the first collision avoidance zone being smaller than that of the second collision avoidance zone. When the gantry crane is stationary, the collision avoidance zone around the gantry crane is the first collision avoidance zone; when the gantry crane is in motion, the collision avoidance zone around the gantry crane is the second collision avoidance zone. The collision avoidance zone extends outward from the gantry crane to a certain extent. In the stationary state, a smaller collision avoidance zone is sufficient to prevent collisions between the IGV and the gantry crane. However, during the movement of the gantry crane, a larger collision avoidance zone is required to compensate for the distance traveled between the two.

[0028] The data itself includes the IGV device number and IGV coordinate information. After receiving the data reported by the IGV, the equipment data platform determines whether the distance data is less than the preset proximity alarm threshold. If so, it issues a differentiated alarm based on the current control mode of the gantry crane. The cloud participates in the collision avoidance judgment in real time and sets the proximity alarm threshold. When both the IGV's off-site collision avoidance measures and the gantry crane's off-site collision avoidance measures fail, if the distance between the IGV and the gantry crane is too close, it will promptly control the gantry crane platform to stop or promptly intervene manually to avoid a collision.

[0029] Furthermore, the differentiated alarm includes the following steps: When the gantry crane is in remote control mode, the equipment data platform pushes a warning message to the gantry crane and issues a locking command. The gantry crane automatically locks and stops moving, requiring manual control. After the operator confirms safety at the remote control console, the lock is released and movement continues. In remote control mode, the gantry crane is stopped promptly to minimize the risk of collision with the IGV. Work resumes only after manual confirmation of safety, improving operational efficiency. When the gantry crane is in local mode, the equipment data platform triggers a buzzer in the gantry crane cab via the communication module, alerting the driver with an audible and visual warning of a nearby IGV. This tiered strategy ensures that collision risks are communicated in the most effective way in each mode.

[0030] Specifically, the on-site area has overtaking lanes and adjacent working lanes between the storage yards. In the off-site area, the main roads between the storage yards connect to the working lanes and overtaking lanes. Lane changes involve IGVs changing from the working lane to the overtaking lane or vice versa. IGVs need to operate at multiple bays on the working lane. When a lower-bay IGV is operating, it may obstruct the path of a higher-bay IGV heading towards the lower working bay. In this case, the higher-bay IGV needs to use the overtaking lane to change lanes and then re-enter the working lane to bypass the congestion. Before changing lanes, it is necessary to assess the risk of collision with the gantry crane to ensure the safety of each lane change.

[0031] In this embodiment, the IGV vehicle-side perception system includes a main perception channel and a redundant perception channel. The main perception channel performs 3D target detection and positioning on the gantry crane. When the main perception channel fails, the redundant perception channel is activated. Specifically, the main perception channel is a LiDAR perception system, and the redundant perception channel is a fisheye camera, forming a dual-layer redundant perception to avoid detection blind spots caused by the failure of a single sensor. The LiDAR is used as the main perception channel for 3D detection of the gantry crane, and the fisheye camera semantic segmentation serves as a redundant backup channel that is switched on when the LiDAR fails. Under normal operating conditions, the main channel works independently to ensure performance, and the backup channel automatically takes over to avoid detection interruption when it fails. The two channels are not fused but rather have a primary / backup switching relationship, which avoids the computational overhead and false detection risk of fusion, and provides a fallback guarantee in case of perception failure, solving the detection blind spot problem that may occur with a single LiDAR in the complex environment of a yard.

[0032] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for preventing collisions between an IGV and a gantry crane, characterized in that, Within the yard area, the IGV vehicle-mounted perception system detects in real time whether there is a gantry crane in the work area. If there is, it obtains the real-time motion status data of the gantry crane to determine whether there is a collision risk. If so, the IGV stops changing lanes until the risk is eliminated. A lane-changing safety distance threshold is set around the gantry crane's travel perimeter. When the IGV requests a lane change in the yard and a moving gantry crane is detected nearby, the actual distance between the current position of the IGV and the current position of the gantry crane is calculated. The actual distance is compared with the lane-changing safety distance threshold. When the actual distance is less than the lane-changing safety distance threshold, the gantry crane platform stops moving, and manual control is taken over. Outside the site, a collision avoidance zone is generated around the gantry crane. After the IGV vehicle-mounted perception system detects the gantry crane, it determines whether the gantry crane is in a cross-street transfer state and uploads its own data and the distance data between it and the target gantry crane to the equipment data center. If the gantry crane is in a cross-street transfer state, the IGV determines that it has entered the collision avoidance zone, and if so, it immediately stops. The equipment data center matches and identifies the corresponding gantry crane's equipment number based on the positioning information and issues differentiated alarms based on the gantry crane's current control mode.

2. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, In the off-site area, before the gantry crane starts its cross-street relocation, it generates a cross-street relocation command and sends it to the equipment data platform. The equipment data platform forwards the cross-street relocation command to the IGV cloud server. The IGV cloud server generates a restricted area covering the gantry crane's off-site movement path based on the cross-street relocation command. The IGV cloud server searches for all IGVs whose travel paths intersect with the restricted area, replans a new path for the corresponding IGV to avoid the restricted area, and sends the new path to the corresponding IGV. After the gantry crane completes the street crossing relocation, it generates a street crossing relocation completion command and sends it to the equipment data platform. The equipment data platform forwards the street crossing relocation completion command to the IGV cloud server, and the IGV cloud server immediately removes the corresponding restricted area upon receiving it.

3. The collision avoidance method between IGV and gantry crane according to claim 2, characterized in that, The cross-street relocation instructions include the gantry crane's equipment number, the starting storage yard identifier, the main road route identifier, and the target storage yard identifier.

4. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, Obtaining the real-time motion status data of the gantry crane includes the following steps: After the IGV detects the gantry crane, it uses its own positioning information and the coordinates of the gantry crane's detection position to match and identify the gantry crane's equipment number in the equipment data center, and obtains the gantry crane's real-time motion status data through the equipment number; The real-time motion status data includes the gantry crane's direction of travel and its travel speed.

5. The collision avoidance method between IGV and gantry crane according to claim 4, characterized in that, The lane change safety distance threshold includes a first safety distance and a second safety distance, wherein the first safety distance is less than the second safety distance; When the gantry crane trolley and the IGV are traveling in the same direction, the lane change safety distance threshold is the first safety distance. When the gantry crane trolley and the IGV are traveling in opposite directions, the lane change safety distance threshold is the second safety distance.

6. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, The collision avoidance zone includes a first collision avoidance zone and a second collision avoidance zone, wherein the area of ​​the first collision avoidance zone is smaller than the area of ​​the second collision avoidance zone; When the gantry crane is stationary, the collision avoidance zone around the gantry crane is the first collision avoidance zone; When the gantry crane is in motion, the collision avoidance zone around the gantry crane is the second collision avoidance zone.

7. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, The self-data includes the IGV device number and IGV coordinate information; After receiving the data reported by the IGV, the equipment data center determines whether the distance data is less than the preset near-distance alarm threshold. If so, it issues a differentiated alarm based on the current control mode of the gantry crane.

8. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, The differentiated alarm includes the following steps. When the gantry crane is in remote control mode, the equipment data center pushes a warning message to the gantry crane and issues a lock command. The gantry crane automatically locks and stops moving, and is then manually controlled. After the operator confirms safety at the remote control console, the lock is released and the crane can continue moving. When the gantry crane is in local mode, the equipment data center triggers the buzzer in the gantry crane cab through the communication module to alarm the driver in the cab.

9. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, The storage yards within the site are connected by overtaking lanes and work lanes adjacent to the storage yards. The main roads between the storage yards outside the site are connected to the work lanes and overtaking lanes. The lane change refers to the IGV changing from the work lane to the overtaking lane or from the overtaking lane to the work lane.

10. The collision avoidance method between IGV and gantry crane according to claim 1, characterized in that, The IGV vehicle-side perception system includes a main perception channel and a redundant perception channel. The main perception channel performs 3D target detection and positioning on the gantry crane. When the main perception channel fails, the redundant perception channel is activated.

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