CN112441380B - A method and system for allocating points of interaction between a two-end track and an automatic guided transport vehicle - Google Patents
A method and system for allocating points of interaction between a two-end track and an automatic guided transport vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
本发明的一种两端式轨道与自动导引运输车交互点分配方法及系统，其交互点分配方法为：(1)在自动化码头内，其中需要对作业交互点进行分配的主要设备有自动导引运输车和和两段式轨道吊，(2)然后，按照优先级，当多辆自动导引运输车要求同时选择交互区时，作业类型为装船的自动导引运输车优先选择，等装船的自动导引运输车选择完成后，在进行卸船自动导引运输车的选择；(3)若自动导引运输车顶升设备不正常时，能够有效的决策选择和自动导引运输车安全交互控制、堆场作业机械的安全交互控制相搭配，可以有效的提高整体系统运行的效率，能够有效的实现两端式作业想的作业效率，有效的提高交互点分配的合理化程度。
A method and system for allocating interaction points between a two-end track and an automatic guided transport vehicle of the present invention, the method for allocating interaction points is as follows: (1) in an automated wharf, wherein the main equipment that needs to allocate operation interaction points includes automatic Guided transport vehicles and two-stage rail cranes, (2) Then, according to the priority, when multiple automatic guided transport vehicles are required to select the interactive area at the same time, the automatic guided transport vehicle with the operation type of loading is preferred. After the selection of the automatic guided transport vehicle for loading is completed, the selection of the automatic guided transport vehicle for unloading is carried out; (3) If the lifting equipment of the automatic guided transport vehicle is abnormal, it can effectively make decision-making and automatic guidance. The combination of the safety interactive control of the transport vehicle and the safety interactive control of the yard operation machinery can effectively improve the operation efficiency of the overall system, effectively realize the operation efficiency of the two-end operation, and effectively improve the rationalization of the distribution of interaction points.
Description
Technical Field
The invention relates to the field of automated wharf processing, in particular to improvement on interaction point distribution processing of a wharf transport vehicle, and particularly relates to a method and a system for distributing interaction points of a two-end type rail crane and an automated guided transport vehicle.
Background
With the increasing industrial level, the fully automatic container terminal is an advanced terminal based on modern computer, communication network and automatic control technology. Compared with the traditional wharf, the labor cost can be reduced, the safety operation level is improved, and the operation efficiency is further improved, in the full-automatic container wharf, the distribution of the interaction points of the two-end rail crane and the automatic guided transport vehicle is an indispensable part, the method is mainly applied to the loading and unloading ship process, how to reasonably select the proper interaction points for the two-end rail crane and the automatic guided transport vehicle is an important link for realizing the high operation efficiency of the full-automatic container wharf, but at present, the interaction point distribution method is basically selected only through a device control system supplier product, the execution interaction of people and devices is a unilateral decision, the efficiency is lower, the method is difficult to deal with various different distribution conditions, and the distribution efficiency and the wharf goods input and output efficiency are reduced to a great extent.
Therefore, the method and the system for distributing the interaction points of the two-end type rail crane and the automatic guided transport vehicle are provided, so that the method and the system for distributing the interaction points of the automatic guided transport vehicle can be improved, the method for selectively distributing the operation interaction points of the transport vehicle and the method for selectively distributing the operation interaction points of the yard operation machinery are provided, the decision selection, the safety interaction control of the automatic guided transport vehicle and the safety interaction control of the yard operation machinery can be effectively matched, the operation efficiency of the whole system can be effectively improved, the operation efficiency of the two-end type operation of the automatic container terminal can be effectively realized, the rationalization degree of the distribution of the interaction points can be effectively improved, the structure system is simple, the efficiency is improved, the cost is reduced, and the problem which needs to be solved urgently by technical personnel in the field is solved.
Disclosure of Invention
The invention aims to provide a method and a system for distributing interaction points of a two-end type rail crane and an automatic guided transport vehicle, so that the method and the system for distributing the interaction points of the automatic guided transport vehicle can be improved, and a method for selectively distributing operation interaction points of the transport vehicle and a method for selectively distributing operation interaction points of yard operation machinery are provided, so that the selection can be effectively decided, the safety interaction control of the automatic guided transport vehicle and the safety interaction control of the yard operation machinery are matched, the operation efficiency of the whole system can be effectively improved, the operation efficiency of two-end type operation of an automatic container terminal can be effectively realized, the rationalization degree of the distribution of the interaction points can be effectively improved, the structure system is simple, the efficiency is improved, and the cost is reduced.
In order to solve the technical problems in the background technology, the invention adopts the following technical scheme:
a method for distributing interaction points of a two-end type track and an automatic guided vehicle comprises the following steps:
(1) in an automatic wharf, main equipment needing to distribute operation interaction points comprises an automatic guided transport vehicle and a two-section rail crane, and the priority of the two-section rail crane and the operation interaction points of the automatic guided transport vehicle during selection is judged;
(2) then, according to the priority, when a plurality of automatic guided vehicles require to select an interaction area at the same time, the operation type is the priority selection of the loaded automatic guided vehicles, and after the selection of the loaded automatic guided vehicles is finished, the selection of the unloaded automatic guided vehicles is carried out; the automatic guided transporting vehicles for loading are divided into the cases with boxes and the cases without boxes, and the priority of the automatic guided transporting vehicles with boxes is higher than that of the automatic guided transporting vehicles without boxes; meanwhile, the ship loading task is prior, the ship loading task can be completed according to the required completion time, and meanwhile, the automatic guided transport vehicle with the box has the highest priority and enters an interaction area for interaction processing at first;
(3) secondly, if the automatic guided transporting vehicle lifting equipment is abnormal:
a. if the lifting equipment of the automatic guided vehicle is in fault, the automatic guided vehicle preferentially selects the direct interaction area only, then preferentially selects the direct interaction area of the ship unloading lane, and then selects the common direct interaction area without a box;
a. if there is no suitable direct interaction area, the automated guided vehicle waits for selection, and if there is a suitable interaction area, the automated guided vehicle is given a job interaction area. Also in extreme cases, a direct interaction area of the shipping container on the support is given;
if the automatic guide transport vehicle lifting equipment is normal, the automatic guide transport vehicle enters according to normal priority under the condition that no container exists on the support, and if the automatic guide transport vehicle lifting equipment exists, the automatic guide transport vehicle takes precedence over the container.
Preferably, the automated guided vehicles have the same automated guided vehicle and have the task that the same automated guided vehicle must transport the containers away with the highest priority.
Preferably, the method for managing and controlling the rack resources in the automated wharf comprises the following steps:
(1) if no empty support meeting the conditions exists, selecting a direct interaction area of a lane with a ship unloading box, wherein the ship unloading task occupies a certain number of supports (dynamically calculated according to the loading and unloading tasks), the automatic guided vehicle is not allowed to select the supports, and only the direct interaction area can be selected;
(2) if no empty support meeting the conditions exists, selecting a direct interaction area with the lane operation type being empty, and if the using number of the supports does not exceed the resource management of the supports, selecting the empty support;
(3) and if no empty bracket meeting the conditions exists, selecting a direct interaction area for ignoring the lane operation type.
Preferably, when the automated guided vehicle adopts a one-vehicle two-box strategy:
(1) if the direct interaction area has empty automatic guided vehicles, the double-box rail crane selects the automatic guided vehicles in the direct interaction area;
(2) if the support interaction area is free, the two-end type rail crane double box selects the support interaction area
A method for distributing interaction points of a two-end type track and an automatic guided vehicle comprises the following steps:
firstly, acquiring a horizontal transportation task, then analyzing the strategy that horizontal transportation preferentially enters a box area, then analyzing the information of two end type interaction points, classifying the types of branch lanes, then analyzing the task type of the horizontal transportation, if the horizontal transportation is unloaded, selecting horizontal transportation to re-enter and re-exit the box area to directly interact TP, then distributing interaction nodes through support resource management and control processing, then judging whether jacking is in fault, if the jacking is in fault, selecting the direct interaction area for the horizontal transportation, and if the jacking is in normal, unloading through a ship unloading general selection principle; if the task type of horizontal transportation is analyzed and the ship is not unloaded, whether jacking is in fault is judged, if the jacking is in fault, a jacking fault selection strategy is used, if the jacking is normal, interaction point distribution is carried out through a support boxless selection strategy, then whether horizontal transportation is in a boxed state is judged, if the horizontal transportation is in a boxed state, a one-car two-purpose selection strategy is adopted, if the horizontal transportation is not in a boxed state, an instruction exchange strategy is adopted, and finally interaction point distribution is carried out through a general selection principle.
The invention has the beneficial effects that:
1) the method can effectively make decision selection, automatic guided transport vehicle safety interaction control and storage yard operation machine safety interaction control match, can effectively improve the operation efficiency of the whole system, can effectively realize the operation efficiency of two-end type operation of the automatic container terminal, effectively improve the rationalization degree of interaction point distribution, has a simple structural system, improves the efficiency and reduces the cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a system flow diagram of a method and a system for distributing interaction points of a two-end type rail crane and an automated guided vehicle according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be described in further detail below.
In the specific embodiment:
a method for distributing interaction points of a two-end type track and an automatic guided vehicle comprises the following steps:
(1) in an automatic wharf, main equipment needing to distribute operation interaction points comprises an automatic guided transport vehicle and a two-section rail crane, and the priority of the two-section rail crane and the operation interaction points of the automatic guided transport vehicle during selection is judged;
(2) then, according to the priority, when a plurality of automatic guided vehicles require to select an interaction area at the same time, the operation type is the priority selection of the loaded automatic guided vehicles, and after the selection of the loaded automatic guided vehicles is finished, the selection of the unloaded automatic guided vehicles is carried out; the automatic guided transporting vehicles for loading are divided into the cases with boxes and the cases without boxes, and the priority of the automatic guided transporting vehicles with boxes is higher than that of the automatic guided transporting vehicles without boxes; meanwhile, the ship loading task is prior, the ship loading task can be completed according to the required completion time, and meanwhile, the automatic guided transport vehicle with the box has the highest priority and enters an interaction area for interaction processing at first;
(3) secondly, if the automatic guided transporting vehicle lifting equipment is abnormal:
a. if the lifting equipment of the automatic guided vehicle is in fault, the automatic guided vehicle preferentially selects the direct interaction area only, then preferentially selects the direct interaction area of the ship unloading lane, and then selects the common direct interaction area without a box;
a. if there is no suitable direct interaction area, the automated guided vehicle waits for selection, and if there is a suitable interaction area, the automated guided vehicle is given a job interaction area. Also in extreme cases, a direct interaction area of the shipping container on the support is given;
if the automatic guide transport vehicle lifting equipment is normal, the automatic guide transport vehicle enters according to normal priority under the condition that no container exists on the support, and if the automatic guide transport vehicle lifting equipment exists, the automatic guide transport vehicle takes precedence over the container.
A method for distributing interaction points of a two-end type rail crane and an automatic guided vehicle comprises the following steps:
selection of suitable operating interaction points for automated guided vehicles with ship loading and unloading tasks and pile transfer tasks (hereinafter referred to collectively as automated guided vehicles)
And selecting a proper operation interaction point (hereinafter, collectively referred to as TP) for the two-end type track crane with the ship loading and unloading task and the pile transferring task (hereinafter, collectively referred to as two-end type track crane).
In the technical scheme, a proper operation interaction point is selected for the two-end type track crane and the automatic guide transport vehicle, and the support and the direct interaction area are reasonably used so as to achieve the purpose of improving the operation efficiency.
Further, assigning the TP interaction zone to an automated guided vehicle comprises: the automatic guided transport vehicle enters a box area preferentially; and selecting TP strategies for different types of tasks such as loading, unloading and transpiling. Assigning the TP interaction area to a two-ended gantry crane comprises: selecting a strategy with a direct interaction area of the automated guided vehicle; and selecting a strategy with the interactive area of the direct operation.
In the technical scheme, the interaction areas are reasonably and respectively selected for the automatic guided transport vehicle and the two-end type track cranes, the high efficiency of the utilization of the interaction areas is ensured, and the operation efficiency of the two-end type track cranes is maximized.
Further, the strategy of entering the box area according to the priority of the automatic guided transport vehicle comprises the following steps: when a plurality of automatic guided transporting vehicles require to select an interaction area at the same time, the operation type is the preferential selection of the loaded automatic guided transporting vehicle, and the selection of the unloaded automatic guided transporting vehicle is carried out after the selection of the loaded automatic guided transporting vehicle is finished; the self-guided vehicles loaded on the ship are divided into the cases with boxes and the cases without boxes, and the priority of the self-guided vehicles with boxes is higher than that of the self-guided vehicles without boxes.
In the technical scheme, the shipping task is prior, the shipping task can be completed on time according to the required completion time, loss is avoided, and meanwhile, the automatic guided transport vehicle with the box can enter an interaction area more emergently because containers cannot be exchanged.
Further, the strategy for selecting TP for different types of tasks of shipping, unloading and transpiling comprises the following steps: analyzing the state of the container on the bracket of the TP interaction area and the state of the automatic guided vehicle of the TP interaction area; selection strategy of automatic guided vehicles for shipping tasks; selecting a strategy of the ship unloading automatic guide transport vehicle; selection strategy of the pile-turning automatic guided vehicle.
Further, the state of the container on the bracket of the TP interaction area and the state of the automatic guided vehicle of the TP interaction area are analyzed: and analyzing the operation type of the lane, the state of the automatic guided vehicle on the lane and the task state of the container on the lane according to the lane, wherein the task state comprises the container on the bracket and the direct interaction area.
The selection strategy of automated guided vehicles for shipment tasks includes: the jacking equipment of the automatic guided transport vehicle is abnormal, the jacking equipment of the automatic guided transport vehicle is normal, the box selection strategy of the shipping container on the support is adopted, and the shipping container on the support is not adopted.
In the shipping task, the automatic guided transporting vehicle jacking equipment selects an abnormal strategy:
if the lifting equipment of the automatic guided vehicle fails, the automatic guided vehicle preferentially selects the direct interaction area only, then preferentially selects the direct interaction area of the ship unloading lane, and then selects the common direct interaction area without a box.
If there is no suitable direct interaction area, the automated guided vehicle waits for selection, and if there is a suitable interaction area, the automated guided vehicle is given a job interaction area. Also in extreme cases, a direct interaction area of the shipping container on the support is given;
if the jacking equipment of the automatic guided vehicle is normal, the situation that no container exists on the support is the same as the interactive area selection strategy;
if the support has a container and the jacking equipment of the automatic guided transporting vehicle is normal, the automatic guided transporting vehicle is divided into the conditions that the automatic guided transporting vehicle has a box and does not have the box: if the automated guided vehicle is not provided with a box, the main rules are:
the task of the same automated guided vehicle is that the same automated guided vehicle must transport the containers away.
The task of selecting containers on the rack is preferably performed according to the type of operation of the task of the automated guided vehicle, for example, if the automated guided vehicle is on board, the automated guided vehicle will preferentially operate on the on-board containers, temporarily ignore the containers that are turning, and select the containers that are turning when there are no containers that are turning. Will be provided with
And directly loading and turning the boxes to be piled into a ship and sequencing the boxes according to the operation time, and preferentially operating according to the emergency degree of the time.
If the container is a double container, if the corresponding other container is not the same box, the operation is possible, the container is indicated to wait for another automatic guided vehicle to take the container, and the support does not allow the automatic guided vehicle to select.
If the two containers are in the same box area, one container is in the support and the other container is not operated, the automatic guided vehicle selects the direct interaction area of the support to wait for operation.
If the automated guided vehicle is on-board for a transshiping task, then the empty rack is selected for the shipping priority principle.
If the automatic guided vehicle is a transshipment task, checking whether the time of the distribution instruction of the automatic guided vehicle is later than the time on the support (8 minutes, the estimated time for loading one automatic guided vehicle to the bridge crane operation), and if so, selecting an empty support by the automatic guided vehicle, namely, the transshipment automatic guided vehicle can be changed into a shipment task under certain conditions to accelerate the shipment progress.
If the support has a pre-occupied shipping task, the automatic guided transport vehicle selects the support exchange area corresponding to the task support.
The selection strategy of automated guided vehicles for ship unloading tasks includes: the method comprises a support resource control strategy, an automatic guided vehicle re-entry and re-exit strategy, an automatic guided vehicle jacking equipment abnormality and equipment normality and a general selection strategy.
A support resource management and control strategy:
if the task of unloading the ship already takes up a certain number of supports (calculated dynamically on the basis of the loading and unloading tasks), the automated guided vehicle is not allowed to make the selection of supports, but only the direct interaction zone.
An empty rack is selected if the number of racks used does not exceed the rack's resource management.
The automatic guided vehicle weight in and weight out strategy comprises the following steps:
if the ship loading task on the support accords with a certain principle (whether the time of the ship loading task is estimated to be accordant or not), the automatic guided transport vehicle of the ship unloading task selects the direct interaction area of the TP, and then the logic of interaction of re-entering and re-exiting can be carried out.
General selection strategy:
if there is no empty rack that is eligible, the direct interaction zone of the lane with the unloaded box is selected.
And if no empty bracket meeting the conditions exists, selecting the lane operation type as an empty direct interaction area.
And if no empty bracket meeting the conditions exists, selecting a direct interaction area for ignoring the lane operation type.
As can be seen from the system flowchart of figure 1,
a method for distributing interaction points of a two-end type track and an automatic guided vehicle comprises the following steps:
firstly, acquiring a horizontal transportation task, then analyzing the strategy that horizontal transportation preferentially enters a box area, then analyzing the information of two end type interaction points, classifying the types of branch lanes, then analyzing the task type of the horizontal transportation, if the horizontal transportation is unloaded, selecting horizontal transportation to re-enter and re-exit the box area to directly interact TP, then distributing interaction nodes through support resource management and control processing, then judging whether jacking is in fault, if the jacking is in fault, selecting the direct interaction area for the horizontal transportation, and if the jacking is in normal, unloading through a ship unloading general selection principle; if the task type of horizontal transportation is analyzed and the ship is not unloaded, whether jacking is in fault is judged, if the jacking is in fault, a jacking fault selection strategy is used, if the jacking is normal, interaction point distribution is carried out through a support boxless selection strategy, then whether horizontal transportation is in a boxed state is judged, if the horizontal transportation is in a boxed state, a one-car two-purpose selection strategy is adopted, if the horizontal transportation is not in a boxed state, an instruction exchange strategy is adopted, and finally interaction point distribution is carried out through a general selection principle.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the foregoing description is illustrative in nature and is not to be construed as limiting the scope of the invention as claimed.
Claims (5)
1. A method for distributing interaction points of a two-end type track and an automatic guided vehicle is characterized by comprising the following steps:
(1) in an automatic wharf, equipment needing to distribute operation interaction points comprises an automatic guided transport vehicle and a two-end type rail crane, and priority of the two-end type rail crane and the automatic guided transport vehicle during operation interaction point selection is obtained firstly;
(2) then, according to the priority, when a plurality of automatic guided transporting vehicles require to select an interaction area at the same time, the operation type is the priority selection of the loaded automatic guided transporting vehicle, and after the selection of the loaded automatic guided transporting vehicle is finished, the selection of the unloaded automatic guided transporting vehicle is carried out; the automatic guided transporting vehicles for loading are divided into the cases with boxes and the cases without boxes, and the priority of the automatic guided transporting vehicles with boxes is higher than that of the automatic guided transporting vehicles without boxes; meanwhile, the ship loading task is prior, the automatic guided transport vehicle with the box has the highest priority and enters an interaction area for interaction processing at first while the ship loading task can be completed according to the required completion time;
(3) secondly, if the automatic guided transporting vehicle lifting equipment is abnormal:
a. if the lifting equipment of the automatic guided vehicle fails, the automatic guided vehicle preferentially selects a direct interaction area: firstly, preferentially selecting a direct interaction area of a ship unloading lane, and then selecting a common direct interaction area without a box;
b. if no suitable direct interaction area exists, the automatic guided vehicle waits for selection, and when a suitable interaction area exists, the operation interaction area of the automatic guided vehicle is given;
if the automatic guided transport vehicle lifting equipment is normal and a container is on the support, the container takes precedence.
2. The method as claimed in claim 1, wherein the automated guided vehicle has the same task as the automated guided vehicle, and the automated guided vehicle has the highest priority for transporting the container.
3. The method for allocating interaction points between a two-end track and an Automated Guided Vehicle (AGV) according to claim 1, wherein the method for managing and controlling the rack resources in the automated wharf comprises:
(1) if no empty support meeting the conditions exists, selecting a direct interaction area of a lane with a ship unloading box, wherein the ship unloading task occupies a certain number of supports and is dynamically calculated according to the loading and unloading tasks, the automatic guided transport vehicle is not allowed to select the supports, and only the direct interaction area can be selected;
(2) if no empty support meeting the conditions exists, selecting a direct interaction area with the lane operation type being empty, and if the using number of the supports does not exceed the resource management of the supports, selecting the empty support;
(3) and if no empty bracket meeting the conditions exists, selecting a direct interaction area for ignoring the lane operation type.
4. The method as claimed in claim 1, wherein the automated guided vehicle adopts a one-car two-box strategy:
(1) if the direct interaction area has empty automatic guided vehicles, the double-box rail crane selects the automatic guided vehicles in the direct interaction area;
(2) and if the support interaction area is free, selecting the support interaction area by the double-box of the double-end type track crane.
5. The method for allocating interaction points between a two-end track and an automated guided vehicle according to any one of claims 1 to 4, wherein the allocation system of the interaction points comprises:
firstly, acquiring a horizontal transportation task, then analyzing the strategy that horizontal transportation preferentially enters a box area, then analyzing the information of two-end type interaction points, classifying the types of branch lanes, then analyzing the task type of the horizontal transportation, if the horizontal transportation is unloaded, selecting the horizontal transportation to re-enter and re-exit the box area to directly interact with the box area, then distributing interaction nodes through support resource management and control processing, then judging whether jacking is in fault, if the jacking is in fault, selecting the direct interaction area for the horizontal transportation, and if the jacking is in normal, unloading through a ship unloading general selection principle; if the task type of horizontal transportation is analyzed and the ship is not unloaded, whether jacking is in fault is judged, if the jacking is in fault, a jacking fault selection strategy is used, if the jacking is normal, interaction point distribution is carried out through a support box-free selection strategy, then whether the horizontal transportation is in a box-carrying state is judged, if the horizontal transportation is in a box-carrying state, a one-car two-box selection strategy is adopted, if the horizontal transportation is not in a box-carrying state, an instruction exchange strategy is adopted, and finally interaction point distribution is carried out through a general selection principle.
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