CN101303591B - Control system and method for implementing harbor automatic dock operation - Google Patents
Control system and method for implementing harbor automatic dock operation Download PDFInfo
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- CN101303591B CN101303591B CN2008100394648A CN200810039464A CN101303591B CN 101303591 B CN101303591 B CN 101303591B CN 2008100394648 A CN2008100394648 A CN 2008100394648A CN 200810039464 A CN200810039464 A CN 200810039464A CN 101303591 B CN101303591 B CN 101303591B
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Abstract
The invention discloses a control system to realize an automated wharf equipment operation and a method thereof, including the following steps: setting up an operation task list of the automated wharf operation, an equipment action command and an equipment operation relation table; reading and invoking the list and executing a action command flow in the equipment operation relation table to drive the equipment and fulfill the operation task. The invention is suitable for the up-to-date automated wharf which includes a low-level bridge system and can dramatically reduce the idle time of equipment and can improve the working performance of the equipment.
Description
Technical field
The present invention relates to the automatic dock field, more particularly, relate to a kind of control system and method that realizes harbor automatic dock operation.
Background technology
The technical scheme that has a kind of high-efficiency and economic type automated container dock at present all over the world in the automatic dock that uses, the characteristics that this scheme is outstanding be comprise one parallel with the bank, the horizontal distributor gear of constructing with reinforcing bar of low bridge, low bridge jacklift (OBC) is arranged in this mechanism, low bridge flat bogie (TC) and floor slab dolly (GC), and jacklift, track in flat bogie and the stockyard hangs (RMG) etc. and all moves on certain tracks, control whole low bridge system by central control room, the scene does not need the stevedore, whole underframe bridge system and all the other relevant devices are all under computer software control, accept the instruction of central master control, intelligentized container is transported to the stockyard by the boats and ships place.
In sum, in order to adapt to above-mentioned high-efficiency and economic type automated container dock, need efficient, flexible, reliable harbour control system of research and development and control method.In order to reach the above object, need the availability of all devices in the raising system, rational dynamic assignment is carried out in the stockyard, thereby allow the ruly work of each subsystem.
Summary of the invention
The present invention aims to provide a kind of control system and method that realizes harbor automatic dock operation, this system and method can improve the work efficiency of pier facilities, and the mutual scheduling mode that has the type of replying between the controller of this system and method and equipment, its data processing stability is very high.
On the one hand, the invention provides a kind of control method that realizes harbor automatic dock operation, comprising:
Set up the automatic dock operation task list, described task list comprises task type, task device, task terminal information;
Set up the action command of pier facilities, described each action command of same pier facilities type has unique ID, has carried out this ID action command and has made correspondingly action with regard to driving arrangement;
Set up the equipment availability relation table of automatic dock operation task, each equipment availability relation table and each automatic dock operation task are complementary, and described equipment availability relation table comprises the flow process of carrying out described pier facilities action command;
Read described automatic dock operation task list and call equipment availability relation table with its coupling, read and carry out described action command by action command flow process in the equipment availability relation table, drive described pier facilities action, realize described automatic dock operation task, this step adopts multithreading control, comprise main thread control and secondary thread control, described secondary thread begins to carry out when main thread is carried out next equipment action command, main thread reads described automatic dock operation task list, and according to the task type in the task list, task device, task terminal information is called the equipment availability relation table with its coupling, read described action command by action command flow process in the equipment availability relation table, again described action command is sent to the control module of corresponding harbour, described control module is carried out action command to drive described pier facilities action, realize described automatic dock operation task, also feed back the execution result of described action command simultaneously, described action command runs succeeded and then continues to send next bar action command to the harbour control module, and circulation successively, described action command is carried out failure, then return failure information, when calling secondary thread control, described main thread is before sending action command, to judge earlier whether this designated command type exists equipment room mutual, do not exist equipment room alternately then main line send action command in advance remaining each harbour control module to carry out corresponding action to drive described each pier facilities, if exist equipment room then to call secondary thread control alternately simultaneously next equipment is sent designated command, wherein, described main thread control flow: step 1, read task list, after task path generates, check earlier whether the related equipment of this task makes mistakes, if make mistakes then output error message, then from instruction sequence table, do not read an instruction if make mistakes, and analyze its device type and designated command;
On the other hand, the present invention also provides a kind of control system that realizes the automatization dock equipment operation, comprising:
Database, memory code head apparatus action command, automatic dock operation task list and equipment availability relation table thereof, described task list comprises task type, task device, task terminal information, the described equipment action command of same pier facilities type has unique ID, carried out this ID action command and made correspondingly action with regard to driving arrangement, described equipment availability relation table and described job task list match also comprise the flow process of carrying out described pier facilities action command;
Control module reads the tabulation of described job task and calls equipment availability relation table with its coupling, reads described action command by action command flow process in the equipment availability relation table, and sends described action command by subscribing rule;
Performance element, receive action command and execution that described control module sends, drive described pier facilities action, realize described automatic dock operation task, this unit adopts the performance element of multithreading control, comprise main thread control and secondary thread control module, described secondary thread control module begins to carry out when the main thread control module is carried out next equipment action command, the main thread control module reads described automatic dock operation task list, and according to the task type in the task list, task device, task terminal information is called the equipment availability relation table with its coupling, read described action command by action command flow process in the equipment availability relation table, again described action command is sent to the control module of corresponding harbour, described control module is carried out action command to drive described pier facilities action, realize described automatic dock operation task, also feed back the execution result of described action command simultaneously, described action command runs succeeded and then continues to send next bar action command to the harbour control module, and circulation successively, described action command is carried out failure, then return failure information, when calling the control of secondary thread control module, described main thread control module is before sending action command, to judge earlier whether this designated command type exists equipment room mutual, do not exist equipment room alternately then main line send action command in advance remaining each harbour control module to carry out corresponding action to drive described each pier facilities, next equipment is sent designated command if exist equipment room then to call the secondary thread control module alternately simultaneously.
Adopt a kind of control system and method that realizes the automatization dock equipment operation of the present invention, the present invention to the action definition of bank crane (QC), stockyard goliath (RMG), low bridge crane (OBC), floor slab dolly (GC) and low bridge flat bogie (TC) five kind equipments of up-to-date automatic dock action command and relevant device job relations table, carry out action command flow process in the described equipment availability relation table and just can control relevant device and move, to finish up-to-date automatic dock operation task; Because the present invention has adopted the multithreading control technology, except main thread control, also have secondary thread control, the free time of equipment is significantly reduced, improved equipment availability efficient.
Description of drawings
Fig. 1 shows the principle process synoptic diagram of control method of the present invention;
Fig. 2 shows the equipment availability relation table of ship-discharging operation process among the present invention;
Fig. 3 shows the equipment availability relation table of ship-loading operation process among the present invention;
Fig. 4 shows the equipment availability relation table of truck inlet operation process among the present invention;
Fig. 5 shows the equipment availability relation table of truck outlet operation process among the present invention;
Fig. 6 shows the equipment availability relation table of transit depot reason casing working process of the present invention;
Fig. 7 shows the equipment availability relation table of the main and auxiliary thread control of ship-discharging operation process among the present invention;
Fig. 8 shows the control module of control system of the present invention and the basic communication figure of performance element;
Fig. 9 shows main thread control flow chart of the present invention;
Figure 10 shows secondary thread control flow chart of the present invention;
Figure 11 shows the schematic diagram of control system of the present invention.
Embodiment
On the one hand, the invention provides a kind of control method that realizes the automatization dock equipment operation, with reference to shown in Figure 1, this method 100 comprises:
102. set up the automatic dock operation task list.
Operations such as the job task on the automatic dock is generally unloaded a ship, shipment, truck vanning, truck outlet, transition reason case, at first set up the automatic dock operation task list at these operations, described task list comprises task type, task device, task terminal information etc.
104. set up the action command of pier facilities.
Pier facilities have five classes: bank crane (QC), stockyard goliath (RMG), low bridge crane (OBC), floor slab dolly (GC) and low bridge flat bogie (TC).Set up the action command of these pier facilities, described each action command of same pier facilities type has unique ID, these each action commands of setting up are all represented a kind of action of equipment, have carried out this action command and have made correspondingly action with regard to driving arrangement.
The action command of bank crane (QC), low bridge crane (OBC) is as follows:
The big vehicle device original state of 1-is prepared operation;
2-is big, and vehicle device moves to destination locations;
The big vehicle device of 3-moves to destination locations and finishes;
The 4-suspender carries out the lift operation;
5-suspender lift end of operation;
6-dolly equipment moves to destination locations;
The little vehicle device of 7-moves to destination locations and finishes;
The 8-suspender is carrying out the case operation;
The 9-suspender the case end of operation;
0-cart device initialize is prepared operation next time;
The 10-suspender is carrying out pre-case operation (only to the low bridge crane) to pre-case position
The 13-suspender is dropping in advance the case position and is finishing; (only to the low bridge crane)
The 11-suspender carries out the lift operation to safe altitude; (only to the low bridge crane)
The 12-suspender hoists and arrives safe altitude and finish; (only to the low bridge crane)
The 14-mandatum cassatorium suspends machine;
15-suspends machine and finishes;
The action command of floor slab dolly (GC) and low bridge flat bogie (TC) is as follows:
1-dolly equipment original state is prepared operation;
2-dolly equipment moves to destination locations;
The little vehicle device of 3-moves to destination locations and finishes;
The 4-suspender carries out the lift operation;
5-suspender lift end of operation;
6-dolly equipment moves to destination locations;
The little vehicle device of 7-moves to destination locations and finishes;
The 8-suspender is carrying out the case operation;
The 9-suspender the case end of operation;
0-dolly device initialize is prepared operation next time;
Stockyard goliath (RMG) action command is as follows:
The big vehicle device original state of 1-is prepared operation;
2-is big, and vehicle device moves to destination locations;
The big vehicle device of 3-moves to destination locations and finishes;
The 4-suspender carries out the lift operation;
5-suspender lift end of operation;
The 24-suspender carries out the lift operation once more
The 25-suspender is the lift end of operation once more;
6-dolly equipment moves to destination locations;
The little vehicle device of 7-moves to destination locations and finishes;
The little vehicle device of 26-moves to destination locations once more;
The little vehicle device of 27-moves to destination locations once more and finishes;
The 10-suspender is carrying out pre-case operation to pre-case position;
The 13-suspender is dropping in advance the case position and is finishing;
The 30-suspender is carrying out pre-case operation once more to pre-case position;
The 33-suspender is dropping in advance the case position once more and is finishing;
The 8-suspender is carrying out the case operation;
The 9-suspender the case end of operation;
The 28-suspender is carrying out the case operation once more;
The 29-suspender once more the case end of operation;
The 11-suspender carries out the lift operation to safe altitude;-
The 12-suspender hoists and arrives safe altitude and finish;
The 31-suspender carries out the lift operation to safe altitude once more;
The 32-suspender hoists once more and arrives safe altitude and finish;
0-dolly device initialize is prepared operation next time;
The 14-mandatum cassatorium suspends machine;
15-suspends machine and finishes;
106. apparatus for establishing job relations table.
Set up the equipment availability relation table of automatic dock operation task, each equipment availability relation table and each automatic dock operation task are complementary, and the equipment availability relation table comprises the flow process of carrying out described pier facilities action command.
With reference to figure 2, Fig. 2 shows the equipment availability relation table of ship-discharging operation task process, and the action command of each equipment is arranged according to certain regular flow process in the table, and the action command of these arrangements is exactly the required action of carrying out of relevant device in the ship-discharging operation task.
With reference to figure 3, Fig. 3 shows the equipment availability relation table of ship-loading operation task process, and the action command of each equipment is arranged according to certain regular flow process in the table, and the action command of these arrangements is exactly the required action of carrying out of relevant device in the ship-loading operation task.
With reference to figure 4, Fig. 4 shows the equipment availability relation table of truck inlet job task process, the action command of each equipment is arranged according to certain regular flow process in the table, and the action command of these arrangements is exactly the required action of carrying out of relevant device in the truck inlet job task.
With reference to figure 5, Fig. 5 shows the equipment availability relation table of truck outlet job task process, the action command of each equipment is arranged according to certain regular flow process in the table, and the action command of these arrangements is exactly the required action of carrying out of relevant device in the truck outlet job task.
With reference to figure 6, Fig. 6 shows the equipment availability relation table of transition reason casing working task process, the action command of each equipment is arranged according to certain regular flow process in the table, and the action command of these arrangements is exactly the required action of carrying out of relevant device in the transition reason casing working task.
108. the table data of reading is carried out action command.
This step adopts multithreading control, comprise main thread control and secondary thread control, described secondary thread begins to carry out when main thread is carried out next equipment action command, main thread reads described automatic dock operation task list, and according to the task type in the task list, task device, information such as task terminal are called the equipment availability relation table with its coupling, read described action command by action command flow process in the equipment availability relation table, again described action command is sent to corresponding pier facilities controller, described pier facilities controller is carried out action command to drive described pier facilities action, realize described automatic dock operation task, also feed back the execution result of described action command simultaneously, described action command runs succeeded and then continues to send next bar action command to the pier facilities controller, and circulation successively, described action command is carried out failure, then returns failure information.
When calling secondary thread control, described main thread is before sending action command, to judge earlier whether this designated command type exists equipment room mutual (key point), do not exist equipment room alternately then main line send action command in advance remaining each pier facilities controller to carry out corresponding action to drive described each pier facilities, next equipment is sent designated command if exist equipment room then to call secondary thread control alternately simultaneously.
Whether the action command in the judgment device job relations table exists equipment room mutual (key point): the operation between the equipment is an implementation that sequencing is arranged, general this sequencing is mainly reflected in the implementation that container is operated, the equipment room that is being directly linked to when carrying out case or suitcase has a series of actions instruction manipulation, and these action commands will be defined as key point.For example RMG is when carrying out the suitcase operation, and GC must will move to destination locations with chest earlier, and the instruction 4 of the instruction 7 (little vehicle device moves to destination locations and finishes) of corresponding GC and RMG (suspender carries out the lift operation) is exactly a key point.
Introduce the detailed control flow of main thread and secondary thread below:
Referring to Fig. 9, Fig. 9 shows main thread control flow chart 400:
Read task list, after task path generates, check earlier whether the related equipment of this task makes mistakes, if make mistakes then output error message, then from instruction sequence table, do not read an instruction if make mistakes, and analyze its device type and designated command (above process is seen step 401,402,403,404); Above-mentioned instruction sequence table is a series of orderly instruction sequence table that the dispatching sequence according to the main thread in the device relationships table of corresponding task type obtains, and it comprises device type, designated command and key point, and the instruction sequence concrete structure is as follows:
typedef?struct_tagTimeSeq
{
Int iDevice; // device type
Int iAction; // designated command
Int bKey; // key point; 1 table key point, the non-key point of 0 table
}TIMESEQ；
For example { 1,2, among the 0}, 1 indication equipment type is QC, and 2 presentation directiveses are DEV MOV (equipment move to the target location), and the current main line of 0 expression is non-key point at the sequence of instructions train value.
Connect above-mentioned step 404, whether the task ID that the equipment that is pointed to by this instruction is judged this instruction carries out tabulation less than the detailed task requests of this equipment, and (task requests is carried out the information that tabulation is used to deposit all tasks that this equipment will carry out in detail, comprising task ID) middle minimum task ID, if then this equipment reads next bar instruction, judge then if not whether this equipment is idle, free time then sends instructs to PLC (device controller), PLC returns execution result, execution result is successfully then to read the instruction of next bar and judge that whether idle the and instruction that this equipment reads of this equipment be not current article one instruction of executing the task, judge and affirm that then this equipment is finished this task and this equipment is deleted from instruction sequence table, judge to negate the above step (above process sees that step 405 is to step 411) that then circulates.
Referring to Figure 10, Figure 10 shows secondary thread control flow chart 500:
When being in certain waiting status, (moves main line as the RMG cart, main line wait RMG cart sends next bar instruction after moving and finishing again), whether be with the another one thread that secondary thread is removed to retrieve on this task miscellaneous equipment idle, when retrieving certain device free, the command status before then complete all key points of this equipment.Continue the remaining equipment of retrieval then, be finished up to this task.Step is similar to the main thread control flow chart, and step (step 505,506 and 507) of judging key point that the key distinction has been many is specifically seen process flow diagram.
Referring to Fig. 7, Fig. 7 is the equipment availability relation table of the main and auxiliary thread control of ship-discharging operation process, and this also is one and unloads case assignment instructions table, when unloading the case task for one, will finish the work according to this instruction list.The line that is in the top among the figure is the execution command of main thread, comprises all key points, and the line that is in the below among the figure is the instruction that secondary thread is carried out.After main thread was opened, secondary thread also can start automatically, and next equipment that secondary thread is carried out from main thread begins to carry out, and when running into key point, will advance to the instruction of next equipment, so to last equipment.Main thread can be carried out all key points, the linking between treatment facility and mutual, and after instruction all was finished, task was just promptly finished.
On the other hand, the invention provides a kind of control system that realizes the automatization dock equipment operation, with reference to shown in Figure 11, this system comprises:
Database 200, memory code head apparatus action command, automatic dock operation task list and equipment availability relation table thereof, described task list comprises task type, task device, task terminal information, the described equipment action command of same pier facilities type has unique ID, described equipment availability relation table and described job task list match also comprise the flow process of carrying out described pier facilities action command, and described pier facilities comprise bank crane, stockyard goliath, low bridge crane, floor slab dolly and low bridge flat bogie.
Data foundation, the data processing of control system of the present invention and the concrete Principle of Process of working are same as control method of the present invention, so do not repeat them here.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop on claim scope of the present invention to variation, the modification of the above embodiment.
Claims (6)
1. a control method that realizes the automatization dock equipment operation is characterized in that, comprising:
Set up the automatic dock operation task list, described task list comprises task type, task device, task terminal information;
Set up the action command of pier facilities, described each action command of same pier facilities type has unique ID, has carried out this ID action command and has made correspondingly action with regard to driving arrangement;
Set up the equipment availability relation table of automatic dock operation task, each equipment availability relation table and each automatic dock operation task are complementary, and described equipment availability relation table comprises the flow process of carrying out described pier facilities action command;
Read described automatic dock operation task list and call equipment availability relation table with its coupling, read and carry out described action command by action command flow process in the equipment availability relation table, drive described pier facilities action, realize described automatic dock operation task, this step adopts multithreading control, comprise main thread control and secondary thread control, described secondary thread begins to carry out when main thread is carried out next equipment action command, main thread reads described automatic dock operation task list, and according to the task type in the task list, task device, task terminal information is called the equipment availability relation table with its coupling, read described action command by action command flow process in the equipment availability relation table, again described action command is sent to the control module of corresponding harbour, described control module is carried out action command to drive described pier facilities action, realize described automatic dock operation task, also feed back the execution result of described action command simultaneously, described action command runs succeeded and then continues to send next bar action command to the harbour control module, and circulation successively, described action command is carried out failure, then return failure information, when calling secondary thread control, described main thread is before sending action command, to judge earlier whether this designated command type exists equipment room mutual, do not exist equipment room alternately then main thread send action command in advance remaining each harbour control module to carry out corresponding action to drive described each pier facilities, if exist equipment room then to call secondary thread control alternately simultaneously next equipment is sent designated command, wherein, described main thread control flow: step 1, read task list, after task path generates, check earlier whether the related equipment of this task makes mistakes, if make mistakes then output error message, then from instruction sequence table, do not read an instruction if make mistakes, and analyze its device type and designated command;
Step 2 is judged by the related equipment of above-mentioned this task whether the task ID of this instruction carries out task ID minimum in the tabulation less than the detailed task requests of this equipment, if, then this equipment reads next bar instruction, if not, judge then whether this equipment is idle, and the free time then sends instructs to control module;
Step 3, control module returns execution result, execution result is successfully then to read the instruction of next bar and judge that whether idle the and instruction that this equipment reads of this equipment be not current article one instruction of executing the task, if, then this equipment is finished this task and this equipment is deleted from instruction sequence table, if not, the above step 2,3 that then circulates.
2. control method as claimed in claim 1 is characterized in that, described pier facilities comprise bank crane, stockyard goliath, low bridge crane, floor slab dolly and low bridge flat bogie.
3. control method as claimed in claim 1 is characterized in that, described detailed task requests is carried out the information that tabulation is used to deposit all tasks that this equipment will carry out, comprising task ID.
4. a control system that realizes the automatization dock equipment operation is characterized in that, comprising:
Database, memory code head apparatus action command, automatic dock operation task list and equipment availability relation table thereof, described task list comprises task type, task device, task terminal information, the described equipment action command of same pier facilities type has unique ID, carried out this ID action command and made correspondingly action with regard to driving arrangement, described equipment availability relation table and described job task list match also comprise the flow process of carrying out described pier facilities action command;
Control module reads the tabulation of described job task and calls equipment availability relation table with its coupling, reads described action command by action command flow process in the equipment availability relation table, and sends described action command by subscribing rule;
Performance element, receive action command and execution that described control module sends, drive described pier facilities action, realize described automatic dock operation task, this unit adopts the performance element of multithreading control, comprise main thread control and secondary thread control module, described secondary thread control module begins to carry out when the main thread control module is carried out next equipment action command, the main thread control module reads described automatic dock operation task list, and according to the task type in the task list, task device, task terminal information is called the equipment availability relation table with its coupling, read described action command by action command flow process in the equipment availability relation table, again described action command is sent to the control module of corresponding harbour, described control module is carried out action command to drive described pier facilities action, realize described automatic dock operation task, also feed back the execution result of described action command simultaneously, described action command runs succeeded and then continues to send next bar action command to the harbour control module, and circulation successively, described action command is carried out failure, then return failure information, when calling the control of secondary thread control module, described main thread control module is before sending action command, to judge earlier whether this designated command type exists equipment room mutual, do not exist equipment room alternately then main thread send action command in advance remaining each harbour control module to carry out corresponding action to drive described each pier facilities, next equipment is sent designated command if exist equipment room then to call the secondary thread control module alternately simultaneously.
5. control system as claimed in claim 4 is characterized in that, described pier facilities comprise bank crane, stockyard goliath, low bridge crane, floor slab dolly and low bridge flat bogie.
6. control system as claimed in claim 4 is characterized in that, described detailed task requests is carried out the information that tabulation is used to deposit all tasks that this equipment will carry out, comprising task ID.
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