CN110598987A - Port scheduling system and method based on unmanned driving - Google Patents
Port scheduling system and method based on unmanned driving Download PDFInfo
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Abstract
The invention relates to a port scheduling system and method based on automatic driving, and belongs to the field of automatic driving. The system comprises: a control center module: the system comprises a dispatching module, a management coordination dispatching module, a shore bridge terminal module, a gantry crane terminal module and a tally terminal module, wherein the dispatching module is used for inputting a planned task, managing and coordinating the dispatching module, the shore bridge terminal module, the gantry crane terminal module and the tally terminal module so as to execute the planned task, performing information interaction with the dispatching module and acquiring vehicle state information in real time; the car dispatching module: the system is used for receiving the control management of the control center module, monitoring the vehicle state, planning a driving route and controlling the vehicle to run; bank bridge terminal module and dragon hang terminal module: the system is used for receiving a ship loading or unloading command, carrying out ship loading or unloading operation according to a preset sequence and feeding back an execution state; tally terminal module: the system is used for confirming that the loading task or the unloading task of the container is finished, and recording and verifying the loading or unloading information. By the aid of the system, port operation efficiency can be improved, scheduling cost is reduced, and efficient and orderly operation of port operations is guaranteed.
Description
Technical Field
The invention relates to the technical field of information, in particular to a port scheduling system and method based on unmanned driving.
Background
With the development of modern information technology, industrial automation is realized in various fields through modern information technology. Port logistics bear more than 85% of import and export in the world, and in China's inland marine ports, the port logistics also account for more than 70% of all the logistics requirements in China. In the era of global economy integration and internet economy, the port has the application capability and the intelligent degree of modern information technology, embodies the scientific and technical development level of a country and the progress degree of modern logistics to a certain extent, and also determines the sustainable development capability of the port and the competitive position of the international market.
At present, port logistics are mostly managed and allocated with ship loading and unloading tasks through manpower and network technology, data input into a management system are numerous, task execution progress needs to be checked on site, management is often performed through a large amount of manpower, particularly, automatic connection of a shore bridge, a truck, a tally clerk and a yard needs to be achieved through manual dispatching of a truck, vehicle dispatching operation cost is high, and unnecessary resource consumption is caused.
Disclosure of Invention
In view of this, the embodiments of the present invention provide a port dispatching system and method based on unmanned driving, which can reduce vehicle dispatching cost and improve port working efficiency.
In a first aspect of the embodiments of the present invention, there is provided an automatic driving-based port scheduling system, including:
a control center module: the system comprises a terminal module, a container dispatching module, a shore bridge terminal module, a gantry crane terminal module and a cargo handling terminal module, wherein the terminal module is used for inputting a port planning task of a TOPS system, the planning task comprises a container shipping task and a shipping task, the management and coordination vehicle dispatching module, the shore bridge terminal module, the gantry crane terminal module and the cargo handling terminal module are used for executing the port planning task, information interaction is carried out between the terminal module and the vehicle dispatching module, and vehicle state information is;
the car dispatching module: the system comprises a control center module, a vehicle monitoring module and a vehicle monitoring module, wherein the control center module is used for receiving control management of the control center module, monitoring the vehicle running;
shore bridge terminal module: the system comprises a control center module, a ship loading or unloading command and a ship unloading command, wherein the control center module is used for receiving a container ship loading or unloading command sent by the control center module, controlling a shore bridge to carry out ship loading or unloading operation according to a preset operation sequence according to the ship loading or unloading command, and sending a shore bridge task execution state to the control center module in real time;
dragon hangs terminal module: the system comprises a control center module, a container loading or unloading command, a gantry crane and a gantry crane, wherein the control center module is used for receiving the container loading or unloading command sent by the control center module, controlling the gantry crane to carry out loading or unloading operation according to a preset operation sequence according to the loading or unloading command, and sending the execution state of a gantry crane task to the control center module in real time;
tally terminal module: the system is used for confirming that the loading task or the unloading task of the container is finished, recording the information of the container number, and verifying whether the container loading or unloading object is consistent with the container number and the planned task.
In a second aspect of the embodiments of the present invention, there is provided a port scheduling method based on autopilot, including:
s1, after a port planning task in the TOPS system is obtained, coordinating and managing a car dispatching system, a shore bridge terminal, a gantry crane terminal and a tallying terminal to execute the port planning task;
s2, sending a vehicle calling instruction, scheduling a preset hub card to execute preset operation according to a planned route, and feeding back the status information of the hub card in real time;
s3, after the container truck arrives at the designated place, the preset shore bridge carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the shore bridge task;
s4, after the truck arrives at the designated place, the preset gantry crane carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the gantry crane task;
and S5, confirming that the loading task or unloading task of the preset quay crane and the preset gantry crane is finished, recording the information of the box number, and checking whether the box loading or unloading object is consistent with the box number and the task.
In the embodiment of the invention, a planned task is distributed through a control center, a vehicle, a shore bridge terminal and a gantry crane terminal are coordinately controlled to carry out ship loading or ship unloading operation, the task execution state and the boxing result are confirmed through a cargo management terminal, the cargo management terminal interacts with a vehicle dispatching module, the vehicle running on a track route is monitored and tracked, the vehicle running state is obtained in real time, the reasonable dispatching of a truck is ensured, the truck dispatching cost is reduced, meanwhile, the truck and yard resources are coordinated according to the task progress feedback information of the shore bridge terminal, the gantry crane terminal and the cargo management terminal, the automatic connection of port operation is realized, the port dispatching operation efficiency is improved, the production cost is saved, and the full-automatic control of port logistics is ensured.
Drawings
Fig. 1 is a schematic structural diagram of an automatic driving-based port dispatching system according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of an automatic driving-based port dispatching system according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart of a port dispatching system based on automatic driving according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a port scheduling system and method based on automatic driving, which are used for carrying out port operation scheduling, ensuring vehicle operation efficiency and reducing cost.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, a schematic structural diagram of a port dispatching system based on autopilot according to an embodiment of the present invention includes:
the total control center module 110: the system comprises a terminal module, a container dispatching module, a shore bridge terminal module, a gantry crane terminal module and a cargo handling terminal module, wherein the terminal module is used for receiving and dispatching a container, and the terminal module is used for receiving and dispatching a container to carry out a cargo handling terminal task;
the planning tasks comprise a container loading task and a container unloading task, the container loading task or the container unloading task can be used as a main task, and subtasks of a container truck, a shore bridge terminal, a gantry crane terminal and a cargo handling terminal are correspondingly generated, such as container truck charging, shore bridge position checking and the like. The gantry crane terminal is a gantry crane terminal. The vehicle state information is obtained and stored, namely the state information of a container truck (container truck), such as loading, unloading, driving to a certain place, standby, charging state and the like, is obtained, and the vehicle track can be tracked in real time through monitoring.
Optionally, the control center module includes:
and the system management unit is used for setting the types of operators, defining the system operation authorities of different operators and defining the item types used in the specification.
And the file information unit is used for establishing a map coordinate comparison table to convert longitude and latitude coordinates and port two-dimensional coordinates, and establishing information files of port berths, storage yards, shore bridges, gantry cranes, temporary storage areas of the trucks, charging piles and truck driving lines.
And the vehicle management unit is used for updating and maintaining an information table of the port collection card, performing charging alarm on the collection card with the electric quantity lower than the preset electric quantity, generating a charging task, generating an alarm prompt for the collection card with the fault, and executing corresponding fault processing according to the fault type.
And the task scheduling unit is used for checking the execution condition of the planned tasks and adjusting the truck-collecting tasks, wherein the adjustment of the truck-collecting tasks comprises the steps of adding, modifying and deleting the truck-collecting tasks, adjusting the task level and canceling or suspending unfinished tasks, one ship loading task or ship unloading task is taken as a main task in the planned tasks, and the truck-collecting task, the shore bridge task, the dragon hanging task and the cargo handling task are correspondingly generated as subtasks.
And the monitoring management unit is used for marking the state information of each device in a two-dimensional coordinate system established according to a port map, marking the state of the device by using different colors, and selecting a specific device to display the state, wherein the device at least comprises a hub, a shore bridge and a gantry crane.
Optionally, the execution of the container shipping task specifically includes:
distributing corresponding quantity of the trucks, quayside container number, yard container number and gantry crane number according to container information in the ship loading planning task;
after the quantity of the trucks, the quayside crane serial number, the yard serial number and the gantry crane serial number corresponding to the container shipment task are approved, corresponding shipment instructions are respectively sent to a vehicle dispatching system, a quayside crane terminal and a gantry crane terminal;
after the truck dispatching system receives the corresponding instruction, the dispatching truck reaches a preset yard according to a preset route, the gantry crane terminal carries out boxing on the truck according to the instruction, the truck is automatically driven to a bridge crane standby area after boxing of the truck is finished, the shore bridge terminal sends a box unloading instruction to the truck, the shore bridge carries out box unloading and ship loading operation after the truck reaches a specified place, and whether the box number is consistent with a real object in a planned task is verified through the tally terminal.
Optionally, the executing of the container ship unloading task specifically includes:
distributing corresponding number of the trucks, the quay crane number, the yard number and the gantry number according to the container information in the ship unloading planning task;
after the quantity of the trucks, the quayside bridge number, the yard number and the gantry crane number corresponding to the container ship unloading task are approved, corresponding ship loading instructions are respectively sent to a vehicle dispatching system, a quayside bridge terminal and a gantry crane terminal;
and the shore bridge terminal sends an unloading request to the truck dispatching system, the truck dispatching system dispatches the container truck to a designated place according to a preset route, the cargo handling terminal checks whether the box number is consistent with the real object in the planned task, the shore bridge unloads the ship and packs the container truck, the container truck is automatically driven to the designated place after the container truck is packed, and the gantry crane terminal unloads the container truck according to the instruction.
Preferably, the control center module further includes:
the interaction between the control center module and the car dispatching system is realized through an interactive data table, and the interactive data table comprises a vehicle real-time state table and a task execution state table.
The TOPS system 120 is a port management system that can record port tasks and equipment data.
The car dispatching module 130: the system comprises a control center module, a vehicle monitoring module and a vehicle monitoring module, wherein the control center module is used for receiving control management of the control center module, monitoring the vehicle;
shore bridge terminal module 140: the system comprises a control center module, a ship loading or unloading command receiving module, a ship unloading module and a ship unloading module, wherein the ship loading or unloading command receiving module is used for receiving the ship loading or unloading command sent by the control center module, controlling a shore bridge to carry out ship loading or ship unloading operation according to a preset operation sequence according to the;
gantry crane terminal module 150: the system comprises a control center module, a ship loading or unloading command receiving module, a ship loading or unloading operation control module and a ship unloading and loading module, wherein the control center module is used for receiving the ship loading or unloading command sent by the control center module, controlling the ship loading or unloading operation according to the ship loading or unloading command and sending the execution state of a ship loading task to the control center module in real time;
the tally terminal module 160: the system is used for confirming that the loading task or the unloading task of the container is finished, recording the information of the container number, and verifying whether the container loading or unloading object is consistent with the container number and the planned task.
The tally terminal may perform field tally confirmation for a PDA device operated by a human.
The system that this embodiment provided, through each terminal module of control center management control coordination and car dispatching system, car dispatching system carries out data interaction with control center module in real time, is convenient for schedule the collection card, improves dispatch efficiency, combines to the management of collection card, dragon to hang and tally, reduces the whole dispatch cost at harbour, guarantees the orderly high-efficient operation at harbour.
Example two:
fig. 2 is another schematic structural diagram of the port dispatching system based on automatic driving according to the second embodiment of the present invention, and the central control module and the vehicle dispatching module are described in detail based on the first embodiment:
in this embodiment, the general control center 210 corresponds to the control center module 110 in fig. 1, the car dispatching center 220 corresponds to the car dispatching module 130 in fig. 1, the general control center 210 includes a ship loading operation unit 2101, a ship unloading operation unit 2102, a system management unit 2103, a vehicle management unit 2104, a task scheduling unit 2105, a monitoring management unit 2106, a profile management unit 2107 and an inquiry counting unit 2108, and the car dispatching center 220 includes a vehicle monitoring unit 2201, a route planning unit 2202, a vehicle dispatching unit 2203 and a data communication unit.
The general control center 210 may communicate with the car dispatching center 220, control and manage the car dispatching center 220, and receive feedback information of the car dispatching center.
Preferably, the port dispatching system 20 further includes a basic support system and environment 230 and a hardware platform 240, the basic support system and environment 230 at least includes a database 2301, a data exchange center 2302 and a configuration management unit 2303, and the hardware platform 240 at least includes a server 2401, a gantry crane terminal 2402, a shore bridge terminal 2403, a tallying terminal 2404, a positioning system 2405 and a network switch 2406.
In the shipping operation unit 2101, the execution of the planned tasks by the respective module units is controlled as follows:
firstly, entering a shipping operation planning task of a TOPS system, wherein the shipping operation planning task comprises a ship name, a voyage number, a bill number, a box type, a box holding person, a danger level, a cabin ordering payer, a shipping port, an unloading port, a destination port, a transportation mode, a total box weight, a total box number and the like, generating a main operation task bill by a main table according to the bill number, the box type and the danger level, and entering the quantity of collection cards to be distributed for the current planning task, a bank bridge number, a task starting operation time and the like. The information of each container in the planned task is recorded from the table and comprises a container number, a lead seal number, a goods name, a refrigeration temperature, a container weight, a stacking limit (the stacking limit is used for setting several layers which can be stacked on the container truck, 0 represents manual confirmation, and other numbers represent the number of layers stacked during loading), a loading requirement (extracted from a container file including empty weight, super high, left super, right super, front super long and the like), a yard number and a gantry crane number, and the subsequent container delivery task can be conveniently distributed from the table. And when the job task is saved, a main job task list number is automatically generated, and the contents of the main table and the auxiliary table are saved.
Then the loading operation starts, when the loading operation starts, the master control center selects a corresponding planning task, rechecks or reassigns the number of the trucks, the quayside crane number, the yard number and the gantry number of the task, confirms and stores the tasks, and synchronously transmits the task information to the dispatching center, the yard gantry crane terminal, the quayside crane terminal and the goods handling terminal for dispatching vehicles by the dispatching system, preparing loading in the yard and preparing unloading and loading on the quayside crane.
In the loading process of the gantry crane, the gantry crane grabs the container according to the planned task requirement on the gantry crane terminal after receiving the start instruction, the container is loaded before the terminal sends information to the notification truck after the container is grabbed, the general control center extracts position information from the gantry crane information table and synchronously notifies the truck dispatching system, if the corresponding truck is in the standby area, the distribution instruction dispatches the truck to go to the gantry crane for loading from the standby area, and if the corresponding truck is in the road, the truck goes directly to the gantry crane for loading. The truck reaches the designated position and then sends out a designated signal lamp, the gantry crane carries out accurate positioning, the truck loading is started after the position matching is completed, an operator confirms at the terminal of the gantry crane and informs the general control after the truck loading is completed, the general control center judges whether secondary truck loading is needed according to a truck loading plan task or can confirm through the terminal of the gantry crane, after the truck loading is completely completed, the truck is synchronously informed of the success of truck adjustment and center loading, the bridge crane is informed of preparing to unload and load the truck, the truck adjustment center schedules and controls the truck to leave a storage yard and drive to a shore bridge, if the shore bridge is in a busy state, the truck stops in a near standby area, and the positions of the shore bridge and the standby area can be extracted from an information table of a file management unit.
Then, tallying confirmation is carried out, the truck dispatching center sends out a notice after the truck arrives at the quayside container and stops at a specified position, the master control center sends out a box checking notice to the tallying terminal, a tallying worker is informed to go to the specified position to confirm whether the shipped goods are correct, and the tallying terminal informs the quayside container to start unloading and shipping after confirming that no errors exist.
During unloading and loading of the bridge crane, the bridge crane terminal sends a ready signal in advance, after receiving the command, the bridge crane terminal synchronously sends a command to the vehicle adjustment center, calls the vehicle to a designated position for unloading, sends a corresponding signal after the vehicle is stopped stably, accurately positions the bridge crane, and starts unloading and loading after confirming that no fault exists. After the bridge crane terminal confirms that unloading is finished, corresponding information is synchronously sent to the truck adjustment center, the truck adjustment center controls the truck to drive away from the shore bridge, and the truck adjustment center can distribute the next loading task or stop at a nearby standby area.
And finally, after the planned task is completely executed, the master control center confirms and records.
In the ship unloading operation unit 2102, the execution of the planned task process by each module unit is controlled as follows:
firstly, entering a shipping operation planning task of a TOPS system, wherein the shipping operation planning task comprises a ship name, a voyage number, a bill number, a box type, a box holding person, a danger level, a cabin ordering payer, a shipping port, an unloading port, a destination port, a transportation mode, a total box weight, a total box number and the like, generating a main operation task bill by a main table according to the bill number, the box type and the danger level, and entering the quantity of collection cards to be distributed for the current planning task, a bank bridge number, a task starting operation time and the like. The information of each container in the planned task is recorded from the table and comprises a container number, a lead seal number, a goods name, a refrigeration temperature, a container weight, a stacking limit (the stacking limit is used for setting several layers which can be stacked on the container truck, 0 represents manual confirmation, and other numbers represent the number of layers stacked during loading), a loading requirement (extracted from a container file including empty weight, super high, left super, right super, front super long and the like), a yard number and a gantry crane number, and the subsequent container delivery task can be conveniently distributed from the table. And when the job task is saved, a main job task list number is automatically generated, and the contents of the main table and the auxiliary table are saved.
Then loading operation starts, when unloading operation starts, the master control center selects a corresponding planning task, rechecks or reassigns the number of the trucks, the quayside crane number, the yard number and the gantry number of the task, confirms and stores the tasks, and synchronously transmits the task information to the dispatching center, the yard gantry crane terminal, the quayside crane terminal and the goods handling terminal for dispatching vehicles by the dispatching system, preparing unloading at the yard and preparing unloading and loading at the quayside crane.
In the loading process of the gantry crane, the gantry crane grabs the container according to the planned task requirement on the gantry crane terminal after receiving the start instruction, the container is loaded before the terminal sends information to the notification truck after the container is grabbed, the general control center extracts position information from the gantry crane information table and synchronously notifies the truck dispatching system, if the corresponding truck is in the standby area, the distribution instruction dispatches the truck to go to the gantry crane for loading from the standby area, and if the corresponding truck is in the road, the truck goes directly to the gantry crane for loading. The truck reaches the designated position and then sends out a designated signal lamp, the gantry crane carries out accurate positioning, the truck loading is started after the position matching is completed, an operator confirms at the terminal of the gantry crane and informs the general control after the truck loading is completed, the general control center judges whether secondary truck loading is needed according to a truck loading plan task or can confirm through the terminal of the gantry crane, after the truck loading is completely completed, the truck is synchronously informed of the success of truck adjustment and center loading, the bridge crane is informed of preparing to unload and load the truck, the truck adjustment center schedules and controls the truck to leave a storage yard and drive to a shore bridge, if the shore bridge is in a busy state, the truck stops in a near standby area, and the positions of the shore bridge and the standby area can be extracted from an information table of a file management unit.
After receiving a loading instruction at a bridge crane terminal, displaying a container list of an unloading task on the bridge crane terminal, controlling the bridge crane to grab a container at a specified position on a ship according to the list, after the grabbing is finished and the bridge crane stops at an unloading area, calling a truck by the terminal, extracting position information from a file list of the bridge crane by a control center, then synchronously sending a truck loading instruction and loading position information to a truck dispatching center, controlling the truck to directly drive to the unloading area or drive to the specified position of the truck loading from the standby area, sending a corresponding signal to the truck dispatching center after the truck stops stably and lightening a red light, synchronously receiving a truck arrival signal forwarded by the truck dispatching center by a master control center, then controlling the bridge crane to start loading, calling a tally worker to confirm whether secondary loading is needed or not through a tally terminal after the bridge crane terminal confirms that the loading is finished, and when the box loading is finished, the tally worker can leave a shore bridge, the truck is controlled by the truck-dispatching center to drive to a target storage yard.
When the container is unloaded, the tally clerk needs to confirm twice, wherein the first time is to confirm the corresponding container number in the loaded planning task after the container is loaded on the vehicle by the bridge crane, and confirm whether the container needs to be loaded for the second time; and the second time, after the container truck is completely boxed, a tally worker confirms that the container truck can leave the shore bridge at the goods ordering terminal, confirms the yard and the position of the gantry crane which the container truck goes to, and then the master control center informs the gantry crane to prepare unloading, specifically adds an unloading task to the specified gantry crane and sends the position of the specified gantry crane to the truck dispatching center.
In the unloading process of the gantry crane, after receiving an unloading task, the gantry crane displays a task list on a gantry crane terminal, the terminal calls a truck concentrator after sending a ready signal, when a truck dispatching center dispatches the truck concentrator to stop at a specified position, a reaching signal is sent to the truck dispatching center and a red light is lightened, the truck dispatching center synchronizes with a master control center, the master control sends an instruction to inform the gantry crane to start accurate alignment with the truck concentrator and start unloading, a completion signal is sent from the gantry crane terminal after the unloading is completed, and the truck dispatching center distributes a new task for the truck concentrator again or stops at a near standby area.
When all containers are transported to the designated storage yard, the containers are fed back to the master control center and confirmed by a dispatcher to confirm that the ship unloading task is completely completed.
The system management unit 2103 generally includes at least data tables of department information to which a manager belongs, operator information, operator type, and a data dictionary. The affiliated department information is used for the department reference of the operator; the operator information is used for setting files, passwords, operation authorities and the like of operators; the type of the operator is used for setting different operation authorities of the operator, so that the system authority management is facilitated; the data dictionary is used for defining items needing standard operation in the system, such as vehicle types, container types, cargo dangerization levels and the like.
The vehicle management unit 2104 is used to maintain and manage vehicle information, i.e., all hub card information of the port, including hub card number, name, type, load, length, width, height, duration, and the like, vehicle charging, and vehicle faults. Vehicle charging management includes vehicle charging alarm, vehicle charging task confirmation, and the like. The vehicle fault management comprises vehicle fault alarming, fault processing and the like.
In the task scheduling unit 2105, one ship loading operation plan corresponds to one ship loading task, one ship unloading operation plan corresponds to one ship unloading task, each ship loading or ship unloading plan task automatically generates a corresponding main task when being started, each main task generates a corresponding number of sub tasks such as a truck collecting task, a bridge crane task, a gantry crane task, a tally and the like according to the carrying times of a truck in the execution process, the truck collecting task needs to be cooperatively operated with a truck dispatching center, and other tasks are uniformly managed and controlled by a port scheduling system.
The task scheduling unit 2105 includes:
the operation task checking function can check the execution conditions of ship loading and unloading tasks according to the number of the task list, can also check the loading and unloading execution conditions of each container in each task, and can check the execution conditions of all tasks of the container truck, the bridge crane and the gantry crane respectively;
the operation task adjustment is to adjust the tasks of the collecting card, including adding the collecting card, modifying the collecting card task and deleting the collecting card task, and the task level, the execution end point and the like of the tasks which are not started can be adjusted, and all the tasks which are not finished can be cancelled or suspended;
checking a charging task, monitoring the electric quantity of the collecting card in real time by a vehicle dispatching center, controlling the collecting card to automatically charge to a specified charging pile when the electric quantity is lower than a specified alarm value, recording and informing a system of the starting time and the ending time of the charging of the collecting card, and checking the charging conditions of all the collecting cards in the charging task;
and (4) task exception handling, namely setting a corresponding fault alarm and handling mechanism for the exceptions possibly encountered by the equipment, such as a shore bridge fault, a gantry crane fault, a truck fault, a road fault, a communication fault and the like, so as to ensure the normal operation of the wharf.
In order to visually see the real-time operation state of each device of the whole wharf, a panoramic image of the device position and the truck route of the wharf is firstly established, a scheduling system establishes a two-dimensional coordinate according to the map, establishes a map coordinate comparison table and associates the two-dimensional coordinate position and the longitude and latitude position of the device on the map with a device file in the system. Because the equipment is appointed in the process of executing the planned task, the current state of the equipment can be obtained in real time, the equipment is marked by a specific color on a map, and the task information is displayed after double-click of an equipment icon is set. The real-time positioning in the running process of the collecting card is related according to the longitude and latitude positions sent to the master control center by the dispatching center, and corresponding icons and colors are set to identify, so that the panoramic display of the whole wharf operation is conveniently realized.
The monitoring management unit 2106 includes the following functions:
the real-time tracking function is adopted, the system displays the wharf operation panoramic display in a default mode, and can only display the running states of all the trucks or the running state of a certain truck, the running states of all equipment, the running states of all bridge cranes, the running states of all gantry cranes and the like;
and the fault tracking function is used for identifying the abnormality of the equipment by using a specific color, so that the maintenance of personnel is convenient to arrange.
The file management unit 2107 is used for maintaining and managing basic information of the port scheduling system 20, including berth information, yard information, shore bridge information, gantry crane information, temporary storage area information, charging pile information, line information, and an established map coordinate comparison table.
The map coordinate comparison table comprises a coordinate proportion, a coordinate unit, an origin longitude, an origin latitude, a unit coordinate longitude conversion value and a unit coordinate latitude conversion value. The map coordinate comparison table is utilized to convert longitude and latitude values transmitted in the system into coordinate values, and the coordinate values can also be converted into longitude and latitude values, so that the real-time running track and the positioning information of the display card can be conveniently positioned;
the berth information is berth files of the port, and comprises berth numbers, names, tonnage, bridge crane quantity, area coordinate positions and the like, so that the berth files are convenient to call;
the yard information is yard archive information of the port, and comprises yard numbers, names, types, the number of gantry cranes, areas, the number of warehouse locations, area coordinate positions, positioning longitudes, latitudes and the like, and the positioning longitudes and the latitudes are generally used as specific position information when a planning task is executed;
the shore bridge information is archive information of each shore bridge in a port, and comprises a shore bridge number, a name, a maximum load, an area coordinate position, a positioning longitude, a latitude and the like, and the positioning longitude and the positioning latitude are generally used as specific position information when the shore bridge executes a planning task;
the gantry crane information is archive information of each gantry crane in the storage yard, and comprises a gantry crane number, a name, a maximum load, a storage yard name, a regional coordinate position, a positioning longitude, a positioning latitude and the like, and the positioning longitude and latitude are generally used as specific position information when a shore bridge executes a planning task;
the temporary storage area information is the file information of the card collection suspension standby area, and comprises the number, name, type, parking space number, area coordinate position, positioning longitude, positioning latitude and the like of the standby area;
the charging pile information is information such as the number, name and position of all charging piles in the port;
and the route information is the import management of all the truck driving routes and maps in the maintenance port.
The query statistics unit 2108 includes:
historical planning task query: inquiring operation plan details and operation completion conditions according to various combination conditions such as time, ship names, operation types (loading and unloading), ship agents and the like, and counting the total operation amount, the operation time and the like;
vehicle historical track query: inquiring the historical running track of the vehicle according to the time and the vehicle number, and displaying the historical running track on a map, wherein the time span or the track quantity needs to be limited so as to avoid that excessive data cannot be normally displayed;
job device history query: historical task execution conditions of various devices such as a truck, a bridge crane and a gantry crane can be inquired;
and (4) counting the entrance and exit of the berth: the total throughput of each berth, the throughput of various goods and the like can be counted according to time;
stock yard inventory status table: inquiring real-time inventory details and summary conditions of each storage yard;
and (3) carrying out performance statistics on the shore bridge: counting the loading and unloading operation details of each shore bridge in a certain time period, counting according to the summary of box types, classifying and summarizing according to danger grades and the like;
and (3) performance statistics of the gantry crane: counting the loading and unloading operation details of each gantry crane in a certain time period, counting according to the summary of box types, classifying and summarizing according to danger grades and the like;
counting the transportation amount of the trucks: counting the loading and unloading operation details of each card concentrator in a certain time period, counting according to the summary of box types, summarizing according to the classification of danger grades and the like.
The master control center and the vehicle dispatching center interact through an intermediate database, and the master control center and the vehicle dispatching center comprise two interactive data tables: one for tracking the real-time status of the vehicle and one for tracking the status of the performance of each task.
The vehicle state tracking table has an exemplary structure as follows:
the central bus transfer system adds the running information of the vehicle into the table in real time according to the reporting time interval set by the system, and the VMS system is responsible for reading and deleting.
The task unit corresponding to obu (vehicle-mounted unit) in the car dispatching system can be displayed according to the information of the central point of the database, the planned path information of the car dispatching system is displayed, and the real-time path information needs to be calculated and displayed in real time according to data reported by obu.
The vehicle task execution state table has an exemplary structure as follows:
the task unit corresponding to obu in the dispatching system can be displayed according to the information of the central point of the database, the planned path information of the dispatching system is displayed, and the real-time path information needs to be calculated and displayed in real time according to data reported by obu.
In the embodiment, the port dispatching system can realize automatic dispatching management of the port and improve the port operation efficiency.
Example three:
fig. 3 is a schematic flow chart of a third port scheduling method based on autopilot according to an embodiment of the present invention, including:
s1, after a port planning task in the TOPS system is obtained, coordinating and managing a car dispatching system, a shore bridge terminal, a gantry crane terminal and a tallying terminal to execute the port planning task;
optionally, the type of the operator is set, system operation permissions of different personnel are defined, and a project category used by the specification is defined.
Optionally, a map coordinate comparison table is established to convert longitude and latitude coordinates and port two-dimensional coordinates, and information files of port berths, storage yards, shore bridges, gantry cranes, temporary storage areas of the trucks, charging piles and truck traveling lines are established.
Optionally, the information table of the port collection card is updated and maintained, the collection card with the electric quantity lower than the preset electric quantity is subjected to charging alarm, a charging task is generated, an alarm prompt is generated for the collection card with the fault, and corresponding fault processing is executed according to the fault type.
Optionally, the execution condition of the planned tasks is checked, and the truck-collecting tasks are adjusted, wherein the adjustment of the truck-collecting tasks includes adding, modifying and deleting the truck-collecting tasks, adjusting the task level, and canceling or suspending unfinished tasks, wherein one ship loading task or ship unloading task is used as a main task in the planned tasks, and the truck-collecting task, the shore bridge task, the long hanging task and the cargo handling task are correspondingly generated as subtasks.
Optionally, in a two-dimensional coordinate system established according to the port map, state information of each device is marked, states of the devices are marked by different colors, and a specific device is selected for state display, wherein the device at least comprises a hub, a shore bridge and a gantry crane.
Optionally, the port planning task includes a ship loading task, and the ship loading task specifically includes:
distributing corresponding quantity of the trucks, quayside container number, yard container number and gantry crane number according to container information in the ship loading planning task;
after the quantity of the trucks, the quayside crane serial number, the yard serial number and the gantry crane serial number corresponding to the container shipment task are approved, corresponding shipment instructions are respectively sent to a vehicle dispatching system, a quayside crane terminal and a gantry crane terminal;
after the truck dispatching system receives the corresponding instruction, the dispatching truck reaches a preset yard according to a preset route, the gantry crane terminal carries out boxing on the truck according to the instruction, the truck is automatically driven to a bridge crane standby area after boxing of the truck is finished, the shore bridge terminal sends a box unloading instruction to the truck, the shore bridge carries out box unloading and ship loading operation after the truck reaches a specified place, and whether the box number is consistent with a real object in a planned task is verified through the tally terminal.
Optionally, the port planning task includes a ship loading task, and the ship loading task specifically includes:
distributing corresponding number of the trucks, the quay crane number, the yard number and the gantry number according to the container information in the ship unloading planning task;
after the quantity of the trucks, the quayside bridge number, the yard number and the gantry crane number corresponding to the container ship unloading task are approved, corresponding ship loading instructions are respectively sent to a vehicle dispatching system, a quayside bridge terminal and a gantry crane terminal;
and the shore bridge terminal sends an unloading request to the truck dispatching system, the truck dispatching system dispatches the container truck to a designated place according to a preset route, the cargo handling terminal checks whether the box number is consistent with the real object in the planned task, the shore bridge unloads the ship and packs the container truck, the container truck is automatically driven to the designated place after the container truck is packed, and the gantry crane terminal unloads the container truck according to the instruction.
Preferably, the interaction between the control center module and the dispatching system is realized through an interactive data table, and the interactive data table comprises a vehicle real-time state table and a task execution state table.
S2, sending a vehicle calling instruction, scheduling a preset hub card to execute preset operation according to a planned route, and feeding back the status information of the hub card in real time;
s3, after the container truck arrives at the designated place, the preset shore bridge carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the shore bridge task;
s4, after the truck arrives at the designated place, the preset gantry crane carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the gantry crane task;
and S5, confirming that the loading task or unloading task of the preset quay crane and the preset gantry crane is finished, recording the information of the box number, and checking whether the box loading or unloading object is consistent with the box number and the task.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An autopilot-based port dispatch system comprising:
a control center module: the system comprises a terminal module, a container dispatching module, a shore bridge terminal module, a gantry crane terminal module and a cargo handling terminal module, wherein the terminal module is used for inputting a port planning task of a TOPS system, the planning task comprises a container shipping task and a shipping task, the management and coordination vehicle dispatching module, the shore bridge terminal module, the gantry crane terminal module and the cargo handling terminal module are used for executing the port planning task, information interaction is carried out between the terminal module and the vehicle dispatching module, and vehicle state information is;
the car dispatching module: the system comprises a control center module, a vehicle monitoring module and a vehicle monitoring module, wherein the control center module is used for receiving control management of the control center module, monitoring the vehicle running;
shore bridge terminal module: the system comprises a control center module, a ship loading or unloading command and a ship unloading command, wherein the control center module is used for receiving a container ship loading or unloading command sent by the control center module, controlling a shore bridge to carry out ship loading or unloading operation according to a preset operation sequence according to the ship loading or unloading command, and sending a shore bridge task execution state to the control center module in real time;
dragon hangs terminal module: the system comprises a control center module, a container loading or unloading command, a gantry crane and a gantry crane, wherein the control center module is used for receiving the container loading or unloading command sent by the control center module, controlling the gantry crane to carry out loading or unloading operation according to a preset operation sequence according to the loading or unloading command, and sending the execution state of a gantry crane task to the control center module in real time;
tally terminal module: the system is used for confirming that the loading task or the unloading task of the container is finished, recording the information of the container number, and verifying whether the container loading or unloading object is consistent with the container number and the planned task.
2. The system of claim 1, wherein the control center module comprises:
and the system management unit is used for setting the types of operators, defining the system operation authorities of different operators and defining the item types used in the specification.
3. The system of claim 1, wherein the control center module comprises:
and the file information unit is used for establishing a map coordinate comparison table to convert longitude and latitude coordinates and port two-dimensional coordinates, and establishing information files of port berths, storage yards, shore bridges, gantry cranes, temporary storage areas of the trucks, charging piles and truck driving lines.
4. The system of claim 1, wherein the control center module comprises:
and the vehicle management unit is used for updating and maintaining an information table of the port collection card, performing charging alarm on the collection card with the electric quantity lower than the preset electric quantity, generating a charging task, generating an alarm prompt for the collection card with the fault, and executing corresponding fault processing according to the fault type.
5. System according to claim 1, wherein the container shipment task is performed in particular by:
distributing corresponding quantity of the trucks, quayside container number, yard container number and gantry crane number according to container information in the ship loading planning task;
after the quantity of the trucks, the quayside crane serial number, the yard serial number and the gantry crane serial number corresponding to the container shipment task are approved, corresponding shipment instructions are respectively sent to a vehicle dispatching system, a quayside crane terminal and a gantry crane terminal;
after the truck dispatching system receives the corresponding instruction, the dispatching truck reaches a preset yard according to a preset route, the gantry crane terminal carries out boxing on the truck according to the instruction, the truck is automatically driven to a bridge crane standby area after boxing of the truck is finished, the shore bridge terminal sends a box unloading instruction to the truck, the shore bridge carries out box unloading and ship loading operation after the truck reaches a specified place, and whether the box number is consistent with a real object in a planned task is verified through the tally terminal.
6. The system according to claim 1, wherein the container ship unloading task is performed by:
distributing corresponding number of the trucks, the quay crane number, the yard number and the gantry number according to the container information in the ship unloading planning task;
after the quantity of the trucks, the quayside bridge number, the yard number and the gantry crane number corresponding to the container ship unloading task are approved, corresponding ship loading instructions are respectively sent to a vehicle dispatching system, a quayside bridge terminal and a gantry crane terminal;
and the shore bridge terminal sends an unloading request to the truck dispatching system, the truck dispatching system dispatches the container truck to a designated place according to a preset route, the cargo handling terminal checks whether the box number is consistent with the real object in the planned task, the shore bridge unloads the ship and packs the container truck, the container truck is automatically driven to the designated place after the container truck is packed, and the gantry crane terminal unloads the container truck according to the instruction.
7. The system of claim 1, wherein the control center module further comprises:
and the task scheduling unit is used for checking the execution condition of the planned tasks and adjusting the truck-collecting tasks, wherein the adjustment of the truck-collecting tasks comprises adding a truck, modifying the truck-collecting tasks, deleting the truck-collecting tasks, adjusting the task level and canceling or suspending unfinished tasks, one ship loading task or ship unloading task is taken as a main task in the planned tasks, and the truck-collecting task, the shore bridge task, the dragon hanging task and the tallying task are correspondingly generated as subtasks.
8. The system of claim 1, wherein the control center module comprises:
and the monitoring management unit is used for marking the state information of each device in a two-dimensional coordinate system established according to a port map, marking the state of the device by using different colors, and selecting a specific device to display the state, wherein the device at least comprises a hub, a shore bridge and a gantry crane.
9. The system of claim 1, wherein the control center module further comprises:
the interaction between the control center module and the car dispatching system is realized through an interactive data table, and the interactive data table comprises a vehicle real-time state table and a task execution state table.
10. A human body detection method in automatic driving, characterized by comprising:
s1, after a port planning task in the TOPS system is obtained, coordinating and managing a car dispatching system, a shore bridge terminal, a gantry crane terminal and a tallying terminal to execute the port planning task;
s2, sending a vehicle calling instruction, scheduling a preset hub card to execute preset operation according to a planned route, and feeding back the status information of the hub card in real time;
s3, after the container truck arrives at the designated place, the preset shore bridge carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the shore bridge task;
s4, after the truck arrives at the designated place, the preset gantry crane carries out ship loading or ship unloading operation according to the preset operation sequence of the ship loading or ship unloading command, and reports the execution state of the gantry crane task;
and S5, confirming that the loading task or unloading task of the preset quay crane and the preset gantry crane is finished, recording the information of the box number, and checking whether the box loading or unloading object is consistent with the box number and the task.
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Application publication date: 20191220 |