CN111142403A - Automatic storage yard management method and system based on RFID walking correction - Google Patents
Automatic storage yard management method and system based on RFID walking correction Download PDFInfo
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- CN111142403A CN111142403A CN201911300159.4A CN201911300159A CN111142403A CN 111142403 A CN111142403 A CN 111142403A CN 201911300159 A CN201911300159 A CN 201911300159A CN 111142403 A CN111142403 A CN 111142403A
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- yard
- passive code
- mainframes
- track
- code carrier
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an automatic yard management method and system based on RFID (radio frequency identification) walking correction.A passive code carrier is uniformly arranged on a track of a yard, and a mapping relation table of the passive code carrier and the position is established and transmitted to all yard mainframes; establishing a simulation model of the yard, the track, the passive code carrier and the yard large plane, operating to obtain an anti-collision operation scheme and sending the anti-collision operation scheme to all yard large planes; the large yard machine transmits the information of the walking distance and the passive code carrier to the centralized manager when passing through the passive code carrier; the centralized manager judges whether the track is settled according to the walking distance and the information of the passive code carrier, if so, adjusts a simulation model of the track and operates, and if the anti-collision operation scheme is wrong due to track settlement, adjusts the anti-collision operation scheme and sends the anti-collision operation scheme to the yard mainframe; and if the track settlement reaches the maintenance threshold value, sending an alarm signal. The invention eliminates the encoder deviation caused by rail settlement, avoids mutual collision among equipment and ensures that the yard operation is clear and smooth.
Description
Technical Field
The invention relates to the technical field of port equipment, in particular to an automatic yard management method and method based on RFID walking correction.
Background
The chinese utility model patent with publication number CN208969488U discloses a stock yard single machine walking correction system, which comprises a PLC system, a walking encoder, a walking correction read-write head and a code carrier, wherein the PLC system comprises a display screen, and the walking correction read-write head is arranged on the stock yard single machine; the code carriers are arranged on the ground, are uniformly arranged at intervals and store distance data; the walking correction read-write head is matched with the code carrier for use; the walking encoder is arranged on the walking wheels and is used for measuring the walking distance of the single machine in the storage yard; the walking encoder transmits the acquired distance data to the PLC system, and the walking correction read-write head transmits the read data stored in the code carrier to the PLC system. Although this patent can reduce the maintenance volume of walking correction system later stage, improves the stability and the accuracy of walking correction system, the encoder deviation that brings because of the track subsides can't be eliminated, avoids the mutual collision between equipment, makes the operation of stock dump clear and easy.
Disclosure of Invention
The invention provides an automatic yard management method and method based on RFID (radio frequency identification) walking correction, which solve the problems that the prior art can not eliminate encoder deviation caused by rail settlement, avoid mutual collision among equipment and ensure that yard operation is clear and smooth.
The technical scheme of the invention is realized as follows:
an automatic yard management method based on RFID walking correction is characterized in that a plurality of yard mainframes are distributed on a yard, a controller, a wireless data communication circuit, a reader-writer and an encoder are fixed on each yard mainframe, the controller is respectively electrically connected with the wireless data communication circuit, the reader-writer and the encoder, the encoder is used for measuring the walking distance of the yard mainframes, the reader-writer is used for reading the information of a passive code carrier, and the wireless data communication circuit is used for allowing the yard mainframes to interact data with a centralized manager, and the method specifically comprises the following steps:
s1, uniformly installing passive code carriers on the rails of the yard, and establishing a mapping relation table of the passive code carriers and the positions by the centralized manager and transmitting the mapping relation table to all yard mainframes;
s2, establishing and operating simulation models of the yard, the track, the passive code carrier and the yard mainframe in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and the simulation operation results, and sending the anti-collision operation scheme to all yard mainframes;
s3, the yard large plane transmits the information of the walking distance and the passive code carrier to the centralized manager when passing through the passive code carrier;
s4, the centralized manager judges whether the track is settled according to the walking distance and the information of the passive code carrier, if so, the centralized manager adjusts a simulation model of the track and operates the simulation model, judges whether the anti-collision operation scheme is wrong due to the track settlement, and if so, adjusts the anti-collision operation scheme and sends a control command to the yard mainframe;
and S5, judging whether the rail settlement reaches the maintenance threshold value, if so, sending an alarm signal, and repeating the step S3 after the rail is maintained.
As a preferred embodiment of the invention, the passive code carrier is fixed by a metal base, and the horizontal position and the vertical position are kept fixed.
As a preferred embodiment of the present invention, the passive code carrier is an RFID tag.
As a preferred embodiment of the present invention, the wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
An automatic yard management system based on RFID walking correction is characterized in that a plurality of yard mainframes are distributed on a yard, a controller, a wireless data communication circuit, a reader-writer and an encoder are fixed on each yard mainframe, the controller is respectively electrically connected with the wireless data communication circuit, the reader-writer and the encoder, the encoder is used for measuring the walking distance of the yard mainframes, the reader-writer is used for reading the information of a passive code carrier, the wireless data communication circuit is used for allowing the yard mainframes to interact data with a centralized manager, and the passive code carrier is uniformly fixed on a track of the yard and is used for being read by the reader-writer when the yard mainframes pass through; the centralized manager is used for establishing a mapping relation table of the passive code carriers and the positions and transmitting the mapping relation table to all the yard mainframes, also used for establishing simulation models of the yards, the tracks, the passive code carriers and the yard mainframes and operating the simulation models, an anti-collision operation scheme is obtained according to the simulation models and simulation operation results, the anti-collision operation scheme is sent to all the yard mainframes, and also used for receiving the walking distance and the information of the passive code carriers fed back by the yard mainframes and judging whether the tracks are settled, if so, the simulation models of the tracks are adjusted and operated, whether the anti-collision operation scheme is wrong due to track settlement is judged, if so, the anti-collision operation scheme is adjusted, a control command is sent to the yard mainframes, whether the track settlement reaches a maintenance threshold value is judged, and if so, an alarm signal is sent.
As a preferred embodiment of the invention, the passive code carrier is fixed by a metal base, and the horizontal position and the vertical position are kept fixed.
As a preferred embodiment of the present invention, the wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
The invention has the beneficial effects that: the encoder deviation caused by rail settlement is eliminated, mutual collision between equipment is avoided, and the yard operation is clear and smooth.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of an automated yard management method based on RFID walk correction according to the present invention;
fig. 2 is a schematic block diagram of an embodiment of an automated yard management system based on RFID walk correction according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides an automatic yard management method based on RFID walking correction, where a plurality of yard mainframes are distributed on a yard, a controller, a wireless data communication circuit, a reader/writer, and an encoder are fixed on the yard mainframes, the controller is electrically connected with the wireless data communication circuit, the reader/writer, and the encoder, the encoder is used to measure the walking distance of the yard mainframes, the reader/writer is used to read the information of a passive carrier, and the wireless data communication circuit is used to allow the yard mainframes to interact data with a centralized manager, and specifically includes the following steps:
s1, uniformly installing passive code carriers on the rails of the yard, and establishing an ID-position mapping relation table of the passive code carriers and positions by the centralized manager and transmitting the ID-position mapping relation table to all yard mainframes; the large yard machine can read the ID information of the passive code carrier, and the represented position information is inquired from the ID-position mapping relation table, so that the positioning is realized, and the passive code carrier plays a role in positioning the coordinates of the large yard machine. Specifically, the ID-position mapping relation table is stored in the controller, and the encoder sends the read ID information of the passive code carrier to the controller through a connection line. The controller and the wireless data communication circuit can be integrated in a control cabinet, and are connected with a driving controller for driving the yard mainframe to move through a pluggable interface, so that the controller and the wireless data communication circuit are convenient to maintain, transplant and use. The encoder is fixed on the road wheel of the yard tractor.
S2, establishing and operating simulation models of the yard, the track, the passive code carrier and the yard mainframe in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and the simulation operation results, and sending the anti-collision operation scheme to all yard mainframes; the invention designs an anti-collision operation scheme through a centralized manager and simulation software, namely, all yard mainframes need operation routes, operation speeds and the like for finishing set work purposes, and possible collision among the yard mainframes is avoided. The required computing capacity of the yard mainframe is reduced, the yard mainframe is not required to be manually released with work tasks on site, and the work efficiency is improved.
S3, the yard large plane transmits the information of the walking distance and the passive code carrier to the centralized manager when passing through the passive code carrier; the yard large plane can send the accumulated walking distance or the sectional walking distance, and if the accumulated walking distance or the sectional walking distance is the sectional walking distance, the walking distance can be compared with the distance value between the two passive code carriers. For example, the passive code carriers with unique data are uniformly installed along the track every 50 meters, so that the encoder can be frequently checked when the cart walks.
And S4, the centralized manager judges whether the track is settled according to the walking distance and the information of the passive code carriers, wherein the judgment standard is that whether the difference value of the walking distance and the distance value between the two passive code carriers exceeds a threshold value, and if so, the centralized manager judges that the track is settled. If the rail is settled, adjusting a simulation model of the rail according to the numerical value of settlement and operating the simulation model, judging whether the anti-collision operation scheme is wrong due to the rail settlement, if so, adjusting the anti-collision operation scheme, and sending a control command to a yard large plane; in addition, the centralized manager can judge whether the anti-collision operation scheme is in error operation or not through the time when the yard large plane reaches the position of the passive code carrier, so that the probability of collision of the yard large plane in the later operation process is increased.
And S5, judging whether the rail settlement reaches the maintenance threshold value, if so, sending an alarm signal, and repeating the step S3 after the rail is maintained. The corresponding track data in the track maintenance simulation model can be used without modeling.
The passive code carrier is fixed through the metal base, and the horizontal position and the vertical position are kept fixed. The passive code carrier is used as a positioning mark and needs to ensure that no position change occurs. Specifically, the passive code carrier is an RFID tag. The wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
As shown in fig. 2, the invention further provides an automatic yard management system based on RFID walking correction, wherein a plurality of yard masters are distributed on a yard, the yard masters are fixed with a controller, a wireless data communication circuit, a reader-writer and an encoder, the controller is respectively electrically connected with the wireless data communication circuit, the reader-writer and the encoder, the encoder is used for measuring the walking distance of the yard masters, the reader-writer is used for reading the information of a passive code carrier, the wireless data communication circuit is used for allowing the yard masters to interact data with a centralized manager, the passive code carrier is uniformly fixed on a track of the yard, and the yard masters are used for reading the information by the reader-writer when passing through; the centralized manager establishes a mapping relation table of the passive code carriers and the positions and transmits the mapping relation table to all the yard mainframes, is also used for establishing and operating simulation models of the yards, the tracks, the passive code carriers and the yard mainframes, obtains an anti-collision operation scheme according to the simulation models and simulation operation results, sends the anti-collision operation scheme to all the yard mainframes, is also used for receiving the walking distance and the information of the passive code carriers fed back by the yard mainframes and judging whether the tracks are settled or not, adjusts the simulation models of the tracks and operates if the tracks are settled, judges whether the anti-collision operation scheme is wrong due to track settlement or not, adjusts the anti-collision operation scheme if the anti-collision operation scheme is wrong, sends a control command to the yard mainframes, judges whether the track settlement reaches a maintenance threshold or not, and sends an alarm signal if the track settlement reaches the maintenance.
The passive code carrier is fixed through the metal base, and the horizontal position and the vertical position are kept fixed. The wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
The invention eliminates the encoder deviation caused by rail settlement, avoids mutual collision among equipment and ensures that the yard operation is clear and smooth. Can provide nearly 100% reading rate, does not need to be in a visible state between a carrier and a reading/writing head, and is suitable for being used in harsh environments such as dirty, greasy, wet and the like. The recognition speed is very fast and the exchange of the read-write head with the carrier information data is completed within a few milliseconds. The work of the code carrier and the read-write head belongs to a non-contact type, and the maintenance work is reduced.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An automatic yard management method based on RFID walking correction is characterized by specifically comprising the following steps of:
s1, uniformly installing passive code carriers on the rails of the yard, and establishing a mapping relation table of the passive code carriers and the positions by the centralized manager and transmitting the mapping relation table to all yard mainframes;
s2, establishing and operating simulation models of the yard, the track, the passive code carrier and the yard mainframe in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and the simulation operation results, and sending the anti-collision operation scheme to all yard mainframes;
s3, the yard large plane transmits the information of the walking distance and the passive code carrier to the centralized manager when passing through the passive code carrier;
s4, the centralized manager judges whether the track is settled according to the walking distance and the information of the passive code carrier, if so, the centralized manager adjusts a simulation model of the track and operates the simulation model, judges whether the anti-collision operation scheme is wrong due to the track settlement, and if so, adjusts the anti-collision operation scheme and sends a control command to the yard mainframe;
and S5, judging whether the rail settlement reaches the maintenance threshold value, if so, sending an alarm signal, and repeating the step S3 after the rail is maintained.
2. The automatic yard management method based on RFID walking correction of claim 1, wherein the passive code carrier is fixed by a metal base, and the horizontal position and the vertical position are kept fixed.
3. The method according to claim 1, wherein the passive code carrier is an RFID tag.
4. The automatic yard management method based on RFID walking correction of claim 1, wherein the wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
5. An automatic yard management system based on RFID walking correction is characterized in that a plurality of yard mainframes are distributed on a yard, a controller, a wireless data communication circuit, a reader-writer and an encoder are fixed on each yard mainframe, the controller is respectively electrically connected with the wireless data communication circuit, the reader-writer and the encoder, the encoder is used for measuring the walking distance of the yard mainframes, the reader-writer is used for reading the information of a passive code carrier, and the wireless data communication circuit is used for allowing the yard mainframes to interact data with a centralized manager; the centralized manager is used for establishing a mapping relation table of the passive code carriers and the positions and transmitting the mapping relation table to all the yard mainframes, also used for establishing simulation models of the yards, the tracks, the passive code carriers and the yard mainframes and operating the simulation models, an anti-collision operation scheme is obtained according to the simulation models and simulation operation results, the anti-collision operation scheme is sent to all the yard mainframes, and also used for receiving the walking distance and the information of the passive code carriers fed back by the yard mainframes and judging whether the tracks are settled, if so, the simulation models of the tracks are adjusted and operated, whether the anti-collision operation scheme is wrong due to track settlement is judged, if so, the anti-collision operation scheme is adjusted, a control command is sent to the yard mainframes, whether the track settlement reaches a maintenance threshold value is judged, and if so, an alarm signal is sent.
6. The automatic yard management system based on RFID walking correction of claim 5, wherein the passive code carrier is fixed by a metal base, keeping horizontal position and vertical position fixed.
7. The automatic yard management system based on RFID walking correction of claim 5, wherein the wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911300159.4A CN111142403B (en) | 2019-12-16 | 2019-12-16 | Automatic storage yard management method and system based on RFID walking correction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911300159.4A CN111142403B (en) | 2019-12-16 | 2019-12-16 | Automatic storage yard management method and system based on RFID walking correction |
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| CN111142403A true CN111142403A (en) | 2020-05-12 |
| CN111142403B CN111142403B (en) | 2023-06-16 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205158094U (en) * | 2015-10-21 | 2016-04-13 | 国投中煤同煤京唐港口有限公司 | Location correcting unit of big machine of harbour track |
| US20170329336A1 (en) * | 2015-01-22 | 2017-11-16 | Guangzhou Airob Robot Technology Co., Ltd. | Method and apparatus for localization and mapping based on rfid |
| CN108196286A (en) * | 2018-01-24 | 2018-06-22 | 三峡大学 | A kind of cable machine tower crane collision early warning system based on GPS/RFID integrated positionings |
| CN208969488U (en) * | 2018-07-13 | 2019-06-11 | 华能曹妃甸港口有限公司 | A kind of stockyard single machine traveling correction system |
-
2019
- 2019-12-16 CN CN201911300159.4A patent/CN111142403B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170329336A1 (en) * | 2015-01-22 | 2017-11-16 | Guangzhou Airob Robot Technology Co., Ltd. | Method and apparatus for localization and mapping based on rfid |
| CN205158094U (en) * | 2015-10-21 | 2016-04-13 | 国投中煤同煤京唐港口有限公司 | Location correcting unit of big machine of harbour track |
| CN108196286A (en) * | 2018-01-24 | 2018-06-22 | 三峡大学 | A kind of cable machine tower crane collision early warning system based on GPS/RFID integrated positionings |
| CN208969488U (en) * | 2018-07-13 | 2019-06-11 | 华能曹妃甸港口有限公司 | A kind of stockyard single machine traveling correction system |
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