CN111142403B - 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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- CN111142403B CN111142403B CN201911300159.4A CN201911300159A CN111142403B CN 111142403 B CN111142403 B CN 111142403B CN 201911300159 A CN201911300159 A CN 201911300159A CN 111142403 B CN111142403 B CN 111142403B
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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
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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
- G05D1/0287—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 utility model discloses an automatic yard management method and system based on RFID walking correction, wherein passive code carriers are uniformly arranged on a track of a yard, and a mapping relation table of the passive code carriers and positions is established and transmitted to all yard mainframes; establishing and operating simulation models of a storage yard, a track, a passive carrier and a storage yard mainframe, obtaining an anti-collision operation scheme and transmitting the anti-collision operation scheme to all the storage yard mainframes; transmitting the traveling distance and the information of the passive code carrier to a centralized manager when the yard mainframe passes 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, the simulation model of the track is adjusted and operated, and if the anti-collision operation scheme is wrong due to track settlement, the anti-collision operation scheme is adjusted and sent to the yard mainframe; and sending an alarm signal if the track sedimentation reaches a maintenance threshold value. The utility model eliminates encoder deviation caused by track settlement, avoids mutual collision among equipment, and ensures clear and smooth operation of a storage yard.
Description
Technical Field
The utility model 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 patent with the publication number of CN208969488U discloses a 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 yard single machine; the code carriers are arranged on the ground and are a plurality of uniformly arranged at intervals, and distance data are stored in the code carriers; the walking correction read-write head is used with the carrier code; the walking encoder is arranged on the walking wheel 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 data stored in the read code carrier to the PLC system. Although the maintenance amount of the later stage of the walking correction system can be reduced, the stability and the accuracy of the walking correction system are improved, encoder deviation caused by track settlement cannot be eliminated, mutual collision among equipment is avoided, and the yard operation is clear and smooth.
Disclosure of Invention
The utility model provides an automatic yard management method and method based on RFID walking correction, which solve the problems that encoder deviation caused by track settlement cannot be eliminated, mutual collision among devices is avoided, and yard operation is clear and smooth in the prior art.
The technical scheme of the utility model 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 the yard mainframes, the controller is respectively and 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 information of passive code carriers, and the wireless data communication circuit is used for enabling the yard mainframes to interact data with a centralized manager, and specifically comprises the following steps:
s1, uniformly installing passive code carriers on tracks of a storage yard, and establishing a mapping relation table of the passive code carriers and positions by a centralized manager and transmitting the mapping relation table to all storage yard mainframes;
s2, establishing and operating simulation models of the storage yard, the track, the passive code carriers and the storage yard mainframes in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and simulation operation results, and transmitting the anti-collision operation scheme to all the storage yard mainframes;
s3, transmitting the traveling distance and the information of the passive code carrier to a centralized manager when the storage yard mainframe passes 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 simulation model of the track is adjusted and operated, and judges whether the anti-collision operation scheme is wrong due to track settlement, if so, the anti-collision operation scheme is adjusted, and a control command is sent to the yard mainframe;
and S5, judging whether the track sedimentation reaches a maintenance threshold value, if so, sending out an alarm signal, and repeating the step S3 after maintaining the track.
As a preferred embodiment of the present utility model, 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 utility model, the passive code carrier is an RFID tag.
As a preferred embodiment of the present utility model, 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 the yard mainframes, the controller is respectively and 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 information of a passive code carrier, the wireless data communication circuit is used for enabling the yard mainframes to exchange data with a centralized manager, and the passive code carrier is uniformly fixed on a track of the yard for being read by the reader-writer when the yard mainframes pass; the centralized manager establishes a mapping relation table of the passive code carriers and the positions and transmits the mapping relation table to all yard mainframes, is also used for establishing and running a simulation model of a yard, a track, the passive code carriers and the yard mainframes, obtains an anti-collision running scheme according to the simulation model and simulation running results, sends the anti-collision running scheme to all the yard mainframes, is also used for receiving information of the walking distance and the passive code carriers fed back by the yard mainframes, judges whether the track is settled, adjusts the simulation model and running of the track, judges whether the anti-collision running scheme is wrong due to track settlement, adjusts the anti-collision running scheme if the track is settled, sends a control command to the yard mainframes, judges whether the track settlement reaches a maintenance threshold value, and sends an alarm signal if the track settlement is settled.
As a preferred embodiment of the present utility model, 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 utility model, the wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
The utility model has the beneficial effects that: the encoder deviation caused by track settlement is eliminated, the 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 utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of one embodiment of an automated yard management method based on RFID walk correction in accordance with the present utility model;
FIG. 2 is a schematic block diagram of one embodiment of an automated yard management system based on RFID walk correction in accordance with the present utility model.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1, the utility model provides an automatic yard management method based on RFID walking correction, 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 respectively and 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 carrier, and the wireless data communication circuit is used for the yard mainframes to interact data with a centralized manager, and specifically comprises the following steps:
s1, uniformly installing passive code carriers on tracks of a storage yard, and establishing an ID-position mapping relation table of the passive code carriers and positions by a centralized manager and transmitting the ID-position mapping relation table to all storage yard mainframes; the storage yard machine can read the ID information of the passive code carrier, and inquire the representative position information 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 storage yard machine. Specifically, the ID-position mapping 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 maintenance and the transplanting are convenient. The encoder is fixed on the travelling wheels of the storage yard crane.
S2, establishing and operating simulation models of the storage yard, the track, the passive code carriers and the storage yard mainframes in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and simulation operation results, and transmitting the anti-collision operation scheme to all the storage yard mainframes; the utility model designs an anti-collision operation scheme through the centralized manager and the simulation software, namely, the operation route, the operation speed and the like required by all the yard mainframes for completing the set work purpose, and the possible collision among the yard mainframes is avoided. The calculation capability required by the storage yard large machine is reduced, the manual work is not required to be released to the storage yard large machine on site, and the working efficiency is improved.
S3, transmitting the traveling distance and the information of the passive code carrier to a centralized manager when the storage yard mainframe passes through the passive code carrier; the yard machine can send accumulated walking distance or segmented walking distance, and if the accumulated walking distance is segmented walking distance, the walking distance can be compared with the distance value between the two passive code carriers. For example, the passive code carrier with unique data is used, and the passive code carrier is uniformly arranged along the track every 50 meters, so that the encoder can be checked regularly when the cart walks.
And S4, judging whether the track is settled or not by the centralized manager according to the walking distance and the information of the passive code carriers, wherein the judging standard is that whether the difference value of the distance values between the walking distance and the two passive code carriers exceeds a threshold value or not is judged, and if the difference value is judged that the track is settled or not. If the track is settled, adjusting a simulation model of the track according to the settled value and operating, judging whether an anti-collision operation scheme is wrong due to track settlement, if so, adjusting the anti-collision operation scheme, and sending a control command to a yard mainframe; in addition, the centralized manager can judge whether the anti-collision operation scheme is in operation error or not through the time of the storage yard mainframe reaching the position of the passive code carrier, so that the storage yard mainframe has collision probability in the later operation process.
And S5, judging whether the track sedimentation reaches a maintenance threshold value, if so, sending out an alarm signal, and repeating the step S3 after maintaining the track. The corresponding orbit data in the orbit maintenance simulation model can be used without re-modeling.
The passive code carrier is fixed through a metal base, and the horizontal position and the vertical position are kept fixed. The passive code carrier is used as a positioning mark, and the position change is not required to be ensured. 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 utility model further provides an automatic yard management system based on RFID walking correction, a plurality of yard mainframes are distributed on the yard, a controller, a wireless data communication circuit, a reader and an encoder are fixed on the yard mainframes, the controller is respectively and electrically connected with the wireless data communication circuit, the reader and the encoder, the encoder is used for measuring the walking distance of the yard mainframes, the reader is used for reading information of passive carriers, the wireless data communication circuit is used for enabling the yard mainframes to interact data with a centralized manager, the passive carriers are uniformly fixed on a track of the yard, and the information is read by the reader when the yard mainframes pass; the centralized manager establishes a mapping relation table of the passive code carriers and the positions and transmits the mapping relation table to all yard mainframes, is also used for establishing and operating a simulation model of a yard, a track, the passive code carriers and the yard mainframes, obtains an anti-collision operation scheme according to the simulation model and simulation operation results, transmits the anti-collision operation scheme to all the yard mainframes, is also used for receiving information of the traveling distance and the passive code carriers fed back by the yard mainframes, judges whether the track is settled, adjusts the simulation model and operation of the track, judges whether the anti-collision operation scheme is wrong due to track settlement, adjusts the anti-collision operation scheme if the track is settled, transmits a control command to the yard mainframes, judges whether the track settlement reaches a maintenance threshold value, and transmits an alarm signal if the track is settled.
The passive code carrier is fixed through a 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 utility model eliminates encoder deviation caused by track settlement, avoids mutual collision among equipment, and ensures clear and smooth operation of a storage yard. Can provide a read rate of approximately 100%, and does not require a visual condition between the carrier and the read/write head, and is suitable for use in relatively harsh environments such as dirty, greasy, wet, etc. The recognition speed is very fast, and the read-write head and carrier information data exchange is completed within a few milliseconds. The work of the code carrier and the read-write head belongs to non-contact, and the maintenance work is reduced.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.
Claims (7)
1. 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 the yard mainframes, the controller is respectively and 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 information of passive code carriers, and the wireless data communication circuit is used for enabling the yard mainframes to interact data with a centralized manager, and the method is characterized by comprising the following steps:
s1, uniformly installing passive code carriers on tracks of a storage yard, and establishing a mapping relation table of the passive code carriers and positions by a centralized manager and transmitting the mapping relation table to all storage yard mainframes;
s2, establishing and operating simulation models of the storage yard, the track, the passive code carriers and the storage yard mainframes in the centralized manager, obtaining an anti-collision operation scheme according to the simulation models and simulation operation results, and transmitting the anti-collision operation scheme to all the storage yard mainframes;
s3, transmitting the traveling distance and the information of the passive code carrier to a centralized manager when the storage yard mainframe passes 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 simulation model of the track is adjusted and operated, and judges whether the anti-collision operation scheme is wrong due to track settlement, if so, the anti-collision operation scheme is adjusted, and a control command is sent to the yard mainframe;
and S5, judging whether the track sedimentation reaches a maintenance threshold value, if so, sending out an alarm signal, and repeating the step S3 after maintaining the track.
2. The automated yard management method based on RFID walk correction of claim 1, wherein the passive carrier is fixed by a metal base, keeping a horizontal position and a vertical position fixed.
3. The automated yard management method based on RFID walk correction of claim 1, wherein the passive carrier is an RFID tag.
4. The automated yard management method based on RFID walk 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 the yard mainframes, the controller is respectively and 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 information of passive carriers, and the wireless data communication circuit is used for enabling the yard mainframes to exchange data with a centralized manager, and the passive carriers are uniformly fixed on tracks of the yard so as to be read by the reader-writer when the yard mainframes pass; the centralized manager establishes a mapping relation table of the passive code carriers and the positions and transmits the mapping relation table to all yard mainframes, is also used for establishing and running a simulation model of a yard, a track, the passive code carriers and the yard mainframes, obtains an anti-collision running scheme according to the simulation model and simulation running results, sends the anti-collision running scheme to all the yard mainframes, is also used for receiving information of the walking distance and the passive code carriers fed back by the yard mainframes, judges whether the track is settled, adjusts the simulation model and running of the track, judges whether the anti-collision running scheme is wrong due to track settlement, adjusts the anti-collision running scheme if the track is settled, sends a control command to the yard mainframes, judges whether the track settlement reaches a maintenance threshold value, and sends an alarm signal if the track settlement is settled.
6. The automated yard management system based on RFID walk correction of claim 5 wherein said passive carrier is fixed by a metal base, maintaining a horizontal position and a vertical position fixed.
7. The automated yard management system of claim 5 wherein said wireless data communication circuit is a WiFi communication circuit or a 4G communication circuit.
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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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| 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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| CN111142403B true CN111142403B (en) | 2023-06-16 |
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Citations (3)
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016115713A1 (en) * | 2015-01-22 | 2016-07-28 | 江玉结 | Rfid-based localization and mapping method and device thereof |
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Patent Citations (3)
| 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 |
| 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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