CN112329059B - Method and device for controlling movement of automatic carrying equipment and readable storage medium - Google Patents
Method and device for controlling movement of automatic carrying equipment and readable storage medium Download PDFInfo
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Abstract
The invention discloses a mobile control method of automatic handling equipment, which comprises the following steps: receiving an operation instruction, and applying for a movement authority according to a first block code in the operation instruction; the first block code is related to a destination position of the handling equipment; if the application of the movement authority is successful, controlling the carrying equipment to operate; if the application of the movement authority fails, the next operation instruction is continued to be waited. According to the method, the carrying equipment is allowed to operate only when the application meets the conditions, so that the accuracy of operation is improved, and safety accidents are avoided. The invention also provides a mobile control device of the automatic handling equipment and a readable storage medium.
Description
Technical Field
The invention relates to the field of automated container terminals, in particular to a mobile control method and device of automated handling equipment and a readable storage medium.
Background
The port equipment is an essential material technology foundation for modern port to carry out loading, unloading, transporting and producing, and is an important component part of a port production quality assurance system. With the development of economy and science, the throughput of containers at wharf is increasing, which puts higher demands on the loading and handling efficiency of containers at port.
Currently, in order to improve the handling efficiency of containers, automated handling equipment is increasingly used in the fields of automated docks, ports, etc. In general, automated handling equipment may include container horizontal transport equipment (Automatic Horizontal Transportation, AHT), automated shore bridges, automated yard bridges, and the like. Specifically, when an automated quay bridge or an automated yard bridge places or grabs a container on an AHT while transporting the container, a security incident may be induced if the AHT directly travels away due to receiving an erroneous task or if the automated quay bridge or yard bridge does not grab/place the container on the AHT in a predetermined route.
Disclosure of Invention
The invention aims to solve the technical problem that the automatic handling equipment in the prior art causes safety accidents due to the fact that the automatic handling equipment receives error instructions. The invention provides a mobile control method of automatic carrying equipment, which can more accurately control the operation of the automatic carrying equipment or carry out carrying/placing operation of a container, has higher accuracy and is not easy to cause safety accidents.
Based on this, an embodiment of the present invention discloses a movement control method of an automated handling apparatus, including:
Receiving an operation instruction, and applying for a movement authority according to a first block code in the operation instruction; the first block code is related to a destination position of the handling equipment; if the application of the movement authority is successful, controlling the carrying equipment to operate; if the application of the mobile authority fails, continuing to wait for the next operation instruction;
according to another embodiment of the present invention, in a movement control method of an automated handling apparatus, according to a first block code in a job instruction, applying a movement right includes:
a block coding query step: inquiring in a database according to the first block code in the operation instruction; if the second block code with the same first block code is inquired in the database, executing the next step; otherwise, the application of the mobile authority fails;
a device code query step: inquiring the current equipment coding content corresponding to the second block coding in the database;
a first judging step: judging whether the inquired current equipment coding content is empty or null characters; if yes, the application of the mobile authority is considered to be successful, and the queried coding content of the current equipment is updated to the coding of the carrying equipment for the current application; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
And a second judging step: judging whether the inquired code content of the current equipment is the same as the code of the carrying equipment currently applied, and if so, considering that the application of the mobile authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed.
According to another embodiment of the present invention, the first block of the operation instruction is encoded in a plurality, wherein,
in the block code inquiring step, if each first block code can inquire the same second block code in the database, executing the next step; if the second block code identical to the first block code cannot be queried in the database for at least one first block code, the application of the mobile authority is considered to be failed;
in the device code inquiring step, inquiring the current device code content corresponding to each second block code in a database; if all the queried encoding contents of the current equipment are empty or empty characters, the application of the mobile authority is considered to be successful, and all the queried encoding contents of the current equipment are updated to the encoding of the carrying equipment which is currently applied;
otherwise, comparing the searched current equipment coding content which is not empty or is not empty with the coding of the carrying equipment which is currently applied, and if the current equipment coding content is the same as the coding of the carrying equipment which is currently applied, considering that the application of the mobile authority is successful; if at least one difference exists, the application of the mobile authority is considered to fail.
According to another embodiment of the present invention, before the device code query step, the method further includes:
the storage step: the code of the currently filed carrying device is stored.
According to another embodiment of the present invention, the movement control method further includes:
releasing the mobile authority: and after the operation of the carrying equipment is finished, releasing the moving authority of the second block code occupied by the carrying equipment in the database.
According to another embodiment of the present invention, the step of releasing the movement authority includes:
inquiring the current equipment coding content corresponding to the second block code occupied by the carrying equipment in the database, and deleting or updating the inquired current equipment coding content into blank characters.
According to another embodiment of the present invention, before receiving the job instruction, the movement control method further includes:
dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
coding each block according to a preset rule to obtain a second block code corresponding to each block;
and constructing a database according to each second block code.
According to another embodiment of the present invention, a method for determining a first block code includes:
Establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to an operation lane of the conveying equipment as an x-axis and taking the direction perpendicular to the operation lane as a y-axis;
determining position coordinates of a destination position of the handling equipment in a transport coordinate system;
determining a first block code according to the position coordinates and a preset length; the preset length is the length of one of the uniform blocks divided into the working lane along the x-axis direction.
According to another embodiment of the invention, the automated handling equipment is a quay bridge, a yard bridge or an automated container horizontal transport equipment.
Accordingly, the embodiment of the invention also discloses a readable storage medium, wherein the readable storage medium is stored with the operation instructions, and the operation instructions are suitable for being loaded by a processor and executing the movement control method of the automatic conveying equipment.
Correspondingly, the embodiment of the invention also discloses a mobile control device of the automatic carrying equipment, which is used for receiving the operation instruction and applying for the mobile authority according to the first block code in the operation instruction; the first block code is related to a destination position of the handling equipment;
If the application of the movement authority is successful, the movement control device controls the carrying equipment to operate; if the application of the mobile authority fails, the mobile control device continues to wait for the next operation instruction.
According to another embodiment of the present invention, a movement control device of an automated handling apparatus includes:
the receiving module is used for receiving an operation instruction, wherein the operation instruction comprises a first block code;
a database storing a plurality of second block codes, wherein at least part of the second block codes are identical to the first block codes;
the block code inquiring module is used for inquiring the second block code in the database according to the first block code in the operation instruction, executing the next step if the second block code with the same first block code is inquired in the database, otherwise, considering that the application of the mobile authority fails;
the device code inquiry module is used for inquiring the current device code content corresponding to the second block code in the database after the second block code with the same first block code is inquired in the database by the block code inquiry module;
the first judging module is used for judging whether the inquired current equipment coding content is empty or null characters; if yes, the application of the mobile authority is considered to be successful; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
The updating module is used for updating the current equipment coding content inquired by the equipment coding inquiry module into the coding of the carrying equipment currently applied when the first judging module judges that the inquired current equipment coding content is empty or empty characters;
the second judging module is used for judging whether the inquired current equipment coding content is the same as the coding of the carrying equipment currently applied when the first judging module judges that the inquired current equipment coding content is not empty and is not an empty character, and if so, judging that the application of the mobile authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed;
the control module is used for controlling the carrying equipment to operate when the application of the movement authority is successful, and controlling the receiving module to wait for receiving the next operation instruction when the application of the movement authority is failed
According to another embodiment of the present invention, the movement control device further includes:
and the storage module is used for storing the codes of the carrying equipment which is currently applied before the equipment code inquiring module inquires the current equipment code content corresponding to the second block code in the database.
According to another embodiment of the present invention, the movement control device further includes:
And the mobile authority releasing module is used for releasing the mobile authority of the second block code occupied by the handling equipment in the database after the handling equipment is operated.
According to another embodiment of the invention, the releasing mobile rights module comprises:
the release inquiry module is used for inquiring the current equipment code content corresponding to the second block code occupied by the carrying equipment in the database;
and the release updating module is used for deleting or updating the current equipment coding content inquired by the release inquiry module into blank characters.
According to another embodiment of the present invention, a method for constructing a database includes:
dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
coding each block according to a preset rule to obtain a second block code corresponding to each block;
and constructing a database according to each second block code.
According to another embodiment of the present invention, the movement control device further includes:
the instruction generation module is used for generating and outputting an operation instruction, wherein the operation instruction comprises a first block code; the method for determining the first block coding comprises the following steps:
establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to an operation lane of the conveying equipment as an x-axis and taking the direction perpendicular to the operation lane as a y-axis;
Determining position coordinates of a destination position of the handling equipment in a transport coordinate system;
determining a first block code according to the position coordinates and a preset length; the preset length is the length of one of the uniform blocks divided into the working lane along the x-axis direction.
According to another embodiment of the invention the handling equipment is a quay bridge, a field bridge or an automatic container horizontal transport equipment.
Compared with the prior art, the invention has the following technical effects:
by applying for the movement permission by using the first block code in the instruction, the carrying equipment is allowed to operate only when the condition is met, so that the accuracy of operation is improved, and the occurrence of safety accidents is avoided.
Drawings
FIG. 1 is a flow chart of a method of controlling movement of an automated handling equipment according to an embodiment of the present invention;
FIG. 2 is a top view of a quay crane to AHT operation area according to an embodiment of the present invention;
fig. 3 is a schematic view showing a structure of a movement control device of an automated handling apparatus according to an embodiment of the present invention;
FIG. 4 shows a schematic diagram of an electronic device according to an embodiment of the invention;
fig. 5 shows a schematic diagram of a system on chip of an embodiment of the invention.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present embodiment, it should be noted that the terms "first," "second," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present embodiment, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "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 embodiment can be understood in a specific case by those of ordinary skill in the art.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
An embodiment of the present invention provides a movement control method of an automated handling apparatus, which may include: receiving an operation instruction, applying for a movement authority according to a first block code in the operation instruction, and specifically, applying for the movement authority from a database; the first block code is related to a destination position of the handling equipment; if the application of the movement authority is successful, controlling the carrying equipment to operate; if the application of the movement authority fails, the next operation instruction is continued to be waited.
By applying for the movement permission by using the first block code in the instruction, the carrying equipment is allowed to operate only when the condition is met, so that the accuracy of operation is improved, and the occurrence of safety accidents is avoided.
Specifically, as shown in fig. 1, receiving the operation instruction, and applying the movement authority to the database according to the first block code in the operation instruction may specifically include the following steps:
step S101, an instruction receiving step: and receiving a working instruction, wherein the working instruction comprises a first block code related to destination position information of the conveying equipment.
In particular, the automated handling equipment may operate under control of an automated handling equipment control system. The receiving of the operation command may be performed by the automated handling equipment control system or by a separately provided command receiving module.
Step S102, a block coding query step: inquiring in a database according to the first block code in the operation instruction; if the second block code with the same first block code is inquired in the database, executing the next step; otherwise, the application of the mobile authority fails;
step S103, a device code query step: inquiring the current equipment coding content corresponding to the second block coding in the database;
Step S104, a first judging step: judging whether the inquired current equipment coding content is empty or null characters; if yes, the application of the mobile authority is considered to be successful, and the queried coding content of the current equipment is updated to the coding of the carrying equipment for the current application; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
step S105, a second judgment step: judging whether the inquired code content of the current equipment is the same as the code of the carrying equipment currently applied, and if so, considering that the application of the mobile authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed.
When a job instruction is received, firstly inquiring in a database, judging whether a second block code which is the same as a first block code in the job instruction exists in the second database, if the second block code which is the same as the first block code exists in the second database, further searching equipment code content b corresponding to the second block code in the database, and if the equipment code content b is empty (i.e. no character) or null characters or even if the equipment code content exists, the equipment code content is the same as the code of the equipment which is currently applied, considering that the application movement authority is successful, and further controlling the carrying equipment to perform the job; otherwise, the application of the movement authority is considered to be failed, and the handling equipment or the instruction receiving module is controlled to continue waiting for receiving the next operation instruction. For example, the first block code may be safeaea.qc.102.0100, and if the second block code identical to the first block code is not found in the database, the handling device considers that the application of the movement authority fails, does not perform the operation, and continues to wait for the next operation. However, if the second block code identical to the code is queried in the database, the next step is to continuously query the equipment code content corresponding to the code in the database, if the code of the carrying equipment currently applied is QC101, when the queried equipment code content is empty or null character or QC101, the application of the movement authority is considered successful, and the carrying equipment is controlled to perform the corresponding operation.
Namely, by matching the first block code in the instruction with the second block code in the database and matching the code of the handling equipment to be operated with the corresponding equipment code in the database, the handling equipment is allowed to operate only when the conditions are met, thereby improving the accuracy of the operation and avoiding the occurrence of safety accidents.
Further, there may be a plurality of first block codes in the operation instruction, and accordingly, in step S102, i.e. in the block code querying step, it is required to query the database for whether there is a second block code identical to each first block code. If the same second block code can be found in the database for each first block code, then the next step is executed (step S103); otherwise (i.e. if for at least one first block code, the same second block code cannot be queried in the database), the application of the mobile right is considered to fail.
In step S103, i.e., the device code querying step, the current device code content corresponding to each second block code is queried one by one in the database; if all the queried encoding contents of the current equipment are empty or empty characters, the application of the mobile authority is considered to be successful, and all the queried encoding contents of the current equipment are updated to the encoding of the carrying equipment which is currently applied; otherwise, comparing the searched current equipment coding content which is not empty or is not empty with the coding of the carrying equipment which is currently applied, and if the current equipment coding content is the same as the coding of the carrying equipment which is currently applied, considering that the application of the mobile authority is successful; if at least one difference exists, the application of the mobile authority is considered to fail.
Specifically, the same second block codes can be found in the database for all the first block codes, and the content of the corresponding device codes of the second block codes must meet the conditions to consider that the application of the mobile authority is successful, if one first block code exists and cannot find the same second block code in the database, or if one device code content does not meet the conditions, the application of the mobile authority is considered to be failed.
Further, before step S103 (i.e., the device code query step), the method further includes: a storing step of storing the code of the currently filed carrying device so as to facilitate comparing the searched device code content with the code of the currently filed carrying device in step S103.
Further, the movement control method of the automated handling equipment further includes: and releasing the moving authority, namely releasing the moving authority of the second block code occupied by the carrying equipment in the database after the carrying equipment completes the operation. If the block movement authority is not released in time, the equipment code content corresponding to the second block code is still occupied after the operation is completed, and further the operation is mistakenly considered to be still performed in the block, and when the next operation needs to occupy the block, the application of the movement authority fails, and the operation cannot be performed. The above phenomenon can be avoided by setting the step of releasing the movement authority.
Specifically, the step of releasing the movement authority may specifically include: inquiring the current equipment coding content corresponding to the second block code occupied by the carrying equipment in the database, and deleting or updating the inquired current equipment coding content into blank characters. Therefore, when the next operation needs to occupy the area of the block, the equipment code content corresponding to the block code is empty or empty characters, so that the mobile authority can be successfully applied to the handling equipment so as to normally operate.
In a specific implementation, before applying for the movement authority according to the first block code in the operation instruction, the method further includes a step of constructing a database, and the specific construction method of the database may include:
a) Dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
b) Coding each block according to a preset rule to obtain a second block code corresponding to each block;
c) And constructing a database according to each second block code.
Specifically, the preset rule is not unique, and there may be various methods. For example, it may be set as follows:
according to each AHT parking lane, according to the fact that each 4 meters is a block, the blocks are not overlapped, and the naming rule of each block code can be as follows: safeaea, device type, device number, lane number, block number, occasionally, if there is only one device, the device number may be omitted, i.e., the block code may be: safeaea equipment type, track number, block number; and then summarizing all the block codes to construct a database. Specifically, as shown in table 1, in the figure, "area_id" represents a field name corresponding to the second block code in the database, "che_id" represents a field name corresponding to the device code content in the database, "TIME" represents a field name corresponding to the occupied TIME of the block in the database, and "NOT FULL" represents non-null; "vchar ()" represents how many characters are occupied; "TimeSpan" represents a time type character; "safeaea.cltp.ea.ea101.0025" means that a certain block of the field bridge operation area is encoded in the corresponding second block in the database, and "QC101" means the device number of the device encoded content.
TABLE 1
Fig. 2 is a plan view of an operation area of the quay to the AHT, wherein 10 represents the quay, 11 represents a current operation lane of the quay, 12 represents a sea side rail of the quay, 13 represents the quay Liu Cegui, a coordinate system xOy in the figure is a coordinate system of a horizontal transport Apparatus (AHT), and D represents a distance component of a zero point of a cart of the quay from an X-axis zero point of the horizontal transport coordinate system on the X-axis. In the figure, lanes 101, 102, 103, 104, 105 and 106 (corresponding to the lanes of numerals 1 to 6 in the figure) are sequentially arranged from top (the coastal sea side rail) to bottom (the coastal land side rail), and the block number in each lane is sequentially defined as 0000,0001,0003,0004 … … from left to right. In the block coding naming corresponding to the preset rule, the equipment type corresponding to the shore bridge can be denoted by QC, and the number of the shore bridge is 1, so that the equipment number is omitted. Therefore, according to the block naming rule, in fig. 2, the leftmost column of blocks, from sea-side rail to land-side rail, are safeaea.qc.101.0000, safeaea.qc.102.0000, safeaea.qc.103.0000, safeaea.qc.104.0000, safeaea.qc.105.0000, safeaea.qc.102.0000 in this order.
The second row of blocks, from the sea side rail to the land side rail, are SAFEAREA.QC.101.0001, SAFEAREA.QC.102.0001, SAFEAREA.QC.103.0001, SAFEAREA.QC.104.0001, SAFEAREA.QC.105.0001, SAFEAREA.QC.102.0001 in this order. Other block designations and so on.
As another example, a block of 4 meters is just like a block under a quay bridge. The naming rules of the blocks in the operation area of the field bridge may be: safeaea.cltp.yard number.lane number.block number, such as safeaea.cltp.ea.ea.101.0025.
Further, the database may further include device code content corresponding to each second block code, where the device code content may be specifically a device number of a device that is occupying a block corresponding to the second block code, and if the block is not occupied by a device, the device code content corresponding to the second block code is a null or null character. For example, still taking the second block code of the quay bridge as an example, for the second block code safeaea.qc.101.0000, if the corresponding block of this block code is being occupied by a device, the device code content is the device number of the device that occupies the block, and if not occupied, it is a null or null character.
Further, the method for determining the first block code in the operation instruction may specifically include:
establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to the operation lane as an x-axis and the direction perpendicular to the operation lane as a y-axis;
Determining position coordinates of a destination position of the handling equipment in a transport coordinate system;
and determining the first block code according to the position coordinates and the preset length.
Firstly, a coordinate system is established, wherein the origin of the coordinate system can be selected according to actual needs, and the x-axis is parallel to the direction of the operation lane and is generally parallel to the advancing direction of the conveying equipment. The destination position here refers to the destination position of the handling apparatus for this operation; the preset length is the length of one of the uniform blocks divided into the working lane along the x-axis direction.
The following will also take fig. 2 (the bank bridge for the AHT operation) as an example, which illustrates the determination of the first block coding. In this process, it should be noted that the second block code in the database (i.e., the block code on the lane line) is the same as in the above example (SAFEAREA.QC.101.0000, SAFEAREA.QC.102.0000 … …). For a block length of 4 meters (i.e., a preset length of 4 meters), an AHT is assumed to be 15 meters long, a maximum of 5 blocks, and a minimum of 4 blocks, and a complete coverage of an AHT is certain. However, considering all the extreme cases that may be encountered, in order to ensure that 2 adjacent AHTs do not overlap, the AHT needs to use the current block plus 2 left and 2 right blocks when leaving the quay operation area, and applies for 5 consecutive blocks altogether. Assuming that the shore bridge is 27 meters wide, before grabbing/placing the container on the AHT, in order to ensure that the shore bridge can completely cover the area where the AHT is located, the shore bridge needs to apply for one more block, namely, the shore bridge applies for 6 continuous blocks, and therefore operation safety can be ensured.
In fig. 2, there is a shore bridge, the upper side in the drawing is a shore bridge sea side track, the lower side is a shore bridge land side track, 6 working lanes under the shore bridge are distributed in parallel from the sea side track to the land side track, the 6 lanes are working lanes of the shore bridge for AHT at present, the lower side of the shore bridge is a block for dividing the working lanes, the drawing also includes a coordinate system of horizontal transport equipment (AHT), and the distance component D of the zero point of the crane of the shore bridge on the X axis is far from the zero point of the horizontal transport coordinate system of the crane of the shore bridge. In the figure, the quay crane can only move along the track. There are 6 AHT lanes below the shore bridge, and the AHT can travel on the lane or stop on the lane. The shore bridge can be used for carrying out the operation of grabbing and placing the container on the AHT stopped under the shore bridge and in the lane. Each block in the figure takes the X direction as the length, which is 4 meters long. Assuming that D in the figure is 16 meters, the current cart position of the quay crane is 74 meters.
The following is a specific step of calculating the AHT operation of the shore bridge to the No. 2 lane, wherein the block needs to be locked:
1) Center position of quay crane-d=74-16=58 meters, 58 divided by the preset length (i.e. 4 meters): 58/4=14 more than 2.
2) According to the block naming rule, the lane 2 block name where the center line of the quay bridge is located is SAFEAREA.QC.102.0014.
3) The blocks to be locked are safeaea.qc.102.0012 to safeaea.qc.102.0016, 5 blocks in total, according to the principle of locking 5 blocks.
Thus, in this operation instruction, the first block code may include five of safeaea.qc.102.0012, safeaea.qc.102.0013, safeaea.qc.102.0014, safeaea.qc.102.0015, safeaea.qc.102.0016.
Further, the automated handling equipment may be a shore bridge, a field bridge or an automated container horizontal transport equipment.
According to the mobile control method of the automatic carrying equipment, provided by the invention, the first block code in the instruction is matched with the second block code in the database, and the code of the carrying equipment to be operated is matched with the corresponding equipment code in the database, so that the carrying equipment is allowed to operate only when the condition is met, the operation accuracy is improved, and the occurrence of safety accidents is avoided.
Still referring to fig. 2, the following describes the method of motion control for an automated container horizontal transport (AHT) operation (i.e., handing over a container and handing over to complete an AHT departure) by a quay crane.
A) Firstly, calculating the AHT operation of the quay bridge QC101 on the lane 2, and the block to be locked is needed, and the specific steps can be seen in the above example. The blocks to be locked are finally determined to be safeaea.qc.102.0012 to safeaea.qc.102.0016, 5 blocks total.
B) The quay system begins performing the following operations on the database's safe_area table:
a. the incoming block is queried in the database using select for update (i.e., query statement), and if there is no block, the roll back (i.e., return) is performed, and the application fails.
b. If a block exists, the CHEID (i.e., device encoded content) is queried using the incoming block ID one by one,
c. if the CHEID is not empty and is not a string of empty words and is not an incoming device number (such as QC 101), then the application fails.
d. If each recorded CHEID is empty, either empty string, or incoming device number (QC 101), then the next step is entered.
e. Each recorded CHEID is updated to the incoming device number (QC 101).
f. And submitting the application successfully.
C) After the quay system successfully applies to all 5 blocks, the quay can start to perform AHT operation.
D) After the shore bridge completes the AHT operation, the shore bridge needs to release the just-applied safeaea.qc.102.0012 to safeaea.qc.102.0016 consecutive 5 blocks by the following operations.
Specifically, the following SQL statement can be executed:
update save_area set cheid= "where CHEID = incoming device number (quay bridge 101);
commit；
e) An AHT (device number V001) is required to apply for a block according to the current location before leaving under the quay bridge.
When the AHT works under the shore bridge, the center position of the X axis of the AHT is not necessarily consistent with the cart coordinates of the shore bridge, and the deviation of at most 4 meters can be caused. Suppose that the X of the center position of the present job AHT is 77 meters. Then the specific application block steps are as follows:
1. block to calculate AHT required application:
a. (X of AHT) -d=77-16=61 (meters).
b.61/4=15 more than 1, the block where the center position is located is: SAFEAREA. QC.102.0015
The blocks required for the aht system are consecutive 5 blocks of safeaea. Qc.102.0013 to safeaea. Qc.102.0017.
2. The application block, the AHT system starts to perform the following operations on the SAFE_AREA table of the database:
a. the incoming block is queried using select for update. If there are blocks not present, rollback, this application fails.
b. If a block exists, the CHEID is queried using the incoming block IDs one by one,
c. if the CHEID is not empty and is not a string of empty words and is not an incoming device number (V001), then roll back, this application fails.
d. If each recorded CHEID is empty, either empty string, or incoming device number (V001), then go to the next step.
e. The CHEID of each record is updated to the incoming device number (V001).
f. And submitting the application successfully.
3. After the AHT system successfully applies to all 5 blocks, the AHT can travel away from the current location.
F) After leaving the current location, the AHT needs to release the block just applied.
1. The following SQL statement is executed:
update save_area set cheid= "where CHEID = incoming device number (V001);
commit；
through the operation, the safe interaction control of the AHT under the quay bridge is completed.
Correspondingly, as shown in fig. 3, the embodiment of the invention also provides a movement control device of the automatic handling equipment, which can be used for receiving the operation instruction and applying for the movement authority according to the first block code in the operation instruction; the first block code is related to a destination position of the handling equipment; if the application of the movement authority is successful, the movement control device controls the carrying equipment to operate; if the application of the mobile authority fails, the mobile control device continues to wait for the next operation instruction. In particular embodiments, the handling equipment may be a shore bridge, a field bridge or an automated container horizontal transport equipment.
Specifically, the movement control device may include:
the receiving module 1 is used for receiving an operation instruction, wherein the operation instruction comprises a first block code;
a database 2 storing a plurality of second block codes, wherein at least part of the second block codes are identical to the first block codes;
The block code inquiry module 3 is used for inquiring the second block code in the database 2 according to the first block code in the operation instruction, executing the next step if the second block code with the same first block code is inquired in the database 2, otherwise, considering that the application of the mobile authority fails;
the device code inquiry module 4 is configured to inquire the current device code content corresponding to the second block code in the database 2 after the second block code identical to the first block code is inquired in the database 2 by the block code inquiry module 3;
a first judging module 5, configured to judge whether the queried current device coding content is a null or null character; if yes, the application of the mobile authority is considered to be successful; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
the updating module 6 is configured to update the current equipment code content queried by the equipment code querying module 4 to the code of the currently applied handling equipment when the first determining module 5 determines that the queried current equipment code content is empty or empty character;
the second judging module 7 is configured to judge whether the queried current equipment code content is the same as the code of the currently applied handling equipment or not when the first judging module 5 judges that the queried current equipment code content is not empty and is not an empty character, and if so, consider that the application of the movement authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed;
The control module 8 is configured to control the handling device to perform the operation when the application of the movement authority is successful, and control the receiving module 1 to wait for receiving the next operation instruction when the application of the movement authority is failed.
Therefore, through the mutual matching of the modules, the first block code in the instruction and the second block code in the database are matched with the code of the carrying equipment to be operated and the corresponding equipment code in the database, and the carrying equipment is allowed to operate only when the conditions are met, so that the operation accuracy is improved, and the occurrence of safety accidents is avoided.
Further, the movement control device may further include: and the storage module is used for storing the codes of the carrying equipment which is currently applied before the equipment code inquiring module inquires the current equipment code content corresponding to the second block code in the database.
Further, the movement control device may further include: and the mobile authority releasing module is used for releasing the mobile authority of the second block code occupied by the handling equipment in the database after the handling equipment is operated.
Specifically, the mobile rights releasing module may include: the release inquiry module is used for inquiring the current equipment code content corresponding to the second block code occupied by the carrying equipment in the database; and the release updating module is used for deleting or updating the current equipment coding content inquired by the release inquiry module into blank characters.
Further, the movement control device may further include: the instruction generation module is used for generating and outputting an operation instruction, wherein the operation instruction comprises a first block code; the method for determining the first block coding comprises the following steps:
establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to an operation lane of the conveying equipment as an x-axis and taking the direction perpendicular to the operation lane as a y-axis;
determining position coordinates of a destination position of the handling equipment in a transport coordinate system;
and determining a first block code according to the position coordinates and a preset length, wherein the preset length is the length of one block along the x-axis direction in a plurality of uniform blocks divided into the working lane.
Further, in the mobile control device, the method for constructing the database may include:
dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
coding each block according to a preset rule to obtain a second block code corresponding to each block;
and constructing a database according to each second block code.
Correspondingly, the embodiment of the invention also provides a readable storage medium, wherein the readable storage medium is stored with the operation instructions, and the operation instructions are suitable for being added by a processor and executing the movement control method of the automatic conveying equipment.
Referring to fig. 4, a block diagram of an electronic device 400 is shown, according to one embodiment of the application. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403. For at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-drop Bus such as a Front Side Bus (FSB), a point-to-point interface such as a Quick Path Interconnect (QPI), or similar connection. Processor 401 executes job instructions that control general types of data processing operations. In one embodiment, controller Hub 403 includes, but is not limited to, a Graphics Memory Controller Hub (GMCH) (not shown) and an Input Output Hub (IOH) (which may be on separate chips) (not shown), where the GMCH includes memory and Graphics controllers and is coupled to the IOH.
The electronic device 400 may also include a coprocessor 402 and memory 404 coupled to a controller hub 403. Alternatively, one or both of the memory and GMCH may be integrated within the processor (as described in the present application), with the memory 404 and co-processor 402 coupled directly to the processor 401 and to the controller hub 403, the controller hub 403 being in a single chip with the IOH.
Memory 404 may be, for example, dynamic random access memory (DRAM, dynamic Random Access Memory), phase change memory (PCM, phase Change Memory), or a combination of both. Memory 404 may include one or more tangible, non-transitory computer-readable media for storing data and/or job instructions. The computer-readable storage medium has stored therein job instructions, and in particular, temporary and permanent copies of the job instructions. The job instruction may include: execution by at least one of the processors causes electronic device 400 to implement the job instructions of the method shown in fig. 1. When executed on a computer, the job instructions cause the computer to perform the methods disclosed in any one or combination of the embodiments described above.
In one embodiment, coprocessor 402 is a special-purpose processor, such as, for example, a high-throughput MIC (Many Integrated Core, integrated many-core) processor, network or communication processor, compression engine, graphics processor, GPGPU (General-purpose computing on a graphics processing unit), embedded processor, or the like. Optional properties of coprocessor 402 are shown in dashed lines in fig. 4.
In one embodiment, the electronic device 400 may further include a network interface (NIC, network Interface Controller) 406. The network interface 406 may include a transceiver to provide a radio interface for the electronic device 400 to communicate with any other suitable device (e.g., front end module, antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the electronic device 400. The network interface 406 may implement the functions of the communication units in the above-described embodiments.
Electronic device 400 may further include an Input/Output (I/O) device 405.I/O405 may include: a user interface, the design enabling a user to interact with the electronic device 400; the design of the peripheral component interface enables the peripheral component to also interact with the electronic device 400; and/or sensors designed to determine environmental conditions and/or location information associated with the electronic device 400.
It is noted that fig. 4 is merely exemplary. That is, although fig. 4 shows the electronic apparatus 400 including a plurality of devices such as the processor 401, the controller hub 403, and the memory 404, in practical applications, the apparatus using the methods of the present application may include only a part of the devices of the electronic apparatus 400, for example, may include only the processor 401 and the network interface 406. The nature of the alternative device is shown in dashed lines in fig. 4.
Referring now to fig. 5, shown is a block diagram of a SoC (System on Chip) 500 in accordance with an embodiment of the present application. In fig. 5, similar parts have the same reference numerals. In addition, the dashed box is an optional feature of a more advanced SoC. In fig. 5, the SoC500 includes: an interconnect unit 550 coupled to the processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; a set or one or more coprocessors 520 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random-Access Memory (SRAM) unit 530; a direct memory access (DMA, direct Memory Access) unit 560. In one embodiment, coprocessor 520 includes a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU (General-purpose computing on graphics processing units, general purpose computing on a graphics processing unit), high-throughput MIC processor, embedded processor, or the like.
Static Random Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and/or job instructions. The computer-readable storage medium has stored therein job instructions, and in particular, temporary and permanent copies of the job instructions. The job instruction may include: execution by at least one of the processors causes the SoC to implement the job instructions of the method as shown in fig. 1. The job instructions, when executed on a computer, cause the computer to perform the methods disclosed in the above embodiments.
The method embodiments of the application can be realized in the modes of software, magnetic elements, firmware and the like.
Program code may be applied to input job instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP, digital Signal Processor), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor.
The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. Program code may also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described herein are not limited in scope to any particular programming language. In either case, the language may be a compiled or interpreted language.
One or more aspects of at least one embodiment may be implemented by representative job instructions stored on a computer-readable storage medium, the job instructions representing various logic in a processor which when read by a machine cause the machine to fabricate logic to perform the techniques herein. These representations, referred to as "IP (Intellectual Property ) cores," may be stored on a tangible computer-readable storage medium and provided to a plurality of customers or production facilities for loading into the manufacturing machines that actually manufacture the logic or processor.
In some cases, a job instruction converter may be used to convert job instructions from a source job instruction set to a target job instruction set. For example, the job instruction converter may transform (e.g., using a static binary transform, a dynamic binary transform including dynamic compilation), morph, emulate, or otherwise convert the job instruction into one or more other job instructions to be processed by the core. The job instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The job instruction converter may be on-processor, off-processor, or partially on-processor and partially off-processor.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a further detailed description of the invention with reference to specific embodiments, and it is not intended to limit the practice of the invention to those descriptions. Various changes in form and detail may be made therein by those skilled in the art, including a few simple inferences or alternatives, without departing from the spirit and scope of the present invention.
Claims (15)
1. A movement control method of an automated handling apparatus, comprising:
Receiving an operation instruction, and applying for a movement authority according to a first block code in the operation instruction; the first block code is associated with a destination location of the handling device;
if the application of the movement authority is successful, controlling the carrying equipment to operate; if the application of the mobile authority fails, continuing to wait for the next operation instruction;
wherein, the applying for the movement authority according to the first block code in the operation instruction includes:
a block coding query step: inquiring in a database according to the first block code in the operation instruction; if the second block code which is the same as the first block code is inquired in the database, executing the next step; otherwise, the application of the mobile authority fails;
a device code query step: querying the database for current device code content corresponding to the second block code;
a first judging step: judging whether the inquired current equipment coding content is empty or null characters; if yes, the application of the mobile authority is considered to be successful, and the queried coding content of the current equipment is updated to the coding of the carrying equipment currently applied; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
And a second judging step: judging whether the inquired code content of the current equipment is the same as the code of the carrying equipment currently applied, and if so, considering that the application of the mobile authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed;
when the first block code in the operation instruction is a plurality of blocks, then,
in the block code inquiring step, if the second block code identical to the first block code can be inquired in the database for each first block code, executing the next step; if at least one first block code can not be queried in the database, the second block code identical to the first block code can not be queried, and the application of the mobile authority is considered to be failed;
in the device code querying step, querying the database for current device code content corresponding to each of the second block codes; if all the queried encoding contents of the current equipment are empty or empty characters, the application of the mobile authority is considered to be successful, and all the queried encoding contents of the current equipment are updated to the encoding of the carrying equipment currently applied;
otherwise, comparing the searched coding contents of all the current equipment which are not empty or are not empty characters with the coding of the carrying equipment which is currently applied, and if the coding contents are the same as the coding contents of the carrying equipment which is currently applied, considering that the application of the mobile authority is successful; if at least one difference exists, the application of the mobile authority is considered to fail.
2. The method of motion control of an automated handling equipment of claim 1, further comprising, prior to the equipment code querying step:
the storage step: storing the code of the carrying device currently applied.
3. The movement control method of an automated handling apparatus according to claim 1, further comprising:
releasing the mobile authority: and after the operation of the handling equipment is finished, releasing the moving authority of the second block code occupied by the handling equipment in the database.
4. A movement control method of an automated handling apparatus according to claim 3, wherein the step of releasing movement rights comprises:
and inquiring the current equipment coding content corresponding to the second block code occupied by the handling equipment in the database, and deleting or updating the inquired current equipment coding content into null characters.
5. The movement control method of an automated handling apparatus according to claim 1, further comprising, prior to the receiving the job instruction:
dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
coding each block according to a preset rule to obtain a second block code corresponding to each block;
And constructing the database according to each second block code.
6. The movement control method of an automated handling apparatus according to claim 1, wherein the first block code determination method includes:
establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to an operation lane of the conveying equipment as an x-axis and taking the direction perpendicular to the operation lane as a y-axis;
determining position coordinates of the destination location of the handling device in the transport coordinate system;
determining the first block code according to the position coordinates and the preset length; the preset length is the length of one of a plurality of uniform blocks, into which the working lane is divided, along the x-axis direction.
7. The method for controlling movement of an automated handling equipment according to claim 1, wherein the automated handling equipment is a quay bridge, a yard bridge or an automated container horizontal transport equipment.
8. A readable storage medium having stored thereon job instructions adapted to be loaded by a processor and to perform the movement control method of the automated handling equipment of any of claims 1 to 7.
9. The mobile control device of the automatic carrying equipment is characterized by being used for receiving an operation instruction and applying for a mobile authority according to a first block code in the operation instruction; the first block code is associated with a destination location of the handling device;
if the application of the movement authority is successful, the movement control device controls the carrying equipment to operate; if the application of the mobile authority fails, the mobile control device continues to wait for the next operation instruction;
the movement control device of the automated handling equipment comprises:
the receiving module is used for receiving the operation instruction, wherein the operation instruction comprises the first block code;
a database storing a plurality of second block codes, wherein at least part of the second block codes are identical to the first block codes;
the block code query module is used for querying the second block code in the database according to the first block code in the operation instruction, if the second block code which is the same as the first block code is queried in the database, executing the next step, otherwise, considering that the application of the mobile authority fails;
The device code inquiry module is used for inquiring the current device code content corresponding to the second block code in the database after the second block code which is the same as the first block code is inquired in the database by the block code inquiry module;
the first judging module is used for judging whether the queried coded content of the current equipment is empty or null characters; if yes, the application of the mobile authority is considered to be successful; if the queried encoding content of the current equipment is not null and is not a null character, executing the next step;
the updating module is used for updating the current equipment coding content inquired by the equipment coding inquiry module into the coding of the carrying equipment currently applied when the first judging module judges that the inquired current equipment coding content is empty or empty characters;
the second judging module is used for judging whether the inquired coded content of the current equipment is the same as the code of the carrying equipment currently applied when the first judging module judges that the inquired coded content of the current equipment is not empty and is not an empty character, and if so, judging that the application of the moving authority is successful; if the mobile rights are different, the application of the mobile rights is considered to be failed;
The control module is used for controlling the carrying equipment to operate when the application of the moving authority is successful, and controlling the receiving module to wait for receiving a next operation instruction when the application of the moving authority is failed;
wherein, when the first block code in the operation instruction is a plurality of blocks, then,
when the block code inquiring module inquires the second block codes in the database, if each first block code can inquire the second block codes which are the same as the first block code in the database, executing the next step; if at least one first block code can not be queried in the database, the second block code identical to the first block code can not be queried, and the application of the mobile authority is considered to be failed;
the device code inquiring module inquires the current device code content corresponding to each second block code when inquiring in the database;
the first judging module is used for judging whether all the queried coded contents of the current equipment are empty or empty characters, and if so, the application of the mobile authority is considered to be successful; when the updating module is updated, updating all the queried encoding contents of the current equipment into the encoding of the carrying equipment currently applied for;
The second judging module is configured to judge whether the queried current equipment encoded content which is not empty or is not empty is the same as the encoding of the handling equipment currently applying for when the first judging module judges that at least one current equipment encoded content in the queried current equipment encoded content is not empty and is not empty character, and if so, consider that the application of the movement authority is successful; if at least one difference exists, the application of the mobile authority is considered to fail.
10. The movement control device of an automated handling apparatus of claim 9, further comprising:
and the storage module is used for storing the codes of the carrying equipment currently applied before the equipment code inquiring module inquires the current equipment code content corresponding to the second block code in the database.
11. The movement control device of an automated handling apparatus of claim 9, further comprising:
and the mobile permission releasing module is used for releasing the mobile permission of the second block code occupied by the handling equipment in the database after the handling equipment finishes operation.
12. The movement control device of an automated handling apparatus of claim 11, wherein the release movement authority module comprises:
a release inquiry module, configured to inquire in the database a current device code content corresponding to the second block code occupied by the handling device;
and the release updating module is used for deleting or updating the current equipment coding content inquired by the release inquiring module into blank characters.
13. The movement control device of an automated handling apparatus according to claim 9, wherein the database construction method comprises:
dividing an operation lane of the carrying equipment into a plurality of uniform blocks;
coding each block according to a preset rule to obtain a second block code corresponding to each block;
and constructing the database according to each second block code.
14. The movement control device of an automated handling apparatus of claim 9, further comprising:
the instruction generation module is used for generating and outputting the operation instruction, and the operation instruction comprises the first block code; the method for determining the first block coding comprises the following steps:
Establishing a transportation coordinate system by taking a preset point as an origin, taking the direction parallel to an operation lane of the conveying equipment as an x-axis and taking the direction perpendicular to the operation lane as a y-axis;
determining position coordinates of the destination location of the handling device in the transport coordinate system;
determining the first block code according to the position coordinates and the preset length; the preset length is the length of one of a plurality of uniform blocks divided into by the working lane along the x axis.
15. The movement control device of an automated handling equipment of claim 9, wherein the handling equipment is a quay bridge, a yard bridge, or an automated container horizontal transport equipment.
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| CN112329059A (en) | 2021-02-05 |
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