WO2023284189A1 - Hybrid traffic management and control system for port - Google Patents

Abstract

A hybrid traffic management and control system for a port. On the basis of the restrictions of a manned truck lane (12), a traffic signal light (3), and a ground lifting column (2), a manned truck and an unmanned truck are, by means of the control of a traffic control center, guided to drive according to port specifications. In normal circumstances, the unmanned truck runs on an unmanned truck lane (11), and the manned truck runs on a manned truck lane (12). When the unmanned truck must use the manned truck lane (12), an application request can be submitted to the traffic control center; after determining and approving the application, the traffic control center controls a ground indicator light (4) on the manned truck lane (12) to light up according to a first display mode, controls the traffic signal light (3) to display a no-passage sign, and controls the ground lifting column (2) in front of an applied region (13) to rise, restricting manned trucks in front of the applied region (13) on the manned truck lane (12), thus ensuring the intelligent and safe passage of manned trucks and unmanned trucks, so that the unmanned trucks and the manned trucks coexist in an orderly fashion in a wharf.

Description

A Port Mixed Traffic Control System technical field

The invention belongs to the technical field of automated wharves, and in particular relates to a hybrid traffic control system for port unmanned truck collection and manual truck collection.

Background technique

With the improvement of port automation and intelligence, unmanned loading and unloading vehicles (AGV, unmanned trucks) are widely used in terminal production operations, but due to technical conditions and limitations of laws and regulations, unmanned vehicles cannot complete all transportation The task still requires manual truck collection to participate in the transportation.

technical problem

At present, most of the automated terminals adopt the method of completely separating unmanned trucks and manual trucks for loading and unloading operations. This horizontal transportation mode has the following disadvantages: manual driving of trucks has a strong subjective consciousness, and it is easy to drive illegally when you are not familiar with the layout of the terminal. Under such circumstances, safety accidents are likely to occur during high-intensity operations, endangering the safety of terminal staff and equipment; the transfer of containers from unmanned trucks to manual trucks requires the turnover of other loading and unloading equipment, which is time-consuming and laborious, and greatly reduces the efficiency of loading and unloading transportation.

technical solution

In order to solve the above technical problems, the present invention proposes a mixed port traffic control system, which controls the operation of unmanned truck collection and manual truck collection through the traffic control system, so that the unmanned truck collection and manual truck collection can be carried out in the wharf in an orderly manner. coexist.

The present invention adopts following technical scheme to realize:

A port mixed traffic control system is proposed, including: unmanned truck lanes and artificial truck lanes, which are adjacent to each other; wherein, the manual truck lanes are divided into applications for unmanned trucks to apply for passage. area; the ground lifting column is set in front of the application area of the artificial truck lane, and the default state is set to lower; the traffic signal light is set in front of the application area of the artificial truck lane, and the traffic control center is used for receiving After receiving the application request for the unmanned card collection, control the traffic signal lights to display the no-passing sign, and control the lifting of the ground lifting column.

Further, the system also includes: a ground indicator light, which is set in front of the traffic signal light of the artificial truck collection lane; the traffic control center is also used to The ground indicator light is controlled to light up according to the first display mode.

Further, the traffic control center is also used to control the ground indicator light to light up according to the second display mode when the unmanned collection card does not initiate an application request.

Further, the traffic control center is further configured to control the ground indicator lights to light up in the first display mode for a set time before controlling the traffic signal lights to display the no-passing sign.

Further, the traffic control center is also used to calculate the maximum braking distance of the manual collection truck, and plan the manual collection truck locking area for the manual collection truck based on the maximum braking parking distance. After the application is requested, it is judged whether the locked area of the manual collection card overlaps with the application area, and if so, the non-application information is returned to the unmanned collection card.

Further, the traffic control center is also used to calculate the maximum braking distance of the unmanned collection truck after the successful application of the unmanned collection truck, and plan the unmanned collection truck for the unmanned collection truck based on the maximum braking parking distance. Locked area; the system also includes: a prompt module, which is set on the artificial collection card or in front of the application area, and is used to receive and display the information of the unmanned card collection locked area planned by the traffic control center.

Further, the system also includes: a container transportation allocation unit, configured to assign a hauling type to the container to be towed based on the allocation rules issued by the traffic control center; the hauling type is manual truck hauling or no People set card hauling.

Further, the system also includes: a camera device and an OCR recognition system, which are set on the unmanned truck lane and the manual truck lane, and are used to collect and identify vehicle information and container information, and compare the vehicle information and The container information is sent to the vehicle control center.

Further, ground lifting columns and traffic lights are set at the crossroads of the unmanned truck lane and the artificial truck lane, and the traffic control center controls the traffic lights according to standard traffic rules. When marking, the traffic control center controls the raising of the ground lifting column.

Beneficial effect

The port mixed traffic management and control system proposed by the present invention is based on the limitations of the artificial truck lanes, traffic lights and ground lifting columns, and through the control of the traffic control center, guides the manual trucks and unmanned trucks to drive in accordance with the port specifications. Usually, Unmanned trucks run on the unmanned truck lanes, and manual trucks run on the manual truck lanes. When unmanned trucks use the manual truck lanes, they can submit an application request to the traffic control center, and the traffic control center judges and grants the application. After claiming, control the ground indicator light on the artificial truck lane to light up according to the first display mode, the traffic signal light to display the no-passing sign, and control the ground lifting column in front of the application area to rise. Manual truck collection is restricted to ensure the intelligent and safe passage of manual truck collection and unmanned truck collection, so that unmanned truck collection and manual truck collection can coexist in an orderly manner at the wharf.

Further, the containers are classified according to the distribution rules, so that unmanned trucks and manual trucks can haul containers at the same time according to the distribution rules. In the mixed traffic control scenario proposed by the present invention, unmanned truck collection and manual truck collection can operate efficiently and safely at the same time, thereby ensuring the efficiency of loading and unloading operations.

Description of drawings

Fig. 1 is a schematic diagram of the port mixed traffic control system proposed by the present invention.

Fig. 2 is a control flowchart of the port mixed traffic control system proposed by the present invention.

Fig. 3 is a diagram of an embodiment of the port mixed traffic control system proposed by the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

The present invention aims to set up a mixed traffic system in the port, implement joint management and control on the operation of unmanned truck collection and manual truck collection, and guide the manual truck collection truck to drive according to the instructions of the manual truck collection lane and traffic signal lights, combined with the restrictions of the ground lifting column, Guarantee the intelligent and safe passage of manual card collection and unmanned card collection, so that unmanned card collection and manual card collection coexist in an orderly manner at the terminal.

Specifically, as shown in Figure 1, the port mixed traffic control system proposed by the present invention includes an unmanned truck lane 11, an artificial truck lane 12, ground lifting columns 2, traffic lights 3 and a traffic control center (which can be cloud service platform, terminal operating system, equipment management system, etc., not shown in the figure).

The unmanned truck lane 11 and the artificial truck lane 12 are arranged adjacently, and the artificial truck lane is divided into an application area 13 for unmanned trucks to apply for passage; In front of the application area 13, the default state is set to lower; the traffic signal light 3 is set in front of the application area 13 of the artificial truck lane; in the actual layout, the opposite lifting column 2 is set about 10 meters in front of the application area 13 .

On the unmanned truck lane 11 and the manual truck lane, there are multiple groups of vehicle condition detection devices (especially installed at the position of traffic lights 3) according to preset distances. These vehicle condition detection devices, such as camera devices and OCR recognition systems, are used to collect And identify the vehicle information and container information, and send the vehicle information and container information to the vehicle control center in the form of wireless communication.

The traffic control center analyzes the traffic conditions based on the vehicle information and container information, and manages the vehicles and containers on the other hand. When necessary, the above information is exchanged with the terminal operating system for use by the terminal operating system.

In the application protection technology of the present invention, the unmanned truck collection can share the manual truck lane with the manual truck collection. The specific application process is shown in Figure 2, including:

1. The condition of the unmanned truck receiving the artificial truck lane sent by the vehicle management and control center in a wireless manner, such as whether the front reaches the application area of the manual truck lane, whether the application area has been applied for, and the status of the unmanned truck lane unimpeded status, etc.

2. When the unmanned collection truck is blocked by the unmanned truck lane or for the purpose of shortening the running distance, submit an application request to the traffic control center and request to apply for the operation in the application area of the manual truck lane ahead.

3. After receiving the application request of the unmanned collection truck, the vehicle management and control center first judges whether the application area to be applied for is available. Passage sign, and control ground lifting column 2 rises.

When the claim area of the manual truck lane in front of the unmanned truck is being claimed for use, the vehicle control center will return an unclaimable instruction to the unmanned truck.

In some embodiments of the present invention, as shown in Figure 1, in front of the traffic signal lights of the artificial truck lane, a ground indicator light 4 is also arranged. Taking the arrangement at a distance of 100 meters ahead of the traffic signal light as an example, the ground indicator light 4 starts from The position of 100 in front of the traffic signal light 3 starts to be continuously laid out, as shown in Figure 2, when the vehicle control receives an application request for unmanned truck collection and judges that the application area is available, it first sends a signal to the ground indicator light 4 by wireless communication. Indicate, control the ground indicator light 4 to light according to the first display mode, remind the manual truck driver that the claim area ahead is pre-occupied, and need to slow down and prepare to stop.

The specific first display method includes, but is not limited to, flashing in a warning color (usually red), the combination of light strips displaying the word "deceleration", and the combination of light strips displaying a stop sign, etc.

Correspondingly, when the unmanned collection card does not initiate an application request, the traffic control center controls the ground indicator light to light up according to the second display mode, for example, flashing in a prompt color (usually yellow), and the combination of light strips displays "slow down and slow down". "The combination of text and light strips displays traffic signs, etc., reminding manual truck drivers that there is an application area ahead, please slow down and stop in time.

In some embodiments of the present invention, the traffic control center first controls the ground indicator light 4 to light up according to the first display mode, and then controls the traffic signal light 3 to display the communication prohibition sign after a set time such as 10 seconds. The no-passing signs here are, for example, red light, red light+honking, and the display shows that no passing is allowed, etc.

The ground lifting column 2 is controlled to slowly rise when the traffic signal light 3 displays a no-passing sign, and returns the state information that the column has been raised to the traffic control center after the completion of the rise.

4. The traffic control center returns the confirmation information of the application area to the unmanned collection card.

After receiving the confirmation information, the unmanned collection card will immediately use the application area, and return the use completion information to the traffic control center after the use is completed, and the traffic control center will control the lifting column 2 on the opposite side to lower, and the traffic signal light 3 will display a passable sign (usually is green light, green light+display shows passable), the ground indicator light 4 lights up according to the second display mode.

In some embodiments of the present invention, the traffic control center returns the application status information of the claim area to the unmanned collection card and the manual collection card. On the one hand, the unmanned collection card can initiate an application when the claim area has not been claimed. On the other hand, it can also make the manual truck driver slow down in advance after learning that the claim area ahead has been claimed.

In some embodiments of the present invention, after the traffic control center receives the application request initiated by the unmanned collection truck, it also calculates the maximum value of the manual collection truck according to the transit time window and running speed of the manual collection truck running on the manual truck lane. Brake stop distance, based on the maximum brake stop distance, plan the manual collection card locking area 5 for the manual collection card, judge whether the manual collection card locking area 5 overlaps with the application area 13, if so, return to the unmanned collection card No application information is allowed to ensure the safe passage of manual card collection.

In some embodiments of the present invention, the traffic control center is also used to calculate the maximum braking distance of the unmanned collection truck according to the preset passage window period and running speed of the unmanned collection truck after the unmanned collection truck is successfully applied for. , based on the maximum braking distance to plan the unmanned collection truck locking area 6; a prompt module is set on the manual collection truck or in front of the application area, and the prompt module is used to receive the unmanned collection truck planned by the traffic control center. The information of the collection card lock area is displayed, and the status of the unmanned collection card using the application area is displayed to the driver of the manual collection truck. The screen, such as the smart terminal of the manual truck driver, is installed with the port traffic control APP, which is used for lane navigation in the port, traffic information acquisition, reporting traffic data to the traffic control center, reporting container data to the traffic control center, etc.

Based on the port mixed traffic control system proposed above in the present invention, the loading and unloading efficiency of the port wharf can be improved. Specifically, a container transport distribution unit is added to the port traffic control system, which is used to be towed based on the distribution rules issued by the traffic control center. Shipping container allocation hauling type; the allocation rules here can be sent to the vehicle control center by the terminal operating system, or can be set in the vehicle control center, aiming to classify the loading and unloading containers according to the hauling requirements, and divide them into manual truck hauling There are two types of haulage, namely unmanned truck haulage and unmanned truck haulage. For example, the containers that need to be transported to other container areas are allocated as manual truck truck haulage, and the containers temporarily stored in the port are allocated as unmanned truck truck haulage. Based on the present invention In the proposed mixed traffic control scenario, manual truck collection and unmanned truck collection can operate efficiently at the same time, thereby ensuring the efficiency of loading and unloading operations.

In some embodiments of the present invention, as shown in Figure 3, the ground lifting columns 2 and traffic lights 3 are also set at the crossroads of the unmanned truck lane and the artificial truck lane, and the traffic control center follows the current standard traffic rules at the intersection. To control the traffic signal lights 3, including but not limited to stop at red lights, go at green lights, slow down at yellow lights, etc., and in the embodiment of the present invention, when the traffic signal lights 3 are controlled to display no-passing signs, the traffic control center controls the corresponding artificial set The ground lifting column of the truck lane is raised to prevent the subjective consciousness of the manual truck driver from judging the traffic status of the unmanned truck, and implement mandatory enforcement on it to ensure traffic safety.

For example, when the east-west direction straight and right-turn road traffic lights are green, and the left-turn traffic lights are yellow, the vehicles in the right lane of the east-west vehicle driving direction can go straight or turn right, and the east-west direction left-turn vehicles enter the left-turn waiting area; When the traffic lights on the roads going straight and turning right in the direction are red, and when the traffic lights on the roads turning left are green, vehicles turning left can pass; Vehicles passing in the direction are prohibited from passing.

For example, when the traffic lights of the north-south direction go straight and turn right, the traffic lights are green, and the traffic lights of the left-turn traffic lights are yellow, the vehicles in the right lane of the direction of north-south vehicles can go straight or turn right, and the vehicles turning left in the north-south direction enter the left-turn waiting area; When the traffic lights of the straight-going and right-turn roads in the direction are red, and when the traffic lights of the left-turn roads are green, vehicles turning left can pass; Vehicles passing in the direction are prohibited from passing.

It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples, changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention, It should also belong to the protection scope of the present invention.

Claims (9)

A port mixed traffic control system is characterized in that it includes: The unmanned truck lane and the artificial truck lane are set adjacent to each other; wherein, the artificial truck lane is divided into an application area for unmanned trucks to apply for passage; The ground lifting column is set in front of the application area of the artificial truck lane, and the default state is set to lower; The traffic lights are set in front of the application area of the artificial truck lane, The traffic control center is configured to control the traffic lights to display a no-passing sign and control the ground elevating column to rise after receiving the application request for unattended truck collection. The port mixed traffic control system according to claim 1, wherein the system further comprises: The ground indicator light is arranged in front of the traffic signal light of the artificial truck lane; The traffic control center is further configured to control the ground indicator light to light up according to the first display mode after receiving the application request of the unmanned card collection. The port mixed traffic control system according to claim 2, characterized in that the traffic control center is also used to control the ground indicator light to click in the second display mode when the unmanned collection card does not initiate an application request. Bright. The mixed traffic control system of the port according to claim 2, wherein the traffic control center is also used to control the ground indicator light to follow the set time before the traffic signal light displays a no-passing sign. One display mode lights up. The port mixed traffic management and control system according to claim 1, wherein the traffic control center is also used to calculate the maximum braking distance of manual trucks, and plan manual collection for manual trucks based on the maximum braking distance. The card lock area, after receiving the application request sent by the unmanned card collection, judges whether the manual card collection lock area overlaps with the application area, and if so, returns the non-application information to the unmanned collection card. According to the port mixed traffic control system according to claim 1 or 5, it is characterized in that the traffic control center is also used to calculate the maximum braking distance of the unmanned collection truck after the unmanned collection truck is successfully applied for, Based on the maximum braking distance to plan unmanned truck locking area for unmanned truck collection; The system also includes: The prompting module is set on the manual collection card or in front of the application area, and is used to receive and display the information of the unmanned card collection lock area planned by the traffic control center. The port mixed traffic control system according to claim 1, wherein the system further comprises: The container transportation allocation unit is configured to allocate a hauling type to the container to be towed based on the allocation rules issued by the traffic control center; the hauling type is manual truck hauling or unmanned truck hauling. The port mixed traffic control system according to claim 1, wherein the system further comprises: The camera device and the OCR identification system are set on the unmanned truck lane and the manual truck lane, and are used to collect and identify vehicle information and container information, and send the vehicle information and container information to the vehicle control center . The port mixed traffic control system according to claim 1, characterized in that ground lifting columns and traffic lights are set at the crossroads of the unmanned truck lane and the artificial truck lane, and the traffic control center follows the standard Traffic rules control the traffic signal lights, and when the traffic signal lights display a no-passing sign, the traffic control center controls the raising of the ground lifting column.