CN112783899B - Method for interaction between air rail single machine control system and wharf equipment control system - Google Patents
Method for interaction between air rail single machine control system and wharf equipment control system Download PDFInfo
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- 230000003993 interaction Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000002452 interceptive effect Effects 0.000 claims abstract description 36
- 235000015170 shellfish Nutrition 0.000 claims description 13
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
- G06F16/2365—Ensuring data consistency and integrity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
- G06F9/546—Message passing systems or structures, e.g. queues
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention discloses an interaction method of an air rail stand-alone control system and a wharf equipment control system, wherein the wharf equipment control system creates a first data table, first interaction operation data is written into the first data table, a wharf end data synchronization tool is adopted to send data of the first data table to the air rail stand-alone control system based on a message queue protocol, and the air rail stand-alone control system adopts an air rail end data synchronization tool to receive data of the first data table and update the data into a second data table; the air rail single machine control system creates a second data table, second interactive operation data is written into the second data table, the data of the second data table is sent to the wharf equipment control system by adopting an air rail end data synchronization tool based on a message queue protocol, and the wharf equipment control system receives the data of the second data table by adopting the wharf end data synchronization tool and updates the data into the first data table.
Description
Technical Field
The invention belongs to the technical field of automated wharfs, and particularly relates to an interaction method of an air rail single machine control system and a wharf equipment control system.
Background
At present, port cargo throughput, particularly sea and iron intermodal transport box quantity, is rapidly increased, ground traffic pressure is high, and port city traffic conflicts are obvious.
The container collection and distribution channel which is intelligent, efficient, environment-friendly and stable in transport capacity is urgently needed to be constructed in the forward gulf port area, and is used for guaranteeing the safety, the high efficiency and the intelligent operation of collection and distribution. The air rail is used as a novel three-dimensional traffic mode, ground traffic is moved to the air, ground traffic pressure can be effectively relieved, the air rail construction removal amount is small, the construction cost is low, the turning radius is small, the climbing capacity is strong, pure electric drive, zero emission and no pollution are adopted, and the development trend of national multi-mode intermodal transportation, new capital construction and intelligent green port construction is met.
Fig. 1 shows a three-dimensional transportation mode applying an empty rail in a gulf port area in the front, at the sea side of a storage yard of a full-automatic container terminal, a plurality of Automated Guided Vehicles (AGVs) lanes are designed to serve as a switching operation area of the terminal and the empty rail, and automatic operation handover between the terminal and an empty rail mobile workshop is realized through the AGVs.
Disclosure of Invention
The invention aims to provide an interaction method of an air rail single machine control system and a wharf equipment control system, which is used for completing a box receiving or box sending task according to a designed system interface when an air rail motor car arrives at a sea side operation area of an automatic wharf and interacts with an AGV, so that the automatic interaction of the air rail and the AGV is realized.
The invention is realized by adopting the following technical scheme:
an interaction method of an air rail single machine control system and a wharf equipment control system is provided, and comprises the following steps: the wharf equipment control system creates a first data table; the air rail single machine control system creates a second data table; the wharf equipment control system writes first interactive operation data into the first data table, and sends the data of the first data table to the air rail single machine control system based on a message queue protocol by adopting a wharf end data synchronization tool; and the air rail single machine control system writes second interactive operation data into the second data table, and sends the data of the second data table to the wharf equipment control system by adopting an air rail end data synchronization tool based on a message queue protocol, and the wharf equipment control system receives the data of the second data table by adopting a wharf end data synchronization tool and updates the data into the first data table.
Further, the method comprises: for an AGV box sending task, the dock equipment control system writes box information and shellfish bit information into the first data table, and sends data of the first data table containing the box information and shellfish bit information to the air rail single machine control system by adopting a dock end data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting an air rail end data synchronization tool and updates the data into a second data table; to AGV collection case task, air rail stand-alone control system writes into case information and shellfish position information among the second data table, adopt air rail end data synchronization instrument to send the data that contain the second data table of case information and shellfish position information to wharf equipment control system based on message queue protocol, wharf equipment control system adopts wharf end data synchronization instrument to receive the data of second data table are updated to first data table in.
Further, the method comprises: during AGV and air rail are interactive, pier equipment control system and air rail stand-alone control system interact state information, specifically include: the terminal equipment control system writes the AGV interaction state into the first data table, and sends the data of the first data table containing the AGV interaction state to the air rail single machine control system by adopting a terminal data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting an air rail terminal data synchronization tool and updates the data into a second data table; the AGV interaction state comprises unknown, request initiating, locking, completing, rejecting, canceling and cancellation agreeing; the air rail single machine control system writes the air rail motor vehicle interaction state into the second data table, and sends data of the second data table containing the air rail motor vehicle interaction state to the wharf equipment control system by adopting an air rail end data synchronization tool based on a message queue protocol, and the wharf equipment control system receives the data of the second data table by adopting a wharf end data synchronization tool and updates the data into the first data table; the empty rail motor vehicle interaction state comprises unknown state, AGV locking request, completion, rejection, cancellation and cancellation agreement.
Compared with the prior art, the invention has the advantages and positive effects that: in the method for interacting the air rail single machine control system and the wharf equipment control system, an interface is designed between the air rail single machine control system and the wharf equipment control system in a database mode, a first data table and a second data table are respectively established in respective databases, and interactive data are transmitted in real time by adopting a wharf end data synchronization tool and an air rail end data synchronization tool based on a message queue protocol, so that automatic interaction between an air rail and an AGV is realized, and a box receiving task or a box sending task is automatically completed.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is an application diagram of a three-dimensional transportation mode applying an air rail in a forward gulf harbor area;
fig. 2 is an interaction flow chart of the air rail stand-alone control system and the wharf equipment control system provided by the invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The interaction method of the air rail single machine control system and the wharf equipment control system provided by the invention is applied to the air rail and AGV interaction system illustrated in the figure 1 so as to realize the automatic box receiving or sending task; AGV operation is controlled by a wharf equipment control system, and air rail motor train operation is controlled by an air rail single machine control system.
In empty rail and AGV interactive system such as fig. 1, empty rail system 1 erects between gulf harbor pier 2 and other docks or yards 3 before, and the AGV buffer 21 at gulf harbor pier in the front sets up a plurality of empty rail interactive lanes, the lane of preferred both ends side, empty rail extend to empty rail interactive lane, when the AGV and the empty rail of gulf harbor pier are interactive, travel to empty rail interactive lane in, implement mutually with empty rail.
Based on the above, the operation flow of the AGV and the empty rail motor car basically includes:
1. an AGV receives a box receiving or sending task below an empty rail;
2. the AGV starts to execute a task and runs to an empty rail interaction lane below an empty rail;
3. after the AGV reaches an empty rail interactive lane, initiating an interactive request to wait for interaction with an empty rail motor vehicle;
4. allowing the AGV to perform interactive operation after the empty rail motor car runs above the empty rail interactive lane;
5. the AGV is locked, and the AGV and the empty rail motor car are interacted;
6. and finishing interaction, finishing the operation of the AGV and the empty rail motor car, and finishing the task.
Based on the interaction process, when the AGV arrives at the air rail interaction lane and interacts with the air rail motor car, the method for interacting the air rail single machine control system and the wharf equipment control system provided by the present invention is implemented, and specifically, as shown in fig. 2, the method includes:
1. the dock equipment control system creates a first data table R1 and the air rail stand-alone control system creates a second data table R2.
2. And when the AGV receives a box receiving task or a box sending task, the AGV drives to the empty rail interaction lane based on the control of the wharf equipment control system.
3. The dock equipment control system writes the first interactive operation data into the first data table R1.
The first interactive job data includes, but is not limited to: interactive lane, parking lot, AGV task type, AGV car number, AGV interactive state, AGV update time, empty rail motor car number, empty rail interactive state, empty rail update time, operation box number, box position, box door direction and the like.
4. The terminal device control system adopts a terminal data synchronization tool to push the data of the first data table R1 to the air rail single machine control system through a message queue protocol (in the application, a RabbitMQ is adopted).
5. And the air rail single machine control system adopts an air rail end data synchronization tool to receive the data of the first data table R1 and update the data into the second data table R2.
6. And the air rail single machine control system controls the interaction between the air rail and the AGV based on the data in the second data table R2.
7. And the air rail single machine control system writes the second interactive operation data into a second data table R2 during the period of controlling the interaction between the air rail motor car and the AGV.
During the interaction between the air rail motor car and the AGV, second interactive operation data generated or applied by the air rail is written into a second data table R2 by the air rail single machine control system.
The second interactive job data includes, but is not limited to: interactive lane, parking lot, AGV task type, AGV car number, AGV interactive state, AGV update time, empty rail motor car number, empty rail interactive state, empty rail update time, operation box number, box position, box door direction and the like.
8. And the air rail single machine control system adopts an air rail end data synchronization tool to send the data of the second data table to the wharf equipment control system based on a message queue protocol.
9. And the wharf equipment control system receives the data of the second data table by adopting a wharf end data synchronization tool and updates the data into the first data table.
10. And the wharf equipment control system continuously controls the AGV to interact with the air rail by combining the data in the first data table R1.
11. And repeating the steps until the interaction is completed, and ending the task.
In some embodiments of the present invention, when an AGV receives a box sending task and arrives at an air rail interactive lane, a dock device control system writes box information and shellfish information into a first data table R1, and sends data of the first data table R1 containing the box information and shellfish information to an air rail stand-alone control system based on a message queue protocol by using a dock-end data synchronization tool, and the air rail stand-alone control system receives the data of the first data table by using an air rail-end data synchronization tool and updates the data into a second data table; after the empty rail motor car grabs the case and rises to safe height, the interactive operation of empty rail and AGV is accomplished, and empty rail motor car carries the case and leaves preceding gulf harbor pier.
To AGV receipts case task, when empty rail moving vehicle takes the case to arrive in the interactive lane top of empty rail of forward gulf port pier, then receive case information and shellfish bit information and write into second data table R2 from the sending system of butt joint by empty rail stand-alone control system, or directly write into second data table R2 with case information and shellfish bit information by empty rail stand-alone control system, adopt empty rail end data synchronization instrument to send the data that contain second data table R2 of case information and shellfish bit information for pier equipment control system based on message queue protocol, pier equipment control system adopts pier end data synchronization instrument to receive the data of second data table and update to first data table in, when the case falls on the AGV and empty rail rises to behind the safety altitude, AGV and empty rail moving vehicle interaction are accomplished, the case gets into forward gulf port pier, carry the case and continue other tasks.
In some embodiments of the present invention, during the interaction between the air-rail motor vehicle and the AGV, the air-rail stand-alone control system and the dock equipment control system mutually transmit interaction state information, and implement interaction based on the interaction state, and the interaction state (AGV _ Status) of the AGV is divided into: unknown, AOL _ Given (initiate request), locked, completed, abort, cancel _ OK (agree to Cancel); the interactive state of the air rail vehicle (Master _ Status) is divided into: unknown (Unknown), lock _ Req (request AGV to Lock), completed (Completed), abort (deny), cancel (Cancel), cancel _ OK (agree to Cancel).
The terminal equipment control system writes the AGV interaction state into a first data table, and sends data of the first data table containing the AGV interaction state to the air rail single machine control system by adopting a terminal data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting the air rail terminal data synchronization tool and updates the data into a second data table; the air rail single machine control system writes the air rail motor vehicle interaction state into a second data table, the air rail end data synchronization tool is adopted to send the data of the second data table containing the air rail motor vehicle interaction state to the wharf equipment control system based on a message queue protocol, and the wharf equipment control system adopts the wharf end data synchronization tool to receive the data of the second data table and updates the data into the first data table.
Taking AGV box delivery as an example, the update sequence of AGV _ Status and Master _ Status in the interactive data table (the first data table and the second data table) is as follows:
| AGV_ID | AGV_Status | Master_ID | Master_Status |
| 301 | AOL_Given | ||
| 301 | AOL_Given | K1 | Lock_Req |
| 301 | Locked | K1 | Lock_Req |
| 301 | Locked | K1 | Completed |
| 301 | Completed | K1 | Completed |
taking the AGV cancel task as an example, the update sequence of AGV _ Status and Master _ Status in the interactive data table is as follows:
| AGV_ID | AGV_Status | Master_ID | Master_Status |
| 301 | AOL_Given | ||
| 301 | AOL_Given | K1 | Lock_Req |
| 301 | Cancel | K1 | Lock_Req |
| 301 | Cancel | K1 | Cancel_OK |
taking the empty rail cancellation task as an example, the update sequence of the AGV _ Status and the Master _ Status in the interactive data table is as follows:
| AGV_ID | AGV_Status | Master_ID | Master_Status |
| 301 | AOL_Given | ||
| 301 | AOL_Given | K1 | Lock_Req |
| 301 | Locked | K1 | Cancel |
| 301 | Cancel_OK | K1 | Cancel |
in the method for interacting the air rail single machine control system and the wharf equipment control system, the interface is designed in a database mode between the air rail single machine control system and the wharf equipment control system, the first data table and the second data table are respectively established in the respective databases, and interactive data are transmitted in real time by adopting a wharf end data synchronization tool and an air rail end data synchronization tool based on a message queue protocol, so that automatic interaction between the air rail and an AGV is realized, a box receiving or sending task is automatically completed, and the wharf operation efficiency is improved.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (2)
1. The method for interacting the air rail single machine control system and the wharf equipment control system is characterized by comprising the following steps of:
the wharf equipment control system creates a first data table;
the air rail single machine control system creates a second data table;
the wharf equipment control system writes first interactive operation data into the first data table, the data of the first data table are sent to the air rail single machine control system by adopting a wharf end data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting the air rail end data synchronization tool and updates the data into the second data table;
the air rail single machine control system writes second interactive operation data into the second data table, and sends the data of the second data table to the wharf equipment control system by adopting an air rail end data synchronization tool based on a message queue protocol, and the wharf equipment control system receives the data of the second data table by adopting a wharf end data synchronization tool and updates the data into the first data table;
the method comprises the following steps:
during AGV and air rail are interactive, pier equipment control system and air rail stand-alone control system interact state information, specifically include:
the terminal equipment control system writes the AGV interaction state into the first data table, and sends the data of the first data table containing the AGV interaction state to the air rail single machine control system by adopting a terminal data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting an air rail terminal data synchronization tool and updates the data into a second data table; the AGV interaction state comprises unknown, request initiating, locking, completing, rejecting, canceling and cancellation agreeing;
the air rail single machine control system writes the air rail motor vehicle interaction state into the second data table, and sends data of the second data table containing the air rail motor vehicle interaction state to the wharf equipment control system by adopting an air rail end data synchronization tool based on a message queue protocol, and the wharf equipment control system receives the data of the second data table by adopting a wharf end data synchronization tool and updates the data into the first data table; the empty rail motor vehicle interaction state comprises unknown state, AGV locking request, completion, rejection, cancellation and cancellation agreement.
2. The method for interacting the air rail stand-alone control system with the wharf equipment control system as claimed in claim 1, wherein the method comprises:
for an AGV box sending task, the dock equipment control system writes box information and shellfish bit information into the first data table, and sends data of the first data table containing the box information and shellfish bit information to the air rail single machine control system by adopting a dock end data synchronization tool based on a message queue protocol, and the air rail single machine control system receives the data of the first data table by adopting an air rail end data synchronization tool and updates the data into a second data table;
to AGV collection case task, air rail stand-alone control system writes into case information and shellfish position information among the second data table, adopt air rail end data synchronization instrument to send the data that contain the second data table of case information and shellfish position information to wharf equipment control system based on message queue protocol, wharf equipment control system adopts wharf end data synchronization instrument to receive the data of second data table are updated to first data table in.
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