CN113255161B - Simulation method, device, medium and equipment for intermodal yard equipment - Google Patents
Simulation method, device, medium and equipment for intermodal yard equipment Download PDFInfo
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Abstract
The application provides an analog simulation method, a device, a medium and equipment of intermodal yard equipment, which can be applied to an analog simulation system of automatic equipment of a sea-rail or inland river yard, guide the analog automatic equipment to realize lifting of a target object by generating an analog operation task, generate a stopping position of a simulated train according to the analog operation task, generate a virtual truck queue according to the analog operation task, disassemble the analog operation task into an analog operation instruction to control the operation of the analog automatic equipment, finally adjust the operation parameters of the analog automatic equipment based on the execution result of the analog operation instruction, wherein the execution result is obtained by executing the analog operation instruction according to the stopping position of the simulated train and the virtual truck queue, adjust the operation parameters of the automatic equipment by utilizing the cooperative operation among a plurality of simulated modules, reduce or avoid the field debugging process, and accelerating the project transaction process.
Description
Technical Field
The application relates to the technical field of equipment simulation, in particular to an analog simulation method, device, medium and equipment of combined transportation yard equipment.
Background
At present, many sea-iron or inland river intermodal port systems are used, and interaction is complicated, so that a large amount of manpower, material resources and time are needed to be spent in actual equipment delivery for joint debugging. Although the project implementation can be ensured through temporary remedy after the problem occurs, the efficiency of field debugging is low, and a large amount of manpower, material resources and time are wasted.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides an analog simulation method, device, medium and equipment of combined transportation yard equipment, so that time and resources required by field debugging are saved, and the field debugging efficiency is improved.
According to an aspect of the present invention, there is provided a simulation method of an intermodal yard apparatus, including: generating a simulation operation task; the simulation operation task is used for guiding simulation automation equipment to lift a target object; generating a stopping position of the simulated train according to the simulated operation task; wherein the simulated train is used for simulating loading of the target object; generating a virtual card collecting queue according to the simulation job task; wherein the virtual hub is configured to simulate transport of the object between a yard and the simulated train; disassembling the simulation operation task into a simulation operation instruction; wherein the simulated work instructions are used to control the operation of the simulated automation device; adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction; and the execution result is obtained by executing the simulation operation instruction according to the stopping position of the simulation train and the virtual hub queue.
In one embodiment, the generating the stopping positions of the simulated train comprises: determining the central point position of each carriage of the simulated train according to the locomotive laser positioning information of the simulated train and the length of each carriage of the simulated train; and determining the parking position of each carriage according to the central point position of each carriage.
In an embodiment, the generating a virtual hub queue according to the simulated job task includes: and generating a virtual truck concentration queue according to the type of the simulation operation task and the stopping position of the simulation train.
In an embodiment, the simulation method for the intermodal yard equipment further includes: monitoring the operating state and operating parameters of the simulation automation equipment; and displaying the operating state and the operating parameter.
In an embodiment, the obtaining manner of the execution result includes: acquiring target image information of a target position; acquiring actual image information of the target object at an actual arrival position; and calculating a coincidence difference value of the actual image information and the target image information.
In an embodiment, the obtaining manner of the target position includes: acquiring a plurality of preset positions according to the simulation job task; wherein the plurality of preset positions are used for placing the target object; and selecting one of the plurality of preset positions as the target position.
In an embodiment, the selecting one of the plurality of preset positions as the target position includes: selecting one of the preset positions as a standby position; and if no other target object exists in the standby position, selecting the standby position as the target position.
According to another aspect of the present invention, there is provided an analog simulation apparatus of an intermodal yard equipment including: the operation flow simulation module is used for generating a simulation operation task; the simulation operation task is used for guiding simulation automation equipment to lift a target object; the railway yard task management simulation module is used for generating a stopping position of a simulated train according to the simulation operation task; wherein the simulated train is used for loading the target object; the auxiliary system simulation module is used for generating a virtual hub queue according to the simulation job task; wherein the virtual hub is configured to simulate transport of the object between a yard and the simulated train; the common stock yard task management simulation module is used for disassembling the simulation operation task into a simulation operation instruction; wherein the simulated work instructions are used to control the operation of the simulated automation device; the automatic equipment control simulation module is used for executing the simulation operation instruction; the equipment management simulation module is used for adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction; and the execution result is obtained by executing the simulation operation instruction according to the stopping position of the simulation train and the virtual hub queue.
According to another aspect of the present invention, a storage medium is provided. The storage medium stores a computer program for executing the simulation method of the intermodal yard equipment according to any one of the above.
According to another aspect of the present invention, there is provided an automation apparatus including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the simulation method of the intermodal yard equipment.
According to the simulation method, the simulation device, the simulation medium and the simulation equipment for the combined transportation yard equipment, the automatic equipment generates a simulation operation task, wherein the simulation operation task is used for guiding the simulation automatic equipment to lift a target object, and a stopping position of a simulation train is generated according to the simulation operation task, wherein the simulation train is used for simulating loading of the target object; generating a virtual container truck queue according to the simulation operation task, wherein the virtual container truck is used for simulating the transportation of the target object between a storage yard and a simulation train; and disassembling the simulated operation task into a simulated operation instruction, wherein the simulated operation instruction is used for controlling the operation of the simulated automation equipment, and the operation parameters of the simulated automation equipment are adjusted based on the execution result of the simulated operation instruction, wherein the execution result is obtained by executing the simulated operation instruction according to the stop position of the simulated train and the virtual truck array. The operation parameters of the automation equipment are adjusted by utilizing the cooperative operation among the plurality of simulated modules, the field debugging process is reduced or avoided, the field debugging efficiency is improved, and the project exchange process is accelerated.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a simulation method of an intermodal yard equipment according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flow chart of a method for generating a stopping position of a simulated train according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart illustrating a virtual hub queue generating method according to an exemplary embodiment of the present application.
Fig. 4 is a schematic flowchart of a simulation method of an intermodal yard device according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart illustrating an execution result obtaining method according to an exemplary embodiment of the present application.
Fig. 6 is a schematic flowchart of an actual image information obtaining method according to an exemplary embodiment of the present application.
Fig. 7 is a schematic diagram of an analog simulation apparatus of an intermodal yard device according to an exemplary embodiment of the present application.
Fig. 8 is a block diagram of an automation device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic flow chart of a simulation method of an intermodal yard equipment according to an exemplary embodiment of the present application. The embodiment can be applied to the automation equipment for sea iron combined transportation or inland river combined transportation, as shown in fig. 1, and comprises the following steps:
and 110, generating a simulation operation task, wherein the simulation operation task is used for guiding simulation automation equipment to realize hoisting of the target object.
First, the user first performs configuration program parameters and user options. Wherein, the configuration program parameters comprise: simulation speed, task type, complexity of algorithm and complexity of mechanical control, etc. The user options include: device manufacturers, a super administrator at the dock, third parties, etc.
Then, after the configuration is completed, a simulation job task is generated by an internal algorithm. The simulation task is applied to a work flow simulation module, and the work flow simulation module is responsible for simulating a core Operating System of the container Terminal, such as a TOS (Terminal Operating System) System. After configuring the program parameters and user options, virtual container job tasks (supporting automatic continuous generation or manual generation by the user) are generated through an internal algorithm, including box moving/loading/unloading/entering/exiting and the like.
The automation equipment obtains the simulation operation task through the interface service program, and the interface service program realizes the communication interface between each simulation module. And disassembling the internal module into equipment action steps. In addition, the interface service adopts a Web Api mode, and an external system forms a uniform Web Api interface by packaging an SDK, so that interface standardization is realized, and the coupling degree between systems is reduced. The protocol supports a variety of communication modes including database, TCP, HTTP and/or Web Service.
And 120, generating a stopping position of a simulated train according to the simulated operation task, wherein the simulated train is used for simulating and loading the target object.
It will be appreciated that this step is implemented using a rail yard mission management simulation module. And generating the stopping position of the simulated train according to the simulated operation task. The mainly simulated scene corresponds to a real scene. For example, the simulated job task may be boxed, and this boxed job task is acquired. The automation device generates the stopping position of the train according to the real scene so that the container is loaded into the train carriage, thereby improving the reality of the simulation.
And step 130, generating a virtual container truck queue according to the simulation operation task, wherein the virtual container truck is used for simulating the transportation of the target object between the storage yard and the simulation train.
It will be appreciated that this step simulates various container yard aids using an aid system simulation model. For example, a PDS (Position Detect System) simulation module simulates and detects the positions of the trucks, sorts the truck fleet by an internal algorithm, and outputs a virtual truck queue. And the auxiliary system simulation module is freely added or deleted in a plug-in mode. For example, the simulation task is packing, and the virtual container truck is used for simulating the transportation target object, namely the container, between the storage yard and the train.
It can be understood that the common stock yard task management simulation module is used for simulating an automation equipment control system and executing the simulated operation task to be disassembled into the simulated operation instruction. Wherein the simulated work instructions are used to control the operation of the automation device. For example, the simulation operation task instruction is boxing, when the container truck reaches a designated position, the field bridge has a camera which can identify the container truck, and then the automation equipment disassembles the boxing operation instruction into small steps, such as a crane grabbing the box, the crane lifting the box and the like, so that the simulation process is realized.
The common stock yard task management simulation module is responsible for analyzing the container operation task and forwarding the container operation task to the lower-layer automation equipment control system. Firstly, acquiring the information of the job task and the PDS (product data System) card collection queue of the auxiliary system through an interface service program, and uniformly converting the information into an internal object format for storage. And secondly, analyzing and disassembling the TOS task and converting the TOS task into a lower-layer system instruction by combining the information of the card collection queue. Finally, the most suitable automation device control system is assigned by means of a scheduling algorithm.
And 150, adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction, wherein the execution result is obtained by executing the simulation operation instruction according to the stop position of the simulation train and the virtual truck queue.
It is understood that this step is responsible for simulating the automation device control system using the automation device control simulation module. And the automation equipment control simulation module disassembles the simulation operation task into a simulation operation instruction and adjusts the operation parameters of the simulation automation equipment.
In addition, the running parameters, communication and operation actions are stored in a log form, so that the problem search is biased for researchers. The simulation platform applied by the simulation method of the automation equipment is based on a Microsoft NET Framework platform.
Firstly, a Windows Server 2016 operating system virtual machine device is required to be deployed for deploying a simulation platform data Server, which comprises a database and an interface service program. The database employs Oracle19C for storing emulated task instruction information and the like. The interface service program provides XML configuration files, supports the user to self-define and configure the IP port of the server, and operates after various operation parameters (can also be configured into starting self-starting service).
And then deploying a Windows7/Windows10 operating platform system virtual machine device, installing NET framework4.6 or above version, and displaying the program system of the simulation method for deploying the automation equipment of the simulation platform. The program improves the interface configuration function and supports the user to self-define the flow of the virtual character, automatically or manually generate, number, self-define the model and/or state of the virtual automation equipment and other configurable parameters. The program system provides a human-computer interface and displays the state of the automation equipment in real time. In addition, the required function options can be configured by the editor. The TCS simulator program contains the following modules: the simulator comprises an operation flow simulation module, an auxiliary system simulation module, a common stock dump task management simulation module, a railway stock dump task management simulation module, an equipment management simulation module and an automation equipment control simulation module.
The simulation method, the simulation device, the storage medium and the automation equipment for the intermodal yard equipment generate a simulation task, wherein the simulation task is used for guiding the simulation of the automation equipment to realize the lifting of the target object. And generating a stopping position of the simulated train according to the simulated operation task, wherein the simulated train is used for simulating the loading target object. And generating a virtual truck queue according to the simulation operation task, wherein the virtual truck is used for simulating the transportation of the target object between the storage yard and the simulation train. And disassembling the simulation operation task into a simulation operation instruction, wherein the simulation operation instruction is used for controlling the operation of the simulation automation equipment. And adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction, wherein the execution result is obtained by executing the simulation operation instruction according to the stop position of the simulation train and the virtual truck queue. The operation parameters of the automation equipment are adjusted by utilizing the cooperative operation among the plurality of simulated modules, the field debugging process is reduced or avoided, the field debugging efficiency is improved, and the project exchange process is accelerated.
Fig. 2 is a schematic flow chart of a method for generating a stopping position of a simulated train according to an exemplary embodiment of the present application. As shown in fig. 2, on the basis of the above embodiment, step 120 may include the following steps:
and step 121, determining the central point position of each carriage of the simulated train according to the locomotive laser positioning information of the simulated train and the length of each carriage of the simulated train.
In addition, the relative position between the target location and the target object can be determined by laser positioning. Wherein the laser is used for distance measurement and positioning. The automation device should be equipped with a transmitter which then transmits a laser signal to the target location. The distance between the target location and the target object is calculated based on the time difference between the signals transmitted back from the target location and received by the automation device.
And step 122, determining the parking position of each carriage according to the central point position of each carriage.
It can be understood that, due to the absolute position of the bridge, the distance difference between the position of the train wagon to which the container belongs and the target berth is calculated. Wherein the target shellfish is the target location (train) delivery location. The target shelve is similar to a goods shelf and is provided with a layer row. And the automation equipment acquires the target shellfish position delivered by the target position. For example, the target shelve is the third row, fourth column storage location on the shelf. The difference in distance between the actual arrival position of the target object and the stored position is calculated. It can be concluded that the automation device can accurately obtain the coordinate value of the target position. And correspondingly, an accurate distance difference value can be calculated, so that the calculation accuracy is improved.
Fig. 3 is a flowchart illustrating a virtual hub queue generating method according to an exemplary embodiment of the present application. As shown in fig. 3, on the basis of the above embodiment, the step 130 may include the following steps:
and 131, generating a virtual truck collection queue according to the type of the simulation operation task and the stop position of the simulation train.
It will be appreciated that the auxiliary System emulation module is responsible for emulating various container yard aids, for example, the PDS System (Position Detect System) emulation module emulates the detection of the pallet Position, orders the fleet of trucks through an internal algorithm, and outputs a virtual pallet queue. And the auxiliary system simulation module is freely added or deleted in a plug-in mode.
Fig. 4 is a schematic flowchart of a simulation method of an intermodal yard device according to another exemplary embodiment of the present application. The present embodiment may be applied to an automation device, and as shown in fig. 4, the simulation method for an intermodal yard device may further include:
It will be appreciated that the stand-alone automation simulation system is responsible for simulating stand-alone equipment automation operations, providing clear animation of the equipment operations, including general yard, rail yard, and joint flow simulation from general to rail.
And 170, displaying the operation state and the operation parameters.
It can be understood that after the step of obtaining the device action command from the TCS simulator program, the running state of the device is displayed on the human-computer interface in real time according to the execution sequence, instead of the real crane device.
Fig. 5 is a flowchart illustrating an execution result obtaining method according to an exemplary embodiment of the present application. As shown in fig. 5, on the basis of the above embodiment, step 150 may include the following steps:
It will be appreciated that the automated device is equipped with a sensor that includes a camera. The camera can take pictures or record videos and the like. The camera can be used for photographing the target position. The automated device then employs image recognition techniques, and target image information for the target location is obtained. The target image information is formed by a plurality of coordinate points or a plurality of characteristic points. The feature point is a coordinate point at which the contour of the target image can be displayed. The automation device will output the target image information when the simulation process is executed. Therefore, the accuracy of acquiring the target image information is improved.
A sensor may be provided on the automation device, wherein the sensor includes a camera, which can then take or record a picture of the object at the actual arrival location. Then, the actual image information is output by an image recognition technique or the like. The target image information is composed of a plurality of coordinate points or a plurality of characteristic points. The feature point is a coordinate point at which the contour of the target image can be displayed. Therefore, the accuracy of acquiring actual image information is improved.
It will be appreciated that the automation device has obtained the target image information and the actual image information. The difference in coincidence between the two is calculated. For example, image information may be obtained for each car of the train. The automated device then obtains actual image information of the target object at the actual arrival location. Wherein the object may be a container. Then the actual image information is the image information at which the container will arrive at the car. And calculating the superposition difference value of the actual image information and the target image information.
In addition, the object, i.e. the container, is a plurality of objects that need to be placed on the same railway car. Taking two containers as an example, then one of the containers is required to coincide with one half of a railway car, and then the two containers can be placed into the same railway car. Therefore, the accuracy of the actual field operation of the invention can be improved by calculating the superposition difference value, thereby saving the debugging time.
Fig. 6 is a schematic flowchart of an actual image information obtaining method according to an exemplary embodiment of the present application. As shown in fig. 6, step 152 may further include:
1521, acquiring a plurality of preset positions according to the simulation job task; wherein the plurality of preset positions are used for placing the target object.
It will be appreciated that the task instructions include box moving, shipping, unloading, in-and/or out-of-box, etc. For example, the task instruction is a move box. The automation device then obtains a plurality of preset positions of the target location. The preset position is a position where the target object is stored. Take a train as an example. First, a train has multiple cars. If only one container is stored, the railway car can perfectly accommodate one container. When a plurality of containers are stored, the containers can be stored in the same compartment by selecting proper positions. Taking two containers as an example, and taking 2 containers as an example, the preset position of the carriage is that the midpoint of the carriage of the train is taken as a boundary line, and two storage positions are divided. If the first container is placed in exactly one storage location, the midpoint dividing line of the cars, i.e., the dividing line divided by the midpoint, is not exceeded. Another container may be placed intact into another storage location. Therefore, the accuracy of acquiring the preset position is improved.
It will be appreciated that the automated device may need to select one of a plurality of preset positions as the position that the target is expected to reach. For example, taking two containers as an example, when the preset positions are two, the two containers can be stored in the corresponding preset positions respectively. If the preset positions are 3 or more, two of the preset positions are selected for storage. Therefore, the scheme improves the efficiency and speed of field debugging, and the target object can reach the position of the target object more quickly and accurately.
In an embodiment, a specific implementation manner of the step 1522 may be: and selecting one of the preset positions as a standby position, and selecting the standby position as a target position if no other target object exists in the standby position.
It will be appreciated that the automation device needs to be placed in a predetermined position and a standby position needs to be determined. The selection can be selected randomly or fixedly. The automation equipment directly and randomly extracts a serial number of a preset position. The automated device may then determine whether the target object needs to be placed in the selected predetermined location. Therefore, the accuracy of the storage of the automation device is improved.
It is understood that, if there is no target object in any of the preset positions, the target object may be stored in any of the preset positions. However, when the target object may be already stored in the preset position, it is necessary to determine whether another target object exists in the position. If the object is present, the container cannot be stored in this standby position. The next preset position (the remaining other position of the car) is selected as the standby position. Then, whether the target object exists in the standby position is judged. And ending the process until the containers set by the system are stored in the carriage. Therefore, the scheme improves the storage accuracy of the target object, namely the container, thereby improving the efficiency and speed of field debugging and reducing the storage error of the container.
Exemplary devices
Fig. 7 is a schematic diagram of an analog simulation apparatus of an intermodal yard device according to an exemplary embodiment of the present application. As shown in fig. 7, the simulation device 20 includes: and the operation flow simulation module 201 is used for generating a simulation operation task, wherein the simulation operation task is used for guiding the simulation automation equipment to realize the lifting of the target object. And the railway yard task management simulation module 202 is used for generating a stopping position of a simulated train according to the simulation operation task, wherein the simulated train is used for loading the target object. And the auxiliary system simulation module 203 is used for generating a virtual hub queue according to the simulation operation task, wherein the virtual hub is used for simulating the transportation of the target object between the storage yard and the simulation train. And the common yard task management simulation module 204 is configured to disassemble the simulation job task into a simulation job instruction, where the simulation job instruction is used to control the operation of the simulation automation equipment. And the automation device control simulation module 205 is used for executing the simulation operation instruction. The equipment management simulation module 206 is configured to adjust an operation parameter of the simulation automation equipment based on an execution result of the simulation job instruction; and the execution result is obtained by executing the simulation operation instruction according to the stopping position of the simulation train and the virtual hub queue.
The embodiment provides an analog simulation device of combined transportation yard equipment, which generates an analog operation task through an operation flow simulation module 201, wherein the analog operation task is used for guiding analog automation equipment to lift a target object, and a railway yard task management simulation module 202 generates a stopping position of an analog train according to the analog operation task, wherein the analog train is used for loading the target object; the auxiliary system simulation module 203 generates a virtual container truck queue according to the simulation operation task, wherein the virtual container truck is used for simulating the transportation of the target object between a storage yard and a simulation train; the common yard task management simulation module 204 disassembles the simulation job task into a simulation job instruction, wherein the simulation job instruction is used for controlling the operation of the simulation automation equipment, and the automation equipment control simulation module 205 executes the simulation job instruction; the device management simulation module 206 adjusts the operating parameters of the analog automation device based on the execution result of the analog job instruction. The operation parameters of the automation equipment are adjusted by utilizing the cooperative operation among the plurality of simulated modules, the field debugging process is reduced or avoided, the field debugging efficiency is improved, and the project exchange process is accelerated.
The rail yard task management simulation module 202 may configure:
determining the central point position of each carriage of the simulated train according to the locomotive laser positioning information of the simulated train and the length of each carriage of the simulated train; and
and determining the parking position of each carriage according to the central point position of each carriage.
The auxiliary system simulation module 203 may configure:
and generating a virtual truck concentration queue according to the type of the simulation operation task and the stop position of the simulation train.
The automation device control simulation module 205 may be configured to:
monitoring the operating state and operating parameters of the simulation automation equipment; and
and displaying the operation state and the operation parameters.
Device management emulation module 206 may configure:
acquiring target image information of a target position;
acquiring actual image information of a target object at an actual arrival position; and
and calculating the superposition difference value of the actual image information and the target image information.
Device management emulation module 206 may configure:
acquiring a plurality of preset positions according to the simulation job task; wherein the plurality of preset positions are used for placing the target object; and
one of the preset positions is selected as a target position.
Device management emulation module 206 may configure:
selecting one of a plurality of preset positions as a standby position; and
and if no other target object exists in the standby position, selecting the standby position as the target position.
The detailed functions and operations of the respective modules in the simulation apparatus 20 of the above-described automation device have been described in detail in the mechanical mechanism control method described above with reference to fig. 1 to 7, and thus, a repetitive description thereof will be omitted herein.
It should be noted that the simulation apparatus 20 of the automation device according to the embodiment of the present application may be integrated into the automation device 10 as a software module and/or a hardware module, in other words, the automation device 10 may include the simulation apparatus 20 of the automation device. For example, the simulation device 20 of the automation installation can be a software module in the operating system of the automation installation 10 or can be an application developed for it; of course, the simulation device 20 of the automation installation can likewise be one of a plurality of hardware modules of the automation installation 10.
In a further embodiment of the invention, the simulation device 20 of the automation installation can also be a separate device (for example, a server) from the automation installation 10, and the simulation device 20 of the automation installation can be connected to the automation installation 10 via a wired and/or wireless network and can transmit the interaction information in the agreed data format.
Exemplary Automation device
In the following, an automation device according to an embodiment of the application is described with reference to fig. 8. The automation device may be either or both of the first device and the second device, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
FIG. 8 illustrates a block diagram of an automation device in accordance with an embodiment of the application.
As shown in fig. 8, the automation device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the automation device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 11 to implement the simulation method of the intermodal yard device of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the automation device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
In case the automation device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for the sake of simplicity, only some of the components of the automation device 10 relevant to the present application are shown in fig. 8, components such as buses, input/output interfaces, etc. being omitted. In addition, the automation device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the simulation method of an intermodal yard apparatus according to various embodiments of the present application described in the "exemplary methods" section of this specification above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the simulation method of an intermodal yard device according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. An analog simulation method of intermodal yard equipment, comprising:
generating a simulation operation task; the simulation operation task is used for guiding simulation automation equipment to lift a target object;
generating a stopping position of the simulated train according to the simulated operation task; wherein the simulated train is used for simulating loading of the target object;
generating a virtual card collecting queue according to the simulation job task; wherein the virtual hub is configured to simulate transport of the object between a yard and the simulated train;
disassembling the simulation operation task into a simulation operation instruction; wherein the simulated work instructions are used to control the operation of the simulated automation device; and
adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction; the execution result is obtained by executing the simulation operation instruction according to the stopping position of the simulation train and the virtual hub queue, and the acquisition mode of the execution result comprises the following steps:
acquiring target image information of a target position;
acquiring actual image information of the target object at an actual arrival position; the actual arrival position is the actual position of the target object arriving at the carriage of the simulated train, and the actual image information is the image information of the target object arriving at the carriage of the simulated train; and
and calculating the superposition difference value of the actual image information and the target image information.
2. The simulation method of claim 1, wherein the generating a stopping location of the simulated train comprises:
determining the central point position of each carriage of the simulated train according to the locomotive laser positioning information of the simulated train and the length of each carriage of the simulated train; and
and determining the parking position of each carriage according to the central point position of each carriage.
3. The simulation method of claim 2, wherein the generating a virtual hub queue according to the simulation job task comprises:
and generating a virtual truck concentration queue according to the type of the simulation operation task and the stopping position of the simulation train.
4. The simulation method of claim 1, further comprising:
monitoring the operating state and operating parameters of the simulation automation equipment; and
and displaying the operation state and the operation parameters.
5. The simulation method of claim 1, wherein the target position is obtained by a method comprising:
acquiring a plurality of preset positions according to the simulation job task; wherein the plurality of preset positions are used for placing the target object; and
and selecting one of the preset positions as the target position.
6. The simulation method of claim 5, wherein the selecting one of the plurality of preset positions as the target position comprises:
selecting one of the preset positions as a standby position; and
and if no other target object exists in the standby position, selecting the standby position as the target position.
7. An analog simulation apparatus of a intermodal yard equipment, comprising:
the operation flow simulation module is used for generating a simulation operation task; the simulation operation task is used for guiding simulation automation equipment to lift a target object;
the railway yard task management simulation module is used for generating a stopping position of a simulated train according to the simulation operation task; wherein the simulated train is used for loading the target object;
the auxiliary system simulation module is used for generating a virtual hub queue according to the simulation job task; wherein the virtual hub is configured to simulate transport of the object between a yard and the simulated train;
the common stock yard task management simulation module is used for disassembling the simulation operation task into a simulation operation instruction; wherein the simulated work instructions are used to control the operation of the simulated automation device;
the automatic equipment control simulation module is used for executing the simulation operation instruction; and
the equipment management simulation module is used for adjusting the operation parameters of the simulation automation equipment based on the execution result of the simulation operation instruction; the execution result is obtained by executing the simulation operation instruction according to the stopping position of the simulation train and the virtual hub queue, and the acquisition mode of the execution result comprises the following steps:
acquiring target image information of a target position;
acquiring actual image information of the target object at an actual arrival position; the actual arrival position is the actual position of the target object arriving at the carriage of the simulated train, and the actual image information is the image information of the target object arriving at the carriage of the simulated train; and
and calculating the superposition difference value of the actual image information and the target image information.
8. A computer-readable storage medium storing a computer program for executing the method for simulation of an intermodal yard device according to any one of claims 1 to 6.
9. An automated device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to perform the simulation method of the intermodal yard equipment according to any one of claims 1 to 6.
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