CN114384914B - Collaborative regulation and control method for automatic wharf global system and ART autonomous operation - Google Patents
Collaborative regulation and control method for automatic wharf global system and ART autonomous operation Download PDFInfo
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Abstract
The invention provides a collaborative regulation and control method for automatic wharf global system and ART autonomous operation, which comprises the following steps: the ART acquires preset information in real time through an ART vehicle-mounted system and feeds the preset information back to an ART management system, so that the ART management system acquires global road information and ART information of an automatic wharf in real time; the TOS system distributes operation tasks to the ART according to the card collecting information fed back by the ART management system, and the ART is combined with the current position and the task end position to automatically plan paths so as to complete the tasks; in the ART executing task, an ART management system is in butt joint with a shore bridge control system, an unlocking station system and a production operation system, and the time of the integrated card reaching a shore bridge operation area and the unlocking station is predicted in real time; the intelligent traffic management system is in butt joint with the intelligent traffic management system for managing and controlling the traffic sequence of the collection cards inside and outside the stope traffic lanes, and the time that the collection cards reach the gate and the stope operation area is predicted in real time, so that the ART management system can adjust the traffic speed of the collection cards in time. The invention realizes the cooperative regulation and control of ART autonomous operation.
Description
Technical Field
The invention relates to the technical field of intelligent cooperative control of an automatic wharf, in particular to a cooperative control method for an automatic wharf global system and ART autonomous operation.
Background
At present, the main horizontal transport means of the wharf is an automatic guided vehicle AGV, and the AGV has a fixed driving route due to equipment characteristics, so that the wharf has poor flexibility and lower autonomous decision making capability, and the wharf has low automation level. Compared with an AGV, the ART (Artificial Intelligence Robot of Transportation, namely the artificial intelligent transport robot) has more flexible driving route, has stronger intelligence after being carried with an automatic vehicle-mounted system, and can autonomously decide the position and the path selection of a working area. The ART autonomous operation is matched with the intelligent regulation and control of the wharf global system, so that the wharf operation efficiency is greatly improved, and the wharf automation and intelligent degree is further enhanced.
Disclosure of Invention
The invention aims to provide a cooperative regulation and control method for automatic wharf global system and ART autonomous operation, so that the automatic wharf global system and the ART autonomous operation are cooperatively matched, the operation flexibility is improved, the wharf loading and unloading operation efficiency is improved, and the operation efficiency of each link in a wharf is improved.
The invention is realized by the following technical scheme:
the invention provides a collaborative regulation and control method for automatic wharf global system and ART autonomous operation, which comprises the following steps: the ART management system utilizes an ART vehicle-mounted system to acquire the current position, the working state and the technical state information of the ART in real time; the ART management system predicts the time of the integrated card reaching a quay bridge operation area, an unlocking station, a gate and a yard operation area in real time based on the running data of the internal and external integrated cards by being in butt joint with a TOS system, a quay bridge control system, an unlocking station management system, an intelligent traffic management system and production operation systems in other ports, and adjusts the running speed and the running route of the integrated card; the intelligent traffic management system reasonably regulates the traffic sequence of the integrated cards at the inner and outer integrated card intersection sections or intersections.
Preferably, the ART vehicle-mounted system comprises a navigation positioning module, an automatic driving module, a vehicle-mounted control module, a maintenance testing module and a vehicle-mounted video module.
Preferably, the ART management system interacts with the TOS system, and the ART management system feeds back the current position, the working state and the technical state of the ART to the TOS system in real time, the TOS system distributes operation tasks to the vehicle according to feedback information, and when receiving a task scheduling instruction of the TOS system, the ART management system combines the policy and the state of the ART to select acceptance or rejection, and when rejecting, the ART management system needs to clearly give a rejection reason to feed back to the TOS system.
Further, after receiving tasks of the TOS system, the ART management system distributes the tasks to the ART appointed by the TOS system, and the ART automatically performs real-time and dynamic planning of the path by combining the current position of the ART with the end position of the tasks, the requirement of the door orientation, the load and speed limit condition of each lane and intersection of an automatic driving map and the vehicle parameters (acceleration and deceleration and turning radius) of the ART, keeps the optimal driving path at all times and feeds back the predicted time for completing the tasks to the TOS system.
Preferably, the ART management system is interacted with the quay crane control system, and comprises the step of adjusting the speed of the ART according to a reasonable loading and unloading ship sequence in the working condition of the quay crane loading and unloading ship, so that the order and the continuity of the operation of the ART on the quay crane are ensured, and the time of the collection card reaching the quay crane working area is predicted in real time.
Preferably, the ART management system interacts with the unlocking station management system, including that the ART management system selects a reasonable unlocking station for the ART, and ensures balanced use of the unlocking station on the premise of an optimal driving path and a shortest cycle period, thereby avoiding single-point congestion and predicting the time of the integrated card reaching the unlocking station in real time.
Preferably, the ART management system sends a release control instruction to the intelligent traffic management system, the working state of equipment of the intelligent traffic management system is fed back to the ART management system, the intelligent traffic management system uses an internal and external integrated card running management and control strategy based on rules to perform macroscopic control on internal and external integrated card running, and the ART management system manages the traffic condition of horizontal transportation in real time and predicts possible congestion in advance by combining the real-time position and the predicted running path of the ART.
The intelligent traffic management system uses a rule-based internal and external integrated card driving management and control strategy to manage internal and external integrated card driving order of a storage yard traffic lane is as follows: the method comprises the steps that the situation that congestion is not formed on the collector cards in the intersection and the wharf front area is guaranteed to be the highest priority, and the inner collector card is guaranteed to run preferentially in the intersection appointed area under the condition that congestion is not formed on the outer collector card or the outer collector card does not exceed the specified operation time is guaranteed; when the operation time of the outer collecting card exceeds the regulation, or the crossing queuing congestion is caused by the fact that the outer collecting card yard only enters or does not exit, the inner collecting card crossing is stopped to pass, and the circulation of the outer collecting card is quickened.
Preferably, the intelligent traffic management system comprises a vehicle-road cooperative control unit and a storage yard barrier gate control unit. The vehicle-road cooperative control unit comprises a road side sensing module, an edge computing unit, a central control module and the like; the storage yard barrier gate control unit comprises an RFID electronic license plate recognition system, a radar detection system, voice and screen display equipment, traffic lights and a stop lever.
The invention provides a cooperative regulation and control method for automatic wharf global system and ART autonomous operation, which comprises the following specific steps:
the ART monitors the position, the working state and the technical state information of the ART in real time through an ART vehicle-mounted system and informs an ART management system;
the ART management system transmits the current position, the working state and the technical state of the ART to the TOS system in real time, the TOS system sends a task scheduling instruction to the ART management system, the ART management system selects acceptance or rejection by combining the policy and the state of the ART, and the rejection reason is required to be fed back to the TOS system when the ART management system rejects;
after receiving tasks of the TOS system, the ART management system distributes the tasks to ART appointed by the TOS system, automatically plans paths in real time, predicts and resolves congestion possibly occurring in advance, keeps an optimal running path at all times, and feeds back predicted completion time of the tasks to the TOS system;
the ART management system and other systems interact in real time in the task execution process;
the ART can monitor all information in real time, and the ART management system interacts with other systems in real time to provide guidance for the intelligent decision of the ART and assist in controlling the operation of the ART, so that the intelligent unification and coordination of the ART monomer and the system are realized.
The real-time interaction between the ART management system and other systems in the task execution process comprises the following steps:
the ART management system is interacted with the shore bridge control system, and in the operation of a shore loading and unloading ship, the ART management system regulates the speed of the ART according to a reasonable loading and unloading ship sequence, and predicts the time of the integrated card reaching a shore bridge operation area in real time.
The ART management system is interacted with the unlocking station system, the ART management system selects a reasonable unlocking station for the ART, the unlocking station is ensured to be used in a balanced mode on the premise of the optimal driving path and the shortest cycle period, and the time of the integrated card reaching the unlocking station is predicted in real time.
The ART management system is interacted with the intelligent traffic management system, the vehicle-road cooperative control unit senses the traffic running state of the integrated card, and the ART management system predicts the time of each road section and intersection of the integrated card in real time; the intelligent traffic management system uses a rule-based internal and external integrated card running management and control strategy to perform internal and external integrated card running macro control, and a yard barrier gate system is utilized to control the integrated card entering and exiting sequence.
Preferably, the ART management system interacts with the intelligent traffic management system to control the ART running speed and the traffic sequence of the collection card inside and outside the traffic lane in the storage yard, and the control flow is as follows:
s1, an ART management system acquires global road information of an automatic wharf, and acquires traffic flow conditions of all road sections and intersections of the wharf in real time;
s2, acquiring in-transit ART information comprising information such as a current ART path, a current position, a current vehicle speed and the like by an ART management system;
s3, the ART management system predicts the time of the ART passing through each road section and each intersection on the way;
s4, judging whether the ART vehicle speed is to be regulated or not by the ART management system: if the ART passes through some intersections, when the ART expects to pass through the intersections, the ART or an external collecting card queuing condition exists, and the ART speed is reduced;
s41, if the ART management system judges that the ART vehicle speed needs to be regulated and controlled, selecting an on-road ART vehicle speed reduction, and decelerating according to the proportion of 20% of the set speed;
s42, if the ART management system judges that the ART vehicle speed does not need to be regulated and controlled, performing a step S5;
s5, the ART management system judges whether ART is about to reach an intersection of the inner and outer set cards;
s51, if the ART management system judges that no ART is about to reach an intersection of the inner and outer set cards, performing the step S1;
s52, if the ART management system judges that the ART is about to reach the intersection of the inner and outer set cards, performing a step S6;
s6, the system judges whether an external collection card is waiting at the intersection;
s61, if the system judges that the external collector card does not wait at the intersection, the intelligent traffic management system controls the intersection to enable the ART to directly pass through until the external collector card reaches the intersection;
s62, if the system judges that the external collection card is waiting at the intersection, performing S7;
s7, calculating a value of a traffic weight threshold value formula x of the intersection outer set traffic weight by the intelligent traffic management system according to the current condition of the wharf, and detecting an influence factor reaching the traffic weight threshold value;
s71, if the intelligent traffic management system detects that the passing weight is reachedThe influence factor of the threshold value is x 3 Or x 4 The intelligent traffic management system controls the intersection to stop the ART, and the outer collector card rapidly passes until a new ART or the outer collector card arrives;
s72, if the intelligent traffic management system detection system does not reach the passing weight threshold or the influence factor reaching the passing weight threshold is x 1 Or x 2 Step S61 is performed;
the method comprises the steps of establishing an intersection outer set cartoon traffic weight threshold formula according to a storage yard inner traffic lane outer set cartoon traffic rule, wherein the intersection outer set cartoon traffic weight threshold formula is as follows:
any influence factor triggers the weight threshold x, which triggers the set card traffic control logic. Wherein x is 1 Indicating the waiting number of the collector cards in the crossing, x 2 Representing the waiting number of the collection cards in the wharf front edge area, and x 3 Indicating waiting time of external collector card at intersection x 4 The waiting quantity of the outside set cards at the intersection is represented, and x is the inside and outside set card traffic control threshold value of the intersection; b 1 、b 2 、b 3 And b 4 Respectively the influence factors;
when two inner cards are waiting at the intersection or two inner cards are waiting at the front region of the wharf, the inner cards at the intersection pass; when the waiting time of the outer collector cards at the intersection exceeds 20 minutes or three outer collector cards at the intersection are waiting, the outer collector cards at the intersection are in line;
when the inner and outer integrated cards are intersected at the intersection, the ART management system calculates an inner and outer integrated card traffic control threshold value, detects an influence factor triggering the traffic control threshold value in real time, and if the influence factor is x 1 Or x 2 The inner collecting card passes through; if x is 3 Or x 4 The outer collection card runs.
Compared with the prior art, the invention has the following beneficial effects:
the ART vehicle-mounted system comprises a navigation positioning module and an automatic driving module, the position of each ART can be accurately obtained, the ART can autonomously optimize and plan a route, and intelligent decision-making of a bicycle is realized.
And 2, the ART management system manages the traffic condition of horizontal transportation in real time, so that possible congestion is predicted in advance, the congestion is resolved in advance, the occurrence probability of the congestion is reduced, and the working efficiency and the running efficiency are improved.
And 3, real-time interaction between the ART management system and the TOS system is realized, so that the task allocation and the vehicle scheduling are both optimal strategies. The ART management system timely feeds back the task predicted completion time to the TOS system, and the TOS system timely receives the ART operation execution progress information, so that the ART operation execution progress information cooperates with other systems to predict the time of arrival of the set card at each key point.
The invention realizes the cooperative coordination of an automatic wharf global system and ART autonomous operation, can effectively reduce wharf congestion probability, improves the utilization rate of each device, is convenient for staff to manage, and greatly improves wharf automation level.
Drawings
Fig. 1 is a flow chart of a macro-control strategy of a cooperative control method for automatic wharf global system and ART autonomous operation.
Fig. 2 is a schematic diagram of a vehicle-road cooperative control unit of the intelligent traffic management system according to the present invention.
Fig. 3 is a flow chart of a management strategy for managing and controlling the running speed of ART and the traffic sequence of the traffic lane inside and outside the yard by interaction between the ART management system and the intelligent traffic management system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the invention, the ART acquires preset information in real time through an ART vehicle-mounted system and feeds back the preset information to an ART management system, so that the ART management system acquires global road information and ART information of an automatic wharf in real time; the ART management system feeds back the ART information to the TOS system, the TOS system distributes tasks to the ART management system according to the integrated card information fed back by the ART management system, so that task distribution to the ART is realized, and after the ART receives the tasks, the ART automatically plans a path by combining the current position and the task end position to finish the tasks; during the execution of the task, the ART management system is in butt joint and interaction with the shore bridge control system, the unlocking station system and the production operation system, and the time for the integrated card to reach the shore bridge operation area and the unlocking station is predicted in real time; the intelligent traffic management system is in butt joint interaction with the intelligent traffic management system for managing and controlling the traffic sequence of the collection card inside and outside the storage yard traffic lane, the time for the collection card to reach a gate and the storage yard operation area is predicted in real time according to the acquired information, the ART management system can timely adjust the traffic speed of the collection card, and the intelligent traffic management system is used for managing and controlling the traffic sequence of the collection card inside and outside the storage yard traffic lane, so that the cooperative regulation and control of the ART can be realized.
As shown in fig. 1, the collaborative regulation method for autonomous operation of an automated wharf global system and ART provided by the invention includes: the ART management system utilizes an ART vehicle-mounted system to acquire the current position, the working state and the technical state information of the ART in real time; the ART management system predicts the time of the integrated card reaching a quay bridge operation area, an unlocking station, a gate and a storage yard operation area in real time based on the running data of the internal and external integrated cards by butting with a TOS system, a quay bridge control system, an unlocking station management system, an intelligent traffic management system and other necessary production operation systems in ports, and adjusts the running speed and the running route of the integrated card; the intelligent traffic management system reasonably regulates the traffic sequence of the integrated cards at the inner and outer integrated card intersection sections or intersections.
The method comprises the following specific steps:
the ART monitors the position, the working state and the technical state information of the ART in real time through an ART vehicle-mounted system and informs an ART management system;
the ART management system transmits the current position, the working state and the technical state of the ART to the TOS system in real time, the TOS system sends a task scheduling instruction to the ART management system, the ART management system selects acceptance or rejection by combining the policy and the state of the ART, and the rejection reason is required to be fed back to the TOS system when the ART management system rejects;
after receiving tasks of the TOS system, the ART management system distributes the tasks to ART appointed by the TOS system, automatically plans paths in real time, predicts and resolves congestion possibly occurring in advance, keeps an optimal running path at all times, and feeds back predicted completion time of the tasks to the TOS system;
the ART management system and other systems interact in real time in the task execution process;
the ART can monitor all information in real time, and the ART management system interacts with other systems in real time to provide guidance for the intelligent decision of the ART and assist in controlling the operation of the ART, so that the intelligent unification and coordination of the ART monomer and the system are realized.
The real-time interaction between the ART management system and other systems in the task execution process comprises the following steps:
the ART management system is interacted with the shore bridge control system, and in the operation of a shore loading and unloading ship, the ART management system regulates the speed of the ART according to a reasonable loading and unloading ship sequence, and predicts the time of the integrated card reaching a shore bridge operation area in real time.
The ART management system is interacted with the unlocking station system, the ART management system selects a reasonable unlocking station for the ART, the unlocking station is ensured to be used in a balanced mode on the premise of the optimal driving path and the shortest cycle period, and the time of the integrated card reaching the unlocking station is predicted in real time.
The ART management system is interacted with the intelligent traffic management system, the vehicle-road cooperative control unit senses the traffic running state of the integrated card, and the ART management system predicts the time of each road section and intersection of the integrated card in real time; the intelligent traffic management system uses a rule-based internal and external integrated card running management and control strategy to perform internal and external integrated card running macro control, and a yard barrier gate system is utilized to control the integrated card entering and exiting sequence.
In the above technical solution, as shown in fig. 1, the ART vehicle-mounted system may acquire information such as the current location, the working state, the technical state, etc. of the ART in real time, and these information may provide basis for intelligent decision of the ART.
In the above technical solution, as shown in fig. 1, the ART management system interacts with the TOS system, including that the ART management system transmits the current position, working state, technical state, etc. of the ART to the TOS system in real time, the TOS system dispatches the vehicle to execute the task, when the ART management system receives the task dispatching instruction of the TOS system, the ART management system selects to accept or reject by combining with the policy and state of the ART itself, and when rejecting, the ART needs to explicitly give a reject reason to feed back to the TOS system.
In the above technical solution, as shown in fig. 1, after receiving the task of the TOS system, the ART management system distributes the task to the ART designated by the TOS system, and the ART automatically performs real-time and dynamic planning of the path by combining the current position of the ART and the end position of the task, the requirement of the door orientation, the load and speed limit condition of each lane and intersection of the automatic driving map, and the vehicle parameters (acceleration/deceleration, turning radius, etc.) of the ART, and feeds back the predicted time for completing the task to the TOS system. The ART autonomous decision can improve the operation efficiency and reduce the congestion probability.
In the above technical solution, as shown in fig. 1, the ART management system interacts with the quay crane control system, including that the quay crane control system provides equipment status information for the ART management system, and the ART management system adjusts the speed of the ART according to a reasonable loading and unloading ship sequence, and predicts the time of the collector card reaching the quay crane operation area in real time, so as to ensure the order and continuity of the ART operation on the quay side.
In the above technical solution, as shown in fig. 1, the ART management system interacts with the unlocking station management system, including the unlocking station management system providing the ART management system with device status information, where the ART management system selects a reasonable unlocking station for the ART, predicts the time of the integrated card reaching the unlocking station in real time, ensures balanced use of the unlocking station on the premise of optimal driving path and shortest cycle, avoids single-point congestion, improves the utilization rate of the unlocking station, and shortens the waiting time of the ART.
In the above technical solution, as shown in fig. 2, the vehicle-road cooperative control unit includes a road side sensing module, an edge computing unit, and a central control module; the edge computing unit is deployed at the vehicle end and is used for intelligently filtering and analyzing ART information and surrounding environment information in real time; the central control module is responsible for carrying out centralized management and control on the road side sensing module, the edge computing unit and various devices carried by the ART; the road side perception module comprises a monocular camera, radar equipment and an intelligent processing unit. The monocular camera is matched with radar equipment to acquire the position information and the quantity information of the ART in real time, so that a basis is provided for decision-making traffic strategies of the intelligent traffic system. The intelligent processing unit is mainly used for processing and analyzing the image and video acquired by the camera and has a communication function. The ART management system predicts and solves the possible congestion in advance according to the traffic situation by combining the real-time position of the ART and the predicted driving path.
In the above technical solution, as shown in fig. 1, the intelligent traffic management system uses a rule-based internal and external integrated card driving management and control strategy to manage internal and external integrated card driving order of a storage yard traffic lane.
In the technical scheme, the internal and external collecting card management and control strategy of the traffic lanes in the storage yard is as follows:
the method comprises the steps that the situation that congestion is not formed on the collector cards in the intersection and the wharf front area is guaranteed to be the highest priority, and the inner collector card is guaranteed to run preferentially in the intersection appointed area under the condition that congestion is not formed on the outer collector card or the outer collector card does not exceed the specified operation time is guaranteed; when the operation time of the outer collecting card exceeds the regulation, or the crossing queuing congestion is caused by the fact that the outer collecting card yard only enters or does not exit, the inner collecting card crossing is stopped to pass, and the circulation of the outer collecting card is quickened.
In the technical scheme, the rule of the traffic rules of the inside and outside collection cards of the traffic lanes in the storage yard is as follows from high priority to low priority:
(1) The collector cards in the intersections do not form congestion.
(2) The header does not form congestion in the quay front area.
(3) The external set card does not exceed the specified operation time.
(4) The collector card outside the intersection does not form congestion.
In the technical scheme, an intersection outside-collection vehicle traffic weight threshold formula is established according to the inside-collection vehicle traffic rule of the storage yard: mapping the rule of the inner and outer collection cards of the traffic lanes in the storage yard into four influencing factors respectively named as x 1 、x 2 、x 3 、x 4 I.e. x 1 Indicating the waiting number of the collector cards in the crossing, x 2 Representing the waiting number of the collection cards in the wharf front edge area, and x 3 Indicating the operation time of the external collecting card at the intersection x 4 And the waiting number of the external collection cards at the intersection is represented.
In the technical scheme, according to the actual operation condition of the port, the following steps are set:
when two inner cards wait at the intersection or two inner cards wait at the front edge area of the wharf, the inner cards at the intersection pass; when the waiting time of the outer collector cards at the intersection exceeds 20 minutes or three outer collector cards at the intersection are waiting, the outer collector cards at the intersection are in line.
In the technical scheme, according to the description, the establishment of the intersection outside set card traffic weight threshold formula is as follows:
any influence factor triggers the weight threshold x, which triggers the set card traffic control logic. Wherein b 1 、b 2 、b 3 And b 4 Respectively the influencing factors x 1 、x 2 、x 3 And x 4 Is a coefficient of (a). For the convenience of calculation, the intersection outside set card general control threshold value x is 20.X is x 1 Representing waiting quantity of collector cards in intersection, and maximum value is 2, x 2 Representing the waiting number of the collector cards in the wharf front edge area, wherein the maximum value is 2, x 3 The waiting time of the external collector card at the intersection is represented, the maximum value is 20, x 4 The number of waiting cards outside the intersection is represented, and the maximum value is 3. According to x and x 1 、x 2 、x 3 、x 4 Can be calculated, b 1 10, b 2 10, b 3 1, b 4 6.7.
In the technical scheme, when the inner and outer cards meet at the intersection, the ART management system calculates the traffic weight threshold of the outer card, detects the influence factor triggering the traffic control threshold x in real time, and if x is the influence factor 1 Or x 2 The inner collecting card passes through; if x is 3 Or x 4 The outer collection card runs.
In the above technical solution, during the task execution of the ART, the ART management system interacts with the intelligent traffic management system to reasonably control the ART running speed and the traffic sequence of the traffic collection inside and outside the traffic lanes in the yard, as shown in fig. 3, the control flow is as follows:
s1, an ART management system acquires global road information of an automatic wharf, and acquires traffic flow conditions of all road sections and intersections of the wharf in real time.
S2, the ART management system acquires in-transit ART information, wherein the ART information comprises information such as the current path, the current position and the current vehicle speed of the ART.
S3, the ART management system predicts the time of the ART passing through each road section and each intersection.
S4, judging whether the ART vehicle speed is to be regulated or not by the ART management system: if an ART passes at some intersections, there is ART or an external header queuing condition (> 2) when the ART expects to pass at the intersection, the ART speed is reduced.
And S41, if the ART management system judges that the ART vehicle speed needs to be regulated, selecting the ART in the way to reduce the vehicle speed, and decelerating according to the proportion of 20% of the set speed, wherein the minimum speed cannot be lower than 50% of the set speed, so that the calculation pressure of the system is avoided by regulating and controlling for multiple times.
And S42, if the ART management system judges that the ART vehicle speed does not need to be regulated and controlled, performing a step S5.
S5, the ART management system judges whether the ART is about to reach the intersection of the inner and outer set cards.
And S51, if the ART management system judges that no ART is about to reach the intersection of the inner and outer set cards, performing the step S1.
And S52, if the ART management system judges that the ART is about to reach the intersection of the inner and outer set cards, performing a step S6.
S6, the system judges whether an external collector card is waiting at the intersection.
And S61, if the system judges that the external collector card does not wait at the intersection, the intelligent traffic management system controls the intersection to enable the ART to directly pass through until the external collector card reaches the intersection.
S62, if the system judges that the external collection card is waiting at the intersection, the S7 step is carried out.
And S7, calculating the value of the traffic weight threshold value x of the intersection outer set traffic weight by the intelligent traffic management system according to the current condition of the wharf, and detecting an influence factor reaching the traffic weight threshold value.
S71, if the intelligent traffic management system detects that the impact factor reaching the passing weight threshold is x 3 Or x 4 The intelligent traffic management system controls the intersection to enable A toAnd (3) RT parking, and enabling the outer collector card to pass quickly until a new ART or the outer collector card arrives.
S72, if the intelligent traffic management system detection system does not reach the traffic weight threshold or the influence factor reaching the traffic weight threshold is x 1 Or x 2 Then step S61 is performed.
The invention monitors all information such as the position, the operation execution condition, the speed, the driving state and the like of the ART in real time by utilizing the ART vehicle-mounted system and feeds back the information to the ART management system; the ART management system and the TOS system, the shore bridge control system, the unlocking station system and the intelligent transportation system interact in real time, so that the time for the ART to reach a shore bridge operation area, a locking station, a gate and a yard operation area is predicted, and the traffic sequence of the traffic collection card inside and outside a traffic lane in the yard is reasonably controlled.
Finally, it should be noted that the above-described embodiments are only for the purpose of illustration and description of the present invention, and are not intended to limit the invention to the embodiments described.
In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which fall within the scope of the claimed invention.
Claims (9)
1.A collaborative regulation and control method for automatic wharf global system and ART autonomous operation is characterized in that: the ART management system utilizes an ART vehicle-mounted system to acquire the current position, the working state and the technical state information of the ART in real time; the ART management system predicts the time of the integrated card reaching a quay bridge operation area, an unlocking station, a gate and a yard operation area in real time based on the running data of the internal and external integrated cards through interaction with a TOS system, a quay bridge control system, an unlocking station management system, an intelligent traffic management system and production operation systems in other ports, and adjusts the running speed and the running route of the integrated card; the intelligent traffic management system reasonably regulates and controls the traffic sequence of the traffic collection cards on the inner and outer traffic collection card road sections or the intersections: the ART management system and the intelligent traffic management system are interacted, the ART running speed and the traffic sequence of the inside and outside collection card of the traffic lanes in the storage yard are managed and controlled, and the management and control flow is as follows:
s1, an ART management system acquires global road information of an automatic wharf, and acquires traffic flow conditions of all road sections and intersections of the wharf in real time;
s2, acquiring in-transit ART information comprising information such as a current ART path, a current position, a current vehicle speed and the like by an ART management system;
s3, the ART management system predicts the time of the ART passing through each road section and each intersection on the way;
s4, judging whether the ART vehicle speed is to be regulated or not by the ART management system: if ART or external collector card queuing exists when ART is expected to pass through the intersection, the ART speed is reduced;
s41, if the ART management system judges that the ART vehicle speed needs to be regulated and controlled, selecting an on-road ART vehicle speed reduction, and decelerating according to the proportion of 20% of the set speed;
s42, if the ART management system judges that the ART vehicle speed does not need to be regulated and controlled, performing a step S5;
s5, the ART management system judges whether ART is about to reach an intersection of the inner and outer set cards;
s51, if the ART management system judges that no ART is about to reach an intersection of the inner and outer set cards, performing the step S1;
s52, if the ART management system judges that the ART is about to reach the intersection of the inner and outer set cards, performing a step S6;
s6, the system judges whether an external collection card is waiting at the intersection;
s61, if the system judges that the external collector card does not wait at the intersection, the intelligent traffic management system controls the intersection to enable the ART to directly pass through until the external collector card reaches the intersection;
s62, if the system judges that the external collection card is waiting at the intersection, performing S7;
s7, calculating a value of a traffic weight threshold value x of the intersection outer set traffic weight by the intelligent traffic management system according to the current condition of the wharf, and detecting an influence factor reaching the traffic weight threshold value;
s71, if the intelligent traffic management system detects that the impact factor reaching the passing weight threshold is x 3 Or x 4 The intelligent traffic management system controls the intersection to stop the ART, and the outer collector card rapidly passes until a new ART or the outer collector card arrives;
s72, if the intelligent traffic management system detection system does not reach the passing weight threshold or the influence factor reaching the passing weight threshold is x 1 Or x 2 Step S61 is performed;
the method comprises the steps of establishing an intersection outer set cartoon traffic weight threshold formula according to a storage yard inner traffic lane outer set cartoon traffic rule, wherein the intersection outer set cartoon traffic weight threshold formula is as follows:
x＝b 1 x 1 +b 2 x 2 +b 3 x 3 +b 4 x 4
x 1 indicating the waiting number of the collector cards in the crossing, x 2 Representing the waiting number of the collection cards in the wharf front edge area, and x 3 Indicating the operation time of the external collecting card at the intersection x 4 The waiting number of the outer set cards at the intersection is represented, and x is the intersection outer set card traffic weight threshold; b 1 、b 2 、b 3 And b 4 Respectively the influence factors;
when two inner cards are waiting at the intersection or two inner cards are waiting at the front region of the wharf, the inner cards at the intersection pass; when the waiting time of the outer collector cards at the intersection exceeds 20 minutes or three outer collector cards at the intersection are waiting, the outer collector cards at the intersection are in line;
when the inner and outer collector cards are intersected at the intersection, the ART management system calculates the traffic weight threshold of the outer collector card, detects the influence factor triggering the traffic weight threshold in real time, and if the influence factor is x 1 Or x 2 The inner collecting card passes through; if x is 3 Or x 4 The outer collection card runs.
2. The collaborative regulation and control method for automatic wharf global system and ART autonomous operation according to claim 1, wherein the ART vehicle-mounted system comprises a navigation positioning module, an automatic driving module, a vehicle-mounted control module, a maintenance testing module and a vehicle-mounted video module.
3. The collaborative regulation and control method for autonomous operation of an automatic wharf global system and an ART autonomous operation system according to claim 1, wherein the ART management system interacts with a TOS system and comprises the steps that the ART management system feeds back the current position, the working state and the technical state of the ART to the TOS system in real time, the TOS system distributes operation tasks to vehicles according to feedback information, and when the ART management system receives a task scheduling instruction of the TOS system, the ART management system combines the policy and the state of the ART to select acceptance or rejection, and when the rejection is required to be clearly given, the rejection reason is fed back to the TOS system.
4. The coordinated regulation method of an automated dock global system and ART autonomous operation of claim 3, wherein: after the ART management system receives the task of the TOS system, the task is distributed to the ART appointed by the TOS system, the ART is combined with the current position of the ART and the end position of the task, the door orientation requirement, the load and speed limit condition of each lane and intersection of an automatic driving map and the vehicle parameters (including acceleration and deceleration and turning radius) of the ART to automatically conduct real-time and dynamic planning of the path, and the predicted task completion time is fed back to the TOS system.
5. The collaborative regulation and control method for automatic wharf global system and ART autonomous operation according to claim 1, wherein the ART management system interacts with a quay crane control system, and comprises the steps that in the working condition of a quay loading and unloading ship, the ART management system regulates the ART according to a reasonable loading and unloading ship sequence, thereby ensuring the order and the continuity of the ART in the quay crane operation and predicting the time of a collector card reaching a quay crane working area in real time.
6. The collaborative regulation and control method for autonomous operation of an automated wharf global system and an ART autonomous operation according to claim 1, wherein the ART management system interacts with an unlocking station management system, and comprises the steps that the ART management system selects a reasonable unlocking station for the ART, and ensures balanced use of the unlocking station on the premise of an optimal driving path and a shortest cycle period, single-point congestion is avoided, and the ART management system predicts the time of arrival of a collection card at the unlocking station in real time.
7. The collaborative regulation and control method for autonomous operation of an automated dock global system and an ART according to claim 1, wherein the ART management system sends a release control instruction to an intelligent traffic management system, the intelligent traffic management system feeds back the equipment working state to the ART management system, the intelligent traffic management system uses an internal and external integrated card running management and control strategy based on rules to perform macroscopic control of internal and external integrated card running, the ART management system manages traffic conditions of horizontal transportation equipment in real time, and the ART management system predicts and solves possible congestion in advance by combining real-time positions and predicted running paths of the ART.
8. The collaborative regulation and control method for autonomous operation of an automated dock global system and an ART according to claim 7, wherein the intelligent traffic management system comprises a vehicle-road collaborative control unit and a yard barrier gate control unit; the vehicle-road cooperative control unit comprises a road side sensing module, an edge computing unit and a central control module; the storage yard barrier gate control unit comprises an RFID electronic license plate recognition system, a radar detection system, voice and screen display equipment, traffic lights and a stop lever.
9. The collaborative regulation and control method for automatic wharf global system and ART autonomous operation according to claim 8, wherein the ART management system and the unlocking station management system interact, and the vehicle-road collaborative control unit senses the traffic running state of the collection card, and the ART management system predicts the time of the collection card passing through each road section and each intersection in real time.
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