CN114455338B - Port loading and unloading control system - Google Patents

Disclosure of Invention

The invention mainly aims to provide a port loading and unloading control system, which aims to solve the technical problem that synchronous loading and unloading cannot be realized between a collection card and loading and unloading equipment in the prior art.

To achieve the above object, the present invention provides a port loading and unloading control system including: the intelligent driving system comprises a port management module, a vehicle management cloud control platform and an intelligent driving module;

the port management module is used for generating a transportation instruction according to the transportation information when receiving the transportation information and sending the transportation instruction to the vehicle management cloud control platform;

the vehicle management cloud control platform is used for determining a to-be-controlled set card in a port according to the transport instruction when receiving the transport instruction, and sending the transport instruction to the intelligent driving module on the to-be-controlled set card;

the intelligent driving module is used for determining a transport path corresponding to the to-be-controlled set card according to the transport instruction when the transport instruction is received;

the intelligent driving module is further used for controlling the to-be-controlled collection card to transport according to the transport path and sending real-time position information of the to-be-controlled collection card to the vehicle management cloud control platform;

the vehicle management cloud control platform is further used for sending the monitored real-time position information of the to-be-controlled set card to the port management module;

the port management module is further configured to determine, when the real-time location information is received, an arrival time of the set card to be controlled according to the real-time location information and the transport path;

the port management module is further used for determining loading and unloading equipment to be controlled according to the transportation information and generating a loading and unloading strategy according to the transportation information and the arrival time;

and the port management module is also used for controlling the loading and unloading equipment to be controlled to load and unload according to the loading and unloading strategy when the set card to be controlled and the loading and unloading equipment to be controlled arrive.

Optionally, the port management module is further configured to determine, when the transportation information is received, a target location and goods to be transported according to the transportation information;

the port management module is further used for generating a transport instruction according to the target position and the goods to be transported and sending the transport instruction to the vehicle management cloud control platform;

the vehicle management cloud control platform is further used for acquiring the card collecting information in the port when the transportation instruction is received, and determining the card collecting in an idle state according to the card collecting information;

the vehicle management cloud control platform is further used for determining a to-be-controlled set card according to goods to be transported in the transport instruction and the set card in the idle state and sending the transport instruction to the intelligent driving module on the to-be-controlled set card;

and the intelligent driving module is further used for determining a transport path corresponding to the set card to be controlled according to the target position in the transport instruction when the transport instruction is received.

Optionally, the vehicle management cloud control platform is further configured to determine current position information of the set card in the idle state according to the set card information;

the vehicle management and cloud control platform is further used for determining a to-be-controlled set card in the idle state according to the current position information and the to-be-transported goods.

Optionally, the intelligent driving module is further configured to obtain map information corresponding to the port, and determine a transportation path corresponding to the to-be-controlled set card according to the map information and the target position.

Optionally, the intelligent driving module is further configured to control the to-be-controlled set card to transport according to the transport path, and monitor real-time position information of the to-be-controlled set card according to the map information.

Optionally, the intelligent driving module is further configured to control the to-be-controlled card to transport according to the transport path, and monitor driving information in the transport process of the to-be-controlled card;

and the intelligent driving module is also used for monitoring the real-time position information of the to-be-controlled set card according to the map information and the driving information.

Optionally, the port management module is further configured to control the handling equipment to be controlled to move to the target location according to the handling policy;

and the port management module is also used for controlling the loading and unloading equipment to be controlled to load and unload according to the loading and unloading strategy when the set card to be controlled and the loading and unloading equipment to be controlled reach the target position.

Optionally, the vehicle management and cloud control platform is further configured to determine a remaining arrival duration of the to-be-controlled set card according to the driving information when the to-be-controlled loading and unloading device reaches the target position;

the vehicle management cloud control platform is further used for acquiring the loading and unloading operation duration of the loading and unloading equipment to be controlled and judging whether the residual arrival duration exceeds the loading and unloading operation duration;

the vehicle management cloud control platform is further used for sending a loading and unloading request to the port management module if the vehicle management cloud control platform does not exceed the vehicle management cloud control platform;

and the port management module is also used for controlling the loading and unloading equipment to be controlled to load and unload according to the loading and unloading request and the loading and unloading strategy when the to-be-controlled set card reaches the target position.

Optionally, the port loading and unloading control system further comprises an abnormality reminding module;

the abnormality reminding module is used for determining the abnormality grade of the to-be-controlled collection card when the to-be-controlled collection card is abnormal in the transportation process;

the abnormal reminding module is further used for searching a reminding strategy corresponding to the abnormal grade in a preset abnormal reminding mapping table and reminding according to the reminding strategy.

Optionally, the intelligent driving module is further configured to detect whether an abnormality occurs in the to-be-controlled set card according to the driving information, and send a detection result to the abnormality reminding module;

the abnormality reminding module is further used for judging whether the to-be-controlled set card is abnormal in the transportation process according to the detection result.

According to the method, when the port management module receives the transportation information, a transportation instruction is generated according to the transportation information and is sent to the vehicle management cloud control platform, when the vehicle management cloud control platform receives the transportation instruction, the transportation instruction is sent to the intelligent driving module on the to-be-controlled set card, when the intelligent driving module receives the transportation instruction, a transportation path corresponding to the to-be-controlled set card is determined according to the transportation instruction, the to-be-controlled set card is controlled to transport according to the transportation path, the real-time position information of the to-be-controlled set card is sent to the vehicle management cloud control platform, the vehicle management cloud control platform sends the monitored real-time position information of the to-be-controlled set card to the port management module, and when the port management module receives the real-time position information, the vehicle management cloud control platform controls the to-be-controlled set card according to the transportation path and monitors the real-time position information of the to-be-controlled set card according to the map information. The information and the transport path determine the arrival time of the to-be-controlled integrated card, the port management module determines to-be-controlled loading and unloading equipment according to the transport information and generates loading and unloading strategies according to the transport information and the arrival time, and the port management module controls the to-be-controlled loading and unloading equipment to load and unload according to the loading and unloading strategies when the to-be-controlled integrated card and the to-be-controlled loading and unloading equipment arrive. According to the invention, the port management module sends the transport instruction to the vehicle management and control platform, the vehicle management and control platform determines the to-be-controlled collection card according to the transport instruction and sends the transport instruction to the intelligent driving module on the to-be-controlled collection card, the intelligent driving module controls the to-be-controlled collection card to transport according to the transport instruction and sends the real-time position information of the collection card to the port management module, and the port management module controls the loading and unloading equipment to start loading and unloading according to the real-time position information, so that synchronous loading and unloading between the collection card and the loading and unloading equipment is realized, and the port loading and unloading efficiency is improved.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The transportation information may be information including a transportation task and a loading/unloading task. The transportation instruction can be an instruction generated based on transportation information, and the transportation instruction is used for enabling the vehicle management and cloud control platform to schedule the collection card which needs transportation, loading and unloading.

It should be understood that the port loading and unloading control system generates a transportation instruction according to the transportation task in the transportation information through the port management module and sends the transportation instruction to the vehicle management and cloud control platform, and the vehicle management and cloud control platform extracts the transportation task according to the received instruction, performs optimal matching according to a preset algorithm, and mobilizes a proper collection card to execute the transportation task.

The target location may be a location of a target site to be loaded and unloaded. The goods to be transported can be the goods to be loaded and unloaded by the loading and unloading equipment, and the port management module can control the loading and unloading equipment to load the goods to be transported into the collection card after unloading the goods to be transported from the container.

The card information can be information such as the number and the type of the cards in the port, the vehicle management and cloud control platform can determine the number and the type of the cards in the port according to the card information, and then determine the cards in an idle state according to the transportation instruction. The above-mentioned collector card in idle state can be the collector card in port not in working state and transport function is normal.

It should be understood that, in order to accurately control the set card according to the transport instruction to transport, the port management module in this embodiment sends the target position in the transport information and the goods to be transported to the vehicle management and cloud control platform, the vehicle management and cloud control platform obtains the set card information in the port, determines the set card in an idle state according to the set card information, determines the transport mileage according to the target position, determines the cargo carrying capacity according to the goods to be transported, determines the set card (i.e. the set card to be controlled) according to the transport mileage and the cargo carrying capacity, and sends the transport instruction to the intelligent driving module on the set card to be controlled, and when receiving the transport instruction, the intelligent driving module determines the transport path corresponding to the set card to be controlled according to the target position in the transport instruction.

It should be noted that the current position information may be the position information of the current position of the set card in the idle state, and the vehicle management and cloud control platform may determine the current specific position of the set card in the idle state according to the current position information, and thus determine whether the set card can currently execute the transportation task.

It should be understood that, in order to pick out a set card that accords with a transport task in a transport instruction as a set card to be controlled and avoid dispatching a set card in an idle state, the vehicle management and cloud control platform in this embodiment determines current position information of the set card in the idle state according to the set card information, and determines a set card to be controlled in the set card in the idle state according to the current position information and the goods to be transported.

It should be noted that, the map information may be map information of a port, and the intelligent driving module may collect map information of the port in advance and store the map information to a local memory or a cloud server.

It should be noted that the real-time position information may be real-time position related information of the to-be-controlled set card in the transportation process, and the intelligent driving module may obtain real-time position information of the to-be-controlled set card in real time through a positioning module integrated inside or externally connected with the to-be-controlled set card, where the real-time position information may include information such as a real-time running speed, a real-time position, and a real-time road condition of the to-be-controlled set card.

It should be noted that the to-be-controlled card may be an unmanned card conforming to a transportation task, for example, the unmanned card may be a container truck with an intelligent control function. The transport path may be a path in which the set card to be controlled performs a transport task.

It should be understood that, in order to accurately control the to-be-controlled card to transport, the vehicle management and cloud control platform of the embodiment determines the to-be-controlled card in the port according to the transport task in the transport instruction and sends the transport instruction to the intelligent driving module on the to-be-controlled card, where the intelligent driving module is configured to determine, when receiving the transport instruction, a transport path corresponding to the to-be-controlled card according to the transport instruction.

It should be noted that the real-time position information may be a real-time position of the to-be-controlled set card in the transportation process, and the intelligent driving module may monitor the position information of the to-be-controlled set card in real time through a positioning module integrated inside or externally connected with the to-be-controlled set card.

It should be understood that, in order to obtain the position information of the to-be-controlled card in real time, so as to maintain synchronous movement of the to-be-controlled card and the to-be-controlled loading and unloading device, the intelligent driving module of the embodiment controls the to-be-controlled card to transport according to the transport path, and sends the monitored real-time position information of the to-be-controlled card to the vehicle management and cloud control platform, wherein the real-time position information of the to-be-controlled card can obtain the real-time position information of the card through a positioning module installed on the card, and then sends the real-time position information to the intelligent driving module, and then sends the obtained real-time position information to the vehicle management and cloud control platform, and then sends the monitored real-time position information of the to-be-controlled card to the port management module.

It should be noted that, the arrival time may be the time when the to-be-controlled card arrives at the to-be-loaded and unloaded target site, for example, the departure time of the to-be-controlled card is 8:00 a.m., and 20 minutes are required to pass to reach the to-be-loaded and unloaded target site, so that the arrival time of the to-be-controlled card is 8:20 a.m.

It should be understood that, in order to make the to-be-controlled integrated card and the to-be-controlled loading and unloading equipment arrive at the to-be-unloaded site at the same time, when the port management module of the embodiment receives the real-time position information, the arrival time of the to-be-controlled integrated card is determined according to the real-time position information and the transportation path, and the to-be-controlled loading and unloading equipment is scheduled according to the calculated time, so that the unmanned integrated card and the to-be-controlled loading and unloading equipment can arrive synchronously, and the waiting time is reduced.

The loading and unloading device to be controlled may be a device for loading and unloading goods, such as a field bridge device or a shore bridge device. The loading and unloading strategy may be a strategy for controlling the loading and unloading equipment to perform corresponding loading and unloading operations, and the loading and unloading strategy may include a loading and unloading strategy for controlling the speed, steering, loading and unloading time of the loading and unloading equipment.

It should be understood that, in order to keep synchronous operation between the handling equipment and the collector, the port management module in this embodiment determines the handling equipment to be controlled according to the transportation task in the transportation information, and generates the handling policy according to the number of the goods to be handled, the goods location and the arrival time at the collector to be controlled in the transportation information, so that the handling equipment to be controlled accurately handles the goods to be handled, thereby improving the handling efficiency.

It should be understood that, in order to ensure synchronous operation between the to-be-controlled card and the to-be-controlled handling equipment, when the to-be-controlled card and the to-be-controlled handling equipment reach the target positions, the port management module in this embodiment controls the to-be-controlled handling equipment to handle the goods according to the handling policy, where when the to-be-controlled card reaches the target handling site, the to-be-controlled handling equipment also arrives synchronously, so that synchronous operation between the card and the handling equipment is realized, handling time is reduced, and handling efficiency is improved.

It should be noted that the remaining arrival time may be a remaining time when the distance between the to-be-controlled set card and the target position is reached, and the vehicle management and cloud control platform may determine the remaining arrival time of the to-be-controlled set card according to the remaining distance between the to-be-controlled set card and the target position and the average vehicle speed of the to-be-controlled set card.

The loading and unloading operation time can be the time when the loading and unloading equipment to be controlled finishes one loading and unloading operation, and the port management module can determine the loading and unloading operation time of the loading and unloading equipment to be controlled according to the sliding speed of the slideway of the loading and unloading equipment to be controlled and the time when the bridge crane reaches the target position.

In a specific implementation, when the position of the loading and unloading equipment to be controlled is updated, the relevant position information is updatedThe control method comprises the steps of sending the position information to a port management module, sending the position information to a vehicle management and cloud control platform by the port management module, and calculating the time t for the loading and unloading equipment to be controlled to reach a target position according to the pre-stored speed of the bridge crane sliding on the track by the vehicle management and cloud control platform ₁ Simultaneously, calculating the time t for the collector card to be controlled to reach the target position according to the speed, the acceleration, the position and other information of the unmanned collector card ₂ . Therefore, the time length for the loading and unloading equipment to be controlled to reach the target position before the collection card to be controlled can be determined to be t ₂ -t ₁ . If the time length that the to-be-controlled loading and unloading equipment reaches the target position earlier than the to-be-controlled collecting card is less than the time length that the to-be-controlled loading and unloading equipment finishes 1 loading and unloading box operation, the vehicle management and cloud control platform sends a request instruction to the port management module in the time range (when the time length that the to-be-controlled loading and unloading equipment reaches the target position earlier than the to-be-controlled collecting card is 0 according to the actual maximum allowable field bridge waiting time, the to-be-controlled loading and unloading equipment is in an optimal state), and the port management module immediately responds to mobilize the to-be-controlled loading and unloading equipment to start sliding towards the target position.

According to the method, when transport information is received through a port management module, a transport instruction is generated according to the transport information and is sent to a vehicle management cloud control platform, when the transport instruction is received by the vehicle management cloud control platform, the transport instruction is sent to an intelligent driving module on a to-be-controlled set card, when the transport instruction is received by the intelligent driving module, a transport path corresponding to the to-be-controlled set card is determined according to the transport instruction, the to-be-controlled set card is controlled to transport according to the transport path, the real-time position information of the to-be-controlled set card is sent to the vehicle management cloud control platform, the monitored real-time position information of the to-be-controlled set card is sent to the port management module by the vehicle management cloud control platform, and when the real-time position information is received by the port management module, the vehicle management cloud control platform is used for controlling the to-be-controlled set card to transport according to the transport path and monitoring the real-time position information of the to-be-controlled set card according to the map information. The information and the transport path determine the arrival time of the to-be-controlled integrated card, the port management module determines to-be-controlled loading and unloading equipment according to the transport information and generates loading and unloading strategies according to the transport information and the arrival time, and the port management module controls the to-be-controlled loading and unloading equipment to load and unload according to the loading and unloading strategies when the to-be-controlled integrated card and the to-be-controlled loading and unloading equipment arrive. According to the invention, the port management module sends the transport instruction to the vehicle management and control platform, the vehicle management and control platform determines the to-be-controlled collection card according to the transport instruction and sends the transport instruction to the intelligent driving module on the to-be-controlled collection card, the intelligent driving module controls the to-be-controlled collection card to transport according to the transport instruction and sends the real-time position information of the collection card to the port management module, and the port management module controls the loading and unloading equipment to start loading and unloading according to the real-time position information, so that synchronous loading and unloading between the collection card and the loading and unloading equipment is realized, and the port loading and unloading efficiency is improved.

Based on the first embodiment of the port handling control system described above, a second embodiment of the in-vehicle device testing system is presented.

It should be noted that, the intelligent driving module may be a module for controlling the set card to perform intelligent driving and intelligent transportation, and the intelligent driving module may be integrated inside the set card or be connected to the set card externally.

It should be appreciated that the intelligent driving module may obtain the driving information of the pickup truck through sensors such as a laser radar, an ultrasonic radar, a millimeter wave radar, and an image sensor disposed on the pickup truck to be controlled.

It should be noted that the running information may be information related to running data of the to-be-controlled set card, and the running information may include information such as speed, position, steering, working state or idle state of the to-be-controlled set card.

It should be understood that, in order to monitor the current driving state and the working state of the to-be-controlled integrated card, accidents in the transportation process of the to-be-controlled integrated card are avoided, the to-be-controlled integrated card can reach the loading and unloading place on time, and the intelligent driving module monitors the driving information of the to-be-controlled integrated card in the transportation process in real time and sends the driving information to the vehicle management and cloud control platform in real time.

In the specific implementation, the intelligent driving control module performs data fusion on the acquired driving information and the transportation path of the to-be-controlled integrated card, so that the path update planning is realized in real time, the unmanned integrated card is controlled to drive from the updated transportation path to the target position to be loaded and unloaded, and meanwhile, the driving information of the to-be-controlled integrated card is sent to the vehicle management cloud control platform. According to the distance between the to-be-controlled set card and the target position, the current position of the to-be-controlled set card, the running speed of the to-be-controlled set card and the distance between the bridge crane of the loading and unloading equipment and the target position, the cloud control platform sends a request instruction to the port management module at a specific time according to a planned algorithm, and the port management module controls the bridge crane of the field bridge and the bank bridge in the loading and unloading equipment to reach the target position after receiving the instruction so as to ensure that the to-be-controlled set card and the unmanned set card are in place at the same time and reduce waiting time.

It should be noted that, the anomaly level may be a level of anomaly degree of the to-be-controlled set card encountering an anomaly problem, for example, when the anomaly level is 1, the anomaly problem of the to-be-controlled set card is a mild anomaly problem; and when the abnormality grade is 3, the abnormality problem of the to-be-controlled set card is a heavy abnormality problem.

The abnormal reminding mapping table can be a relation mapping table of corresponding reminding strategies which is constructed in advance according to possible abnormal problems of the set card to be controlled. The reminding policy may be a policy that carries out different degree reminding on the abnormal problem of the to-be-controlled integrated card, and the reminding policies corresponding to different abnormal grades are different, wherein the higher the abnormal grade is, the stronger the reminding degree in the reminding policy is, and the reminding policy may be a pop-up window warning lamp reminding or a buzzer reminding, etc., and the embodiment is not limited.

In a specific implementation, the abnormality reminding module records in advance an abnormality reminding mapping table containing a plurality of abnormality grades and reminding strategies corresponding to the abnormality grades, and when the unmanned integrated card encounters an abnormality problem, abnormality reminding of different degrees is executed according to the abnormality reminding mapping table. For example, abnormal conditions can be displayed to background personnel through a popup window of a large monitoring screen to remind the background personnel of the abnormal conditions or through a popup window, a warning lamp or a buzzer to remind the abnormal conditions, so that the abnormal problems of the collection card in the transportation process can be timely found and solved.

It should be understood that, in order to accurately determine whether the cluster card is abnormal, the intelligent driving module in this embodiment determines whether the cluster card has an abnormal problem according to the running information of the cluster card, for example, the problems that the speed of the cluster card is too fast or too slow, the current position of the cluster card has deviated from the transportation path, the current fuel consumption of the cluster card is too high, and the like can all be determined as the abnormal information.

According to the embodiment, the to-be-controlled collection card is controlled to be transported according to the transportation path, the driving information of the to-be-controlled collection card in the transportation process is monitored, the intelligent driving module monitors the real-time position information of the to-be-controlled collection card according to the map information and the driving information, so that the real-time monitoring of the transportation process of the collection card is realized, the problem that the collection card is abnormal in the transportation process is effectively avoided, the collection card can reach a target place to be assembled and disassembled on time, and the transportation efficiency of the collection card is effectively guaranteed.

It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.

It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.

Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.