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CN-121757161-B - Energy control system of wharf low-speed tractor

CN121757161BCN 121757161 BCN121757161 BCN 121757161BCN-121757161-B

Abstract

The invention relates to the technical field of energy control of a wharf tractor, in particular to an energy control system of a wharf low-speed tractor, which comprises a data acquisition, pattern recognition, path modeling, instruction analysis, path matching, path selection and control execution module. The system autonomously learns and defines a frequently occurring energy event sequence as an energy mode by analyzing historical energy data of a vehicle, and establishes a corresponding energy path and an inter-device transmission efficiency table for each mode. And after receiving the real-time task instruction, the system matches and selects an optimal energy path in the efficiency table according to the analyzed load sequence and the constraint condition, and finally maps the optimal energy path to control instruction execution. The system realizes self-adaptive energy management based on historical experience, and can dynamically select a high-efficiency energy transmission path, thereby improving the energy efficiency and economy of vehicle operation.

Inventors

  • XU YOUXUAN

Assignees

  • 亚有港机智造(浙江)有限公司

Dates

Publication Date
20260512
Application Date
20260305

Claims (10)

  1. 1. A dock low speed tractor energy control system, the system comprising: the data acquisition module acquires historical energy data of the vehicle in a preset working cycle, wherein the historical energy data records energy interaction events among an energy source, an energy conversion device and an energy consumption device; the pattern recognition module is used for recognizing frequently-occurring energy event sequences from the historical energy data, and each energy event sequence is defined as an energy pattern; the path modeling module is used for tracking a combination of energy processing devices through which energy flows in the energy modes aiming at each energy mode, defining the combination as an energy path, calculating transmission efficiency between adjacent energy processing devices in the energy path and generating a mode path efficiency table; the instruction analysis module is used for receiving real-time task instructions of the tractor and analyzing the real-time task instructions to obtain expected load change sequences and path constraint conditions; the path matching module searches an energy mode matched with the load change sequence in the mode path efficiency table, and screens out candidate energy paths from the matched energy modes based on path constraint conditions; The path selection module is used for selecting one path from the candidate energy paths as a target energy path according to a mode path efficiency table corresponding to the candidate energy paths; And the control execution module maps the target energy path into a tractor energy control instruction and transmits the tractor energy control instruction to the corresponding energy processing device for execution.
  2. 2. A quay low speed tractor energy control system according to claim 1, wherein identifying a frequently occurring sequence of energy events from historical energy data comprises the steps of: Extracting all independent event points from the historical energy data, wherein each event point comprises an event type, an involved energy processing device and a time stamp; Connecting event points according to the sequence of time stamps by taking an energy output event of an energy source as a starting point to form a preliminary event chain; In the preliminary event chain, starting from a starting point event point, judging whether a subsequent event point is triggered by a current event point one by one, if the event point is triggered, adding the event point into the current event chain, otherwise, creating a new event chain by taking the event point as a starting point until all event points are processed, and obtaining a plurality of event chains; And counting the subsequences appearing in all event chains and the occurrence frequencies thereof, and defining the subsequences with the occurrence frequencies exceeding a frequency threshold as an energy mode.
  3. 3. A quay low speed tractor energy control system according to claim 2, wherein generating the pattern path efficiency table comprises the steps of: For each energy mode, identifying all energy processing devices related to the energy mode, and determining a connection relation among the energy processing devices according to the sequence of events in the energy mode to form an energy path corresponding to the energy mode; Locating a specific data segment of the historical energy data at each occurrence of the energy pattern; In each specific data segment, acquiring an input energy value and an output energy value between two adjacent energy processing devices on an energy path, and calculating the instantaneous transmission efficiency between the two energy processing devices in an event according to the input energy value and the output energy value; In the energy mode, the instantaneous transmission efficiency calculated by the same pair of adjacent energy processing devices in all specific data segments is averaged to obtain the standard transmission efficiency of the pair of devices in the energy path; And storing the energy modes, the corresponding energy paths and the standard transmission efficiency of all adjacent device pairs in the energy paths in an associated mode to form a mode path efficiency table record.
  4. 4. A quay low-speed tractor energy control system according to claim 3, wherein parsing the real-time task instructions to obtain the expected load change sequence and path constraints comprises the steps of: Receiving a real-time task instruction sent by a dispatching system of a tractor, wherein the real-time task instruction comprises target container information, a starting position and a destination position; One or more theoretical driving routes are planned according to the starting position and the destination position based on the map data and the tractor performance parameters; For each theoretical driving route, combining the load mass of the tractor, the gradient change of the route, the turning radius and the preset speed of the tractor, and simulating and calculating the power demand change of key points of the tractor in the driving process to form a load change sequence corresponding to the theoretical driving route; explicit parameters regarding energy usage restrictions are extracted from the real-time task instructions, including the type of energy source allowed to be used or the usage restrictions for a particular energy conversion device, defined as path constraints.
  5. 5. The dock low-speed tractor energy control system of claim 4, wherein finding an energy pattern matching the load change sequence includes the steps of: acquiring a load change sequence, wherein the load change sequence consists of a plurality of power demand points which are arranged in time sequence; Traversing all the energy modes stored in the mode path efficiency table, and restoring the historical energy data segment corresponding to each energy mode into a historical power demand curve; Calculating the shape similarity between a curve formed by power demand points of a load change sequence and each historical power demand curve; setting a similarity threshold, and marking the energy modes corresponding to the shape similarity exceeding the similarity threshold of the load change sequence curve in all the historical power demand curves as preliminary matching energy modes; And checking an energy path corresponding to the preliminary matching energy mode, ensuring that the type of an energy processing device at the starting point of the energy path is consistent with the type of an energy source currently available for the tractor, and defining the preliminary matching energy mode passing the checking as the matching energy mode.
  6. 6. The dock low-speed tractor energy control system of claim 5, wherein screening candidate energy paths from the matched energy patterns based on path constraints includes the steps of: Acquiring energy paths corresponding to all the matching energy modes; checking the type of the energy processing device contained in each energy path, and comparing the type of the energy source allowed to be used or the type of the device forbidden to be used in the path constraint condition; If the path constraint condition designates the energy source type allowed to be used, only keeping the energy path of the allowed type of the initial energy processing device; If the path constraint condition designates the use forbidden command of the specific energy conversion device, eliminating the energy path containing the energy conversion device aimed at by the forbidden command; And defining the energy paths remained after comparison and screening as candidate energy paths.
  7. 7. The dock low-speed tractor energy control system of claim 6, wherein selecting one of the candidate energy paths as the target energy path includes the steps of: Obtaining a mode path efficiency table record corresponding to each candidate energy path, wherein the record comprises standard transmission efficiency of each pair of adjacent energy processing devices on the candidate energy path; For one candidate energy path, carrying out joint multiplication on the standard transmission efficiency of all adjacent device pairs contained in the candidate energy path to obtain a comprehensive efficiency evaluation value of the candidate energy path; And comparing the comprehensive efficiency evaluation values of all the candidate energy paths, and determining the candidate energy path with the maximum comprehensive efficiency evaluation value as a target energy path.
  8. 8. The dock low-speed tractor energy control system of claim 7, wherein mapping the target energy path to the tractor energy control instructions includes the steps of: analyzing a target energy path, wherein the target energy path is formed by sequentially connecting a plurality of energy processing devices, and each connection represents a control logic; generating control parameters for each energy processing device in the path, the control parameters including an enabled or disabled state of the device, a set point for an operational mode, and a reference value for output power; The control parameters are generated according to the position of the energy processing device in the target energy path, the standard transmission efficiency of the upstream device and the power requirement of the corresponding stage in the load change sequence; And sequencing and packaging control parameters of all the energy processing devices according to the connection sequence of the devices in the target energy path to form a group of ordered control instruction sets, wherein the control instruction sets are the energy control instructions of the tractor.
  9. 9. The dock low-speed tractor energy control system of claim 5, wherein the traversing all energy patterns stored in the pattern path efficiency table, restoring the historical energy data segment corresponding to each energy pattern to a historical power demand curve includes the steps of: sequentially reading each stored energy mode identifier from the mode path efficiency table; retrieving all historical energy data segments associated with the energy pattern in a historical energy database according to the energy pattern identification; for each retrieved historical energy data segment, extracting power readings corresponding to the energy consuming device recorded in the data segment, and extracting a timestamp corresponding to each power reading; arranging the power readings according to the sequence of the time stamps to form a power reading sequence; Smoothing the power reading sequence by using a linear interpolation algorithm to eliminate reading mutation caused by data acquisition intervals; And displaying the smoothed power reading sequence in the time dimension, and connecting the power reading points to form a continuous curve, wherein the continuous curve is a historical power demand curve corresponding to the historical energy data segment.
  10. 10. The dock low-speed tractor energy control system of claim 5, wherein the setting of the similarity threshold value marks the energy pattern corresponding to the similarity of the shape of the load change sequence curve exceeding the similarity threshold value in all the historical power demand curves as a preliminary matching energy pattern, and the method comprises the following steps: acquiring a load change sequence curve, wherein the load change sequence curve is formed by connecting a plurality of power demand points which are arranged in time sequence; Calculating the dynamic time warping distance between each historical power demand curve and the load change sequence curve in sequence; carrying out normalization processing on the calculated dynamic time warping distance, and converting the dynamic time warping distance into a similarity score between zero and one, wherein the higher the score is, the higher the representing similarity is; setting a fixed similarity threshold according to the requirement of the system on the matching precision; Comparing the similarity score of each historical power demand curve with a set similarity threshold; extracting an energy mode corresponding to a historical power demand curve with the similarity score larger than a similarity threshold value; a preliminary matching signature is added to the extracted energy patterns and a set thereof is defined as a preliminary matching energy pattern set.

Description

Energy control system of wharf low-speed tractor Technical Field The invention relates to the technical field of energy control of a wharf tractor, in particular to an energy control system of a wharf low-speed tractor. Background The energy control system of the current wharf low-speed tractor is mostly managed based on a preset fixed rule or a static energy model. These techniques typically preprogram the control strategy according to design conditions or typical scenarios, with the trigger conditions of the instructions being relatively fixed to the response logic. When the vehicle faces to a changeable load sequence, a complex working condition combination and different equipment states in actual operation, the rigidity control strategy is difficult to adjust in a self-adaptive mode, mismatching between energy distribution and power demand is easy to cause, the overall energy efficiency cannot reach the optimal, and the system robustness is insufficient. With the development of sensing technology, part of schemes begin to collect vehicle operation data for state monitoring or post analysis, but fail to deeply mine repeated energy circulation timing rules contained in the data. Existing methods lack systematic modeling and efficiency assessment of "energy flow paths," control decisions typically focus on only a single energy source or end effector, and do not consider the complete chain of energy transfer from source to consumption as an evaluable, selectable whole object. This results in the system being unable to identify and select, among the multiple possible device cooperation schemes, the energy transfer path with the smallest transmission loss under the current constraint, limiting the further space for improving the energy efficiency. The invention aims to solve two key problems of how to autonomously learn a typical energy circulation mode from actual operation histories and how to dynamically select an optimal energy transmission path when a task is executed. Disclosure of Invention The invention aims to solve the defects in the prior art and provides an energy control system of a wharf low-speed tractor. In order to achieve the purpose, the invention adopts the following technical scheme that the energy control system of the wharf low-speed tractor comprises: the data acquisition module acquires historical energy data of the vehicle in a preset working cycle, wherein the historical energy data records energy interaction events among an energy source, an energy conversion device and an energy consumption device; the pattern recognition module is used for recognizing frequently-occurring energy event sequences from the historical energy data, and each energy event sequence is defined as an energy pattern; the path modeling module is used for tracking a combination of energy processing devices through which energy flows in the energy modes aiming at each energy mode, defining the combination as an energy path, calculating transmission efficiency between adjacent energy processing devices in the energy path and generating a mode path efficiency table; the instruction analysis module is used for receiving real-time task instructions of the tractor and analyzing the real-time task instructions to obtain expected load change sequences and path constraint conditions; the path matching module searches an energy mode matched with the load change sequence in the mode path efficiency table, and screens out candidate energy paths from the matched energy modes based on path constraint conditions; The path selection module is used for selecting one path from the candidate energy paths as a target energy path according to a mode path efficiency table corresponding to the candidate energy paths; And the control execution module maps the target energy path into a tractor energy control instruction and transmits the tractor energy control instruction to the corresponding energy processing device for execution. Preferably, identifying a frequently occurring sequence of energy events from the historical energy data comprises the steps of: Extracting all independent event points from the historical energy data, wherein each event point comprises an event type, an involved energy processing device and a time stamp; Connecting event points according to the sequence of time stamps by taking an energy output event of an energy source as a starting point to form a preliminary event chain; In the preliminary event chain, starting from a starting point event point, judging whether a subsequent event point is triggered by a current event point one by one, if the event point is triggered, adding the event point into the current event chain, otherwise, creating a new event chain by taking the event point as a starting point until all event points are processed, and obtaining a plurality of event chains; And counting the subsequences appearing in all event chains and the occurrence frequencies thereof, and defining the subseq