CN-121990391-A - Loading and unloading operation control method, terminal and storage medium for double-trolley quay crane

CN121990391ACN 121990391 ACN121990391 ACN 121990391ACN-121990391-A

Abstract

The invention belongs to the technical field of wharf control, and particularly relates to a loading and unloading operation control method, a terminal and a storage medium of a double-trolley quay bridge, which comprise the steps of extracting the information of the shellfish position of a ship unloading box from a received ship unloading operation instruction and extracting the information of the shellfish position of the ship loading box from the received ship loading operation instruction; the shellfish position information comprises a shellfish position number, bei Wei column number and a shellfish position layer number, ship unloading operation instructions of the same shellfish position number and the same Bei Wei column are ordered from high to low according to the shellfish position layer number to generate a ship unloading queue, ship loading operation instructions of the same shellfish position number and the same Bei Wei column are ordered from low to high according to the shellfish position layer number to generate a ship loading queue, and a main trolley and a portal trolley can simultaneously perform ship unloading and ship loading operation through a side-unloading strategy, so that half of no-load operation of each operation circulating quay bridge in a traditional mode is avoided, and the utilization rate and the operation efficiency of the quay bridge are remarkably improved.

Inventors

YU YANWEN
LIU YUKUN
HAN ZHE
ZHANG FENG
LI QIANG
YANG JIE
LI BO
XU YONGNING
ZHANG CHUANJUN
XU HAORAN
DAI WEIJUN
SUN MINGMING
WANG PENG
LU YANRU

Assignees

青岛港国际股份有限公司
青岛新前湾集装箱码头有限责任公司

Dates

Publication Date: 20260508
Application Date: 20251208

Claims (10)

1. The method for controlling the loading and unloading operation of the double-trolley quay crane is characterized by comprising the following steps of: S1, extracting the shell position information of a ship unloading box from a received ship unloading operation instruction, and extracting the shell position information of a ship loading box from the received ship loading operation instruction, wherein the shell position information comprises a shell position number, a Bei Wei column number and a shell position layer number; S2, sequencing ship unloading operation instructions of the same bin number and the same Bei Wei row according to bin numbers from high to low according to layer heights to generate ship unloading queues, wherein each bin number row corresponds to one ship unloading queue; Step S3, matching and combining the ship unloading queue and the ship loading queue with the same shellfish number according to a preset strategy of unloading and loading at the same time to generate an operating instruction queue of unloading and loading at the same time; step S4, controlling a main trolley to execute the ship unloading operation of the ship unloading box on the ship and the ship loading operation of the ship loading box on the double transfer platforms according to the generated unloading operation command queue, and simultaneously, following the control portal trolley to execute the transfer of the ship unloading box on the double transfer platforms to the horizontal conveying equipment and the transfer of the ship loading box on the horizontal conveying equipment to the double transfer platforms, wherein the double transfer platforms comprise a sea side transfer platform and a land side transfer platform; And S5, judging the task state and the position information of the opposite side in real time in the operation process of the main trolley and the portal trolley, and executing a pre-stored active avoidance logic to avoid operation conflict on the same transfer platform.
2. The method of controlling a handling operation of a double trolley quay crane according to claim 1, further comprising, prior to step S3: acquiring a pre-stored corresponding Bei Wei column number arrangement rule according to the shellfish position number; sequencing the Bei Wei columns which are extracted and correspond to the shellfish number according to Bei Wei column number arrangement rules; giving highest priority to one of the ship unloading queues corresponding to Bei Wei columns at the starting and stopping positions of Bei Wei columns, giving secondary priority to the ship unloading queues corresponding to adjacent Bei Wei columns of Bei Wei columns corresponding to the ship unloading queues with highest priority, and sequentially reducing the ship unloading queues corresponding to the other Bei Wei columns according to the Bei Wei columns; The shipping queues corresponding to Bei Wei columns of the highest priority shipping queues are assigned the highest priority, the shipping queues corresponding to adjacent Bei Wei columns of the highest priority Bei Wei columns are assigned the second priority, and the shipping queues corresponding to the other Bei Wei columns are sequentially lowered according to the Bei Wei columns.
3. The method of controlling handling operations of a double trolley quay crane according to claim 2, wherein the preset load-while-unload strategy comprises: The main trolley preferentially executes the highest-priority ship unloading queue, and after the execution of the highest-priority ship unloading queue is completed, the main trolley grabs a shipping box corresponding to a first shipping operation instruction in the highest-priority shipping queue placed by the portal trolley from the double-transfer platform, and transfers the shipping box to Bei Wei columns corresponding to the highest-priority ship unloading queue; After the shipment of the shipment box corresponding to the first shipment operation instruction in the highest priority shipment queue is completed, the shipment box corresponding to the first shipment operation instruction in the second priority shipment queue is grabbed and transferred to the double transfer platform, after the shipment is completed, the shipment box corresponding to the second shipment operation instruction in the highest priority shipment queue in the double transfer platform is grabbed and transferred to Bei Wei columns corresponding to the highest priority shipment queue, after that, the shipment box corresponding to the shipment operation is grabbed by the main trolley according to the priorities of the shipment queue and the shipment queue, the shipment operation is carried out while the shipment operation is carried out in sequence until the shipment task is completed, and the new shipment queue can be started only after Bei Wei columns corresponding to the shipment queue are completely unloaded.
4. The method of controlling a handling operation of a double trolley quay crane according to claim 2, wherein step S4 comprises: step S41, after the main trolley grabs the ship unloading box according to the operation instruction queue of unloading and loading simultaneously, the occupancy state of the double transfer platforms is detected in real time: if the target transfer platform is available, placing the ship unloading box to a sea-side transfer platform or a land-side transfer platform; if the target transfer platform is occupied by the portal trolley and the remaining occupied time is less than or equal to X seconds and X is 15 seconds to 30 seconds, waiting for the portal trolley to release the transfer platform; If the target transfer platform is occupied by the portal trolley and the remaining occupied time is more than X seconds and the horizontal transportation equipment is idle, directly transporting the ship unloading box to the idle horizontal transportation equipment and updating the operation instruction queue of unloading and loading; step S42, after the main trolley finishes the ship unloading action, the ship loading detection is immediately executed: Detecting whether a shipping box matched with a target Bei Wei column exists on the current transfer platform, and if so, grabbing the shipping box and loading the shipping box to a ship; If no matching shipment box exists, inquiring the inventory of another transfer platform in real time, and if the inventory of the other transfer platform exists with the shipment box matched with the target Bei Wei columns, triggering the cross-platform dispatching operation of the portal trolley, and dispatching time is T2 = path length/trolley speed + steering time; if the double platforms are not matched with the shipping boxes, the shipping operation of the main trolley is suspended and the subsequent shipping operation instruction is executed preferentially.
5. The method for controlling the loading and unloading operation of the double-trolley quay crane according to claim 1, wherein the bin position information in the step S1 further comprises bin position type identifiers, the bin position type identifiers are used for distinguishing cold storage bin positions, dangerous goods bin positions or common bin positions, and when bin position information of a shipping box is extracted from a received shipping operation instruction, the bin position type identifiers are synchronously extracted and matched and checked with the attribute of the shipping box.
6. The method for controlling the loading and unloading operations of the double-trolley quay crane according to claim 1, wherein before the ship unloading queue and the ship loading queue are generated in the step S2, validity verification is performed on the extracted beta layer number, and if the beta layer number exceeds a preset maximum layer number threshold of the ship beta, the operation instruction is marked as an abnormal instruction and an early warning prompt is triggered.
7. The method of controlling a handling operation of a double trolley quay crane according to claim 1, wherein step S5 comprises: s51, acquiring real-time position information of a main trolley and a portal trolley through a laser ranging device arranged on a shore bridge; step S52, judging whether the operation paths of the two trolleys are overlapped or not, if so, turning to step S43; step S53, calculating the residual path length reaching the target position based on the acquired real-time position information; Step S54, calculating the expected time difference delta t of the two trolleys reaching the target position based on the residual path length and the real-time speed information; Step S55, if deltat is less than or equal to 5 seconds and the main trolley executes a ship unloading task, triggering a portal trolley avoidance rule, wherein the portal trolley pauses a current path to generate an arc-shaped detour path, and the radius R of the arc-shaped detour path is equal to the width of a container and is plus 1m; step S56, the portal trolley moves to a preset safe waiting area along a detour path, and the operation progress of the main trolley is synchronously monitored; Step S57, after the main trolley completes the operation of the transfer platform, the portal trolley receives a recovery instruction, and the optimal path is recalculated: if the original task is still effective, continuing to execute according to the updated path; if the original task fails overtime, the newly added emergency instruction is executed preferentially; And S58, after the main trolley releases the transfer platform, sending a bin release signal to trigger the synchronous update of the bin state of the portal trolley.
8. The method for controlling a loading and unloading operation of a double trolley quay crane according to claim 7, wherein the step S5 further comprises suspending the operation of the portal trolley and switching to another transfer platform when detecting that the target transfer platform of the main trolley and the portal is the same transfer platform.
9. A terminal, comprising: A processor; a memory for storing execution instructions of the processor; wherein the processor is configured to perform the method of any of claims 1-8.
10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method of any one of claims 1-8.

Description

Loading and unloading operation control method, terminal and storage medium for double-trolley quay crane Technical Field The invention belongs to the technical field of wharf control, and particularly relates to a control method, a terminal and a storage medium for loading and unloading operation of a double-trolley quay crane. Background In the field of automated container terminals, with the continuous growth of global trade, the operation efficiency of the container terminals becomes a key factor for restricting the overall operation capacity of ports. The loading and unloading operation mode of the double-trolley quay bridge equipped with the transfer platform is widely applied to modern automatic container terminals due to the high efficiency and flexibility of the double-trolley quay bridge. However, conventional work methods still have significant bottlenecks in improving loading and unloading efficiency. The loading and unloading operation mode of the traditional double-trolley shore bridge is that the main trolley and the portal trolley simultaneously carry out only one operation type, ship unloading or ship loading is carried out, the main trolley grabs the container from the ship and transfers the container to the transfer platform during ship unloading, and the portal trolley transfers the container to the horizontal transportation equipment from the transfer platform. When the ship is loaded, the portal trolley transfers the container from the horizontal transportation equipment to the transfer platform, and then the main trolley transfers the container from the transfer platform to the ship. The operation mode causes that each operation circulating shore bridge has half of no-load operation, so that the shore bridge equipment cannot be fully utilized, and under a specific operation scene, the operation of a main trolley or a portal trolley of the shore bridge can be stopped, thereby wasting valuable dock resources. Disclosure of Invention Aiming at the defect that in the prior art, the conventional double-trolley quay crane has the loading and unloading operation mode that a main trolley and a portal trolley simultaneously perform only one operation type, and ship unloading or shipping is carried out, so that each operation cycle quay crane has half of idle running, and quay crane equipment cannot be fully utilized, the invention provides a loading and unloading operation control method, a terminal and a storage medium of the double-trolley quay crane, and aims to solve the technical problems. In a first aspect, the present invention provides a method for controlling a handling operation of a double trolley quay crane, comprising: S1, extracting the shell position information of a ship unloading box from a received ship unloading operation instruction, and extracting the shell position information of a ship loading box from the received ship loading operation instruction, wherein the shell position information comprises a shell position number, a Bei Wei column number and a shell position layer number; S2, sequencing ship unloading operation instructions of the same bin number and the same Bei Wei row according to bin numbers from high to low according to layer heights to generate ship unloading queues, wherein each bin number row corresponds to one ship unloading queue; Step S3, matching and combining the ship unloading queue and the ship loading queue with the same shellfish number according to a preset strategy of unloading and loading at the same time to generate an operating instruction queue of unloading and loading at the same time; step S4, controlling a main trolley to execute the ship unloading operation of the ship unloading box on the ship and the ship loading operation of the ship loading box on the double transfer platforms according to the generated unloading operation command queue, and simultaneously, following the control portal trolley to execute the transfer of the ship unloading box on the double transfer platforms to the horizontal conveying equipment and the transfer of the ship loading box on the horizontal conveying equipment to the double transfer platforms, wherein the double transfer platforms comprise a sea side transfer platform and a land side transfer platform; And S5, judging the task state and the position information of the opposite side in real time in the operation process of the main trolley and the portal trolley, and executing a pre-stored active avoidance logic to avoid operation conflict on the same transfer platform. Further improvement of the technical scheme is that before the step S3, the method further comprises the following steps: acquiring a pre-stored corresponding Bei Wei column number arrangement rule according to the shellfish position number; sequencing the Bei Wei columns which are extracted and correspond to the shellfish number according to Bei Wei column number arrangement rules; giving highest priority to one of the ship unloading qu