CN-121998609-A - Tire management method, system, terminal and medium for AGV (automatic guided vehicle) of port

Abstract

The invention belongs to the technical field of AGV equipment management, and particularly discloses a tire management method, system, terminal and medium for a port AGV. The method comprises the steps of obtaining tire information of all AGVs of a motorcade, wherein the tire information comprises tire pressure, abrasion and damage information, generating alarm information when the tire abrasion is detected to be out of limit, abnormal or damaged, building a tire abrasion prediction model based on historical driving mileage and load information of the AGVs, carrying out dynamic prediction and alarm judgment on the tire abrasion state, determining maintenance priority, scheduling a target AGV to a tire maintenance area according to the maintenance priority in combination with a port operation plan, executing inflation and deflation or tire replacement operation, and synchronizing updated data to a motorcade tire management end after the operation is completed. The invention realizes real-time monitoring, intelligent prediction, automatic scheduling and unmanned maintenance of the AGV tires of the harbor, and improves the safety of equipment and the running efficiency of the harbor area.

Inventors

• YANG HUAN
• SUN MINGMING
• WANG PENG
• SHAO XIAOMING
• DAI CHUANHAO
• XU CHENGSAN
• SUN ZHENGHAI
• JIA CUNZHI
• JIANG FENG
• YANG JIE
• Cui Huanlong
• LI BAICHEN
• SONG JUNJIE
• TANG LIHUI
• ZHU LIN
• LIU FANGCHAO

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

20251205

Claims (10)

1. 1. A tire management method for a port AGV, comprising the steps of: Step S1, tire information of all AGVs of a motorcade is obtained, wherein the tire information comprises tire pressure information, abrasion information and damage information; collecting tire pressure information through a tire pressure sensor arranged on a tire; Identifying the distance between the tire tread and the abrasion degree reference line through a camera arranged in an automatic running area to acquire abrasion information; Judging the integrity of the tire carcass through an image recognition algorithm to obtain damage information; uploading the tire information to a tire management end of a motorcade; Step S2, when the AGV passes through an automatic operation area, a camera and a tire pressure sensor of the AGV detect the AGV, and when the tire abrasion overrun, abnormal tire pressure or tire damage is detected, primary alarm information is generated, otherwise, the step S3 is executed to predict the tire of the AGV; Step S3, a tire prediction model is established based on the historical driving mileage and load information of the AGV, alarming prediction is carried out on the tire according to the tire prediction model and the tire information, and secondary alarming information is generated when the time corresponding to the alarming prediction is reached; Determining maintenance priority of each AGV tire according to the abnormality degree level of the alarm information; S4, scheduling the AGVs to be maintained to a tire maintenance area according to the maintenance priority information and the port operation plan; when the AGV to be maintained reaches the tire maintenance area, executing inflation and deflation operation and/or tire replacement operation; And synchronizing the updated tire state data to a fleet tire management end after completion.
2. 2. The method according to claim 1, wherein in step S3, the running process of the AGV is divided into a plurality of continuous wear sections with constant load in the order of detection time, and the triples of each section are obtained ; Wherein, the For the range of the i-th interval, Is the loading constant for the i-th interval, Actually measuring the abrasion loss for the interval; And establishing a functional relation of the abrasion loss with respect to the driving mileage and the load based on the triplet, estimating parameters by a least square method, and obtaining a functional model as follows: is a preset model parameter; At the current time of obtaining the accumulated wear amount And wear threshold Then, according to the representative interval characteristics obtained from the most recent intervals ; Wherein, the In order to anticipate a single-range, In order to anticipate a single-interval load, The duration of the single interval is expected to be one, The weighted average or median of the corresponding quantities of the most recent intervals can be taken; calculating single-interval predicted wear amount And determines that the satisfaction The minimum positive integer n of (2) to obtain the expected expiration time for the wear amount to reach the threshold value: Wherein, the Is the current moment; and generating secondary alarm information when the time corresponding to the alarm prediction is reached.
3. 3. The tire management method for the port AGV according to claim 1, wherein in step S1, a defect identification model is created for the acquisition of the breakage information, the defect identification model being trained and used for online identification by: carrying out data set construction and marking on tire images acquired in an automatic operation area, wherein defect types comprise side wall cracks, bulges, cuts, foreign matter embedding and tire shoulder defects; carrying out distortion correction and scale calibration on the image, wherein the scale calibration is realized according to the pixel distance between the tire tread and the abrasion degree reference line or the known geometric dimension of the rim mounting hole; And training a classification-positioning integrated probability output model by adopting a supervised learning mode to obtain the defect position and the class confidence.
4. 4. The tire management method for the port AGV according to claim 1 wherein in step S3, the alarm and maintenance priority determination comprises setting a hierarchical threshold for wear, tire pressure and breakage and comparing the thresholds, respectively; When the same vehicle triggers a plurality of indexes at the same time, determining alarm and maintenance priority according to the sequence of damage, abrasion and tire pressure; Sequencing in the same priority based on weighted scores, wherein the weighted scores are formed by abrasion proximity, tire pressure deviation degree, defect confidence or defect area proportion, accumulated mileage or time from last maintenance, and are obtained by summing after weight normalization; And outputting an alarm only when the continuous sampling meets a grading threshold or the overrun duration is not less than a preset duration by adopting a debounce strategy for alarm judgment, and setting a cooling time window to restrain short-time repeated scheduling.
5. 5. The tire management method for a port AGV of claim 2 further comprising the steps of: s5, correcting the tire prediction model by utilizing the tire information after the tire passes through the camera detection of the automatic operation area; For model parameters The updating process of the method comprises the steps of forming a sample set from the latest K wear intervals with unchanged load, and constructing a sample matrix: Wherein the method comprises the steps of Is the first The driving mileage of each section is calculated, Is the first The load constant of each interval is set, First, the Actually measured wear amounts of the respective intervals; Calculating a parameter vector by adopting a weighted least square method: for the weight matrix, the weight is taken: as a time-decay factor, Is the first Detecting reliability coefficients in each interval; Obtaining a correction predictive formula by using the updated parameters: the method is used for predicting the subsequent abrasion loss and judging the alarm.
6. 6. A tire management system for a port AGV for implementing a tire management method for a port AGV according to any one of claims 1-5, the system comprising: The system comprises a tire information acquisition unit, a rear-end processing end and a communication network, wherein the tire information acquisition unit is used for acquiring tire information of all AGVs of a motorcade, and the tire information at least comprises tire pressure information, abrasion information and damage information; The tire prediction unit is used for constructing a tire wear prediction model based on the historical driving mileage of the AGV, load information and wear detection results, dividing the tire wear prediction model into a plurality of wear sections according to continuous time intervals with constant load, acquiring triple data of each wear section, and establishing a function relation of the wear quantity on the driving mileage and the load through a regression algorithm; According to the current accumulated wear amount and the wear threshold value, calling the model to calculate the expected time required by the tire wear amount to reach the wear threshold value, and outputting a tire life expiration prediction result for the alarm and priority judging unit to execute subsequent alarm and scheduling control; The system comprises a tire information acquisition unit, a tire prediction unit, an alarm and priority judgment unit, a continuous sampling time and cooling time window constraint and a control unit, wherein the tire information acquisition unit is used for acquiring tire information, the tire prediction unit is used for acquiring tire information, and judging the tire information; the scheduling unit is used for generating scheduling instructions according to the maintenance priority and in combination with the port operation plan, scheduling the target AGVs to the tire maintenance area or the detection area, and synchronizing the scheduling results to the production scheduling system; the maintenance execution unit is used for executing inflation and deflation operation and/or tire replacement operation after the AGV is in place and generating maintenance result data after the operation is completed; And the data synchronization unit is used for synchronizing the updated tire state data and the maintenance record to the rear-end processing end after the maintenance execution unit completes the operation, and for the tire prediction unit to update the subsequent prediction and alarm judgment.
7. 7. The system according to claim 6, wherein the maintenance execution unit, after receiving the operation command issued by the dispatch unit, performs in-place check and alignment confirmation for the AGV based on the target wheel position and the status information provided by the tire information collection unit, automatically selects the inflation/deflation operation or the tire replacement operation and executes the operation after the alignment success is confirmed, completes the operation steps in a preset order and checks the operation result in real time during the operation, and feeds back the abnormality information to the alarm and priority determination unit to trigger the review or manual review process if the operation abnormality is detected.
8. 8. The AGV tire management system according to claim 7 wherein the maintenance execution unit returns the operation type, operation time, operation result and corresponding tire state parameters to the back-end processing end through the data synchronization unit after the completion of the inflation/deflation operation or the tire replacement operation, and the tire prediction unit invokes the data set for updating the prediction input data set and the alarm judgment basis, and when the deviation between the returned data and the prediction result of the tire prediction unit exceeds the preset threshold, the alarm and priority judgment unit generates a model calibration prompt and notifies the tire prediction unit to execute the parameter re-estimation flow.
9. 9. A terminal, comprising: a memory for storing a tire management program for the port AGV; a processor for performing the steps of the tire management method for a port AGV of claim 1 when executing the tire management apparatus for a port AGV.
10. 10. A computer readable storage medium storing computer instructions that when read by a computer, the computer performs the tire management method for a port AGV of claim 1.

Description

Tire management method, system, terminal and medium for AGV (automatic guided vehicle) of port Technical Field The invention belongs to the technical field of AGV equipment management, and particularly relates to a tire management method, system, terminal and medium for a port AGV. Background With the large-scale construction of an automated dock, a port automatic guided vehicle (Automated Guided Vehicle, abbreviated as an AGV) has become an important equipment for loading and unloading and horizontal transportation of a port container. AGVs typically operate on port closure roads for extended periods of time, assuming container shuttle tasks, with their operating efficiency and reliability directly affecting the overall operational capacity of the port. AGVs mostly adopt inflatable heavy duty tires to meet the bearing and vibration reduction requirements under complex road conditions, but the tires are easy to wear, bulge, damage, abnormal tire pressure and other problems under long-term high load, frequent start and stop, high steering frequency and salt fog damp-heat environments. If the vehicle is not found and processed in time, the vehicle is stopped due to light weight, and the cargo circulation is delayed and even the safety accident is caused due to heavy weight. Currently, tire management of AGVs in harbours mainly relies on periodic manual inspection and passive alarm mechanisms. The tire pressure monitoring system is arranged on the vehicle in part of the automatic wharf, so that the abnormal alarm of the basic tire pressure can be realized. However, the prior art still cannot identify the tire abrasion and breakage on line. The existing tire state detection is mostly finished based on manual visual inspection or portable detection instruments, the continuity and the instantaneity are lacked, the detection result depends on personnel experience, and the accuracy is low. In addition, the tire replacement and inflation and deflation operations of the AGVs of the current ports still need to be manually executed, and a linkage mechanism with a fleet scheduling system is lacked, so that maintenance scheduling efficiency is low and vehicle utilization rate is insufficient. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a tire management method, a system, a terminal and a medium for a port AGV, which are used for solving the problems that the tire abrasion and damage states cannot be identified on line in the background art, the continuity and the instantaneity are lacked, the detection result depends on personnel experience, and the accuracy is low. The technical scheme adopted by the invention is as follows: In a first aspect, the present application provides a tire management method for a port AGV, the method comprising the steps of: Step S1, tire information of all AGVs of a motorcade is obtained, wherein the tire information comprises tire pressure information, abrasion information and damage information; collecting tire pressure information through a tire pressure sensor arranged on a tire; Identifying the distance between the tire tread and the abrasion degree reference line through a camera arranged in an automatic running area to acquire abrasion information; Judging the integrity of the tire carcass through an image recognition algorithm to obtain damage information; uploading the tire information to a tire management end of a motorcade; Step S2, when the AGV passes through an automatic operation area, a camera and a tire pressure sensor of the AGV detect the AGV, and when the tire abrasion overrun, abnormal tire pressure or tire damage is detected, primary alarm information is generated, otherwise, the step S3 is executed to predict the tire of the AGV; Step S3, a tire prediction model is established based on the historical driving mileage and load information of the AGV, alarming prediction is carried out on the tire according to the tire prediction model and the tire information, and secondary alarming information is generated when the time corresponding to the alarming prediction is reached; Determining maintenance priority of each AGV tire according to the abnormality degree level of the alarm information; S4, scheduling the AGVs to be maintained to a tire maintenance area according to the maintenance priority information and the port operation plan; when the AGV to be maintained reaches the tire maintenance area, executing inflation and deflation operation and/or tire replacement operation; And synchronizing the updated tire state data to a fleet tire management end after completion. Further, in step S3, the running process of the AGV is divided into a plurality of continuous wear sections with constant load according to the detection time sequence, and triples of each section are obtained; Wherein, the For the range of the i-th interval,Is the loading constant for the i-th interval,Actually measuring the abrasion loss for the interval; And estab