Ship unloading and loading control systems and related systems and devices

Abstract

The present invention discloses a ship unloading and loading control system and related systems and devices to realize full automation of ship loading and unloading. The unloading control system comprises: a dispatching center system generates an unloading plan according to ship information and container information of a target ship and shore crane equipment information, generates an unloading task and a berthing task according to the unloading plan, and sends the berthing task and the unloading task to the ship control system of the target ship and the shore crane control system of the target shore crane equipment respectively; the ship control system sends the ship information and container information to the dispatching center system, controls the target ship to travel to the operating area corresponding to the target shore crane equipment according to the received berthing task, and sends a ship in place notification message to the shore crane control system of the target shore crane equipment; when the shore crane control system receives the ship in place notification message from the ship control system, it controls the target shore crane equipment to load the container on the target ship onto a vehicle according to the unloading task.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a ship unloading and loading control system and related systems and devices. Background Art

[0002] As a hub for water transport, the port is a buffer for container cargo when changing transport modes, and plays an important role in the entire container transport process. In the port, container transport operations such as unloading and loading of containers entering and leaving the port need to be carried out.

[0003] The unloading process is generally as follows: after the ship arrives at the port, the container is first moved to the vehicle by the shore crane (or quay crane), and then the vehicle transfers the container to the yard (or storage center), and finally the storage lifting equipment located near the yard (such as rail crane, tire crane, forklift, etc.) places the container on the vehicle to the corresponding position in the yard, thus completing the unloading operation.

[0004] The loading process is generally as follows: the storage and lifting equipment located in the yard lifts the corresponding containers in the yard and places them on the vehicle, the vehicle transports the containers to the shore crane where the ship is located, and the shore crane places the containers on the vehicle onto the ship, thus completing the loading operation.

[0005] In traditional ports, the above-mentioned container transportation operations of loading and unloading require manual intervention. For example, ships need to be manually driven to control their docking at designated locations, lifting equipment and vehicles need to be driven and operated by operators to complete operations such as loading, unloading and transportation, and yards or storage centers also require manual participation to arrange the location of containers. Therefore, the container transportation operations in traditional ports have a low degree of intelligence and require a large amount of human resources investment. Not only is the operation efficiency low, but the on-site environment is also relatively complex, the safety of operators cannot be guaranteed, and because a large number of staff are required, the labor cost is also relatively high. Summary of the invention

[0006] In view of the above problems, an embodiment of the present invention provides a ship unloading and loading control system and related systems and devices that can overcome the above problems or at least partially solve the above problems.

[0007] In a first aspect, an embodiment of the present invention provides a ship unloading control system, comprising:

[0008] The dispatch center system is used to generate a ship unloading plan according to the ship information and container information of the target ship and the shore crane equipment information, and generate a ship unloading task and a ship berthing task according to the ship unloading plan; and send the ship unloading task and the ship berthing task to the shore crane control system of the target shore crane equipment and the ship control system of the target ship respectively;

[0009] The ship control system is used to send ship information and container information to the dispatch center system; according to the received berthing task, control the target ship to travel to the operating area corresponding to the target shore crane equipment, and send a ship in position notification message to the shore crane control system of the target shore crane equipment;

[0010] The shore crane control system is used to control the target shore crane equipment to load the container on the target ship onto the vehicle according to the unloading task when receiving the ship location notification message from the ship control system.

[0011] In a second aspect, an embodiment of the present invention provides a shore crane control system, including:

[0012] Shore crane communication module, used to send and receive information;

[0013] The lifting control module is used to receive the ship unloading task from the dispatching center system through the shore crane communication module; when the ship positioning notification message is received from the ship control system through the shore crane communication module, the target shore crane equipment is controlled according to the unloading task to load the container on the target ship onto the vehicle.

[0014] In a third aspect, an embodiment of the present invention provides a shore crane device, which is provided with a shore crane control system as described in the above embodiment.

[0015] In a fourth aspect, an embodiment of the present invention provides a ship loading control system, including:

[0016] The dispatch center system is used to determine the loading plan according to the ship information, container information and shore crane equipment information; generate the berthing task and loading task according to the loading plan, and send the berthing task and loading task to the ship control system of the target ship and the shore crane control system of the target shore crane equipment respectively;

[0017] The ship control system is used to control the target ship to travel to the operating area corresponding to the target shore crane equipment when receiving the berthing task, and send a ship positioning notification message to the shore crane control system of the target shore crane equipment;

[0018] The shore crane control system is used to control the target shore crane equipment to load the container on the vehicle onto the target ship according to the received loading task after receiving the ship location notification message from the ship control system.

[0019] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0020] The ship unloading and loading control system provided by the embodiment of the present invention realizes full-automatic and unmanned operation of port loading and unloading operations through information interaction between the dispatching center system, the ship control system, and the shore crane control system when performing container unloading and loading and unloading operations at the port, thereby improving the intelligence level of port container loading and unloading and transportation operations, reducing human resource investment, reducing ergonomic cost investment, improving operating efficiency, and avoiding the problem of operators' safety not being guaranteed.

[0021] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0022] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 One of the structural schematic diagrams of a ship unloading and loading control system provided by an embodiment of the present invention;

[0025] Figure 2 The second structural diagram of the ship unloading and loading control system provided by the embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a dispatch center system provided by an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the structure of a ship control system provided by an embodiment of the present invention;

[0028] Figure 5 One of the structural schematic diagrams of the shore crane control system provided by an embodiment of the present invention;

[0029] Figure 6 A second structural schematic diagram of a shore crane control system provided by an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the structure of a vehicle control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0032] Embodiment 1

[0033] like Figure 1 As shown, it is a structural schematic diagram of a ship unloading control system provided in Embodiment 1 of the present invention. The ship unloading control system includes a dispatching center system 1, a ship control system 2 arranged on a ship, and a shore crane control system 3 arranged on a shore crane device, wherein:

[0034] The dispatch center system 1 is used to generate an unloading plan according to the ship information and container information of the target ship and the shore crane equipment information; generate a berthing task and an unloading task according to the unloading plan, and send the berthing task and the unloading task to the ship control system 2 of the target ship and the shore crane control system 3 of the target shore crane equipment respectively (that is, the dispatch center system 1 sends the berthing task to the ship control system 2 of the target ship, and sends the unloading task to the shore crane control system 3 of the target shore crane equipment);

[0035] The ship control system 2 is used to send ship information and container information to the dispatch center system 1; according to the received berthing task, control the target ship to travel to the operating area corresponding to the target shore crane equipment, and send a ship in-position notification message to the shore crane control system 3 of the target shore crane equipment;

[0036] The shore crane control system 3 is used to control the target shore crane equipment to load the container on the target ship onto the vehicle according to the unloading task when receiving the ship location notification message from the ship control system 2.

[0037] In some optional embodiments, the ship information includes the ship arrival time and ship status information; the shore crane equipment information includes the operation time information of each shore crane equipment in the port area; the container information includes the number of containers loaded on the target ship and the identification information and the type of loaded cargo of each container. The ship information and container information can be sent to the dispatch center system 1 by the ship control system 2 of the target ship; the shore crane equipment information can be the information pre-stored in the dispatch center system 1, or each shore crane equipment in the port area can send its own shore crane equipment information to the dispatch center system 1. The dispatch center system 1 generates an unloading plan based on the ship information, container information and shore crane equipment information of the target ship, specifically including: determining the target shore crane equipment based on the arrival time of the ship and the operating time information of each shore crane equipment in the shore crane equipment information; estimating the unloading start time and the unloading end time based on the arrival time of the ship, the operating time information of the target shore crane equipment and the number of containers; determining the target container area for each container based on the type of cargo loaded in each container and the container area information in the port area; generating an unloading plan including the target ship identification information, the target shore crane equipment identification information, the unloading start time, the unloading end time, the identification information of each container and the target container area.

[0038] In a specific embodiment, determining the start time of unloading can be specifically implemented as follows: judging whether the target shore crane equipment is in an idle state when the ship arrives at the port according to the operating time of the target shore crane equipment; if so, then: the ship arrival time is used as the start time of unloading, or the start time of unloading is determined after the ship arrives at the port and the berthing is completed; if not, then: the time after the task that the target shore crane equipment is operating at the time of the ship arrival is completed is determined as the start time of unloading.

[0039] In a specific embodiment, determining the end time of unloading can be specifically implemented as follows: based on the historical operating speed of the target shore crane equipment, calculate the time required for the target shore crane equipment to complete unloading of containers on the target ship that need to be unloaded at this port; and obtain the end time of unloading based on the unloading start time and this time.

[0040] As a specific implementation of an embodiment of the present invention, the dispatch center system 1 determines the target shore crane equipment according to the ship arrival time and the operation time information of each shore crane equipment in the shore crane equipment information, specifically including: determining the shore crane equipment available at the arrival time according to the ship arrival time and the operation time information of the shore crane equipment; selecting one of the shore crane equipment from the determined shore crane equipment as the target shore crane equipment. The available shore crane equipment may refer to the shore crane equipment that is idle at the target ship arrival time, or may refer to the shore crane equipment that is about to complete the operation task when the target ship arrival time arrives.

[0041] As a specific implementation of the embodiment of the present invention, when the dispatch center system 1 determines the target shore crane according to the arrival time of the ship and the operation time information of each shore crane in the shore crane information, if the operation area of ​​the target ship can meet the lifting operation of two or more shore cranes, the dispatch center system 1 can also select two or more shore cranes from the idle lifting equipment as the target shore cranes according to the size information and operation area of ​​the ship. When unloading, different target lifting equipments lift the containers within their respective operation ranges according to the unloading tasks and load the containers onto the vehicles to shorten the operation time and improve the operation efficiency.

[0042] As a specific implementation of an embodiment of the present invention, during the unloading process, if the currently determined target lifting equipment cannot meet the lifting requirements of the container, for example, the currently determined target shore crane equipment fails during the lifting operation, the dispatching center system 1 can also reselect other available lifting equipment as the new target shore crane equipment based on the current time information and the operating time information of each shore crane equipment in the shore crane equipment information.

[0043] As a specific implementation of the embodiment of the present invention, the dispatch center system 1 determines the target container area for each container according to the cargo type of each container and the container area information in the port area, specifically including:

[0044] The storage center in the port area is divided into different container areas according to the types of goods that can be stored. The dispatch center system 1 obtains the type of cargo loaded in the container, and determines the target container area for storing the corresponding cargo type in the storage center where the container unloaded from the ship will be stored based on the storage cargo type information of each container area in the storage center of the port area.

[0045] In some optional embodiments, the dispatch center system 1 generates unloading tasks and berthing tasks according to the unloading plan, specifically including: generating a berthing task including identification information of the target shore crane equipment and the operating area according to the unloading plan; generating an unloading task including identification information of the target ship, unloading start time, unloading end time, identification information of each container and the target container area according to the unloading plan.

[0046] In some optional embodiments, the unloading task may include an unloading task list, which records the identification information of the target ship, the identification information of the target shore crane equipment, the identification information of the containers that need to be unloaded at this port and their corresponding target container areas.

[0047] In some optional embodiments, the ship control system 2 sends ship information and container information to the dispatch center system 1, specifically including: determining the travel time from the current location to the port based on the current location of the target ship, the port location and the travel route; estimating the arrival time of the target ship at the port based on the travel time and the current time; and sending the ship information and container information including the estimated arrival time and ship status information to the dispatch center system 1.

[0048] In one embodiment, the arrival time of the target ship may be obtained by: when the target ship is traveling from the departure place to the target port, the arrival time is estimated according to the departure place, the port location and the scheduled route. Specifically, the ship control system 2 of the target ship may determine the scheduled route according to the departure place and the port location; estimate the ship's sailing speed according to the current weather conditions, maritime information at the time of leaving the port, etc., calculate the time required for the ship's sailing, and then obtain the estimated arrival time according to the current time.

[0049] In one embodiment, the arrival time of the target ship can also be obtained in the following way: when the target ship is traveling, the ship control system 2 locates the position of the ship, calculates the time required for the ship's voyage based on its own position, port position, route and current ship speed, and then obtains the estimated arrival time based on the current time.

[0050] In one embodiment, the target ship may encounter various driving conditions during navigation, such as changes in weather or maritime conditions, or the need to wait for or avoid other ships during navigation, resulting in the ship being unable to navigate according to the route and speed scheduled at departure. At this time, the ship control system 2 can locate the position of the target ship, re-plan the path according to the position of the target ship, determine the navigation speed, calculate the time required for the ship to sail, and then obtain the estimated arrival time according to the current time, and send the new estimated arrival time to the dispatch center system 1.

[0051] In one embodiment, it is also possible that when the target ship arrives near the area where the target lifting equipment is located, the ship control system 2 determines the location of the target lifting equipment based on the received identification information containing the target shore crane equipment and the berthing task of the operating area, plans the driving route, drives to the operating area of ​​the target lifting equipment, and after being in position, sends a ship location notification message to the shore crane control system 3 of the target shore crane equipment.

[0052] In a specific embodiment, it may be that after entering the wireless signal coverage range of the port, the ship control system 2 of the target ship establishes communication with the target shore crane equipment through wireless communication according to the identification information of the target lifting equipment, determines the position of the target shore crane equipment according to the identification information of the target shore crane equipment, performs path planning, drives to the operating area of ​​the target shore crane equipment, adjusts the planned driving path by communicating with the lifting equipment, arrives at the operating area, and prepares for container unloading.

[0053] In the embodiment of the present invention, the target ship may use the navigation algorithm in the prior art to plan the driving path from the location of the target ship to the port, or from the current location to the operation area, or may plan the driving path by calling a third-party navigation software. The embodiment of the present invention is not limited.

[0054] In an embodiment of the present invention, the ship status information may include remaining oil information, current position information, ship tonnage information and ship draft information, etc.; when generating a ship unloading plan, the dispatch center system 1 may give priority to berthing ships with insufficient oil based on the remaining oil information of the ship; select a shore crane with a suitable distance from idle shore cranes based on the current position information, select a shore crane suitable for berthing the target ship from idle shore cranes based on the ship tonnage and draft information, and finally determine a shore crane as the target shore crane.

[0055] In some optional embodiments, the shore crane control system 3 controls the target shore crane equipment to load the containers on the target ship onto the vehicle according to the unloading task, specifically including: the shore crane control system 3 confirms the identity of the containers on the target ship according to the preset container unloading order, and controls the target shore crane equipment to lift the containers when the identity confirmation is correct; when receiving the vehicle in place notification message from the vehicle control system of the vehicle, controls the target shore crane equipment to load the containers onto the vehicle, and marks the containers in the unloading task as unloaded; when it is confirmed that all containers in the unloading task are in the unloaded state, sends an unloading completion notification message to the dispatching center system 1 and / or the ship control system 2 of the target ship.

[0056] In a specific embodiment, the container unloading order is by row and each row is unloaded from top to bottom, and the shore crane control system 3 is further used to: when identity confirmation fails, lift the container and place it on another row of containers of the target ship whose identity has been confirmed.

[0057] In a specific embodiment, the containers of the target ship are arranged in rows with multiple containers stacked in layers in each row, and the preset container unloading sequence is obtained in the following manner: the shore crane control system 3 confirms the position of the containers to be unloaded on the ship based on the ship information and container information in the unloading task, and generates a container unloading sequence in rows from top to bottom for each row based on the number of containers to be unloaded and the identification information of the containers.

[0058] In one embodiment, it can be that when the shore crane control system 3 controls the shore crane equipment to unload the containers on the ship, the containers on the target ship are unloaded in rows, and each row is unloaded in layers from top to bottom until one row of containers is unloaded before the next row of containers is unloaded. At the beginning of the lifting process, the shore crane control system 3 confirms the identity of the container on the ship according to the container identification information in the unloading task. When the identity is confirmed to be correct, the target shore crane equipment is controlled to lift the container; when the vehicle in place notification message sent by the vehicle control system 4 of the vehicle is received, the target shore crane equipment is controlled to load the container onto the vehicle, and the container in the unloading task is marked as unloaded.

[0059] In the embodiment of the present invention, the destination ports of different containers transported by the target ship may also be different, and only some containers may need to be unloaded at the target port. Therefore, when unloading containers, it is necessary to rearrange the containers that are not unloaded at the target port on the target ship. In order to reduce the workload of the shore crane equipment, the shore crane control system 3 confirms the identity of the container on the ship according to the container identification information in the unloading task. When the identity confirmation fails, the target shore crane equipment is controlled to lift the container and place it on another column of containers on the target ship that have been confirmed.

[0060] In an embodiment of the present invention, when loading containers transported by a target ship, the containers can be classified and loaded according to different destination ports. When the target ship arrives at the target port, the containers unloaded at the target port can be unloaded to reduce the container lifting operations at the target port and improve the operation efficiency.

[0061] In the embodiment of the present invention, since the operating area of ​​the shore crane equipment is limited, in order to improve the operating efficiency, the shore crane control system 3 can first control the target shore crane equipment to lift the container; in the lifted state, upon receiving the vehicle in place notification message sent by the vehicle control system 4 of the vehicle, the container is loaded onto the vehicle; after the loading is completed, the vehicle immediately leaves the loading position; the shore crane control system 3 controls the target shore crane equipment to lift the next container to be loaded, and waits for the vehicle in place notification from the next vehicle. Each time a container loading operation is completed, the container in the unloading task is marked as unloaded until the unloading task is completed. When it is confirmed that all containers in the unloading task are in the unloading state, the shore crane control system 3 sends an unloading completion notification message to the dispatch center system 1 and / or the ship control system 2 of the target ship.

[0062] In some optional embodiments, a label containing container identification information may be provided on the surface of the container. For example, the label may be a QR code or a barcode. The shore crane control system 3 recognizes the QR code or barcode on the container to confirm the identity of the container on the target ship.

[0063] In a specific embodiment, the shore crane control system 3 includes an identity recognition device, which may be a camera, a code reader or other device capable of recognizing a QR code or a barcode, which is not limited in the embodiment of the present invention. As a specific implementation of the embodiment of the present invention, the identity recognition device may be arranged on the hoisting arm of the target shore crane equipment, and the QR code or barcode on the container is scanned by the identity recognition device to obtain the identification information of the container, and the identification information of the container is matched with the container information in the unloading task, and if the match is successful, it is determined that the identity is confirmed correctly, and if the match fails, it is determined that the identity is determined to have failed.

[0064] In a specific embodiment, the set tag is an electronic tag, and the electronic tag is bound to the identification information of the container; correspondingly, the identity recognition device is an inductive reader, which is used to read the container identification information on the electronic tag to obtain the identification information of the container, and match the identification information with the container information in the unloading task. If the match is successful, the identity of the container is confirmed to be correct, and if the match fails, the identity confirmation of the container fails.

[0065] The loading control system in the first embodiment of the present invention may also include a vehicle control system 4 and a warehouse management system 5, such as Figure 2 As shown, where:

[0066] The vehicle control system 4 is used to control the vehicle to drive to the loading position of the loading task to load the box when receiving the loading task; and to control the vehicle to drive to the unloading position of the unloading task to unload the box when receiving the unloading task;

[0067] The warehouse management system 5 is used to dispatch warehouse hoisting equipment to hoist each target container transported by the vehicle to a corresponding storage location according to the container storage task when receiving the container storage task.

[0068] In some optional embodiments, the dispatch center system 1 is further used to: generate a container storage task according to the unloading plan, and send the container storage task to the warehouse management system 5 of the warehouse center.

[0069] In some optional embodiments, the dispatch center system 1 is further used to: generate a packing task according to the unloading plan, and send the packing task to the vehicle control system 4 of the vehicle.

[0070] In some optional embodiments, the container storage task may include a container storage task list, which records the identification information of the warehouse management system, the identification information of the container that needs to be stored in the storage center and its corresponding target container area.

[0071] In some optional embodiments, the dispatch center system 1 is further used to: after the target shore crane equipment loads the container onto the vehicle, determine the container unloading position according to the target container area of ​​the container, and generate an unloading task including the container unloading position; and send the unloading task to the vehicle control system 4 of the vehicle.

[0072] In some embodiments, in the port area, a corresponding loading and unloading position may be pre-set for each container area, and the loading and unloading position may be the same position or two different positions. The loading and unloading positions corresponding to all container areas in the port area may be pre-stored in the dispatching center system 1 and / or the shore crane control system 3.

[0073] In some optional embodiments, the shore crane control system 3 can obtain its own position information through positioning, and exchange information with the ship control system 2 and the vehicle control system 4 to obtain the position information of the target ship and vehicle, and lift the container onto the vehicle based on its own position information, the target ship's position information and the vehicle's position information.

[0074] In one embodiment, the lifting arm of the shore crane is provided with an end effector, and the container is provided with a grabbing part cooperating with the end effector. The shore crane grabs the grabbing part of the container through the end effector to lift the container.

[0075] In a specific embodiment, when performing a container lifting operation, the shore crane control system 3 collects an image of the grabbing part of the container; determines the orientation information of the grabbing part based on the image; and adjusts the motion posture of the end effector based on the orientation information of the grabbing part, so that the end effector can accurately grab the grabbing part to lift the container.

[0076] In an embodiment of the present invention, the lifting arm may be a sling, and a lock is respectively provided at the four corners below the sling (i.e., the four locks constitute the end effector); the four corners on the top of the container are respectively provided with lock holes that cooperate with the locks (the four lock holes constitute the gripping portion); when the four locks of the sling are inserted into the four lock holes on the container, the sling can lift the container. Of course, in some other examples, the lifting arm is a sling, and a hook is provided below the sling (i.e., the hook is the end effector); a hook / ring is provided on the top of the container; when the hook of the sling is hooked with the hook / ring on the top of the container, the sling can lift the container.

[0077] In some optional embodiments, the shore crane control system 3 is further used to: after controlling the target shore crane equipment to lift the container onto the vehicle, establish association information between the vehicle and the container, and send the association information to the dispatch center system 1.

[0078] In the embodiment of the present invention, in order to ensure the correspondence between the vehicle and the loaded container, when the shore crane control system 3 loads the container into the vehicle, the vehicle and the container can be associated according to the identification information of the vehicle and the identification information of the container.

[0079] As a specific implementation of the embodiment of the present invention, in the aforementioned embodiment, the dispatch center system 1 generates a container unloading task including a container unloading location according to the target container area of ​​the container, specifically including:

[0080] When the dispatch center system 1 receives the association information between the vehicle and the container from the shore crane control system 3, it determines the unloading position of the container according to the target container area of ​​the container in the association information, and generates an unloading task including the unloading position.

[0081] In some optional embodiments, the warehouse management system 5 dispatches warehouse hoisting equipment to hoist each target container transported by the vehicle to a corresponding storage location according to the container storage task, specifically including:

[0082] When receiving the unloading container position notification message from the vehicle control system 4 of the vehicle, the warehouse management system 5 confirms the identity of the container in the unloading container position notification message, and sends the unloading container hoisting task including the storage location of the container to the hoisting control system of the warehouse hoisting equipment when the confirmation is correct;

[0083] When the warehouse management system 5 receives the notification message of completion of container unloading from the lifting control system of the storage equipment, it marks the container in the container storage task as stored; and when it is determined that all containers in the container storage task are marked as stored, it sends a container storage task completion notification message to the dispatching center system 1 or the shore crane control system 3.

[0084] When receiving the unloading and lifting task, the lifting control system of the warehouse lifting equipment lifts the container on the vehicle and places it at the storage location of the unloading and lifting task; and sends a notification message of completion of unloading to the warehouse management system 5 and / or the vehicle control system 4 of the vehicle.

[0085] In some optional embodiments, the vehicle control system 4 is further used to, when controlling the vehicle to travel to the loading position, send a loading position notification message to the shore crane control system 3 of the shore crane equipment corresponding to the loading position; and, when controlling the vehicle to travel to the unloading position, send an unloading position notification message to the warehouse management system 5 corresponding to the unloading position.

[0086] In an embodiment of the present invention, the vehicle control system 4 is used to locate the current position of the vehicle, plan a driving path from the current position of the vehicle to the loading position or the unloading position according to the loading task or the unloading task of the vehicle; obtain environmental information and determine the perception result; determine the driving decision information according to the perception result and the driving path; and control the vehicle to drive to the loading position or the unloading position along the driving path according to the driving decision information.

[0087] In an embodiment of the present invention, the perception result may include information such as the type, shape, contour, position, and distance of obstacles around the mobile hoisting equipment. The vehicle control system 4 may obtain the aforementioned perception result by identifying environmental information through visual processing technologies such as target detection, target tracking, and semantic segmentation in the prior art, which is not strictly limited in this application. The vehicle control system 4 may call its own navigation algorithm to plan the driving path from the current position of the vehicle to the loading position or unloading position, or may call a third-party navigation software to plan the driving path from the current position of the vehicle to the loading position or unloading position. This application is not strictly limited. The driving decision information may include steering information (including information such as steering angle), acceleration information (including information such as accelerator pedal opening and closing), deceleration information (including information such as brake pedal opening and closing), gear information (such as forward gear, reverse gear, neutral gear, etc.). The specific decision algorithm may be similar to the decision algorithm of the prior art autonomous driving vehicle, which will not be repeated here.

[0088] In some optional embodiments, when the dispatch center system 1 sends a container storage task to the storage center, it determines the storage and hoisting equipment that is idle when the hoisting time arrives based on the operation time information of each storage and hoisting equipment in the storage and hoisting equipment information in the port area, and selects one or more of the determined storage and hoisting equipment to be dispatched to the storage center. The predetermined hoisting time can be the start time of unloading or the estimated time when the vehicle arrives at the storage center. Of course, in some optional embodiments, the storage center of the port has been pre-allocated with the corresponding storage and hoisting equipment, and the dispatch center system 1 does not need to allocate the storage and hoisting equipment. The storage and hoisting equipment is provided with a hoisting control system.

[0089] In the embodiment of the present invention, the storage area of ​​the storage center is divided into multiple container areas according to the types of goods that can be stored in the containers, and the containers in each container area are stacked in columns and layers. The container storage task sent by the dispatch center system 1 to the storage management system 5 of the storage center includes the identification information of the container and the target container area of ​​the container. When the storage management system 5 receives the unloading and positioning notification message from the vehicle control system 4 of the vehicle, the identification information of the container in the unloading and positioning notification message is matched with the identification information of the container included in the container storage task; if the match is successful, it is determined that the identity of the container is confirmed correctly. At this time, according to the target container area including the container in the container storage task, the storage position of the container is confirmed from the available storage positions in the target container area, and the unloading and lifting task containing the storage position of the container is generated, and the unloading and lifting task is sent to the lifting control system of the storage lifting equipment; if the match fails, no processing is performed, and a reminder message of departure or container area error can be sent to the vehicle control system 4 of the vehicle.

[0090] In one embodiment, the lifting control system 3 can obtain its own position information through positioning, and communicate with the warehouse management system 5 and the vehicle control system 4 to obtain the storage position information of the container and the position information of the vehicle, and lift the container of the vehicle to the storage position of the container according to its own position information, the storage position information of the container and the position information of the vehicle.

[0091] In one embodiment, the storage hoisting equipment may be a tire crane, a rail crane or a forklift, etc., and a hoisting arm is provided on the storage hoisting equipment. The hoisting arm of the storage hoisting equipment may be a mechanical arm or a sling, which is not limited in the embodiment of the present invention. In a specific embodiment, the specific structure of the hoisting arm of the storage hoisting equipment may also be similar to the hoisting arm of the shore crane equipment, and the hoisting operation process of the storage hoisting equipment to lift the container may refer to the hoisting operation process of the shore crane equipment, which will not be repeated here.

[0092] In some optional embodiments, the container storage task in the aforementioned embodiment may also be generated by the shore crane control system 3 according to the unloading task and sent to the warehouse management system 5 of the warehouse center.

[0093] In some optional embodiments, the packing task described in the aforementioned embodiments may also be generated by the shore crane control system 3 according to the unloading task and sent to the vehicle control system 4 of the vehicle.

[0094] In some optional embodiments, after the shore crane control system 3 controls the target shore crane equipment to lift the container onto the vehicle, it can generate an unloading task including the unloading position according to the target container area of ​​the container, and send the unloading task to the vehicle control system 4 of the vehicle.

[0095] In the embodiment of the present invention, one warehouse management system 5 can govern one or more container areas. If the target container areas of the containers in the unloading plan are distributed under the jurisdiction of multiple warehouse management systems, the dispatch center system 1 will generate multiple container storage tasks according to the unloading plan, and send the multiple container storage tasks to the corresponding warehouse management systems 5. Assuming that one warehouse management system 5 governs one container area, the target container areas of N containers in a certain unloading plan are distributed in container areas A, B, C and D, and container areas A to D are governed by warehouse management systems A to D respectively, then the dispatch center system 1 generates four container storage tasks, and the target container areas of the containers in the same container storage task are the same, and the four container storage tasks are sent to the corresponding warehouse management systems A to D respectively.

[0096] In a specific embodiment, the dispatching center system 1 and the ship control system 2 of the target ship can communicate remotely by means of satellite communication. The satellite communication implementation process between the ship control system 2 and the dispatching center system 1 can refer to the satellite communication technology of the prior art, which will not be repeated here. Within the coverage range of the port wireless signal, the dispatching center system 1, the shore crane control system 3 of the target shore crane equipment, the warehouse management system 5 of the warehouse center, and the vehicle control system 4 of the vehicle can communicate with each other by means of wireless communication. The wireless communication method can be Narrow Band Internet of Things (NB-IoT), 4G, WIFI, Zigbee and other communication methods, which are not limited in the embodiments of the present invention.

[0097] Based on the same inventive concept, the embodiment of the present invention also provides a dispatching center system 1, referring to Figure 3 As shown, including:

[0098] A dispatch communication module 101, used for sending and receiving information;

[0099] The plan generation module 102 is used to generate a ship unloading plan according to the ship information, container information and shore crane equipment information of the target ship received through the scheduling communication module 101;

[0100] The task generation module 103 is used to generate berthing tasks and unloading tasks according to the unloading plan, and send the berthing tasks and unloading tasks to the ship control system of the target ship and the shore crane control system of the target shore crane equipment respectively through the scheduling communication module 101 (the scheduling communication module 101 sends the berthing task to the ship control system of the target ship, and sends the unloading task to the shore crane control system of the target shore crane equipment).

[0101] In some optional embodiments, the task generation module 103 is further used to: generate a container storage task according to the unloading plan; and send the container storage task to the warehouse management system 5 of the warehouse center through the scheduling communication module 101.

[0102] In some optional embodiments, the task generation module 103 is also used to: generate a packing task according to the unloading plan and send the packing task to the vehicle control system of the corresponding vehicle through the scheduling communication module 101; and, based on the association information between the vehicle and the container received through the scheduling communication module 101, generate an unloading task including the unloading position according to the target container area of ​​the container, and send the unloading task to the vehicle control system of the vehicle with the association information through the scheduling communication module 101.

[0103] Based on the same inventive concept, the embodiment of the present invention further provides a ship control system 2, referring to Figure 4 As shown, including:

[0104] Ship communication module 201, used for sending and receiving information;

[0105] The ship control module 202 is used to send ship information and container information to the dispatching center system through the dispatching ship communication module 201; and when receiving a berthing task from the dispatching center system through the ship communication module 201, control the target ship to travel to the operating area corresponding to the target shore crane equipment, and send a ship positioning notification message to the shore crane control system of the target shore crane equipment through the ship communication module 201.

[0106] Based on the same inventive concept, an embodiment of the present invention further provides a ship, which is provided with a ship control system 2 as described in the above embodiment.

[0107] Based on the same inventive concept, the embodiment of the present invention also provides a shore crane control system 3, referring to Figure 5 As shown, including:

[0108] Shore crane communication module 301, used for sending and receiving information;

[0109] The lifting control module 302 is used to receive the ship unloading task from the dispatching center system 1 through the shore crane communication module 301; when the ship positioning notification message is received from the ship control system through the shore crane communication module 301, the target shore crane equipment is controlled according to the unloading task to load the container on the target ship onto the vehicle.

[0110] In some optional embodiments, referring to Figure 6 As shown, the shore crane control system 3 also includes:

[0111] The shore crane task generation module 303 is used to generate a container storage task according to the unloading task, and send the container storage task to the warehouse management system 5 of the warehouse center through the shore crane communication module 301.

[0112] In some optional embodiments, the lifting control module 302 controls the target shore crane equipment to load the container on the target ship onto the vehicle according to the unloading task, specifically including: confirming the identity of the container on the target ship, and controlling the target shore crane equipment to lift the container when the identity is confirmed to be correct; and controlling the target shore crane equipment to load the container onto the vehicle when a vehicle in position notification message is received from the vehicle control system of the vehicle through the shore crane communication module 301.

[0113] In some optional embodiments, the lifting control module 302 is further used to: after controlling the target shore crane equipment to lift the container onto the vehicle, establish association information between the vehicle and the container.

[0114] In some optional embodiments, the hoisting control module 302 is further used to: send the associated information to the dispatch center system 1 through the shore crane communication module 301.

[0115] In some optional embodiments, the shore crane task generation module 303 is also used to: generate a packing task based on the ship unloading task, and send the packing task to the vehicle control system 4 of the vehicle through the shore crane communication module 301; and, after controlling the target shore crane equipment to lift the container to the vehicle, generate an unloading task including the unloading position according to the target container area of ​​the container, and send the unloading task to the vehicle control system 4 of the vehicle through the shore crane communication module 301.

[0116] Based on the same inventive concept, an embodiment of the present invention further provides a shore crane device, which is provided with a shore crane control system 3 as described in the above embodiment.

[0117] Based on the same inventive concept, the embodiment of the present invention further provides a vehicle control system 4, referring to Figure 7 As shown, including:

[0118] Vehicle communication module 401, used for sending and receiving information;

[0119] The vehicle control module 402 is used to control the vehicle to travel to the loading position of the loading task to load the boxes when a loading task is received through the vehicle communication module 401; and to control the vehicle to travel to the unloading position of the unloading task to unload the boxes when an unloading task is received through the vehicle communication module 401.

[0120] Embodiment 2

[0121] Embodiment 2 of the present invention also provides a ship loading control system, referring to Figure 1 As shown, including:

[0122] The dispatch center system 1 is used to determine the loading plan according to the ship information, container information and shore crane equipment information; generate a berthing task and a loading task according to the loading plan, and send the berthing task and the loading task to the ship control system 2 of the target ship and the shore crane control system 3 of the target shore crane equipment respectively (that is, the dispatch center system 1 sends the berthing task to the ship control system 2 of the target ship, and sends the loading task to the shore crane control system 3 of the target shore crane equipment);

[0123] The ship control system 2 is used to control the target ship to travel to the operating area corresponding to the target shore crane equipment when receiving the berthing task, and send a ship in position notification message to the shore crane control system of the target shore crane equipment;

[0124] The shore crane control system 3 is used to control the target shore crane equipment to load the container on the vehicle onto the target ship according to the received loading task after receiving the ship location notification message from the ship control system.

[0125] In a specific embodiment, the shore crane control system 3 is further used for: when the shore crane control system 3 receives a vehicle in place notification message from the vehicle control system of the vehicle, it confirms the identification information of the container on the vehicle, and when the confirmation is correct, it controls the target shore crane equipment to load the container on the vehicle onto the target ship; marks the container in the loading task as loaded; when the shore crane control system 3 determines that all containers in the loading task are marked as loaded, it sends a loading completion notification message to the dispatch center system 1 and / or the ship control system 2 of the target ship.

[0126] Specifically, the containers of the target ship are arranged in rows with multiple containers stacked in layers in each row. When the shore crane control system 3 receives the vehicle in place notification message sent by the vehicle control system 4, it matches the container information in the loading task with the identification information of the containers loaded on the vehicle. If the match is successful, it confirms that the identification information of the containers on the vehicle is correct, and controls the target shore crane equipment to load the containers on the vehicle onto the target ship; and marks the containers in the loading task as loaded.

[0127] In some optional embodiments, a label containing container identification information may be provided on the surface of the container. For example, the label may be a QR code or a barcode. The shore crane control system recognizes the QR code or barcode on the container to confirm the identity of the container on the vehicle.

[0128] In a specific embodiment, the shore crane control system 3 includes an identity recognition device, which can be a camera, a code reader or other device capable of recognizing a QR code or a barcode, which is not limited in the embodiment of the present invention. As a specific implementation of the embodiment of the present invention, the identity recognition device can be set on the lifting arm of the target shore crane equipment, and the QR code or barcode on the container is scanned by the identity recognition device to obtain the identification information of the container, and the identification information of the container is matched with the container identification information in the loading task. If the match is successful, it is determined that the identity is confirmed correctly, and if the match fails, it is determined that the identity determination fails.

[0129] In a specific embodiment, the tag is an electronic tag, and the electronic tag is bound to the identification information of the container; correspondingly, the identity recognition device is an inductive reader, which is used to read the container identification information on the electronic tag to obtain the identification information of the container, and match the identification information with the container information in the loading task. If the match is successful, the identity of the container is confirmed to be correct, and if the match fails, the identity confirmation of the container fails.

[0130] In one embodiment, when the shore crane control system 3 controls the shore crane equipment to lift containers onto the target ship, the containers loaded onto the target ship are loaded into the ship in rows and stacked in layers according to each row, until the loading of one row of loading areas is completed before loading the next row of loading areas.

[0131] In an embodiment of the present invention, when loading containers transported by a target ship, the target ship can be divided into multiple areas according to different destination ports, and the containers loaded in each area correspond to the same destination port, so that when the ship arrives at a certain port, the shore crane equipment of the port can unload the containers in the corresponding area, thereby reducing the workload of the lifting operation when the containers arrive at the destination and improving the operation efficiency.

[0132] In some optional embodiments, the ship information includes the ship arrival time and ship status information, and the shore crane equipment information includes the operating time information of each shore crane equipment in the port area; the container information includes the number of containers and the identification information of each container and the destination information of the container; the dispatch center system 1 generates a loading plan based on the ship information, container information and shore crane equipment information, specifically including: determining the storage location of the container based on the identification information of the container; determining the target ship based on the number of containers, the destination information of the container, the arrival time of each ship in the ship information and the ship status information; determining the target shore crane equipment based on the arrival time of the target ship and the operating time information of each shore crane equipment in the shore crane equipment information; estimating the loading start time and loading end time based on the arrival time of the target ship, the operating time information of the target shore crane equipment and the number of containers; generating a loading plan including the target ship identification information, the target shore crane equipment identification information, the loading start time, the loading end time, and the identification information and storage location of each container.

[0133] In a specific embodiment, determining the loading start time can be specifically implemented as follows: judging whether the target shore crane equipment is in an idle state when the ship arrives at the port according to the operating time of the target shore crane equipment; if so, then: the ship arrival time is used as the loading start time, or the loading start time is determined after the ship arrives at the port and the berthing is completed; if not, then: the time after the task that the target shore crane equipment is operating at the time of the ship arrival is completed is determined as the loading start time.

[0134] In a specific embodiment, determining the loading end time can be specifically implemented as follows: based on the historical operating speed of the target shore crane equipment, calculate the time required for the target shore crane equipment to load the container to be loaded onto the target ship onto the target ship; and obtain the loading end time based on the loading start time and the time.

[0135] In some optional embodiments, the loading plan includes the loading start time, loading end time, target shore crane identification information, unloading location corresponding to the target shore crane, target ship identification information, warehouse management system identification information and vehicle identification information, container identification information and storage location.

[0136] The dispatch center system 1 generates container transportation tasks and container distribution tasks according to the loading plan, specifically including: the dispatch center system 1 generates a container transportation task including a loading location and an unloading location, and generates a container distribution task including a loading start time, a loading end time, target shore crane equipment identification information, target ship identification information, warehouse management system identification information, identification information of each container and a storage location.

[0137] As a specific implementation of an embodiment of the present invention, the ship status information includes the tonnage information of the ship and the ship's route. The dispatch center system 1 selects a ship that meets the container transportation requirements according to the destination information of the container and the ship's route, and selects a ship that meets the container loading requirements from the ships that meet the container transportation requirements according to the number and identification information of the containers and the tonnage information of the ship and determines it as the target ship.

[0138] As a specific implementation of the embodiment of the present invention, the dispatch center system 1 determines the target shore crane equipment according to the arrival time of the target ship and the operation time information of each shore crane equipment in the shore crane equipment information, specifically including: determining the shore crane equipment available at the arrival time according to the arrival time of the target ship and the operation time information of the shore crane equipment; selecting one of the shore crane equipment from the determined shore crane equipment as the target shore crane equipment. The available shore crane equipment can be the shore crane equipment that is idle at the arrival time of the target ship, or it can also be the shore crane equipment that is about to complete the operation when the arrival time arrives.

[0139] As a specific implementation of an embodiment of the present invention, when the dispatch center system 1 determines the target shore crane according to the arrival time of the ship and the operation time information of each shore crane in the shore crane information, if the operation area of ​​the target ship can meet the lifting operation of two or more shore cranes, the dispatch center system 1 can also select two or more shore cranes from the idle lifting equipment as the target shore cranes according to the size information and operation area of ​​the ship. When performing the loading operation, different target lifting equipments will lift the containers within their respective operation ranges according to the loading task and load the containers onto the target ship to shorten the operation time and improve the operation efficiency.

[0140] As a specific implementation of an embodiment of the present invention, during the loading process, if the currently determined target lifting equipment cannot meet the lifting requirements of the container, for example, the currently determined target shore crane equipment fails during the lifting operation, the dispatching center system 1 can also reselect other available lifting equipment as the new target shore crane equipment based on the current time information and the operating time information of each shore crane equipment in the shore crane equipment information.

[0141] In some optional embodiments, the dispatch center system 1 generates berthing tasks, loading tasks and container distribution tasks according to the loading plan, specifically including: generating berthing tasks including identification information of target shore crane equipment and operation areas according to the loading plan; generating unloading tasks including identification information of target ship, loading start time, loading end time and identification information of each container according to the loading plan; generating container distribution tasks including identification information of target shore crane equipment, loading start time, loading end time and identification information and storage location of each container according to the loading plan.

[0142] In some optional embodiments, the ship control system 2 is further used to: determine the travel time from the current position to the port based on the current position of the ship, the port position and the sailing route; estimate the arrival time of the target ship at the port based on the travel time and the current time; and send the ship information including the estimated arrival time and ship status information to the dispatch center system 1.

[0143] In the embodiment of the present invention, the method for obtaining the arrival time of the ship is similar to the method for obtaining the arrival time of the target ship in the first embodiment, and will not be described in detail herein.

[0144] In one embodiment, it may be that when the target ship arrives near the area where the target lifting equipment is located, the ship control system controls the target ship to sail to the operating area corresponding to the target shore crane equipment based on the received identification information of the target shore crane equipment and the berthing task of the operating area, and sends a ship in position notification message to the shore crane control system of the target shore crane equipment, waiting for the loading operation.

[0145] The second embodiment of the present invention provides a ship loading control system, referring to Figure 2 As shown, it may further include a vehicle control system 4 and a warehouse management system 5 arranged on the vehicle, wherein:

[0146] The vehicle control system 4 is used to control the vehicle to drive to the loading position of the container transport task to load the container when receiving the container transport task, and control the vehicle to drive to the unloading position of the container transport task to unload the container when the loading is completed;

[0147] The warehouse management system 5 is used to dispatch warehouse lifting equipment to load the target container in the container distribution task onto the vehicle when receiving the container distribution task.

[0148] In an embodiment of the present invention, a warehouse management system can govern one or more container areas. If the container areas where the storage locations of the containers in the shipping plan are located are distributed under the jurisdiction of multiple warehouse management systems, the dispatch center system will generate multiple container distribution tasks according to the shipping plan, and send the multiple container distribution tasks to the corresponding warehouse management systems respectively. Assuming that a warehouse management system governs one container area, the container areas corresponding to the storage locations of M containers in a certain shipping plan are distributed in container areas A, B, C and D, and container areas A to D are governed by warehouse management systems A to D respectively, then the dispatch center system generates four container distribution tasks, and the target container areas of each container in the same container distribution task are the same, and the four container distribution tasks are sent to the corresponding warehouse management systems A to D respectively.

[0149] In an optional embodiment, the dispatch center system 1 is further used to generate a container transportation task according to the shipping plan, and send the container transportation task to the vehicle control system 4 of the vehicle.

[0150] In an optional embodiment, the shore crane control system 3 is further used to generate a container transportation task according to the ship loading task, and send the container transportation task to the vehicle control system 4 of the vehicle.

[0151] In an optional embodiment, the warehouse management system 5 is further used to generate a container transportation task according to the container distribution task, and send the container transportation task to the vehicle control system 4 of the vehicle.

[0152] In one embodiment, the shore crane control system 3 can obtain its own position information through positioning, and exchange information with the ship control system and the vehicle control system to obtain the position information of the target ship and the vehicle, and lift the container onto the target ship based on its own position information, the target ship's position information and the vehicle's position information.

[0153] In some optional embodiments, the warehouse management system 5 dispatches warehouse lifting equipment to load the target container in the container distribution task onto the vehicle, specifically including:

[0154] The warehouse management system 5 sends a packing and lifting task including the storage position of the container to the lifting control system of the warehouse lifting equipment according to the storage position of each container in the container distribution task; when the warehouse management system 5 receives the packing completion notification message from the lifting control system of the warehouse lifting equipment, it marks the corresponding container in the container distribution task as distributed; and when it is determined that all containers in the container distribution task are marked as distributed, it sends a container distribution task completion notification message to the dispatch center system.

[0155] When receiving a packing and lifting task, the lifting control system of the warehouse lifting equipment controls the warehouse lifting equipment to lift the container located at the storage location in the packing and lifting task, and when receiving a vehicle in place notification message, loads the container onto the vehicle, and sends a packing completion notification message to the warehouse management system 5 and / or the vehicle control system 4 of the vehicle.

[0156] In some optional embodiments, a label containing container identification information may be provided on the surface of the container. The label may be a QR code or a barcode. The warehouse management system recognizes the QR code or barcode on the container to confirm the identity of the container at the storage location.

[0157] In a specific embodiment, the warehouse management system includes an identity recognition device, which can be a camera, a code reader or other device capable of recognizing a QR code or a barcode, which is not limited in the embodiment of the present invention. As a specific implementation of the embodiment of the present invention, the identity recognition device can be set on the lifting device of the warehouse lifting equipment, and the QR code or barcode on the container is scanned by the identity recognition device to obtain the identification information of the container, and the identification information of the container is matched with the container identification information in the container distribution task. If the match is successful, it is determined that the identity is confirmed correctly, and if the match fails, it is determined that the identity determination fails.

[0158] In a specific embodiment, the tag is an electronic tag, and the electronic tag is bound to the identification information of the container; correspondingly, the identity recognition device is an inductive reader, which is used to read the container identification information on the electronic tag to obtain the identification information of the container, and match the identification information with the container identification information in the container distribution task. If the match is successful, the identity of the container is confirmed to be correct; if the match fails, the identity confirmation of the container fails.

[0159] In some optional embodiments, the vehicle control system 4 is further used to send a loading location notification message to the warehouse management system 5 corresponding to the loading location when controlling the vehicle to drive to the loading location in the container transportation task. The warehouse management system 5 sends a vehicle loading location notification message to the lifting control system of the warehouse lifting equipment.

[0160] In some optional embodiments, the vehicle control system 4 is further used to, when controlling the vehicle to travel to the loading position in the container transportation task, send a loading position notification message to the warehouse management system 5 corresponding to the loading position. The warehouse management system 5 sends identification information of the warehouse hoisting equipment to the vehicle control system 4. The vehicle control system 4 sends a vehicle loading position notification message to the hoisting control system of the warehouse hoisting equipment.

[0161] In some optional embodiments, the vehicle control system 4 is further used to send a vehicle in-place notification message to the hoisting control system of the storage hoisting equipment when controlling the vehicle to travel to the loading position in the container transportation task.

[0162] In some optional embodiments, the vehicle control system 4 is further used to send a container unloading location notification message to the shore crane control system 3 of the shore crane equipment corresponding to the container unloading location when controlling the vehicle to travel to the container unloading location of the container transportation task.

[0163] In some optional embodiments, the vehicle control system 4 is further used to, when controlling the vehicle to travel to the loading position, send a loading position notification message to the warehouse management system 5 corresponding to the loading position; and, when controlling the vehicle to travel to the unloading position, send an unloading position notification message to the shore crane control system 3 of the target shore crane equipment corresponding to the unloading position.

[0164] In the embodiment of the present invention, the vehicle control system 4 is used to locate the current position of the vehicle, plan a first driving path from the current position of the vehicle to the loading position according to the container transportation task of the vehicle, and control the vehicle to drive to the loading position for loading, and plan a second driving path from the loading position to the unloading position, and control the vehicle to drive to the unloading position for unloading. During driving, environmental information is acquired and a perception result is determined; driving decision information is determined according to the perception result and the driving path; and the vehicle is controlled to drive to the loading position or the unloading position according to the driving path according to the driving decision information.

[0165] In the embodiment of the present invention, the storage area of ​​the storage center is divided into multiple container areas according to the types of goods that can be stored in the containers, and the containers in each container area are stacked in columns and layers. The container distribution task sent by the dispatch center system 1 to the storage management system 5 of the storage center includes the identification information of the container and the storage location of the container.

[0166] In one embodiment, the lifting control system of the warehouse lifting equipment can obtain its own position information through positioning, and exchange information with the warehouse management system 5 and the vehicle control system 4 to obtain the storage position information of the container and the position information of the vehicle, and according to its own position information, the storage position information of the container and the position information of the vehicle, lift the container of the vehicle to the storage position of the container or lift the container at the storage position of the container and load it onto the vehicle.

[0167] In one embodiment, the storage hoisting equipment may be a tire crane, a rail crane or a forklift, etc., and a hoisting arm is provided on the storage hoisting equipment. The hoisting arm of the storage hoisting equipment may be a mechanical arm or a sling, which is not limited in the embodiment of the present invention. In a specific embodiment, the specific structure of the hoisting arm of the storage hoisting equipment may also be similar to the hoisting arm of the shore crane equipment, and the hoisting operation process of the storage hoisting equipment to lift the container may refer to the hoisting operation process of the shore crane equipment, which will not be repeated here.

[0168] In some optional embodiments, the container transportation task in the aforementioned embodiments may also be generated by the shore crane control system 3 according to the ship loading task and sent to the vehicle control system 4 of the vehicle.

[0169] In some optional embodiments, the container transportation task in the aforementioned embodiment may also be generated by the warehouse management system 5 according to the container distribution task and sent to the vehicle control system 4 of the vehicle.

[0170] In the embodiment of the present invention, the vehicle includes all cargo transport vehicles, such as trucks, vans, semi-trailers, vans, AGV (Automated Guided Vehicle) carts, forklifts, rail vehicles, etc.

[0171] Unless otherwise specifically stated, terms such as processing, computing, calculating, determining, displaying, etc. may refer to the actions and / or processes of one or more processing or computing systems, or similar devices, which operate and convert data represented as physical (e.g., electronic) quantities within registers or memories of a processing system into other data similarly represented as physical quantities within memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals may be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0172] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0173] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0174] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0175] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0176] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0177] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A ship unloading control system, characterized in that: include: The dispatch center system is used to generate a ship unloading plan based on the target ship's ship information, container information, and shore crane equipment information; Generate a berthing task and an unloading task according to the unloading plan, and send the berthing task and the unloading task to a ship control system of a target ship and a shore crane control system of a target shore crane equipment respectively; The ship control system is used to send ship information and container information to the dispatch center system; according to the received berthing task, control the target ship to travel to the operating area corresponding to the target shore crane equipment, and send a ship in position notification message to the shore crane control system of the target shore crane equipment; The shore crane control system is used to control the target shore crane equipment to load the container on the target ship onto the vehicle according to the unloading task when receiving the ship position notification message from the ship control system. The shore crane control system controls the target lifting equipment to load the container on the target ship onto the vehicle according to the unloading task, including: The shore crane control system obtains its own position information through positioning, and exchanges information with the ship control system and the vehicle control system to obtain the position information of the target ship and vehicle. Based on its own position information, the position information of the target ship and the position information of the vehicle, it controls the target shore crane equipment to load the container on the target ship onto the vehicle. The shore crane control system includes an identity recognition device, which is arranged on the hoisting arm of the target shore crane equipment. Among them, the shore crane control system is also used to obtain the identification information of the container using the label on the container through the identity recognition device, and match the identification information of the container with the container information in the unloading task. If the match is successful, it is determined that the identity is confirmed to be correct. When the identity is confirmed to be correct, the target shore crane equipment is controlled to lift the container; when the vehicle in place notification message sent by the vehicle control system of the vehicle is received, the target shore crane equipment is controlled to load the container onto the vehicle; after controlling the target shore crane equipment to load the container onto the vehicle, the association information between the vehicle and the container is established, and the association information is sent to the dispatching center system.

2. The ship unloading control system according to claim 1, characterized in that: The ship information includes the ship arrival time and ship status information; the shore crane equipment information includes the operation time information of each shore crane equipment in the port area; the container information includes the number of containers and the identification information and loaded cargo type of each container; the dispatch center system generates an unloading plan based on the ship information, container information and shore crane equipment information of the target ship, specifically including: Determine the target shore crane equipment according to the arrival time of the ship and the operation time information of each shore crane equipment in the shore crane equipment information; Estimate the start and end time of unloading based on the ship's arrival time, the target quay crane operation time information, and the number of containers; determine the target container area for each container based on the type of cargo loaded in each container and the container area information in the port area; Generate an unloading plan that includes the target ship identification information, the target shore crane equipment identification information, the unloading start time, the unloading end time, the identification information of each container, and the target container area.

3. The ship unloading control system according to claim 2, characterized in that: The dispatch center system determines the target lifting equipment according to the ship information and the shore crane equipment information, specifically including: According to the arrival time of the ship and the operation time information of the shore crane equipment, determine the shore crane equipment that is in an idle state at the arrival time; One of the shore crane devices is selected from the determined shore crane devices as the target shore crane device.

4. The ship unloading control system according to claim 2, characterized in that: The dispatch center system generates unloading tasks and berthing tasks according to the unloading plan, which specifically include: Generate a berthing task including identification information of target shore crane equipment and an operation area according to the unloading plan; According to the unloading plan, an unloading task including identification information of the target ship, unloading start time, unloading end time, identification information of each container and the target container area is generated.

5. The ship unloading control system according to claim 1, characterized in that: The ship control system sends ship information and container information to the dispatch center system, including: According to the current location of the target ship, the port location and the route, determine the travel time from the current location to the port; estimating the arrival time of the target ship at the port according to the travel time and the current time; The ship information including the estimated arrival time, ship status information and container information are sent to the dispatch center system.

6. The ship unloading control system according to claim 1, characterized in that: The shore crane control system controls the target lifting equipment to load the container on the target ship onto the vehicle according to the unloading task, specifically including: When a vehicle in position notification message is received from the vehicle control system of the vehicle, the target shore crane equipment is controlled to load the container onto the vehicle, and the container in the unloading task is marked as unloaded; when it is confirmed that all containers in the unloading task are in the unloaded state, a notification message of completion of unloading is sent to the dispatching center system and / or the ship control system of the target ship.

7. The ship unloading control system according to claim 6, characterized in that: The container unloading sequence is by row and each row is unloaded from top to bottom. The shore crane control system is further used to: when identity confirmation fails, lift the container and place it on another row of containers on the target ship whose identity has been confirmed.

8. A shore crane control system, characterized in that: include: Shore crane communication module, used to send and receive information; A hoisting control module is used to receive ship unloading tasks from the dispatching center system through the shore crane communication module; When receiving a ship in-position notification message from the ship control system through the shore crane communication module, controlling the target shore crane equipment to load the container on the target ship onto the vehicle according to the ship unloading task; An identification device, wherein the identification device is arranged on a hoisting arm of a target shore crane, The hoisting control module controls the target shore crane equipment to load the container on the target ship onto the vehicle according to the unloading task, including: The lifting control module obtains the location information of the shore crane control system through positioning, and obtains the location information of the target ship and vehicle through the shore crane communication module. According to the location information of the shore crane control system, the location information of the target ship and the location information of the vehicle, the target shore crane equipment is controlled to load the container on the target ship onto the vehicle. Among them, the lifting control module is also used to obtain the identification information of the container using the label on the container through the identity recognition device, and match the identification information of the container with the container information in the unloading task. If the match is successful, it is determined that the identity is confirmed to be correct. When the identity is confirmed to be correct, the target shore crane equipment is controlled to lift the container; when the vehicle in place notification message sent by the vehicle control system of the vehicle is received, the target shore crane equipment is controlled to load the container onto the vehicle. After controlling the target shore crane equipment to load the container onto the vehicle, the association information between the vehicle and the container is established, and the association information is sent to the dispatching center system through the shore crane communication module.

9. The shore crane control system according to claim 8, characterized in that: The hoisting control module controls the target shore crane equipment to load the container on the target ship onto the vehicle according to the ship unloading task, and is specifically used for: When a vehicle in position notification message is received from a vehicle control system of the vehicle through the shore crane communication module, the target shore crane equipment is controlled to load the container onto the vehicle, and the container in the unloading task is marked as unloaded; When it is confirmed that all containers in the unloading task are in the unloading state, an unloading completion notification message is sent to the dispatching center system and / or the ship control system of the target ship through the hoisting communication module.

10. The shore crane control system according to claim 9, characterized in that: The container unloading sequence is to unload containers in rows from top to bottom in each row; The hoisting control module is further used to: when the identity confirmation fails, control the target shore crane equipment to lift the container and place it on another row of containers of the target ship whose identities have been confirmed.

11. A shore crane device, characterized in that: A shore crane control system as described in any one of claims 8 to 10 is provided.

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