A dynamic management system for terminal operations with unmanned container trucks

Abstract

The present invention discloses a terminal operation dynamic management system for unmanned container trucks, which is characterized by comprising an instruction system, a communication module, a perception system, a map system, a rule engine, a decision system and terminal equipment, wherein the terminal equipment comprises a plurality of bridge cranes equipped with positioning equipment, laser radars and cameras, a plurality of flow machines equipped with positioning equipment, a plurality of gantry cranes equipped with positioning equipment and cameras, a plurality of loading and unloading lock booths equipped with positioning equipment, a plurality of manned container trucks equipped with positioning equipment and a plurality of unmanned container trucks equipped with positioning equipment; the invention has the advantages of combining the business scenarios of the terminal, coordinating various terminal equipment, and providing efficient operation information interaction services for unmanned container trucks based on the terminal operation rules dynamically adjusted in the rule engine, thereby reducing the waiting time of unmanned container trucks and improving the overall operation efficiency of the terminal.

Description

Technical Field

[0001] The invention relates to terminal operations, and in particular to a dynamic management system for terminal operations oriented to unmanned container trucks. Background Art

[0002] With the increasing competition in modern ports, how to improve the utilization rate of port operating equipment and reduce operating costs has become an important research topic for ports to improve service levels and enhance their own competitiveness; the application of unmanned driving in ports is imminent. When unmanned container trucks are operating at the port site, they need to interact with a variety of operating equipment such as gantry cranes, bridge cranes, and mobile cranes, and multiple unmanned container trucks need to be coordinated and dispatched when operating at the same time.

[0003] Traditional container truck operations are manual horizontal transport operations based on information flow data (information flow data includes instructions, text or voice) issued by the container terminal operating system. Long-term repetitive manual operations are prone to fatigue and pose safety risks. There are too many uncertainties in manual driving, and the efficiency of a single machine varies due to different personal subjective initiatives. The operating efficiency of container trucks cannot be improved, which affects the overall operating efficiency of the port. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a dynamic management system for terminal operations oriented to unmanned container trucks, which improves the safety of terminal operations, reduces personnel costs, and improves the operating efficiency of the port.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a terminal operation dynamic management system for unmanned container trucks, including a command system, a communication module, a perception system, a map system, a rule engine, a decision system and terminal equipment;

[0006] The instruction system is connected to the container terminal operating system by electrical signals, and is used to receive the information flow data released by the container terminal operating system, obtain the corresponding business instructions after parsing, and distribute the business instructions to the corresponding terminal equipment through the communication module; the terminal equipment includes a plurality of bridge cranes equipped with positioning equipment, laser radars and cameras, a plurality of flow machines equipped with positioning equipment, a plurality of gantry cranes equipped with positioning equipment and cameras, a plurality of loading and unloading lock booths equipped with positioning equipment, a plurality of manned container trucks equipped with positioning equipment, and a plurality of unmanned container trucks equipped with positioning equipment;

[0007] The sensing system comprises a bridge crane sensing module installed on the bridge crane, a flow machine sensing module installed on the flow machine, a gantry crane sensing module installed on the gantry crane, a centralized loading and unloading lock sensing module installed on the loading and unloading lock sentry box, and a container truck sensing module installed on the manned container truck and the unmanned container truck;

[0008] The bridge crane sensing module is used to publish the status data of the bridge crane through the communication module; the status data of the bridge crane includes the real-time position of the bridge crane, the real-time speed of the bridge crane, the real-time moving direction of the bridge crane, the operating status of the bridge crane, the up and down moving position of the bridge crane spreader, the moving speed of the bridge crane spreader, the size of the bridge crane spreader when grabbing the container, the movement information of the bridge crane cab, the real-time alignment information of manned container trucks and unmanned container trucks, the corresponding binding lane information and the completion status of the bridge crane operation instruction pool; the operating status of the bridge crane includes operating, idle and unable to operate; the bridge crane operation instruction pool stores the business instructions distributed by the instruction system;

[0009] The flow machine perception module is used to publish the state data of the flow machine through the communication module; the state data of the flow machine includes the real-time position of the flow machine, the real-time speed of the flow machine, the real-time moving direction of the flow machine, the real-time alignment information of manned and unmanned container trucks, and the completion status of the flow machine operation instruction pool; the flow machine operation instruction pool stores the business instructions distributed by the instruction system;

[0010] The gantry crane sensing module is used to publish the status data of the gantry crane through the communication module; the status data of the gantry crane includes the real-time position of the gantry crane, the real-time speed of the gantry crane, the real-time moving direction of the gantry crane, the operating status of the gantry crane, the up and down moving position of the gantry crane spreader, the moving speed of the gantry crane spreader, the size of the gantry crane spreader when grabbing the container, the movement information of the gantry crane cab, the real-time alignment information of manned container trucks and unmanned container trucks, and the completion status of the gantry crane operation instruction pool; the operating status of the gantry crane includes operating, idle and unable to operate; the gantry crane operation instruction pool stores the business instructions distributed by the instruction system;

[0011] The centralized loading and unloading lock sensing module is used to publish the location information of the loading and unloading lock booth and the completion status of loading and unloading locks through the communication module;

[0012] The container truck sensing module is used to publish the status data of manned container trucks and unmanned container trucks through the communication module; the status data of manned container trucks include the real-time position of manned container trucks, the real-time speed of manned container trucks, the real-time moving direction of manned container trucks, and the completion status of the manned container truck operation instruction pool; the manned container truck operation instruction pool stores the business instructions distributed by the instruction system; the status data of unmanned container trucks include the physical size of unmanned container trucks, the real-time position of unmanned container trucks, the real-time speed of unmanned container trucks, the real-time moving direction of unmanned container trucks, the entry application of unmanned container trucks into the yard, the arrival information of unmanned container trucks, the mechanical status of unmanned container trucks, and the completion status of the unmanned container truck operation instruction pool; the mechanical status of unmanned container trucks includes the steering of the tires of unmanned container trucks and the brake pressure strength of unmanned container trucks; the unmanned container truck operation instruction pool stores the business instructions distributed by the instruction system;

[0013] The map system includes a map construction module, a map path planning module and a map display module;

[0014] The map building module uses real-time location-checking technology to map the site and obtain a high-precision map after modeling;

[0015] The map path planning module, based on the high-precision map, according to the status data of the bridge crane, the status data of the flow machine, the status data of the gantry crane, the location information of the loading and unloading lock booth, the completion status of the loading and unloading lock, the status data of the manned container truck, the status data of the unmanned container truck and the business instructions received by each terminal equipment, plans the path for each terminal equipment using the global optimal path method, obtains the optimal path corresponding to each terminal equipment and publishes it through the communication module;

[0016] The map display module is electrically connected to the display screen, and displays the real-time position and the corresponding optimal path of each terminal equipment on the high-precision map on the display screen;

[0017] The rule engine is used to store terminal operation rules dynamically adjusted according to business scenarios; the business scenarios include normal operation of unmanned container trucks, unmanned container trucks entering the yard, gantry cranes participating in the operation in the yard, flow machines participating in the operation in the yard, unmanned container trucks going to the dock, loading and unloading lock operation scenarios, and unknown operation scenarios that need to be added according to actual operation conditions;

[0018] The decision system selects a corresponding business scenario according to the business instruction received by the unmanned container truck, and selects a corresponding rule from the rule engine according to the status data corresponding to the terminal equipment involved in the selected business scenario to match the business instruction to obtain a matching result of the business instruction, and sends the matching result of the business instruction to the unmanned container truck through the communication module;

[0019] The unmanned container truck receives the matching result of the business instruction sent by the decision-making system, and executes the business instruction according to the matching result of the business instruction.

[0020] The flow machine includes a front loaders and a forklift, the communication module adopts a communication protocol, and the matching result of the business instruction includes a continue forward instruction or a wait instruction or an overtaking instruction or a detour instruction or a positioning instruction or a locking instruction or a locking unloading instruction.

[0021] The decision system selects a corresponding business scenario according to the business instruction received by the unmanned container truck, and selects a corresponding rule from the rule engine according to the status data corresponding to the terminal equipment involved in the selected business scenario to match the business instruction to obtain the matching result of the business instruction, and sends the matching result of the business instruction to the unmanned container truck through the communication module. The specific process is as follows:

[0022] When the business scenario is the normal operation driving scenario of unmanned container trucks: the movement trend is calculated based on the status data of the bridge crane, the status data of the flow machine, the status data of the gantry crane, the location information of the loading and unloading lock booth, the completion status of the loading and unloading lock, the status data of manned container trucks, the status data of unmanned container trucks and the business instructions received by each terminal equipment released by the perception system, and the normal operation driving scenario of the unmanned container trucks at present or within a period of time is obtained. The decision system determines the normal operation driving rules of the unmanned container trucks according to the normal operation driving scenario of the unmanned container trucks, and issues detour instructions, waiting instructions or continue moving instructions to the unmanned container trucks according to the normal operation driving rules of the unmanned container trucks;

[0023] When the business scenario is an unmanned container truck entering the yard: before the unmanned container truck enters the yard area, the container truck perception module issues an entry application. According to the status data of the unmanned container truck and the status data of the gantry crane issued by the perception module, and the optimal path corresponding to the unmanned container truck and the optimal path corresponding to the gantry crane issued by the map system, the unmanned container truck entering the yard scenario is obtained. The decision system determines the unmanned container truck entering the yard rule according to the unmanned container truck entering the yard scenario, and issues a continue forward instruction or a detour instruction to the unmanned container truck according to the unmanned container truck entering the yard rule. When the terminal equipment to enter the yard area is added with the stacking When the existing terminal equipment in the yard area exceeds the number of yard congestion, the decision system sends a detour instruction to the unmanned container trucks except those that have sent entry applications; when there are other unmanned container trucks operating on the operation lane corresponding to the business instruction of the unmanned container truck that has sent entry applications, the state data of the unmanned container truck released by the container truck sensing module is used to determine whether the unmanned container truck can reach the yard operation point corresponding to the business instruction by overtaking. If so, the decision system sends an overtaking instruction to the unmanned container truck; if not, the decision system sends a waiting instruction to the unmanned container truck; the decision system sends a continue moving instruction to the unmanned container trucks except those mentioned above;

[0024] When the business scenario is a gantry crane participating in the operation in the yard: After the unmanned container truck enters the yard, when the unmanned container truck arrives at the yard operation point corresponding to the business instruction, the container truck sensing module releases the arrival information. According to the gantry crane status information released by the gantry crane sensing module, the decision system sends the unmanned container truck a positioning instruction;

[0025] When the business scenario is a flow machine participating in the operation in the yard: after the unmanned container truck enters the yard, when the unmanned container truck arrives at the yard operation point corresponding to the business instruction, the container truck perception module releases the in-position information. According to the flow machine status information released by the flow machine perception module, the decision system sends a positioning instruction to the unmanned container truck;

[0026] When the business scenario is an unmanned container truck going to the dock surface operation scenario: when the unmanned container truck completes the packing operation and goes to the dock surface to operate, if the number of unmanned container trucks operating on the dock surface exceeds the number of unmanned container trucks allowed to operate on the dock surface, the right of way is opened to the unmanned container trucks in turn according to the priority principle of the business instructions, and the unmanned container trucks going to the dock surface operation scenario is obtained. The decision system determines the unmanned container truck going to the dock surface operation rules according to the unmanned container truck going to the dock surface operation scenario, and sends a waiting instruction or a continue moving instruction to the unmanned container truck according to the unmanned container truck going to the dock surface operation rules. When the unmanned container truck reaches the dock surface operation point corresponding to the business instruction, the decision system sends a positioning instruction to the unmanned container truck according to the status data of the unmanned container truck released by the container truck sensing module and the status data of the bridge crane released by the bridge crane sensing module;

[0027] When the business scenario is a centralized loading and unloading lock operation scenario: after the unmanned container truck completes the packing operation, based on the ship map and the location information of the loading and unloading lock booth and the completion status of the loading and unloading lock released by the centralized loading and unloading lock perception module, the decision system sends a locking instruction to the unmanned container truck that needs to be locked, and sends a locking unloading instruction to the unmanned container truck that needs to be unlocked.

[0028] The specific method for determining the normal operation driving rules of unmanned container trucks based on the normal operation driving scenarios of unmanned container trucks is as follows:

[0029] Set the maximum congestion number, record the current position of the unmanned truck as A, and the path as B. According to the formula Calculate the path of the unmanned container truck, where v represents the speed of the unmanned container truck, and T represents a period of time. When the paths of multiple unmanned container trucks overlap or are lower than a threshold, determine whether the driving of the unmanned container truck complies with traffic rules or custom rules. If the driving of the unmanned container truck complies with traffic rules, the unmanned container truck continues to move forward; if the driving of the unmanned container truck complies with custom rules, the unmanned container truck waits; when the paths of multiple unmanned container trucks overlap but are higher than a threshold, determine whether the number of unmanned container trucks exceeds the set maximum congestion number. If so, the unmanned container truck detours; if not, the unmanned container truck continues to move forward.

[0030] The threshold value is 10m, the traffic rules are normal traffic rules based on urban roads, and the custom rules are that when the gantry crane is operating, unmanned container trucks need to wait.

[0031] The specific method for determining the rules for unmanned container trucks to enter the storage yard based on the scenario of unmanned container trucks entering the storage yard is as follows:

[0032] According to the optimal path corresponding to the unmanned container truck and the optimal path corresponding to the gantry crane obtained in the map system, each intersection from the current location of the unmanned container truck to the yard operation point corresponding to the business instruction is marked as a node, and each intersection from the current location of the gantry crane to the target location corresponding to the business instruction is marked as a node, and the current location of the unmanned container truck is recorded as X. 车i Y 车j , the yard operation point of unmanned container truck is marked as X 车m Y 车n , the current position of the gantry crane is recorded as X 龙i Y 龙j , the target position of the gantry crane is recorded as X 龙m Y 龙n , where X represents the site number, Y represents the container area number, and X 车i , X 车m , X 龙i , X 龙m ∈[1,2,3,4,5,6,7],Y 车j , Y 车n , Y 龙j , Y 龙n ∈[A,B,C,...,X,Y,Z], where due to the travel restrictions of unmanned trucks, car m = car m, A is marked as B after moving one position, B is marked as C after moving one position, and so on, Y is marked as Z after moving one position;

[0033] If X 车i Y 车j =X 龙i Y 龙j or X 车i Y 车j =X 龙m Y 龙n or X 车m Y 车n =X 龙i Y 龙j or X 车m Y 车n =X 龙m Y 龙n , then unmanned container trucks are prohibited from passing and need to take a detour;

[0034] If | X 车i -X 龙i |>1 or |X 车i -X龙m |>1 or |X 龙i -( X 车m )|>1 or |X 车i +1- X 龙m |>1 or | Y 车j -Y 龙j |>1 or | Y 龙j -Y 龙n |>1 or | Y 龙j -Y 车n |>1 or | Y 车n -Y 龙n |>1, the unmanned truck can pass and continue to move forward;

[0035] If the operation lane corresponding to the business instruction of the gantry crane is on the sea side and the gantry crane enters and exits from Xiaobei, then X 龙i-1 Y 龙j-1 , X 龙i-1 Y 龙j , X 龙i Y 龙j-1 , X 龙i Y 龙j The corresponding box area encloses the intersection and X 龙i Y 龙j-1 , X 龙i Y 龙j Unmanned container trucks are prohibited from passing through the operating lanes between the corresponding container areas, and unmanned container trucks need to take a detour;

[0036] If the operation lane corresponding to the business instruction of the gantry crane is on the sea side and the gantry crane enters and exits from Dabei, then X 龙i Y 龙j-1 , X 龙i Y 龙j , X 龙i+1 Y 龙j-1 , X 龙i+1 Y 龙j Unmanned container trucks are prohibited from passing through the intersections surrounded by the corresponding container areas, and unmanned container trucks need to take a detour;

[0037] If the operation lane corresponding to the business instruction of the gantry crane is on the roadside and the gantry crane enters and exits from Xiaobei, then X 龙i-1 Y 龙j , X 龙i-1 Y 龙j+1 , X 龙i Y 龙j , X 龙i Y 龙j+1 The corresponding box area encloses the intersection and X 龙i Y 龙j-1 , X 龙i Y 龙jUnmanned container trucks are prohibited from passing through the operating lanes between the corresponding container areas, and unmanned container trucks need to take a detour;

[0038] If the operation lane corresponding to the business instruction of the gantry crane is on the roadside and the gantry crane enters and exits from Dabei, then X 龙i Y 龙j , X 龙 i Y 龙j+1 , X 龙i+1 Y 龙j , X 龙i+1 Y 龙j+2 Unmanned container trucks are prohibited from passing through the intersections surrounded by the corresponding container areas, and unmanned container trucks are required to take a detour.

[0039] The specific method for determining the operation rules of unmanned container trucks going to the dock surface according to the operation scenario of unmanned container trucks going to the dock surface is as follows:

[0040] Determine whether the lane where the unmanned container truck is currently located is the lane in the business instruction. If the lane where the unmanned container truck is currently located is the lane in the operation instruction, determine whether there are other unmanned container trucks operating in the lane where the unmanned container truck is currently located. If so, the unmanned container truck waits; if not, determine whether the lane where the unmanned container truck is currently located forms a closed road. If so, the unmanned container truck waits; if not, the unmanned container truck continues to move forward; if the lane where the unmanned container truck is currently located is not the lane in the operation instruction, determine whether the lane where the unmanned container truck is currently located forms a closed road. If so, the unmanned container truck waits; if not, the unmanned container truck continues to move forward; the closed road means that when the status data of the bridge crane released by the bridge crane sensing module indicates that the bridge crane is operating, the bound lane corresponding to the bridge crane forms a closed road.

[0041] The number of yard congestion is set according to the business scenario, and the number of unmanned container trucks allowed to operate on the dock is set according to the business scenario.

[0042] Compared with the prior art, the advantage of the present invention lies in that by setting up a command system, a communication module, a perception system, a map system, a rule engine, and a decision-making system, combined with the business scenarios of the terminal, multiple bridge cranes, multiple flow machines, multiple gantry cranes, multiple loading and unloading lock booths, multiple manned container trucks and multiple unmanned container trucks are coordinated, and based on the dynamically adjusted terminal operation rules in the rule engine, efficient operation information interaction services are provided for unmanned container trucks, reducing the waiting time of unmanned container trucks, improving the overall operation efficiency of the terminal, and while reducing labor costs, increasing the safety of terminal work. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall system framework of the present invention;

[0044] Figure 2 Schematic diagram of part of the storage yard in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, a dynamic management system for terminal operations for unmanned container trucks includes an instruction system 1, a communication module 2, a perception system 3, a map system 4, a rule engine 5, a decision system 6 and terminal equipment 7; the communication module 2 adopts a communication protocol, and the communication protocol includes HTTP protocol, JT808 protocol, etc.;

[0047] The instruction system 1 is connected to the container terminal operating system by electrical signals, and is used to receive the information flow data released by the container terminal operating system, obtain the corresponding business instructions after parsing, and distribute the business instructions to the corresponding terminal equipment 7 through the communication module 2; the terminal equipment 7 includes a plurality of bridge cranes 71 equipped with positioning equipment, laser radars and cameras, a plurality of flow machines 72 equipped with positioning equipment, a plurality of gantry cranes 73 equipped with positioning equipment and cameras, a plurality of loading and unloading lock booths 74 equipped with positioning equipment, a plurality of manned container trucks 75 equipped with positioning equipment, and a plurality of unmanned container trucks 76 equipped with positioning equipment; the flow machines 72 include reach stackers and forklifts;

[0048] The sensing system 3 includes a bridge crane sensing module 31 installed on the bridge crane 71, a flow machine sensing module 32 installed on the flow machine 72, a gantry crane sensing module 33 installed on the gantry crane 73, a centralized loading and unloading lock sensing module 34 installed on the loading and unloading lock booth 74, and a container truck sensing module 35 installed on a manned container truck 75 and an unmanned container truck 76;

[0049] The bridge crane sensing module 31 is used to publish the status data of the bridge crane 71 through the communication module 2; the status data of the bridge crane 71 includes the real-time position of the bridge crane 71, the real-time speed of the bridge crane 71, the real-time moving direction of the bridge crane 71, the operating status of the bridge crane 71, the up and down moving position of the bridge crane 71 spreader, the moving speed of the bridge crane 71 spreader, the size of the bridge crane 71 spreader when grabbing the container, the movement information of the bridge crane 71 cab, the real-time alignment information of the manned container truck 75 and the unmanned container truck 76, the corresponding binding lane information and the completion status of the bridge crane 71 operation instruction pool; the operating status of the bridge crane 71 includes operating, idle and unable to operate; the bridge crane 71 operation instruction pool stores the business instructions distributed by the instruction system 1;

[0050] The flow machine sensing module 32 is used to publish the status data of the flow machine 72 through the communication module 2; the status data of the flow machine 72 includes the real-time position of the flow machine 72, the real-time speed of the flow machine 72, the real-time moving direction of the flow machine 72, the real-time alignment information of the manned container truck 75 and the unmanned container truck 76, and the completion status of the flow machine 72 operation instruction pool; the flow machine 72 operation instruction pool stores the business instructions distributed by the instruction system 1;

[0051] The gantry crane sensing module 33 is used to publish the status data of the gantry crane 73 through the communication module 2; the status data of the gantry crane 73 includes the real-time position of the gantry crane 73, the real-time speed of the gantry crane 73, the real-time moving direction of the gantry crane 73, the operating status of the gantry crane 73, the up and down moving position of the gantry crane 73 spreader, the moving speed of the gantry crane 73 spreader, the size of the gantry crane 73 spreader when grabbing the container, the movement information of the gantry crane 73 cab, the real-time alignment information of the manned container truck 75 and the unmanned container truck 76, and the completion status of the gantry crane 73 operation instruction pool; the operating status of the gantry crane 73 includes operating, idle and unable to operate; the gantry crane 73 operation instruction pool stores the business instructions distributed by the instruction system 1;

[0052] The centralized loading and unloading lock sensing module 34 is used to publish the location information of the loading and unloading lock booth 74 and the completion status of loading and unloading locks through the communication module 2;

[0053] The container truck sensing module 35 is used to publish the status data of the manned container truck 75 and the status data of the unmanned container truck 76 through the communication module 2; the status data of the manned container truck 75 includes the real-time position of the manned container truck 75, the real-time speed of the manned container truck 75, the real-time moving direction of the manned container truck 75, and the completion status of the operation instruction pool of the manned container truck 75; the operation instruction pool of the manned container truck 75 stores the business instructions distributed by the instruction system 1; the status data of the unmanned container truck 76 includes the physical size of the unmanned container truck 76, the real-time position of the unmanned container truck 76, the real-time speed of the unmanned container truck 76, the real-time moving direction of the unmanned container truck 76, the entry application of the unmanned container truck 76 into the yard, the arrival information of the unmanned container truck 76, the mechanical status of the unmanned container truck 76, and the completion status of the operation instruction pool of the unmanned container truck 76; the mechanical status of the unmanned container truck 76 includes the steering of the tires of the unmanned container truck 76 and the brake pressure strength of the unmanned container truck 76; the operation instruction pool of the unmanned container truck 76 stores the business instructions distributed by the instruction system 1;

[0054] The map system 4 includes a map construction module 41, a map path planning module 42 and a map display module 43;

[0055] A map construction module 41 uses real-time point-checking and positioning technology to survey and map the site, and obtains a high-precision map after modeling;

[0056] The map path planning module 42, based on the high-precision map, according to the status data of the bridge crane 71, the status data of the flow machine 72, the status data of the gantry crane 73, the position information of the loading and unloading lock booth 74, the completion status of the loading and unloading lock, the status data of the manned container truck 75, the status data of the unmanned container truck 76 and the business instructions received by each terminal equipment 7, plans the path for each terminal equipment 7 using the global optimal path method, obtains the optimal path corresponding to each terminal equipment 7 and publishes it through the communication module 2;

[0057] The map display module 43 is electrically connected to the display screen, and displays the corresponding real-time position and the corresponding optimal path of each terminal equipment 7 on the high-precision map on the display screen;

[0058] The rule engine 5 is used to store the terminal operation rules dynamically adjusted according to the business scenarios; the business scenarios include the normal operation driving scenario of the unmanned container truck 76, the unmanned container truck 76 entering the yard, the gantry crane 73 participating in the operation in the yard, the flow machine 72 participating in the operation in the yard, the unmanned container truck 76 going to the dock surface, the loading and unloading lock operation scenario, and unknown operation scenarios that need to be added according to the actual operation situation;

[0059] The decision system 6 selects a corresponding business scenario according to the business instruction received by the unmanned container truck 76, and selects a corresponding rule from the rule engine 5 according to the state data corresponding to the terminal equipment 7 involved in the selected business scenario to match the business instruction to obtain a matching result of the business instruction, and sends the matching result of the business instruction to the unmanned container truck 76 through the communication module 2. The matching result of the business instruction includes a continue forward instruction, a wait instruction, a overtaking instruction, a detour instruction, a positioning instruction, a lock installation instruction, or a lock removal instruction;

[0060] The unmanned container truck 76 receives the matching result of the business instruction sent by the decision system 6, and executes the business instruction according to the matching result of the business instruction.

[0061] In this embodiment, the decision system 6 selects a corresponding business scenario according to the business instruction received by the unmanned container truck 76, and selects a corresponding rule from the rule engine 5 according to the state data corresponding to the terminal equipment 7 involved in the selected business scenario to match the business instruction to obtain a matching result of the business instruction. The matching result of the business instruction is sent to the unmanned container truck 76 through the communication module 2. The specific process is as follows:

[0062] When the business scenario is the normal operation driving scenario of the unmanned container truck 76: the movement trend is calculated based on the status data of the bridge crane 71, the status data of the flow machine 72, the status data of the gantry crane 73, the position information of the loading and unloading lock booth 74, the completion status of the loading and unloading lock, the status data of the manned container truck 75, the status data of the unmanned container truck 76 and the business instructions received by each terminal equipment 7, and the current or a period of time The normal operation driving scenario of the unmanned container truck 76 is obtained, and the decision system 6 determines the normal operation driving rules of the unmanned container truck 76 according to the normal operation driving scenario of the unmanned container truck 76, and issues a detour instruction, a waiting instruction, or a continue moving instruction to the unmanned container truck 76 according to the normal operation driving rules of the unmanned container truck 76;

[0063] The specific method for determining the normal operation driving rules of the unmanned container truck 76 according to the normal operation driving scene of the unmanned container truck 76 is as follows:

[0064] Set the maximum number of congestion, record the current position of the unmanned truck 76 as A, and the path as B, according to the formula Calculate the path of the unmanned container truck 76, where v represents the speed of the unmanned container truck 76, and T represents a period of time. When the paths of multiple unmanned container trucks 76 overlap or are lower than a threshold, determine whether the driving of the unmanned container truck 76 complies with traffic rules or custom rules. If the driving of the unmanned container truck 76 complies with traffic rules, the unmanned container truck 76 continues to move forward; if the driving of the unmanned container truck 76 complies with custom rules, the unmanned container truck 76 waits; when the paths of multiple unmanned container trucks 76 overlap but are higher than a threshold, determine whether the number of unmanned container trucks 76 exceeds the set maximum congestion number. If so, the unmanned container truck 76 detours; if not, the unmanned container truck 76 continues to move forward; the threshold is 10m, the traffic rules are normal traffic rules based on urban roads, refer to Subject 1, and the custom rule is that when the gantry crane 73 is operating, the unmanned container truck 76 needs to wait;

[0065] When the business scenario is the unmanned container truck 76 entering the yard: before the unmanned container truck 76 enters the yard area, the container truck sensing module 35 issues an entry application, and obtains the unmanned container truck 76 entering the yard scenario based on the status data of the unmanned container truck 76 and the status data of the gantry crane 73 issued by the sensing module, and the optimal path corresponding to the unmanned container truck 76 and the optimal path corresponding to the gantry crane 73 issued by the map system 4. The decision system 6 determines the unmanned container truck 76 entering the yard rule according to the unmanned container truck 76 entering the yard scenario, and issues a continue forward instruction or a detour instruction to the unmanned container truck 76 according to the unmanned container truck 76 entering the yard rule. When the terminal equipment 7 to enter the yard area is added When the existing terminal equipment 7 in the yard area exceeds the number of yard congestion, the decision system 6 sends a detour instruction to the unmanned container truck 76 except for the one that has sent the entry application; when there are other unmanned container trucks 76 operating on the operation lane corresponding to the business instruction of the unmanned container truck 76 that has sent the entry application, it is determined whether the unmanned container truck 76 can reach the yard operation point corresponding to the business instruction by overtaking according to the status data of the unmanned container truck 76 issued by the container truck sensing module 35. If so, the decision system 6 sends an overtaking instruction to the unmanned container truck 76; if not, the decision system 6 sends a waiting instruction to the unmanned container truck 76; the decision system 6 sends a continue moving instruction to the unmanned container truck 76 except for the above-mentioned unmanned container trucks 76;

[0066] The specific method for determining the rules for unmanned container trucks 76 to enter the yard according to the scenario of unmanned container trucks 76 entering the yard is as follows:

[0067] According to the optimal path corresponding to the unmanned container truck 76 and the optimal path corresponding to the gantry crane 73 obtained in the map system 4, each intersection from the current location of the unmanned container truck 76 to the yard operation point corresponding to the business instruction is marked as a node, and each intersection from the current location of the gantry crane 73 to the target location corresponding to the business instruction is marked as a node, and the current location of the unmanned container truck 76 is recorded as X. 车i Y 车j , the yard operation point of unmanned container truck 76 is marked as X 车m Y 车n , the current position of gantry crane 73 is recorded as X 龙i Y 龙j , the target position of gantry crane 73 is recorded as X 龙m Y 龙n , where X represents the site number, Y represents the container area number, and X 车i , X 车m , X 龙i , X 龙m ∈[1,2,3,4,5,6,7],Y 车j , Y 车n , Y 龙j , Y 龙n∈[A,B,C,...,X,Y,Z], where due to the travel restrictions of the unmanned truck 76, car m = car m, A is marked as B after moving one position, B is marked as C after moving one position, and so on, Y is marked as Z after moving one position;

[0068] If X 车i Y 车j =X 龙i Y 龙j or X 车i Y 车j =X 龙m Y 龙n or X 车m Y 车n =X 龙i Y 龙j or X 车m Y 车n =X 龙m Y 龙n , then the unmanned container truck 76 is prohibited from passing, and the unmanned container truck 76 needs to take a detour;

[0069] If | X 车i -X 龙i |>1 or |X 车i -X 龙m |>1 or |X 龙i -( X 车m )|>1 or |X 车i +1- X 龙m |>1 or | Y 车j -Y 龙j |>1 or | Y 龙j -Y 龙n |>1 or | Y 龙j -Y 车n |>1 or | Y 车n -Y 龙n |>1, the unmanned truck 76 can pass and the unmanned truck 76 continues to move forward, where || represents an absolute value;

[0070] If the operation lane corresponding to the business instruction of the gantry crane 73 is on the sea side and the gantry crane 73 enters and exits from Xiaobei, then X 龙i-1 Y 龙j-1 , X 龙i-1 Y 龙j , X 龙i Y 龙j-1 , X 龙i Y 龙j The corresponding box area encloses the intersection and X 龙i Y 龙j-1 , X 龙i Y 龙jThe operation lanes between the corresponding container areas are prohibited for unmanned container trucks 76 to pass through, and unmanned container trucks 76 need to detour; Figure 2 As shown, when the gantry crane 73 enters or exits from 2B, the intersection formed by the container areas corresponding to 1A, 1B, 2A, and 2B and the operating lane between the container areas corresponding to 2A and 2B are prohibited from passing the unmanned container truck 76;

[0071] If the operation lane corresponding to the business instruction of the gantry crane 73 is on the sea side and the gantry crane 73 enters and exits from Dabei, then X 龙i Y 龙j-1 , X 龙i Y 龙j , X 龙i+1 Y 龙j-1 , X 龙i+1 Y 龙j The intersection surrounded by the corresponding container area is prohibited for unmanned container trucks 76 to pass through, and unmanned container trucks 76 need to detour; Figure 2 As shown, when the gantry crane 73 enters or exits from 2B, the intersection surrounded by the container areas corresponding to 2A, 2B, 3A, and 3B is prohibited for unmanned container trucks 76 to pass;

[0072] If the operation lane corresponding to the business instruction of the gantry crane 73 is on the roadside and the gantry crane 73 enters and exits from Xiaobei, then X 龙i- 1 Y 龙j , X 龙i-1 Y 龙j+1 , X 龙i Y 龙j , X 龙i Y 龙j+1 The corresponding box area encloses the intersection and X 龙i Y 龙j-1 , X 龙i Y 龙j The operation lanes between the corresponding container areas are prohibited for unmanned container trucks 76 to pass through, and unmanned container trucks 76 need to detour; Figure 2 As shown, when the gantry crane 73 enters or exits from 2A, the intersection formed by the container areas corresponding to 1A, 1B, 2A, and 2B and the operating lane between the container areas corresponding to 2A and 2B are prohibited from passing the unmanned container truck 76;

[0073] If the operation lane corresponding to the business instruction of the gantry crane 73 is on the roadside and the gantry crane 73 enters and exits from Dabei, then X 龙i Y 龙j , X 龙i Y 龙j+1 , X 龙i+1 Y 龙j , X 龙i+1 Y 龙j+2 The intersection surrounded by the corresponding container area is prohibited for unmanned container trucks 76 to pass through, and unmanned container trucks 76 need to detour; Figure 2As shown, when the gantry crane 73 enters or exits from 2A, the intersection surrounded by the container areas corresponding to 2A, 2B, 3A, and 3B is prohibited for unmanned container trucks 76 to pass;

[0074] When the business scenario is a gantry crane 73 participating in an operation in a storage yard: after the unmanned container truck 76 enters the storage yard, when the unmanned container truck 76 reaches the storage yard operation point corresponding to the business instruction, the container truck sensing module 35 releases the arrival information, and according to the state information of the gantry crane 73 released by the gantry crane sensing module 33, the decision system 6 sends a positioning instruction to the unmanned container truck 76. After the unmanned container truck 76 completes the positioning according to the positioning instruction, the gantry crane 73 executes the corresponding business instruction through the gantry crane 73 spreader;

[0075] When the business scenario is that the flow machine 72 participates in the operation scenario in the yard: after the unmanned container truck 76 enters the yard, when the unmanned container truck 76 reaches the yard operation point corresponding to the business instruction, the container truck sensing module 35 releases the in-position information. According to the state information of the flow machine 72 released by the flow machine sensing module 32, the decision system 6 sends the unmanned container truck 76 a positioning instruction. After the unmanned container truck 76 completes the positioning according to the positioning instruction, the flow machine 72 executes the corresponding business instruction.

[0076] When the business scenario is the operation scenario of unmanned container truck 76 going to the dock surface: when the unmanned container truck 76 completes the packing operation and goes to the dock surface to operate, if the number of unmanned container trucks 76 operating on the dock surface exceeds the number of unmanned container trucks 76 allowed to operate on the dock surface, the right of way is opened to the unmanned container trucks 76 in sequence according to the priority principle of the business instruction, and the operation scenario of unmanned container truck 76 going to the dock surface is obtained. The decision system 6 determines the operation rules of unmanned container truck 76 going to the dock surface according to the operation scenario of unmanned container truck 76 going to the dock surface, and sends a waiting instruction or a continuing instruction to the unmanned container truck 76 according to the operation rules of unmanned container truck 76 going to the dock surface. When the unmanned container truck 76 reaches the dock surface operation point corresponding to the business instruction, the decision system 6 sends a positioning instruction to the unmanned container truck 76 according to the status data of the unmanned container truck 76 issued by the container truck sensing module 35 and the status data of the bridge crane 71 issued by the bridge crane sensing module 31. After the unmanned container truck 76 completes the positioning according to the positioning instruction, the bridge crane 71 executes the corresponding business instruction through the bridge crane 71 hoist; wherein the number of unmanned container trucks 76 allowed to operate on the dock surface is set according to the business scenario;

[0077] The specific method for determining the operation rules of unmanned container truck 76 going to the dock surface according to the operation scenario of unmanned container truck 76 going to the dock surface is as follows:

[0078] Determine whether the lane where the unmanned container truck 76 is currently located is the lane in the business instruction. If the lane where the unmanned container truck 76 is currently located is the lane in the operation instruction, then determine whether there are other unmanned container trucks 76 operating in the lane where the unmanned container truck 76 is currently located. If so, the unmanned container truck 76 waits; if not, then determine whether the lane where the unmanned container truck 76 is currently located forms a closed road. If so, the unmanned container truck 76 waits; if not, the unmanned container truck 76 continues to move forward; if the lane where the unmanned container truck 76 is currently located is not the lane in the operation instruction, then determine whether the lane where the unmanned container truck 76 is currently located forms a closed road. If so, the unmanned container truck 76 waits; if not, the unmanned container truck 76 continues to move forward; a closed road means that when the status data of the bridge crane 71 released by the bridge crane sensing module 31 indicates that the bridge crane 71 is operating, the bound lane corresponding to the bridge crane 71 forms a closed road.

[0079] When the business scenario is a centralized loading and unloading lock operation scenario: after the unmanned container truck 76 completes the packing operation, according to the ship map and the location information of the loading and unloading lock booth 74 and the completion status of the loading and unloading lock released by the centralized loading and unloading lock perception module 34, the decision system 6 sends a locking instruction to the unmanned container truck 76 that needs to be locked, and sends an unloading instruction to the unmanned container truck 76 that needs to be unloaded. The unmanned container truck 76 drives to the corresponding loading and unloading lock booth 74 according to the locking instruction or the unloading instruction to complete the loading or unloading.

[0080] In the ship loading and unloading operation, the work efficiency after using the present invention is improved by more than 10% compared with the original work efficiency before using the present invention.

Claims

1. A dynamic management system for terminal operations for unmanned container trucks, characterized in that Including command system, communication module, perception system, map system, rule engine, decision system and terminal equipment; The instruction system is connected to the container terminal operating system by electrical signals, and is used to receive the information flow data released by the container terminal operating system, obtain the corresponding business instructions after parsing, and distribute the business instructions to the corresponding terminal equipment through the communication module; the terminal equipment includes a plurality of bridge cranes equipped with positioning equipment, laser radars and cameras, a plurality of flow machines equipped with positioning equipment, a plurality of gantry cranes equipped with positioning equipment and cameras, a plurality of loading and unloading lock booths equipped with positioning equipment, a plurality of manned container trucks equipped with positioning equipment, and a plurality of unmanned container trucks equipped with positioning equipment; The sensing system comprises a bridge crane sensing module installed on the bridge crane, a flow machine sensing module installed on the flow machine, a gantry crane sensing module installed on the gantry crane, a centralized loading and unloading lock sensing module installed on the loading and unloading lock sentry box, and a container truck sensing module installed on the manned container truck and the unmanned container truck; The bridge crane sensing module is used to publish the status data of the bridge crane through the communication module; the status data of the bridge crane includes the real-time position of the bridge crane, the real-time speed of the bridge crane, the real-time moving direction of the bridge crane, the operating status of the bridge crane, the up and down moving position of the bridge crane spreader, the moving speed of the bridge crane spreader, the size of the bridge crane spreader when grabbing the container, the movement information of the bridge crane cab, the real-time alignment information of manned container trucks and unmanned container trucks, the corresponding binding lane information and the completion status of the bridge crane operation instruction pool; the operating status of the bridge crane includes operating, idle and unable to operate; the bridge crane operation instruction pool stores the business instructions distributed by the instruction system; The flow machine perception module is used to publish the state data of the flow machine through the communication module; the state data of the flow machine includes the real-time position of the flow machine, the real-time speed of the flow machine, the real-time moving direction of the flow machine, the real-time alignment information of manned and unmanned container trucks, and the completion status of the flow machine operation instruction pool; the flow machine operation instruction pool stores the business instructions distributed by the instruction system; The gantry crane sensing module is used to publish the status data of the gantry crane through the communication module; the status data of the gantry crane includes the real-time position of the gantry crane, the real-time speed of the gantry crane, the real-time moving direction of the gantry crane, the operating status of the gantry crane, the up and down moving position of the gantry crane spreader, the moving speed of the gantry crane spreader, the size of the gantry crane spreader when grabbing the container, the movement information of the gantry crane cab, the real-time alignment information of manned container trucks and unmanned container trucks, and the completion status of the gantry crane operation instruction pool; the operating status of the gantry crane includes operating, idle and unable to operate; the gantry crane operation instruction pool stores the business instructions distributed by the instruction system; The centralized loading and unloading lock sensing module is used to publish the location information of the loading and unloading lock booth and the completion status of loading and unloading locks through the communication module; The container truck sensing module is used to publish the status data of manned container trucks and unmanned container trucks through the communication module; the status data of manned container trucks include the real-time position of manned container trucks, the real-time speed of manned container trucks, the real-time moving direction of manned container trucks, and the completion status of the manned container truck operation instruction pool; the manned container truck operation instruction pool stores the business instructions distributed by the instruction system; the status data of unmanned container trucks include the physical size of unmanned container trucks, the real-time position of unmanned container trucks, the real-time speed of unmanned container trucks, the real-time moving direction of unmanned container trucks, the entry application of unmanned container trucks into the yard, the arrival information of unmanned container trucks, the mechanical status of unmanned container trucks, and the completion status of the unmanned container truck operation instruction pool; the mechanical status of unmanned container trucks includes the steering of the tires of unmanned container trucks and the brake pressure strength of unmanned container trucks; the unmanned container truck operation instruction pool stores the business instructions distributed by the instruction system; The map system includes a map construction module, a map path planning module and a map display module; The map building module uses real-time location-checking technology to map the site and obtain a high-precision map after modeling; The map path planning module, based on the high-precision map, according to the status data of the bridge crane, the status data of the flow machine, the status data of the gantry crane, the location information of the loading and unloading lock booth, the completion status of the loading and unloading lock, the status data of the manned container truck, the status data of the unmanned container truck and the business instructions received by each terminal equipment, plans the path for each terminal equipment using the global optimal path method, obtains the optimal path corresponding to each terminal equipment and publishes it through the communication module; The map display module is electrically connected to the display screen, and displays the real-time position and the corresponding optimal path of each terminal equipment on the high-precision map on the display screen; The rule engine is used to store terminal operation rules dynamically adjusted according to business scenarios; the business scenarios include normal operation of unmanned container trucks, unmanned container trucks entering the yard, gantry cranes participating in the operation in the yard, flow machines participating in the operation in the yard, unmanned container trucks going to the dock, loading and unloading lock operation scenarios, and unknown operation scenarios that need to be added according to actual operation conditions; The decision-making system selects a corresponding business scenario according to the business instructions received by the unmanned container truck, and selects a corresponding rule from the rule engine according to the status data corresponding to the terminal equipment involved in the selected business scenario to match the business instructions to obtain a matching result of the business instructions, and sends the matching result of the business instructions to the unmanned container truck through the communication module; the unmanned container truck receives the matching result of the business instructions sent by the decision-making system, and executes the business instructions according to the matching result of the business instructions.

2. A dynamic management system for terminal operations for unmanned container trucks according to claim 1, characterized in that The flow machine includes a front loaders and a forklift, the communication module adopts a communication protocol, and the matching result of the business instruction includes a continue forward instruction or a wait instruction or an overtaking instruction or a detour instruction or a positioning instruction or a locking instruction or a locking unloading instruction.

3. A dynamic management system for terminal operations for unmanned container trucks according to claim 1, characterized in that The decision system selects a corresponding business scenario according to the business instruction received by the unmanned container truck, and selects a corresponding rule from the rule engine according to the status data corresponding to the terminal equipment involved in the selected business scenario to match the business instruction to obtain the matching result of the business instruction, and sends the matching result of the business instruction to the unmanned container truck through the communication module. The specific process is as follows: When the business scenario is the normal operation driving scenario of unmanned container trucks: the movement trend is calculated based on the status data of the bridge crane, the status data of the flow machine, the status data of the gantry crane, the location information of the loading and unloading lock booth, the completion status of the loading and unloading lock, the status data of manned container trucks, the status data of unmanned container trucks and the business instructions received by each terminal equipment released by the perception system, and the normal operation driving scenario of the unmanned container trucks at present or within a period of time is obtained. The decision system determines the normal operation driving rules of the unmanned container trucks according to the normal operation driving scenario of the unmanned container trucks, and issues detour instructions, waiting instructions or continue moving instructions to the unmanned container trucks according to the normal operation driving rules of the unmanned container trucks; When the business scenario is an unmanned container truck entering the yard: before the unmanned container truck enters the yard area, the container truck perception module issues an entry application. According to the status data of the unmanned container truck and the status data of the gantry crane issued by the perception module, and the optimal path corresponding to the unmanned container truck and the optimal path corresponding to the gantry crane issued by the map system, the unmanned container truck entering the yard scenario is obtained. The decision system determines the unmanned container truck entering the yard rule according to the unmanned container truck entering the yard scenario, and issues a continue forward instruction or a detour instruction to the unmanned container truck according to the unmanned container truck entering the yard rule. When the terminal equipment to enter the yard area is added with the stacking When the existing terminal equipment in the yard area exceeds the number of yard congestion, the decision system sends a detour instruction to the unmanned container trucks except those that have sent entry applications; when there are other unmanned container trucks operating on the operation lane corresponding to the business instruction of the unmanned container truck that has sent entry applications, the state data of the unmanned container truck released by the container truck sensing module is used to determine whether the unmanned container truck can reach the yard operation point corresponding to the business instruction by overtaking. If so, the decision system sends an overtaking instruction to the unmanned container truck; if not, the decision system sends a waiting instruction to the unmanned container truck; the decision system sends a continue moving instruction to the unmanned container trucks except those mentioned above; When the business scenario is a gantry crane participating in the operation in the yard: After the unmanned container truck enters the yard, when the unmanned container truck arrives at the yard operation point corresponding to the business instruction, the container truck sensing module releases the arrival information. According to the gantry crane status information released by the gantry crane sensing module, the decision system sends the unmanned container truck a positioning instruction; When the business scenario is a flow machine participating in the operation in the yard: after the unmanned container truck enters the yard, when the unmanned container truck arrives at the yard operation point corresponding to the business instruction, the container truck perception module releases the in-position information. According to the flow machine status information released by the flow machine perception module, the decision system sends a positioning instruction to the unmanned container truck; When the business scenario is an unmanned container truck going to the dock surface operation scenario: when the unmanned container truck completes the packing operation and goes to the dock surface to operate, if the number of unmanned container trucks operating on the dock surface exceeds the number of unmanned container trucks allowed to operate on the dock surface, the right of way is opened to the unmanned container trucks in turn according to the priority principle of the business instructions, and the unmanned container trucks going to the dock surface operation scenario is obtained. The decision system determines the unmanned container truck going to the dock surface operation rules according to the unmanned container truck going to the dock surface operation scenario, and sends a waiting instruction or a continue moving instruction to the unmanned container truck according to the unmanned container truck going to the dock surface operation rules. When the unmanned container truck reaches the dock surface operation point corresponding to the business instruction, the decision system sends a positioning instruction to the unmanned container truck according to the status data of the unmanned container truck released by the container truck sensing module and the status data of the bridge crane released by the bridge crane sensing module; When the business scenario is a centralized loading and unloading lock operation scenario: after the unmanned container truck completes the packing operation, based on the ship map and the location information of the loading and unloading lock booth and the completion status of the loading and unloading lock released by the centralized loading and unloading lock perception module, the decision system sends a locking instruction to the unmanned container truck that needs to be locked, and sends a locking unloading instruction to the unmanned container truck that needs to be unlocked.

4. A dynamic management system for terminal operations for unmanned container trucks according to claim 3, characterized in that The specific method for determining the normal operation and driving rules of unmanned container trucks based on the normal operation and driving scenarios of unmanned container trucks is as follows: Set the maximum congestion number, record the current position of the unmanned truck as A, and the path as B. According to the formula Calculate the path of the unmanned container truck, where v represents the speed of the unmanned container truck, and T represents a period of time. When the paths of multiple unmanned container trucks overlap or are lower than a threshold, determine whether the driving of the unmanned container truck complies with traffic rules or custom rules. If the driving of the unmanned container truck complies with traffic rules, the unmanned container truck continues to move forward; if the driving of the unmanned container truck complies with custom rules, the unmanned container truck waits; when the paths of multiple unmanned container trucks overlap but are higher than a threshold, determine whether the number of unmanned container trucks exceeds the set maximum congestion number. If so, the unmanned container truck detours; if not, the unmanned container truck continues to move forward.

5. A dynamic management system for terminal operations for unmanned container trucks according to claim 4, characterized in that The threshold is 10m, the traffic rules are normal traffic rules based on urban roads, and the custom rules are that when the gantry crane is operating, unmanned container trucks need to wait.

6. The dynamic management system for terminal operations for unmanned container trucks according to claim 3 is characterized in that The specific method for determining the rules for unmanned container trucks to enter the storage yard based on the scenario of unmanned container trucks entering the storage yard is as follows: According to the optimal path corresponding to the unmanned container truck and the optimal path corresponding to the gantry crane obtained in the map system, each intersection from the current location of the unmanned container truck to the yard operation point corresponding to the business instruction is marked as a node, and each intersection from the current location of the gantry crane to the target location corresponding to the business instruction is marked as a node, and the current location of the unmanned container truck is recorded as X. 车iY车j , the yard operation point of unmanned container truck is marked as X 车mY车n , the current position of the gantry crane is recorded as X 龙i Y 龙j , the target position of the gantry crane is recorded as X 龙mY龙n , where X represents the site number, Y represents the container area number, and X 车i , X 车m , X 龙i , X 龙m ∈[1,2,3,4,5,6,7],Y 车j , Y 车n , Y 龙j , Y 龙n ∈[A,B,C,...,X,Y,Z], where due to the travel restrictions of unmanned trucks, car m = car m, A is marked as B after moving one position, B is marked as C after moving one position, and so on, Y is marked as Z after moving one position; If X 车iY车j =X 龙iY龙j or X 车iY车j =X 龙mY龙n or X 车mY车n =X 龙iY龙j or X 车mY车n =X 龙mY龙n , then unmanned container trucks are prohibited from passing and need to take a detour; If | X 车i -X 龙i |>1 or |X 车i -X 龙m |>1 or |X 龙i -( X 车m )|>1 or |X 车i +1- X 龙m |>1 or |Y 车j - Y 龙j |>1 or | Y 龙j - Y 龙n |>1 or | Y 龙j - Y 车n |>1 or | Y 车n - Y 龙n |>1, the unmanned truck can pass and continue to move forward; If the operation lane corresponding to the business instruction of the gantry crane is on the sea side and the gantry crane enters and exits from Xiaobei, then X 龙i-1 Y 龙j-1 , X 龙i- 1Y 龙j , X 龙iY龙j-1 , X 龙iY龙j The corresponding box area encloses the intersection and X 龙iY龙j-1 , X 龙iY龙j Unmanned container trucks are prohibited from passing through the operating lanes between the corresponding container areas, and unmanned container trucks must take a detour; If the operation lane corresponding to the business instruction of the gantry crane is on the sea side and the gantry crane enters and exits from Dabei, then X 龙iY龙j-1 , X 龙iY龙j , X 龙i+1 Y 龙j-1 , X 龙i+1 Y 龙j Unmanned container trucks are prohibited from passing through the intersections surrounded by the corresponding container areas, and unmanned container trucks need to take a detour; If the operation lane corresponding to the business instruction of the gantry crane is on the roadside and the gantry crane enters and exits from Xiaobei, then X 龙i-1 Y 龙j , X 龙i- 1Y 龙j+1 , X 龙iY龙j , X 龙iY龙j+1 The corresponding box area encloses the intersection and X 龙iY龙j-1 , X 龙iY龙j Unmanned container trucks are prohibited from passing through the operating lanes between the corresponding container areas, and unmanned container trucks must take a detour; If the operation lane corresponding to the business instruction of the gantry crane is on the roadside and the gantry crane enters and exits from Dabei, then X 龙iY龙j , X 龙iY龙j+1 , X 龙i+1 Y 龙j , X 龙i+1 Y 龙j+2 Unmanned container trucks are prohibited from passing through the intersections surrounded by the corresponding container areas, and unmanned container trucks are required to take a detour.

7. The dynamic management system for terminal operations for unmanned container trucks according to claim 3 is characterized in that The specific method for determining the operation rules of unmanned container trucks going to the dock surface according to the operation scenario of unmanned container trucks going to the dock surface is as follows: Determine whether the lane where the unmanned container truck is currently located is the lane in the business instruction. If the lane where the unmanned container truck is currently located is the lane in the operation instruction, determine whether there are other unmanned container trucks operating in the lane where the unmanned container truck is currently located. If so, the unmanned container truck waits; if not, determine whether the lane where the unmanned container truck is currently located forms a closed road. If so, the unmanned container truck waits; if not, the unmanned container truck continues to move forward; if the lane where the unmanned container truck is currently located is not the lane in the operation instruction, determine whether the lane where the unmanned container truck is currently located forms a closed road. If so, the unmanned container truck waits; if not, the unmanned container truck continues to move forward; the closed road means that when the status data of the bridge crane released by the bridge crane sensing module indicates that the bridge crane is operating, the bound lane corresponding to the bridge crane forms a closed road.

8. The dynamic management system for terminal operations for unmanned container trucks according to claim 3 is characterized in that The number of yard congestion is set according to the business scenario, and the number of unmanned container trucks allowed to operate on the dock is set according to the business scenario.

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