Crane scheduling method and device, system, electronic equipment, computer readable medium

Abstract

The present disclosure provides a crane scheduling method and device, and relates to the technical fields of logistics transportation, big data and the like. The specific implementation scheme is: obtaining the state of a transportation device, the cargo information of an initial area, and the cargo information of a buffer area; in response to the state of the transportation device being not ready, detecting whether the initial area has cargo based on the cargo information of the initial area; in response to the initial area having no cargo, detecting whether the first type of cargo in the buffer area is located below the second type of cargo based on the cargo information of the buffer area, the first type of cargo being the cargo whose remaining time for picking up reaches the transportation period of the cargo, and the second type of cargo being the cargo whose remaining time for picking up does not reach the transportation period of the cargo; and in response to the first type of cargo in the buffer area being located below the second type of cargo, controlling the crane to adjust the position of the cargo in the buffer area according to a preset rule for turning over the box. The embodiment improves the timeliness of the cargo stacking processing.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, in particular to the technical field of logistics transportation, big data and the like, and more particularly to a crane scheduling method and device, system, electronic device, computer readable medium and computer program product. BACKGROUND

[0002] In the container shipping industry, millions of containers need to be stacked every year, and the stacking problem is the core problem of the container shipping industry. If the cranes are not reasonably scheduled to pick up the containers, the stacking problem of the containers will be aggravated.

[0003] In the steel industry, raw materials such as steel billets, blooms and steel coils need to be efficiently stacked. If the cranes are not reasonably scheduled to pick up these raw materials in the steel industry, the final production quality of the products may be affected. SUMMARY

[0004] A crane scheduling method and device, system, electronic device, computer readable medium and computer program product are provided.

[0005] According to a first aspect, a crane scheduling method is provided, the method comprising: obtaining a state of a transportation device, cargo information of an initial area, and cargo information of a buffer area, the cargo information comprising: cargo positions and pickup remaining time of the cargos; in response to the state of the transportation device being not ready, detecting whether there is cargo in the initial area based on the cargo information of the initial area; in response to there being no cargo in the initial area, detecting whether a first type of cargo in the buffer area is located below a second type of cargo based on the cargo information of the buffer area, the first type of cargo being a cargo whose pickup remaining time reaches a transportation period of the cargo, and the second type of cargo being a cargo whose pickup remaining time does not reach a transportation period of the cargo; and in response to the first type of cargo in the buffer area being located below the second type of cargo, controlling a crane to adjust positions of the cargos in the buffer area according to a preset box flipping rule.

[0006] According to a second aspect, there is also provided a crane scheduling apparatus, comprising: a first obtaining unit configured to obtain a state of a transport device, goods information of an initial area, and goods information of a buffer area, the goods information comprising: a goods position and a pickup remaining time of the goods; an initial detecting unit configured to, in response to the state of the transport device being not ready, detect whether the initial area has goods based on the goods information of the initial area; a buffer detecting unit configured to, in response to the initial area having no goods, detect whether a first type of goods in the buffer area is located below a second type of goods based on the goods information of the buffer area, the first type of goods being goods whose pickup remaining time reaches a transport period of the goods, and the second type of goods being goods whose pickup remaining time does not reach the transport period of the goods; and a flipping unit configured to, in response to the first type of goods in the buffer area being located below the second type of goods, control a crane to adjust the position of the goods in the buffer area according to a preset flipping rule.

[0007] According to a third aspect, there is provided a crane scheduling system, comprising: a goods yard; an initial area located in the goods yard, configured to receive and store goods input into the goods yard, each of the goods having a positioning device configured to collect goods information of the goods, the goods information comprising: a goods position and a pickup remaining time of the goods; a buffer area located in the goods yard, configured to receive and store goods output from the initial area; a transport device configured to transport the goods out of the goods yard; and a control device connected with the transport device and the positioning device respectively, configured to drive a crane of the goods yard to adjust the position of the goods in the buffer area according to a preset flipping rule, in response to the state of the transport device being not ready, the initial area having no goods, and a first type of goods in the buffer area being located below a second type of goods, the first type of goods being goods whose pickup remaining time reaches a transport period of the goods, and the second type of goods being goods whose pickup remaining time does not reach the transport period of the goods.

[0008] According to a fourth aspect, there is provided an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in any implementation manner of the first aspect.

[0009] According to a fifth aspect, there is provided a non-transitory computer-readable storage medium storing computer instructions, the computer instructions being used to cause a computer to perform the method described in any implementation manner of the first aspect.

[0010] According to a sixth aspect, there is provided a computer program product comprising a computer program, the computer program being executed by a processor to implement the method described in any implementation manner of the first aspect.

[0011] The crane scheduling method and device provided by the embodiments of the present disclosure first acquire the state of the transportation device, the goods information of the initial area, and the goods information of the buffer area, the goods information including the goods position and the goods pickup remaining time; secondly, in response to the state of the transportation device being not ready, the initial area is detected based on the goods information of the initial area whether there is goods in the initial area; thirdly, in response to the initial area having no goods, the first type of goods in the buffer area is detected based on the goods information of the buffer area whether the first type of goods is located below the second type of goods, the first type of goods being the goods whose pickup remaining time reaches the transportation period of the goods, and the second type of goods being the goods whose pickup remaining time does not reach the transportation period of the goods; and finally, in response to the first type of goods in the buffer area being located below the second type of goods, the crane is controlled to adjust the position of the goods in the buffer area according to the preset box flipping rule. Thus, when the transportation device is not ready and the buffer area has no goods, the crane adjusts the goods in the buffer area according to the preset box flipping rule, so that the first type of goods located below the second type of goods can be flipped above the second type of goods, and the first type of goods can be quickly transported to the appropriate location, thereby improving the timeliness of goods transportation.

[0012] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0014] Figure 1 is a flowchart of one embodiment of the crane scheduling method according to the present disclosure;

[0015] Figure 2 is a flowchart of another embodiment of the crane scheduling method according to the present disclosure;

[0016] Figure 3 is a schematic diagram of the crane picking up goods in different sub-areas of the buffer area in the embodiments of the present disclosure;

[0017] Figure 4 is a structural schematic diagram of one embodiment of the crane scheduling device according to the present disclosure;

[0018] Figure 5 is a structural schematic diagram of one embodiment of the crane scheduling system according to the present disclosure;

[0019] Figure 6 is a block diagram of an electronic device for implementing the crane scheduling method according to the embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present disclosure are described herein below with reference to the accompanying drawings, in which various details are set forth to facilitate an understanding of the present disclosure. It should be appreciated that various embodiments of the present disclosure can be practiced with variation of details and without using all of the information described herein. Accordingly, the disclosure should not be construed as being limited to the embodiments set forth herein; rather, they are presented herein for illustrative purposes.

[0021] Figure 1 A flow 100 according to one embodiment of the crane scheduling method of the present disclosure is shown, which comprises the following steps:

[0022] In step 101, the state of the transport device, the cargo information of the initial area, and the cargo information of the buffer area are acquired.

[0023] In this embodiment, the cargo can be different types of goods in the freight yard, such as containers, steel production raw materials, etc., and the cargo information includes the cargo location and the remaining time for picking up the cargo. The cargo information can be the information of the cargo in the initial area or the information of the cargo in the buffer area. The cargo location in the cargo information has an area identifier corresponding to the initial area or the buffer area, a location identifier of the initial area or the buffer area, and a cargo identifier, wherein the cargo identifier can be a unique code to distinguish the cargo. The image acquisition device (such as a camera) and the time recording device (a timer) installed in the freight yard can be used to collect the cargo information in the initial area and the buffer area in real time.

[0024] In this embodiment, the remaining time for picking up the cargo is the countdown of the time for picking up the cargo after the cargo enters the freight yard. Based on the characteristics of the cargo, the time point at which the time for picking up each cargo starts to count down and the length of the time for picking up can be different. For example, some cargo starts to count down the time for picking up after entering the freight yard for a certain period of time, while other cargo starts to count down the time for picking up directly after entering the freight yard. The remaining time for picking up each cargo decreases as time goes on. When the remaining time for picking up each cargo reaches the transport period of the cargo (each cargo has a maximum time and a minimum time requirement for transport, and the time period between the minimum time and the maximum time is the transport period), the cargo needs to be picked up within the transport period.

[0025] In this embodiment, the freight yard is a place for storing cargo, and the initial area and the buffer area are both areas in the freight yard. The initial area is the first temporary cargo storage area after the cargo enters the freight yard, and the buffer area is the cargo storage area adjacent to the initial area. Generally, the storage capacity of the buffer area is greater than that of the initial area. When the initial area cannot accommodate the cargo entering the freight yard, the cargo entering the freight yard can be stored in the buffer area for buffering. The buffer area can include at least one sub-area, and the capacity of each sub-area can be adaptively set based on the cargo buffering demand.

[0026] The crane is a device that can run in the initial area and the buffer area, or move out of the initial area and the buffer area, and the crane can pick up or adjust the goods in the initial area and the buffer area.

[0027] In this embodiment, the state of the transport device is used to reflect whether the transport device can load goods, when the state of the transport device is ready, at this time the transport device can load goods, and the goods in the initial area or the buffer area can be placed on the transport device by the crane. Correspondingly, when the state of the transport device is not ready, it indicates that the transport device is not within the scope of the goods yard, and the goods in the initial area or the buffer area cannot be placed on the transport device. It should be noted that the transport device includes a controller for controlling the operation of the transport device, and the execution subject on which the crane scheduling method runs can determine the state of the transport device by communicating with the controller of the transport device.

[0028] In this embodiment, the state of the crane is used to reflect whether the crane can cooperate with the transport device, when the state of the crane is not ready, the crane cannot run to the area where the transport device is located, but the crane can run in the area where the initial area and the buffer area are located, and can also transport the goods in the initial area to the buffer area. When the state of the crane is ready, the crane can run to the area where the transport device is located, can transport the goods in the initial area and the buffer area to the transport device, and can also transport the goods in the initial area to the buffer area.

[0029] Step 102, in response to the state of the transport device being not ready, detecting whether there is goods in the initial area based on the goods information of the initial area.

[0030] In this embodiment, the goods information of the initial area includes: goods identification, goods position, and goods pickup remaining time; when there is no goods in the initial area, the goods information of the initial area is empty; when there is goods in the initial area, the goods information of the initial area has the identification of each goods in the initial area, the position of each goods, and the pickup remaining time of each goods.

[0031] Optionally, the goods information of the initial area can also include: initial area identification, which is used to identify the specific position of the goods in the initial area.

[0032] In this embodiment, when the state of the transport device is not ready, the transport device cannot run to the area where the initial area and the buffer area are located, at this time, no matter the state of the crane, the goods in the goods yard cannot be transported out of the goods yard.

[0033] Step 103, in response to the initial area having no goods, detecting whether the first type of goods in the buffer area is located below the second type of goods based on the goods information of the buffer area.

[0034] The first type of goods is goods whose pickup remaining time reaches the transport time period of the goods, and the second type of goods is goods whose pickup remaining time does not reach the transport time period of the goods.

[0035] In the embodiment, when there is no goods in the initial area, the goods in the buffer area can be adjusted by the crane. Since the state of the transport device is not ready at this time, the crane can only adjust the goods in the buffer area.

[0036] In the embodiment, the goods information of the buffer area includes: goods identification, goods position, and pickup remaining time of the goods. When there is no goods in the buffer area, the goods information of the buffer area is empty. When there is goods in the buffer area, the goods information of the buffer area has the identification of each goods in the buffer area, the position of each goods, and the pickup remaining time of each goods. Optionally, the goods position of the buffer area can further include the sub-area identification of the buffer area, and the sub-area identification can be used to determine the position of the goods in the buffer area.

[0037] Optionally, the goods information of the buffer area can further include: buffer area identification, which is used to identify the specific position of the goods in the buffer area.

[0038] In the embodiment, based on the pickup remaining time of each goods in the goods information and the pre-stored transport time period of each goods, it can be determined whether each goods is the first type of goods or the second type of goods. Based on the goods information of the buffer area, it is detected whether the first type of goods in the buffer area is located below the second type of goods, including: based on the goods information of the buffer area, it is determined whether there is goods in the buffer area; if there is goods, based on the pickup remaining time of each goods, it is detected whether there is the first type of goods and the second type of goods in the buffer area, and if there is the first type of goods and the second type of goods, it is detected whether the first type of goods is located below the second type of goods.

[0039] In the embodiment, the first type of goods located below the second type of goods can be that the first type of goods directly faces the second type of goods and is completely stacked below the second type of goods; can also be that the first type of goods is diagonally opposite to the second type of goods and is partially stacked below the second type of goods; or can also be that multiple first type of goods are spaced or continuously stacked below the second type of goods.

[0040] In step 104, in response to the first type of goods in the buffer area being located below the second type of goods, the position of the goods in the buffer area is adjusted according to the preset flipping rule.

[0041] In the embodiment, the first type of goods is goods whose pickup countdown is close to the minimum time requirement of transport, and the goods need to be taken away as soon as possible. Therefore, by setting the flipping rule, the first type of goods located below the second type of goods is no longer in the state of being stacked by the second type of goods, so that all the first type of goods in the buffer area can be located at a position that can be reached by the crane at any time.

[0042] Due to the continuous digitization of industrial production processes, the instant availability of data makes it possible to optimize the stacking problem in a highly dynamic environment, and the crane scheduling method provided in the present application can handle problems of unknown and random information that change dynamically.

[0043] In the embodiment, the turnover rule is a position adjustment rule for the first type of goods in the buffer area. Based on the current storage state of the goods in the buffer area and the placement state of the goods in each sub-area of the buffer area, all the first type of goods under the second type of goods are turned over to the top of the second type of goods, or the first type of goods under the second type of goods are adjusted to a state that is not stacked by the second type of goods, or part of the first type of goods is located above the second type of goods and part of the first type of goods is located at a position that can be retrieved by the crane.

[0044] In the embodiment, the turnover rule includes: based on the goods information of the buffer area, detecting whether there is a sub-area with empty goods in the buffer area; in response to the buffer area having a sub-area with empty goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area with empty goods, so that the first type of goods is exposed and the crane can retrieve the first type of goods at any time; in response to the buffer area having no sub-area with empty goods, detecting whether there is a sub-area that only contains the second type of goods in the buffer area; in response to the buffer area having a sub-area that only contains the second type of goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area that only contains the second type of goods.

[0045] Alternatively, the turnover rule can also include: in response to the buffer area having no sub-area with empty goods and no sub-area that only contains the second type of goods, determining a sub-area with the least goods in the buffer area, and controlling the crane to move the second type of goods above the first type of goods to the sub-area with the least goods.

[0046] The crane scheduling method provided by the embodiments of the present disclosure first acquires the state of the transportation device, the cargo information of the initial area, and the cargo information of the buffer area, the cargo information including the cargo position and the pickup remaining time of the cargo; secondly, in response to the state of the transportation device being not ready, the initial area is detected based on the cargo information of the initial area whether there is cargo in the initial area; thirdly, in response to the initial area having no cargo, the first type of cargo in the buffer area is detected based on the cargo information of the buffer area whether it is located below the second type of cargo, the first type of cargo being the cargo whose pickup remaining time reaches the transportation period of the cargo, and the second type of cargo being the cargo whose pickup remaining time does not reach the transportation period of the cargo; and finally, in response to the first type of cargo in the buffer area being located below the second type of cargo, the crane is controlled to adjust the position of the cargo in the buffer area according to the preset box flipping rule. Thus, when the transportation device is not ready and the buffer area has no cargo, the crane is controlled to adjust the cargo in the buffer area according to the preset box flipping rule, so that the first type of cargo located below the second type of cargo can be flipped above the second type of cargo, and the first type of cargo can be quickly transported to a suitable location by the transportation device, thereby improving the timeliness of cargo transportation.

[0047] Figure 2 The flow 200 of another embodiment of the crane scheduling method according to the present disclosure is shown, the crane scheduling method including the following steps:

[0048] In step 201, the state of the transportation device, the cargo information of the initial area, and the cargo information of the buffer area are acquired, and then step 202 is performed.

[0049] The cargo information includes the cargo position and the pickup remaining time of the cargo.

[0050] In the present embodiment, the cargo in the initial area can include the first type of cargo and / or the second type of cargo, and the cargo in the buffer area can include the first type of cargo and / or the second type of cargo. The definitions of the first type of cargo and the second type of cargo have been described in detail in the previous embodiments, and will not be repeated here.

[0051] In step 202, it is detected whether the state of the transportation device is ready; if the state of the transportation device is ready, step 203 is performed; if the state of the transportation device is not ready, step 205 is performed.

[0052] In the present embodiment, the execution subject on which the crane scheduling method runs can determine the state of the transportation device by communicating with the control of the transportation device; the state of the transportation device includes ready and not ready, when the state of the transportation device is ready, the cargo in the initial area and the buffer area can be transported; when the state of the transportation device is not ready, the cargo in the initial area and the buffer area cannot be transported.

[0053] Step 203, obtaining and detecting whether the state of the crane is ready; if the state of the crane is ready, executing step 204; if the state of the crane is not ready, executing step 205.

[0054] In this embodiment, the execution subject on which the crane scheduling method runs can communicate with the controller controlling the crane to obtain the state of the crane. The state of the crane includes: ready and not ready. When in the state of ready, the crane can move to any position in the freight yard and call the goods in the position; when the crane is in the state of not ready, the crane can only move in the initial area and the buffer area and move the goods in the initial area and the buffer area.

[0055] Step 204, based on the goods information of the initial area and the goods information of the buffer area, calling the first type of goods in the initial area and the buffer area by the crane in turn, and moving the first type of goods to the transport device, and then returning to step 201.

[0056] In this embodiment, based on the rationality requirement of goods layout, the initial area and the buffer area have their own priority, and the priority of the initial area is greater than that of the buffer area. The above calling the first type of goods in the initial area and the buffer area by the crane in turn based on the goods information of the initial area and the goods information of the buffer area includes: first controlling the crane to call the first type of goods in the initial area, and then controlling the crane to call the first type of goods in the buffer area after all the first type of goods in the initial area are called.

[0057] Alternatively, the above calling the first type of goods in the initial area and the buffer area by the crane in turn based on the goods information of the initial area and the goods information of the buffer area further includes: in response to the absence of the first type of goods in the initial area, controlling the crane to call the second type of goods in the buffer area; and in response to the completion of calling the second type of goods in the buffer area, controlling the crane to call the first type of goods in the buffer area.

[0058] Step 205, based on the goods information of the initial area, detecting whether the initial area has goods; if the initial area has no goods, executing step 206; if the initial area has goods, executing step 208.

[0059] Step 206, based on the goods information of the buffer area, detecting whether the first type of goods in the buffer area is below the second type of goods; if the first type of goods in the buffer area is below the second type of goods, executing step 207; if the first type of goods in the buffer area is above the second type of goods, executing step 201.

[0060] Among them, the first type of goods is the goods whose remaining time to pick up the goods reaches the transport period of the goods, and the second type of goods is the goods whose remaining time to pick up the goods does not reach the transport period of the goods.

[0061] In step 207, the crane is controlled to adjust the position of the goods in the buffer area according to the preset flipping rule, and then step 201 is performed.

[0062] It should be understood that the operations and features of steps 201, 205-207 described above correspond to the operations and features of steps 101-104 respectively, and thus the descriptions of the operations and features in steps 101-104 above also apply to steps 201-202, 205-207, which will not be described here again.

[0063] In step 208, the crane is controlled to obtain the goods in the initial area and move the goods to the buffer area one by one, and then step 201 is performed.

[0064] The crane scheduling method provided in this embodiment can make the first type of goods in the buffer area flip over the second type of goods to prepare for the transportation of the goods when the state of the transportation device is not ready and the initial area has no goods, and the first type of goods in the buffer area is located below the second type of goods, according to the preset flipping rule to control the crane to adjust the position of the goods in the buffer area. When the state of the crane is ready and the state of the transportation device is ready, the first type of goods in the initial area and the buffer area are obtained by the crane one by one, and the first type of goods is moved to the transportation device by the crane, so that the goods that need to be transported urgently can be transported out preferentially after the transportation device is ready, thereby ensuring the timeliness of the transportation of the goods.

[0065] In some optional implementations of this embodiment, the first type of goods in the initial area and the buffer area are obtained by the crane one by one, and the first type of goods is moved to the transportation device by the crane, including:

[0066] In response to the first type of goods in the initial area being stacked below the second type of goods, the second type of goods above the first type of goods is moved to the buffer area one by one by the crane according to the preset moving rule, and the first type of goods is moved to the transportation device by the crane.

[0067] In this optional implementation, the preset moving rule can be a rule related to the position of the second type of goods. In one specific example, the preset moving rule includes moving the second type of goods above the first type of goods from top to bottom to the buffer area.

[0068] Alternatively, the preset moving rule can also be a rule related to the capacity of the sub-areas in the buffer area and the position of the first type of goods in each sub-area, wherein the plurality of sub-areas in the buffer area are areas in the buffer area for accommodating goods.

[0069] In one specific example, the preset moving rule comprises: determining the capacities of all sub-areas in the buffer area and the location information of goods in each sub-area, detecting whether all sub-areas in the buffer area have a sub-area containing only the second type of goods, and if so, moving the first type of goods in the initial area to the sub-area containing only the second type of goods with the largest capacity.

[0070] The method for moving the first type of goods provided by the optional implementation manner can facilitate the crane to quickly pick up the first type of goods from the initial area when the state of the transport device is ready for completion, and can prevent the first type of goods in the initial area from being blocked.

[0071] In the embodiments of the present disclosure, the preset moving rule can also be a moving rule related to the location of goods in the plurality of sub-areas in the buffer area. In some optional implementation manners of the present embodiments, the moving rule comprises:

[0072] As shown in Figure 3 , in response to the buffer area having a first sub-area z1, the crane D is controlled to move the second type of goods in the initial area to the first sub-area z1, wherein the goods in the first sub-area are all of the second type; in response to the buffer area not having the first sub-area z1, it is detected whether the buffer area has a second sub-area; in response to the buffer area having the second sub-area z2, the crane D is controlled to move the second type of goods in the initial area to the second sub-area z2, wherein the first type of goods in the second sub-area is located above the second type of goods. Figure 3 In the , the buffer area comprises the first sub-area z1, the second sub-area z2 and another sub-area, the goods B30 being picked up by the crane is the second type of goods taken from the initial area, and the crane preferably puts the goods B30 into the first sub-area z1. Only when the buffer area has no first sub-area and has a second sub-area, the crane puts the goods into the second sub-area.

[0073] Figure 3 In the , the pickup remaining time of the goods B17 in the second sub-area z2 is 1:01, which is within the preset transport period (0, 1.5) of B17 and belongs to the first type of goods. In the buffer area, the pickup remaining time of the goods B11 to B16 and the goods B19 is within the range of the respective transport periods, and all belong to the second type of goods. All the goods in the first sub-area z1 are of the second type, and the first type of goods in the second sub-area z2 is located above the second type of goods. In the other sub-area, the pickup remaining time of the goods B18 is less than the transport period thereof, and the goods B18 belongs to the first type of goods. In this sub-area, the goods B18 is located below the goods B19, i.e., the first type of goods is located below the second type of goods.

[0074] The mobile rule provided by the optional implementation mode takes the first subzone in the buffer zone as the priority selection subzone, and when the buffer zone does not have the first subzone, the second subzone is selected as the second type of goods in the initial zone to move to the area, so that the first type of goods in the buffer zone can be prevented from being pressed too deep by the second type of goods in the initial zone, and the efficiency of the buffer zone is improved.

[0075] In some optional implementation modes of the embodiment, the above-mentioned method of taking the first type of goods in the initial zone and the buffer zone by the crane in sequence, and moving the first type of goods to the transport device by the crane further comprises: in response to the initial zone having no goods, the crane is caused to take the first type of goods in the buffer zone, and the crane is caused to move the first type of goods to the transport device.

[0076] In the optional implementation mode, when the crane takes the first type of goods in the buffer zone, first, the surface of each subzone in the buffer zone is detected, and if at least one subzone has the first type of goods on the surface, the first type of goods on the surface is directly selected.

[0077] Optionally, when the initial zone has no goods and the buffer zone has no first type of goods, the transport device is controlled to wait until the buffer zone or the initial zone has the first type of goods when the state of the transport device is ready.

[0078] The method of taking the first type of goods in the initial zone and the buffer zone provided by the optional implementation mode gives priority to the initial zone to prevent the goods in the initial zone from being blocked; when the initial zone has no goods, the first type of goods in the buffer zone is directly taken by the crane, so that the goods that need to be extracted in the buffer zone can be extracted from the yard as soon as possible, and the timely function of the goods is ensured.

[0079] In some optional implementation modes of the embodiment, the above-mentioned method of causing the crane to take the first type of goods in the buffer zone comprises: in response to the first type of goods in the buffer zone being stacked below the second type of goods, the position of the goods in the buffer zone is adjusted by the crane according to the unloading rule until the first type of goods in the buffer zone is above the second type of goods.

[0080] The method of taking the first type of goods in the buffer zone provided by the optional implementation mode adjusts the position of the goods in the buffer zone according to the unloading rule when the first type of goods in the buffer zone is stacked below the second type of goods, so that the first type of goods is above the second type of goods, and the timely transportation of the goods that need to be transported in time is ensured.

[0081] In some optional implementation modes of the embodiment, the above-mentioned unloading rule comprises a heuristic algorithm or a bundle search algorithm.

[0082] In this optional implementation, the heuristic algorithm is proposed in contrast to the optimization algorithm. The optimization algorithm of a problem obtains the optimal solution of each instance of the problem. The heuristic algorithm can be defined as follows: an algorithm constructed based on intuition or experience, which gives a feasible solution of each instance of the combinatorial optimization problem to be solved under acceptable cost (referring to the calculation time and space), and the deviation of the feasible solution from the optimal solution generally cannot be predicted.

[0083] Optionally, the A* heuristic algorithm can be used to flip the goods in the buffer area, so as to reduce the state of the first type of goods being stacked by the second type of goods in the buffer area. It should be noted that, in order to better use the A* heuristic algorithm, the priority of the first type of goods can be set to be higher than that of the second type of goods, for example, the priority of the first type of goods is level 1, and the priority of the second type of goods is level 10.

[0084] The beam search algorithm uses a breadth-first strategy to build a search tree, and at each layer of the tree, the nodes are sorted according to the heuristic cost, and then only a predetermined number of nodes are left. If the beam width is infinite, the search is a breadth-first search. The beam width can be pre-determined or variable, and a minimum beam width can be used for searching first, and if no suitable solution is found, the beam width can be expanded and searched again.

[0085] In this optional implementation, the buffer area is flipped by using the sampling heuristic algorithm or the beam search algorithm, so that the first type of goods can be flipped to the optimal position by means of algorithm, and the efficiency of the goods is improved.

[0086] Further reference Figure 4 , as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a crane scheduling device, which corresponds to the method embodiment shown in Figure 1 .

[0087] As Figure 4As shown, the crane scheduling device 400 provided in the embodiment includes a first obtaining unit 401, an initial detection unit 402, a buffer detection unit 403, and a box flipping unit 404. The first obtaining unit 401 can be configured to obtain the state of the transportation device, the cargo information of the initial area, and the cargo information of the buffer area. The cargo information includes the cargo position and the pickup remaining time of the cargo. The initial detection unit 402 can be configured to, in response to the state of the transportation device being not ready, detect whether there is cargo in the initial area based on the cargo information of the initial area. The buffer detection unit 403 can be configured to, in response to there being no cargo in the initial area, detect whether the first type of cargo in the buffer area is located below the second type of cargo based on the cargo information of the buffer area. The first type of cargo is the cargo whose pickup remaining time reaches the transportation period of the cargo, and the second type of cargo is the cargo whose pickup remaining time does not reach the transportation period of the cargo. The box flipping unit 404 can be configured to, in response to the first type of cargo in the buffer area being located below the second type of cargo, control the crane to adjust the position of the cargo in the buffer area according to a preset box flipping rule.

[0088] In the embodiment, the specific processes of the first obtaining unit 401, the initial detection unit 402, the buffer detection unit 403, and the box flipping unit 404 in the crane scheduling device 400 and the technical effects brought by the specific processes can be respectively referred to the related description of step 101, step 102, step 103, and step 104 in the corresponding embodiment. Figure 1 The related description of step 101, step 102, step 103, and step 104 in the corresponding embodiment will not be repeated here.

[0089] In some optional implementation manners of the embodiment, the device 400 further includes a second obtaining unit (not shown in the figure) and a scheduling unit (not shown in the figure). The second obtaining unit can be configured to obtain the state of the crane. The scheduling unit can be configured to, in response to the state of the crane being ready and the state of the transportation device being ready, sequentially take the first type of cargo in the initial area and the buffer area by the crane based on the cargo information of the initial area and the cargo information of the buffer area, and move the first type of cargo to the transportation device by the crane.

[0090] In some optional implementation manners of the embodiment, the scheduling unit is further configured to, in response to the first type of cargo in the initial area being stacked below the second type of cargo, control the crane to sequentially move the second type of cargo above the first type of cargo to the buffer area according to a preset moving rule, and control the crane to move the first type of cargo to the transportation device.

[0091] In some optional implementations of the embodiment, the moving rule comprises: in response to the buffer area having a first sub-area, controlling the crane to move the second type of goods in the initial area to the first sub-area, wherein the goods in the first sub-area are all the second type of goods; in response to the buffer area not having the first sub-area, detecting whether the buffer area has a second sub-area; in response to the buffer area having the second sub-area, controlling the crane to move the second type of goods in the initial area to the second sub-area, wherein the first type of goods in the second sub-area are located above the second type of goods.

[0092] In some optional implementations of the embodiment, the scheduling unit is further configured to: in response to the initial area having no goods, causing the crane to obtain the first type of goods in the buffer area, and causing the crane to move the first type of goods to the transport device.

[0093] In some optional implementations of the embodiment, the scheduling unit is further configured to: in response to the first type of goods in the buffer area being stacked below the second type of goods, controlling the crane to adjust the positions of the goods in the buffer area according to the case flipping rule until the first type of goods in the buffer area are located above the second type of goods.

[0094] In some optional implementations of the embodiment, the case flipping rule comprises: a heuristic algorithm or a bundle search algorithm.

[0095] The crane scheduling device provided by the embodiment of the present disclosure first causes the first obtaining unit 401 to obtain the state of the transport device, the goods information of the initial area, and the goods information of the buffer area, and the goods information comprises: the positions of the goods and the pickup remaining time of the goods; secondly, the initial detection unit 402 detects whether the initial area has goods based on the goods information of the initial area in response to the state of the transport device being not ready; thirdly, the buffer detection unit 403 detects whether the first type of goods in the buffer area is located below the second type of goods based on the goods information of the buffer area in response to the initial area having no goods, the first type of goods being the goods whose pickup remaining time reaches the transport period of the goods, and the second type of goods being the goods whose pickup remaining time does not reach the transport period of the goods; and finally, the case flipping unit 404 controls the crane to adjust the positions of the goods in the buffer area according to the preset case flipping rule in response to the first type of goods in the buffer area being located below the second type of goods. Thus, when the transport device is not ready and the buffer area has no goods, the crane adjusts the goods in the buffer area according to the preset case flipping rule, so that the first type of goods located below the second type of goods can be flipped above the second type of goods, which facilitates the first type of goods to be quickly transported to a suitable location by the transport device, thereby improving the timeliness of goods transportation.

[0096] Further referring to Figure 5 , as an implementation of the method shown in Figure 1 , the present disclosure provides an embodiment of a crane scheduling system, and the system embodiment and the method embodiment are combined to implement the crane scheduling device.Figure 1 The method embodiment shown corresponds.

[0097] As Figure 5 shown, the crane scheduling system 500 provided by the embodiment includes a yard 501, an initial area 502, a buffer area 503, a transport device 504, a crane 505, and a control device 506.

[0098] The initial area 502 is located in the yard 501 and is used to receive and store the incoming goods. Each of the goods has a positioning device (not shown in the figure) for collecting the goods information of the goods, which includes the goods position and the pickup remaining time of the goods.

[0099] The buffer area 503 is located in the yard 501 and adjacent to the initial area 502, and is used to receive and store the goods output by the initial area 502.

[0100] The transport device 504 is used to transport the goods out of the yard 501.

[0101] The control device 506 is connected with the transport device 504 and the positioning device respectively, and is used to drive the crane 505 of the yard according to the state of the transport device, the goods information of the initial area, and the goods information of the buffer area, so that the crane 505 adjusts the position of the goods in the buffer area according to the preset box flipping rule when the state of the transport device is not ready, the initial area has no goods, and the first type of goods in the buffer area is located below the second type of goods. The first type of goods is the goods whose pickup remaining time reaches the transport period of the goods, and the second type of goods is the goods whose pickup remaining time does not reach the transport period of the goods.

[0102] In the embodiment, the initial area 502, the buffer area 503, and the transport device 504 can be three types of stacks, each of which has a certain capacity. The goods are blocks that are put into the stacks, and if the capacity of each stack is full, more blocks cannot be put into the stack. The crane 505 is a crane that runs between the three types of stacks and can position the blocks. When a new block is generated, the control device 506 will insert the new block at the bottom of the stack. However, if the arrival position of the new block is full, the upstream new block generation process will be delayed, which is very undesirable. Through the control of the control device 506 in the crane scheduling system 500, the congestion of each stack can be maximized to ensure that the blocks in the buffer area and the initial area are transported out of the yard 501 by the transport device 504 before the minimum time requirement for transportation.

[0103] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0104] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0105] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0106] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded into random access memory (RAM) 503 from storage unit 508. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0107] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0108] The computing unit 501 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above, such as the crane scheduling method. For example, in some embodiments, the crane scheduling method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the apparatus 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded onto the RAM 503 and executed by the computing unit 501, one or more steps of the crane scheduling method described above can be performed. Alternatively, in other embodiments, the computing unit 501 can be configured to perform the crane scheduling method by any other appropriate means, such as by means of firmware.

[0109] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0110] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable computing device, such that the program code, when executed by the processor or controller, causes the functions / operations specified in the flow charts and / or block diagrams to be implemented. The program code can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0111] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0113] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0114] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0115] It should be understood that the various forms of flow shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure can be achieved, which is not limited herein.

[0116] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A crane scheduling method, the method comprising: obtaining a state of a transport device, goods information of an initial area, and goods information of a buffer area, the goods information comprising: a goods position and a pickup remaining time of a goods; the initial area being a first temporary goods storage area after the goods enter a yard, when the initial area cannot accommodate the goods entering the yard, the goods entering the yard are stored in the buffer area for buffering, the buffer area comprising at least one sub-area; in response to the state of the transport device being not ready, detecting whether the initial area has goods based on the goods information of the initial area; in response to the initial area having no goods, detecting whether a first type of goods in the buffer area is located below a second type of goods based on the goods information of the buffer area, the first type of goods being goods whose pickup remaining time reaches a transport period of the goods, and the second type of goods being goods whose pickup remaining time does not reach the transport period of the goods; in response to the first type of goods in the buffer area being located below the second type of goods, controlling the crane to adjust the position of the goods in the buffer area according to a preset flipping rule; the flipping rule comprising: in response to detecting that the buffer area has a sub-area empty of goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area empty of goods; in response to the buffer area having no sub-area empty of goods, detecting whether the buffer area has a sub-area accommodating only the second type of goods; in response to the buffer area having a sub-area accommodating only the second type of goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area accommodating only the second type of goods. 2.The method of claim 1, further comprising: obtaining a state of a crane; in response to the state of the crane being ready and the state of the transport device being ready, based on the goods information of the initial area and the goods information of the buffer area, sequentially picking up the first type of goods in the initial area and the buffer area by the crane, and moving the first type of goods to the transport device by the crane.

3. The method of claim 2, wherein, sequentially picking up the first type of goods in the initial area and the buffer area by the crane, and moving the first type of goods to the transport device by the crane, comprising: in response to the first type of goods in the initial area being stacked below the second type of goods, controlling the crane to sequentially move the second type of goods above the first type of goods to the buffer area according to a preset moving rule, and controlling the crane to move the first type of goods to the transport device.

4. The method of claim 3, wherein, the moving rule comprising: in response to the buffer area having a first sub-area, controlling the crane to move the second type of goods in the initial area to the first sub-area, wherein the goods in the first sub-area are all the second type of goods; in response to the buffer area having no first sub-area, detecting whether the buffer area has a second sub-area; in response to the buffer area having a second sub-area, controlling the crane to move the second type of goods in the initial area to the second sub-area, wherein the first type of goods in the second sub-area is located above the second type of goods.

5. The method of claim 3, wherein, The first type of goods in the initial area and the buffer area are sequentially retrieved by the crane, and the first type of goods is moved to the transport device by the crane, and the method further comprises: In response to no goods in the initial area, the crane is caused to obtain the first type of goods in the buffer area, and the crane is caused to move the first type of goods to the transport device.

6. The method of claim 5, wherein, The crane is caused to obtain the first type of goods in the buffer area, comprising: In response to the first type of goods in the buffer area being stacked below the second type of goods, the position of the goods in the buffer area is adjusted by the crane according to the box flipping rule until the first type of goods in the buffer area is located above the second type of goods.

7. The method according to one of claims 1 to 6, wherein The box flipping rule comprises a heuristic algorithm or a cluster search algorithm.

8. A crane scheduling device, the device comprising: A first obtaining unit configured to obtain the state of a transport device, the goods information of an initial area, and the goods information of a buffer area, the goods information comprising the position of goods and the remaining time of goods for picking; the initial area is the first temporary goods storage area after the goods enter the yard, when the initial area cannot accommodate the goods entering the yard, the goods entering the yard are stored in the buffer area for buffering, and the buffer area comprises at least one sub-area; An initial detection unit configured to detect whether there are goods in the initial area based on the goods information of the initial area in response to the state of the transport device being not ready; A buffer detection unit configured to detect whether the first type of goods in the buffer area is located below the second type of goods based on the goods information of the buffer area in response to the initial area having no goods, the first type of goods being the goods whose remaining time for picking reaches the transport period of the goods, and the second type of goods being the goods whose remaining time for picking does not reach the transport period of the goods; A box flipping unit configured to control the position of the goods in the buffer area to be adjusted by the crane according to a preset box flipping rule in response to the first type of goods in the buffer area being located below the second type of goods; the box flipping rule comprises: in response to detecting that the buffer area has a sub-area with no goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area with no goods; in response to the buffer area having no sub-area with no goods, detecting whether the buffer area has a sub-area accommodating only the second type of goods; and in response to the buffer area having a sub-area accommodating only the second type of goods, controlling the crane to move the second type of goods above the first type of goods to the sub-area accommodating only the second type of goods.

9. The device according to claim 8, further comprising: A second obtaining unit configured to obtain the state of a crane; A scheduling unit configured to, in response to the state of the crane being ready and the state of the transport device being ready, sequentially retrieve the first type of goods in the initial area and the buffer area by the crane based on the goods information of the initial area and the goods information of the buffer area, and move the first type of goods to the transport device by the crane.

10. The apparatus of claim 9, wherein, The scheduling unit is further configured to, in response to the first type of goods in the initial area being stacked below the second type of goods, control the crane to move the second type of goods above the first type of goods to the buffer area in sequence according to a preset moving rule, and control the crane to move the first type of goods to the transport device.

11. The apparatus of claim 10, wherein, The moving rule includes: in response to the buffer area having a first sub-area, control the crane to move the second type of goods in the initial area to the first sub-area, wherein the goods in the first sub-area are all the second type of goods; in response to the buffer area having no first sub-area, detect whether the buffer area has a second sub-area; in response to the buffer area having a second sub-area, control the crane to move the second type of goods in the initial area to the second sub-area, wherein the first type of goods in the second sub-area are located above the second type of goods.

12. The apparatus of claim 10, wherein, The scheduling unit is further configured to, in response to there being no goods in the initial area, cause the crane to obtain the first type of goods in the buffer area, and cause the crane to move the first type of goods to the transport device.

13. The apparatus of claim 12, wherein, The scheduling unit is further configured to, in response to the first type of goods in the buffer area being stacked below the second type of goods, control the crane to adjust the positions of the goods in the buffer area according to the flipping rule until the first type of goods in the buffer area are located above the second type of goods.

14. The apparatus of one of claims 8-13, wherein, The flipping rule includes a heuristic algorithm or a cluster search algorithm.

15. A crane scheduling system, the system comprising: a freight yard; an initial area located in the freight yard, configured to receive and store goods input into the freight yard, each of the goods having a positioning device configured to collect goods information of the goods, the goods information including: a goods position and a remaining time for picking up the goods; a buffer area located in the freight yard, configured to receive and store the goods output from the initial area; the initial area is the first temporary goods storage area after the goods enter the freight yard, when the initial area cannot accommodate the goods entering the freight yard, the goods entering the freight yard are stored in the buffer area for buffering, the buffer area includes at least one sub-area; a transport device configured to transport the goods out of the freight yard; and a scheduling unit configured to: in response to the initial area having a first type of goods, control the crane to move the first type of goods to the buffer area according to a preset moving rule, and control the crane to move the first type of goods to the transport device. The moving rule includes: in response to the buffer area having a first sub-area, control the crane to move the second type of goods in the initial area to the first sub-area, wherein the goods in the first sub-area are all the second type of goods; in response to the buffer area having no first sub-area, detect whether the buffer area has a second sub-area; in response to the buffer area having a second sub-area, control the crane to move the second type of goods in the initial area to the second sub-area, wherein the first type of goods in the second sub-area are located above the second type of goods. The scheduling unit is further configured to, in response to there being no goods in the initial area, cause the crane to obtain the first type of goods in the buffer area, and cause the crane to move the first type of goods to the transport device. The scheduling unit is further configured to, in response to the first type of goods in the buffer area being stacked below the second type of goods, control the crane to adjust the positions of the goods in the buffer area according to the flipping rule until the first type of goods in the buffer area are located above the second type of goods. The flipping rule includes a heuristic algorithm or a cluster search algorithm. The control device is connected with the transport device and the positioning device respectively, and is used for driving a crane of the freight yard according to a state of the transport device, cargo information of the initial area, and cargo information of the buffer area, so that the crane adjusts positions of cargos in the buffer area according to preset box turning rules when the state of the transport device is not ready, the initial area is empty, and first-class cargos in the buffer area are below second-class cargos, the first-class cargos are cargos whose remaining time for taking reaches a transport period of the cargos, and the second-class cargos are cargos whose remaining time for taking does not reach the transport period of the cargos; the box turning rules include: in response to detecting that the buffer area has a subarea which is empty, controlling the crane to move second-class cargos above first-class cargos to the subarea which is empty; in response to the buffer area not having a subarea which is empty, detecting whether the buffer area has a subarea which only contains the second-class cargos; and in response to the buffer area having the subarea which only contains the second-class cargos, controlling the crane to move second-class cargos above first-class cargos to the subarea which only contains the second-class cargos.

16. An electronic device, comprising: Comprise: at least one processor; and a memory connected with the at least one processor in communication; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

17. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-7.

18. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-7.

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