Crane operation method, device, crane and storage medium

Abstract

The present application relates to a crane operation method, device, crane, and storage medium. The crane operation method includes: obtaining container truck information and target position information in a multi-lane operation scenario; the container truck information includes container truck identification information, and the target position information includes lane information and bay information; determining the container truck's operation task based on the container truck identification information; verifying the operation task based on the bay information; if the verification passes, setting the operation task as a task to be executed; when executing the operation task, controlling the large vehicle to move to the target bay corresponding to the bay information; controlling the trolley to move to the target lane corresponding to the lane information; and controlling the spreader on the trolley to perform a box-grabbing and releasing operation on the container truck based on the acquired current location of the container truck. In this way, the accuracy and executability of the operation task in a multi-lane operation scenario are ensured, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of operating machinery, and in particular to a crane operation method, device, crane and storage medium. Background Art

[0002] With the rapid growth of container throughput at ports, large-scale mechanized loading and unloading operations are becoming more frequent. Cranes play a vital role in these operations.

[0003] However, when existing cranes perform tasks in multi-lane operation scenarios, they are affected by the complex environment of the operation site, resulting in low recognition efficiency and difficulty in ensuring recognition accuracy in container trucks, which easily leads to errors in the execution of operation tasks and low operation efficiency in multi-lane operation scenarios. Summary of the Invention

[0004] In view of this, the present application provides a crane operation method, device, crane and storage medium, which can ensure the accuracy and executability of operation tasks in multi-lane operation scenarios and improve operation efficiency.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] A first aspect of the present application provides a crane operation method, comprising:

[0007] Obtaining container truck information and target location information in a multi-lane operation scenario; the container truck information includes container truck identification information, and the target location information includes lane information and bay position information;

[0008] Determining the operation task of the container truck based on the container truck identification information;

[0009] Verify the job task according to the bit position information; if the verification passes, set the job task as a task to be executed;

[0010] When executing the operation task, the large vehicle is controlled to move to the target bay corresponding to the bay information; the small vehicle is controlled to move to the target lane corresponding to the lane information; based on the current position of the container truck obtained, the spreader on the small vehicle is controlled to grab and release the box on the container truck.

[0011] Optionally, controlling the spreader on the trolley to perform a grab and release operation on the container truck based on the acquired current location of the container truck includes:

[0012] Determine the target position of the spreader based on the acquired current position of the container truck, and lower the spreader based on the target position; the target position is the position on the container truck where the container is to be picked up and released;

[0013] During the process of lowering the spreader, the electronic tag information set on the container truck is read, and the operation task is verified according to the electronic tag information. If the verification passes, the spreader is further lowered to the target position and the box is picked up and released.

[0014] Optionally, controlling the spreader on the trolley to perform a grab and release operation on the container truck based on the acquired current location of the container truck includes:

[0015] Determine the target position of the spreader based on the acquired current position of the container truck, and lower the spreader based on the target position; the target position is the position on the container truck where the container is to be picked up and released;

[0016] During the process of lowering the spreader, the identification information of the target container is obtained, and the operation task is verified according to the identification information of the target container; if the verification passes, the spreader is continued to be lowered to the target position, and the container grabbing and releasing operation is performed; wherein, the target container is the container to be lowered on the spreader or the container to be grabbed on the container truck.

[0017] Optionally, determining the operating task of the container truck based on the container truck identification information includes:

[0018] According to the container truck identification information, determining the task corresponding to the container truck identification information from a pre-stored task list; the pre-stored task list includes the correspondence between the container truck identification information and the tasks;

[0019] The task corresponding to the container truck identification information is determined as the operation task of the container truck.

[0020] Optionally, the operation task carries target position information;

[0021] The verifying of the operation task according to the bay information includes:

[0022] Check whether the target bay position information in the task is consistent with the bay position information; if they are consistent, the verification passes; if they are inconsistent, the verification fails.

[0023] Optionally, after verifying the job task, the method further includes:

[0024] If the verification fails, a first prompt message is issued to remind the user that the job task does not match the position information.

[0025] Optionally, obtaining container truck information and target location information in a multi-lane operation scenario includes:

[0026] The container truck information and target position information in a multi-lane operation scenario collected by the client are obtained; wherein, the bay position information is obtained by the client scanning a preset mark; the preset mark is set on the yard bay corresponding to the bay position information.

[0027] A second aspect of the present application provides a crane operating device, comprising:

[0028] An acquisition module is used to acquire container truck information and target location information in a multi-lane operation scenario; the container truck information includes container truck identification information, and the target location information includes lane information and bay position information;

[0029] A determination module, configured to determine an operation task of the container truck based on the container truck identification information;

[0030] A verification module, configured to verify the job task according to the bit position information; if the verification passes, the job task is set as a task to be executed;

[0031] The execution module is used to control the large vehicle to move to the target bay corresponding to the bay information when executing the operation task; control the small vehicle to move to the target lane corresponding to the lane information; and control the spreader on the small vehicle to grab and release the container on the container truck based on the current positioning of the container truck obtained.

[0032] The third aspect of the present application provides a crane, comprising: a crane body and operating equipment, wherein:

[0033] The operating device includes a processor and a memory connected to the processor;

[0034] The memory is used to store computer programs;

[0035] The processor is used to call and execute the computer program in the memory to perform the crane operation method as described in the first aspect of the present application.

[0036] A fourth aspect of the present application provides a storage medium storing a computer program. When the computer program is executed by a processor, the computer program implements the various steps of the crane operation method described in the first aspect of the present application.

[0037] The technical solution provided by this application may have the following beneficial effects:

[0038] In the solution of the present application, first, the container truck information and the target position information in the multi-lane operation scenario are obtained, wherein the container truck information includes the container truck identification information, and the target position information includes the lane information and the bay information; based on the container truck identification information, the operation task of the container truck can be determined, and then based on the bay information, the determined operation task can be verified. If the verification passes, it means that there is currently an operation task for the container truck at the bay, and the operation task can be set as a task to be executed. When executing the operation task, the large truck can be controlled to move to the target bay corresponding to the bay information, and the small truck can be controlled to move to the target lane corresponding to the lane information, and then based on the current positioning of the container truck obtained, the sling on the small truck is controlled to grab and release the box on the container truck. In this way, directly obtaining the target position information in the multi-lane operation scenario can avoid the problem of inaccurate container truck identification caused by the complex lane environment in the multi-lane operation scenario, and. Using bay position information to verify work tasks avoids work task errors caused by inaccurate target position information. This not only ensures the accuracy and executability of work tasks in multi-lane work scenarios, but also improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 It is a structural schematic diagram of a crane operation method provided by an embodiment of the present application.

[0041] Figure 2 It is a structural schematic diagram of a crane operating device provided in one embodiment of the present application.

[0042] Figure 3 It is a structural schematic diagram of an operating equipment provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be described in detail below. Obviously, the embodiments described are only some of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other implementation methods obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0044] The embodiment of the present application provides a crane operation method, such as Figure 1As shown, taking the execution on the crane side as an example, the crane operation method may specifically include the following steps:

[0045] S101. Acquire container truck information and target location information in a multi-lane operation scenario; the container truck information includes container truck identification information, and the target location information includes lane information and bay position information.

[0046] Specifically, truck identification information can include information that identifies the truck, such as the truck number or serial number. Each truck has unique truck identification information. Lane information can include the lane number of the truck being operated in a multi-lane operation scenario. Similarly, bay location information can include the bay location number of the yard being operated.

[0047] Acquiring truck information and target location information in multi-lane operation scenarios can not only obtain the truck identification information of the truck to be operated, but also the lane information and bay position information of the truck to be operated. Furthermore, obtaining lane information and bay position information can clearly determine the location of the truck to be operated in multi-lane scenarios, ensuring accurate identification of the truck's position in multiple operating lanes and providing a positioning basis for subsequent pick-and-place operations on the truck.

[0048] During implementation, the obtained truck information and target position information in a multi-lane operation scenario can be the truck information and truck location information sent to the crane side through the client after the truck driver drives the truck to the designated lane number of the designated bay. The location information includes the lane information and bay information of the truck. When the truck driver sends the truck information and truck location information to the crane side, he also reminds the crane side that the truck is in place and can perform the operation task at any time.

[0049] S102: Determine the operation task of the container truck based on the container truck identification information.

[0050] After obtaining the truck identification information, that is, the truck's identity information, it can then be detected based on the truck's identity information whether the truck corresponding to the identity information has an operation task. If the truck has an operation task, it means that the current truck is the correct truck carrying the operation task to be performed, and the subsequent operation steps can be continued. If the truck does not have an operation task, it means that the current truck is not the correct truck carrying the operation task to be performed, that is, the currently obtained truck information may contain incorrect truck identification information or an incorrect operation task. In this case, a second prompt message can be issued to remind the user to verify and avoid errors.

[0051] When implemented, the user can be a truck driver, and / or a remote operator of a crane.

[0052] Using the container truck identification information to determine the container truck's operating tasks can ensure the accuracy of the container truck and the container truck's operating tasks, and improve the accuracy of operation execution.

[0053] S103. Verify the job task according to the bit position information; if the verification passes, set the job task as a task to be executed.

[0054] Since the bay information is the information of the bay where the container truck is located, the bay information is used to verify the operation task to detect whether the bay where the current container truck is located is the bay where the container truck should arrive as specified in the operation task, so as to further ensure the accuracy of the operation task.

[0055] Among them, the operation task can carry target bay position information; accordingly, when the operation task is verified based on the bay position information, it can be detected whether the target bay position information in the operation task is consistent with the bay position information; if they are consistent, it means that the acquired bay position information is the information of the bay position that the container truck should arrive at as specified in the operation task, and the verification passes; if they are inconsistent, it means that the acquired bay position information is different from the information of the bay position that the container truck should arrive at as specified in the operation task, and the verification fails.

[0056] If the verification passes, it means that the bay where the container truck is located is the bay specified for the job task, and the job task can be treated as a pending task to be executed; if the verification fails, it means that the current bay where the container truck is located is not the bay specified for the job task, and a first prompt message can be issued to remind the user that the job task and the bay information do not match.

[0057] In specific implementations, the task sea can be pre-stored with work tasks. When verification is passed, the work task in the task sea can be activated and added to the pending tasks list for execution. If verification fails, a first prompt message can be sent to the truck driver and / or the remote operator of the crane to verify and correct the work task and the crane position information.

[0058] Tasks added to the To-Be-Executed Tasks table can be executed in the order in which they were added. For example, the first task added to the To-Be-Executed Tasks table can be labeled Task 1. Subsequent tasks added to the To-Be-Executed Tasks table can be labeled Task 2, Task 3, Task 4, and so on, in the order in which they were added. When executing tasks, they are executed in ascending order according to the sequence numbers in the To-Be-Executed Tasks table.

[0059] S104. When executing the operation task, control the large vehicle to move to the target bay corresponding to the bay information; control the small vehicle to move to the target lane corresponding to the lane information; based on the current position of the container truck obtained, control the spreader on the small vehicle to grab and release the container on the container truck.

[0060] The container grabbing and releasing operations include grabbing and / or releasing. Grabbing refers to controlling the spreader to grab the target container from a container truck to complete the truck's unloading. Releasing refers to controlling the spreader to grab the target container from the yard and place it onto the truck to complete the truck's loading.

[0061] If the operation task is to grab a box from a container truck, the crane side can control the trolley to move to the target bay corresponding to the bay information, and control the trolley to move to the target lane corresponding to the lane information. In this way, the spreader on the trolley can be moved above the container truck to prepare for grabbing the box from the container truck.

[0062] If the operation task is to place the container on the container truck, the crane side will first go to the target yard to grab the target container according to the operation task. After grabbing the target container, it will control the trolley to move to the target bay corresponding to the bay information, and control the trolley to move to the target lane corresponding to the lane information. In this way, the spreader holding the target container can be moved to the top of the container truck to prepare for placing the container from the container truck.

[0063] To ensure the accuracy of container pick-up and release operations, the current positioning of the container truck must be obtained before the spreader on the trolley is controlled to perform the operation. This positioning refers to the spatial location of the container truck, including its outline and height information, so as to determine the location on the container truck where the pick-up and release operation is required.

[0064] Specifically, when obtaining the current location of the container truck, the container truck positioning and guidance system configured by the crane can be used to locate the container truck to obtain the current location of the container truck. The specific implementation method of positioning using the container truck positioning and guidance system can refer to existing related technologies and will not be repeated here.

[0065] In this way, based on the current location of the container truck, the spreader on the trolley can be controlled to grab and release the boxes on the container truck to complete the task.

[0066] In this embodiment, truck information and target location information for multi-lane operations are first acquired. Truck information includes truck identification information, lane information, and bay position information. Based on the truck identification information, the truck's work task is determined. The determined work task is then verified based on the bay position information. If the verification passes, indicating that a work task for the truck currently exists at that bay, the work task can be set as a pending task for execution. To execute the work task, the large truck can be controlled to move to the target bay corresponding to the bay position information, and the small truck can be controlled to move to the target lane corresponding to the lane information. Based on the acquired truck's current location, the spreader on the small truck is then controlled to pick up and release containers from the truck. Directly acquiring target location information for multi-lane operations in this manner avoids inaccurate truck identification caused by complex lane conditions in multi-lane operations. Furthermore, using bay position information to verify the work task avoids errors in the work task due to inaccurate target location information, ensuring the accuracy and executability of work tasks in multi-lane operations while improving operational efficiency.

[0067] In some embodiments, in order to further ensure the accuracy of the container truck used to perform the work task, a device with a wireless identification function can be set between the crane and the container truck. For example, a reader is set on the crane's spreader and a transponder is set on the container truck. The transponder carries electronic tag information, and the electronic tag information can be used to identify the identity of the container truck. When the distance between the spreader and the container truck is within the identification range, the crane can identify the identity of the container truck through the reader.

[0068] During implementation, Radio Frequency Identification (RFID) technology can be used to achieve wireless identification between the crane and the container truck. The reader is an RFID antenna, and the transponder is an electronic tag. The specific location of the RFID antenna on the spreader can be customized, for example, on both sides of the spreader. Similarly, the location of the electronic tag on the container truck can also be customized.

[0069] Based on this, when controlling the spreader on the trolley to perform the box grabbing and releasing operation on the container truck based on the obtained current positioning of the container truck, the target position of the spreader can be determined according to the obtained current positioning of the container truck, and the spreader can be lowered based on the target position; wherein, the target position is the position on the container truck where the box grabbing and releasing operation needs to be performed; in the process of lowering the spreader, the electronic tag information set on the container truck is read, and the operation task is verified according to the electronic tag information. If the verification passes, the spreader continues to be lowered to the target position, and the box grabbing and releasing operation is performed.

[0070] Each container card is provided with an electronic tag, and each electronic tag has its own unique electronic tag information, that is, each container card has its own unique electronic tag information.

[0071] In a specific implementation, to ensure that the electronic tag information on the container truck can be read, the electronic tag information on the container truck can be read when the distance between the spreader and the container truck reaches a preset threshold, wherein the preset threshold can be set to 2m.

[0072] After reading the electronic tag information on the container truck, the identity of the container truck can be determined based on the read electronic tag information. Based on the determined container truck identity, it is then checked to see if it is consistent with the identity of the container truck specified in the job task. If it is consistent, the verification passes; if it is inconsistent, the verification fails.

[0073] If the verification fails, a third prompt message may be sent to the user to remind the user of a card collection error in the current operation so that the user can correct the error in time.

[0074] In some embodiments, the work task may also carry electronic tag information. In this way, after reading the electronic tag information set on the collection card, it is possible to directly detect whether the read electronic tag information is consistent with the electronic tag information in the work task. If consistent, the verification passes; if inconsistent, the verification fails.

[0075] Similarly, in some embodiments, in order to further ensure the accuracy of the container to be lowered on the spreader or the container to be grabbed on the container truck when performing the operation task, when controlling the spreader on the trolley to grab and release the container on the container truck based on the current positioning of the container truck, the target position of the spreader can be determined according to the current positioning of the container truck, and the spreader can be lowered based on the target position; the target position is the position on the container truck where the grab and release operation needs to be performed; in the process of lowering the spreader, the identification information of the target container is obtained, and the operation task is verified according to the identification information of the target container; if the verification passes, the spreader continues to be lowered to the target position, and the grab and release operation is performed; wherein, the target container is the container to be lowered on the spreader or the container to be grabbed on the container truck.

[0076] During implementation, the target container identification information may be the target container number. The task may include the container number to be handled. When verifying the task based on the target container identification information, the obtained target container number may be checked to see if it matches the container number to be handled in the task. If they match, the verification passes; if not, the verification fails. If the verification fails, a fourth prompt message may be issued to inform the user that the container number currently to be grabbed or dropped does not match the task, allowing the user to verify the information promptly.

[0077] In specific implementation, at least one camera can be set on the saddle beam (lower cross beam) of the crane. During the process of lowering the spreader, the camera set on the saddle beam can capture the image of the side of the target container. In this way, the container number of the container to be grabbed or lowered can be obtained through the image of the side of the target container.

[0078] In addition, in order to further ensure that the identification information of the target container can be obtained, at least one camera can be set on the spreader of the crane. During the process of lowering the spreader, the overhead view of the target container can be obtained through the camera set on the spreader, and the container number of the container to be grabbed or lowered can be obtained through the overhead view of the target container. In this way, cameras are set on the saddle beam and spreader of the crane, which can, to a certain extent, ensure that in complex working environments, the identification information of the target container cannot be obtained due to limited shooting angles.

[0079] In some embodiments, when controlling the spreader on the trolley to grab and release the container on the container truck, the container truck and the container can also be verified at the same time.

[0080] Specifically, during the lowering process, the spreader can read the electronic tag information set on the container truck and obtain the identification information of the target container. The operation task is verified based on the electronic tag information and the identification information of the target container. If both verifications pass, the spreader is lowered to the target location and the container is picked up and released. This can further improve the accuracy of the operation.

[0081] In some embodiments, when determining the operating task of the container truck based on the container truck identification information, the task corresponding to the container truck identification information can be determined from a pre-stored task list based on the container truck identification information; wherein the pre-stored task list includes the correspondence between the container truck identification information and the task; and then the task corresponding to the container truck identification information is determined as the operating task of the container truck.

[0082] In a specific implementation, a task list can be pre-built, and the tasks to be processed and the corresponding container truck identification information can be pre-stored in the task list. In this way, after obtaining the container truck identification information, the task list can be checked based on the container truck identification information to see whether there is a task corresponding to the container truck identification information. If there is a task corresponding to the container truck identification information, the task corresponding to the container truck identification information can be determined as the operation task of the container truck; if there is no task corresponding to the container truck identification information, it can be determined that there is no operation task for the container truck.

[0083] In some embodiments, the above-mentioned acquisition of container truck information and target position information in a multi-lane operation scenario may be acquisition of container truck information and target position information in a multi-lane operation scenario collected by a client; wherein, the bay position information is obtained by the client scanning a preset marker; the preset marker is set on the bay position in the yard corresponding to the bay position information.

[0084] During specific implementation, in order to ensure that the bay information in the target position information obtained in the multi-lane operation scenario is the actual position of the bay where the container truck is located, a preset mark can be set on the bay in the yard, where each bay has its own unique preset mark. The container truck driver can use the client to scan the preset mark set on the bay to obtain the bay information of the bay. The client will use the obtained bay information and the lane information entered by the container truck driver, as well as the container number and other information as the target position information in the multi-lane operation scenario, and report it to the crane side together with the container truck information.

[0085] In addition, setting preset labels on the bay positions in the yard can not only avoid incorrect bay position information caused by manual input by users, but also save input time and improve work efficiency.

[0086] The embodiment of the present application provides a crane operation device, such as Figure 2 As shown, the crane operation device may include: an acquisition module 201, used to obtain container truck information and target position information in a multi-lane operation scenario; the container truck information includes container truck identification information, and the target position information includes lane information and bay information; a determination module 202, used to determine the operation task of the container truck based on the container truck identification information; a verification module 203, used to verify the operation task according to the bay information; if the verification passes, the operation task is set as a task to be executed; an execution module 204, used to control the large vehicle to move to the target bay corresponding to the bay information when executing the operation task; control the trolley to move to the target lane corresponding to the lane information; based on the acquired current positioning of the container truck, control the spreader on the trolley to grab and release the box on the container truck.

[0087] Optionally, when controlling the spreader on the trolley to perform a box grabbing and releasing operation on the container truck based on the acquired current positioning of the container truck, the execution module 204 can be specifically used to: determine the target position of the spreader according to the acquired current positioning of the container truck, and lower the spreader based on the target position; the target position is the position on the container truck where the box grabbing and releasing operation needs to be performed; in the process of lowering the spreader, read the electronic tag information set on the container truck, and verify the operation task according to the electronic tag information. If the verification passes, continue to lower the spreader to the target position and perform the box grabbing and releasing operation.

[0088] Optionally, when controlling the spreader on the trolley to perform a container grabbing and releasing operation on the container truck based on the acquired current positioning of the container truck, the execution module 204 can be specifically used to: determine the target position of the spreader according to the acquired current positioning of the container truck, and lower the spreader based on the target position; the target position is the position on the container truck where the container grabbing and releasing operation needs to be performed; in the process of lowering the spreader, obtain the identification information of the target container, and verify the operation task according to the identification information of the target container; if the verification passes, continue to lower the spreader to the target position, and perform the container grabbing and releasing operation; wherein, the target container is the container to be lowered on the spreader or the container to be grabbed on the container truck.

[0089] Optionally, when determining the operating task of the container truck based on the container truck identification information, the determination module 202 is specifically used to: determine the task corresponding to the container truck identification information from a pre-stored task list based on the container truck identification information; the pre-stored task list includes the correspondence between the container truck identification information and the task; and determine the task corresponding to the container truck identification information as the operating task of the container truck.

[0090] Optionally, the job task carries target bay position information; accordingly, when the job task is verified based on the bay position information, the verification module 203 can be specifically used to: detect whether the target bay position information in the job task is consistent with the bay position information; if they are consistent, the verification passes; if they are inconsistent, the verification fails.

[0091] Optionally, the crane operating device may further include a prompt module, which may be specifically used to: if the verification of the operating task based on the bay position information fails, issue a first prompt message to prompt the user that the operating task does not match the bay position information.

[0092] Optionally, the acquisition module 201 can be specifically used to: obtain the container truck information collected by the client and the target position information in the multi-lane operation scenario; wherein the bay position information is obtained by the client scanning a preset mark; the preset mark is set on the yard bay corresponding to the bay position information.

[0093] It should be understood that the specific implementation of the crane operating device provided in the embodiments of the present application can refer to the specific implementation of the crane operating method described in any of the above embodiments, and will not be repeated here.

[0094] The present application also provides an operating device, wherein, Figure 3 As shown, the operating equipment may include: a memory 301 and a processor 302; wherein the memory 301 is connected to the processor 302 and is used to store programs; the processor 302 is used to implement the crane operating method disclosed in any of the above embodiments by running the program stored in the memory 301.

[0095] Specifically, the above-mentioned operating equipment may further include: a bus, a communication interface 303 , an input device 304 and an output device 305 .

[0096] The processor 302, the memory 301, the communication interface 303, the input device 304 and the output device 305 are interconnected via a bus.

[0097] A bus may include a pathway that transfers information between components of a computer system.

[0098] Processor 302 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. Alternatively, it can be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0099] The processor 302 may include a main processor, and may also include a baseband chip, a modem, etc.

[0100] The memory 301 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which may include computer operating instructions. More specifically, the memory 301 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash memory, etc.

[0101] The input device 304 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0102] Output device 305 may include a device that allows information to be output to a user, such as a display screen, a speaker, etc.

[0103] The communication interface 303 may include any transceiver or similar device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0104] The processor 302 executes the program stored in the memory 301 and calls other devices, which can be used to implement each step of the crane operation method provided in the embodiment of the present application.

[0105] An embodiment of the present application further provides a crane, which may include a crane body and the operating equipment as described in any of the above embodiments.

[0106] Optionally, the crane body can be equipped with a 2D laser scanner to cooperate with the container truck guidance and positioning system to obtain the current position of the container truck when performing the operation task.

[0107] Optionally, a plurality of cameras may be provided on the saddle beam and the spreader of the crane body for obtaining images of containers to be lowered on the spreader or containers to be grabbed on the container truck when performing an operation task.

[0108] Optionally, a reader may be provided on the spreader of the crane body for cooperating with a transponder provided on the container truck to read the electronic tag information on the container truck.

[0109] Another embodiment of the present application further provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, each step of the crane operation method provided in any of the above embodiments is implemented.

[0110] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0111] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0112] The steps in the methods of the various embodiments of the present application can be adjusted in sequence, combined, and deleted according to actual needs.

[0113] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0115] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0116] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0117] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0118] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0119] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0120] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crane operation method, characterized in that: include: Obtain truck information and target location information in multi-lane operation scenarios; The container truck information includes container truck identification information, and the target location information includes lane information and bay position information; Determining the operation task of the container truck based on the container truck identification information; Verify the job task according to the bit position information; if the verification passes, set the job task as a task to be executed; When executing the operation task, the large vehicle is controlled to move to the target bay corresponding to the bay information; the small vehicle is controlled to move to the target lane corresponding to the lane information; the target position of the spreader is determined based on the current position of the container truck obtained, and the spreader is lowered based on the target position; the target position is the position on the container truck where the container is to be picked up and released; in the process of lowering the spreader, the electronic tag information set on the container truck is read, and the operation task is verified according to the electronic tag information, or the identification information of the target container is obtained, and the operation task is verified according to the identification information of the target container; If the verification is passed, the spreader is continued to be lowered to the target position, and the container is grabbed and released; wherein, the target container is the container to be lowered on the spreader or the container to be grabbed on the container truck.

2. The method according to claim 1, characterized in that The determining of the operating task of the container truck based on the container truck identification information includes: According to the container truck identification information, determining the task corresponding to the container truck identification information from a pre-stored task list; the pre-stored task list includes the correspondence between the container truck identification information and the tasks; The task corresponding to the container truck identification information is determined as the operation task of the container truck.

3. The method according to claim 1, characterized in that The operation task carries target position information; The verifying of the operation task according to the bay information includes: Check whether the target bay position information in the task is consistent with the bay position information; if they are consistent, the verification passes; if they are inconsistent, the verification fails.

4. The method according to claim 1, wherein After verifying the job task, the method further includes: If the verification fails, a first prompt message is issued to remind the user that the job task does not match the position information.

5. The method according to claim 1, wherein The acquisition of container truck information and target location information in a multi-lane operation scenario includes: The container truck information and target position information in a multi-lane operation scenario collected by the client are obtained; wherein, the bay position information is obtained by the client scanning a preset mark; the preset mark is set on the yard bay corresponding to the bay position information.

6. A crane operating device, characterized in that: include: The acquisition module is used to obtain container truck information and target location information in multi-lane operation scenarios; The container truck information includes container truck identification information, and the target location information includes lane information and bay position information; A determination module, configured to determine an operation task of the container truck based on the container truck identification information; A verification module, configured to verify the job task according to the bit position information; if the verification passes, the job task is set as a task to be executed; an execution module configured to, when executing the operation task, control the large vehicle to move to a target bay corresponding to the bay position information; control the small vehicle to move to a target lane corresponding to the lane information; determine a target position of the spreader based on the acquired current position of the container truck, and lower the spreader based on the target position; the target position is a position on the container truck where a container grabbing and releasing operation is required; and, during the process of lowering the spreader, read the electronic tag information set on the container truck and verify the operation task based on the electronic tag information, or obtain the identification information of the target container and verify the operation task based on the identification information of the target container; If the verification is passed, the spreader is continued to be lowered to the target position, and the container is grabbed and released; wherein, the target container is the container to be lowered on the spreader or the container to be grabbed on the container truck.

7. A crane, characterized in that: include: Crane body and operating equipment, including: The operating device includes a processor and a memory connected to the processor; The memory is used to store computer programs; The processor is configured to call and execute the computer program in the memory to perform the crane operation method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, each step of the crane operation method according to any one of claims 1 to 5 is implemented.

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