An automated wharf container full-process operation method based on a workflow engine

Abstract

The present invention discloses an automated terminal container full-process operation method based on a workflow engine. The method includes: establishing a workflow model, and configuring a container loading task workflow and an unloading task workflow in the workflow model; after activating the loading task and / or the unloading task in the job queue, creating a workflow monitoring process; based on the workflow engine and the workflow monitoring process, executing the container loading task workflow and / or the container unloading task workflow. Applying the present invention can improve the ability of container loading and unloading to adapt to the dynamic changes of an automated terminal and improve the efficiency of container loading and unloading.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated terminals. Specifically, it relates to a method for the full-process operation of containers in an automated terminal, and more specifically, it relates to a method for the full-process operation of containers in an automated terminal based on a workflow engine. Background Art

[0002] The full-process operation process of containers in an automated terminal generally refers to the stowage operation plan formulated according to the ship stowage principle and the terminal operation requirements, and the operation process of automatically loading containers onto a ship or unloading containers from the ship. The full-process automated operation of containers is the basic link of the terminal operation, and its operation progress and stability directly affect the port efficiency and the arrival and departure time of container ships.

[0003] Currently, most of the full-process operation methods for terminal container automation adopt machine learning methods, applying modern optimization algorithms such as tabu search, genetic algorithms, neural networks, fuzzy algorithms, rough set theory, and data warehouse and data mining technologies to automated loading and unloading to improve the operation efficiency of container loading and unloading. Although machine learning methods can improve the loading and unloading efficiency to a certain extent, if there are significant changes in the container throughput of the terminal, it is necessary to retrain the machine learning method and optimize the machine learning model to obtain a full-process operation method that matches the actual state of the terminal. Therefore, the existing full-process operation methods for containers are not sufficient to support the current continuous increase in container throughput and the trend of increasing container ship size. Summary of the Invention

[0004] One of the objectives of the present invention is to provide a method for the full-process operation of containers in an automated terminal based on a workflow engine, which can improve the ability of container loading and unloading to adapt to the dynamic changes of the automated terminal and improve the container loading and unloading efficiency.

[0005] To achieve the above-mentioned invention objective, the present invention is implemented by adopting the following technical solutions:

[0006] A method for the full-process operation of containers in an automated terminal based on a workflow engine, the method comprising:

[0007] Establish a workflow model, and configure the workflow of the container ship loading task and the workflow of the ship unloading task in the workflow model;

[0008] After activating the ship loading task and / or the ship unloading task in the job queue, create a workflow monitoring process;

[0009] Based on the workflow engine and the workflow monitoring process, execute the workflow of the ship loading task and / or the workflow of the ship unloading task.

[0010] In some embodiments of the present application, the workflow for performing the ship unloading task includes:

[0011] The AGV scheduler matches idle AGVs, determines the current number of ship unloading AGVs to be dispatched, creates a current ship unloading AGV movement task and a corresponding current ship unloading container receiving task based on the known ship unloading operation priorities, and dispatches the current ship unloading AGVs to pick up containers under the quay crane according to the current ship unloading AGV movement task and the current ship unloading container receiving task;

[0012] The OCR recognition device recognizes the information of the containers unloaded from the ship by the quay crane and feeds the recognized container information back to the first server;

[0013] After the workflow monitoring process monitors the event that the container information is fed back to the first server, it writes the container information into the database;

[0014] The quay crane places the unloaded containers on the current ship unloading AGV, ends the current ship unloading AGV movement task, completes the current ship unloading container receiving task, and the current ship unloading AGV enters the ship unloading AGV buffer;

[0015] Determine the current ship unloading container sending task according to the container information, and associate the current ship unloading container receiving task with the current ship unloading container sending task;

[0016] Use a polling query method to select a location in the ship unloading yard and determine the target yard location for sending the container;

[0017] The current ship unloading AGV executes the current ship unloading container sending task according to the current ship unloading container sending task and the target yard location for sending the container, and arrives at the current ship unloading yard interaction area location corresponding to the target yard location for sending the container;

[0018] The yard gantry crane transports the container from the current ship unloading yard interaction area location to the target yard location for sending the container.

[0019] In some embodiments of the present application, the workflow for performing the ship unloading task further includes:

[0020] After dispatching the current ship unloading AGV to pick up containers under the quay crane according to the current ship unloading AGV movement task and the current ship unloading container receiving task, use a polling query method to pre-select a location in the ship unloading yard and determine the initial yard location for sending the container;

[0021] After the workflow monitoring process monitors the event that the initial yard location for sending the container is determined, it writes the initial yard location for sending the container into the database.

[0022] In some embodiments of the present application, the workflow for performing the ship unloading task further includes:

[0023] If the initial yard position for container delivery cannot be determined within the set polling time, a prompt indicating the failure of preselecting a position in the ship unloading yard is issued.

[0024] In some embodiments of the present application, the AGV scheduling performs idle AGV matching to determine the current number of AGVs dispatched for ship unloading, specifically including:

[0025] The AGV scheduling determines the current number of all idle AGVs and obtains the known threshold for the number of AGVs dispatched for ship unloading;

[0026] Based on the current number of all idle AGVs, the threshold for the number of AGVs dispatched for ship unloading, the known current ship unloading AGV scheduling operation time window, the known current quay crane operation efficiency, and the known maximum AGV ratio of the quay crane, the current number of AGVs dispatched for ship unloading is determined.

[0027] In some embodiments of the present application, the method further includes:

[0028] Determine the forward vehicle head direction when the current ship unloading AGV leaves the ship unloading AGV buffer area, and obtain the position where the quay crane places the unloaded container on the current ship unloading AGV and the container door orientation in the container information;

[0029] Based on the forward vehicle head direction, the position where the container is placed on the current ship unloading AGV, the container door orientation, and the target yard position for container delivery, determine whether the current AGV needs to turn around based on the principle of minimizing the number of turns.

[0030] In some embodiments of the present application, executing the loading task workflow includes:

[0031] The AGV scheduling determines the planned loading operation time;

[0032] The yard gantry crane scheduling determines the current loading container out task within the yard gantry crane scheduling operation time window according to the planned loading operation time, and moves the container out of the yard to the current loading yard interaction area position according to the current loading container out task;

[0033] The AGV scheduling performs idle AGV matching, determines the current number of AGVs dispatched for loading, creates a current loading AGV container receiving task according to the known loading operation priority, and dispatches the current loading AGV to the current loading yard interaction area position to receive the container according to the current loading AGV container receiving task;

[0034] The yard gantry crane places the container on the current loading AGV, ending the current loading AGV container receiving task;

[0035] The current loading AGV executes the task of discharging containers to the current loading quay crane interaction area corresponding to the target ship.

[0036] The quay crane obtains the containers loaded on the current loading AGV from the current loading quay crane interaction area and loads them onto the ship. At the same time, the OCR recognition device recognizes the information of the loaded containers and feeds it back to the first server.

[0037] In some embodiments of the present application, the AGV scheduling performs idle AGV matching to determine the dispatching quantity of the current loading AGV, specifically including:

[0038] The AGV scheduling determines the quantity of all current idle AGVs and obtains the known threshold value of the dispatching quantity of the loading AGV.

[0039] According to the quantity of all current idle AGVs, the threshold value of the dispatching quantity of the loading AGV, the known operation time window of the current loading AGV scheduling, the known operation efficiency of the current quay crane, and the known maximum AGV ratio of the quay crane, the dispatching quantity of the current loading AGV is determined.

[0040] Another object of the present invention is to provide an electronic device, including a processor, a memory, and a computer program stored on the memory. The processor is configured to execute the computer program to implement the above-mentioned full-process operation method for containers at an automated terminal based on a workflow engine.

[0041] Another object of the present invention is to provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the above-mentioned full-process operation method for containers at an automated terminal based on a workflow engine is implemented.

[0042] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The full-process operation method for containers at an automated terminal based on a workflow engine provided by the present invention improves the flexibility of the full-process operation method by establishing a workflow model and performing automated container loading and unloading based on the workflow engine and the workflow monitoring process. Even if there are significant changes in the container throughput at the terminal, there is no need to re-train and learn, which improves the ability to adapt to the dynamic changes of the automated terminal. Moreover, it can effectively reduce the empty running distance of the AGV and the energy consumption of the AGV operation, reduce the mutual waiting time between the AGV and the quay crane, and between the AGV and the yard gantry crane, and improve the container loading and unloading efficiency and the convenience and controllability of the loading and unloading process. Furthermore, the purpose of cost savings and efficient operation at the automated terminal is achieved.

[0043] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the accompanying drawings required for the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0045] Figure 1 It is a flowchart of the first embodiment of the method for the whole-process operation of automated terminal containers based on a workflow engine according to the present invention;

[0046] Figure 2 It is a flowchart of the second embodiment of the method for the whole-process operation of automated terminal containers based on a workflow engine according to the present invention;

[0047] Figure 3 It is a flowchart of the third embodiment of the method for the whole-process operation of automated terminal containers based on a workflow engine according to the present invention;

[0048] Figure 4 It is a structural block diagram of an embodiment of an electronic device according to the present invention. Detailed implementation manners

[0049] In order to make the purpose, technical solutions and advantages of the present invention clearer, the following will further describe the present invention in detail with reference to the accompanying drawings and embodiments.

[0050] It should be noted that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions conflicts or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0051] Figure 1 Shown is a flowchart of the first embodiment of the method for the whole-process operation of automated terminal containers based on a workflow engine according to the present invention.

[0052] As Figure 1 shown, this embodiment realizes the automated loading and unloading of terminal containers by adopting a process including the following steps.

[0053] Step 11: Establish a workflow model.

[0054] Among them, the workflow model is configured with a workflow for container ship loading tasks and a workflow for ship unloading tasks.

[0055] The loading and unloading of containers at an automated terminal requires the participation and coordination of automated guided vehicles (AGVs), quay cranes (QCs), and yard gantry cranes (ASCs). According to a certain process, the export container loading operation and the import container unloading operation are completed. The workflow model is configured with a workflow for using AGVs, quay cranes, and yard gantry cranes to complete the export container loading task and a workflow for completing the import container unloading task.

[0056] Step 12: After activating the loading task and / or unloading task in the job queue, create a workflow monitoring process.

[0057] The start of the workflow is achieved by activating the loading task and / or unloading task in the job queue. After the operator activates a certain task in the job queue, the loading and unloading work will start. First, a workflow monitoring process is created to monitor the events in the entire task workflow, and then subsequent driving and control are executed based on the monitored events.

[0058] Step 13: Based on the workflow engine and the workflow monitoring process, execute the loading task workflow and / or the unloading task workflow.

[0059] Using the workflow engine method, in cooperation with the workflow monitoring process, it is convenient, fast, and automatic to implement the container loading and unloading task workflow, and it reduces the coupling correlation between the loading and unloading workflow and changes in terminal throughput, equipment changes, etc. It improves the flexibility of the full-process operation method. Even if there are significant changes in the container throughput of the terminal, there is no need to retrain and learn again, improving the ability to adapt to the dynamic changes of the automated terminal. Moreover, it can effectively reduce the empty running distance of AGVs and the energy consumption of AGV operations, reduce the mutual waiting time between AGVs and quay cranes, and between AGVs and yard gantry cranes, improving the container loading and unloading efficiency and the convenience and controllability of the loading and unloading process. Furthermore, the purpose of cost savings and high-efficiency operation of the automated terminal is achieved.

[0060] Figure 2 The figure shows the flowchart of the second embodiment of the full-process operation method for containers at an automated terminal based on a workflow engine, specifically the flowchart of an embodiment for implementing the container unloading task workflow.

[0061] As Figure 2 shown, this embodiment uses a process including the following steps to implement the container unloading task workflow.

[0062] Step 21: The AGV scheduler performs idle AGV matching, determines the current number of AGVs dispatched for unloading, creates the current AGV movement task for unloading and the current container receiving task for unloading, and dispatches the current AGVs for unloading to pick up containers under the quay crane.

[0063] In some embodiments, the AGV scheduling performs idle AGV matching to determine the current number of AGVs dispatched for ship unloading, specifically including:

[0064] The AGV scheduling determines the current number of all idle AGVs and obtains the known threshold value of the number of AGVs dispatched for ship unloading. Then, based on the current number of all idle AGVs, the threshold value of the number of AGVs dispatched for ship unloading, the known current operation time window of the ship-unloading AGV scheduling, the known current quay crane operation efficiency, and the known maximum AGV ratio of the quay crane, the current number of AGVs dispatched for ship unloading is determined, thereby maximizing the utilization rate of AGV resources. Among them, the determined current number of AGVs dispatched for ship unloading is not greater than the threshold value of the number of AGVs dispatched for ship unloading. The threshold value of the number of AGVs dispatched for ship unloading is a known value and can be a settable and modifiable value; the current operation time window of the ship-unloading AGV scheduling, the current quay crane operation efficiency, and the maximum AGV ratio of the quay crane, as known values, can also be settable and modifiable values. The specific calculation method for determining the current number of AGVs dispatched for ship unloading is not limited in this embodiment, and all possible methods in the prior art can be used to implement it.

[0065] In this embodiment, the current ship-unloading AGV movement task and the corresponding current ship-unloading container receiving task are created according to the known ship-unloading operation priority. The ship-unloading operation priority includes, but is not limited to, the order of the containers to be unloaded and the order of dispatching AGVs. Among them, the current ship-unloading AGV movement task does not contain the information of the containers to be unloaded, and the current ship-unloading container receiving task contains the information of the containers to be unloaded obtained from the ship-unloading operation priority.

[0066] Step 22: The OCR recognition device recognizes the information of the containers unloaded by the quay crane from the ship and feeds back the recognized container information to the first server.

[0067] The container information recognized by the OCR recognition device includes, but is not limited to, the container number and the container door direction.

[0068] Step 23: After the workflow monitoring process monitors the event that the container information is fed back to the first server, it writes the container information into the database.

[0069] In some other embodiments, if the event that the container information is fed back to the first server is not monitored under the set conditions, it is considered that the container is still on the quay crane and the current ship-unloading AGV has not reached under the quay crane. Then, the process of controlling the current ship-unloading AGV to go under the quay crane is continued, and the device interface library, workflow, etc. are required to cooperate until the event is monitored, and then the subsequent work process is executed.

[0070] Step 24: The quay crane places the unloaded container onto the current ship-unloading AGV, ends the moving task of the current ship-unloading AGV, completes the current ship-unloading container receiving task, and the current ship-unloading AGV enters the ship-unloading AGV buffer area. The ship-unloading AGV buffer area is a buffer area on the quay near the quay crane.

[0071] Step 25: Determine the current ship-unloading container sending task according to the container information, and associate the current ship-unloading container receiving task with the current ship-unloading container sending task.

[0072] Step 26: Use the polling query method to select a position in the ship-unloading yard and determine the target yard position for sending the container.

[0073] Step 27: The current ship-unloading AGV executes the current ship-unloading container sending task according to the current ship-unloading container sending task and the target yard position for sending the container, and arrives at the position of the current ship-unloading yard interaction area.

[0074] In some other embodiments, the forward head direction of the current ship-unloading AGV when leaving the ship-unloading AGV buffer area is also determined, and the position where the quay crane places the unloaded container onto the current ship-unloading AGV and the container door orientation in the container information are obtained; then, according to the forward head direction, the position where the container is placed onto the current ship-unloading AGV, the container door orientation, and the target yard position for sending the container, based on the principle of the minimum number of turns, it is determined whether the current AGV needs to turn around. That is, it is determined whether it is necessary to adjust the head direction of the AGV when it exits the ship-unloading AGV buffer area and enters the current ship-unloading interaction area position, so as to achieve the purpose of improving the moving efficiency of the AGV and reducing energy consumption.

[0075] Step 28: The yard gantry crane sends the container from the position of the current ship-unloading yard interaction area to the target yard position for sending the container, and completes the process of the yard gantry crane sending the container.

[0076] In some other embodiments, the work process of executing the ship-unloading task further includes the process of preselecting a position in the ship-unloading yard. Specifically, after dispatching the current ship-unloading AGV to receive the container under the quay crane according to the current moving task of the ship-unloading AGV and the current ship-unloading container receiving task, the polling query method is also used to preselect a position in the ship-unloading yard to determine the initial yard position for sending the container; after the workflow monitoring process monitors the event of determining the initial yard position for sending the container, the initial yard position for sending the container is written into the database.

[0077] In some other embodiments, if the initial yard position for sending the container cannot be determined within the set polling time, a prompt of failure in preselecting a position in the ship-unloading yard is issued.

[0078] Through preselecting a position in the ship-unloading yard, the following technical effects can be achieved:

[0079] On the one hand, it can be used as a flag for whether to automatically execute subsequent processes. For the ship unloading task, if the initial yard location for container delivery exists in the database, it means that subsequent processes such as AGV container collection, container dispatch, selection of the ship unloading yard location, and ASC container delivery will be automatically executed; if the initial yard location for container delivery does not exist in the database, the subsequent processes can be interrupted.

[0080] On the other hand, it can realize the prediction of the container delivery yard location for the operator to pre-view the approximate location where the unloaded containers may be placed.

[0081] Furthermore, it can also be used as an alarm reminder. If there is no such initial yard location for container delivery, there may be a problem that the actual target yard location for container delivery cannot be determined subsequently, reminding the operator to check and handle whether there are problems with yard location selection and getting timely handling and resolution when there are problems.

[0082] Figure 3 The flowchart of the third embodiment of the full-process operation method for containers at an automated terminal based on a workflow engine according to the present invention is shown, specifically, it is the flowchart of an embodiment for realizing the workflow of the container loading task.

[0083] As Figure 3 shown, this embodiment realizes the workflow of the container loading task by a process including the following steps.

[0084] Step 31: The AGV scheduling determines the planned ship loading operation time.

[0085] The AGV scheduling can calculate the planned ship loading operation time using its timing task. This embodiment does not limit the method for determining the operation time.

[0086] Step 32: The yard rail crane scheduling determines the current ship loading container out task within the operation time window of the yard rail crane scheduling according to the planned ship loading operation time, and takes the container out of the yard to the current ship loading yard interaction area location according to the current ship loading container out task.

[0087] In some embodiments, considering possible yard container repositioning situations, the yard rail crane scheduling is generally carried out in advance.

[0088] Step 33: The AGV scheduling performs matching of idle AGVs, determines the current number of AGVs dispatched for ship loading, creates the current ship loading AGV container collection task, and dispatches the current ship loading AGVs to the current ship loading yard interaction area location to collect containers.

[0089] In this embodiment, the current ship loading AGV container collection task is created according to the known ship loading operation priorities. Among them, the ship loading operation priorities include but are not limited to the order of the loaded containers and the order of dispatching AGVs.

[0090] In some other embodiments, the AGV scheduling performs idle AGV matching to determine the current number of AGVs dispatched for loading, specifically including:

[0091] The AGV scheduling determines the current number of all idle AGVs and obtains the known threshold of the number of AGVs dispatched for loading; then, based on the current number of all idle AGVs, the threshold of the number of AGVs dispatched for loading, the known current operation time window of the AGV scheduling for loading, the known current operation efficiency of the quay crane, and the known maximum AGV ratio of the quay crane, it determines the current number of AGVs dispatched for loading, so as to maximize the utilization rate of AGV resources. Moreover, the determined current number of AGVs dispatched for loading is not greater than the threshold of the number of AGVs dispatched for loading. The threshold of the number of AGVs dispatched for loading is a known value and can be a value that can be set and modified; the current operation time window of the AGV scheduling for loading, the current operation efficiency of the quay crane, and the maximum AGV ratio of the quay crane, as known values, can also be values that can be set and modified. The specific calculation method for determining the current number of AGVs dispatched for loading is not limited in this embodiment, and all possible methods in the prior art can be used to implement it.

[0092] Step 34: The yard rail-mounted crane places the container on the current AGV for loading, and ends the task of receiving containers by the current AGV for loading.

[0093] Step 35: The current AGV for loading executes the task of sending containers and sends the containers to the interaction area of the current loading quay crane corresponding to the target ship.

[0094] Step 36: The quay crane obtains the containers loaded on the current AGV for loading from the interaction area of the current loading quay crane and loads them onto the ship. At the same time, the OCR recognition device recognizes the information of the loaded containers and feeds it back to the first server.

[0095] Figure 4 The block diagram of the structure of an embodiment of the electronic device of the present invention is shown. The electronic device includes a processor 41, a memory 42, and a computer program 421 stored on the memory 42. The processor 41 is configured to execute the computer program 421 to implement Figure 1 Embodiment, Figure 2 Embodiment, Figure 3 Embodiment and the automated terminal container full-process operation method based on the workflow engine in other embodiments, and achieve the technical effects of the corresponding embodiments. The electronic device can be a controller in the automated terminal container loading and unloading control room.

[0096] Other embodiments of the present invention also provide a computer storage medium. A computer program is stored on the computer storage medium. When the computer program is executed by a processor, it implements Figure 1 Embodiment, Figure 2 Embodiment, Figure 3An automated wharf container full-process operation method based on a workflow engine in an embodiment and other embodiments, and achieving the technical effects of the corresponding embodiments.

[0097] The above computer storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The computer storage medium can be any available storage medium accessible by a general-purpose or special-purpose computer.

[0098] In some embodiments, the computer storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in a device.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features thereof; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions required to be protected by the present invention.

Claims

1. An automated terminal container full-process operation method based on a workflow engine, characterized in that The method includes: Establishing a workflow model, and configuring a container loading task workflow and an unloading task workflow in the workflow model; After activating the loading task and / or unloading task in the job queue, creating a workflow monitoring process; Based on the workflow engine and the workflow monitoring process, executing the container loading task workflow and / or the container unloading task workflow; Executing the container unloading task workflow includes: The AGV scheduling performs idle AGV matching, determines the current number of AGVs dispatched for unloading, creates a current AGV movement task for unloading and a current container receiving task for unloading corresponding to the current AGV movement task for unloading according to the known unloading operation priority, and dispatches the current AGV for unloading to pick up containers under the quay crane according to the current AGV movement task for unloading and the current container receiving task for unloading; The OCR recognition device recognizes the information of the containers unloaded from the ship by the quay crane, and feeds back the recognized container information to the first server; After the workflow monitoring process monitors the event that the container information is fed back to the first server, the workflow monitoring process writes the container information into the database; The quay crane places the unloaded containers on the current AGV for unloading, ends the current AGV movement task for unloading, completes the current container receiving task for unloading, and the current AGV for unloading enters the AGV buffer for unloading; Determines the current container sending task for unloading according to the container information, and associates the current container receiving task for unloading with the current container sending task for unloading; Uses a polling query method to select a position in the unloading yard, and determines the target yard position for sending the container; The current AGV for unloading executes the current container sending task for unloading according to the current container sending task for unloading and the target yard position for sending the container, and arrives at the position of the current unloading yard interaction area corresponding to the target yard position for sending the container; The yard gantry crane sends the container from the position of the current unloading yard interaction area to the target yard position for sending the container.

2. The automated terminal container full-process operation method based on a workflow engine according to claim 1, characterized in that Executing the container unloading task workflow further includes: After dispatching the current AGV for unloading to pick up containers under the quay crane according to the current AGV movement task for unloading and the current container receiving task for unloading, uses a polling query method to pre-select a position in the unloading yard, and determines the initial yard position for sending the container; After the workflow monitoring process monitors the event that the initial yard position for sending the container is determined, the workflow monitoring process writes the initial yard position for sending the container into the database; 3. The automated terminal container full-process operation method based on a workflow engine according to claim 2, characterized in that Executing the container unloading task workflow further includes: If the initial yard position for sending the container cannot be determined within the set polling time, a prompt for the failure of pre-selecting a position in the unloading yard is issued.

4. The automated terminal container full-process operation method based on a workflow engine according to claim 1, characterized in that The AGV scheduling performs idle AGV matching and determines the current number of AGVs dispatched for unloading, specifically including: The AGV scheduling determines the current number of all idle AGVs and obtains the known threshold value of the number of AGVs dispatched for unloading; Determines the current number of AGVs dispatched for unloading according to the current number of all idle AGVs, the threshold value of the number of AGVs dispatched for unloading, the known current AGV scheduling operation time window, the known current quay crane operation efficiency, and the known maximum AGV ratio of the quay crane.

5. The automated terminal container full-process operation method based on a workflow engine according to claim 1, characterized in that The method further includes: Determine the forward direction of the front of the current ship-unloading AGV when it leaves the ship-unloading AGV buffer area, and obtain the position where the quay crane places the unloaded container onto the current ship-unloading AGV and the orientation of the container door in the container information; Based on the principle of minimizing the number of turns, determine whether the current ship-unloading AGV needs to turn around according to the forward direction of the front of the vehicle, the position where the container is placed on the current ship-unloading AGV, the orientation of the container door, and the target yard position for delivering the container; 6. The automated terminal container full-process operation method based on a workflow engine according to any one of claims 1 to 5, characterized in that Execute the ship-loading task workflow, including: The AGV scheduling determines the planned ship-loading operation time; The yard rail crane scheduling determines the current ship-loading container-out task within the scheduling operation time window of the yard rail crane according to the planned ship-loading operation time, and moves the container out of the yard to the current ship-loading yard interaction area position according to the current ship-loading container-out task; The AGV scheduling performs matching of idle AGVs, determines the number of current ship-loading AGVs to be dispatched, creates a current ship-loading AGV container-receiving task according to the known ship-loading operation priority, and dispatches the current ship-loading AGV to the current ship-loading yard interaction area position to receive the container according to the current ship-loading AGV container-receiving task; The yard rail crane places the container onto the current ship-loading AGV, and ends the current ship-loading AGV container-receiving task; The current ship-loading AGV executes the container-delivery task and delivers the container to the current ship-loading quay crane interaction area corresponding to the target ship; The quay crane obtains the container loaded on the current ship-loading AGV from the current ship-loading quay crane interaction area and loads it onto the ship. At the same time, the OCR recognition device recognizes the information of the loaded container and feeds it back to the first server.

7. The automated quay container full-process operation method based on a workflow engine according to claim 6, characterized in that The AGV scheduling performs matching of idle AGVs to determine the number of current ship-loading AGVs to be dispatched, specifically including: The AGV scheduling determines the number of all current idle AGVs and obtains the known threshold for the number of ship-loading AGVs to be dispatched; According to the number of all current idle AGVs, the threshold for the number of ship-loading AGVs to be dispatched, the known current ship-loading AGV scheduling operation time window, the known current quay crane operation efficiency, and the known maximum AGV ratio of the quay crane, determine the number of current ship-loading AGVs to be dispatched.

8. An electronic device, comprising a processor, a memory, and a computer program stored on the memory, characterized in that, The processor is configured to execute the computer program to implement the method for the full-process operation of containers at an automated terminal based on a workflow engine as described in any one of claims 1 to 7 above.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for the full-process operation of containers at an automated terminal based on a workflow engine as described in any one of claims 1 to 7 above.

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