A container truck movement control method, system, storage medium and intelligent terminal

Abstract

The present application relates to a container truck movement control method, system, storage medium and intelligent terminal, and relates to the field of terminal operation technology, which includes obtaining yard location information; dividing the detection area with the location corresponding to the yard location information as the center and the fixed distance as the radius, and obtaining the container truck location information and moving direction information at the edge of the detection area; determining the deviation angle information according to the direction corresponding to the moving direction information and the fixed direction; determining the planned route information according to the container truck location information and the moving direction information, and determining the offset position information according to the deviation angle information, the fixed speed and the offset angle on the route corresponding to the planned route information; determining the actual route information according to the offset position information and the offset angle, and controlling the container truck to move at a fixed speed along the route corresponding to the actual route information until it moves into the preset fixed lane. The present application has the effect of improving the operating efficiency of the container truck in transporting containers to the yard.

Description

Technical Field

[0001] The present application relates to the field of terminal operation technology, and in particular to a container truck movement control method, system, storage medium and intelligent terminal. Background Art

[0002] With the development of global trade, sea transportation has become the main mode of transportation, and the terminal has become an important part of the transportation process. During the terminal operation, container trucks transport containers to the yard to store the container items. When the cargo ship arrives at the terminal, the cargo is transported to the cargo ship to realize the transportation of the cargo.

[0003] In the related art, in the process of transporting containers to the yard, the lanes for the container trucks to move can be divided according to the situation of the containers in the yard. Before the container truck moves to the yard, the truck driver adjusts the position of the truck body according to the lanes, and then enters the yard along the lanes, so that the truck will not collide with the container yard, and the operation is safer.

[0004] With respect to the above-mentioned related technologies, the inventors believe that before the container truck is moved to the yard, staff are required to control and adjust the position of the container truck. However, the adjustment by staff may cause size deviation, resulting in the inability to quickly move the container truck to the yard for container transportation operations, thereby resulting in low overall efficiency of container transportation. There is still room for improvement. Summary of the invention

[0005] In order to improve the operating efficiency of container trucks in transporting containers to a storage yard, the present application provides a container truck movement control method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a method for controlling the movement of a container truck, which adopts the following technical solution:

[0007] A container truck movement control method, comprising:

[0008] Get the yard location information;

[0009] The detection area is divided with the position corresponding to the yard position information as the center and the preset fixed distance as the radius, and the position information and moving direction information of the container truck at the edge of the detection area are obtained;

[0010] Determine the deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction;

[0011] Determine the planned route information according to the container truck position information and the moving direction information, and determine the offset position information according to the deviation angle information, the preset fixed speed and the preset offset angle on the route corresponding to the planned route information;

[0012] The actual route information is determined based on the offset position information and the offset angle, and the container truck is controlled to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane.

[0013] By adopting the above technical solution, before the container truck moves toward the yard, the yard position information is obtained to divide the area within the yard, so as to determine the container truck that needs to enter the yard to place the container, and the angle of the container truck deviation is determined according to the moving direction of the container truck when entering the area, so as to facilitate the subsequent division of the container truck track, so that the container truck can move along the designated route to move to the fixed lane, thereby reducing the time for the container truck to adjust its position, so that the container truck can move to the yard more conveniently and quickly, and improve the operation efficiency of the container truck in transporting containers to the yard.

[0014] Optionally, before controlling the container truck to move along the route corresponding to the actual route information, the container truck movement control method further includes:

[0015] Obtain the speed information of the container truck at the edge of the detection area;

[0016] The moving distance information is determined by calculating the position information of the container truck and the offset position information;

[0017] The acceleration information is determined by calculating the speed corresponding to the truck speed information, the fixed speed and the distance corresponding to the moving distance information;

[0018] Determine whether the value corresponding to the acceleration information is within a preset allowable range;

[0019] If the value corresponding to the acceleration information is not within the permitted range, a speed abnormality signal is output;

[0020] If the value corresponding to the acceleration information is within the permitted range, the control vehicle is controlled to decelerate at the edge of the detection area by the value corresponding to the acceleration information to adjust to a fixed speed.

[0021] By adopting the above technical solution, the speed of the container truck can be judged to determine whether the speed of the container truck can be adjusted to the required speed when the container truck moves to the position corresponding to the offset position information, so as to determine whether the container truck can perform an offset rotation operation at the set position.

[0022] Optionally, the scope of the license may be determined by:

[0023] Obtaining image information of the container truck at the edge of the detection area;

[0024] Determine the truck model information and wheel image information of the truck according to feature recognition in the image corresponding to the truck image information, and determine the wheel flat size information according to the wheel image information;

[0025] According to the matching analysis between the container truck model information and the container truck parameter information stored in the preset model database, the container truck parameter information corresponding to the container truck model information is determined;

[0026] According to the wheel flat size information stored in the preset quality database, the truck mass information is matched and analyzed to determine the truck mass information corresponding to the wheel flat size information;

[0027] The permitted scope is determined based on the container truck parameter information and container truck quality information.

[0028] By adopting the above technical solution, the model of the container truck and the current weight of the container truck can be determined according to the recognition of the vehicle image, the corresponding braking condition of the container truck can be determined according to the model of the container truck, and the braking condition can be corrected according to the current weight of the container truck to determine the current braking condition of the container truck, so that the corresponding permitted range can be determined for acceleration judgment.

[0029] Optionally, after the abnormal speed signal is output, the container truck movement control method further includes:

[0030] Determine the maximum upper limit value information of the value in the permitted range;

[0031] The moving speed information of the container truck at the position corresponding to the offset position information is determined by calculation based on the upper limit value information, the moving distance information and the container truck speed information;

[0032] The speed corresponding to the moving speed information is updated to a new fixed speed, and the adjustment angle information is determined according to the deviation angle information, the offset position information and the new fixed speed, and the angle corresponding to the adjustment angle information is updated to a new offset angle;

[0033] The route corresponding to the actual route information is corrected according to the new offset angle information, and the container truck is controlled to move to the position corresponding to the offset position information and then move at the speed corresponding to the moving speed information with the new offset angle.

[0034] By adopting the above technical solution, when the container truck cannot adjust its speed to the required speed when it moves to the set position, the speed of the container truck when it moves to the position corresponding to the offset position information is determined according to the maximum acceleration, so that the fixed speed is updated to recalculate the offset angle, thereby realizing the correction of the required moving path of the container truck, so that the container truck can move into the fixed lane after moving along the designated path.

[0035] Optionally, after the actual route information is determined, the container truck movement control method further includes:

[0036] Determine whether the route corresponding to the actual route information has an intersection with the fixed lane;

[0037] If the route corresponding to the actual route information does not have an intersection with the fixed lane, a route abnormality signal is output;

[0038] If the route corresponding to the actual route information has an intersection with the fixed lane, the intersection is defined as the arrival point, and the gap distance information is determined based on the arrival point and the yard location information;

[0039] According to the matching analysis between the container truck model information and the reference distance information stored in the preset base value database, the reference distance information corresponding to the container truck model information is determined;

[0040] Determine whether the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information;

[0041] If the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information, the container truck is controlled to move along the route corresponding to the actual route information;

[0042] If the distance value corresponding to the gap distance information is not greater than the distance value corresponding to the reference distance information, a route abnormality signal is output.

[0043] By adopting the above technical solution, when the path is completely divided, it is determined whether there is an intersection with the fixed lane to determine whether the container truck can move into the fixed lane before entering the yard. When there is no intersection, it means that the container truck cannot move into the fixed lane before entering the yard. At this time, the planned path is incorrect. When there is an intersection, the distance between the intersection and the yard is determined to ensure that the container truck will not collide with the yard when turning due to the existence of the inner wheel difference, thereby ensuring the safety of the container truck turning.

[0044] Optionally, after the route abnormality signal is output, the container truck movement control method further includes:

[0045] The parking position information is determined by calculation based on the upper limit value information and the truck speed information;

[0046] Determine correction angle information based on parking position information and fixed lane calculation;

[0047] Determine whether the angle value corresponding to the correction angle information is within a preset adjustment range;

[0048] If the angle value corresponding to the correction angle information is not within the adjustment range, a human intervention signal is output;

[0049] If the angle value corresponding to the correction angle information is within the adjustment range, the actual route information is updated according to the parking position information and the correction angle information, and it is determined whether there is still an abnormal route signal;

[0050] If there is still an abnormal signal on the route, a human intervention signal is output;

[0051] If there is no route abnormality signal, the control truck will move according to the new actual route information.

[0052] By adopting the above technical solution, when the designated route cannot allow the normal operation of the container truck, the position of the container truck when it brakes and stops is determined based on the acceleration of the container truck, so that the container truck does not need to turn while moving. At this time, the container truck is adjusted to an offset angle that can move to the fixed lane so that the container truck can move normally. After the adjustment is completed, the alignment distance is still used for judgment to ensure the safety of the container truck's turning. If the normal movement of the container truck cannot be met at present, a human intervention signal is output to inform the staff so that the staff can intervene and handle it.

[0053] Optionally, also include:

[0054] Obtain the control quantity information of container trucks;

[0055] Determine the information on the number of interventions based on the counting of human intervention signals;

[0056] The intervention ratio information is determined by calculation based on the intervention quantity information and the container truck control quantity information;

[0057] Determine whether the intervention ratio is greater than a preset fixed value;

[0058] If the intervention ratio is not greater than the fixed value, a normal operation signal is output;

[0059] If the intervention ratio is greater than the fixed value, it is determined whether the quantity value corresponding to the container truck control quantity information is greater than the preset reference value;

[0060] If the quantity value corresponding to the container truck control quantity information is greater than the reference value, an abnormal operation signal is output;

[0061] If the quantity value corresponding to the container truck control quantity information is not greater than the reference value, an observation operation signal is output.

[0062] By adopting the above technical solution, the intervention of staff is recorded and analyzed to calculate the frequency of human intervention. When the intervention frequency is too high, an abnormal operation signal can be issued to notify the staff that the system controlling the movement of the container truck may have an abnormality, so that the staff can deal with the situation in time.

[0063] In the second aspect, the present application provides a container truck mobile control system, which adopts the following technical solution:

[0064] A container truck movement control system, comprising:

[0065] An acquisition module is used to obtain the location information of the storage yard;

[0066] A processing module, connected to the acquisition module, for storing and processing information;

[0067] The processing module divides the detection area with the position corresponding to the yard position information as the center and a preset fixed distance as the radius, and enables the acquisition module to acquire the container truck position information and moving direction information at the edge of the detection area;

[0068] The processing module determines the deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction;

[0069] The processing module determines the planned route information according to the container truck position information and the moving direction information, and determines the offset position information according to the deviation angle information, the preset fixed speed and the preset offset angle on the route corresponding to the planned route information;

[0070] The processing module determines the actual route information according to the offset position information and the offset angle, and controls the container truck to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane.

[0071] By adopting the above technical solution, before the container truck moves toward the yard, the acquisition module acquires the yard position information to divide the area within the yard, so that the processing module determines the container truck that needs to enter the yard to place the container, and the processing module determines the angle of the container truck deviation according to the moving direction of the container truck when entering the area, so that the processing module can subsequently divide the container truck track, so that the container truck can move along the designated route to move into the fixed lane, thereby reducing the time for the container truck to adjust its position, so that the container truck can move to the yard more conveniently and quickly, and improve the operation efficiency of the container truck in transporting containers to the yard.

[0072] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0073] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned container truck movement control methods.

[0074] By adopting the above technical solution and using the intelligent terminal, before the container truck moves toward the yard, the yard position information is obtained to divide the area within the yard, so as to determine the container truck that needs to enter the yard to place the container, and the angle of the container truck deviation is determined according to the moving direction of the container truck when entering the area, so as to facilitate the subsequent division of the container truck track, so that the container truck can move along the designated route to move into the fixed lane, thereby reducing the time for the container truck to adjust its position, so that the container truck can move to the yard more conveniently and quickly, and improve the operation efficiency of the container truck in transporting containers to the yard.

[0075] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of improving the efficiency of a container truck in transporting containers to a storage yard, and adopts the following technical solution:

[0076] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned container truck movement control methods.

[0077] By adopting the above technical solution, a computer program of a container truck movement control method is stored in a storage medium. Before the container truck moves toward the yard, the yard position information is obtained to divide the area within the yard, so as to determine the container truck that needs to enter the yard to place the container, and the angle of the container truck deviation is determined according to the moving direction of the container truck when entering the area, so as to facilitate the subsequent division of the container truck track, so that the container truck can move along the designated route to move into the fixed lane, thereby reducing the time for the container truck to adjust its position, so that the container truck can move to the yard more conveniently and quickly, and improve the operation efficiency of the container truck in transporting containers to the yard.

[0078] In summary, the present application includes at least one of the following beneficial technical effects:

[0079] 1. Different paths can be planned according to the deviation of the container truck from the fixed lane during its movement, so that the container truck can be moved to the fixed lane more conveniently, thereby improving the efficiency of the container truck transporting containers to the yard;

[0080] 2. After the truck route planning process, the planning situation can be checked to reduce the situation where the truck moves to the yard but not to the fixed lane, and reduce the situation where the truck hits the container during the movement;

[0081] 3. The frequency of human intervention adjustment can be recorded and analyzed, so that when the intervention frequency is high, a corresponding signal can be output to prompt the staff, so that the staff can check and handle the system situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 It is a flow chart of the container truck movement control method.

[0083] Figure 2 It is a schematic diagram of the moving process of the container truck.

[0084] Figure 3 It is a flow chart of the method for determining the speed of container trucks.

[0085] Figure 4 It is a flow chart of the method for determining the scope of permission.

[0086] Figure 5It is a flow chart of a method for correcting a speed abnormality route.

[0087] Figure 6 It is a flow chart of the route verification method.

[0088] Figure 7 It is a flow chart of the abnormal route processing method.

[0089] Figure 8 It is a flow chart of the system fault determination method.

[0090] Fig. 9 It is a module flow chart of the container truck movement control method. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0092] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0093] An embodiment of the present application discloses a method for controlling the movement of a container truck. When the container truck moves to a corresponding operating area, a route that is suitable for the container truck to move to a fixed lane can be planned according to the moving direction and corresponding moving speed of the container truck, so that the container truck can be moved to the fixed lane more conveniently, the time for adjusting the offset of the container truck is reduced and the accuracy of the offset is improved, so as to improve the overall operating efficiency of the container truck in transporting containers to the yard.

[0094] Reference Figure 1 The method flow of container truck movement control includes the following steps:

[0095] Step S100: Acquire the storage yard location information.

[0096] The position corresponding to the yard position information is the position of the center point of the moving track of the tire crane in the yard, and the information can be obtained by positioning the tire crane.

[0097] Step S101: dividing a detection area with the position corresponding to the yard position information as the center and a preset fixed distance as the radius, and obtaining the container truck position information and moving direction information at the edge of the detection area.

[0098] The fixed distance is a fixed value, which is set by the staff according to the actual situation. The detection area is divided to detect the container trucks around the yard. The division of the detection area can be achieved through radar; refer to Figure 2The position corresponding to the container truck position information is the position of the container truck when it moves from the outside to the detection area. The direction corresponding to the moving direction information is the moving direction of the container truck when it enters the detection area from the outside. The container truck can be monitored by satellite radar and other methods, and the position corresponding to the container truck position information is the position of a certain point on the container truck. The point can be the middle center point or the head point. It is set by the staff according to the actual situation and will not be elaborated.

[0099] Step S102: Determine deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction.

[0100] Reference Figure 2 The fixed direction is the opposite direction of the moving lane direction required before the container truck moves into the yard, which is set in advance by the staff. The angle value corresponding to the deviation angle information is the angle between the direction corresponding to the moving direction information and the fixed direction.

[0101] Step S103: determining the planned route information according to the container truck position information and the moving direction information, and determining the offset position information on the route corresponding to the planned route information according to the deviation angle information, the preset fixed speed and the preset offset angle.

[0102] The route corresponding to the planned route information is the route in which the container truck moves from the position corresponding to the container truck position information to the direction corresponding to the moving direction information. The fixed speed is a fixed value, which is the upper limit speed set by the staff for the container truck to move without deviation. The deviation angle is the angle value of the wheel deviation on the container truck, which is set by the staff according to the actual situation, and the direction of the wheel deviation is always opposite to the moving direction of the container truck. It will not be elaborated here. The position of the container truck when it starts to deviate is determined according to the angle of deviation required by the container truck, so as to control the steering deviation of the container truck. The method for determining the position can be determined by multiple simulations of the neural network. It will not be elaborated here. The information of the position when the container truck starts to deviate is recorded, that is, the offset position information.

[0103] Step S104: determining the actual route information according to the offset position information and the offset angle, and controlling the container truck to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane.

[0104] The route corresponding to the actual route information is the route that the container truck needs to move and deviate to, and the fixed lane is the lane that the container truck needs to move along before moving into the yard. The container truck is controlled to move along the route corresponding to the actual route information so that the container truck can deviate to the fixed lane, thereby making it more convenient to move into the yard, thereby improving the work efficiency of the container truck in transporting containers to the yard; when the container truck moves along the fixed lane, a 3D laser scanner can be set on the tire crane to perform three-dimensional simulation of the container truck's situation, thereby making it more accurate to move the container truck to a position where the tire crane can grab the corresponding container, so as to facilitate the subsequent lifting of the container.

[0105] Reference Figure 3 Before controlling the container truck to move along the route corresponding to the actual route information, the container truck movement control method further includes:

[0106] Step S200: obtaining the speed information of the container truck at the edge of the detection area.

[0107] The speed corresponding to the container truck speed information is the speed when the container truck just enters the edge of the detection area, which can be achieved by setting a speed detector at the edge of the detection area. This is a conventional technical means for those skilled in the art and will not be elaborated on.

[0108] Step S201: Calculate and determine the moving distance information based on the truck position information and the offset position information.

[0109] The distance value corresponding to the moving distance information is the distance value between the position corresponding to the collection truck position information and the position corresponding to the offset position information, which is obtained by calculating the two and the coordinates in space. The calculation method is a conventional technical means for those skilled in the art and will not be elaborated on.

[0110] Step S202: Determine acceleration information by calculating the speed corresponding to the container truck speed information, the fixed speed, and the distance corresponding to the moving distance information.

[0111] The acceleration value corresponding to the acceleration information is the acceleration value that can be adjusted from the speed corresponding to the container truck speed information to a fixed speed after the container truck moves the distance corresponding to the moving distance information. It can be obtained by calculation based on the relationship between acceleration, distance and speed. It is a conventional technical means for those skilled in the art and will not be elaborated on.

[0112] Step S203: determining whether the value corresponding to the acceleration information is within a preset allowable range.

[0113] The permitted range is the range of acceleration that the container truck can adjust, which is set by the staff based on the container truck's own conditions. The purpose of the judgment is to find out whether the container truck can be adjusted to the required acceleration.

[0114] Step S2031: If the value corresponding to the acceleration information is not within the permitted range, a speed abnormality signal is output.

[0115] When the value corresponding to the acceleration information is not within the permitted range, it means that the container truck cannot be adjusted to the required acceleration value. At this time, the container truck cannot adjust the speed to a fixed speed when moving to the position corresponding to the offset position information, so as to output a speed abnormality signal to record the situation, so as to facilitate further analysis and processing of the situation later.

[0116] Step S2032: If the value corresponding to the acceleration information is within the permitted range, the truck is controlled to decelerate at the edge of the detection area by the value corresponding to the acceleration information to adjust to a fixed speed.

[0117] When the value corresponding to the acceleration information is within the permitted range, it means that the acceleration of the container truck can be adjusted to the required value so that the speed of the container truck can be adjusted to a fixed speed when it moves to the position corresponding to the offset position information, thereby realizing the subsequent offset activity of the container truck.

[0118] Reference Figure 4 , the methods for determining the scope of permission include:

[0119] Step S300: Acquire image information of the container truck at the edge of the detection area.

[0120] The image corresponding to the container truck image information is the image obtained by photographing the container truck when it enters the detection area. The image can be obtained by installing a shooting component at the edge of the detection area. The shooting component can be a conventional device such as a camera, which is set by the staff according to the actual situation and will not be elaborated on.

[0121] Step S301: determining the truck model information and wheel image information of the truck according to feature recognition in the image corresponding to the truck image information, and determining the wheel flat size information according to the wheel image information.

[0122] The model corresponding to the container truck model information is the model of the container truck, and the signal of the container truck can be determined by the image recognition matching method, which is a conventional technical means for those skilled in the art and will not be elaborated on; the image corresponding to the wheel image information is the image of the wheel in the image corresponding to the container truck image information, which is obtained according to the feature recognition method, and the size value corresponding to the wheel flat size information is the difference between the distance between the lowest point of the wheel and the center point of the wheel and the radius of the wheel.

[0123] Step S302: performing matching analysis between the container truck model information and the container truck parameter information stored in the preset model database to determine the container truck parameter information corresponding to the container truck model information.

[0124] The parameter values ​​corresponding to the container truck parameter information include parameters such as the braking capacity of the container truck. Different container truck model information corresponds to different container truck parameter information. The correspondence between the two is manually input by the staff according to the actual situation of the container truck, thereby realizing the establishment of the model database. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0125] Step S303: Matching and analyzing the wheel flat size information and the container truck quality information stored in the preset quality database to determine the container truck quality information corresponding to the wheel flat size information.

[0126] The mass value corresponding to the mass information of the container truck is the total mass value of the container truck and the containers it carries. The mass of the container truck can be determined by the flattened size value of the wheels. Different wheel flat size information corresponds to different container truck mass information, and the corresponding relationship between the two is also different for wheels of different models. The wheel model can be obtained through the container truck model parameters. A quality database can be established based on different wheel flat size information and corresponding container truck mass information. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0127] Step S304: Determine the permitted range according to the container truck parameter information and the container truck quality information.

[0128] According to the mass information of the container truck and some braking parameters of the container truck itself, the acceleration value range that the container truck can safely execute can be determined, so that the container truck can be safer during the deceleration process. The determination method can be established through multiple tests by the staff, which is a conventional technical means for those skilled in the art and will not be elaborated on.

[0129] Reference Figure 5 After the abnormal speed signal is output, the container truck movement control method further includes:

[0130] Step S400: Determine the maximum upper limit value information of the value in the permitted range.

[0131] When an abnormal speed signal is output, it means that the container truck cannot adjust the speed to a fixed speed when it moves to the position corresponding to the offset position information. At this time, the route of the container truck needs to be adjusted; the value corresponding to the upper limit value information is the maximum value in the permitted range, that is, the maximum acceleration that can be adjusted during the deceleration process of the container truck.

[0132] Step S401: determining the moving speed information of the container truck at the position corresponding to the offset position information by calculation according to the upper limit value information, the moving distance information and the container truck speed information.

[0133] The speed of the container truck can be adjusted according to its maximum acceleration, so as to calculate the speed at which the container truck moves to the position corresponding to the offset position information. The speed information is recorded as the moving speed information. The speed calculation method is a conventional technical means for those skilled in the art and will not be elaborated on.

[0134] Step S402: updating the speed corresponding to the moving speed information to a new fixed speed, determining the adjustment angle information according to the deviation angle information, the offset position information and the new fixed speed, and updating the angle corresponding to the adjustment angle information to a new offset angle.

[0135] The speed value corresponding to the moving speed information at this time will cause a certain amount of offset in the turning process of the container truck. At this time, a new offset angle can be determined based on the new fixed speed, deviation angle information and offset position information. The information of the offset angle is recorded, that is, the angle information is adjusted. The offset angle can be determined by setting the different speed offsets of the container truck through a neural network model. The specific setting method is set by the staff according to the actual situation and will not be elaborated on.

[0136] Step S403: modifying the route corresponding to the actual route information according to the new offset angle information, and controlling the container truck to move to the position corresponding to the offset position information and then move at a speed corresponding to the moving speed information and offset by the new offset angle.

[0137] The actual route information can be corrected based on the new offset angle information, so that the container truck can still move well to the fixed lane after turning at a faster speed, thereby realizing the subsequent normal movement of the container truck.

[0138] Reference Figure 6 After the actual route information is determined, the container truck movement control method further includes:

[0139] Step S500: Determine whether the route corresponding to the actual route information has an intersection with a fixed lane.

[0140] The purpose of the judgment is to find out whether the planned route can enable the container truck to move into the fixed lane, or whether the container truck can move into the fixed lane before moving to the yard.

[0141] Step S5001: If the route corresponding to the actual route information does not have an intersection with the fixed lane, a route abnormality signal is output.

[0142] When the route corresponding to the actual route information does not intersect the fixed lane, it means that if the container truck moves along the route corresponding to the actual route information, it will not be able to move to the fixed lane before moving to the yard. At this time, a route abnormality signal is output to identify the situation so that it can be handled later.

[0143] Step S5002: If there is an intersection between the route corresponding to the actual route information and the fixed lane, the intersection is defined as the arrival point, and the gap distance information is determined by calculation based on the arrival point and the yard position information.

[0144] When the route corresponding to the actual route information intersects with the fixed lane, it means that the container truck can move to the fixed lane before moving to the yard. At this time, the intersection is defined as the arrival point for identification, so as to determine the position of the container truck moving to the fixed lane; the distance corresponding to the gap distance information is the distance between the arrival point and the position corresponding to the yard position information, which can be calculated and obtained through the spatial coordinates of the two.

[0145] Step S501: performing matching analysis between the truck model information and the reference distance information stored in the preset base value database to determine the reference distance information corresponding to the truck model information.

[0146] The distance corresponding to the reference distance information is the minimum value of the required spacing distance between the container truck and the yard when the container truck moves into the fixed lane, so that the container truck can adjust its position normally when the rear end of the container truck turns, so as to reduce the occurrence of the rear end of the container truck colliding with the container. The overall length and width corresponding to different types of container trucks are inconsistent. At this time, the required reference distance information is inconsistent. Therefore, different container truck model information corresponds to different reference distance information. The corresponding relationship between the two is manually input by the staff according to the container truck situation. The base value database can be established according to different container truck model information and the corresponding reference distance information. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0147] Step S502: Determine whether the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information.

[0148] The purpose of the judgment is to find out whether the container truck can make subsequent position adjustments normally after moving to a fixed lane.

[0149] Step S5021: If the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information, the truck is controlled to move along the route corresponding to the actual route information.

[0150] When the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information, it indicates that it is safer for the current container truck to move along the actual route. At this time, the container truck is controlled to move along the route corresponding to the actual route information so that the container truck can move normally in the fixed lane, thereby facilitating the subsequent lifting of the container on the container truck.

[0151] Step S5022: If the distance value corresponding to the gap distance information is not greater than the distance value corresponding to the reference distance information, a route abnormality signal is output.

[0152] When the distance value corresponding to the gap distance information is not greater than the distance value corresponding to the reference distance information, it means that after the container truck moves to the fixed lane along the actual route, the rear turn of the container truck may collide with the container. At this time, it means that the actual route cannot enable the container truck to move normally and safely. The route abnormality signal is output to identify the situation so that it can be handled later.

[0153] Reference Figure 7 After the route abnormality signal is output, the container truck movement control method further includes:

[0154] Step S600: Calculate and determine parking position information based on upper limit value information and truck speed information.

[0155] When a route abnormality signal is output, it means that the actual planned route cannot allow the container truck to move normally, and the route needs to be replanned at this time; the position corresponding to the stop position information is the position when the container truck decelerates to the parking position at the maximum acceleration, and the deceleration time can be calculated based on the container truck speed information and the upper limit value information. The distance traveled by the container truck from deceleration to parking can be calculated based on the three, and the position of the container truck on the route corresponding to the planned route information can be determined based on the distance, thereby determining its parking position.

[0156] Step S601: Determine correction angle information based on parking position information and fixed lane calculation.

[0157] The angle value corresponding to the correction angle information is the wheel offset angle required to adjust the container truck to move to the fixed lane at the position corresponding to the parking position information. The correction angle information corresponding to each parking position information can be determined through neural network learning before the container truck moves, which is not elaborated here.

[0158] Step S602: Determine whether the angle value corresponding to the correction angle information is within a preset adjustment range.

[0159] The adjustment range is the angle range within which the truck wheels can be offset, and is set by staff based on the actual conditions of the truck. The purpose of the judgment is to find out whether the truck can adjust the wheels to the required offset angle.

[0160] Step S6021: If the angle value corresponding to the correction angle information is not within the adjustment range, a human intervention signal is output.

[0161] When the angle value corresponding to the correction angle information is not within the adjustment range, it means that the container truck cannot offset the wheels to the required angle. At this time, it is impossible to move the container truck to the fixed lane through automatic control. A human intervention signal is output to inform the staff of the situation in time so that the staff can intervene in time to manually control the movement of the container truck, thereby reducing the time that the container truck occupies the tire crane, thereby facilitating other container trucks at the terminal to perform unloading operations in the current yard.

[0162] Step S6022: If the angle value corresponding to the corrected angle information is within the adjustment range, the actual route information is updated according to the parking position information and the corrected angle information, and it is determined whether there is still an abnormal route signal.

[0163] When the angle value corresponding to the correction angle information is within the adjustment range, it means that the container truck can adjust the wheels to the required offset angle. At this time, the actual route can be updated according to the parking position and the wheel offset angle, and whether there is an abnormal route signal can be judged. The purpose of the judgment is to know whether the actual route after correction and update can meet the movement needs of the container truck.

[0164] Step S60221: If the route abnormality signal still exists, a human intervention signal is output.

[0165] When there are still abnormal route signals, it means that the actual route after correction still cannot meet the requirements of the container truck operation. At this time, a human intervention signal is output so that the staff can intervene to handle it.

[0166] Step S60222: If there is no route abnormality signal, the truck is controlled to move according to the new actual route information.

[0167] When there is no route abnormality signal, it means that the corrected actual route can meet the container truck movement needs. At this time, the container truck can be controlled to move along the new actual route.

[0168] Reference Figure 8 The container truck movement control method further includes:

[0169] Step S700: Obtaining the control quantity information of the container truck.

[0170] The number corresponding to the container truck control quantity information is the number of container trucks that have undergone route planning, that is, the number of container trucks that need to enter the yard for unloading operations, which can be obtained by counting the operation signals sent by the container trucks received by the tire crane at the yard.

[0171] Step S701: Determine intervention quantity information according to human intervention signal count.

[0172] The number corresponding to the intervention quantity information is the total number of human intervention signals, which is determined by counting. The counting method is a conventional technical means for those skilled in the art and will not be elaborated on.

[0173] Step S702: Calculate and determine intervention ratio information based on intervention quantity information and truck control quantity information.

[0174] The ratio corresponding to the intervention ratio information is the proportion of staff intervention in controlling the container truck, which is obtained by dividing the quantity value corresponding to the intervention quantity information by the quantity value corresponding to the container truck control quantity information.

[0175] Step S703: Determine whether the intervention ratio is greater than a preset fixed value.

[0176] The fixed value is the maximum percentage of staff intervention set by the staff. The purpose of the judgment is to find out whether the frequency of staff intervention in the current process of container truck control is too high, so as to determine whether the system controlling the movement of the container truck is damaged.

[0177] Step S7031: If some pre-ratio values ​​are not greater than a fixed value, a normal operation signal is output.

[0178] When the intervention ratio is not greater than a fixed value, it indicates that the container truck movement control is carried out normally. At this time, a normal operation signal is output to mark the situation so that external staff can be informed of the situation.

[0179] Step S7032: If a number of pre-ratio values ​​are greater than a fixed value, it is determined whether the quantity value corresponding to the control quantity information of the truck set is greater than a preset reference value.

[0180] When the intervention ratio is greater than the fixed value, it means that the current intervention rate of the mobile control staff of the container truck is high, and there may be a system failure. At this time, further analysis and determination is needed; the benchmark value is the minimum value set by the staff. The purpose of the judgment is to know whether the quantity value corresponding to the container truck control quantity information is greater than the minimum value, so as to determine whether the denominator is too small, resulting in a large intervention ratio.

[0181] Step S70321: If the quantity value corresponding to the container truck control quantity information is greater than the reference value, an abnormal operation signal is output.

[0182] When the quantity value corresponding to the container truck control quantity information is greater than the reference value, it means that the number of times the container truck is controlled is greater than the minimum value, and there is no situation where the denominator value is too small, which means that the system may have a fault. At this time, an abnormal operation signal is output to let the staff know the situation in time so that the staff can deal with the situation in time.

[0183] Step S70322: If the quantity value corresponding to the truck control quantity information is not greater than the reference value, an observation operation signal is output.

[0184] When the quantity value corresponding to the quantity information of the container truck control is not greater than the reference value, it means that the high intervention ratio may be caused by a too small denominator. At this time, it is impossible to determine whether there is a system fault, and an observation operation signal is output to identify the situation so that the staff can take corresponding measures.

[0185] Reference Fig. 9 Based on the same inventive concept, an embodiment of the present invention provides a container truck movement control system, including:

[0186] An acquisition module is used to obtain the location information of the storage yard;

[0187] A processing module, connected to the acquisition module, for storing and processing information;

[0188] The processing module divides the detection area with the position corresponding to the yard position information as the center and a preset fixed distance as the radius, and enables the acquisition module to acquire the container truck position information and moving direction information at the edge of the detection area;

[0189] The processing module determines the deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction;

[0190] The processing module determines the planned route information according to the container truck position information and the moving direction information, and determines the offset position information according to the deviation angle information, the preset fixed speed and the preset offset angle on the route corresponding to the planned route information;

[0191] The processing module determines the actual route information according to the offset position information and the offset angle, and controls the container truck to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane;

[0192] The speed determination module determines whether the container truck can be adjusted to the required speed when it moves to the position corresponding to the offset position information according to the acceleration of the container truck;

[0193] The module for determining the permitted scope determines the subject scope of acceleration according to the weight of the container truck and its own parameters;

[0194] Route correction module: when the speed cannot be adjusted to the required speed when moving to the corresponding position, the route can be corrected according to the speed of the container truck to reduce the situation where the container truck is too fast and deviates and cannot move to the fixed lane;

[0195] The route verification module verifies the planned route so that the container truck can move along the qualified route;

[0196] Abnormal route processing module, when the route is abnormal, it can process the abnormal route and plan a route that meets the requirements for the container truck to move;

[0197] The intervention frequency determination module determines and judges the frequency of staff intervention so that staff can handle problems in a timely manner when the system has problems.

[0198] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0199] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a container truck movement control method.

[0200] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0201] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for controlling the movement of container trucks.

[0202] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0203] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for controlling the movement of container trucks, characterized in that: include: Get the location information of the yard; The detection area is divided with the position corresponding to the yard position information as the center and the preset fixed distance as the radius, and the position information and moving direction information of the container truck at the edge of the detection area are obtained; Determine the deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction; Determine the planned route information according to the container truck position information and the moving direction information, and determine the offset position information according to the deviation angle information, the preset fixed speed and the preset offset angle on the route corresponding to the planned route information; The actual route information is determined according to the offset position information and the offset angle, and the container truck is controlled to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane; Before controlling the container truck to move along the route corresponding to the actual route information, the container truck movement control method further includes: Obtain the speed information of the container truck at the edge of the detection area; The moving distance information is determined by calculating the position information of the container truck and the offset position information; The acceleration information is determined by calculating the speed corresponding to the truck speed information, the fixed speed and the distance corresponding to the moving distance information; Determine whether the value corresponding to the acceleration information is within a preset allowable range; If the value corresponding to the acceleration information is not within the permitted range, a speed abnormality signal is output; If the value corresponding to the acceleration information is within the permitted range, the control vehicle is controlled to decelerate at the edge of the detection area by the value corresponding to the acceleration information to adjust to a fixed speed.

2. The method for controlling the movement of container trucks according to claim 1, characterized in that: Methods for determining the scope of the license include: Obtaining image information of the container truck at the edge of the detection area; Determine the truck model information and wheel image information of the truck according to feature recognition in the image corresponding to the truck image information, and determine the wheel flat size information according to the wheel image information; According to the matching analysis between the container truck model information and the container truck parameter information stored in the preset model database, the container truck parameter information corresponding to the container truck model information is determined; According to the wheel flat size information stored in the preset quality database, the truck mass information is matched and analyzed to determine the truck mass information corresponding to the wheel flat size information; The permitted scope is determined based on the container truck parameter information and container truck quality information.

3. The method for controlling the movement of container trucks according to claim 2, characterized in that: After the abnormal speed signal is output, the container truck movement control method further includes: Determine the maximum upper limit value information of the value in the permitted range; The moving speed information of the container truck at the position corresponding to the offset position information is determined by calculation based on the upper limit value information, the moving distance information and the container truck speed information; The speed corresponding to the moving speed information is updated to a new fixed speed, and the adjustment angle information is determined according to the deviation angle information, the offset position information and the new fixed speed, and the angle corresponding to the adjustment angle information is updated to a new offset angle; The route corresponding to the actual route information is corrected according to the new offset angle information, and the container truck is controlled to move to the position corresponding to the offset position information and then move at the speed corresponding to the moving speed information with the new offset angle.

4. The method for controlling the movement of container trucks according to claim 3, characterized in that: After the actual route information is determined, the container truck movement control method further includes: Determine whether the route corresponding to the actual route information has an intersection with the fixed lane; If the route corresponding to the actual route information does not have an intersection with the fixed lane, a route abnormality signal is output; If the route corresponding to the actual route information has an intersection with the fixed lane, the intersection is defined as the arrival point, and the gap distance information is determined based on the arrival point and the yard location information; According to the matching analysis between the container truck model information and the reference distance information stored in the preset base value database, the reference distance information corresponding to the container truck model information is determined; Determine whether the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information; If the distance value corresponding to the gap distance information is greater than the distance value corresponding to the reference distance information, the container truck is controlled to move along the route corresponding to the actual route information; If the distance value corresponding to the gap distance information is not greater than the distance value corresponding to the reference distance information, a route abnormality signal is output.

5. The method for controlling the movement of container trucks according to claim 4, characterized in that: After the route abnormality signal is output, the container truck movement control method further includes: The parking position information is determined by calculation based on the upper limit value information and the truck speed information; Determine correction angle information based on parking position information and fixed lane calculation; Determine whether the angle value corresponding to the correction angle information is within a preset adjustment range; If the angle value corresponding to the correction angle information is not within the adjustment range, a human intervention signal is output; If the angle value corresponding to the correction angle information is within the adjustment range, the actual route information is updated according to the parking position information and the correction angle information, and it is determined whether there is still an abnormal route signal; If there is still an abnormal signal on the route, a human intervention signal is output; If there is no route abnormality signal, the control container truck will move according to the new actual route information.

6. The method for controlling the movement of container trucks according to claim 5, characterized in that: Also includes: Obtain the information on the number of container trucks controlled; Determine the information on the number of interventions based on the counting of human intervention signals; The intervention ratio information is determined by calculation based on the intervention quantity information and the container truck control quantity information; Determine whether the intervention ratio is greater than a preset fixed value; If the intervention ratio is not greater than the fixed value, a normal operation signal is output; If the intervention ratio is greater than the fixed value, it is determined whether the quantity value corresponding to the container truck control quantity information is greater than the preset reference value; If the quantity value corresponding to the container truck control quantity information is greater than the reference value, an abnormal operation signal is output; If the quantity value corresponding to the container truck control quantity information is not greater than the reference value, an observation operation signal is output.

7. A container truck movement control system, using the container truck movement control method according to any one of claims 1 to 6, characterized in that: include: An acquisition module is used to obtain the location information of the storage yard; A processing module, connected to the acquisition module, for storing and processing information; The processing module divides the detection area with the position corresponding to the yard position information as the center and a preset fixed distance as the radius, and enables the acquisition module to acquire the container truck position information and moving direction information at the edge of the detection area; The processing module determines the deviation angle information according to the direction corresponding to the moving direction information and the preset fixed direction; The processing module determines the planned route information according to the container truck position information and the moving direction information, and determines the offset position information according to the deviation angle information, the preset fixed speed and the preset offset angle on the route corresponding to the planned route information; The processing module determines the actual route information according to the offset position information and the offset angle, and controls the container truck to move along the route corresponding to the actual route information at a fixed speed until it moves into a preset fixed lane.

8. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes any one of the methods of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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