Methods, apparatus, equipment and readable storage media for unmanned container trucks loading containers onto ships

Abstract

This invention provides a method, apparatus, equipment, and readable storage medium for loading containers onto ships using unmanned trucks. The method includes: when the previous container is loaded, determining a target parking space in the gantry crane buffer zone; and controlling the unmanned truck in the target parking space to reach the gantry crane loading area to load the container loaded on the unmanned truck onto the ship. This invention solves the problem of scheduling and loading containers in multi-truck intermodal transport. Even when containers arrive at the buffer zone in an unordered manner, it ensures that the unmanned trucks, loaded with containers that need to be loaded, exit the buffer zone in an orderly fashion and arrive at the gantry crane in an orderly manner, thus achieving orderly container loading.

Description

Technical Field

[0001] This invention relates to the field of port traffic scheduling technology, and in particular to a method, apparatus, equipment, and readable storage medium for loading containers onto ships using unmanned trucks. Background Technology

[0002] When loading containers onto ships at a port terminal, each container has a fixed, pre-planned location, and all containers must be loaded in a fixed order. However, different containers are stacked in different yards, and the distances and routes from these yards to the gantry cranes vary, as do the number of traffic lights and other signals they need to pass. This results in inconsistencies between the order in which different containers arrive at the gantry cranes and the order in which they are instructed by the dispatching platform when multiple vehicles are transporting them.

[0003] Currently, manned trucks are used for loading containers onto ships at port terminals. The existing manned truck solutions mainly rely on manual scheduling to manage the concurrent order of multiple trucks in order to ensure that containers are loaded onto ships in an orderly manner. For example, by having a driver maneuver to avoid obstacles under the gantry crane or by having personnel under the gantry crane observe and use walkie-talkies to notify the driver to slow down or stop and wait, containers can be loaded onto the ship according to the ship's plan (a diagram showing the distribution of containers on the ship). Summary of the Invention

[0004] The main objective of this invention is to provide a method, apparatus, equipment, and readable storage medium for loading containers onto ships using unmanned trucks, aiming to solve the technical problems of low efficiency and low safety in the existing method of loading containers onto ships using manned trucks.

[0005] In a first aspect, the present invention provides a method for loading containers onto ships using unmanned container trucks, the method comprising the following steps:

[0006] Once the previous container has been loaded onto the ship, determine the target parking space in the gantry crane buffer zone;

[0007] Control the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the container loaded on the unmanned truck onto the ship.

[0008] Optionally, the step of determining the target parking space in the crane buffer zone when the previous container loading is completed includes:

[0009] Confirm that there are unoccupied parking spaces for unmanned trucks in the bridge crane buffer zone;

[0010] Based on the occupied parking space number, sort the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces to obtain the target array.

[0011] Optionally, after determining that there are occupied parking spaces for unmanned trucks in the crane buffer zone, the method further includes:

[0012] Establish a mapping relationship between the container number of the unmanned truck loading the container in the occupied parking space and the parking space number of the occupied parking space.

[0013] Optionally, the step of determining the target parking space in the crane buffer zone when the previous container loading is completed includes:

[0014] When the previous container is loaded onto the ship, the min-heap algorithm is used to sort all array elements in the target array to obtain an ordered array.

[0015] Determine the target container number, which is the container number corresponding to the first element of the ordered array;

[0016] Based on the mapping relationship, the target parking space number corresponding to the target container number is determined;

[0017] The occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer zone.

[0018] Optionally, the container loading method for the unmanned truck also includes:

[0019] Determine whether there are vacant parking spaces based on the parking space status of the bridge crane buffer zone;

[0020] If it is determined that there are available parking spaces, the container number corresponding to the container to be loaded is determined based on the ship's chart for port operations.

[0021] Based on the container number, determine the storage location of the container yard corresponding to the container number;

[0022] Control the idle unmanned truck to reach the yard location, and load the container with the corresponding container number onto the idle unmanned truck;

[0023] When the container is loaded, the unmanned truck that is in an idle state is controlled to move to the idle parking space.

[0024] Secondly, the present invention also provides a container loading device for unmanned trucks, the container loading device for unmanned trucks comprising:

[0025] The determination module is used to determine the target parking space in the gantry crane buffer zone when the previous container has been loaded onto the ship.

[0026] A control device is used to control the unmanned truck in the target parking space to reach the gantry crane loading area so as to load the containers loaded on the unmanned truck onto the ship.

[0027] Optionally, the unmanned container loading device for container trucks further includes a sorting module for:

[0028] Confirm that there are unoccupied parking spaces for unmanned trucks in the bridge crane buffer zone;

[0029] Based on the occupied parking space number, sort the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces to obtain the target array.

[0030] Optionally, the unmanned container loading device for container trucks further includes a building module for:

[0031] Establish a mapping relationship between the container number of the unmanned truck loading the container in the occupied parking space and the parking space number of the occupied parking space.

[0032] Optionally, the determining module is specifically used for:

[0033] When the previous container is loaded onto the ship, the min-heap algorithm is used to sort all array elements in the target array to obtain an ordered array.

[0034] Determine the target container number, which is the container number corresponding to the first element of the ordered array;

[0035] Based on the mapping relationship, the target parking space number corresponding to the target container number is determined;

[0036] The occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer zone.

[0037] Optionally, the control module is further specifically used for:

[0038] Determine whether there are vacant parking spaces based on the parking space status of the bridge crane buffer zone;

[0039] If it is determined that there are available parking spaces, the container number corresponding to the container to be loaded is determined based on the ship's chart for port operations.

[0040] Based on the container number, determine the storage location of the container yard corresponding to the container number;

[0041] Control the idle unmanned truck to reach the yard location, and load the container with the corresponding container number onto the idle unmanned truck;

[0042] When the container is loaded, the unmanned truck that is in an idle state is controlled to move to the idle parking space.

[0043] Thirdly, the present invention also provides a container loading device for unmanned trucks, the container loading device for unmanned trucks including a processor, a memory, and a container loading program for unmanned trucks stored in the memory and executable by the processor, wherein when the container loading program for unmanned trucks is executed by the processor, the steps of the container loading method for unmanned trucks as described above are implemented.

[0044] Fourthly, the present invention also provides a readable storage medium storing a container loading program for unmanned trucks, wherein when the container loading program for unmanned trucks is executed by a processor, the steps of the container loading method for unmanned trucks as described above are implemented.

[0045] This invention provides a method, apparatus, equipment, and readable storage medium for loading containers onto ships using unmanned trucks. The method includes: determining a target truck position in the gantry crane buffer zone when the previous container loading is completed; and controlling the unmanned truck in the target truck position to reach the gantry crane loading area to load the container loaded on the unmanned truck onto the ship. This invention solves the problem of scheduling and loading containers in multi-truck intermodal transport. Even when containers arrive at the buffer zone in an unordered manner, it ensures that the unmanned trucks, loaded with containers that need to be loaded in sequence, leave the buffer zone in an orderly manner and arrive at the gantry crane in an orderly manner, thus achieving orderly container loading. Furthermore, by using a min-heap algorithm to sort all elements in the target array, the concurrent number of container loading scheduling operations per unit time can be increased, improving container loading efficiency while ensuring orderly container loading. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the hardware structure of the unmanned container loading equipment for trucks involved in the embodiments of the present invention;

[0047] Figure 2 This is a flowchart illustrating an embodiment of the unmanned container loading method of the present invention.

[0048] Figure 3 This is a flowchart illustrating another embodiment of the unmanned container loading method using trucks according to the present invention.

[0049] Figure 4 This is a functional module diagram of an embodiment of the unmanned container loading device for trucks according to the present invention.

[0050] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0052] In a first aspect, embodiments of the present invention provide a container loading equipment for unmanned trucks.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the hardware structure of the unmanned container loading equipment for a container truck involved in an embodiment of the present invention. In this embodiment, the unmanned container loading equipment for a container truck may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize communication between these components; the user interface 1003 may include a display screen or an input unit such as a keyboard; the network interface 1004 may optionally include a standard wired interface or a wireless interface (e.g., Wireless Fidelity, Wi-Fi); the memory 1005 may be high-speed random access memory (RAM) or stable memory (non-volatile memory), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that… Figure 1 The hardware structure shown does not constitute a limitation of the invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] Continue to refer to Figure 1 , Figure 1 The memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a container loading program for unmanned trucks. The processor 1001 can call the container loading program for unmanned trucks stored in the memory 1005 and execute the container loading method for unmanned trucks provided in this embodiment of the invention.

[0055] Secondly, embodiments of the present invention provide a method for loading containers onto ships using unmanned trucks.

[0056] Reference Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the unmanned container loading method using trucks according to the present invention.

[0057] In one embodiment of the container loading method using unmanned trucks of the present invention, the container loading method using unmanned trucks includes:

[0058] Step S10: When the previous container is loaded onto the ship, determine the target parking space in the gantry crane buffer zone;

[0059] Step S20: Control the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the container loaded on the unmanned truck onto the ship.

[0060] In this embodiment, considering that the existing technology of using manned trucks for container loading is inefficient and unsafe, this solution uses unmanned trucks for container loading to solve the above problems. However, unmanned trucks cannot, like manned trucks, navigate the narrow area under the gantry crane by human drivers, nor can they use walkie-talkies or other means to slow down or stop to ensure that the AGV (automated guided vehicle truck, i.e., unmanned truck) arrives under the gantry crane in an orderly manner.

[0061] However, if the unmanned trucks are manually dispatched by dispatchers, the following problems will also exist: (1) Since the unmanned trucks are not driven by humans, the dispatchers cannot accurately control the unmanned trucks to stop at the designated location; (2) Dispatching unmanned trucks by dispatchers requires the addition of human-machine interaction equipment and human-machine interaction protocols, which also increases the development difficulty of the unmanned truck autonomous driving system; (3) One dispatcher may not be able to handle the dispatch of multiple unmanned trucks, requiring the addition of dispatchers, resulting in low overall dispatch efficiency.

[0062] Therefore, this embodiment, based on the use of unmanned trucks for container loading, designates parking spaces near the gantry cranes as buffer zones to ensure orderly loading. Unmanned trucks are first dispatched to these buffer zones. The ratio of buffer zones to unmanned truck parking spaces is 1:n, meaning each buffer zone has n parking spaces for unmanned trucks, facilitating the simultaneous dispatch of the aforementioned number of containers to the buffer zone for loading. Upon completion of the previous container loading task, a priority queue algorithm is used to sort the containers and determine the target parking spaces in the gantry crane buffer zone. The unmanned trucks parked in these target spaces are carrying containers that, according to the ship's plan sequence, are required for the next loading task. After determining the target parking spaces in the gantry crane buffer zone, the unmanned trucks in these target spaces are then guided to the gantry crane loading area, allowing the gantry crane to directly load the target containers from the unmanned trucks in the loading area onto the ship.

[0063] By using the above methods, it can be ensured that vehicles leave the buffer zone in an orderly manner and arrive at the crane in an orderly manner, thus solving the problem of scheduling and loading containers for multi-vehicle intermodal transport and achieving orderly loading of containers onto ships.

[0064] Furthermore, in one embodiment, the procedure prior to step S10 includes:

[0065] Confirm that there are unoccupied parking spaces for unmanned trucks in the bridge crane buffer zone;

[0066] Based on the occupied parking space number, sort the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces to obtain the target array.

[0067] In this embodiment, since there are several parking spaces in the crane buffer zone, to determine the highest priority target parking space in the buffer zone, a priority queue algorithm is needed to sort the parking spaces in the crane buffer zone to determine the target parking space. Therefore, in this embodiment, all occupied parking spaces (parking spaces with unmanned trucks) in the buffer zone need to be grouped into a logical buffer, and the ground parking spaces in the buffer zone are numbered and mapped into computer memory to form a queue. That is, before determining the target parking space in the crane buffer zone, it is necessary to first determine the occupied parking spaces in the crane buffer zone with unmanned trucks, and then sort the container numbers corresponding to the containers loaded by the unmanned trucks in the occupied parking spaces based on the order of the occupied parking space numbers to obtain the target array.

[0068] The container numbers in the resulting target array are not sorted according to the ship's chart order, but rather based on the order of the occupied parking spaces. Initially, the unmanned trucks do not need to consider the order when loading containers and heading to the buffer zone, and the containers may arrive out of order. If the order were based on the parking space order, errors would occur; that is, the container number order in the target array is out of order relative to the loading order. Therefore, a priority queue algorithm is subsequently needed to determine which unmanned trucks (parked at the target parking space and loaded with the target container) ultimately need to enter the crane buffer zone, thus achieving ordered loading of containers even when they arrive at the buffer zone out of order.

[0069] For example, if there are 5 parking spaces in the crane buffer zone, where parking space 1 is occupied by an unmanned truck carrying container number 2, parking space 2 is occupied by an unmanned truck carrying container number 3, parking space 4 is occupied by an unmanned truck carrying container number 1, and parking space 5 is occupied by an unmanned truck carrying container number 4, then based on the order of the occupied parking space numbers, the container numbers corresponding to the containers loaded by the unmanned trucks in the occupied parking spaces are sorted to obtain the target array [2,3,1,4].

[0070] Furthermore, in one embodiment, after the step of determining that there is an occupied parking space for an unmanned truck in the crane buffer zone, the method further includes:

[0071] Establish a mapping relationship between the container number of the unmanned truck loading the container in the occupied parking space and the parking space number of the occupied parking space.

[0072] In this embodiment, after obtaining the target array, the subsequent priority queue algorithm (an algorithm that ensures the output is ordered) uses the container number as a sorting comparison factor to determine the highest priority container number in the target array (the output will be ordered according to the container number). In actual scheduling control, the highest priority container number is also loaded on an unmanned truck, and the unmanned truck is parked in a parking space in the gantry crane buffer zone. Therefore, after determining the highest priority container number, it is also necessary to determine the target parking space in the buffer zone where the unmanned truck loading the target container (the container corresponding to the highest priority container number) is parked. This way, when executing the target container loading task corresponding to the highest priority container number, it can be clearly determined which parking space number the unmanned truck should be driven from the gantry crane buffer zone into the gantry crane loading area in an orderly manner.

[0073] Therefore, in this embodiment, after determining that there are occupied parking spaces for unmanned trucks in the crane buffer zone, in addition to sorting the container numbers of the containers loaded by the unmanned trucks in the occupied parking spaces according to the order of the occupied parking space numbers to obtain the target array, a mapping relationship is also constructed between the container numbers of the containers loaded by the unmanned trucks in the occupied parking spaces and the parking space numbers of the occupied parking spaces.

[0074] For example, in the target array [2,3,1,4] above, the array element of 2 (container number) corresponds to the occupied parking space number 1, the array element of 3 corresponds to the occupied parking space number 2, the array element of 1 corresponds to the occupied parking space number 4, and the array element of 4 corresponds to the occupied parking space number 5. Once the array element with the highest priority and the mapping relationship are determined, it is convenient to accurately determine the target parking space based on the mapping relationship during subsequent loading scheduling control, thereby achieving more accurate and efficient orderly loading.

[0075] Furthermore, in one embodiment, reference is made to... Figure 3 Step S10 further includes:

[0076] Step S101: When the previous container is loaded onto the ship, use the min-heap algorithm to sort all array elements in the target array to obtain an ordered array;

[0077] Step S102: Determine the target container number, where the target container number is the container number corresponding to the first element of the ordered array.

[0078] Step S103: Based on the mapping relationship, determine the target parking space number corresponding to the target container number;

[0079] Step S104: The occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer zone.

[0080] In this embodiment, since the container numbers need to be prioritized according to the ship chart order, the container with the lowest priority is retrieved from the array element queue of the target array. There are many priority queue sorting algorithms, but each has a different time complexity (the time required to sort n numbers once). The heap sort algorithm has the lowest time complexity. Since the smallest number needs to be retrieved each time, a min-heap algorithm that sorts from smallest to largest is chosen. The priority queue algorithm in this embodiment uses a min-heap sort algorithm to sort all array elements in the target array. Among all sorting algorithms, the min-heap algorithm has the lowest time complexity (the lowest sorting time for n numbers). Therefore, using the min-heap algorithm can reduce sorting time and increase sorting speed, resulting in more unmanned trucks that can be scheduled per unit time, increasing the concurrency of container loading scheduling, and thus improving container loading efficiency while ensuring orderly container loading.

[0081] Therefore, in this embodiment, to improve the loading efficiency of containers while ensuring orderly loading, the step of determining the target parking space in the crane buffer when the previous container is loaded includes: when the previous container is loaded, using a min-heap algorithm to sort all array elements in the target array to obtain an ordered array. The target container number in the ordered array is determined, where the target container number is the container number corresponding to the first array element in the ordered array. Based on the mapping relationship between the container numbers of unmanned trucks loading containers in occupied parking spaces and the parking space numbers of the occupied parking spaces, the target parking space number corresponding to the target container number can be accurately determined. Then, the occupied parking space corresponding to the target parking space number is used as the target parking space in the crane buffer. The above sorting method for determining the target parking space is highly efficient, and the determined target parking space is also relatively accurate.

[0082] Furthermore, in one embodiment, the container loading method using the unmanned truck further includes:

[0083] Determine whether there are vacant parking spaces based on the parking space status of the bridge crane buffer zone;

[0084] If it is determined that there are available parking spaces, the container number corresponding to the container to be loaded is determined based on the ship's chart for port operations.

[0085] Based on the container number, determine the storage location of the container yard corresponding to the container number;

[0086] Control the idle unmanned truck to reach the yard location, and load the container with the corresponding container number onto the idle unmanned truck;

[0087] When the container is loaded, the unmanned truck that is in an idle state is controlled to move to the idle parking space.

[0088] In this embodiment, in addition to loading containers onto ships in the crane buffer zone, containers also need to be transported from the yard to available parking spaces in the crane buffer zone. Once these available spaces are occupied, they become occupied parking spaces, allowing for the sorting of container numbers in all occupied spaces during subsequent loading. For example, if parking space 3 in the buffer zone is available, and container number 5 needs to be loaded after container number 4, then container number 5 is first loaded from its corresponding yard location and transported to parking space 3 in the buffer zone. At this point, the target array becomes [2,3,5,1,4]. After the previous container is loaded, the new target array is sorted again to obtain the target parking space corresponding to the container number with the highest priority, and the container loading task is then executed.

[0089] The steps for loading and transporting containers from the yard to an available parking space in the crane buffer zone include: first, determining whether there are available parking spaces based on the parking space status in the crane buffer zone, to determine whether it is necessary to dispatch unmanned trucks to load the corresponding containers to the available parking spaces in the buffer zone. When an available parking space is determined, the container number corresponding to the container to be loaded onto the ship is determined based on the port's ship chart. After determining the container number, the yard location of the container corresponding to the container number is determined, thereby controlling an idle unmanned truck to arrive at the yard location and loading the container corresponding to the container number onto the idle unmanned truck. When the container loading is complete, the idle unmanned truck is controlled to arrive at the available parking space, thus completing the dispatching task of loading and transporting containers from the yard to an available parking space in the crane buffer zone.

[0090] This embodiment provides a method for loading containers onto ships using unmanned trucks, comprising: determining a target truck position in the gantry crane buffer zone when the previous container loading is completed; controlling the unmanned truck in the target truck position to reach the gantry crane loading area to load the container loaded on the unmanned truck onto the ship. This invention solves the problem of scheduling and loading containers in multi-truck intermodal transport. Even when containers arrive at the buffer zone in an unordered manner, it ensures that the unmanned trucks, loaded with containers that need to be loaded in sequence, leave the buffer zone in an orderly manner and arrive at the gantry crane in an orderly manner, thus achieving orderly container loading. Furthermore, by using a min-heap algorithm to sort all elements in the target array, the concurrent number of container loading scheduling operations per unit time can be increased, improving container loading efficiency while ensuring orderly container loading.

[0091] Thirdly, embodiments of the present invention also provide a container loading device for unmanned trucks.

[0092] Reference Figure 4A schematic diagram of the functional modules of an embodiment of an unmanned container loading device for trucks.

[0093] In this embodiment, the unmanned truck container loading device includes:

[0094] Module 10 is used to determine the target parking space in the gantry crane buffer zone when the previous container has been loaded onto the ship.

[0095] The control device 20 is used to control the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the container loaded on the unmanned truck onto the ship.

[0096] Furthermore, in one embodiment, the container loading device for the unmanned truck further includes a sorting module for:

[0097] Confirm that there are unoccupied parking spaces for unmanned trucks in the bridge crane buffer zone;

[0098] Based on the occupied parking space number, sort the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces to obtain the target array.

[0099] Furthermore, in one embodiment, the container loading device for the unmanned truck further includes a construction module for:

[0100] Establish a mapping relationship between the container number of the unmanned truck loading the container in the occupied parking space and the parking space number of the occupied parking space.

[0101] Furthermore, in one embodiment, the determining module 10 is specifically used for:

[0102] When the previous container is loaded onto the ship, the min-heap algorithm is used to sort all array elements in the target array to obtain an ordered array.

[0103] Determine the target container number, which is the container number corresponding to the first element of the ordered array;

[0104] Based on the mapping relationship, the target parking space number corresponding to the target container number is determined;

[0105] The occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer zone.

[0106] Furthermore, in one embodiment, the control module 20 is further specifically used for:

[0107] Determine whether there are vacant parking spaces based on the parking space status of the bridge crane buffer zone;

[0108] If it is determined that there are available parking spaces, the container number corresponding to the container to be loaded is determined based on the ship's chart for port operations.

[0109] Based on the container number, determine the storage location of the container yard corresponding to the container number;

[0110] Control the idle unmanned truck to reach the yard location, and load the container with the corresponding container number onto the idle unmanned truck;

[0111] When the container is loaded, the unmanned truck that is in an idle state is controlled to move to the idle parking space.

[0112] The functions of each module in the above-mentioned unmanned container loading device correspond to the steps in the above-mentioned unmanned container loading method embodiment, and their functions and implementation processes will not be described in detail here.

[0113] Fourthly, embodiments of the present invention also provide a readable storage medium.

[0114] The present invention stores a container loading program for unmanned trucks on a readable storage medium, wherein when the unmanned truck container loading program is executed by a processor, the steps of the unmanned truck container loading method described above are implemented.

[0115] The method implemented when the unmanned truck container loading procedure is executed can be referred to in various embodiments of the unmanned truck container loading method of the present invention, and will not be repeated here.

[0116] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0117] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.

[0119] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for loading containers onto ships using unmanned trucks, characterized in that, The container loading method for the unmanned truck includes: Confirm that there are unoccupied parking spaces for unmanned trucks in the bridge crane buffer zone; Based on the occupied parking space number, sort the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces to obtain the target array; construct the mapping relationship between the container numbers of the containers loaded by unmanned trucks in the occupied parking spaces and the parking space numbers of the occupied parking spaces. When the previous container is loaded onto the ship, the target parking space in the crane buffer zone is determined. The steps for determining the target parking space in the crane buffer zone after the previous container is loaded onto the ship include: When the previous container is loaded onto the ship, the min-heap algorithm is used to sort all array elements in the target array to obtain an ordered array. Determine the target container number, which is the container number corresponding to the first element of the ordered array; Based on the mapping relationship, the target parking space number corresponding to the target container number is determined; The occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer zone; Control the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the container loaded on the unmanned truck onto the ship; The unmanned truck container loading method also includes: Determine whether there are vacant parking spaces based on the parking space status of the bridge crane buffer zone; If it is determined that there are available parking spaces, the container number corresponding to the container to be loaded is determined based on the ship's chart for port operations. Based on the container number, determine the storage location of the container yard corresponding to the container number; Control the idle unmanned truck to reach the yard location, and load the container with the corresponding container number onto the idle unmanned truck; When the container is loaded, the unmanned truck that is in an idle state is controlled to move to the idle parking space.

2. A container loading device for unmanned trucks, characterized in that, The unmanned truck container loading device includes: The sorting module is used to determine the occupied parking spaces of unmanned trucks in the crane buffer zone; based on the occupied parking space number, the container numbers of the containers loaded by the unmanned trucks in the occupied parking spaces are sorted to obtain the target array; The module is used to build a mapping relationship between the container number of the unmanned truck loading the container in the occupied parking space and the parking space number of the occupied parking space. The determination module is used to determine the target parking space in the crane buffer when the previous container is loaded. The steps for determining the target parking space in the crane buffer when the previous container is loaded include: sorting all array elements in the target array using a min-heap algorithm to obtain an ordered array; determining the target container number, where the target container number is the container number corresponding to the first array element in the ordered array; determining the target parking space number corresponding to the target container number based on the mapping relationship; using the occupied parking space corresponding to the target parking space number as the target parking space in the crane buffer; the determination module is also used to determine whether there are any vacant parking spaces based on the parking space status of the crane buffer. A control device is used to control the unmanned truck in the target parking space to reach the gantry crane loading area so as to load the container loaded on the unmanned truck onto the ship; the control device is also used to determine the container number corresponding to the container to be loaded onto the ship based on the ship chart of the port operation if it is determined that there is an vacant parking space; determine the yard location for stacking the container corresponding to the container number based on the container number; control the unmanned truck in the idle state to reach the yard location and load the container corresponding to the container number onto the unmanned truck in the idle state; when the container loading is completed, control the unmanned truck in the idle state to reach the vacant parking space.

3. A container loading equipment for unmanned trucks, characterized in that, The unmanned truck container loading equipment includes a processor, a memory, and an unmanned truck container loading program stored in the memory and executable by the processor, wherein when the unmanned truck container loading program is executed by the processor, the steps of the unmanned truck container loading method as described in claim 1 are implemented.

4. A readable storage medium, characterized in that, The readable storage medium stores a container loading program for unmanned trucks, wherein when the unmanned truck container loading program is executed by a processor, it implements the steps of the container loading method for unmanned trucks as described in claim 1.

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