A method and device for allocating a berth for a yard operation

Abstract

The application discloses a yard operation berth allocation method and device. In the process of allocating the operation berth, an initial operation berth is allocated according to an operation task, a running path of a truck is planned according to the initial operation berth, and it is judged whether the truck can reach an operation area corresponding to the initial operation berth when driving along the running path. If the truck cannot reach the operation area corresponding to the initial operation berth, a new operation berth, which can be reached by the truck to the corresponding operation area, is allocated to the truck in front of the running direction of the truck, so that the truck is aligned with the operation berth to complete the operation task. The operation quality is ensured, and the operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of yard operations technology, and specifically to a method and apparatus for allocating yard operation bays. Background Technology

[0002] With the continuous development of my country's economy, container terminal resources are becoming increasingly strained. However, the production scheduling of most container terminals in my country still follows outdated methods, relying heavily on experience to organize production. Given the relative scarcity of yard resources, traditional production planning methods are clearly unable to meet the new requirements. Traditional yard operation strategies result in low yard operation efficiency, severely restricting the improvement of the overall efficiency of container terminals.

[0003] With the continuous development of intelligent driving technology, autonomous trucks are also being applied in ports. Autonomous trucks are directly connected to the Port Operations Management System (TOS). The TOS allocates corresponding work bays to autonomous trucks according to each work plan and directly dispatches autonomous trucks to the work bays to cooperate with yard cranes to complete the work tasks.

[0004] However, due to the limitations of truck length and maximum steering angle, there may be one or more invalid work positions on the truck's operating path (the truck cannot stop in the corresponding work area, usually near a curve). If the TOS assigns an invalid work position to the truck after receiving a work task, the work task will be difficult to complete. Summary of the Invention

[0005] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method and apparatus for allocating yard operation bays, thereby resolving the aforementioned technical problems.

[0006] According to one aspect of this application, a method for allocating yard operation bays is provided, comprising: obtaining an initial operation bay according to an operation task; wherein the operation task includes a container loading or unloading task for a container truck; planning the running path of the container truck according to the initial operation bay; determining the validity of the initial operation bay according to the running path; wherein the validity characterizes whether the container truck can reach the operation area corresponding to the initial operation bay; when the container truck cannot reach the operation area corresponding to the initial operation bay, allocating a new operation bay to the container truck; wherein, in the running direction of the container truck, the new operation bay is located in front of the initial operation bay, and the container truck can reach the operation area corresponding to the new operation bay; and controlling the container truck to run to the operation area corresponding to the new operation bay to complete the operation task.

[0007] In one embodiment, determining the validity of the initial work position based on the operating path includes: calculating the distance between the road segment corresponding to the initial work position and the initial work position on the operating path; wherein the distance represents the interval between the truck and the initial work position when the truck is located on the road segment; and determining the validity of the initial work position based on the distance.

[0008] In one embodiment, determining the validity of the initial work position based on the distance includes: when the distance is greater than a preset distance threshold, determining that the truck cannot reach the work area corresponding to the initial work position.

[0009] In one embodiment, determining the validity of the initial work position based on the operating path includes: calculating the directional angle between the road segment corresponding to the initial work position and the initial work position on the operating path; wherein the directional angle represents the tilt angle between the truck and the initial work position when the truck is located on the road segment; and determining the validity of the initial work position based on the directional angle.

[0010] In one embodiment, determining the validity of the initial work position based on the direction angle includes: when the direction angle is greater than a preset angle threshold, determining that the truck cannot reach the work area corresponding to the initial work position.

[0011] In one embodiment, when the truck cannot reach the working area corresponding to the initial working bay, allocating a new working bay to the truck includes: when the truck cannot reach the working area corresponding to the initial working bay, selecting a workable bay as a new working bay and allocating it to the truck; wherein, the workable bay indicates that there is a container on the working bay for the truck to load or a position on the working bay for the truck to unload.

[0012] In one embodiment, the yard includes a yard crane, which is used to cooperate with the truck to grab containers to complete the loading task; wherein, when the truck cannot reach the working area corresponding to the initial working bay, allocating a new working bay to the truck includes: when the truck cannot reach the working area corresponding to the initial working bay, selecting a parking bay as a new working bay and allocating it to the truck; wherein, the parking bay indicates that the truck can reach the working area corresponding to the bay; after controlling the truck to run to the working area corresponding to the new working bay, the yard working bay allocation method further includes: controlling the yard crane to grab the container on the initial working bay; controlling the yard crane to move to the new bay; and controlling the yard crane to place the container on the truck.

[0013] In one embodiment, the yard includes a yard crane, which is used to cooperate with the truck to grab containers to achieve the unloading task; wherein, when the truck cannot reach the working area corresponding to the initial working bay, allocating a new working bay to the truck includes: when the truck cannot reach the working area corresponding to the initial working bay, selecting a parking bay as a new working bay and allocating it to the truck; wherein, the parking bay indicates that the truck can reach the working area corresponding to the bay; after controlling the truck to run to the working area corresponding to the new working bay, the yard working bay allocation method further includes: controlling the yard crane to move to the new bay; controlling the yard crane to grab the container on the truck; and controlling the yard crane to move the container to the initial working bay and place the container.

[0014] In one embodiment, before planning the running path of the truck based on the initial operating bay, the method for allocating the yard operating bay further includes: obtaining parameter information of the truck; wherein the parameter information includes the truck length; and planning the running path of the truck based on the initial operating bay includes: planning the running path of the truck based on the initial operating bay and the parameter information of the truck.

[0015] According to another aspect of this application, a yard operation bay allocation device is provided, comprising: an initial acquisition module, configured to acquire an initial operation bay according to an operation task; wherein the operation task includes a container loading or unloading task for a container truck; a path planning module, configured to plan the running path of the container truck according to the initial operation bay; a validity judgment module, configured to judge the validity of the initial operation bay according to the running path; wherein the validity characterizes whether the container truck can reach the operation area corresponding to the initial operation bay; a reallocation module, configured to allocate a new operation bay to the container truck when the container truck cannot reach the operation area corresponding to the initial operation bay; wherein, in the running direction of the container truck, the new operation bay is located in front of the initial operation bay, and the container truck can reach the operation area corresponding to the new operation bay; and a container truck running module, configured to control the container truck to run to the operation area corresponding to the new operation bay to complete the operation task.

[0016] This application provides a method and apparatus for allocating yard work bays. The method involves obtaining an initial work bay based on the work task, planning the truck's running path based on the initial work bay, and then determining the validity of the initial work bay based on the running path. Validity indicates whether the truck can reach the work area corresponding to the initial work bay. If the truck cannot reach the work area corresponding to the initial work bay, a new work bay is allocated to the truck. The new work bay is located ahead of the initial work bay in the truck's running direction, and the truck can reach the work area corresponding to the new work bay. Finally, the truck's operation is controlled. The truck is then directed to the work area corresponding to the new work bay to complete the work task. In the process of allocating work bays, an initial work bay is first assigned according to the work task. The truck's running path is then planned based on this initial work bay, and it is determined whether the truck can reach the work area corresponding to the initial work bay by traveling along this path. If the truck cannot reach the work area corresponding to the initial work bay, a new work bay that the truck can reach is assigned to the truck in the direction of travel. This ensures that the truck and the work bay are aligned to complete the work task, which not only ensures the quality of the work but also improves the efficiency of the work. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 This is the system diagram to which this application applies.

[0019] Figure 2 This is a schematic flowchart illustrating a method for allocating yard work sites according to an exemplary embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the distribution structure of storage yard operation bays provided in an exemplary embodiment of this application.

[0021] Figure 4 This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0022] Figure 5 This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0023] Figure 6This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0024] Figure 7 This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0025] Figure 8 This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0026] Figure 9 This is a flowchart illustrating a method for allocating yard work sites according to another exemplary embodiment of this application.

[0027] Figure 10 This is a schematic diagram of the structure of a yard operation bay allocation device provided in an exemplary embodiment of this application.

[0028] Figure 11 This is a schematic diagram of the structure of a yard operation bay allocation device provided in another exemplary embodiment of this application.

[0029] Figure 12 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0030] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0031] Figure 1 This is the system diagram to which this application applies. For example... Figure 1 As shown, the yard operation system includes: a port operation management system 1, a horizontal transport system 2, intelligent driving vehicles 3, a yard crane dispatching system 4, and a yard crane 5. The port operation management system 1 is communicatively connected to the horizontal transport system 2, the horizontal transport system 2 is communicatively connected to the intelligent driving vehicles 3 and the yard crane dispatching system 4, and the yard crane dispatching system 4 is communicatively connected to the yard crane 5. The port operation management system 1 is used to issue operation tasks and determine initial operating bay locations. The horizontal transport system 2 is used to plan the operating paths of the trucks and determine the validity of the operating bay locations. The intelligent driving vehicles 3 (i.e., autonomous driving trucks) are used to transport containers. The yard crane dispatching system 4 is used to dispatch the yard cranes. The yard crane 5 cooperates with the intelligent driving vehicles 3 to complete the operation tasks.

[0032] This application combines a port operations management system 1, a horizontal transport system 2, and a yard crane dispatching system 4 to comprehensively dispatch intelligent driving vehicles 3 and yard cranes 5 within the yard to complete operational tasks within the yard. Specific operational methods are detailed in the following embodiments.

[0033] Figure 2 This is a schematic flowchart illustrating a method for allocating yard work sites according to an exemplary embodiment of this application. Figure 2 As shown, the allocation method for the yard operation bays includes the following steps:

[0034] Step 210: Obtain the initial job position according to the job task.

[0035] The operational tasks include container loading or unloading tasks for trucks. When the port operations management system receives an operational task, it determines a target yard and its corresponding bay (which is the initial operational bay) based on the task, and then sends the operational task to the horizontal transport system, which plans the truck's route to reach the initial operational bay.

[0036] Step 220: Based on the initial job position, plan the running path of the truck.

[0037] After receiving the work task and the initial work bay, the horizontal transport system plans the running path of the trucks according to the location of the initial work bay, so as to make the trucks reach the work area corresponding to the initial work bay as much as possible, that is, to plan the running path of the trucks and the initial work bay as closely as possible.

[0038] Step 230: Determine the validity of the initial job bit based on the running path.

[0039] The effectiveness metric indicates whether the container truck can reach the operating area corresponding to the initial operating bay. Due to the limitations of the yard shape, and the need to remove the locks of the lower containers when unloading them from the ship (corresponding to the unloading task), this operation needs to be carried out at the unlocking station. The container truck, whether at the unlocking station or other locations, needs to pass through... Figure 3 The curve path is shown. Due to the relatively long length of the truck, one or more operating bays (e.g., near the curve) are limited. Figure 3 If a truck cannot reach its corresponding work area (positions 1-4 in the diagram), the work position is recorded as an invalid position or a limit position. Based on the planned operating path, it can be determined whether the initial work position is valid, i.e., whether it is an invalid position or a limit position.

[0040] Step 240: When the truck cannot reach the work area corresponding to the initial work position, a new work position is assigned to the truck.

[0041] In this configuration, the new working bay is located ahead of the initial working bay in the direction of truck travel, and the truck can reach the working area corresponding to the new working bay. If it is determined that the truck cannot reach the working area corresponding to the initial working bay, i.e., the initial working bay is invalid or an extreme bay, a new working bay can be reassigned to the truck. For example, if the initial working bay is bay number 3, bay number 5 can be reassigned to the truck.

[0042] Step 250: Control the truck to run to the work area corresponding to the new work position to complete the work task.

[0043] After the new work bays are reallocated to the trucks, the horizontal transport system plans the trucks' running routes according to the new work bays and issues the plans to the trucks. The trucks then travel along the planned routes to the work areas corresponding to the new work bays and align with the new work bays to complete the work tasks.

[0044] This application provides a method for allocating yard operation bays. The method involves obtaining an initial operation bay based on the operation task, planning the truck's running path based on the initial operation bay, and then determining the validity of the initial operation bay based on the running path. Validity indicates whether the truck can reach the operation area corresponding to the initial operation bay. If the truck cannot reach the operation area corresponding to the initial operation bay, a new operation bay is allocated to the truck. The new operation bay is located ahead of the initial operation bay in the truck's running direction, and the truck can reach the operation area corresponding to the new operation bay. Finally, the method controls the truck to run to... The new work position corresponds to the work area to complete the work task. In the process of allocating work positions, an initial work position is first assigned according to the work task. The running path of the truck is planned according to the initial work position, and it is determined whether the truck can reach the work area corresponding to the initial work position by traveling along the running path. If the truck cannot reach the work area corresponding to the initial work position, a new work position that the truck can reach is assigned to the truck in the direction of the truck's running direction. This ensures that the truck and the work position are aligned to complete the work task, which not only ensures the quality of the work, but also improves the efficiency of the work.

[0045] Figure 4 This is a schematic flowchart illustrating a method for allocating yard work bays, provided in another exemplary embodiment of this application. Figure 4 As shown, step 230 above may include:

[0046] Step 231: Calculate the distance between the road segment corresponding to the initial operation position and the initial operation position on the running path.

[0047] The distance represents the interval between the truck and the initial operating bay when the truck is located on the road segment. After the truck's operating path is planned, the distance between the road segment corresponding to the initial operating bay and the initial operating bay is calculated. Specifically, for example... Figure 3 The path shown represents the running trajectory point of the truck's center point. The minimum lateral distance between the running trajectory point on this path and the initial work position can be calculated (e.g., ...). Figure 3 The distance d in the middle represents the direction perpendicular to the lane line.

[0048] Step 232: Determine the validity of the initial working position based on the distance.

[0049] In one embodiment, step 232 can be implemented as follows: when the distance is greater than a preset distance threshold, it is determined that the truck cannot reach the work area corresponding to the initial work bay. If the distance d is greater than the preset distance threshold, it means that when the truck travels along the running path to the section corresponding to the initial work bay, the distance between the truck and the initial work bay is large, and the loading or unloading operation may not be completed. Therefore, the initial work bay can be determined to be an invalid bay. Conversely, if the distance d is less than or equal to the preset distance threshold, it means that when the truck travels along the running path to the section corresponding to the initial work bay, the distance between the truck and the initial work bay is small, and the loading or unloading operation can be completed. Therefore, the initial work bay can be determined to be a valid bay.

[0050] Figure 5 This is a schematic flowchart illustrating a method for allocating yard work bays, provided in another exemplary embodiment of this application. Figure 5 As shown, step 230 above may include:

[0051] Step 233: Calculate the direction angle between the road segment corresponding to the initial working position and the initial working position on the running path.

[0052] The orientation angle represents the tilt angle between the truck and the initial operating position when the truck is located on the road segment. After the truck's operating path is planned, the tilt angle between the road segment corresponding to the initial operating position and the initial operating position is calculated. Specifically, as shown... Figure 3 The path shown represents the trajectory point of the truck's center point. The angle between the tangent line of the trajectory point corresponding to the initial working position on this path and the longitudinal extension line of the initial working position can be calculated (e.g., ...). Figure 3 (θ in the middle).

[0053] Step 234: Determine the validity of the initial working position based on the direction angle.

[0054] In one embodiment, step 234 can be implemented as follows: when the direction angle is greater than a preset angle threshold, it is determined that the truck cannot reach the working area corresponding to the initial working bay. If the angle θ is greater than the preset angle threshold, it means that when the truck runs along the running path to the working area of ​​the corresponding initial working bay, the tilt angle between the truck and the initial working bay is large. At this time, the loading or unloading operation may not be completed due to the large deviation between the truck and the yard crane. Therefore, the initial working bay can be determined to be an invalid bay. Conversely, if the angle θ is less than or equal to the preset angle threshold, it means that when the truck runs along the running path to the working area of ​​the corresponding initial working bay, the angle deviation between the truck and the initial working bay is small (e.g., less than 5°). At this time, the loading or unloading operation can be completed, and the initial working bay can be determined to be a valid bay.

[0055] Figure 6 This is a schematic flowchart illustrating a method for allocating yard work bays, provided in another exemplary embodiment of this application. Figure 6 As shown, step 240 above may include:

[0056] Step 241: When the truck cannot reach the work area corresponding to the initial work position, select a workable position as the new work position and assign it to the truck.

[0057] Here, a workable bay indicates that the bay contains containers for loading by trucks or has a location for unloading by trucks. If a truck cannot reach the work area corresponding to the initial work bay—that is, if the truck cannot reach the work area corresponding to the initial work bay or cannot reach the work area corresponding to the initial work bay with a small angular deviation—other workable bays can be preferentially selected as new work bays to allocate to the trucks in order to ensure operational efficiency. For example, when the initial work bay is... Figure 3 If a container truck cannot align with the work area corresponding to bay number 3, and there is a usable bay among the subsequent available bays (for example, bay number 5 has an empty storage space for unloading containers), the horizontal transport system can assign bay number 5 as a new work bay to the container truck and send the new work bay information to the yard crane dispatch system to control the yard crane to move to bay number 5 to coordinate with the container truck operation.

[0058] Figure 7 This is a flowchart illustrating a method for allocating yard work bays according to another exemplary embodiment of this application. The yard includes yard cranes, which are used to cooperate with trucks to grab containers to complete the container loading task; such as Figure 7 As shown, step 240 above may include:

[0059] Step 242: When the truck cannot reach the work area corresponding to the initial work bay, select a parking bay as the new work bay and assign it to the truck.

[0060] The term "available bay" (i.e., "effective bay") indicates that a truck can reach the corresponding work area of ​​the bay. The availability of a bay only indicates that a truck can reach and park within the work area corresponding to that bay; it does not limit whether the bay is operational. For example, in a container loading task, there may be no container on the available bay.

[0061] Following step 250, the above-mentioned method for allocating yard work sites may further include:

[0062] Step 261: Control the yard crane to grab the container on the initial operating bay.

[0063] Step 262: Control the field bridge to move to the new bay position.

[0064] Step 263: Control the yard crane to place the container onto the truck.

[0065] During container loading operations, as the truck moves to or after reaching a new working bay, the corresponding yard crane can grab the container from the initial working bay. After moving the container to the new bay, the yard crane places it onto the truck, thus completing the container loading task for the initial working bay. By moving the yard crane to coordinate with the truck operation, container loading tasks in previously ineffective or extreme bays are completed, thereby improving the utilization rate of yard bays, reducing vacancy losses, and ensuring alignment between the truck and the yard crane by utilizing the new working bay, thus guaranteeing loading accuracy.

[0066] Figure 8 This is a flowchart illustrating a method for allocating yard work bays according to another exemplary embodiment of this application. The yard includes yard cranes, which are used to cooperate with trucks to grab containers to achieve unloading tasks; such as Figure 8 As shown, step 240 above may include:

[0067] Step 243: When the truck cannot reach the work area corresponding to the initial work bay, select a parking bay as the new work bay and assign it to the truck.

[0068] The term "can park bay" indicates that a truck can reach the corresponding work area. "Can park bay" only indicates that a truck can reach the work area and park properly; it does not limit whether the bay is operational. For example, during unloading operations, the can park bay may be full or have a large number of containers stored there.

[0069] Following step 250, the above-mentioned method for allocating yard work sites may further include:

[0070] Step 264: Control the field bridge to move to the new bay position.

[0071] Step 245: Control the yard crane to grab the container on the truck.

[0072] Step 266: Control the yard crane to move the container to the initial operating bay and place the container.

[0073] During container unloading operations, while the truck is moving to or after reaching a new operating bay, the corresponding yard crane can be moved to the new bay. The yard crane then grabs the container from the truck and moves it to the initial operating bay, placing the container there to complete the unloading task. By moving the yard crane to coordinate with the truck operation, unloading tasks at previously ineffective or extreme bays are now possible, improving yard space utilization, reducing idle space losses, and ensuring alignment between the truck and the yard crane at the new operating bay, thus guaranteeing loading accuracy.

[0074] Figure 9 This is a schematic flowchart illustrating a method for allocating yard work bays, provided in another exemplary embodiment of this application. Figure 9 As shown, prior to step 220, the above-mentioned method for allocating yard work sites may further include:

[0075] Step 270: Obtain the parameter information of the truck.

[0076] The parameters include the truck length. Since containers vary in size, the corresponding truck lengths also differ, and different lengths correspond to different turning radii, meaning different truck lengths have different numbers of invalid bays. Therefore, to improve operational efficiency and accuracy, this application also requires information such as the truck length.

[0077] Correspondingly, step 220 may include:

[0078] Step 221: Based on the initial job position and the truck's parameter information, plan the truck's running path.

[0079] By combining the initial working position location information and parameters such as the truck length, a more realistic running path can be planned. This allows for a more accurate determination of whether the current working position (initial working position or new working position) is a valid position for the truck, thereby improving the alignment accuracy of the truck and the accuracy of subsequent operations.

[0080] Figure 10 This is a schematic diagram of the structure of a yard operation bay allocation device provided in an exemplary embodiment of this application. For example... Figure 10As shown, the yard operation bay allocation device 90 includes: an initial acquisition module 91, used to acquire an initial operation bay according to the operation task; wherein the operation task includes a container loading or unloading task for trucks; a path planning module 92, used to plan the running path of the trucks according to the initial operation bay; a validity judgment module 93, used to judge the validity of the initial operation bay according to the running path; wherein the validity characterizes whether the truck can reach the operation area corresponding to the initial operation bay; a reallocation module 94, used to allocate a new operation bay to the truck when the truck cannot reach the operation area corresponding to the initial operation bay; wherein, in the truck's running direction, the new operation bay is located in front of the initial operation bay, and the truck can reach the operation area corresponding to the new operation bay; and a truck running module 95, used to control the truck to run to the operation area corresponding to the new operation bay to complete the operation task.

[0081] This application provides a yard operation bay allocation device. An initial acquisition module 91 acquires an initial operation bay based on the work task, and a path planning module 92 plans the truck's running path based on the initial operation bay. Then, an effectiveness judgment module 93 determines the effectiveness of the initial operation bay based on the running path. Effectiveness indicates whether the truck can reach the work area corresponding to the initial operation bay. If the truck cannot reach the work area corresponding to the initial operation bay, a reallocation module 94 allocates a new operation bay to the truck. The new operation bay is located ahead of the initial operation bay in the truck's running direction, and the truck can reach the work area corresponding to the new operation bay. Finally, the truck operation module 95 controls the truck to run to the work area corresponding to the new work position to complete the work task. That is, in the process of allocating work positions, an initial work position is first allocated according to the work task. The running path of the truck is planned according to the initial work position, and it is determined whether the truck can reach the work area corresponding to the initial work position by traveling along the running path. If the truck cannot reach the work area corresponding to the initial work position, a new work position that the truck can reach is allocated to the truck in front of the truck's running direction to ensure that the truck and the work position are aligned to complete the work task. This not only ensures the quality of the work, but also improves the efficiency of the work.

[0082] Figure 11 This is a schematic diagram of the structure of a yard operation bay allocation device provided in another exemplary embodiment of this application. (See diagram below.) Figure 11 As shown, the above-mentioned effective judgment module 93 may include: a distance calculation unit 931, used to calculate the distance between the road segment corresponding to the initial operation position on the running path and the initial operation position, wherein the distance represents the interval between the truck and the initial operation position when the truck is located on the road segment; and a distance judgment unit 932, used to judge the validity of the initial operation position based on the distance.

[0083] In one embodiment, the distance determination unit 932 can be further configured to: determine that the truck cannot reach the work area corresponding to the initial work position when the distance is greater than a preset distance threshold.

[0084] In one embodiment, such as Figure 11 As shown, the above-mentioned effective judgment module 93 may include: an angle calculation unit 933, used to calculate the direction angle between the road segment corresponding to the initial working position on the running path and the initial working position, wherein the direction angle represents the tilt angle between the truck and the initial working position when the truck is located on the road segment; and an angle judgment unit 934, used to judge the validity of the initial working position based on the direction angle.

[0085] In one embodiment, the angle determination unit 934 can be further configured to: determine that the truck cannot reach the work area corresponding to the initial work position when the direction angle is greater than a preset angle threshold.

[0086] In one embodiment, the above-mentioned reallocation module 94 can be further configured to: when the truck cannot reach the working area corresponding to the initial working bay, select a working bay as a new working bay and allocate it to the truck; wherein, the working bay represents a position on the working bay where there is a container for the truck to load or a position on the working bay where there is a position for the truck to unload.

[0087] In one embodiment, the aforementioned reallocation module 94 can be further configured to: when the truck cannot reach the work area corresponding to the initial work bay, select a parking bay as a new work bay and allocate it to the truck; wherein, a parking bay (i.e., an effective bay) indicates that the truck can reach the work area corresponding to that bay; such as Figure 11 As shown, the yard operation bay allocation device 90 may further include: an operation execution module 96, used to control the yard crane to grab the container on the initial operation bay, control the yard crane to move to the new bay, and control the yard crane to place the container on the truck.

[0088] In one embodiment, the reallocation module 94 can be further configured to: when the truck cannot reach the work area corresponding to the initial work bay, select a parking bay as a new work bay and allocate it to the truck; wherein, the parking bay indicates that the truck can reach the work area corresponding to the bay; the operation execution module 96 can be further configured to: control the yard crane to move to the new bay, control the yard crane to grab the container on the truck, control the yard crane to move the container to the initial work bay and place the container.

[0089] In one embodiment, such as Figure 11As shown, the yard operation bay allocation device 90 may further include: a parameter acquisition module 97, used to acquire the parameter information of the truck; wherein, the parameter information includes the truck length. Correspondingly, the route planning module 92 may be further configured to: plan the running path of the truck based on the initial operation bay and the truck parameter information.

[0090] Below, for reference Figure 12 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0091] Figure 12 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0092] like Figure 12 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0093] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0094] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0095] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0096] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0097] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0098] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0099] Of course, for the sake of simplicity, Figure 12 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0100] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0101] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0102] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for allocating yard work sites, characterized in that, include: According to the task, obtain the initial task position; wherein, the task includes the container loading or unloading task of the container truck. Based on the initial operating position, plan the running path of the truck; Based on the running path, the validity of the initial work position is determined; wherein, the validity characterizes whether the truck can reach the work area corresponding to the initial work position; When the truck cannot reach the work area corresponding to the initial work bay, a new work bay is assigned to the truck; wherein, in the truck's running direction, the new work bay is located in front of the initial work bay, and the truck can reach the work area corresponding to the new work bay; and Control the truck to run to the work area corresponding to the new work position in order to complete the work task; The step of determining the validity of the initial job bit based on the running path includes: Calculate the distance or direction angle between the road segment corresponding to the initial working position on the running path and the initial working position; wherein, the distance represents the interval between the truck and the initial working position when the truck is located on the road segment, and the direction angle represents the tilt angle between the truck and the initial working position when the truck is located on the road segment; When the distance is greater than a preset distance threshold, it is determined that the truck cannot reach the work area corresponding to the initial work position; When the direction angle is greater than a preset angle threshold, it is determined that the truck cannot reach the work area corresponding to the initial work position.

2. The method for allocating yard operation bays according to claim 1, characterized in that, When the truck cannot reach the work area corresponding to the initial work bay, the process of allocating a new work bay to the truck includes: When the truck cannot reach the working area corresponding to the initial working bay, a working bay is selected as a new working bay and assigned to the truck; wherein, the working bay indicates that there is a container on the working bay for the truck to load or a position on the working bay for the truck to unload.

3. The method for allocating yard operation bays according to claim 1, characterized in that, The yard includes a yard crane, which is used to assist the truck in grabbing containers to complete the container loading task; wherein, when the truck cannot reach the working area corresponding to the initial working bay, allocating a new working bay to the truck includes: When the truck cannot reach the work area corresponding to the initial work bay, a new work bay is selected as the parking bay and assigned to the truck; wherein, the parking bay indicates that the truck can reach the work area corresponding to the bay; After controlling the truck to run to the work area corresponding to the new work bay, the method for allocating the yard work bay further includes: Control the yard crane to grab the container on the initial operating bay; Control the field bridge to move to the new working position; and The yard crane is controlled to place the container onto the truck.

4. The method for allocating yard operation bays according to claim 1, characterized in that, The yard includes a yard crane, which is used to assist the truck in grabbing containers to complete the unloading task; wherein, when the truck cannot reach the working area corresponding to the initial working bay, allocating a new working bay to the truck includes: When the truck cannot reach the work area corresponding to the initial work bay, a new work bay is selected as the parking bay and assigned to the truck; wherein, the parking bay indicates that the truck can reach the work area corresponding to the bay; After controlling the truck to run to the work area corresponding to the new work bay, the method for allocating the yard work bay further includes: Control the field bridge to move to the new working position; Control the yard crane to grab the container on the truck; and The yard crane is controlled to move the container to the initial operating bay and place the container.

5. The method for allocating yard operation bays according to claim 1, characterized in that, Before planning the truck's running path based on the initial operating bay, the method for allocating the yard operating bay further includes: Obtain the parameter information of the container truck; wherein, the parameter information includes the length of the container truck; The step of planning the running path of the truck based on the initial operating position includes: Based on the initial operating position and the parameter information of the truck, the running path of the truck is planned.

6. A device for allocating yard operation bays, characterized in that, include: The initial acquisition module is used to acquire the initial job position according to the job task; wherein, the job task includes the container loading task or the container unloading task of the container truck. The path planning module is used to plan the running path of the truck based on the initial job position; An effective judgment module is used to determine the validity of the initial work position based on the operating path; wherein, the validity characterizes whether the truck can reach the work area corresponding to the initial work position; the determination of the validity of the initial work position based on the operating path includes: calculating the distance or direction angle between the road segment corresponding to the initial work position and the initial work position on the operating path; when the distance is greater than a preset distance threshold, it is determined that the truck cannot reach the work area corresponding to the initial work position; when the direction angle is greater than a preset angle threshold, it is determined that the truck cannot reach the work area corresponding to the initial work position; wherein, the distance characterizes the interval between the truck and the initial work position when the truck is located on the road segment, and the direction angle characterizes the tilt angle between the truck and the initial work position when the truck is located on the road segment; A reallocation module is used to allocate a new work bay to the truck when the truck cannot reach the work area corresponding to the initial work bay; wherein, in the truck's running direction, the new work bay is located in front of the initial work bay, and the truck can reach the work area corresponding to the new work bay; and The truck operation module is used to control the truck to run to the work area corresponding to the new work position in order to complete the work task.

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