A wharf operation control method, system, storage medium and intelligent terminal

Abstract

The application relates to a wharf operation control method and system, a storage medium and an intelligent terminal, and relates to the field of logistics transportation technology.The method comprises the following steps: obtaining operation task information; defining a container truck with the same type as the type corresponding to the container truck type information as an effective container truck in an idle container truck pool, and obtaining effective position information of the effective container truck; determining regional parking position information according to container position information; determining movement path information according to the effective position information and the regional parking position information, and determining movement distance information according to the movement path information; determining an operation container truck according to a sorting rule; controlling the operation container truck to move to a position corresponding to the regional parking position information, controlling a gantry crane to move to the container position information to grab a container when the operation container truck starts to move, and controlling the gantry crane to move to the regional parking position information after the container is grabbed. The application has the effect of improving the overall efficiency of wharf operation.

Description

Technical Field

[0001] This application relates to the field of logistics and transportation technology, and in particular to a terminal operation control method, system, storage medium and intelligent terminal. Background Technology

[0002] Among all port operations, container yard operations are the most critical due to their large scale, numerous equipment, and complex environment. Container yard operations include stacking containers, moving containers by truck, and lifting containers by gantry cranes.

[0003] In related technologies, when it is necessary to lift containers in the yard onto ships, the transport truck is controlled to move to the corresponding parking position. At this time, the container corresponding to the truck is identified, and the gantry crane is controlled to move to the container to lift it. The lifted container is then moved onto the truck so that the truck can transport the container.

[0004] Regarding the aforementioned technologies, the inventors believe that during the container loading process, after the truck moves to the corresponding parking position, it needs to wait for the container to be loaded, which makes the overall process time-consuming and results in low terminal operation efficiency, leaving room for improvement. Summary of the Invention

[0005] To improve the overall efficiency of dock operations, this application provides a dock operation control method, system, storage medium, and intelligent terminal.

[0006] Firstly, this application provides a dock operation control method, which adopts the following technical solution:

[0007] A dock operation control method, comprising:

[0008] Obtain task information, including container location information and truck type information;

[0009] In the preset idle card pool, cards that match the type corresponding to the card type information are defined as valid cards, and the valid location information of the valid cards is obtained.

[0010] Determine the parking location information for the area based on the container location information;

[0011] Based on the valid location information and the area parking location information, the movement path information is determined by analysis and calculation on the preset movement path map, and the movement distance information is determined based on the movement path information.

[0012] Based on the preset sorting rules, the movement distance information with the smallest corresponding distance value among all movement distance information is determined, and the valid container truck corresponding to this movement distance information is determined as the operation container truck;

[0013] Control the working truck to move to the location corresponding to the area parking location information, and when the working truck starts to move, control the preset gantry crane spreader to move to the location corresponding to the container location information to grab the container, and after the container is grabbed, control the gantry crane spreader to move to the location corresponding to the area parking location information.

[0014] By adopting the above technical solution, the task status can be obtained in advance, so that a more suitable truck can be selected from the idle truck pool for operation. At the same time, the gantry crane spreader and the truck can be controlled to operate in parallel, so as to reduce the overall process time and improve the overall efficiency of the terminal operation.

[0015] Optionally, it also includes a method for updating the area parking location information, the method comprising:

[0016] The orientation of the trucks in the final segment of the route is determined based on the movement path information.

[0017] The direction of spreader movement is determined based on container location information and area parking location information.

[0018] Determine the directional angle information based on the truck's orientation information and the spreader's movement direction information;

[0019] Determine whether the included angle value corresponding to the direction angle information is greater than the right angle value;

[0020] If the included angle value corresponding to the direction angle information is not greater than the right angle value, then the original parking position information in the area will be maintained;

[0021] If the included angle value corresponding to the directional angle information is greater than the right angle value, then the container position information is projected onto the movement path map to update the area parking position information.

[0022] By adopting the above technical solution, the area where the container is placed can be updated according to the direction of the truck's movement, so that the spreader can reduce movement and facilitate the subsequent removal of the truck from the yard.

[0023] Optionally, after obtaining the task information, the dock operation control method may also include:

[0024] Obtain the status information of the spreader;

[0025] Determine whether the status corresponding to the spreader status information is consistent with the preset operation status;

[0026] If the status information of the spreader is inconsistent with the operation status, the movement of the truck and the spreader of the gantry crane will be controlled according to the operation task information.

[0027] If the status corresponding to the spreader status information is consistent with the operation status, then obtain the first arrival time information of the truck when the current task is executed and the second arrival time information of the truck when the task is executed.

[0028] Determine whether the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information;

[0029] If the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information, then control the truck and gantry crane to continue working according to the currently executed task;

[0030] If the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, then control the gantry crane and the container truck to execute the newly acquired task first.

[0031] By adopting the above technical solution, when the spreader receives a new task during operation, the arrival time of the trucks transporting the two tasks is analyzed so that the truck that arrives earlier can transport the container first, thus making the container transportation operation planning more reasonable.

[0032] Optionally, if the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, the terminal operation control method further includes:

[0033] Define the container location information of the currently executed task as the target location information, and define the container location information of the newly acquired task as the replacement location information;

[0034] The interval distance information is determined by calculating based on the target location information and the replacement location information;

[0035] Determine whether the distance value corresponding to the interval distance information is less than the preset permitted distance value;

[0036] If the distance value corresponding to the interval distance information is less than the permitted distance value, then control the gantry crane and the container truck to execute the newly acquired task first;

[0037] If the distance value corresponding to the interval distance information is not less than the permissible distance value, the control truck and gantry crane will continue to operate according to the currently executed task.

[0038] By adopting the above technical solution, the distance between two task containers can be analyzed so that containers that are far apart do not need to have their task order adjusted, so that the loading task can be carried out normally.

[0039] Optionally, it also includes a method for determining the permitted distance value, the method comprising:

[0040] Obtain the current position information of the gantry crane lifting device;

[0041] The difference between the first arrival time information and the second arrival time information is calculated to determine the difference duration information;

[0042] The difference travel distance is determined by calculating the difference travel distance based on the difference duration information and the preset no-load speed of the lifting device.

[0043] The target path information is determined based on the current location information and the target location information, and the position corresponding to the replacement location information is projected onto the path corresponding to the target path information to determine the projection location information;

[0044] Determine whether the position corresponding to the projected position information is on the path corresponding to the target path information;

[0045] If the location corresponding to the projected location information is on the path corresponding to the target path information, the permissible distance value is determined by calculating the difference movement distance information and the preset first coefficient.

[0046] If the location corresponding to the projected location information is not on the path corresponding to the target path information, the permissible distance value is determined by calculating the difference movement distance information and the preset second coefficient, where the second coefficient is less than the first coefficient.

[0047] By adopting the above technical solution, the positions of the two containers can be analyzed to determine whether the spreader needs to be moved to a more distant location after the sequence is replaced. This allows for the determination of whether the container to be replaced is on the original route plan, and the determination of the permissible distance value based on the distance of the containers, making the subsequent analysis more accurate.

[0048] Optionally, if the distance value corresponding to the interval distance information is less than the permissible distance value, the terminal operation control method further includes:

[0049] Determine whether the location corresponding to the replacement location information is consistent with the location corresponding to the target location information;

[0050] If the location corresponding to the replacement location information does not match the location corresponding to the target location information, then control the gantry crane and the container truck to execute the newly acquired task first;

[0051] If the location corresponding to the replacement location information is the same as the location corresponding to the target location information, then determine whether the duration value corresponding to the difference duration information is greater than the preset box retrieval duration value.

[0052] If the duration value corresponding to the difference duration information is not greater than the container lifting duration value, then control the container truck and gantry crane to continue operating according to the currently executed task;

[0053] If the duration value corresponding to the difference duration information is greater than the container retrieval duration value, then control the gantry crane to lift the container of the current task to the preset temporary parking point, and then control the gantry crane and the truck to execute the newly acquired task.

[0054] By adopting the above technical solution, when the container of a newly acquired task is below the container that needs to be processed, the arrival time of the two trucks is used to determine whether the container above needs to be moved first in order to process the container below, thus making the two container processing plans more reasonable.

[0055] Optionally, it also includes a method for determining temporary parking spots, the method comprising:

[0056] The gap duration information is determined by calculating the difference between the difference duration information and the box lifting duration information;

[0057] The compensation distance information is determined by calculating based on the gap duration information and the preset full-load speed of the lifting device;

[0058] The compensation path information is determined based on the replacement location information and the original task's area parking location information, and a temporary parking point is determined on the compensation path information based on the compensation distance information.

[0059] By adopting the above technical solution, the container on top can be moved as far as possible towards the point where it needs to be moved later, based on the arrival time of the truck, so as to facilitate the subsequent loading and processing of the container.

[0060] Secondly, this application provides a dock operation control system, which adopts the following technical solution:

[0061] A dock operation control system, comprising:

[0062] The acquisition module is used to acquire job task information, which includes container location information and truck type information.

[0063] The processing module, connected to the acquisition module, is used for information storage and processing;

[0064] The processing module defines the trucks in the preset idle truck pool that match the type of the truck type information as valid trucks, and enables the acquisition module to obtain the valid location information of the valid trucks.

[0065] The processing module determines the area parking location information based on the container location information;

[0066] The processing module analyzes and calculates the movement path information on the preset movement path map based on the valid location information and the area parking location information, and determines the movement distance information based on the movement path information.

[0067] The processing module determines the movement distance information with the smallest corresponding distance value among all movement distance information according to the preset sorting rules, and identifies the valid container truck corresponding to the movement distance information as the work container truck;

[0068] The processing module controls the work truck to move to the location corresponding to the area parking location information, and when the work truck starts to move, it controls the preset gantry crane spreader to move to the location corresponding to the container location information to grab the container, and after the container is grabbed, it controls the gantry crane spreader to move to the location corresponding to the area parking location information.

[0069] By adopting the above technical solution, the acquisition module can first obtain the task information, so that the processing module can select a more suitable truck from the idle truck pool for operation. At the same time, the processing module controls the gantry crane spreader and the truck to operate in parallel, so as to reduce the overall process time and improve the overall efficiency of the terminal operation.

[0070] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0071] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed any of the aforementioned dock operation control methods.

[0072] By adopting the above technical solution and using smart terminals, the task status can be obtained in advance, so that a more suitable truck can be selected from the idle truck pool for operation. At the same time, the gantry crane spreader and the truck can be controlled to work in parallel, so as to reduce the overall process time and improve the overall efficiency of the terminal operation.

[0073] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which improves the overall efficiency of dock operations, and adopts the following technical solution:

[0074] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described dock operation control methods.

[0075] By adopting the above technical solution, the computer program containing the terminal operation control method in the storage medium can first obtain the task information, select a more suitable truck from the idle truck pool for operation, and control the gantry crane spreader and the truck to operate in parallel, so as to reduce the overall process time and improve the overall efficiency of terminal operations.

[0076] In summary, this application includes at least one of the following beneficial technical effects:

[0077] 1. It allows gantry crane spreaders and container trucks to operate in parallel, reducing the overall container loading time and thus improving the overall efficiency of terminal operations;

[0078] 2. It can rationally plan the two task scenarios, so that container loading can be handled effectively and the overall operation efficiency can be improved;

[0079] 3. When containers for consecutive tasks are in a lower-upper-level relationship, the availability of the corresponding trucks can be used to determine whether to move the upper-level container first, so that container loading can proceed normally. Attached Figure Description

[0080] Figure 1 This is a flowchart of the dock operation control method.

[0081] Figure 2 This is a diagram showing the movement path of the container truck.

[0082] Figure 3 This is a flowchart of the area parking location update method.

[0083] Figure 4 This is a flowchart of the dual-task processing method.

[0084] Figure 5 This is a flowchart of the distance delineation method.

[0085] Figure 6 This is a flowchart of the method for determining the permissible distance value.

[0086] Figure 7 This is a flowchart of the method for handling container stacking.

[0087] Figure 8 This is a flowchart of the method for determining temporary parking spots.

[0088] Figure 9 This is a flowchart of the module for the dock operation control method. Detailed Implementation

[0089] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0090] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0091] This application discloses a terminal operation control method. During the container loading process, the method acquires the container to be loaded, matches a suitable truck for operation, and simultaneously controls the gantry crane spreader to grab the container while the truck is moving, thereby achieving parallel operation of both, reducing the overall operation time and improving the overall efficiency of terminal operations.

[0092] Reference Figure 1 The method and process of dock operation control include the following steps:

[0093] Step S100: Obtain the operation task information, which includes container location information and truck type information.

[0094] The task information corresponds to the container loading task that needs to be performed. For example, using a type A truck to load a container at point (x,y) in area B. This task is issued by the control panel. The location information corresponds to the location of the container to be loaded. The truck type information corresponds to the type of truck required to load the container.

[0095] Step S101: Define the card that matches the type corresponding to the card type information in the preset idle card pool as a valid card, and obtain the valid location information of the valid card.

[0096] The idle truck pool is a pool of trucks that are not currently performing any tasks and are waiting for task delivery. It is used to count the current truck status and identify the valid trucks. It can identify the trucks in the idle truck pool that can execute the currently acquired task, thus distinguishing different trucks. The location corresponding to the valid location information is the current location of the valid truck, which can be determined by installing a corresponding positioning device on the truck.

[0097] Step S102: Determine the area parking location information based on the container location information.

[0098] The location information for the area where the containers are stacked corresponds to the location where the truck should be parked when loading the containers. The area where the containers are located can be determined based on the container location information. Each area has a corresponding parking location for the truck. The specific location can be set by the staff according to the actual situation, which will not be elaborated here.

[0099] Step S103: Analyze and calculate the movement path information on the preset movement path map based on the valid location information and the area parking location information, and determine the movement distance information based on the movement path information.

[0100] The movement path map is a map showing the paths that the trucks can take to move. (Refer to...) Figure 2For the gap between each yard area, the path corresponding to the movement path information is the path that the truck can move from the position corresponding to the effective position information to the position corresponding to the area parking position information. In the process of calculating this path, the congestion situation needs to be considered. When there are other trucks loading containers in the path, they need to be avoided. The distance corresponding to the movement distance information is the distance that the effective truck needs to move along the path corresponding to the movement path information.

[0101] Step S104: Determine the movement distance information with the smallest corresponding distance value among all movement distance information according to the preset sorting rules, and determine the valid container truck corresponding to the movement distance information as the operation container truck.

[0102] The sorting rule is a method that can sort numerical values, such as the bubble sort algorithm. Using the sorting rule, the minimum corresponding distance value can be determined from all the movement distance information, thereby determining the shortest path. The valid truck corresponding to this movement distance is defined as the work truck for identification, realizing the distinction between different valid trucks, so as to facilitate subsequent operation control of the trucks.

[0103] Step S105: Control the working truck to move to the position corresponding to the area parking position information, and when the working truck starts to move, control the preset gantry crane spreader to move to the position corresponding to the container position information to grab the container, and after the container is grabbed, control the gantry crane spreader to move to the position corresponding to the area parking position information.

[0104] The gantry crane spreader is the equipment used to grab containers on the gantry crane. When the working truck starts to move, the gantry crane spreader is moved synchronously so that the two can move in sync. This reduces the waiting time after the truck arrives at its destination, thereby reducing the overall time of container loading operations and improving the overall efficiency of terminal operations.

[0105] Reference Figure 3 It also includes a method for updating area parking location information, which includes:

[0106] Step S200: Determine the truck orientation information for the last segment of the path based on the movement path information.

[0107] The last segment of the route is the last straight section of the entire route that does not require any turns, i.e., the last straight section before reaching the destination. The direction corresponding to the truck's orientation information is the direction in which the truck's cab will face after it reaches the destination, which can be determined by the truck's movement on the last segment of the route.

[0108] Step S201: Determine the spreader movement direction information based on the container location information and the area parking location information.

[0109] The direction corresponding to the spreader movement direction information is the direction in which the spreader moves from the container position to the container loading position.

[0110] Step S202: Determine the directional angle information based on the truck orientation information and the spreader movement direction information.

[0111] The included angle value corresponding to the directional angle information is the angle formed by the direction corresponding to the truck orientation information and the direction corresponding to the spreader movement direction information.

[0112] Step S203: Determine whether the included angle value corresponding to the direction angle information is greater than the right angle value.

[0113] The purpose of the judgment is to determine whether the directions of the two are roughly similar.

[0114] Step S2031: If the included angle value corresponding to the direction angle information is not greater than the right angle value, then maintain the original parking position information in the area.

[0115] When the included angle value corresponding to the directional angle information is not greater than the right angle value, it means that the two are moving in the same direction. At this time, the container needs to be moved from the direction from which the truck is moving. At this time, the original parking position information is maintained so that the container can be loaded normally.

[0116] Step S2032: If the included angle value corresponding to the directional angle information is greater than the right angle value, then the container position information is projected onto the movement path map to update the area parking position information.

[0117] When the included angle value corresponding to the directional angle information is greater than the right angle value, it means that the two directions are opposite. This means that even after the container is loaded, the truck still needs to move towards the original position of the container, resulting in repeated container movement. In this case, by vertically projecting the position of the container onto the movement path map, the point that the truck can move to can be determined. This point is then updated as the area parking position so that subsequent container transportation will not have repeated routes, which facilitates container loading.

[0118] Reference Figure 4 After obtaining the task information, the dock operation control method also includes:

[0119] Step S300: Obtain the status information of the spreader.

[0120] The status information of the spreader corresponds to the current status of the spreader, including the idle and waiting status and the status of being in operation. When the spreader has already lifted the container, this status cannot be obtained.

[0121] Step S301: Determine whether the status corresponding to the lifting device status information is consistent with the preset operation status.

[0122] The operational status refers to the state of the lifting equipment as set by the operator when it is in the task execution phase. The purpose of this determination is to determine whether the lifting equipment can execute the task when a new task is received.

[0123] Step S3011: If the status corresponding to the spreader status information is inconsistent with the operation status, then control the movement of the truck and the gantry crane spreader according to the operation task information.

[0124] When the status information of the spreader is inconsistent with the operation status, it means that the spreader can immediately perform the newly received task. At this time, the control of the work truck and the gantry crane spreader can be carried out normally.

[0125] Step S3012: If the status corresponding to the spreader status information is consistent with the operation status, then obtain the first arrival time information of the truck when the current task is executed and the second arrival time information of the truck when the task is executed.

[0126] When the status information of the spreader matches the operation status, it means that the spreader is currently performing a task. At this time, it can be analyzed whether the newly received task can be performed first. The time corresponding to the first arrival time information is the time when the truck corresponding to the task currently being performed by the spreader arrives at the loading position, and the time corresponding to the second arrival time information is the time when the truck corresponding to the task just received by the spreader arrives at the loading position.

[0127] Step S302: Determine whether the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information.

[0128] The purpose of the judgment is to determine whether the truck corresponding to the newly received task can arrive in time, so as to determine whether it is necessary to execute the newly received task first.

[0129] Step S3021: If the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information, then control the truck and gantry crane to continue working according to the currently executed task.

[0130] When the time corresponding to the first arrival time is earlier than the time corresponding to the second arrival time, it means that the truck corresponding to the newly received task will not arrive at the corresponding position before the truck of the currently executed task. In this case, the truck and the gantry crane lifting device can continue to work according to the currently executed task.

[0131] Step S3022: If the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, then control the gantry crane and the container truck to execute the newly acquired task first.

[0132] When the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, it means that the truck corresponding to the newly received task can arrive first. At this time, the gantry crane can be controlled to execute the newly received task first, so as to reduce the waiting time of the truck and improve the overall operation efficiency.

[0133] Reference Figure 5 If the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, the terminal operation control method also includes:

[0134] Step S400: Define the container location information of the currently executed task as the target location information, and define the container location information of the newly acquired task as the replacement location information.

[0135] Define target location information and replacement location information to distinguish the container locations of the two tasks, so as to facilitate further analysis.

[0136] Step S401: Calculate and determine the interval distance information based on the target location information and the replacement location information.

[0137] The distance value corresponding to the interval distance information is the distance between two containers that need to be packed, which is determined by the coordinates of the position corresponding to the target position information and the coordinates of the position corresponding to the replacement position information.

[0138] Step S402: Determine whether the distance value corresponding to the interval distance information is less than the preset permitted distance value.

[0139] The permissible distance value is the maximum distance set by the staff when they consider the two containers to be close. The purpose of this judgment is to determine whether the two containers are close enough to determine whether it is convenient to change the order of tasks.

[0140] Step S4021: If the distance value corresponding to the interval distance information is less than the permissible distance value, then control the gantry crane and the container truck to execute the newly acquired task first.

[0141] When the distance value corresponding to the interval distance information is less than the permissible distance value, it means that the positions of the two containers are relatively close. At this time, the impact on the gantry crane changing the destination position on the execution route is small. In this case, the gantry crane can be controlled to execute the newly received task first, so as to reduce the waiting time of the truck and improve the operation efficiency.

[0142] Step S4022: If the distance value corresponding to the interval distance information is not less than the permissible distance value, then control the truck and gantry crane to continue operating according to the currently executed task.

[0143] When the distance value corresponding to the interval distance information is not less than the permissible distance value, it means that the distance between the two containers is relatively far. Changing the end position of the spreader at this time will affect the overall efficiency of the spreader movement. It is inconvenient to change the order of tasks at this time, so it is better to maintain the original task and carry out the operation.

[0144] Reference Figure 6 It also includes a method for determining the permitted distance value, the method comprising:

[0145] Step S500: Obtain the current position information of the gantry crane lifting device.

[0146] The current location information corresponds to the location where the gantry crane spreader is when it receives a new task.

[0147] Step S501: Calculate the difference based on the first arrival time information and the second arrival time information to determine the difference duration information.

[0148] The duration value corresponding to the difference duration information is the time difference between the arrival times of the two trucks.

[0149] Step S502: Calculate the difference movement distance information based on the difference duration information and the preset no-load speed of the lifting device.

[0150] The spreader's no-load speed is the speed at which the spreader moves when it has not grabbed a container. The distance value corresponding to the difference movement distance information is the distance that the spreader can move within the time value corresponding to the difference duration information. It is determined by multiplying the time value corresponding to the difference duration information by the spreader's no-load speed.

[0151] Step S503: Determine the target path information based on the current location information and the target location information, and project the position corresponding to the replacement location information onto the path corresponding to the target path information to determine the projection location information.

[0152] The path corresponding to the target path information is the path that the spreader needs to take to move from the current position to the position corresponding to the target position information. The position corresponding to the projected position information is the position that can be determined by vertically projecting the position corresponding to the replacement position information onto the target path.

[0153] Step S504: Determine whether the position corresponding to the projected position information is on the path corresponding to the target path information.

[0154] The purpose of the judgment is to determine whether the replacement position is close to the current position of the spreader and whether it moves in the same direction as the current task.

[0155] Step S5041: If the position corresponding to the projected position information is on the path corresponding to the target path information, then the permissible distance value is determined by calculating based on the difference movement distance information and the preset first coefficient.

[0156] When the location corresponding to the projected position information is on the path corresponding to the target path information, it means that the container of the newly received task is on the path direction of the original task container's return, and there is no detour. At this time, the first coefficient is multiplied by the difference movement distance to determine the permissible distance value, so that the permissible distance value is determined more accurately.

[0157] Step S5042: If the position corresponding to the projected position information is not on the path corresponding to the target path information, the permissible distance value is determined by calculating based on the difference movement distance information and the preset second coefficient, wherein the second coefficient is less than the first coefficient.

[0158] When the location corresponding to the projected position information is not on the path corresponding to the target path information, it means that the spreader needs to detour when moving to the container of the newly received task. At this time, the second coefficient is used to multiply the difference in movement distance to determine the permissible distance value, so that the permissible distance value is determined more accurately. The second coefficient is less than the first coefficient, so that the permissible distance value is smaller when detour occurs, making the subsequent container processing analysis more accurate.

[0159] Reference Figure 7 If the distance value corresponding to the interval distance information is less than the permissible distance value, the dock operation control method also includes:

[0160] Step S600: Determine whether the location corresponding to the replacement location information is consistent with the location corresponding to the target location information.

[0161] The purpose of the judgment is to determine whether the containers in the two consecutive missions are in a hierarchical relationship.

[0162] Step S6001: If the location corresponding to the replacement location information is not consistent with the location corresponding to the target location information, then control the gantry crane and the container truck to execute the newly acquired task first.

[0163] When the location corresponding to the replacement location information does not match the location corresponding to the target location information, it means that there is no situation where the two containers are stacked. In this case, the newly acquired task can be executed first.

[0164] Step S6002: If the location corresponding to the replacement location information is the same as the location corresponding to the target location information, then determine whether the duration value corresponding to the difference duration information is greater than the preset box retrieval duration value.

[0165] When the location corresponding to the replacement location information matches the location corresponding to the target location information, it indicates that there are two containers stacked. In this case, if a new task is to be performed, the container on top needs to be moved first, and further analysis is required. The container lifting time value is the maximum time value set by the staff that will not increase the overall loading time of the two containers. It can be determined according to the container situation, or it can be set by the staff according to the actual situation, which will not be elaborated here. The purpose of the judgment is to know whether the difference in the time of the truck's arrival can meet the requirements for moving the container.

[0166] Step S60021: If the duration value corresponding to the difference duration information is not greater than the container lifting duration value, then control the container truck and gantry crane to continue operating according to the currently executed task.

[0167] When the duration value corresponding to the difference duration information is not greater than the container retrieval duration value, it means that moving the upper container and then lifting the lower container will increase the processing time for loading the two containers. In this case, no task order adjustment is required.

[0168] Step S60022: If the duration value corresponding to the difference duration information is greater than the container lifting duration value, control the gantry crane to lift the container of the current task to the preset temporary parking point, and then control the gantry crane and the truck to execute the newly acquired task.

[0169] When the duration value corresponding to the difference duration information is greater than the container lifting duration value, it means that the current truck arrival status can meet the requirement of moving the upper-level container aside and then loading the lower-level container first. At this time, the upper-level container will be moved to a temporary parking point so that the gantry crane spreader can lift the lower-level container.

[0170] Reference Figure 8 It also includes a method for determining temporary parking spots, which includes:

[0171] Step S700: Calculate the gap duration based on the difference duration information and the box lifting duration value.

[0172] The interval duration information corresponds to the difference between the arrival time of the container truck and the minimum required duration.

[0173] Step S701: Calculate and determine the compensation distance information based on the gap duration information and the preset full-load speed of the spreader.

[0174] The full-load speed of the spreader is the speed at which the spreader moves when it picks up the container. The distance value corresponding to the compensation distance information is the distance that the spreader can move within the interval time after picking up the container. It is determined by multiplying the interval time value corresponding to the interval time information by the full-load speed of the spreader.

[0175] Step S702: Determine the compensation path information based on the replacement location information and the original task's area parking location information, and determine the temporary parking point on the compensation path information based on the compensation distance information.

[0176] The path corresponding to the compensation path information is the path from the replacement location to the original task's parking location. The compensation distance is measured along this path, starting from the replacement location, to determine the temporary parking point. This allows the container to be moved while simultaneously moving in the direction it needs to be moved later, reducing the distance required for subsequent movement.

[0177] Reference Figure 9 Based on the same inventive concept, embodiments of the present invention provide a dock operation control system, comprising:

[0178] The acquisition module is used to acquire job task information, which includes container location information and truck type information.

[0179] The processing module, connected to the acquisition module, is used for information storage and processing;

[0180] The processing module defines the trucks in the preset idle truck pool that match the type of the truck type information as valid trucks, and enables the acquisition module to obtain the valid location information of the valid trucks.

[0181] The processing module determines the area parking location information based on the container location information;

[0182] The processing module analyzes and calculates the movement path information on the preset movement path map based on the valid location information and the area parking location information, and determines the movement distance information based on the movement path information.

[0183] The processing module determines the movement distance information with the smallest corresponding distance value among all movement distance information according to the preset sorting rules, and identifies the valid container truck corresponding to the movement distance information as the work container truck;

[0184] The processing module controls the work truck to move to the location corresponding to the area parking location information, and controls the preset gantry crane spreader to move to the location corresponding to the container location information to grab the container when the work truck starts to move. After the container is grabbed, the gantry crane spreader is controlled to move to the location corresponding to the area parking location information.

[0185] The parking location update module updates the parking location based on the movement of the trucks and the location of the containers, so that the containers can be transported more efficiently.

[0186] The dual-task job module analyzes the newly received tasks in the job, which shortens the total processing time of the two tasks and improves the overall job efficiency.

[0187] The distance determination module analyzes and determines the distance between containers in two tasks, so that containers that are far apart do not need to have their operation sequence changed.

[0188] The permissible distance determination module determines a reasonable permissible distance based on the positions of the two containers, so that subsequent analysis is more accurate;

[0189] The container position determination module analyzes the case where two containers are stacked one on top of the other to determine whether the container on top needs to be moved.

[0190] The temporary parking point determination module identifies a suitable temporary parking point for the container based on its transportation status, to facilitate subsequent transport of the container.

[0191] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0192] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a dock operation control method.

[0193] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0194] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a dock operation control method.

[0195] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0196] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A dock operation control method, characterized in that, include: Obtain task information, including container location information and truck type information; In the preset idle card pool, cards that match the type corresponding to the card type information are defined as valid cards, and the valid location information of the valid cards is obtained. Determine the parking location information for the area based on the container location information; Based on the valid location information and the area parking location information, the movement path information is determined by analysis and calculation on the preset movement path map, and the movement distance information is determined based on the movement path information. Based on the preset sorting rules, the movement distance information with the smallest corresponding distance value among all movement distance information is determined, and the valid container truck corresponding to this movement distance information is determined as the operation container truck; Control the working truck to move to the location corresponding to the area parking location information, and when the working truck starts to move, control the preset gantry crane spreader to move to the location corresponding to the container location information to grab the container, and after the container is grabbed, control the gantry crane spreader to move to the location corresponding to the area parking location information; It also includes a method for updating area parking location information, which includes: The orientation of the trucks in the final segment of the route is determined based on the movement path information. The direction of spreader movement is determined based on container location information and area parking location information. Determine the directional angle information based on the truck's orientation information and the spreader's movement direction information; Determine whether the included angle value corresponding to the direction angle information is greater than the right angle value; If the included angle value corresponding to the direction angle information is not greater than the right angle value, then the original parking position information in the area will be maintained; If the included angle value corresponding to the directional angle information is greater than the right angle value, then the container position information is projected onto the movement path map to update the area parking position information.

2. The dock operation control method according to claim 1, characterized in that, After obtaining the task information, the dock operation control method also includes: Obtain the status information of the spreader; Determine whether the status corresponding to the spreader status information is consistent with the preset operation status; If the status information of the spreader is inconsistent with the operation status, the movement of the truck and the spreader of the gantry crane will be controlled according to the operation task information. If the status corresponding to the spreader status information is consistent with the operation status, then obtain the first arrival time information of the truck when the current task is executed and the second arrival time information of the truck when the task is executed. Determine whether the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information; If the time corresponding to the first arrival time information is earlier than the time corresponding to the second arrival time information, then control the truck and gantry crane to continue working according to the currently executed task; If the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, then control the gantry crane and the container truck to execute the newly acquired task first.

3. The dock operation control method according to claim 2, characterized in that, If the time corresponding to the first arrival time information is not earlier than the time corresponding to the second arrival time information, the terminal operation control method also includes: Define the container location information of the currently executed task as the target location information, and define the container location information of the newly acquired task as the replacement location information; The interval distance information is determined by calculating based on the target location information and the replacement location information; Determine whether the distance value corresponding to the interval distance information is less than the preset permitted distance value; If the distance value corresponding to the interval distance information is less than the permitted distance value, then control the gantry crane and the container truck to execute the newly acquired task first; If the distance value corresponding to the interval distance information is not less than the permissible distance value, the control truck and gantry crane will continue to operate according to the currently executed task.

4. The dock operation control method according to claim 3, characterized in that, It also includes a method for determining the permitted distance value, the method comprising: Obtain the current position information of the gantry crane lifting device; The difference is calculated based on the first arrival time information and the second arrival time information to determine the difference duration information; The difference travel distance is determined by calculating the difference travel distance based on the difference duration information and the preset no-load speed of the lifting device. The target path information is determined based on the current location information and the target location information, and the position corresponding to the replacement location information is projected onto the path corresponding to the target path information to determine the projection location information; Determine whether the position corresponding to the projected position information is on the path corresponding to the target path information; If the location corresponding to the projected location information is on the path corresponding to the target path information, the permissible distance value is determined by calculating the difference movement distance information and the preset first coefficient. If the location corresponding to the projected location information is not on the path corresponding to the target path information, the permissible distance value is determined by calculating the difference movement distance information and the preset second coefficient, where the second coefficient is less than the first coefficient.

5. The dock operation control method according to claim 4, characterized in that, If the distance value corresponding to the interval distance information is less than the permissible distance value, the dock operation control method also includes: Determine whether the location corresponding to the replacement location information is consistent with the location corresponding to the target location information; If the location corresponding to the replacement location information does not match the location corresponding to the target location information, then control the gantry crane and the container truck to execute the newly acquired task first; If the location corresponding to the replacement location information is the same as the location corresponding to the target location information, then determine whether the duration value corresponding to the difference duration information is greater than the preset box retrieval duration value. If the duration value corresponding to the difference duration information is not greater than the container lifting duration value, then control the container truck and gantry crane to continue operating according to the currently executed task; If the duration value corresponding to the difference duration information is greater than the container retrieval duration value, then control the gantry crane to lift the container of the current task to the preset temporary parking point, and then control the gantry crane and the truck to execute the newly acquired task.

6. The dock operation control method according to claim 5, characterized in that, It also includes a method for determining temporary parking spots, which includes: The gap duration information is determined by calculating the difference between the difference duration information and the box lifting duration information; The compensation distance information is determined by calculating based on the gap duration information and the preset full-load speed of the lifting device; The compensation path information is determined based on the replacement location information and the original task's area parking location information, and a temporary parking point is determined on the compensation path information based on the compensation distance information.

7. A dock operation control system, characterized in that, include: The acquisition module is used to acquire job task information, which includes container location information and truck type information. The processing module, connected to the acquisition module, is used for information storage and processing; The processing module defines the trucks in the preset idle truck pool that match the type of the truck type information as valid trucks, and enables the acquisition module to obtain the valid location information of the valid trucks. The processing module determines the area parking location information based on the container location information; The processing module analyzes and calculates the movement path information on the preset movement path map based on the valid location information and the area parking location information, and determines the movement distance information based on the movement path information. The processing module determines the movement distance information with the smallest corresponding distance value among all movement distance information according to the preset sorting rules, and identifies the valid container truck corresponding to the movement distance information as the work container truck; The processing module controls the work truck to move to the location corresponding to the area parking location information, and when the work truck starts to move, it controls the preset gantry crane spreader to move to the location corresponding to the container location information to grab the container, and after the container is grabbed, it controls the gantry crane spreader to move to the location corresponding to the area parking location information.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed according to any one of claims 1 to 6.

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

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