Dock and port unloading management method based on drone ranging and virtual reality

Abstract

The present application relates to terminal warehouse management based on drone ranging, and more particularly to a terminal port unloading management method based on drone ranging and virtual reality. The warehouse is divided into strip-shaped unit areas, and the width of each unit area is equal to the length of the container. A laser ranging device is arranged at the bottom of the drone. During the flight, the distance between the drone and the ground container is measured in real time. After obtaining the unfilled position information, the drone sends the position signal to the ground transportation equipment nearby. The ground transportation equipment will go to unload according to the received position signal, and obtain the information of whether the warehouse is full through drone ranging, which is then used for unloading management.

Description

Technical Field

[0001] The present application relates to the technical field of terminal warehouse management based on drone ranging, and in particular to a terminal port unloading management method based on drone ranging and virtual reality. Background Art

[0002] Ports are an important part of transportation. Ports and harbors generally have the characteristics of large land area, complex cargo categories, and a large number of vehicles coming in and out. These characteristics have brought many problems to daily operators and port managers in the management of ports, such as uncontrolled operation of truck drivers in the port area, high rate of on-site safety accidents, wrong stacks, wrong cargo, inability to execute operation instructions and real-time monitoring. Even if ports and harbors have invested high labor costs, the following problems still exist in port management: personnel and vehicles entering and leaving the port area cannot quickly find the corresponding service location, resulting in low service efficiency and low customer satisfaction; at the same time, with a large number of goods, how to accurately and quickly find the target goods and calculate the inventory of various types of sundries have brought troubles to the management of goods.

[0003] There is an existing unloading management method that collects the overall picture of the port cargo and maps it to the computer, then analyzes which positions have space, and then arranges ground machinery for loading and unloading. However, this method requires a large amount of data collection to accurately obtain the overall picture of the warehouse in real time. Summary of the invention

[0004] In view of the shortcomings of the existing technology, the purpose of this application is to provide a terminal port unloading management method based on drone ranging and virtual reality, which can reasonably arrange the picking and placing of goods in the warehouse while reducing the amount of calculation.

[0005] The above-mentioned application purpose of the present application is achieved through the following technical solutions: A terminal port unloading management method based on drone ranging and virtual reality. The first step: preparation work, dividing the warehouse into strip unit areas, the width of each unit area is equal to the length of the container, and a laser ranging device is set at the bottom of the drone to measure the distance between the drone and the ground container in real time during the flight; the second step, organizing the obtained information into the total number of containers that the unit area can accommodate; the third step, sending the information on the total number of containers that each unit area can accommodate to the ground transportation equipment; the fourth step: the ground transportation equipment will go to unload according to the received position signal.

[0006] By adopting the above technical solution, firstly, through the strip-shaped unit area, the cargo loading situation of a unit area can be obtained by a single flight of the drone. Through the drone ranging method, it is only necessary to know the cargo loading situation at the location through the distance between the drone and the ground or container. There is no need to scan the entire warehouse and then perform pixel calculation and processing on the photo, which greatly reduces the amount of calculation. The information obtained is organized into the total number of containers that can be accommodated in the unit area and sent to the transportation equipment. Compared with searching for free equipment in the map through transportation equipment, it also reduces the amount of calculation. Because if the transportation equipment searches for free equipment in the map, it needs to establish a map coordinate system, and then search through the transportation equipment end. First, it is a relatively large amount of calculation to establish the map coordinate system and the navigation system. The existing technology generally relies on satellite positioning or cooperation with existing map companies to complete it. It is very difficult for a separate warehouse management company to complete it independently.

[0007] Furthermore, in the second step, the specific method for organizing the obtained information into the total number of containers that the unit area can accommodate is as follows: first set the flight altitude of the drone, and set a laser ranging device at the bottom of the drone, and set the height of each container and the highest number of containers that can be placed in the warehouse. The laser ranging device at the bottom of the drone measures the distance from the bottom of the drone to the ground object in real time. If the distance is equal to the distance from the drone to the ground, then this is an empty warehouse, which is counted as 0. If the distance from the bottom of the drone to the ground object is equal to the distance from the drone to the ground minus the height of a container, it means that a container has been placed here, which is counted as 1. Two containers are counted as 2, and three containers are counted as 3. When the number of containers is equal to the highest number of containers that can be placed in the warehouse, it is a full warehouse.

[0008] By adopting the above technical solution, the total number of containers that the unit area can accommodate is obtained by subtracting the total number of containers in the unit area calculated by the drone from the total number of containers that the entire unit area can accommodate.

[0009] Furthermore, in the third step, the specific method for sending the information of the total number of containers that each unit area can accommodate to the ground transportation equipment is: a central transportation road is set up, and then the starting end of each unit area is located on the roadside of the transportation road, and a signal transceiver is set on the roadside of the transportation road. After the drone flies over a unit area and passes the signal transceiver, it sends the cargo carrying situation of the unit area, that is, the total number of containers that the unit area can accommodate, to the signal transceiver. When the ground transportation equipment passes the transceiver, it obtains the total number of containers that the unit area can accommodate and then determines whether to enter the unit area for unloading. If confirmed, it sends the heading information to all ground transportation equipment, so that other transportation equipment can make specific unloading decisions after obtaining the information.

[0010] By adopting the above technical solution, the drone only needs to travel back and forth between the starting and ending points of each unit area, and then send the obtained information to the signal transceiver after calculation. As long as the transportation equipment passes by, it can be obtained whether the goods in each unit area are full, which is convenient and efficient.

[0011] Furthermore, a simple map is set up at the transportation equipment, which has all the unit areas and the unit numbers of each unit area marked from one end to the other. The information obtained by the ground transportation equipment includes the total number of containers that the unit area can accommodate and the number of containers for each unit number of the unit area.

[0012] Furthermore, a central control room is provided, and a signal transceiver device is communicatively connected to the main control room. The central control room receives information sent by each signal transceiver device, and when the transport equipment determines to go to the unloading location, it sends a heading signal carrying the destination location information to the central control room. A simulation image is provided in the central control room, and all location points of the warehouse are displayed in the simulation image. After receiving the location signal, the storage situation of the goods there is displayed. After receiving the heading signal, the transport equipment and its destination path are displayed.

[0013] By adopting the above technical solution, the central control room can simulate the actual situation on site, which can facilitate the monitoring of the on-site cargo inventory and vehicle operation conditions. The drone sends cargo information in real time, and can obtain accurate inventory conditions in real time, avoiding the trouble of frequent inventory counts caused by the error-prone recording method in the existing technology.

[0014] Furthermore, a local area network is set up between the transport equipment to share the direction signal of each transport equipment in real time.

[0015] Furthermore, when the central control room finds that different transport equipment chooses the same cargo transportation location, it will give a timely warning.

[0016] Furthermore, the central control room has split screens for each transport equipment.

[0017] Furthermore, after the drone flies over the first unit area, it flies to the next unit area and passes by the transportation road of the transportation equipment. When the laser ranging device on the drone flies over the transportation equipment, the cargo situation of the previous unit area just obtained is sent to the transportation equipment under the drone.

[0018] By adopting the above technical solution, because the transportation equipment runs along the road on land, if the cargo storage information of the unit area obtained by the drone is distributed to the land transportation equipment according to the straight-line distance, the actual transportation distance will not be the shortest, and the straight-line distance will be the shortest, which will affect the transportation efficiency. Moreover, directly sending the positioning to other transportation equipment requires the support of satellite positioning, while sending information by flying the drone above the transportation equipment only requires the support of the local area network.

[0019] Another object of the present application is to provide a cargo unloading management system, including a drone ranging module, wherein the drone ranging module signal is connected to a central control module, a display screen is provided on the central control module, and the drone ranging module signal is connected to a mobile transport module, which is located on a land transport equipment. The central control module splits the information on the display screen to the mobile transport module on the land machinery. The specific ranging method of the drone ranging module is to send a laser signal to the ground in real time through real-time laser ranging. When the laser signal returns to the drone end, the distance between the drone and the ground is obtained through the return time, and then the height of the container here is known.

[0020] By adopting the above technical solution, the drone ranging module obtains the distance between the drone and the ground or the container. The shorter distance is the location full of goods, and the longer distance is an empty warehouse. According to the height of the container and the distance measured by the drone, it is known how many layers of containers are loaded here, and this information is sent to the mobile transportation module. After receiving the information, the mobile transportation module loads the empty warehouse.

[0021] In summary, the present application includes at least one of the following beneficial technical effects:

[0022] 1. First of all, through the strip-shaped unit area, the drone can obtain the cargo loading status of a unit area in a single flight. Through the drone ranging method, it is only necessary to know the cargo loading status of the location through the distance between the drone and the ground or container. There is no need to scan the entire warehouse and then calculate and process the pixels of the photo, which greatly reduces the amount of calculation. The information obtained is sorted into the total number of containers that can be accommodated in the unit area and sent to the transportation equipment. Compared with searching for free equipment in the map through transportation equipment, it also reduces the amount of calculation. Because if the transportation equipment searches for free equipment in the map, it needs to establish a map coordinate system, and then search through the transportation equipment end. First, it is a relatively large amount of calculation to establish the map coordinate system and the navigation system. The existing technology generally relies on satellite positioning or cooperation with existing map companies to complete it. It is very difficult for a separate warehouse management company to complete it independently.

[0023] 2. When the drone flies over each unit area, if the drone flies at the same altitude and the altitude becomes smaller, it means there is a container. If the altitude becomes smaller and equals the height of two containers, it means there are two containers. The total number of containers in the entire unit area is obtained by counting. The total number of containers that the entire unit area can accommodate minus the total number of containers in the unit area calculated by the drone is used to obtain the total number of containers that the unit area can accommodate.

[0024] 3. The setting of the signal transceiver device enables the drone to travel back and forth between the starting and ending points of each unit area, and then send the obtained information to the signal transceiver device after calculation. As long as the transportation equipment passes by, it can be obtained whether the goods in each unit area are full, which is convenient and efficient.

[0025] 4. We only need to know whether containers have been placed at each location without seeing the appearance of the containers. The existing technology obtains the overall view by flying over each container and taking pictures, and then obtains the number of containers at each location through pixel analysis. We only need to measure the height above each container, which greatly reduces the amount of calculation. However, the method of scanning the overall view of the port also requires many drones to work at the same time. At the same time, the process of taking pictures will limit the flight speed of the drone, while the ranging method can fly faster. In comparison, the ranging method saves a lot of drones than the method of scanning the overall view of the port. If other methods are used to obtain whether each location is full of containers, a lot of manpower and material resources are still required, such as driving to the location. Of course, there is another existing technology that records the placement of goods in each area through the process of port purchase, placement, and shipment, but the accuracy of the record and the manpower and material resources required are still very large, and the shipment record is generally recorded after the goods have been shipped from the port. The process of transporting from the storage location to the ship and then loading the goods is not recorded here, so this location cannot be used during the period of loading the ship. DETAILED DESCRIPTION

[0026] The present application is described in further detail below.

[0027] Embodiment, the terminal port unloading management method based on drone ranging and virtual reality includes the following steps: the first step: preparation, divide the warehouse into strip-shaped unit areas, the width of each unit area is equal to the length of the container, set a laser ranging device at the bottom of the drone, and measure the distance between the drone and the ground container in real time during the flight. Each unit area is equipped with a drone, and in other embodiments, two or three unit areas can share one drone. According to the terrain of the actual port, the port will actually have multiple areas, and the size and width of each area are different. If the length of the area is short, multiple unit areas will use one drone, that is, the drone will fly over one unit area and then fly over the next unit area. If the length of the area is long, a drone will be used independently for each unit area.

[0028] Specifically, the flight altitude of the drone is set first, and a laser ranging device is installed at the bottom of the drone. The height of each container and the highest number of containers that can be placed in the warehouse are set. This embodiment takes three-layer containers as an example, and divides the warehouse into several strip-shaped unit areas. The drone is allowed to fly over the first unit area first, and the distance between the bottom of the drone and the ground object is measured in real time through the laser ranging device at the bottom of the drone. If the distance is equal to the distance from the drone to the ground, then this is an empty warehouse, which can be counted as 0. If the distance between the bottom of the drone and the ground object is equal to the distance from the drone to the ground minus the height of a container, it means that a container has been placed here, which is counted as 1. Similarly, if it is counted as 3, it proves that the warehouse is full.

[0029] For ease of understanding, this embodiment uses 3 layers of containers, each layer of 2 meters for description. Here, the state of full warehouse of containers is 6 meters. The height of the drone is set to 8 meters. If the data obtained by the laser ranging device is 8 meters, then the warehouse is empty. If the height obtained is 6 meters, then there is only one container here, and two more containers can be loaded. If the height obtained is 2 meters, then there are already three containers here, and the warehouse is full. Regarding the height of the container, according to the current international standards formulated by the 104th Technical Committee of the International Organization for Standardization (ISO), there are four heights of containers, namely 2896mm, 2591mm, 2438mm, and 2385mm. Containers of different sizes and heights need to be placed in different locations for easy management.

[0030] The second step is to organize the obtained information into the total number of containers that can be accommodated in the unit area. Specifically, the total number that can be accommodated in the unit area is subtracted from the total count of the laser ranging device on the drone.

[0031] The third step is to send the information on the total number of containers that each unit area can accommodate to the ground transportation equipment.

[0032] The specific implementation method is that each area is provided with a central transportation road, and then the starting end of each unit area is located on the roadside of the transportation road. A signal transceiver is set on the roadside of the transportation road. After the drone flies over a unit area and passes the signal transceiver, it sends the cargo carrying situation of the unit area, that is, the total number of containers that the unit area can accommodate, to the signal transceiver. When the ground transportation equipment passes the transceiver, it obtains the total number of containers that the unit area can accommodate and then determines whether to enter the unit area for unloading. If confirmed, it sends the heading information to all ground transportation equipment, so that other transportation equipment can make specific unloading judgments after obtaining the information, so as to avoid multiple transportation equipment going to the same unit area and causing chaos.

[0033] In order to obtain a more detailed cargo storage situation in each unit area, the position of each container in each unit area is matched with a unit number. When the drone passes by the signal transceiver, the number of cargo that can be stored in each unit number of the unit area is sent to the signal transceiver at the same time. A simple map is set up at the transportation equipment. The simple map has all the unit areas and the unit numbers of each unit area marked from one end to the other. The location signal is the code of the unit area and the unit number.

[0034] In addition, a central control room is set up, which receives the position signal, and when the transportation equipment determines to go to the unloading location, it sends a heading signal carrying the destination location information to the central control room. A simulation image is set up in the central control room, and the simulation image shows all the location points of the warehouse. After receiving the position signal, the storage situation of the goods here is displayed. After receiving the heading signal, the transportation equipment and its destination path are displayed.

[0035] A local area network is set up between the transport equipment to share the direction signal of each transport equipment in real time. In another embodiment, the transport equipment is interconnected through 4G or 5G communication. In this embodiment, the local area network set up between the transport equipment and the local area network set up by the above-mentioned drone are different networks.

[0036] In order to facilitate monitoring and management, when the central control room finds that different transport equipment chooses the same cargo transportation location, it will give timely warnings and split the screen for each transport equipment.

[0037] After the drone flies over the first unit area, it flies to the next unit area and passes by the transportation road of the transportation equipment. When the laser ranging device on the drone flies over the transportation equipment, the cargo situation of the previous unit area just obtained is sent to the transportation equipment under the drone.

[0038] When the UAV flies to the next unit area, it retains the information of the previous unit area, and when it encounters the next transportation equipment, it sends the information of at least three unit areas to the corresponding transportation equipment.

[0039] The central control room and the transportation equipment share the same local area network. When the transportation equipment receives a signal from any drone, it will send it to the central control room in real time so that the central control room can reproduce the cargo storage situation of each warehouse, and when the transportation equipment selects any final transportation destination, it will be sent to the central control room in real time.

[0040] Example 2 The difference between this example and Example 1 is that, in the third step, the specific method of sending the information on the total number of containers that each unit area can accommodate to the ground transportation equipment is that after the drone flies over a unit area, it flies along the nearest transportation road. At this time, the flight altitude remains unchanged. When the laser ranging device flies above a transportation equipment, it can be known that the height of the drone here from the ground object is the flight altitude of the drone minus the height of the transportation equipment. When this is the transportation equipment, it can be known that this is the transportation equipment, and then the data of the previous unit area just measured is sent to the transportation equipment.

[0041] The specific way of sending information is to establish a local area network. The available transmission range of the local area network is the flight altitude of the drone. That is to say, the drone continuously sends the information outward in real time, and only the transportation equipment passing directly under the drone can receive the information. In order to avoid errors, this embodiment sets the available range of the local area network to twice the flight altitude of the drone.

[0042] Such a setting enables the drone to obtain the cargo loading status of a unit area by measuring the distance. It only needs to know the cargo loading status of the location through the distance between the drone and the ground or container. There is no need to scan the entire warehouse and then calculate and process the pixels of the photos, which greatly reduces the amount of calculation. The obtained set of locations that are not filled with goods is sent to the ground transportation equipment on the spot. Compared with searching for idle equipment in the map through transportation equipment, it also reduces the amount of calculation. Because if the transportation equipment searches for idle equipment in the map, it needs to establish a map coordinate system, and then search through the transportation equipment end. First, it needs to establish a map coordinate system and a navigation system, which is a relatively large amount of calculation. The existing technology generally relies on satellite positioning or cooperation with existing map companies to complete it. It is very difficult for a separate warehouse management company to complete it independently.

[0043] A round-trip transport road is set up from the port to the farthest end of the warehouse. The drone flies from a distance, that is, from a place far away from the port to a place near the port. The unloading order is from the end near the port to the end far away from the port, allowing the transport equipment to fly from one place in the port to a place far away from the port in the warehouse.

[0044] A unloading management system based on the above-mentioned unloading management method includes a drone ranging module, the drone ranging module signal is connected to a central control module, the central control module is provided with a display screen, the drone ranging module signal is connected to a mobile transportation module, the mobile transportation module is located on the transportation equipment on land, the central control module splits the information on the display screen to the mobile transportation module on the land machinery, and the specific ranging method of the drone ranging module is to send a laser signal to the ground in real time through real-time laser ranging. When it returns to the drone end, the distance between the drone and the ground is obtained through the return time, and then the height of the container here is known.

[0045] The drone ranging module obtains the distance between the drone and the ground or the container. The shorter distance is the location full of goods, and the longer distance is an empty warehouse. According to the height of the container and the distance measured by the drone, it is known how many layers of containers are loaded here. This information is sent to the mobile transportation module. After receiving the information, the mobile transportation module loads the empty warehouse.

[0046] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for managing cargo unloading at a port based on drone ranging and virtual reality, characterized in that: The first step: preparation, divide the warehouse into strip-shaped unit areas, the width of each unit area is equal to the length of the container, set a laser rangefinder at the bottom of the drone, and measure the distance between the drone and the ground container in real time during the flight; the second step is to organize the information obtained into the total number of containers that the unit area can accommodate, specifically: first set the flight altitude of the drone, and set a laser rangefinder at the bottom of the drone, and set the height of each container and the highest number of containers that can be placed in the warehouse. The laser rangefinder at the bottom of the drone measures the distance from the bottom of the drone to the ground object in real time. If the distance is equal to the distance from the drone to the ground, then this is an empty warehouse, counted as 0. If the distance from the bottom of the drone to the ground object is equal to the distance from the drone to the ground minus the height of a container, it means that a container has been placed here, which is counted as 1, and two A container is counted as 2, and three containers are counted as 3. When the number of containers is equal to the highest number of container layers that can be placed in the warehouse, the warehouse is full; the third step is to send the information on the total number of containers that can be accommodated in each unit area to the ground transportation equipment, specifically: a central transportation road is set, and then the starting end of each unit area is located on the roadside of the transportation road, and a signal transceiver is set on the roadside of the transportation road. After the drone flies over a unit area and passes the signal transceiver, it sends the cargo carrying situation of the unit area, that is, the total number of containers that the unit area can accommodate, to the signal transceiver. When the ground transportation equipment passes the transceiver, it obtains the total number of containers that the unit area can accommodate and then determines whether to enter the unit area for unloading. If it is determined, it sends the heading information to all ground transportation equipment, so that other transportation equipment can make specific unloading judgments after obtaining the information; Step 4: The ground transportation equipment will proceed to unload the cargo according to the received position signal. Specifically, when the ground transportation equipment passes by the transceiver, it will obtain the total number of containers that the unit area can accommodate and then determine whether to enter the unit area for unloading. After the drone flies over the first unit area, it will fly to the next unit area and pass through the transportation road of the transportation equipment. When the laser ranging device on the drone flies over the transportation equipment, it will send the cargo situation of the previous unit area just obtained to the transportation equipment under the drone. A simple map is set up at the transportation equipment, which contains all the unit areas and the unit numbers of each unit area marked from one end to the other. The information obtained by the ground transportation equipment includes the total number of containers that the unit area can accommodate and the number of containers for each unit number of the unit area.

2. The method for managing cargo unloading at a terminal or port based on drone ranging and virtual reality according to claim 1, characterized in that: A central control room is also provided, and a signal transceiver is communicatively connected to the main control room. The central control room receives information sent by each signal transceiver, and when the transport equipment determines to go to the unloading location, it sends a heading signal carrying the destination location information to the central control room. A simulation image is provided in the central control room, and all location points of the warehouse are displayed in the simulation image. After receiving the location signal, the storage situation of the goods there is displayed. After receiving the heading signal, the transport equipment and its destination path are displayed.

3. The method for managing cargo unloading at a terminal or port based on drone ranging and virtual reality according to claim 2, characterized in that: A local area network is set up between the transport equipment to share the direction signal of each transport equipment in real time.

4. The method for managing cargo unloading at a terminal or port based on drone ranging and virtual reality according to claim 3 is characterized in that: When the central control room finds that different transport equipment chooses the same cargo transportation location, it will give timely warnings.

5. The method for managing cargo unloading at a terminal or port based on drone ranging and virtual reality according to claim 4, characterized in that: The central control room has separate screens for each transport equipment.

6. A cargo unloading management system for use in the cargo unloading management method according to any one of claims 1 to 5, characterized in that: It includes a UAV ranging module, the UAV ranging module signal is connected to the central control module, the central control module is provided with a display screen, the UAV ranging module signal is connected to the mobile transportation module, the mobile transportation module is located on the transportation equipment on land, the central control module splits the information on the display screen to the mobile transportation module on the land machinery, and the specific ranging method of the UAV ranging module is to send a laser signal to the ground in real time through real-time laser ranging, and when the laser signal returns to the UAV end, the distance between the UAV and the ground is obtained through the return time, and then the height of the container here is known.