Transport equipment moving method and device

Abstract

The present application provides a method and apparatus for moving transport equipment, wherein the transport equipment is used to transport a container to be transported to a storage yard, wherein the storage yard includes storage locations arranged in sequence, each storage location allowing the stacking of containers not exceeding a preset maximum number of layers. The method comprises obtaining the current storage location where the transport equipment is located and the target storage location where the container to be transported is placed; obtaining the number of layers stacked in all intermediate storage locations between the current storage location and the target storage location; if the number of layers stacked in each intermediate storage location is less than the preset maximum number of layers, controlling the transport equipment to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location, where the preset layer is the layer above the preset maximum number of layers; and if there is a first storage location among all intermediate storage locations with a number of layers stacked equal to the preset maximum number of layers, controlling the transport equipment to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location. Embodiments of the present application can improve the efficiency of transporting containers by transport equipment.

Description

Technical Field

[0001] The present application relates to the field of container transportation technology, and in particular to a method and device for moving transportation equipment. Background Art

[0002] Containers can be moved from the yard to a truck or vice versa using transport equipment. Automated transport equipment can move and transport containers autonomously after determining the location and type of task. For tasks involving moving containers from a truck to the yard (referred to as "loading"), existing solutions require that when transport equipment is performing loading operations, it first lifts the container to a safe height, then moves it above the target location in the yard before placing it at the target location. This route uses a zigzag motion, resulting in a longer path and longer container handling time. Summary of the Invention

[0003] The present application provides a method and device for moving transport equipment, which can improve the efficiency of transporting containers by transport equipment.

[0004] In a first aspect, an embodiment of the present application provides a method for moving a transport device, wherein the transport device is used to transport a container to be transported to a storage yard, wherein the storage yard includes storage spaces arranged in sequence, each storage space allowing the stacking of containers not exceeding a preset maximum number of layers, the method comprising:

[0005] Obtain the current storage location of the transport equipment and the target storage location where the transport container is to be placed;

[0006] Get the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location;

[0007] If the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, the transport device is controlled to move straightly from the preset layer of the current storage location to the current layer of the target storage location. The current layer is the layer above the stacked layer of the target storage location, and the preset layer is the layer above the preset maximum number of layers.

[0008] If there is a first storage location among all intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers, the transport device is controlled to move straightly from the preset layer of the first storage location to the current layer of the target storage location.

[0009] In a second aspect, the present application provides a transport equipment moving device, wherein the transport equipment is used to transport containers to be transported to a storage yard, wherein the storage yard includes storage spaces arranged in sequence, each storage space allowing the stacking of containers not exceeding a preset maximum number of layers, and the device comprises:

[0010] The first acquisition module is used to obtain the current storage location of the transport equipment and the target storage location where the transport container is to be placed;

[0011] The second acquisition module is used to obtain the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location;

[0012] The first control module is configured to control the transport device to move linearly from the preset layer of the current storage location to the current layer of the target storage location if the number of layers stacked at each intermediate storage location is less than a preset maximum number of layers, where the current layer is the layer above the stacked layer of the target storage location and the preset layer is the layer above the preset maximum number of layers;

[0013] The second control module is used to control the transportation equipment to move straightly from the preset layer of the first storage location to the current layer of the target storage location if there is a first storage location among all the intermediate storage locations with the number of stacked layers equal to the preset maximum number of layers.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0015] When the processor executes the computer program instructions, the method for moving the transport equipment as described in any one of the embodiments of the first aspect is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, a method for moving a transport device as in any one of the embodiments in the first aspect is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes a method for moving a transport device as in any one of the embodiments in the first aspect above.

[0018] In a method and device for moving transport equipment provided in an embodiment of the present application, the transport equipment is used to transport containers to be transported to a yard, which includes storage locations arranged in sequence, and each storage location allows containers to be stacked no more than a preset maximum number of layers. The current storage location where the transport equipment is located and the target storage location where the container to be transported is placed are obtained; the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location are obtained; if the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, the transport equipment is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location, the current layer being the upper layer of the stacked layer of the target storage location, and the preset layer being the upper layer of the preset maximum number of layers; if there is a first storage location among all the intermediate storage locations whose number of stacked layers is equal to the preset maximum number of layers, the transport equipment is controlled to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location. Through the above method, the number of stacked layers of each intermediate storage location between the current storage location and the target storage location can be obtained, and the number of stacked layers of each intermediate storage location can be compared with the preset maximum number of layers. When the number of stacked layers of the intermediate storage location is less than the maximum number of layers, that is, when there is no risk of collision in the middle area of ​​the transport equipment transporting the container to the target storage location, the transport equipment is directly controlled to move in a straight line to the target storage location. Compared with the broken line method used in the prior art, the moving path of the present application is shorter, the time taken to transport the container is shorter, and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flow chart of a method for moving transport equipment provided by one embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of a straight-line moving route of a transport device provided by one embodiment of the present application;

[0022] Figure 3 This is a schematic structural diagram of a transport equipment moving device provided in an embodiment of the present application;

[0023] Figure 4 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0027] In order to solve the problems in the prior art, the embodiments of the present application provide a method and apparatus for moving a transport device. The method for moving a transport device provided in the embodiments of the present application is first introduced below.

[0028] The method is applied to a transport device, which is used to transport containers to be transported to a storage yard. The storage yard includes storage spaces arranged in sequence, and each storage space allows the stacking of containers not exceeding a preset maximum number of layers.

[0029] S100, obtaining the current storage location of the transport equipment and the target storage location where the transport container is to be placed.

[0030] Optionally, in an embodiment of the present application, the transport equipment may be an automated yard crane, which is a mechanical device used for stacking and picking up containers. Yard cranes are used in places such as yards and container terminals to achieve efficient and automated stacking and picking up of containers. Yard cranes generally have the characteristics of high automation, high-precision positioning, high load capacity, high speed, and high efficiency. Under the control of the yard crane, containers can be accurately stacked, picked up, and placed. It should be understood that the present application does not limit the specific type of transport equipment, and the transport equipment may also be a rail crane, an automatic guided vehicle, etc.

[0031] Optionally, in an embodiment of the present application, sensors or other devices can be used to detect the position of the transport equipment and determine its current storage location; and based on the field information or other rules of the transport task of the transport equipment, the target storage location of the container to be transported can be determined; and the information of the current storage location and the target storage location can be recorded in the system for subsequent operations and management.

[0032] Optionally, in one possible implementation of the present application, the location and numbering information of all storage locations can be first recorded in the system for subsequent querying. For example, the location and numbering information of all storage locations can be stored in a local database, and the overall layout of the container yard, as well as the maximum container location, maximum layer (i.e., the preset maximum number of layers), and maximum column (i.e., the storage locations with the largest arranged column) of the yard in which the transport equipment is currently operating, can be obtained by reading the local database. It is easy to understand that the local database records the information of each container location (i.e., storage location) in the yard, and all container location information will be updated synchronously as the operation progresses.

[0033] The transport equipment's location is then detected using sensors or other equipment, such as a Global Positioning System (GPS), an inertial navigation system, or a vision-based positioning system, to determine its current storage location based on the equipment's location information.

[0034] Finally, based on the transport equipment's transport mission or other rules, the target storage location for the container is determined. This information is typically managed within the dispatching system, where the target storage location can be determined based on task orders or order information. For example, the target storage location can be obtained through the Terminal Operating System (TOS). The TOS obtains the target storage location via a JSON-formatted message sent by the Active Message Queue (ActiveMQ).

[0035] S200, obtaining the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location.

[0036] Optionally, in an embodiment of the present application, the location and numbering information of all storage locations in the yard where the transport equipment is operating can be first recorded in the system, and the maximum number of layers allowed for stacking in the yard can be recorded in the system. Based on the target storage location information recorded for the container to be transported, the number of intermediate storage locations that need to be passed between the current storage location and the target storage location is calculated. This calculation process can be performed based on the actual storage location layout and stacking rules, and generally needs to take into account factors such as the location, size, maximum number of stacking layers, and number of containers already stacked. Based on the calculated number of intermediate storage locations, the location and numbering information of the intermediate storage locations are found in the system. For each intermediate storage location, the current number of stacked layers can be obtained by querying the stacked container information recorded in the system.

[0037] Optionally, in a possible implementation of the present application, the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location can be obtained by traversing all storage locations. If the transport equipment comes from the first column (i.e., the first storage location of the storage locations arranged in sequence on the yard), traverse from the first column to the target column (i.e., the target storage location); if the transport equipment comes from the last column (i.e., the last storage location of the storage locations arranged in sequence on the yard), traverse from the last column to the target column. The target column here is also obtained by analyzing the message sent by TOS. Because it is a box-entry operation, we only need to obtain the relevant fields of TO_POS to obtain the target column. Among them, characters 1-3 of TO_POS are the yard number, characters 4-6 are the bay position (the stacking area), characters 7-8 are the column number (the nth storage location), and characters 9-10 are the layers.

[0038] S300, if the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, the transport equipment is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location, the preset layer is the layer above the preset maximum number of layers, and the current layer is the layer above the stacked layer of the target storage location.

[0039] Optionally, in the embodiment of the present application, if the number of layers stacked at each intermediate storage location is less than the maximum number of layers, that is, the number of layers stacked at each intermediate storage location is less than the maximum number of layers allowed to be stacked in the storage yard, this indicates that there is no intermediate storage location between the current storage location and the target storage location that is already full, indicating that the transport equipment can move in a coordinated manner without being blocked by the full storage locations. It should be noted that coordinated movement means that the transport equipment can move horizontally and vertically at the same time when transporting containers. Figure 2 As shown, it is the specific moving route of the transport equipment, where Figure 2 The initial position is the preset level of the current storage location, and the target position is the current level of the target storage location.

[0040] S400: If there is a first storage location among all intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers, control the transport device to move straightly from the preset layer of the first storage location to the current layer of the target storage location.

[0041] Optionally, in an embodiment of the present application, if there is a first storage location in at least one intermediate storage location with a stacked number of layers equal to the maximum number of layers, it means that there is a column with the highest number of container layers in the middle. This means that at least from the column where the vehicle comes (i.e., the current storage location) to this column (i.e., the first storage location), there is definitely no coordinated movement, and only lateral movement (i.e., from the preset layer of the current storage location to the first storage location) is possible. Subsequently, it is determined whether the number of stacked layers of each intermediate storage location between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location. If there is a decreasing trend, the transport equipment is controlled to move in a straight line from the layer above the stacked number of layers of the first storage location (i.e., the preset layer) to the current layer of the target storage location.

[0042] As can be seen from the above description, in the existing solution, after the spreader grabs the container on the container truck, it will move vertically and horizontally respectively. The specific method is that the spreader first rises to a higher safety height (i.e., the upper layer of the maximum number of layers allowed for stacking in the yard), then moves horizontally to the top of the target column of the yard, and finally descends to the target height. This results in the inability of existing transportation equipment to move horizontally and vertically at the same time, and the transportation path is a zigzag transportation, which results in a longer time-consuming and lower efficiency in transporting containers. In an embodiment of the present application, by setting the conditions for determining whether to perform collaborative movement, when the conditions for collaborative movement are met, that is, the number of layers stacked in each intermediate storage location is less than the maximum number of layers, the transportation equipment is controlled to transport in a straight line (i.e., collaborative movement) from the preset layer (i.e., the upper layer of the maximum number of layers allowed for stacking in the yard) to the target storage location.

[0043] In a method for moving transport equipment provided in an embodiment of the present application, the current storage location where the transport equipment is located and the target storage location where the container to be transported is placed are obtained; the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location is obtained; if the number of stacked layers of each intermediate storage location is less than a preset maximum number of layers, the transport equipment is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location, the current layer being the upper layer of the stacked layer of the target storage location, and the preset layer being the upper layer of the preset maximum number of layers; if there is a first storage location among all the intermediate storage locations whose number of stacked layers is equal to the preset maximum number of layers, the transport equipment is controlled to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location. Through the above method, the number of stacked layers of each intermediate storage location between the current storage location and the target storage location can be obtained, and the number of stacked layers of each intermediate storage location can be compared with the preset maximum number of layers. When the number of stacked layers of the intermediate storage location is less than the maximum number of layers, that is, when there is no risk of collision in the middle area of ​​the transport equipment transporting the container to the target storage location, the transport equipment is directly controlled to move in a straight line to the target storage location. Compared with the broken line method used in the prior art, the moving path of the present application is shorter, the time taken to transport the container is shorter, and the efficiency is higher.

[0044] In one embodiment, the above step 300 may specifically perform the following steps:

[0045] S310, when the number of stacked layers at each intermediate storage location is less than the preset maximum number of layers, and if the number of stacked layers at all intermediate storage locations shows a decreasing trend in the direction from the current storage location to the target storage location, the transport equipment is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location.

[0046] Optionally, in an embodiment of the present application, if the number of stacked layers of each intermediate storage location is less than the maximum number of layers, it means that there is no full storage location among all the storage locations between the current storage location and the storage location, indicating that the transport equipment can move in a coordinated manner without the risk of collision due to the existence of full storage locations. If the number of stacked layers of all intermediate storage locations shows a decreasing trend in the direction from the current storage location to the target storage location, it means that at this time, the transport equipment will not collide when moving from the current storage location to the target storage location, and can move in a coordinated manner to transport the container to be transported directly from the preset layer (i.e., the layer above the maximum number of layers allowed for stacking in the yard) to the layer above the number of layers already stacked at the target storage location.

[0047] In these alternative embodiments, by setting different coordinated movement conditions, the distance and time required for a transport device to move from its current storage location to its target storage location can be shortened, thereby improving yard operational efficiency. Depending on the conditions, a transport device can move directly to the current level of the target storage location without stacking at intermediate locations, thus avoiding the time and energy consumption of multiple stacking operations.

[0048] In one embodiment, the above step 300 may specifically perform the following steps:

[0049] S320: When the number of stacked layers at each intermediate storage location is less than a preset maximum number of layers, and if the number of stacked layers at all intermediate storage locations does not show a decreasing trend in the direction from the current storage location to the target storage location, control the transport device to move from the preset layer of the current storage location to the layer above the stacked layer of the second storage location, where the second storage location is the intermediate storage location with the maximum number of stacked layers among all intermediate storage locations;

[0050] S330, controlling the transport device to move in a straight line from the upper layer of the stacked layer of the second storage location to the current layer of the target storage location.

[0051] Optionally, in an embodiment of the present application, if the number of stacked layers of each intermediate storage location is less than the maximum number of layers, it means that there are no full storage locations among all the storage locations from the current storage location to the storage location, indicating that the transportation equipment can move in a coordinated manner without the risk of collision due to the existence of full storage locations. If the number of stacked layers of each intermediate storage location from the current storage location to the target storage location does not show a decreasing trend in the direction from the current storage location to the target storage location, the transportation equipment will believe that a collision may occur when moving from the current storage location to the target storage location, and further judgment is needed to find a movement path (i.e., the target location) that can be transported in a straight line (i.e., coordinated movement).

[0052] Optionally, in a possible implementation of the present application, if the number of stacked layers of all intermediate storage locations does not show a decreasing trend in the direction from the current storage location to the target storage location, the starting point and end point of the coordinated movement of the transport equipment can be determined first. Specifically, the second storage location corresponding to the largest stacked layer among the stacked layers in all intermediate storage locations can be obtained and the layer above the stacked layers of the second storage location can be used as the end point, and the preset layer of the current storage location can be used as the starting point. The transport equipment is then controlled to move in a coordinated manner from the starting point to the end point, and then moved horizontally to the target storage location with the same number of layers as the layer above the stacked layers of the second storage location, and then the transport equipment is controlled to move vertically to the layer above the stacked layers of the target storage location.

[0053] In these alternative embodiments, by setting different coordinated movement conditions, the distance and time required for a transport device to move from its current storage location to its target storage location can be shortened, thereby improving yard operational efficiency. Depending on the conditions, a transport device can move directly to the current level of the target storage location without stacking at intermediate locations, thus avoiding the time and energy consumption of multiple stacking operations.

[0054] In one embodiment, the above step 400 may specifically perform the following steps:

[0055] S410, if there is a first storage location among all the intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers, control the transport device to move from the preset layer of the current storage location to the first storage location;

[0056] S420: If the number of stacked layers of the storage locations between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location, the transport device is controlled to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location.

[0057] Optionally, in an embodiment of the present application, if there is a first storage location in at least one intermediate storage location with a stacked number of layers equal to the maximum number of layers, it means that there is a column with the highest number of container layers in the middle. Then it means that at least from the column where the vehicle comes (i.e., the current storage location) to that column (i.e., the first storage location), there is definitely no coordinated movement, and only horizontal movement (i.e., from the preset layer of the current storage location to the first storage location) can be performed.

[0058] Subsequently, it is determined whether the number of stacked layers of each intermediate storage location between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location. If it shows a decreasing trend, the transportation equipment is controlled to move in a straight line from the layer above the stacked layers of the first storage location (that is, the above-mentioned preset layer) to the current layer of the target storage location.

[0059] In these alternative embodiments, by setting different coordinated movement conditions, the distance and time required for a transport device to move from its current storage location to its target storage location can be shortened, thereby improving yard operational efficiency. Depending on the conditions, a transport device can move directly to the current level of the target storage location without stacking at intermediate locations, thus avoiding the time and energy consumption of multiple stacking operations.

[0060] In one embodiment, after step 400, the method may further perform the following steps:

[0061] S360, if there are multiple intermediate storage locations with a maximum number of stacked storage locations equal to the preset maximum number of layers among all intermediate storage locations, control the transport device to move from the preset layer of the current storage location to a third storage location, where the third storage location is the storage location closest to the target storage location among the multiple storage locations with the maximum number of stacked storage locations;

[0062] S370: If the number of stacked layers of the storage locations between the third storage location and the target storage location shows a decreasing trend in the direction from the third storage location to the target storage location, control the transport equipment to move in a straight line from the preset layer of the third storage location to the current layer of the target storage location.

[0063] Optionally, in an embodiment of the present application, if there are multiple intermediate storage locations among all the intermediate storage locations whose maximum stacked number of layers is equal to the preset maximum number of layers, it means that there are multiple columns with the highest number of container layers in the middle, which means that at least from the column where the vehicle comes (i.e., the current storage location) to the storage location closest to the target storage location (i.e., the third storage location), coordinated movement is definitely not possible, and only horizontal movement can be performed (i.e., from the preset layer of the current storage location to the third storage location).

[0064] Subsequently, the number of stacked layers of each intermediate storage location between the third storage location and the target storage location is determined, and whether it shows a decreasing trend in the direction from the third storage location to the target storage location. If it shows a decreasing trend, the transportation equipment is controlled to move in a straight line from the layer above the stacked layer of the third storage location (that is, the above-mentioned preset layer) to the current layer of the target storage location.

[0065] Optionally, in a possible implementation of the present application, it is necessary to determine whether the yard status meets the conditions for coordinated movement and calculate the destination layer to achieve coordinated movement. Specifically, it is necessary to determine whether the column with the highest number of container layers (i.e., the full storage location) closest to the target column (i.e., the target storage location) is an adjacent column of the target column. Specifically, the column with the highest number of container layers closest to the target column and the adjacent column of the target column are judged to be equal. If they are equal, it means that the column with the highest number of container layers closest to the target column is an adjacent column of the target column, and coordinated movement is not possible. The reason for not being able to move in coordination is that the yard crane is very low. If the previous column is full, then in order to prevent collision, coordinated movement must be impossible; if it is not the same as the target column, Adjacent column Then the next step is to traverse from the current column (i.e. the current storage location) to the previous column of the target column and record the maximum layer height, and determine whether the layer height from the current column to the target column is a decreasing sequence. If it is a decreasing sequence, then it can be moved in a coordinated manner and the destination of the coordinated movement is set to the layer height of the target column and the previous column of the target column plus one. It is set to plus one here because plus one can maximize efficiency. It can be plus two or plus three. This application does not limit the specific addition coefficient. If the addition coefficient is relatively large, the transport equipment needs to perform a long-distance longitudinal movement to reach the destination after arriving at the target storage location. This will not improve efficiency, but will reduce efficiency. Therefore, this application sets the addition coefficient to plus one. If it is not a decreasing sequence, then the destination of the coordinated movement is set to the maximum layer height recorded in the middle plus one. The decreasing sequence is not a strictly decreasing sequence. The sequence only requires that the value of the number of stacked layers in the previous storage location is greater than or equal to the value of the number of stacked layers in the subsequent storage location.

[0066] In these alternative embodiments, by setting different coordinated movement conditions, the distance and time required for a transport device to move from its current storage location to its target storage location can be shortened, thereby improving yard operational efficiency. Depending on the conditions, a transport device can move directly to the current level of the target storage location without stacking at intermediate locations, thus avoiding the time and energy consumption of multiple stacking operations.

[0067] In one embodiment, the above step 100 may specifically perform the following steps:

[0068] S110, obtaining the message field of the operation task of the transportation equipment.

[0069] Optionally, in an embodiment of the present application, a message containing a transport equipment operation task can be obtained from a message queue and the corresponding fields can be parsed. For example, in ActiveMQ, real-time message acquisition can be achieved by monitoring the message queue. The message fields of the transport equipment's operation task can also be obtained by querying the corresponding database or message queue. For example, the message fields can be obtained by calling the corresponding application programming interface (API). It should be noted that before obtaining the message fields, the identification information of the transport equipment needs to be determined in order to correctly obtain the corresponding message.

[0070] S120: Parse the message fields to obtain operation information of the transportation equipment.

[0071] Optionally, in an embodiment of the present application, the specific method of parsing the message field depends on the format of the message field. If the message field is in JSON format, a JSON parser can be used to parse out the various fields therein and extract the required operation information, such as the target storage location, whether the container transport equipment to be transported is a box entry operation, etc. If the message field is in other formats, the corresponding parsing method can be selected according to the specific situation. For example, if the message field is in XML format, an XML parser can be used for parsing. If the message field is in binary format, a corresponding binary parsing tool can be used for parsing. After parsing out the required operation information, it can be converted into an instruction format that can be understood by the target device, such as a control instruction format supported by a transport equipment control system.

[0072] S130, when the operation information meets the preset operation information, obtain the current storage location of the transport equipment

[0073] Optionally, in an embodiment of the present application, a simple collaborative movement judgment is required because the present application is for container entry operations, and the information of container entry operations can be obtained through the FROM_TYP and TO_TYP fields of the job task message. If it is not a container entry operation, no subsequent calculation is required. At the same time, because the yard crane is very low, the height of the yard crane beam is generally only one box higher than the height of the highest container layer allowed by the yard. Therefore, if the target layer is the highest number of container layers allowed by the yard, there is no need for collaborative movement.

[0074] In these optional embodiments, by obtaining the message field of the operation task, the specific operations and goals that the transportation equipment currently needs to perform can be understood; by parsing the message field, the message can be converted into operation information, which facilitates the system to control and manage the transportation equipment; by obtaining the current storage location of the transportation equipment, it can be ensured that the transportation equipment correctly performs the operation task according to the preset operation information, thereby improving operation efficiency and accuracy and reducing the error rate.

[0075] In one embodiment, the above step 300 may specifically perform the following steps:

[0076] S310, obtaining the horizontal straight-line distance between the current storage location and the target storage location, and the vertical straight-line distance between the preset layer of the current storage location and the current layer of the target storage location.

[0077] Optionally, in this embodiment of the present application, the horizontal and vertical distances between the current storage location and the target storage location can be obtained using the yard layout and location information. The horizontal distance can be calculated by the difference between the X and Y coordinates of the two storage locations. The vertical distance can be calculated by subtracting the height of the current storage location's preset level from the height of the target storage location's current level.

[0078] In these optional embodiments, by obtaining the horizontal straight-line distance and the vertical straight-line distance between the current storage location and the target storage location, the shortest transportation route can be calculated, thereby avoiding unnecessary travel of transportation equipment and improving transportation efficiency.

[0079] S320: Obtain the rated speed of the transport equipment.

[0080] Optionally, in an embodiment of the present application, the rated speed of the transport equipment may be obtained through specifications provided by the equipment manufacturer or equipment parameters recorded in an equipment management system.

[0081] In these optional embodiments, by obtaining the rated speed of the transport equipment, the transport speed of the transport equipment can be calculated more accurately, thereby ensuring the safety and stability of the transport equipment during transportation.

[0082] S330: Calculate the ratio of the horizontal straight-line distance to the vertical straight-line distance to obtain a ratio relationship between the horizontal straight-line distance and the vertical straight-line distance.

[0083] Optionally, in an embodiment of the present application, the ratio relationship may be calculated by dividing the horizontal straight line distance by the vertical straight line distance.

[0084] In these optional embodiments, by calculating the ratio of the horizontal straight-line distance and the vertical straight-line distance, a ratio relationship between them can be obtained. This ratio relationship can be used to adjust the transportation speed to avoid excessively fast or excessively slow transportation speeds during transportation, so that the transportation equipment maintains a relatively stable speed during transportation.

[0085] S340: Perform matching calculation on the comparison value relationship and the rated speed to obtain the transport speed of the transport equipment.

[0086] Optionally, in a possible implementation of the present application, the transport speed may be calculated by multiplying the ratio relationship by the rated speed.

[0087] S350, control the transport equipment to move straight from the preset layer of the current storage location to the current layer of the target storage location at the transport speed

[0088] Optionally, in an embodiment of the present application, the required time can be calculated based on the transport speed and horizontal straight-line distance, and the linear movement and stopping control of the transport equipment can be implemented by combining control algorithms and sensor technology. Specifically, this can be performed by the programmable logic controller (PLC) of the transport equipment. It should be noted that during the movement process, the position and speed of the transport equipment must also be monitored in real time to ensure safety and accuracy.

[0089] In these alternative embodiments, by matching the ratio relationship with the rated speed, the transport device's transport speed can be calculated. This speed can be used to control the transport device's movement, ensuring it can transport according to the preset route and speed. By controlling the transport device to move linearly from the preset level of the current storage location to the current level of the target storage location at the transport speed, rapid and efficient transport of the transport device can be achieved, thereby improving the efficiency of container transportation.

[0090] In one embodiment, the transport speed includes a longitudinal transport speed and a transverse transport speed, and the rated speed includes a vertical rated speed and a horizontal rated speed. The above step 350 may specifically perform the following steps:

[0091] S351, based on the ratio relationship, multiplying the horizontal rated speed by the ratio relationship to obtain a first longitudinal speed;

[0092] S352: When the first longitudinal speed is less than or equal to the vertical rated speed, the first longitudinal speed is used as the longitudinal transport speed, and the horizontal rated speed is used as the lateral transport speed.

[0093] Optionally, in an embodiment of the present application, the longitudinal rated speed of the sling can be first set according to the lateral rated speed of the sling. Specifically, the ratio of the horizontal rated speed and the vertical rated speed of the sling can be set equal to the ratio of the horizontal straight-line distance and the vertical straight-line distance of the transport equipment. The horizontal rated speed is then multiplied by the ratio to obtain a first longitudinal speed. When the first longitudinal speed is less than or equal to the vertical rated speed, the first longitudinal speed is used as the longitudinal transport speed, and the horizontal rated speed is used as the lateral transport speed.

[0094] In these alternative embodiments, the required transport speed of the transport equipment during movement from the current storage location to the target storage location can be more accurately calculated, thereby improving transport efficiency and accuracy. By multiplying the horizontal rated speed by the ratio, a first longitudinal speed can be obtained. This is then used to match the longitudinal and transverse speeds to ensure that the transport equipment can meet both vertical requirements and reach its maximum horizontal speed during movement, thereby achieving rapid and safe completion of the transport task.

[0095] In one embodiment, the above step 352 may specifically perform the following steps:

[0096] S3521: When the first longitudinal speed is greater than the vertical rated speed, based on the ratio relationship, multiply the vertical rated speed by the ratio relationship to obtain a first lateral speed;

[0097] S3522, when the first lateral speed is less than or equal to the horizontal rated speed, use the first lateral speed as the lateral transport speed and the vertical rated speed as the longitudinal transport speed;

[0098] S3523: When the first lateral speed is greater than the horizontal rated speed, the horizontal rated speed is used as the lateral transport speed, and the vertical rated speed is used as the longitudinal transport speed.

[0099] Optionally, in an embodiment of the present application, if the first longitudinal speed calculated by the above step 351 is greater than the vertical rated speed, since the vertical rated speed is the maximum vertical speed allowed by the transportation equipment, it is necessary to calculate in reverse, that is, to calculate the lateral speed through the vertical rated speed.

[0100] It should be noted that the horizontal transport speed needs to meet the following requirements:

[0101]

[0102] Among them, V in formula (1) 横 is the lateral transport velocity, V 纵(额定) is the vertical rated speed, X 横 is the horizontal straight line distance, X 纵is the vertical and horizontal distance, V 横 ' is the first lateral velocity (i.e. the first lateral velocity calculated by the vertical rated velocity and the ratio relationship), V 横(额定) is the horizontal rated speed.

[0103] For example, assuming the ratio between the horizontal straight-line distance and the vertical straight-line distance is 1 / 2, the horizontal rated speed is 2, and the vertical rated speed is 3, the calculated first longitudinal speed is 4. Since 4 is greater than the vertical rated speed, the calculation needs to be reversed: multiplying the vertical rated speed by the ratio to obtain a first lateral speed of 1.5. Since the first lateral speed is less than the horizontal rated speed, the lateral transport speed is 1.5, and the longitudinal transport speed is 3. For another example, assuming the ratio between the horizontal straight-line distance and the vertical straight-line distance is 1 / 2, the horizontal rated speed is 2, and the vertical rated speed is 5, the calculated first longitudinal speed is 4, which is less than or equal to the vertical rated speed. Therefore, the longitudinal transport speed is 4, and the lateral transport speed is 2.

[0104] Optionally, in one example of the present application, assuming that the transport equipment is a spreader, during the container entry process in the yard, the spreader needs to lift the container to the default safety height after grabbing it. Then, the spreader will move horizontally and vertically to place the container at a designated location in the yard. The transport equipment movement method of the present application is used to control the spreader movement process during the container entry stage. The present application first needs to obtain the overall layout of the container in the yard, followed by the maximum bay position, maximum layer and maximum column of the current operation yard, and finally, it needs to obtain some operation information of the current operation. The information on the overall layout of the container in the yard is obtained through the local database, and the maximum bay position, maximum layer and maximum column of the current operation yard and the operation information of the current operation are obtained by TOS through a json format message sent by ActiveMQ. The local database records the information of each container in the yard, and all container position information will be updated synchronously as the operation proceeds. It should be noted that this application is called when the on-site gantry crane receives the operation information and grabs the container and lifts it to a safe height. The safety height is the height at which a yard crane's spreader can safely and collision-free transport a container to a designated location. It is set to the height of the highest container layer in the yard plus the height of one box. This height is used to determine whether coordinated movement is possible. If so, the horizontal and vertical transport speeds for coordinated movement are returned. The method of this application enables simultaneous horizontal and vertical movement of the spreader during container loading, i.e., coordinated movement, while ensuring safety issues such as collisions with existing containers in the yard.

[0105] Figure 3 A schematic structural diagram of a transport equipment moving device provided in another embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0106] Reference Figure 3 The transport equipment is used to transport the container to be transported to the storage yard. The storage yard includes storage spaces arranged in sequence. Each storage space allows the stacking of containers not exceeding a preset maximum number of layers. The moving device of the transport equipment may include:

[0107] The first acquisition module 301 is used to acquire the current storage location of the transport equipment and the target storage location where the transport container is to be placed;

[0108] The second acquisition module 302 is used to obtain the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location;

[0109] The first control module 303 is configured to control the transport device to move linearly from the preset layer of the current storage location to the current layer of the target storage location if the number of layers stacked at each intermediate storage location is less than a preset maximum number of layers, where the current layer is the layer above the stacked layer of the target storage location and the preset layer is the layer above the preset maximum number of layers;

[0110] The second control module is used to control the transportation equipment to move straightly from the preset layer of the first storage location to the current layer of the target storage location if there is a first storage location among all the intermediate storage locations with the number of stacked layers equal to the preset maximum number of layers.

[0111] In one embodiment, the first control module 303 may include:

[0112] The first control submodule is used to control the transportation equipment to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location when the number of layers stacked at each intermediate storage location is less than the preset maximum number of layers and if the number of layers stacked at all intermediate storage locations shows a decreasing trend in the direction from the current storage location to the target storage location.

[0113] In one embodiment, the first control module 303 may further include:

[0114] The second control submodule is configured to control the transport device to move from the preset layer of the current storage location to the layer above the stacked layer of the second storage location, if the number of stacked layers in each intermediate storage location is less than a preset maximum number of layers and if the number of stacked layers of all intermediate storage locations does not show a decreasing trend in the direction from the current storage location to the target storage location, where the second storage location is the intermediate storage location with the maximum number of stacked layers among all intermediate storage locations;

[0115] The third control submodule is used to control the transport device to move linearly from the upper layer of the stacked layer of the second storage location to the current layer of the target storage location.

[0116] In one embodiment, the second control module may include:

[0117] A fourth control submodule is configured to control the transport device to move from the preset layer of the current storage location to the first storage location if there is a first storage location among all the intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers;

[0118] The fifth control submodule is used to control the transportation equipment to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location if the number of stacked layers of the storage locations between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location.

[0119] In one embodiment, the transport equipment moving device may further include:

[0120] A third control module is configured to control the transport device to move from the preset layer of the current storage location to a third storage location if there are multiple intermediate storage locations with a maximum number of stacked storage locations equal to a preset maximum number of layers among all intermediate storage locations, where the third storage location is the storage location closest to the target storage location among the multiple storage locations with the maximum number of stacked storage locations;

[0121] The fourth control module is used to control the transportation equipment to move in a straight line from the preset layer of the third storage location to the current layer of the target storage location if the number of stacked layers of the storage locations between the third storage location and the target storage location shows a decreasing trend in the direction from the third storage location to the target storage location.

[0122] In one embodiment, the first obtaining module 301 may include:

[0123] The first acquisition submodule is used to obtain the message field of the operation task of the transportation equipment;

[0124] The parsing submodule is used to parse the message fields and obtain the operation information of the transportation equipment;

[0125] The second acquisition submodule is used to acquire the current storage location of the transportation equipment when the operation information meets the preset operation information.

[0126] In one embodiment, the control module 303 may further include:

[0127] The third acquisition submodule is used to obtain the horizontal straight-line distance between the current storage location and the target storage location, and the vertical straight-line distance between the preset layer of the current storage location and the current layer of the target storage location;

[0128] The fourth acquisition submodule is used to obtain the rated speed of the transportation equipment;

[0129] A first calculation submodule is used to calculate the ratio of the horizontal straight line distance to the vertical straight line distance to obtain the ratio relationship between the horizontal straight line distance and the vertical straight line distance;

[0130] The second calculation submodule is used to perform matching calculation on the comparison value relationship and the rated speed to obtain the transport speed of the transport equipment;

[0131] The sixth control submodule is used to control the transport equipment to move linearly from the preset layer of the current storage location to the current layer of the target storage location at a transport speed.

[0132] In one embodiment, the transport speed includes a longitudinal transport speed and a transverse transport speed, and the rated speed includes a vertical rated speed and a horizontal rated speed; the second calculation submodule may include:

[0133] a first calculating unit, configured to obtain a first longitudinal speed by multiplying the horizontal rated speed by the ratio relationship based on the ratio relationship;

[0134] The second calculation unit is configured to use the first longitudinal speed as the longitudinal transport speed and the horizontal rated speed as the lateral transport speed when the first longitudinal speed is less than or equal to the vertical rated speed.

[0135] In one embodiment, the second calculation unit may include:

[0136] a first calculation subunit, configured to, when the first longitudinal speed is greater than the vertical rated speed, multiply the vertical rated speed by the ratio relationship based on the ratio relationship to obtain a first lateral speed;

[0137] a second calculation subunit, configured to use the first lateral speed as the lateral transport speed and the vertical rated speed as the longitudinal transport speed when the first lateral speed is less than or equal to the horizontal rated speed;

[0138] The third calculation subunit is configured to use the horizontal rated speed as the lateral transport speed and the vertical rated speed as the longitudinal transport speed when the first lateral speed is greater than the horizontal rated speed.

[0139] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application, and are devices corresponding to the above-mentioned battery thermal runaway warning method. All implementation methods in the above-mentioned method embodiment are applicable to the embodiments of the device. Its specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0141] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0142] The device may include a processor 401 and a memory 402 storing program instructions.

[0143] When the processor 401 executes the program, the steps in any of the above method embodiments are implemented.

[0144] For example, the program can be divided into one or more modules / units, one or more modules / units are stored in the memory 402 and executed by the processor 401 to complete the present application. One or more modules / units can be a series of program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0145] Specifically, the processor 401 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0146] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0147] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0148] The processor 401 implements any one of the methods in the above embodiments by reading and executing program instructions stored in the memory 402 .

[0149] In one example, the electronic device may further include a communication interface 403 and a bus 410. The processor 401, the memory 402, and the communication interface 403 are connected via the bus 410 and communicate with each other.

[0150] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0151] Bus 410 includes hardware, software or both, and the components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0152] In addition, in combination with the methods in the above embodiments, embodiments of the present application may provide a storage medium for implementation. The storage medium stores program instructions; when the program instructions are executed by a processor, any one of the methods in the above embodiments is implemented.

[0153] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0154] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0155] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0156] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0157] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in unit, a function card or the like. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. The example of a machine-readable medium includes an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, an optical fiber medium, a radio frequency (RF) link, or the like. The code segment can be downloaded via a computer grid such as the Internet, an intranet, etc.

[0158] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0159] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0160] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application.

Claims

1. A method for moving transport equipment, characterized in that: The transport equipment is used to transport containers to be transported to a storage yard, wherein the storage yard includes storage spaces arranged in sequence, each storage space allowing the stacking of containers not exceeding a preset maximum number of layers, and the method includes: Obtain the current storage location of the transport equipment and the target storage location where the container to be transported is placed; Obtain the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location; If the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, the transport device is controlled to move linearly from the preset layer of the current storage location to the current layer of the target storage location, where the current layer is the layer above the stacked layer of the target storage location, and the preset layer is the layer above the preset maximum number of layers; If the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, the transport device is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location, including: when the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers, if the number of stacked layers of all intermediate storage locations shows a decreasing trend in the direction from the current storage location to the target storage location, the transport device is controlled to move in a straight line from the preset layer of the current storage location to the current layer of the target storage location; if the number of stacked layers of all intermediate storage locations does not show a decreasing trend in the direction from the current storage location to the target storage location, the transport device is controlled to move from the preset layer of the current storage location to the upper layer of the stacked layer of the second storage location, the second storage location being the intermediate storage location with the largest number of stacked layers among all intermediate storage locations; the transport device is controlled to move in a straight line from the upper layer of the stacked layer of the second storage location to the current layer of the target storage location; If there is a first storage location among all the intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers, controlling the transport device to move linearly from the preset layer of the first storage location to the current layer of the target storage location; If there is a first storage location among all the intermediate storage locations with a stacking number of layers equal to the preset maximum number of layers, then the transport equipment is controlled to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location, including: if there is a first storage location among all the intermediate storage locations with a stacking number of layers equal to the preset maximum number of layers, then the transport equipment is controlled to move from the preset layer of the current storage location to the first storage location; if the number of stacking layers of each storage location between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location, then the transport equipment is controlled to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location.

2. The method according to claim 1, characterized in that After controlling the transport device to move linearly from the preset layer of the first storage location to the current layer of the target storage location if there is a first storage location among all the intermediate storage locations whose number of stacked layers is equal to the preset maximum number of layers, the method further includes: If there are multiple intermediate storage locations among all the intermediate storage locations whose maximum number of stacked layers is equal to the preset maximum number of layers, the transport device is controlled to move from the preset layer of the current storage location to a third storage location, where the third storage location is the storage location closest to the target storage location among the multiple storage locations with the preset maximum number of layers; If the number of stacked layers of the storage locations between the third storage location and the target storage location shows a decreasing trend in the direction from the third storage location to the target storage location, the transport equipment is controlled to move in a straight line from the preset layer of the third storage location to the current layer of the target storage location.

3. The method according to claim 1 or 2, characterized in that The obtaining of the current storage location of the transport equipment includes: Obtain the message field of the operation task of the transportation equipment; Parsing the message fields to obtain operation information of the transport equipment; When the operation information conforms to the preset operation information, the current storage location of the transport equipment is obtained.

4. The method according to claim 1 or 2, characterized in that The controlling the transport device to move linearly from the preset layer of the current storage location to the current layer of the target storage location includes: Obtaining the horizontal straight-line distance between the current storage location and the target storage location, and the vertical straight-line distance between the preset layer of the current storage location and the current layer of the target storage location; Obtaining the rated speed of the transport equipment; Calculating the ratio of the horizontal straight-line distance to the vertical straight-line distance to obtain a ratio relationship between the horizontal straight-line distance and the vertical straight-line distance; Performing a matching calculation on the ratio relationship and the rated speed to obtain a transport speed of the transport equipment; The transport device is controlled to move linearly from the preset layer of the current storage location to the current layer of the target storage location at the transport speed.

5. The method according to claim 4, characterized in that The transport speed includes a longitudinal transport speed and a transverse transport speed, and the rated speed includes a vertical rated speed and a horizontal rated speed; The matching calculation of the ratio relationship and the rated speed to obtain the transport speed of the transport equipment includes: Based on the ratio relationship, multiplying the horizontal rated speed by the ratio relationship to obtain a first longitudinal speed; When the first longitudinal speed is less than or equal to the vertical rated speed, the first longitudinal speed is used as the longitudinal transport speed, and the horizontal rated speed is used as the transverse transport speed.

6. The method according to claim 5, characterized in that In a case where the first longitudinal speed is less than or equal to the vertical rated speed, after using the first longitudinal speed as the longitudinal transport speed and the horizontal rated speed as the lateral transport speed, the method further comprises: In a case where the first longitudinal speed is greater than the vertical rated speed, based on the ratio relationship, multiplying the vertical rated speed by the ratio relationship to obtain a first lateral speed; In the case where the first transverse speed is less than or equal to the horizontal rated speed, the first transverse speed is used as the transverse transport speed, and the vertical rated speed is used as the longitudinal transport speed; When the first transverse speed is greater than the horizontal rated speed, the horizontal rated speed is used as the transverse transport speed, and the vertical rated speed is used as the longitudinal transport speed.

7. A transport equipment moving device, characterized in that: The transport equipment is used to transport containers to be transported to a storage yard, wherein the storage yard includes storage spaces arranged in sequence, each storage space allowing the stacking of containers not exceeding a preset maximum number of layers, and the device includes: A first acquisition module is used to acquire the current storage location of the transport equipment and the target storage location where the container to be transported is placed; A second acquisition module is used to acquire the number of stacked layers of all intermediate storage locations between the current storage location and the target storage location; A first control module is configured to control the transport device to move linearly from the preset layer of the current storage location to the current layer of the target storage location if the number of layers stacked at each intermediate storage location is less than the preset maximum number of layers, wherein the current layer is the layer above the stacked layer of the target storage location, and the preset layer is the layer above the preset maximum number of layers; The first control module includes: a first control submodule, which is used to control the transport device to move straightly from the preset layer of the current storage location to the current layer of the target storage location if the number of stacked layers of all the intermediate storage locations shows a decreasing trend in the direction from the current storage location to the target storage location when the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers; a second control submodule, which is used to control the transport device to move straightly from the preset layer of the current storage location to the layer above the stacked layer of the second storage location if the number of stacked layers of all the intermediate storage locations does not show a decreasing trend in the direction from the current storage location to the target storage location when the number of stacked layers of each intermediate storage location is less than the preset maximum number of layers; a third control submodule, which is used to control the transport device to move straightly from the layer above the stacked layer of the second storage location to the current layer of the target storage location; A second control module is configured to control the transport device to move linearly from the preset layer of the first storage location to the current layer of the target storage location if there is a first storage location among all the intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers; The second control module includes: a fourth control submodule, which is used to control the transportation equipment to move from the preset layer of the current storage location to the first storage location if there is a first storage location among all the intermediate storage locations whose stacking number of layers is equal to the preset maximum number of layers; a fifth control submodule, which is used to control the transportation equipment to move in a straight line from the preset layer of the first storage location to the current layer of the target storage location if the number of stacking layers of each storage location between the first storage location and the target storage location shows a decreasing trend in the direction from the first storage location to the target storage location.

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