Method and device for managing container yard operation tasks

Abstract

The present application provides a method and apparatus for managing the operation tasks of a container yard truck. The method for managing the operation tasks of a container yard truck includes: determining the movement trajectory of a target object in the operation task of the container yard truck, where the target object includes the current container yard truck; and determining whether the current operation task of the container yard truck ends according to the movement trajectory and a preset rule. The embodiments of the present application help to reduce the time for identifying the end of the current operation task of the container yard truck and improve the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and more specifically, to a method and device for managing container truck operation tasks. Background Art

[0002] The crane operations of the yard crane and quay crane are the core mechanical operations of the container terminal. Among them, the speed of loading and unloading containers from the container truck by the spreader and determining the end of the container truck operation task will directly affect the operation efficiency of the entire terminal. Currently, the method of determining the end of the current container truck operation task by the spreader position, open / close signal, and spreader height has problems of low efficiency and easy confusion between the container truck lifting and the end of the container truck operation task. Summary of the Invention

[0003] This application provides a method and device for managing container truck operation tasks. The following introduces each aspect involved in the embodiments of this application.

[0004] In a first aspect, a method for managing container truck operation tasks is provided, including: determining the movement trajectory of a target object in the current container truck operation task, where the target object includes the current container truck; and determining whether the current container truck operation task has ended according to the movement trajectory and a preset rule.

[0005] In a possible implementation manner, when the current container truck operation task is a container discharging task, the movement trajectory of the target object is the trajectory of the target object after the last container landing in the container discharging task. Determining whether the current container truck operation task has ended according to the movement trajectory and a preset rule includes: determining a first distance, where the first distance is the distance between any point on the movement trajectory and a first starting point, and the first starting point is the trajectory point of the target object when the last container lands in the container discharging task; and in response to the first distance being greater than a first threshold, determining that the current container truck operation task has ended.

[0006] In a possible implementation manner, the container discharging task is any one of the following operations: placing one container, sequentially placing multiple containers, and simultaneously placing two containers.

[0007] In a possible implementation manner, when the current container truck operation task is a container loading task, the movement trajectory of the target object is the trajectory of the current container truck after the last container is grabbed in the container loading task. Determining whether the current container truck operation task has ended according to the movement trajectory and a preset rule includes: determining a second distance, where the second distance is the distance between any point on the movement trajectory and a second starting point, and the second starting point is the trajectory point of the current container truck when the spreader closes during the last container grabbing process; and in response to the second distance being greater than a second threshold, determining that the current container truck operation task has ended.

[0008] In a possible implementation manner, the container-grabbing task is any one of the following operations: grabbing one container, sequentially grabbing multiple containers, and simultaneously grabbing two containers.

[0009] In a possible implementation manner, determining the motion trajectory of the target object in the current truck operation task includes: obtaining image data of the target object in the current truck operation task; determining the motion trajectory of the target object according to the image data; and / or, using a laser to determine the motion trajectory of the target object in the truck operation task.

[0010] In a possible implementation manner, obtaining the image data of the target object in the current truck operation task includes: using a target camera unit to obtain the image data of the target object in the current truck operation task, and the target camera unit includes one or more combinations of the following: a camera unit installed under the bottom of the gantry crane support on the side of the truck operation lane, a camera unit installed under the main gantry crane beam above the truck operation lane, and a camera unit installed under the trolley mechanism of the gantry crane.

[0011] In a possible implementation manner, before obtaining the image data of the target object in the current truck operation task, the method further includes: determining the target camera unit according to the size information of the current truck, and / or determining the shooting angle of the target camera unit.

[0012] In a second aspect, a device for managing a truck operation task is provided, including: a first determination module, configured to determine the motion trajectory of a target object in the current truck operation task, where the target object includes the current truck; and a second determination module, configured to determine whether the current truck operation task ends according to the motion trajectory and a preset rule.

[0013] In a third aspect, a non-volatile computer-readable storage medium is provided, on which a computer program is stored, and the computer program is used to implement the method as described in the first aspect when executed.

[0014] This application determines whether the current truck operation task ends according to the motion trajectory of the target object (the current truck) and a preset rule. Compared with the method of determining the end of the current truck operation task by using the spreader position, the open / close lock signal, and the spreader height, the speed of the truck is usually faster than that of the spreader, which helps to reduce the time for identifying the end of the truck operation task and improve the operation efficiency. It helps to obtain the end information of the truck operation task earlier for various downstream tasks or assist the operations of other systems, and improve the operation efficiency of the container yard. Since the parameter of the spreader height is not used in determining the end of the truck operation task, there will be no problem of confusing the lifting of the truck and the end of the truck operation task in the traditional way. Description of the Drawings

[0015] Figure 1 It is a schematic flow chart of the method for managing the container yard crane operation task provided by the embodiment of the present application.

[0016] Figure 2 Is Figure 1 A schematic flow chart of a possible implementation manner of the method.

[0017] Figure 3 It is a schematic diagram of the device for managing the container yard crane operation task provided by the embodiment of the present application. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The same or similar reference numerals are used to represent the same or similar modules in the drawings. It should be understood that the drawings are only schematic, and the protection scope of the present application is not limited thereto.

[0019] The quay crane and ship-to-shore crane operations are the core mechanical operations in a container terminal. Among them, the speed at which the spreader loads and unloads containers from the container yard crane and the judgment of the end of the container yard crane operation task will directly affect the operation efficiency of the entire terminal.

[0020] Currently, the main way to judge the end of the container yard crane operation task is to judge whether the current container yard crane operation task is over by the spreader position, open / lock signal, and spreader height set in the programmable logic controller (PLC) or other systems. The specific ways to judge the end of the container yard crane operation task are mainly as follows:

[0021] 1) Judgment of the end of the container loading task on the container yard crane: When the spreader above the container yard crane operation lane is locked and rises to a certain height, it is considered that the current container yard crane operation task is over.

[0022] 2) Judgment of the end of the container unloading task on the container yard crane: When the spreader above the container yard crane operation lane is unlocked and rises to a certain height, it is considered that the current container yard crane operation task is over.

[0023] However, the method of judging the end of the current container yard crane operation task by the spreader position, open / lock signal, and spreader height has problems such as low efficiency and easy confusion between the lifting of the container yard crane and the end of the container yard crane operation task.

[0024] Therefore, it is necessary to propose a technical solution with high efficiency for identifying the end of the container yard crane operation task.

[0025] Based on this, the embodiment of the present application proposes a method for managing the container yard crane operation task. Figure 1 It is a schematic flow chart of the method for managing the container yard crane operation task proposed by the embodiment of the present application. Next, in conjunction with Figure 1A method for managing the container truck operation task in the embodiments of the present application is introduced in detail. As Figure 1 shown, the method for managing the container truck operation task mainly includes steps S110 to S120, and the following is a detailed description of these steps.

[0026] It should be noted that the magnitudes of the sequence numbers of the steps in the embodiments of the present application do not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0027] In step S110, determine the movement trajectory of the target object in the current container truck operation task, where the target object includes the current container truck.

[0028] The current container truck is the container truck that is currently performing operations. The container truck (containerized truck) can include internal container trucks and external container trucks. In some implementation manners, the target object can include the current container truck itself and all objects on the current container truck. For example, it can include the structural components of the container truck itself (such as the cab, tires, locks, etc.), the container, and the structural components of the container itself (such as the container holes), all of which can be used as the target object. The selection of the target object is for the high stability of the movement trajectory recognition system, and it can recognize the target object (object of interest) in various scenarios.

[0029] For example, when the operation task of the current container truck is the task of placing the container (loading the container), the target object can be the current container truck, the container in the container truck, etc. Again, when the operation task of the current container truck is the task of grasping the container (unloading the container), the target object can be the current container truck.

[0030] In step S120, determine whether the current container truck operation task is completed according to the movement trajectory of the target object and the preset rules.

[0031] It is possible to determine whether the task of placing the container (or grasping the container) of the current container truck has been completed according to the movement trajectory of the target object and the preset rules. It can be understood that the movement trajectory of the target object is the movement trajectory within the normal operation task cycle time of the container truck. For example, if the normal operation task cycle time of the container truck is about 5 minutes or 8 minutes, then the movement trajectory of the target object is the trajectory that does not exceed this operation task cycle time.

[0032] In some implementation manners, when the operation task is the task of placing the container, the movement trajectory of the target object is the trajectory of the target object after the last container landing in the task of placing the container. Determining whether the current container truck operation task is completed according to the movement trajectory and the preset rules can include: determining a first distance, where the first distance is the distance between any point on the movement trajectory and the first starting point, and the first starting point is the trajectory point of the target object when the last container lands in the task of placing the container; in response to the first distance being greater than the first threshold, determining that the current container truck operation task has been completed.

[0033] When the target object is the current container truck or an object on the current container truck, the first distance can be the horizontal distance. The first threshold can be set according to the actual scenario, and the first threshold can also be set according to the actual scenario and the size information of the current container truck. For example, the first threshold can be 30 meters, 50 meters, etc.

[0034] In some implementation manners, the container placing task can be any one of the following operations: placing one container, placing multiple containers in sequence, or placing two containers simultaneously. The container placing task can also be other future operation manners.

[0035] In some embodiments, if the operation task is a container placing task and one container is placed. At this time, if the trolley mechanism of the gantry crane is above the container truck during operation, it is triggered immediately after the container lands, obtaining the trajectory starting point A, and determining whether the operation is completed according to the movement trajectory of the target object (such as the container truck). Specifically, once the first distance between the subsequent trajectory point B and A is greater than the first threshold, it is determined that the operation task of the current container truck is completed.

[0036] In some embodiments, if the operation task is a container placing task of placing two containers in sequence. At this time, it is triggered immediately after the second container lands, obtaining the trajectory starting point A, and determining whether the operation is completed according to the movement trajectory of the target object. Specifically, once the first distance between the subsequent trajectory point B and A is greater than the first threshold, it is determined that the operation task of the container truck has been completed.

[0037] In some embodiments, if the operation task is a container placing task of placing two containers simultaneously. At this time, the system is triggered immediately after the container lands, obtaining the trajectory starting point A, and determining whether the operation is completed according to the movement trajectory of the target object. Specifically, once the horizontal distance between the subsequent trajectory point B and A is greater than the first threshold, it is determined that the operation task of the container truck has been completed.

[0038] In some implementation manners, when the operation task is a container gripping task, the movement trajectory of the target object is the trajectory of the current container truck after the last container is gripped in the container gripping task. Determining whether the operation task of the current container truck is completed according to the movement trajectory and the preset rules can include: determining a second distance, where the second distance is the distance between any point on the movement trajectory and the second starting point, and the second starting point is the trajectory point of the current container truck when the spreader closes during the last container gripping process; in response to the second distance being greater than the second threshold, determining that the operation task of the current container truck has been completed.

[0039] When the target object is the current container truck or an object on the current container truck, the second distance can be the horizontal distance. The second threshold can be set according to the actual scenario, and the second threshold can also be set according to the actual scenario and the size information of the current container truck. For example, the second threshold can be 30 meters, 50 meters, etc.

[0040] In some implementations, the container-grabbing task can be any one of the following operations: grabbing one container, grabbing multiple containers in sequence, or grabbing two containers simultaneously.

[0041] In some embodiments, if the operation task is container grabbing and it is to grab one container. At this time, the system is triggered immediately after the spreader is locked, obtaining the starting point A of the trajectory, and determines whether the operation is completed according to the movement trajectory of the target object (i.e., the current truck). Specifically, once the second distance between the subsequent trajectory point B and A is greater than the second threshold (distance threshold), it is determined that the operation task of the current truck is completed.

[0042] In some embodiments, if the operation task is a container-grabbing task of grabbing two containers in sequence. At this time, when the system operates on the second container, it is triggered immediately after the spreader is locked, obtaining the starting point A of the trajectory, and determines whether the operation is completed according to the movement trajectory of the target object (i.e., the current truck). Specifically, once the distance between the subsequent trajectory point B and A is greater than the second threshold, it is determined that the operation task of the truck is completed.

[0043] In some embodiments, if the operation task is a container-grabbing task of grabbing two containers simultaneously. At this time, the system is triggered immediately after the spreader is locked, obtaining the starting point A of the trajectory, and determines whether the operation is completed according to the movement trajectory of the target object. Specifically, once the horizontal distance (i.e., the second distance) between the subsequent trajectory point B and A is greater than the second threshold, it is determined that the operation task of the truck is completed.

[0044] There can be various ways to determine the movement trajectory of the target object in the current truck operation task.

[0045] In some implementations, determining the movement trajectory of the target object in the current truck operation task may include: obtaining image data of the target object in the current truck operation task; determining the movement trajectory of the target object according to the image data; and / or, using laser to determine the movement trajectory of the target object in the current truck operation task.

[0046] In some implementations, obtaining image data of the target object in the current truck operation task may include: using the target camera unit to obtain image data of the target object in the current truck operation task. The target camera unit may include one or a combination of more than one of the following: a camera unit installed under the bottom of the gantry crane support on the side of the truck operation lane, a camera unit installed under the main girder of the gantry crane above the truck operation lane, a camera unit installed under the trolley mechanism of the gantry crane. The target camera unit can be one or more cameras.

[0047] In some implementations, the position and quantity of the target camera unit can be determined according to the types of the gantry crane and the yard truck, so as to adapt to various gantry cranes. In some embodiments, in certain yards, there is no major obstruction between the operation lane and the bottom support of the gantry crane, which will not hinder the camera from observing the yard truck. By using the camera unit installed under the bottom of the gantry crane support on the side of the yard truck operation lane, the movement trajectory of the yard truck can be clearly observed. In other embodiments, such as in the gantry crane with a large base distance, there is an obstruction between the operation lane and the bottom support of the gantry crane, which hinders the camera from observing the yard truck. The camera unit installed under the trolley mechanism can be used to clearly observe yard trucks of various sizes.

[0048] In other embodiments, cameras can be set at all of the above three positions, which helps to clearly capture the yard truck and the container.

[0049] In some implementations, before obtaining the image data of the target object in the current yard truck operation task, the method of the embodiment of the present application further includes: determining the target camera unit according to the size information of the current yard truck, and / or determining the shooting angle of the target camera unit. This helps to further clearly capture all the required target objects.

[0050] In some implementations, after determining that the yard truck operation task is completed, the obtained yard truck operation task end information can be used for various downstream tasks. The downstream tasks can include, for example: reminding the subsequent yard truck to prepare for operation, visual yard truck anti-lifting, etc., which helps to improve the operation efficiency. In some implementations, the yard truck operation task end information can also be used to assist the operation of other systems. For example, it can assist the anti-lifting system based on visual judgment and reduce the false alarm rate of lifting.

[0051] The present application determines whether the current yard truck operation task is completed according to the movement trajectory of the target object (the current yard truck) and the preset rules. Compared with the method of using the position of the spreader, the open / close lock signal, and the spreader height to determine the end of the current yard truck operation task, the speed of the yard truck is usually faster than that of the spreader, which helps to reduce the time to identify the end of the current yard truck operation task and improve the operation efficiency. The embodiment of the present application helps to obtain the end information of the yard truck operation task earlier, so as to be used for various downstream tasks or assist the operation of other systems, and improve the operation efficiency of the container yard. Since the parameter of the spreader height is not used in determining the end of the yard truck operation task, there will be no problem of confusing the lifting of the yard truck and the end of the yard truck operation task in the traditional way.

[0052] The method for managing the yard truck operation task in the embodiment of the present application will be further described below in combination with some possible implementation manners of the embodiment of the present application.

[0053] Figure 2 Yes Figure 1 It is a schematic flowchart of a possible implementation manner of the method. AsFigure 2 As shown, the method of this embodiment mainly may include steps S210 to S270, and the following will describe these steps in detail.

[0054] In step S210, start.

[0055] In step S220, obtain image data. The image data is obtained by a camera (target imaging unit).

[0056] The target imaging unit may include one or a combination of more than one of the following: one or more cameras installed under the bottom of the gantry support on the side of the container truck operation lane, one or more cameras installed under the main gantry beam above the container truck operation lane, and one or more cameras installed under the trolley mechanism.

[0057] In step S230, detect the target object. The target object may be the current container truck, such as obtaining the real-time image data of the current container truck through the camera.

[0058] In step S240, judge that the operation task starts.

[0059] Obtain real-time image data through the camera, use the first frame at the start of the operation as the reference frame, and track each target object in the first frame in subsequent frames.

[0060] In step S250, make a judgment to judge whether the current container truck operation task is over.

[0061] Judge the movement mode of the target object. If the movement trajectory meets the preset judgment rule for the end of the container truck operation, it is considered that the current container truck operation task has ended.

[0062] The judgment can be made according to the movement trajectory of the target object, the preset rules, the type of the container truck operation task, the container truck size information, etc. The type of the container truck operation task may include the box-grabbing task and the box-placement task. Among them, the box-grabbing task may include single-box grabbing, double-box simultaneous grabbing, and double-box sequential grabbing. The box-placement task may include single-box loading and placing, double-box simultaneous loading and placing, and double-box sequential loading and placing.

[0063] In step S260, output the judgment result.

[0064] In step S270, and return the operation task end signal to the PLC or other systems for various downstream tasks.

[0065] In an embodiment of the present application, it is determined whether the current container truck operation task is completed according to the movement trajectory of the target object (current container truck) and a preset rule. Compared with the method of determining the end of the current container truck operation task by using the spreader position, the locking and unlocking signal, and the spreader height, the speed of the container truck is usually faster than that of the spreader, which helps to reduce the time for identifying the end of the current container truck operation task and improve the operation efficiency. It helps to obtain the end information of the container truck operation task earlier for various downstream tasks or assist the operations of other systems, thereby improving the operation efficiency of the container yard. Since the spreader height parameter is not used in determining the end of the container truck operation task, there will be no problem of confusing the lifting of the container truck and the end of the container truck operation task in the traditional way.

[0066] As described above in conjunction with Figures 1 to 2 the method embodiments of the present application have been described in detail. Next, in conjunction with Figure 3 the device embodiments of the present application will be described in detail. It should be understood that the descriptions of the device embodiments correspond to those of the method embodiments. Therefore, for the parts not described in detail, reference may be made to the previous method embodiments.

[0067] Figure 3 FIG. is a schematic structural diagram of a device for managing container truck operation tasks provided by an embodiment of the present application. As Figure 3 shown, the device 300 for managing container truck operation tasks includes a first determination module 310 and a second determination module 320.

[0068] The first determination module 310 is used to determine the movement trajectory of the target object in the current container truck operation task, and the target object includes the current container truck.

[0069] The second determination module 320 is used to determine whether the current container truck operation task is completed according to the movement trajectory and the preset rule.

[0070] Optionally, when the operation task is a container discharging operation, the movement trajectory of the target object is the trajectory of the target object after the last container landing in the container discharging operation. The second determination module 320 is used to determine a first distance, where the first distance is the distance between any point on the movement trajectory and a first starting point, and the first starting point is the trajectory point of the target object when the last container lands in the container discharging operation; in response to the first distance being greater than a first threshold, it is determined that the current container truck operation task has ended.

[0071] Optionally, the container discharging operation is any one of the following operations: placing one container, placing multiple containers in sequence, and placing two containers simultaneously.

[0072] Optionally, when the operation task is a container-grabbing operation, the movement trajectory of the target object is the trajectory of the current container carrier after the last container is grabbed in the container-grabbing operation. The second determination module 320 is configured to determine a second distance, where the second distance is the distance between any point on the movement trajectory and a second starting point, and the second starting point is the trajectory point of the current container carrier when the spreader is closed during the last container-grabbing process; in response to the second distance being greater than a second threshold, it is determined that the current container carrier operation task has ended.

[0073] Optionally, the container-grabbing operation is any one of the following operations: grabbing one container, sequentially grabbing multiple containers, and simultaneously grabbing two containers.

[0074] Optionally, the first determination module 310 is configured to obtain image data of the target object in the current container carrier operation task; determine the movement trajectory of the target object according to the image data; and / or determine the movement trajectory of the target object in the current container carrier operation task by using a laser.

[0075] Optionally, the first determination module 310 is configured to obtain image data of the target object in the current container carrier operation task by using a target camera unit. The target camera unit includes one or more combinations of the following: a camera unit installed under the bottom of the yard crane support on the side of the container carrier operation lane, a camera unit installed under the main beam of the yard crane above the container carrier operation lane, and a camera unit installed under the trolley mechanism of the yard crane.

[0076] Optionally, the device 300 further includes a third determination module. The third determination module is configured to determine the target camera unit according to the dimension information of the current container carrier, and / or determine the shooting angle of the target camera unit.

[0077] Optionally, the device 300 further includes an application module. After it is determined that the container carrier operation task has ended, the application module applies the obtained container carrier operation task end information to various downstream tasks.

[0078] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is used to execute the method described in any of the foregoing.

[0079] An embodiment of the present application provides a computer program product, including instructions for executing any of the methods described above.

[0080] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the embodiments of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0081] It should be noted that in the embodiments of the present application, relational terms such as first and second are only used 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 "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0082] In the embodiments of the present application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "connected to", "fixed" and the like shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0083] It should be understood that the term "and / or" used in the embodiments of the present application is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the embodiments of the present application generally represents an "or" relationship between the associated objects before and after.

[0084] In the description of the embodiments of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the embodiments of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0085] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A method for managing the operation tasks of container trucks, characterized in that, Including: Determine the movement trajectory of the target object in the current container handling task, where the target object includes the current container carrier, and the movement trajectory is the movement trajectory of the target object after the first moment, and the first moment is the moment corresponding to the last container operation performed on the current container carrier in the current container handling task; According to the movement trajectory and a preset rule, determine whether the current container handling task is completed, including: determining the distance between any point on the movement trajectory and the starting point of the movement trajectory, and if the distance is greater than the corresponding distance threshold, determine that the current container handling task has been completed.

2. The method according to claim 1, wherein When the current container handling task is a container discharging task, the movement trajectory of the target object is the trajectory of the target object after the last container landing in the container discharging task, and according to the movement trajectory and a preset rule, determine whether the current container handling task is completed, including: Determine a first distance, where the first distance is the distance between any point on the movement trajectory and a first starting point, and the first starting point is the trajectory point of the target object when the last container lands in the container discharging task; In response to the first distance being greater than a first threshold, determine that the current container handling task has been completed.

3. The method according to claim 2, wherein The container discharging task is any one of the following operations: Placing one container, sequentially placing multiple containers, and simultaneously placing two containers.

4. The method according to claim 1, characterized in that When the current container handling task is a container loading task, the movement trajectory of the target object is the trajectory of the current container carrier after the last container grabbing in the container loading task, and according to the movement trajectory and a preset rule, determine whether the current container handling task is completed, including: Determine a second distance, where the second distance is the distance between any point on the movement trajectory and a second starting point, and the second starting point is the trajectory point of the current container carrier when the spreader closes during the last container grabbing process; In response to the second distance being greater than a second threshold, determine that the current container handling task has been completed.

5. The method according to claim 4, characterized in that, The container loading task is any one of the following operations: Grabbing one container, sequentially grabbing multiple containers, and simultaneously grabbing two containers.

6. The method according to claim 1, characterized in that, The determining of the movement trajectory of the target object in the current container handling task includes: Obtain the image data of the target object in the current container handling task; According to the image data, determine the movement trajectory of the target object; and / or, Use laser to determine the movement trajectory of the target object in the current container handling task.

7. The method according to claim 6, characterized in that, The obtaining of the image data of the target object in the current container handling task includes: Use a target camera unit to obtain the image data of the target object in the current container handling task, and the target camera unit includes a combination of one or more of the following: A camera unit installed under the bottom of the gantry crane support on the side of the container carrier operation lane, A camera unit installed under the main beam of the gantry crane above the container carrier operation lane, A camera unit installed under the trolley mechanism of the gantry crane.

8. The method according to claim 7, characterized in that, Before obtaining the image data of the target object in the current container handling task, the method further includes: According to the dimension information of the current container carrier, determine the target camera unit and / or determine the shooting angle of the target camera unit.

9. A device for managing the operation tasks of container trucks, characterized in that, Including: A first determination module, configured to determine a motion trajectory of a target object in a current container truck operation task, where the target object includes the current container truck, and the motion trajectory is the motion trajectory of the target object after a first moment, and the first moment is the moment corresponding to the last execution of a container operation on the current container truck in the current container truck operation task; A second determination module, configured to determine whether the current container truck operation task ends according to the motion trajectory and a preset rule, including: determining a distance between any point on the motion trajectory and a starting point of the motion trajectory, and if the distance is greater than a corresponding distance threshold, determining that the current container truck operation task has ended.

10. A non-volatile computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed, it is used to implement the method according to any one of claims 1-8.

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