Intelligent driving container truck passing control method

Abstract

The invention discloses an intelligent driving container truck passing control method, and relates to the technical field of wharf scheduling control, and the method comprises the steps: obtaining a customs message, generating a passing delegation, and generating a first state mark for a container to be passed; associating the passing entrustment with the target intelligent container truck, and when the target intelligent container truck receives a ship unloading instruction, judging whether to execute passing according to a passing rule; if machine passing is executed, machine passing scanning of the target intelligent container truck is controlled to be started; the target intelligent container truck scans the channel through the quick inspection equipment, and feeds back a machine passing result to the wharf operation system; and if the container passing is successful, the target intelligent container truck is scheduled to a target position according to the ship unloading storage yard plan for container conveying. By calculating the wharf operation task and the instruction state of the intelligent container truck in real time, the dispatching system dispatches the intelligent container truck to operate according to the machine passing control rule, and the machine passing efficiency and the utilization rate of the intelligent container truck are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of terminal dispatching control, and in particular to a method for controlling the passing of a container truck by intelligent driving. Background Art

[0002] With the development of automated container terminals, the volume of foreign trade imports has continued to rise, and the requirements for customs inspection at the terminals have become increasingly high. In the existing technology, rapid inspection is a way for customs to inspect container cargo, that is, using inspection equipment arranged in the terminal to conduct inspections on containers without opening the boxes. Different regions and terminals use different equipment models, and the specific operation modes are also different, but the basic method is generally to use horizontal transportation equipment to carry containers, and drive through the scanning channel of the rapid inspection equipment under the specified speed limit requirements to realize the inspection of the internal loading of the container.

[0003] At present, container trucks are usually assigned to pass the machine through unloading or moving tasks. The container trucks carry the containers to the machine equipment for passing the machine. Due to the uncertainty of unloading allocation, a large number of container trucks often queue up at the machine equipment after being heavily loaded, occupying too many container truck resources. In addition, during the unloading process, a single container may pass the machine. The containers that do not need to be passed need to be unloaded first and then passed to the machine. This will also cause the container trucks to be reloaded for too long, affecting the utilization rate of horizontal transportation equipment. Summary of the invention

[0004] In view of this, the present invention provides a method for controlling the passing of a container truck by intelligent driving to solve the above technical problems.

[0005] To achieve the above object, the present invention provides the following technical solution, comprising the following steps:

[0006] Obtain customs messages, trigger the operation form, generate a clearance order in the terminal operating system, and generate a first status mark for the container to be cleared;

[0007] The machine-passing entrustment is associated with the target smart container truck. When the target smart container truck receives the unloading instruction, the terminal operating system is triggered to determine whether to execute the machine-passing according to the machine-passing rules;

[0008] If the machine is passed, the target intelligent container truck arrives at the machine passing site according to the planned route, and the equipment control system controls the start of the machine passing scan of the target intelligent container truck;

[0009] The target intelligent container truck passes through a scanning channel of a rapid inspection device, and the device control system feeds back the result of the scanning to the terminal operating system;

[0010] If the container is successfully transported through the container terminal, the terminal operating system marks the container transport status as the second status mark, and the dispatching system dispatches the target intelligent container truck to the target location for container delivery according to the ship unloading yard plan.

[0011] Furthermore, the pass rule includes:

[0012] If the container in the target smart container truck is a single container or a double container, then the machine status mark of the container in the target smart container truck is detected;

[0013] If the machine passing state mark is the first state mark, the machine passing is determined by calculating and comparing the target intelligent container truck's suspension waiting time for the machine passing and the machine passing queue time.

[0014] Furthermore, the calculation method of the target intelligent container truck's waiting time for stopping to pass the machine is as follows:

[0015] f(x1)=∑ n (a / n+b / n)+e*x1+k

[0016] Among them, a represents the radial distance from the current position to the first container delivery position in the yard, b represents the path distance from the first container delivery position in the yard to the second container delivery position, n represents the average speed of the target intelligent container truck, e represents the operation time of a single container on the rail crane, x1 represents the number of yard operation tasks, and k represents the total time of the target intelligent container truck for collecting and delivering containers on average once.

[0017] Furthermore, the target intelligent container truck queuing time is calculated as follows:

[0018] f(x2)=i*x2

[0019] Among them, i represents the average passing time, and x2 represents the number of target smart container trucks currently queuing for passing.

[0020] Furthermore, the passing rules also include:

[0021] When f(x1)≤f(x2), it means that the target intelligent container truck is suspended waiting for passing the machine and the waiting time is less than or equal to the waiting time for passing the machine. The terminal operating system determines that the target intelligent container truck is suspended for passing the machine, otherwise it will continue to pass the machine.

[0022] Furthermore, when the target intelligent container truck is suspended from passing through the machine, the terminal operating system marks the passing status of the passing container as the third status mark, and the dispatching system dispatches the target intelligent container truck to the target location according to the unloading yard plan to deliver the container. After the container is received into the yard, the terminal operating system is triggered to change the passing status mark of the passing container to the first status mark, and generate passing container moving data.

[0023] Furthermore, when the target smart container truck is executing the machine pass, the terminal operating system marks the machine pass status of the container as the first status mark, converts the destination field for receiving containers into the machine pass location, and the dispatching system sends the target smart container truck to the machine pass location to deliver the container.

[0024] Furthermore, if the target intelligent container truck is a one-car two-container task, it is detected whether only one container is marked as the second state, and if so, it is checked whether there is a waiting machine instruction in the yard;

[0025] If there is no instruction to wait for the machine to pass, a single container will be passed. The dispatching system will dispatch the target intelligent container truck to the yard to deliver the container. After the container without the machine passing mark is put into the yard, the dispatching system will dispatch the target intelligent container truck to the airport for passing.

[0026] If there is a pending machine passing instruction, the terminal operating system will determine whether to execute the double-container machine passing by calculating and comparing the single-container machine passing time and the double-container machine passing time.

[0027] Furthermore, the calculation method of the single box passing time is as follows:

[0028] f(x3)=∑ n (a / n+c / n)+e*x3

[0029] The calculation method of the time required to pass the machine for the combined double-box is as follows:

[0030] f(x4)=∑ n (a / n+b / n+c / n)+e*x4

[0031] Among them, a represents the path distance from the current position to the delivery position of the box without the machine passing mark, b represents the path distance from the delivery position of the yard to the collection position of the double-box, c represents the path distance from the last yard task position to the passing yard, n represents the average speed of the target intelligent container truck, e represents the operation time of a single box, and x3 and x4 represent the number of yard operation tasks.

[0032] Furthermore, the transit site is a virtual yard location marked by coordinate parameters in the navigation map of the target intelligent container truck. When the instruction has a second status mark, the terminal operating system automatically changes the destination location of the instruction to the transit site. After receiving the dispatching instruction, the dispatching system uses Beidou navigation to navigate the target intelligent container truck to the coordinate location.

[0033] The beneficial effects produced by the technical solution of the present invention are as follows:

[0034] The present invention discloses a method for controlling the passing of a container truck by intelligent driving. By calculating the passing status of the current intelligent container truck in real time, the intelligent container trucks waiting in line for passing the machine are reasonably released to complete other tasks, thereby improving the utilization rate of the truck. The scheme disclosed in the present application also calculates the overload time of the planned path in real time, selects the optimal passing scheme, and reduces the overload time of the intelligent container truck. Moreover, the whole process is calculated and dispatched by the system, which reduces manual intervention and improves the passing efficiency. The terminal operation task and the instruction status of the intelligent container truck are calculated in real time by the terminal operating system. According to the passing control rules set by the terminal operating system, the dispatching system dispatches the intelligent container truck to operate, thereby improving the passing efficiency and utilization rate of the intelligent container truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0036] Figure 1 This is a specific flow chart of a method for controlling the passing of a container truck by an intelligent driving method in an embodiment of the present invention;

[0037] Figure 2 The present invention is a general framework flow chart of a method for controlling the passage of an intelligently driven container truck in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the embodiment of the present application, the present invention automatically controls the unmanned intelligent container truck (hereinafter referred to as IGV) to reasonably perform the ship unloading and machine passing tasks through the mutual coordination of the terminal operating system (hereinafter referred to as TOS), the equipment control system (hereinafter referred to as ECS), and the IGV scheduling system (hereinafter referred to as VMS), thereby solving the problem of IGV having a long reloading time due to machine passing queues, thereby improving the machine passing efficiency and the utilization rate of IGV.

[0040] like Figure 1 and Figure 2 As shown, the present invention discloses a method for controlling a container truck passing a machine by intelligent driving, comprising the following steps:

[0041] Step S1, obtaining a customs message, triggering an operation form, generating a machine pass commission in the terminal operating system, and generating a first status mark for the container to be passed;

[0042] In the embodiment of the present application, there are two ways for unmanned container trucks to pass the machine: unloading the ship and moving the container. Since the starting points of the container are different, the trigger points of their control are also different. The trigger mechanism is described as follows:

[0043] At the trigger point of unloading and passing the machine, the salesperson sends the unloading instruction, the TOS system assigns the unloading task to the IGV, and the VMS dispatches the IGV to the bottom of the quay crane to receive the container. After the container is loaded on the IGV, the VMS feeds back the loading information to the TOS, and the TOS confirms the instruction to load the IGV, and at the same time triggers the machine judgment. After calculating the judgment result, the TOS sends the judgment result to the VMS, and the VMS dispatches the IGV to the destination. The trigger is chosen when the instruction confirms loading because this is the trigger point for the system to adjust the destination position of the instruction. After the IGV plans the path, except for manual intervention, the system has no automatic modification of the trigger point of the destination position. At the same time, it also reflects the current machine situation more realistically, which is more conducive to calculating the judgment result.

[0044] The trigger point for moving a container through the machine is that the salesperson sends a moving instruction, which triggers the TOS system to make a judgment on whether the container can pass the machine. If it is determined that the container can pass the machine, TOS assigns the task to the IGV, and VMS dispatches the IGV to the yard to collect the container. If it is determined that the container cannot pass the machine, TOS will abnormally prompt that the container cannot pass the machine temporarily. The trigger is selected when sending the instruction because if the container cannot pass the machine after the instruction is sent, but the VMS has already dispatched the IGV, the IGV will be invalid.

[0045] Step S2: Associating the machine pass entrustment with the target smart container truck. When the target smart container truck receives the unloading instruction, the terminal operating system is triggered to determine whether to execute the machine pass according to the machine pass rule;

[0046] Step S3: If the target intelligent container truck arrives at the transit site according to the planned route, the equipment control system starts scanning the target intelligent container truck;

[0047] Step S4: the target intelligent container truck passes through a scanning channel of a rapid inspection device, and the device control system feeds back the scanning result to the terminal operating system;

[0048] Step S5: If the container is successfully transported through the container terminal, the terminal operating system marks the container transport status as the second status mark, and the dispatching system dispatches the target intelligent container truck to the target location for container delivery according to the ship unloading yard plan.

[0049] Furthermore, in a preferred embodiment of the present application, the pass rule includes:

[0050] If the container in the target smart container truck is a single container or a double container, then the machine status mark of the container in the target smart container truck is detected;

[0051] If the machine passing state mark is the first state mark, the machine passing is determined by calculating and comparing the target intelligent container truck's suspension waiting time for the machine passing and the machine passing queue time.

[0052] Furthermore, in a preferred embodiment of the present application, the calculation method of the target intelligent container truck's pause waiting time is as follows:

[0053] f(x1)=∑ n (a / n+b / n)+e*x1+k

[0054] Among them, a represents the radial distance from the current position to the first container delivery position in the yard, b represents the path distance from the first container delivery position in the yard to the second container delivery position, n represents the average speed of the target intelligent container truck, e represents the operation time of a single container on the rail crane, x1 represents the number of yard operation tasks, and k represents the total time of the target intelligent container truck for collecting and delivering containers on average once.

[0055] Furthermore, in a preferred embodiment of the present application, the target intelligent container truck queuing time is calculated as follows:

[0056] f(x2)=i*x2

[0057] Among them, i represents the average passing time, and x2 represents the number of target smart container trucks currently queuing for passing.

[0058] Furthermore, in a preferred embodiment of the present application, the pass rule further includes:

[0059] When f(x1)≤f(x2), it means that the target intelligent container truck is suspended waiting for passing the machine and the waiting time is less than or equal to the waiting time for passing the machine. The terminal operating system determines that the target intelligent container truck is suspended for passing the machine, otherwise it will continue to pass the machine.

[0060] Furthermore, in a preferred embodiment of the present application, when the target smart container truck is suspended from passing through the machine, the terminal operating system marks the passing status of the passing container as the third status mark, and the scheduling system schedules the target smart container truck to the target location according to the unloading yard plan to deliver the container. After the container is received into the yard, the terminal operating system is triggered to change the passing status mark of the passing container to the first status mark, and generate passing container moving data.

[0061] Furthermore, in a preferred embodiment of the present application, when the target smart container truck is executing a passing machine, the terminal operating system marks the passing state of the passing container as a first state mark, converts the destination field for receiving containers into a passing field, and the dispatching system sends the target smart container truck to the passing field to deliver the containers.

[0062] Further, in a preferred embodiment of the present application, if the target intelligent container truck is a one-car two-container task, it is detected whether only one container is marked as the second state, and if so, it is checked whether there is a waiting machine instruction in the yard;

[0063] If there is no instruction to wait for the container to pass the machine, the single container will pass the machine. The dispatching system will dispatch the target intelligent container truck to the yard to deliver the container. After the container without the machine passing mark is stored in the yard, the dispatching system will dispatch the target intelligent container truck to the airport for the machine passing.

[0064] If there is a pending machine passing instruction, the terminal operating system will determine whether to execute the double-container machine passing by calculating and comparing the single-container machine passing time and the double-container machine passing time.

[0065] Specifically, the machine-passing status mark is a field mark used to describe the machine-passing task instruction status, including:

[0066] Blank: The status of a box that has not been commissioned to pass the machine will be displayed as blank, that is, no mark, indicating that the box does not need to pass the machine.

[0067] N: Indicates that the machine clearance request has been processed, but the machine clearance operation has not been performed or the scanned image after the machine clearance does not meet the requirements and needs to be re-passed. The machine clearance status will display "N", indicating that the box needs to be passed through the machine but the machine clearance operation has not been completed.

[0068] S: Indicates that the machine-passing entrustment has been processed, but the machine-passing operation will not be performed temporarily due to hardware failure or operational needs. The machine-passing status will display "S", indicating that the box needs to be passed but the machine-passing operation will not be performed temporarily.

[0069] Y: Indicates that the machine pass entrustment has been processed. After the machine pass operation is completed, the machine pass status will display "Y".

[0070] In the embodiment of the present application, the first state is marked as "N", the second state is marked as "Y", and the third state is marked as "S".

[0071] Furthermore, in a preferred embodiment of the present application, the calculation method of the single-box machine passing time is as follows:

[0072] f(x3)=∑ n (a / n+c / n)+e*x3

[0073] The calculation method of the time required to pass the machine for the combined double-box is as follows:

[0074] f(x4)=∑ n (a / n+b / n+c / n)+e*x4

[0075] Among them, a represents the path distance from the current position to the delivery position of the box without the machine passing mark, b represents the path distance from the delivery position of the yard to the collection position of the double-box, c represents the path distance from the last yard task position to the passing yard, n represents the average speed of the target intelligent container truck, e represents the operation time of a single box, and x3 and x4 represent the number of yard operation tasks.

[0076] Specifically, the TOS in the embodiment of the present application determines and executes the double-box passing through the machine and pre-assigns the waiting passing instruction to the passing IGV. The VMS dispatches the IGV to the yard to deliver the boxes, and puts the boxes without the passing mark into the yard. The VMS dispatches the IGV to the waiting passing instruction position to receive the boxes, and assembles the double-box passing through the machine.

[0077] Furthermore, in a preferred embodiment of the present application, the transit site is a virtual yard location marked by coordinate parameters in the navigation map of the target intelligent container truck. When the instruction has a second status mark, the terminal operating system automatically changes the destination location of the instruction to the transit site. After receiving the dispatching instruction, the dispatching system uses Beidou navigation to navigate the target intelligent container truck to the coordinate location.

[0078] Specifically, in one embodiment of the present application, the TOS system calculates the overload time of the IGV under various overload modes, and determines and selects a better and more reasonable overload mode by comparing the overload time of various modes, thereby reducing the overload time of the IGV and improving the utilization rate of the IGV.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0081] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0083] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-on l ymemory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program codes.

[0084] In the description of the specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0085] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A method for controlling a container truck passing a machine by intelligent driving, characterized in that: The following steps are involved: Obtain customs messages, trigger the operation form, generate a clearance order in the terminal operating system, and generate a first status mark for the container to be cleared; The machine-passing entrustment is associated with the target smart container truck. When the target smart container truck receives the unloading instruction, the terminal operating system is triggered to determine whether to execute the machine-passing according to the machine-passing rules; If the machine is passed, the target intelligent container truck arrives at the machine passing site according to the planned route, and the equipment control system controls the machine to start scanning the target intelligent container truck; The target intelligent container truck passes through a scanning channel of a rapid inspection device, and the device control system feeds back the passing result to the terminal operating system; If the container is successfully transported through the container terminal, the terminal operating system marks the container transport status as the second status mark, and the dispatching system dispatches the target intelligent container truck to the target location for container delivery according to the ship unloading yard plan.

2. The intelligent driving container truck passing control method according to claim 1 is characterized in that: The passing rules include: If the container in the target smart container truck is a single container or a double container, then the machine status mark of the container in the target smart container truck is detected; If the machine passing state mark is the first state mark, the machine passing is determined by calculating and comparing the target intelligent container truck's suspension waiting time for the machine passing and the machine passing queue time.

3. The intelligent driving container truck passing control method according to claim 2 is characterized in that: The calculation method of the target intelligent container truck's waiting time is as follows: f(x1)=∑ n (a / n+b / n)+e*x1+k Among them, a represents the radial distance from the current position to the first container delivery position in the yard, b represents the path distance from the first container delivery position in the yard to the second container delivery position, n represents the average speed of the target intelligent container truck, e represents the operation time of a single container on the rail crane, x1 represents the number of yard operation tasks, and k represents the total time of the target intelligent container truck for collecting and delivering containers on average once.

4. The intelligent driving container truck passing control method according to claim 3 is characterized in that: The target intelligent container truck queue time is calculated as follows: f(x2)=i*x2 Among them, i represents the average time to pass the machine, and x2 represents the number of smart container trucks currently queuing for passing the machine.

5. The intelligent driving container truck passing control method according to claim 4 is characterized in that: The rules for passing the machine also include: When f(x1)≤f(x2), it means that the target intelligent container truck is suspended waiting for passing the machine and the waiting time is less than or equal to the waiting time for passing the machine. The terminal operating system determines that the target intelligent container truck is suspended for passing the machine, otherwise it will continue to pass the machine.

6. The intelligent driving container truck passing control method according to claim 5 is characterized in that: When the target intelligent container truck is suspended from passing through the machine, the terminal operating system marks the passing status of the passing container as the third status mark, and the scheduling system dispatches the target intelligent container truck to the target location to deliver the container according to the unloading yard plan. After the container is received into the yard, the terminal operating system is triggered to change the passing status mark of the passing container to the first status mark, and generate passing container moving data.

7. The intelligent driving container truck passing control method according to claim 5 is characterized in that: When the target intelligent container truck is to execute the machine passing, the terminal operating system marks the machine passing status of the container as the first status mark, converts the destination field for receiving containers into the machine passing location, and the dispatching system sends the target intelligent container truck to the machine passing location for delivering the containers.

8. The intelligent driving container truck passing control method according to claim 1 is characterized in that: If the target intelligent container truck is a two-container mission, then check whether only one container is marked as the second state. If so, check whether there is a waiting machine instruction in the yard; If there is no instruction to wait for the container to pass the machine, the single container will pass the machine. The dispatching system will dispatch the target intelligent container truck to the yard to deliver the container. After the container without the machine passing mark is stored in the yard, the dispatching system will dispatch the target intelligent container truck to the airport for the machine passing. If there is a pending machine passing instruction, the terminal operating system will determine whether to execute the double-container machine passing by calculating and comparing the single-container machine passing time and the double-container machine passing time.

9. The intelligent driving container truck passing control method according to claim 8 is characterized in that: The calculation method of the single box passing time is as follows: f(x3)=∑ n (a / n+c / n)+e*x3 The calculation method of the time required to pass the machine for the combined double-box is as follows: f(x4)=∑ n (a / n+b / n+c / n)+e*x4 Among them, a represents the path distance from the current position to the delivery position of the box without the machine passing mark, b represents the path distance from the delivery position of the yard to the collection position of the double-box, c represents the path distance from the last yard task position to the passing yard, n represents the average speed of the target intelligent container truck, e represents the operation time of a single box, and x3 and x4 represent the number of yard operation tasks.

10. The intelligent driving container truck passing control method according to claim 1 is characterized in that: The transit site is a virtual yard location marked by coordinate parameters in the navigation map of the target intelligent container truck. When the instruction has a second status mark, the terminal operating system automatically changes the destination location of the instruction to the transit site. After receiving the dispatching instruction, the dispatching system uses Beidou navigation to navigate the target intelligent container truck to the coordinate location.

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