Container management method and system

Abstract

The embodiment of the invention provides a container management method and system. The container management method comprises the steps that idle point locations in a plurality of container stacking point locations of a three-dimensional storage yard map are determined; under the condition that it is detected that the container to be stacked exists, a recommended stacking point location is determined from all the idle point locations according to position constraint conditions, and the position constraint conditions comprise at least one of a safety constraint condition, a moving crane constraint condition and an influence degree constraint condition; and synchronizing the recommended stacking point location to the mobile crane and the container transportation equipment, so that the mobile crane and the container transportation equipment move to the recommended stacking point location. Therefore, the point positions meeting the corresponding constraint conditions can be automatically recommended in the three-dimensional storage yard map based on at least one of the safety constraint conditions, the moving crane constraint conditions and the influence degree constraint conditions, so that the point positions for stacking the containers are more reasonable, the requirements on operators are reduced, the management cost of the containers is reduced, and the management efficiency of the containers is improved. And the carrying efficiency of the container is improved.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of intelligent management technology, and in particular, to a container management method and system. Background Art

[0002] Containers refer to large cargo containers with certain strength, rigidity and specifications, which are specially used for turnover. Due to their high price and large size, containers are generally rented at major ports or transit stations, and container users need to stack and manage them. Most of the container management companies in the industry are distributed in large manufacturing industries, ports, etc. Due to the different business models of containers in different industries, the business processes supported by their information systems are also different.

[0003] In the prior art, for ports and some other large-scale manufacturing industries, gantry cranes are generally used to move containers. The gantry cranes are deployed on rails and have a fixed moving path. When containers need to be placed, the operator often determines the stacking position of the containers and places the containers at that position using the gantry crane. The operator independently determines the stacking position of the containers, which may result in unreasonable placement of the containers, greatly increasing the management cost of the containers and reducing the handling efficiency of the containers. Summary of the invention

[0004] In view of this, an embodiment of this specification provides a container management method. One or more embodiments of this specification also relate to a container management system, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of this specification, a container management method is provided, which is applied to a container management system, and the method includes:

[0006] Determine the vacant points among multiple container stacking points in the three-dimensional yard map;

[0007] When it is detected that there are containers to be stacked, a recommended stacking point is determined from each free point according to a position constraint condition, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition;

[0008] The recommended stacking point is synchronized to the mobile crane and the container transport equipment, so that the mobile crane and the container transport equipment move to the recommended stacking point.

[0009] According to a second aspect of an embodiment of this specification, a container management system is provided, the system comprising:

[0010] A first determination module is configured to determine an idle point among a plurality of container stacking points in the three-dimensional yard map;

[0011] A second determination module is configured to determine a recommended stacking point from each free point according to a position constraint condition when detecting that there is a container to be stacked, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition;

[0012] The synchronization module is configured to synchronize the recommended stacking point with the mobile crane and the container transportation equipment so that the mobile crane and the container transportation equipment move to the recommended stacking point.

[0013] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0014] Memory and processor;

[0015] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above container management method are implemented.

[0016] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned container management method are implemented.

[0017] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned container management method.

[0018] An embodiment of the present specification provides a container management method, which determines an idle point among multiple container stacking points in a three-dimensional yard map; when it is detected that there are containers to be stacked, determines a recommended stacking point from each idle point according to a position constraint condition, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition; and synchronizes the recommended stacking point to a mobile crane and a container transport equipment so that the mobile crane and the container transport equipment move to the recommended stacking point.

[0019] An embodiment of the present specification implements determining a recommended stacking point from free points in a three-dimensional yard map based on at least one of safety constraints, mobile crane constraints, and influence constraints, and then synchronizing the recommended stacking point to the mobile crane and container transport equipment, so that the mobile crane and container transport equipment move to the recommended stacking point, and place the container to be stacked at the recommended stacking point to achieve container storage. In this way, based on at least one of safety constraints, mobile crane constraints, and influence constraints, points that meet corresponding constraints can be automatically recommended in the three-dimensional yard map, making the points for stacking containers more reasonable, reducing the requirements for operators, reducing the management cost of containers, and improving the handling efficiency of containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of a container management method provided by an embodiment of this specification;

[0021] Figure 2 It is a schematic diagram of a three-dimensional yard diagram provided by an embodiment of this specification;

[0022] Figure 3 is a schematic diagram of a recommended stacking point provided by an embodiment of this specification;

[0023] Figure 4 It is a schematic diagram of a yard driving route map provided by an embodiment of this specification;

[0024] Figure 5 It is a functional module diagram of a container management system in a vehicle parts transportation scenario provided by an embodiment of this specification;

[0025] Figure 6 It is a structural diagram of a container management system provided by an embodiment of this specification;

[0026] Figure 7 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0027] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0028] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0029] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0030] It should be noted that containers are large cargo containers used exclusively for turnover. Due to the high price and large size of containers, they are generally rented at major ports or transit stations, and container users need to stack and manage the containers. Most of the people who manage containers in the industry are distributed in large manufacturing industries, ports, etc. Since the business models of different industries regarding containers are different, the business processes supported by their information systems are also different. For ports and some other large manufacturing industries, gantry cranes are used to move containers. Gantry cranes are deployed on rails and have fixed moving paths. This requires the placement of containers to conform to the absolute position of the yard where they are located, otherwise there will be deviations when the gantry crane is moved; and in the embodiments of this specification, a mobile crane is used, which is relatively flexible to move, so the placement of the container is not an absolute position, but a relative position in the three-dimensional yard map. In addition, due to the existence of gantry cranes and mobile cranes, there are essential differences in container movement, coordinate deployment, 3D system modeling, and container recommendation algorithms in different yards and ports.

[0031] In this specification, a container management method is provided. This specification also relates to a container management system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0032] See also Figure 1 , Figure 1 A flow chart of a container management method provided according to an embodiment of the present specification is shown, which is applied to a container management system and specifically includes the following steps 102-106.

[0033] Step 102: Determine an idle point among a plurality of container stacking points in the three-dimensional yard diagram.

[0034] It should be noted that a yard refers to a place where containers are stacked, and a 3D yard map is generated by building a 3D model based on the points in the actual yard where containers can be stacked, that is, the 3D yard map is a 3D virtual scene of the actual yard. The 3D yard map includes multiple stacking points where containers can be stacked.

[0035] In actual implementation, the container management system can obtain the status information of each container stacking point, which includes occupied and free. Occupied means that the point has been stacked with containers, and free means that no containers have been stacked. Based on the status information of each container stacking point, the free points among the multiple container stacking points in the three-dimensional yard map can be determined, so that the best recommended point can be automatically selected from the multiple free points to place the container.

[0036] In an optional implementation of this embodiment, a three-dimensional yard map may be constructed first, that is, before determining the idle points among the multiple container stacking points in the three-dimensional yard map, the following steps may be further included:

[0037] Obtain the topographic information of the yard and the three-dimensional position coordinates of the containers stacked in the yard;

[0038] Construct a three-dimensional yard map based on terrain information and three-dimensional location coordinates.

[0039] Specifically, the yard terrain information includes the shape of the yard, the internal area division in the yard, the surrounding environment, etc. The internal area division may include the distribution of each area, such as the entrance location, office area, container stacking area, etc.; the three-dimensional position coordinates of the stacked containers in the yard refer to the division of the container stacking points in the container stacking area, wherein the division of the container stacking points in the container stacking area may include the number of divided shells, the number of rows of container stacking points included in each shell, the number of columns included in each row, and the number of layers of the container stacking points, and the row, column, and layer information in each shell constitutes the three-dimensional coordinates; in addition, the surrounding environment may include street lights, driveways, and factory buildings, test sites, and other natural landscapes visible within the field of vision outside the yard, etc.

[0040] Among them, Bei refers to the location number of the container, which is equivalent to a group of stacking points in the yard in space, including multiple rows and columns of container stacking points. A container stacking point can be uniquely identified by the Bei location and the three-dimensional coordinates of the row, column and layer in the Bei location.

[0041] It should be noted that the terrain information of the yard and the three-dimensional position coordinates of the containers stacked in the yard can be obtained, and then based on the terrain information and the three-dimensional position coordinates, the corresponding three-dimensional model can be constructed to obtain a virtual three-dimensional yard map to simulate the actual yard situation, thereby facilitating the use of the three-dimensional yard map to manage each container stacking point and container, reducing management costs and improving management efficiency.

[0042] In the embodiments of this specification, the container management system provides a 3D modeling function. After three-dimensional modeling of the yard, a data-driven method is used to realize a real-time three-dimensional yard map, and with the help of the "intelligent matrix", the container yard heat map analysis function is realized.

[0043] For example, Figure 2 is a schematic diagram of a three-dimensional yard diagram provided by an embodiment of this specification, such as Figure 2 As shown, the three-dimensional yard map includes street lights and lanes around the yard, as well as factory buildings, test sites, and other natural landscapes visible within the field of vision outside the yard. The interior of the yard is divided into an entrance, an office area, and a container stacking area. The container stacking area includes 12 shells, each of which includes 2 rows and 4 columns, and each shell includes 4 layers of container stacking points (not shown in the figure).

[0044] In an optional implementation of this embodiment, real-time weather information may be superimposed on the three-dimensional storage yard map, that is, after constructing the three-dimensional storage yard map according to the terrain information and the three-dimensional position coordinates, the following may also be included:

[0045] Get current weather information;

[0046] Determine the weather animation corresponding to the current weather information;

[0047] In response to the weather display instruction, the weather animation is superimposed on the three-dimensional yard map.

[0048] It should be noted that users can access the container management system at any time to view the 3D yard map and understand the distribution of the 3D yard map. In addition, in order to improve the authenticity and interactive effect of the 3D yard map, the current weather conditions can also be superimposed on the 3D yard map.

[0049] In actual implementation, the container management system can access other weather forecast platforms, obtain current weather information from other weather forecast platforms, and then determine the weather animation corresponding to the current weather information, and respond to the weather display instruction to overlay the weather animation on the three-dimensional yard map. The weather display instruction can be triggered by the user. When the user needs to check the yard weather, the weather control can be triggered to overlay the weather animation corresponding to the current weather information on the three-dimensional yard map for display.

[0050] In specific implementation, corresponding weather animations can be configured in advance for various weather information, such as the weather animation for a sunny day is the sun emitting light in all directions in the sky; the weather animation for a cloudy day can be a dark background with dark clouds in the sky; the weather animation for a rainy day can be an animation of rain falling; etc. After the container management system obtains the current weather information from other weather forecast platforms, it can search for the corresponding weather animation locally.

[0051] In addition, the container management system can also directly obtain weather animations corresponding to current weather information from other weather forecast platforms without having to generate weather animations by itself, and the embodiments of this specification do not limit this.

[0052] In the embodiments of the present specification, users can access the container management system, view the three-dimensional yard map, and trigger the superimposition display of dynamic weather on the three-dimensional yard map, thereby improving the similarity between the three-dimensional yard map and the actual yard, enriching the interactive form of the container management system, and improving the user experience.

[0053] Step 104: when it is detected that there are containers to be stacked, a recommended stacking point is determined from various free points according to position constraints, wherein the position constraints include at least one of safety constraints, mobile crane constraints and influence constraints.

[0054] Specifically, safety constraints refer to the safety rules that mobile cranes need to meet when picking up and placing containers to avoid danger; mobile crane constraints refer to the constraints imposed by the structure of mobile cranes on picking up and placing containers; impact constraints are to minimize the number of times the affected container is moved after the container to be stacked is placed, so that the impact on other containers is minimized after the container is placed. In addition, the recommended stacking point is the optimal stacking point that meets the position constraint, that is, placing the container at the recommended stacking point can meet the corresponding constraint, making the stacking of containers more reasonable and minimizing the impact on other containers, avoiding multiple container moves and improving the container handling efficiency.

[0055] In actual implementation, if it is detected that a new container needs to be put into the yard, it is determined that there is a container to be stacked, and the new container is the container to be stacked; if it is detected that a container needs to be moved, that is, the container needs to be taken out from the current position and placed in a new position, the position where it is placed needs to be recommended, so it can also be determined that there is a container to be stacked, and the container that needs to be moved is the container to be stacked.

[0056] It should be noted that when it is detected that there are containers to be stacked, it is necessary to recommend a stacking position for the container to be stacked. At this time, the recommended stacking position can be determined from various free positions according to the position constraint conditions, so as to automatically recommend positions that meet the position constraint conditions for the container, so as to make the container stacking more reasonable and improve the container handling efficiency.

[0057] In an optional implementation of this embodiment, a plurality of container stacking locations are divided into different shells, each shell including a plurality of rows of container stacking locations;

[0058] The safety constraints include shell structure restrictions, which include the maximum number of containers stacked at each row of the shell, and / or the difference in the number of containers stacked between the target row and the adjacent row in each shell is less than or equal to a set threshold;

[0059] The mobile crane constraint condition includes at least one of an operation direction of the mobile crane, a limited number of rows for one operation, and a maximum number of containers in different rows.

[0060] It should be noted that multiple container stacking points are divided into different shells, that is, the three-dimensional yard map includes multiple shells, each shell includes multiple rows of container stacking points, each row can also include multiple columns of container stacking points, and each shell can stack multiple layers of containers, so the structure of each shell is composed of rows, columns and layers.

[0061] In actual implementation, safety constraints may include shell structure restrictions, that is, in order to ensure safety, the shell structure can be stacked in a certain manner at most, and the difference in the number of containers stacked between the target row and the adjacent row in each shell must be less than or equal to a set threshold.

[0062] For example, a shell includes 6 rows, with no restriction on the number of columns. The shell includes 3 layers, that is, when all are filled, the structure of the shell should be [3, 3, 3, 3, 3], but when all are filled, moving any one of them may collide with other containers, resulting in safety accidents. Therefore, all the points in a shell that can be stacked with containers cannot be fully filled. At least it should be ensured that the highest point on the side of the shell close to the channel cannot be stacked with containers. In other words, assuming that there are channels on both sides of a shell, then the highest points of the row close to the left channel and the row close to the left and right channels cannot be used to place containers, that is, the safety constraint condition of the shell can be that the structure of the shell cannot exceed [2, 3, 3, 3, 3, 2], that is, the row close to the left channel and the row close to the left and right channels can only hold 2 layers of containers at most, while the middle rows can be filled with 3 layers.

[0063] In addition, the shell structures corresponding to different shells in the three-dimensional yard may be different, and thus the shell structure restrictions corresponding to different shells may also be different.

[0064] As another example, another shell also includes 6 rows, with no restriction on the number of columns. The shell includes 4 layers, that is, when all are filled, the structure of the shell should be [4, 4, 4, 4, 4], but when all are filled, moving any one of them may collide with other containers, resulting in safety accidents. Therefore, all the points in a shell that can be stacked with containers cannot be fully filled. At least it should be ensured that the highest point on the side of the shell close to the channel cannot be stacked with containers. That is, assuming that there are channels on both sides of a shell, then the highest points of the row close to the left channel and the row close to the left and right channels cannot be used to place containers, that is, the safety constraint condition of the shell can be that the structure of the shell cannot exceed [3, 4, 4, 4, 4, 4], that is, the row close to the left channel and the row close to the left and right channels can only hold 3 layers of containers at most, while the middle rows can be filled with 4 layers.

[0065] Furthermore, if the number of containers placed in a row exceeds that of the adjacent rows by too much, the containers in that row may fall over, resulting in a safety accident. Therefore, the safety constraint conditions may also include that the difference in the number of stacked containers between the target row and the adjacent row in each shell is less than or equal to a set threshold. The target row is any row in a shell with adjacent rows on both sides, that is, the difference in the number of stacked containers between a row and the adjacent row in a shell should be less than or equal to the set threshold.

[0066] For example, assuming that the threshold is set to 3, the difference in the number of containers stacked between the target row and the adjacent row cannot exceed 3. For example, structures such as [0, 3, 0] (i.e., the target row has 3 layers of containers, and there are no containers on the left and right sides) and [1, 4, 1] (i.e., the target row has 4 layers of containers, and there is only 1 layer of containers on the left and right sides) cannot meet the safety constraints.

[0067] It should be noted that the position constraint condition may also include a mobile crane constraint condition, and the mobile crane constraint condition may include at least one of the operating direction of the mobile crane, the limited number of rows for one operation, and the maximum number of containers in different rows.

[0068] As an example, the operating direction of the mobile crane is that the mobile crane can pick up and place containers on the left or right side of the shell. The limited number of rows for one operation is the distance that the mobile crane can reach in one operation, such as the 2 rows close to the passage, and the 3rd row cannot be reached in one operation, unless multiple operations are performed to move all the containers in the outer row. The maximum number of containers with different rows means that the number of layers of containers in two adjacent rows cannot be the same, unless the number of layers is 1. If the number of layers of containers in two adjacent rows is the same, the container near the inner row cannot be reached in one operation, and the outer container needs to be moved first; and / or, the maximum number of containers with different rows can also be that the number of layers of containers near the passage side cannot be greater than the number of layers of containers near the inner side, otherwise the inner container cannot be reached in one operation; and / or, the maximum number of containers with different rows can also be that if a container stacking point is located on the inner side (not close to the passage) and the number of layers is greater than 2, when dropping the container, the number of layers on the outer side of the row minus 1 cannot be placed with the container, otherwise it will be blocked and the container cannot be dropped.

[0069] In the embodiments of this specification, the maximum stacking number of container stacking points in each row of the shell can be considered, the difference in the number of container stacking between the target row and the adjacent row in each shell is less than or equal to the set threshold, the operating direction of the mobile crane, the limited number of rows for one operation, the maximum number of containers in different rows, etc., and position constraints are set so that the recommended stacking points can meet the corresponding constraints, making the stacking of containers more reasonable.

[0070] In an optional implementation of this embodiment, the position constraint condition includes a safety constraint condition and / or a mobile crane constraint condition; determining a recommended stacking point from each idle point according to the position constraint condition includes:

[0071] Find the optimal solution for each idle point according to safety constraints and / or mobile crane constraints;

[0072] The optimal solution obtained is used as the recommended stacking point.

[0073] It should be noted that the optimal solution for each idle point can be solved according to the safety constraints and / or mobile crane constraints. The optimal solution is the stacking point that meets the safety constraints and / or mobile crane constraints. The obtained optimal solution can be used as a recommended stacking point. Combined with the safety constraints and / or mobile crane constraints, automatic recommendation of stacking points can be achieved, making the stacking of containers more reasonable.

[0074] In an optional implementation of this embodiment, the position constraint condition includes an influence constraint condition, and the influence constraint condition is that the number of times the affected container is moved after the container to be stacked is placed is minimized; determining the recommended stacking point from each idle point according to the position constraint condition includes:

[0075] According to the pulling plan of the containers to be stacked, the pulling weights of the containers to be stacked are configured;

[0076] Determine the influence score corresponding to each idle point based on the pull weight;

[0077] The idle point with the smallest impact score among all the idle points is selected as the recommended stacking point.

[0078] It should be noted that in the daily work of the container yard, it is very common for containers that need to leave on the same day to be crushed by newly entered containers, which requires additional lifting work for the mobile crane. In order to minimize this situation, it is necessary to recommend stacking points for the containers to be stacked based on the constraint condition of minimizing the number of times the affected containers are moved after being placed in the containers to be stacked. The recommended stacking points can minimize the situation where adjacent boxes are crushed.

[0079] In actual applications, the container management system can obtain the pulling plan of the container to be stacked from the upstream system. The pulling plan refers to the approximate time when the container to be stacked needs to be taken out. Then, the pulling weight of the container to be stacked can be configured according to the pulling plan of the container to be stacked, and the influence score corresponding to each idle point can be determined based on the pulling weight, that is, the impact of the container to be stacked after being placed in the idle point. The smaller the influence score, the smaller the impact on other containers, and the better the idle position, so the idle point with the smallest influence score among all the idle points can be selected as the recommended stacking point.

[0080] In the embodiment of the present specification, the influence score of each idle point can be calculated, and then the idle point with the lowest influence score can be selected as the recommended stacking point to reduce the impact of placing the container to be stacked on other containers, avoid meaningless transportation, reduce the number of transportation times, and improve transportation efficiency.

[0081] In an optional implementation of this embodiment, determining the influence score corresponding to each idle point based on the pull weight includes:

[0082] Determine the target idle point to place the linked containers affected by the containers to be stacked, and determine the minimum number of handling times when each linked container is taken out, wherein the target idle point is any idle point;

[0083] The minimum number of handling times when each linkage container is taken out is multiplied by the pulling weight to obtain the influence factor of each linkage container, and the influence factor is added to obtain the influence score of the target idle point.

[0084] In actual implementation, any idle point can be used as a target idle point to determine the linkage containers affected by placing the container to be stacked at the target idle point, and determine the minimum number of handling times when each linkage container is taken out; then, the minimum number of handling times when each linkage container is taken out is multiplied by the pulling weight to obtain the influence factor of each linkage container, and the influence score of the target idle point can be obtained by adding up the influence factors. Similarly, for each other idle point, it can be used as a target idle point to calculate the corresponding influence score, so as to evaluate the influence of placing a container at the corresponding position on containers at other positions based on the influence score.

[0085] In an optional implementation of this embodiment, according to the pulling plan of the containers to be stacked, the pulling weights of the containers to be stacked are configured, including:

[0086] If the container to be stacked is not in the published pulling plan and the predicted pulling plan, the pulling weight is configured as the first weight;

[0087] If the container to be stacked is in the published pulling plan for the day, the pulling weight is configured as the second weight;

[0088] If the container to be stacked is in the predicted pull plan for the day, the pull weight is configured as the third weight;

[0089] If the container to be stacked is in the forecast pull plan within the set number of days after the current day, the pull weight is configured as the fourth weight based on the forecast days;

[0090] Among them, the first weight is smaller than the second weight which is smaller than the third weight which is smaller than the fourth weight.

[0091] It should be noted that the container management system can obtain the container pulling plan from the upstream system in advance. The pulling plan is determined based on the parts stored in the container, that is, when the parts need to be taken from the container. The pulling plan depends on the usage of the parts.

[0092] In specific implementation, when it is determined that a container needs to be taken out on the same day, the container management system will announce it. If the container to be stacked is in the announced pulling plan of the day, it means that the container to be stacked needs to be taken out on the same day. In addition, the container management system or its upstream system can also obtain the usage of various parts and predict the future period of time, such as predicting whether the part needs to be taken within the next 11 days, the time when the part needs to be taken, that is, predicting the pulling time of the container storing the corresponding part.

[0093] In actual applications, if the container to be stacked is not in the published pulling plan and the predicted pulling plan, it means that the container to be stacked will not need to be taken in the future, so the impact of the container to be stacked on other containers should be minimal, and its pulling weight can be set to a smaller value, that is, set to the first weight; if the container to be stacked is in the published pulling plan for the day, it means that the container to be stacked must be taken at present, which may affect other containers, but the pulling plan is determined and there is no change, so the pulling weight can be configured to be larger, that is, set to the second weight; If the loading is in the predicted pulling plan for the day, it means that it is predicted that the container to be stacked needs to be picked up on the same day, but the prediction may be inaccurate and there are changes, which will increase the probability of affecting other containers. Therefore, the pulling weight can be configured to be larger, that is, set to the third weight; if the container to be stacked is in the predicted pulling plan within the set number of days after the day, it means that it is predicted that the container to be stacked needs to be picked up within a few days after the day, but the prediction may be inaccurate. The more predicted days there are, the greater the probability of changes, and the greater the probability of affecting other containers. Therefore, the fourth weight can be configured based on the predicted days, and the fourth weight is the largest.

[0094] For example, if the container to be stacked is in the currently published pulling plan, the pulling weight is configured to 1; if the container to be stacked is in the predicted pulling plan for the day, the pulling weight is configured to 2; if the container to be stacked is in the predicted pulling plan for the future, the pulling weight can be configured to 3, 4, 5,... (determined based on the predicted number of days); if the container to be stacked is not in the above-mentioned published pulling plan and predicted pulling plan, the pulling weight is configured to 0.

[0095] In addition, in actual implementation, the position constraints can also include safety constraints, mobile crane constraints and influence constraints. First, the optimal solution is found based on the safety constraints and mobile crane constraints. If there are multiple optimal solutions, the influence constraints can be combined to finally screen out the recommended stacking points. If there is only one optimal solution, the corresponding optimal position can be determined based on the influence constraints. If the optimal position includes the optimal solution, the optimal solution is used as the final recommended stacking position. If the optimal position does not include the optimal solution, the final recommended stacking point can be screened based on the weights of the safety constraints, mobile crane constraints and influence constraints.

[0096] In the embodiments of this specification, by configuring different priorities for containers with different pulling plans, the containers that are pulled nearby can be placed in the nearly full shells, tending to be placed on the upper layer and not pressed by other containers; the containers that are pulled later can be placed in the nearly empty shells, tending to be placed on the lower layer and pressed by the nearby pulled containers, thereby minimizing the situation where adjacent containers are pressed. By recommending stacking points, the number of tipping overs of each container in the yard can be reduced by 20%. When the truck transports the container to the container yard, the optimal stacking point of the container is recommended according to the latest situation of the yard, reducing the number of handling times and improving the handling efficiency of the container.

[0097] In addition, the container management system can be integrated with upstream and downstream systems, automatically obtaining data from the upstream system and automatically providing corresponding data to the downstream system, which can save users about four hours of operation time every day.

[0098] Step 106: Synchronize the recommended stacking point to the mobile crane and the container transport equipment, so that the mobile crane and the container transport equipment move to the recommended stacking point.

[0099] In an optional implementation of this embodiment, synchronizing the recommended stacking point to the mobile crane includes:

[0100] Obtaining location information of recommended stacking locations, wherein the location information includes the location of the shell and the position coordinates under the shell;

[0101] Generate pending transport tasks based on the point information, and add the pending transport tasks to the pending task list of the mobile crane.

[0102] It should be noted that the number of mobile cranes in the yard may be small. The mobile cranes can be driven by a driver or can be unmanned and automatically driven. Each mobile crane may need to perform more than one handling task. Therefore, after determining the recommended stacking point, the location information of the recommended stacking point can be obtained. The location information includes the shell position and the position coordinates under the shell position. Then, the task to be handled can be generated according to the location information, and the task to be handled can be added to the list of tasks to be performed for the mobile crane. When the mobile crane performs a task to be handled in the list of tasks to be performed, the corresponding location information can be obtained, and the mobile crane can be controlled to move to the recommended stacking point corresponding to the location information, and the container on the container transport equipment can be transported to the recommended stacking point.

[0103] For example, Figure 3 is a schematic diagram of a recommended stacking point provided by an embodiment of this specification, such as Figure 3As shown in FIG. 1 , there are 24 free spots, i.e., empty spots. The recommended stacking spot information may be C01 022 0061, where C01 represents the bay, 022 represents the 22nd row (not shown in the figure), 006 represents the 6th column, and 1 represents the 1st layer, i.e., the 22nd row, the 6th column, the 1st layer is the recommended stacking spot. Figure 3 As shown, when recommending stacking locations, the container number of the container to be stacked can also be displayed so that the recommended stacking location can be stored accordingly, such as the container number is XXXXXX. Figure 3 As shown, the interface also displays control controls, such as one-click container drop, manual operation, and cancel. One-click container drop is used to trigger the simultaneous recommendation of stacking points to the mobile crane and container transport equipment to achieve container drop; manual operation is used to modify the container drop position; and cancel is used to cancel container stacking.

[0104] In the embodiments of the present specification, a task to be handled can be generated based on the recommended stacking points and added to a list of tasks to be performed of the mobile crane. The mobile crane can execute each task in the list of tasks to be performed in sequence or according to a set priority. When executing a task to be handled, it can move directly to the corresponding recommended stacking position to achieve container drop, which is more intelligent and automated, saving container management costs.

[0105] In an optional implementation of this embodiment, synchronizing the recommended stacking point to the container transportation equipment includes:

[0106] Obtaining a location diagram corresponding to the three-dimensional yard diagram, wherein the location diagram is used to indicate the distribution of container stacking points in the yard;

[0107] Mark the recommended route from the current position of the container transport equipment to the recommended stacking point in the location diagram to obtain a yard driving route map;

[0108] The yard driving route map is pushed to the control terminal held by the user driving the container transportation equipment.

[0109] It should be noted that since the driving user of the container transport equipment may be entering the yard for the first time and is not familiar with the yard map, it is impossible to accurately drive the container transport equipment to the recommended stacking point. Therefore, a position diagram corresponding to the three-dimensional yard map can be obtained, and the position diagram can indicate the distribution of the container stacking points in the yard. Then, the recommended route from the current position of the container transport equipment to the recommended stacking point is marked in the position diagram to obtain the yard driving route map, and the yard driving route map is pushed to the control terminal held by the user driving the container transport equipment, so that the driving user can accurately drive the container transport equipment to the corresponding recommended stacking position based on the route map.

[0110] For example, Figure 4is a schematic diagram of a yard driving route map provided by an embodiment of this specification, such as Figure 4 As shown in the figure, the yard driving route map includes the entrance, office area, and container stacking area. The container stacking area is divided into 12 bays, namely A01-A03, B01-B03, C01-C03, and D01-D03. Assuming that the bay of the recommended stacking point is C02, a recommended route can be added from the position of the container transport equipment to the position of C02 to guide the driver to drive the container transport equipment to the recommended stacking point.

[0111] In an embodiment of the present specification, a yard driving route map can be generated for the driver of the container transport equipment according to the recommended stacking points. The yard driving route map, i.e., the container yard guide map, can guide the driving user to the recommended stacking position, and can also recommend the driver of the mobile crane to move to the recommended stacking point to transport the container to be stacked to the recommended stacking point.

[0112] In an optional implementation of this embodiment, the container management method further includes:

[0113] receiving a search operation, wherein the search operation carries a search condition;

[0114] The target container is determined according to the search conditions, the target container is marked in the three-dimensional yard map, and the attribute information of the target container and the placement of containers around the target container are displayed.

[0115] In actual implementation, users can search for a container in the container management system. The search condition can be to click on a container in the three-dimensional yard map. In this case, the selected container is the target container. Alternatively, the search condition can also be part type. The part types stored in each container can be traversed to find a matching target container. Of course, in actual applications, containers can also be searched based on other search conditions.

[0116] It should be noted that after determining the target container, the target container can be marked in the three-dimensional yard map, such as changing the color, adding instruction information, etc., and the attribute information of the target container and the placement of containers around the target container can be displayed. The attribute information may refer to the time of placement of the target container, stored parts and other information.

[0117] In the embodiments of the present specification, a user can quickly locate a container through visual search, view the parts information in the selected container, and display its position in the yard and the placement of surrounding containers.

[0118] In an optional implementation of this embodiment, the container management method further includes:

[0119] Obtain operating information of mobile cranes and movement information of container transport equipment;

[0120] Draw operation and movement information in the 3D yard diagram to generate work animation.

[0121] In actual implementation, the container management system can also obtain the operation information of the mobile crane and the movement information of the container transportation equipment, draw the operation information and the movement information in the three-dimensional yard map, and generate a work animation. Users can see the daily operations of the container yard through real-time animation, such as trucks and trains entering and leaving the container yard, mobile cranes handling container placement operations, etc., so that users in the planning department can understand the behavior of container operations and plan the yard in a more effective way.

[0122] In addition, users can also view charts of historical container yard business volumes through entry and exit reports.

[0123] The embodiment of the present specification provides a container management method, which realizes determining a recommended stacking point from free points in a three-dimensional yard map based on at least one of safety constraints, mobile crane constraints, and influence constraints, and then synchronizing the recommended stacking point to the mobile crane and container transport equipment, so that the mobile crane and container transport equipment move to the recommended stacking point, and the container to be stacked is placed at the recommended stacking point to achieve container storage. In this way, based on at least one of safety constraints, mobile crane constraints, and influence constraints, points that meet corresponding constraints can be automatically recommended in the three-dimensional yard map, so that the points for stacking containers are more reasonable, the requirements for operators are reduced, the management cost of containers is reduced, and the handling efficiency of containers is improved.

[0124] The following uses the container management method provided in this specification in the vehicle parts transportation scenario as an example to further illustrate the container management method. Figure 5 FIG. 1 shows a functional module diagram of a container management system in a vehicle parts transportation scenario provided by an embodiment of the present specification, such as Figure 5 As shown, the container management system is divided into a control tower system and a terminal system. The control tower system includes business modules, container management, inbound and outbound operations, report data, basic data, management system, functional management, etc. Business modules include receiving plans, cancellation plans, and return plans; container management includes container management and container tracking; inbound and outbound operations include inbound operations, outbound operations, return data entries, etc.; report data includes daily reports; basic data includes truck numbers, mobile crane numbers, and customer management, etc.; management systems include user management, authority management, log query, etc.; functional management includes refresh, password change, logout, etc. The terminal system includes inbound, repositioning, pickup, outbound, etc.

[0125] It should be noted that the various functional modules of the above-mentioned container management system cooperate to implement the various operating steps of the above-mentioned container management method. The containers store vehicle parts. The usage of the vehicle parts determines the pulling plan of the container. After the parts in the container are taken, the empty container can be operated.

[0126] Corresponding to the above method embodiment, this specification also provides a container management system embodiment, Figure 6 FIG. 1 shows a schematic diagram of a container management system provided by an embodiment of the present specification. Figure 6 As shown, the container management system includes:

[0127] The first determination module 602 is configured to determine an idle point among a plurality of container stacking points in the three-dimensional yard map;

[0128] The second determination module 604 is configured to determine a recommended stacking point from each free point according to a position constraint condition when detecting that there is a container to be stacked, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition;

[0129] The synchronization module 606 is configured to synchronize the recommended stacking point to the mobile crane and the container transport equipment, so that the mobile crane and the container transport equipment move to the recommended stacking point.

[0130] In an optional implementation of this embodiment, a plurality of container stacking locations are divided into different shells, each shell including a plurality of rows of container stacking locations;

[0131] The safety constraints include shell structure restrictions, which include the maximum number of containers stacked at each row of the shell, and / or the difference in the number of containers stacked between the target row and the adjacent row in each shell is less than or equal to a set threshold;

[0132] The mobile crane constraint condition includes at least one of an operation direction of the mobile crane, a limited number of rows for one operation, and a maximum number of containers in different rows.

[0133] In an optional implementation of this embodiment, the position constraint condition includes a safety constraint condition and / or a mobile crane constraint condition; the second determination module 604 is further configured to:

[0134] Find the optimal solution for each idle point according to safety constraints and / or mobile crane constraints;

[0135] The optimal solution obtained is used as the recommended stacking point.

[0136] In an optional implementation of this embodiment, the location constraint condition includes an influence constraint condition, and the influence constraint condition is that the number of times the affected container is moved after being placed in the container to be stacked is minimized; the second determination module 604 is further configured to:

[0137] According to the pulling plan of the containers to be stacked, the pulling weights of the containers to be stacked are configured;

[0138] Determine the influence score corresponding to each idle point based on the pull weight;

[0139] The idle point with the smallest impact score among all the idle points is selected as the recommended stacking point.

[0140] In an optional implementation of this embodiment, the second determining module 604 is further configured to:

[0141] Determine the target idle point to place the linked containers affected by the containers to be stacked, and determine the minimum number of handling times when each linked container is taken out, wherein the target idle point is any idle point;

[0142] The minimum number of handling times when each linkage container is taken out is multiplied by the pulling weight to obtain the influence factor of each linkage container, and the influence factor is added to obtain the influence score of the target idle point.

[0143] In an optional implementation of this embodiment, the second determining module 604 is further configured to:

[0144] If the container to be stacked is not in the published pulling plan and the predicted pulling plan, the pulling weight is configured as the first weight;

[0145] If the container to be stacked is in the published pulling plan for the day, the pulling weight is configured as the second weight;

[0146] If the container to be stacked is in the predicted pull plan for the day, the pull weight is configured as the third weight;

[0147] If the container to be stacked is in the forecast pull plan within the set number of days after the current day, the pull weight is configured as the fourth weight based on the forecast days;

[0148] Among them, the first weight is smaller than the second weight which is smaller than the third weight which is smaller than the fourth weight.

[0149] In an optional implementation of this embodiment, the synchronization module 606 is further configured as follows:

[0150] Obtaining location information of recommended stacking locations, wherein the location information includes the location of the shell and the position coordinates under the shell;

[0151] Generate pending transport tasks based on the point information, and add the pending transport tasks to the pending task list of the mobile crane.

[0152] In an optional implementation of this embodiment, the synchronization module 606 is further configured as follows:

[0153] Obtaining a location diagram corresponding to the three-dimensional yard diagram, wherein the location diagram is used to indicate the distribution of container stacking points in the yard;

[0154] Mark the recommended route from the current position of the container transport equipment to the recommended stacking point in the location diagram to obtain a yard driving route map;

[0155] The yard driving route map is pushed to the control terminal held by the user driving the container transportation equipment.

[0156] In an optional implementation of this embodiment, the container management system further includes a construction module configured to:

[0157] Obtain the topographic information of the yard and the three-dimensional position coordinates of the containers stacked in the yard;

[0158] Construct a three-dimensional yard map based on terrain information and three-dimensional location coordinates.

[0159] In an optional implementation of this embodiment, the building module is further configured as follows:

[0160] Get current weather information;

[0161] Determine the weather animation corresponding to the current weather information;

[0162] In response to the weather display instruction, the weather animation is superimposed on the three-dimensional yard map.

[0163] In an optional implementation of this embodiment, the container management system further includes a search module configured to:

[0164] receiving a search operation, wherein the search operation carries a search condition;

[0165] The target container is determined according to the search conditions, the target container is marked in the three-dimensional yard map, and the attribute information of the target container and the placement of containers around the target container are displayed.

[0166] In an optional implementation of this embodiment, the container management system further includes a generation module configured to:

[0167] Obtain operating information of mobile cranes and movement information of container transport equipment;

[0168] Draw operation and movement information in the 3D yard diagram to generate work animation.

[0169] The embodiment of the present specification provides a container management system, which realizes determining the recommended stacking point from the free points in the three-dimensional yard map based on at least one of the safety constraint condition, the mobile crane constraint condition and the influence constraint condition, and then synchronizing the recommended stacking point to the mobile crane and the container transport equipment, so that the mobile crane and the container transport equipment move to the recommended stacking point, and the container to be stacked is placed at the recommended stacking point to achieve the storage of the container. In this way, based on at least one of the safety constraint condition, the mobile crane constraint condition and the influence constraint condition, the point that meets the corresponding constraint condition can be automatically recommended in the three-dimensional yard map, so that the point of stacking the container is more reasonable, the requirements for the operator are reduced, and the management cost of the container is reduced, and the handling efficiency of the container is improved.

[0170] The above is a schematic solution of a container management system of this embodiment. It should be noted that the technical solution of the container management system and the technical solution of the container management method described above are of the same concept, and the details not described in detail in the technical solution of the container management system can be found in the description of the technical solution of the container management method described above.

[0171] Figure 7 The block diagram of a computing device according to an embodiment of the present specification is shown. The components of the computing device 700 include but are not limited to a memory 710 and a processor 720. The processor 720 is connected to the memory 710 via a bus 730, and the database 750 is used to store data.

[0172] The computing device 700 also includes an access device 740 that enables the computing device 700 to communicate via one or more networks 760. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 740 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0173] In one embodiment of the present specification, the above components of the computing device 700 and Figure 7 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 7 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0174] The computing device 700 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 700 may also be a mobile or stationary server.

[0175] The processor 720 is used to execute the following computer executable instructions, which implement the steps of the above container management method when executed by the processor.

[0176] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the container management method described above are of the same concept, and the details not described in detail in the technical scheme of the computing device can be found in the description of the technical scheme of the container management method described above.

[0177] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which can implement the steps of the above-mentioned container management method when executed by a processor.

[0178] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the container management method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the container management method described above.

[0179] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned container management method.

[0180] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the container management method described above are of the same concept, and the details not described in detail in the technical scheme of the computer program can be found in the description of the technical scheme of the container management method described above.

[0181] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0182] Computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROM), random access memories (RAM), electric carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of computer readable media may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0183] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A container management method, characterized in that: Applied to a container management system, the method comprises: Determine the vacant points among multiple container stacking points in the three-dimensional yard map; When it is detected that there are containers to be stacked, a recommended stacking point is determined from each free point according to a position constraint condition, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition; The recommended stacking point is synchronized to the mobile crane and the container transport equipment, so that the mobile crane and the container transport equipment move to the recommended stacking point.

2. The container management method according to claim 1, characterized in that: The plurality of container stacking locations are divided into different bays, each bay including a plurality of rows of container stacking locations; The safety constraint condition includes a shell structure restriction, wherein the shell structure restriction includes a maximum number of stacking points of each row of containers in the shell, and / or a difference in the number of stacking containers between a target row and an adjacent row in each shell is less than or equal to a set threshold; The mobile crane constraint condition includes at least one of an operating direction of the mobile crane, a limited number of rows for one operation, and a maximum number of containers in different rows.

3. The container management method according to claim 1 or 2, characterized in that: The position constraint condition includes a safety constraint condition and / or a mobile crane constraint condition; the step of determining a recommended stacking point from each idle point according to the position constraint condition includes: According to the safety constraint condition and / or the mobile crane constraint condition, solving the optimal solution for each idle point; The obtained optimal solution is used as the recommended stacking point.

4. The container management method according to claim 1, characterized in that: The position constraint condition includes an influence constraint condition, and the influence constraint condition is that the number of times the affected container is moved after the container to be stacked is placed is minimized; and determining the recommended stacking point from each idle point according to the position constraint condition includes: According to the pulling plan of the containers to be stacked, configuring the pulling weights of the containers to be stacked; Determine the influence score corresponding to each idle point based on the pulling weight; The idle point with the smallest influence score among the idle points is selected as the recommended stacking point.

5. The container management method according to claim 4, characterized in that: The determining of the influence score corresponding to each idle point based on the pulling weight includes: Determine a target idle point to place the linked containers affected by the container to be stacked, and determine the minimum number of handling times when each linked container is taken out, wherein the target idle point is any idle point; The minimum number of handling times when each linkage container is taken out is multiplied by the pulling weight to obtain the influence factor of each linkage container, and the influence factors are added to obtain the influence score of the target idle point.

6. The container management method according to claim 4, characterized in that: The configuring the pulling weights of the containers to be stacked according to the pulling plan of the containers to be stacked includes: If the container to be stacked is not in the published pulling plan and the predicted pulling plan, the pulling weight is configured as the first weight; If the container to be stacked is included in the published pulling plan for the day, the pulling weight is configured as the second weight; If the container to be stacked is in the predicted pulling plan for the day, the pulling weight is configured as the third weight; If the container to be stacked is in the predicted pulling plan within a set number of days after the current day, the pulling weight is configured as a fourth weight based on the predicted number of days; Among them, the first weight is smaller than the second weight, which is smaller than the third weight, which is smaller than the fourth weight.

7. The container management method according to claim 1, characterized in that: Synchronizing the recommended stacking points to the mobile crane includes: Acquire the location information of the recommended stacking location, wherein the location information includes a shell position and a position coordinate under the shell position; Generate a to-be-carried task according to the point information, and add the to-be-carried task to a to-be-executed task list of the mobile crane.

8. The container management method according to claim 1, characterized in that: Synchronizing the recommended stacking point to the container transport equipment includes: Obtaining a location schematic diagram corresponding to the three-dimensional yard diagram, wherein the location schematic diagram is used to indicate the distribution of container stacking points in the yard; Marking a recommended route from the current position of the container transport equipment to the recommended stacking point in the position diagram to obtain a yard driving route map; The yard driving route map is pushed to a control terminal held by a user driving the container transportation equipment.

9. The container management method according to claim 1, characterized in that: Before determining the idle points among the plurality of container stacking points in the three-dimensional yard diagram, the method further includes: Acquire terrain information of the yard and three-dimensional position coordinates of the containers stacked in the yard; The three-dimensional yard map is constructed according to the terrain information and the three-dimensional position coordinates.

10. The container management method according to claim 9, characterized in that: After constructing the three-dimensional storage yard map according to the terrain information and the three-dimensional position coordinates, the method further includes: Get current weather information; Determine the weather animation corresponding to the current weather information; In response to a weather display instruction, the weather animation is superimposed on the three-dimensional yard map.

11. The container management method according to claim 1, characterized in that: The method further comprises: receiving a search operation, wherein the search operation carries a search condition; A target container is determined according to the search condition, the target container is marked in the three-dimensional yard map, and attribute information of the target container and the placement of containers around the target container are displayed.

12. The container management method according to claim 1, characterized in that: The method further comprises: Acquiring operation information of the mobile crane and movement information of the container transport equipment; The operation information and the movement information are drawn in the three-dimensional yard map to generate a work animation.

13. A container management system, characterized in that: The system comprises: A first determination module is configured to determine an idle point among a plurality of container stacking points in the three-dimensional yard map; A second determination module is configured to determine a recommended stacking point from each free point according to a position constraint condition when detecting that there is a container to be stacked, wherein the position constraint condition includes at least one of a safety constraint condition, a mobile crane constraint condition and an influence constraint condition; The synchronization module is configured to synchronize the recommended stacking point with the mobile crane and the container transportation equipment so that the mobile crane and the container transportation equipment move to the recommended stacking point.

14. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the container management method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium, characterized in that: It stores computer executable instructions, which, when executed by a processor, implement the steps of the container management method according to any one of claims 1 to 12.

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