Operation scheduling method for container loading and unloading of gantry crane and gantry crane

Abstract

The invention provides an operation scheduling method for container loading and unloading of a yard crane and the yard crane, and the method comprises the steps: positioning a target carriage position of a train after the train enters a station, and obtaining an operation scheduling process based on the target carriage position, train data and a target operation rule; therefore, based on the operation scheduling process, the yard crane is controlled to perform one-way operation from the target carriage position so as to perform loading and unloading operation on the container, so that the purposes of ensuring that the yard crane can perform loading or unloading tasks in a forward or reverse sequence along a train and avoiding back-and-forth traveling of a cart are achieved; therefore, the technical effect of improving the loading and unloading operation efficiency of the gantry crane is achieved, and the technical problem that the loading and unloading operation efficiency is low due to back-and-forth walking of the cart when the gantry crane executes the loading and unloading operation is solved.

Description

Technical Field

[0001] The present application relates to the technical field of loading and unloading operations, and in particular to an operation scheduling method for loading and unloading containers by a yard crane and a yard crane. Background Art

[0002] Currently, container train loading and unloading operations are primarily based on container-based scheduling. Before a train arrives at the yard, it must be scanned and identified, and its length change must be detected. After the train stops, the first car is located, and the positions of the remaining cars and their containers are calculated. This system places high demands on the positioning and identification of both the train and the container.

[0003] In the existing technology, the position of the container to be unloaded on each car in the entire train and the corresponding yard position are often calculated based on the position of the first car, the sequence number of the train car number and the change length of each car. The system must know the box number and position of all containers in this train to complete the classification of the containers to be unloaded and calculate the unloading walking distance; based on the unloading walking distance of each container to be unloaded on this train, the unloading walking distance of the containers to be unloaded on the entire train is calculated. This container-based scheduling has the problem that when the container position and the car body position are inconsistent, it cannot be operated in the order of the car bodies, resulting in the trucks walking back and forth, wasting mechanical efficiency and time. Summary of the Invention

[0004] In view of this, the present application provides an operation scheduling method for loading and unloading containers on a yard crane and a yard crane, which solves the technical problem of low loading and unloading efficiency caused by the back-and-forth movement of large vehicles when the yard crane performs loading and unloading operations.

[0005] As the first aspect of the present application, the present application provides an operation scheduling method for a yard crane to load and unload containers, comprising: in response to receiving a container operation instruction issued by a yard crane task management system after a train enters a station, obtaining train data, the train data including at least the train model, car number, sequence, arrival station, departure station and car length information; based on the container operation instruction and the train data, controlling the yard crane to locate the target car position of the train; uploading the target car position and the train data as input data to the yard crane task management system, generating an operation scheduling process for the container by calculating the input data and the target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded and unloaded and the train car; based on the operation scheduling process and the container operation instruction, controlling the yard crane to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container.

[0006] In a possible implementation of the present application, in response to a container operation instruction being an unloading instruction, based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container, including: controlling the spreader of the yard crane to be lowered to the first car position of the train, and identifying the container number at the first car position; uploading the container number to the yard crane task management system, and determining whether the container number is included in the unloading list; if the container number is included in the unloading list, controlling the spreader to unload the container at the first car position.

[0007] In a possible implementation of the present application, determining whether the container number is included in the unloading list includes: if the container number is not included in the unloading list, determining whether the container number is correct; if the container number is correct, generating a first exception message, and uploading the first exception message to the yard crane task management system for processing; if the container number is incorrect, obtaining the correct container number, and checking the correct container number with the container number in the unloading list in the yard crane task management system.

[0008] In a possible implementation of the present application, after controlling the spreader to unload the container at the first car position, the method includes: judging whether the containers on the train have been unloaded based on the unloading list; if the containers on the train have not been unloaded, controlling the yard crane trolley to move to the next car position adjacent to the first car position to perform unloading operations based on the operation scheduling process; if the containers on the train have been unloaded, ending the unloading operation.

[0009] In a possible implementation of the present application, the yard crane trolley is controlled to move to the next carriage position adjacent to the first carriage position to perform unloading operations based on the operation scheduling process, including: calculating the first carriage position and the carriage length to obtain the next carriage position; taking the first carriage position as the target carriage position, and based on the operation scheduling process, controlling the yard crane trolley to move from the target carriage position to the next carriage position to perform unloading operations.

[0010] In a possible implementation of the present application, in response to a container operation instruction being a loading instruction, based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container, including: controlling the spreader of the yard crane to be lowered to the target container in the yard, and identifying the container number of the target container to obtain the target container number; judging whether the target container number is consistent with the container number on the list to be loaded; if the target container number is consistent with the container number on the list to be loaded, judging whether there is a target car position corresponding to the target container number on the train; if there is a target car position corresponding to the target container number on the train, controlling the spreader to load the target container to the target car position of the train.

[0011] In a possible implementation of the present application, it is determined whether there is a target car position corresponding to the target container number on the train, including: if there is no target car position corresponding to the target container number on the train, controlling the yard crane to locate to the first car position of the train, and controlling the spreader to load the target container to the first car position; uploading the first car position to the yard crane task management system, and at the same time, based on the list to be loaded, determining whether the containers in the yard have been loaded; if the containers in the yard have not been loaded, controlling the yard crane trolley to move to the next container position in the yard for loading operations based on the operation scheduling process; if the containers in the yard have been loaded, ending the loading operation.

[0012] In a possible implementation of the present application, the yard crane trolley is controlled to move to the next container position in the yard for loading operations based on the operation scheduling process, including: identifying the container number of the next container in the yard to obtain the container number of the next container; calculating the position and length of the first car to obtain the next car position; judging whether the next container number is associated with the next car position; if the next container number is associated with the next car position, controlling the yard crane trolley to move to the next container position in the yard, and loading the next container to the next car position.

[0013] In a possible implementation of the present application, determining whether the target container number is consistent with the container number on the to-be-loaded list includes: if the target container number is inconsistent with the container number on the to-be-loaded list, determining whether the target container number is correct; if the target container number is correct, generating second exception information, and uploading the second exception information to the yard crane task management system for processing; if the target container number is incorrect, obtaining the correct target container number, and checking the correct target container number with the container number on the to-be-loaded list in the yard crane task management system.

[0014] As a second aspect of the present application, the present application also provides an operation scheduling device for a yard crane to load and unload containers, including: an acquisition module for obtaining train data in response to a container operation instruction issued by the yard crane task management system after the train enters the station, the train data including at least the train model, car number, sequence, arrival station, departure station and car length information; a control module for controlling the yard crane to locate the target car position of the train based on the container operation instruction and the train data; a generation module for uploading the target car position and train data as input data to the yard crane task management system, and generating an operation scheduling process for the container by calculating the input data and the target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded and unloaded and the train car; an operation module for controlling the yard crane to perform unidirectional operation in a preset direction starting from the target car position based on the operation scheduling process and the container operation instruction to perform loading and unloading operations on the container.

[0015] As the third aspect of the present application, the present application also provides a yard crane, including: a trolley, which moves as a whole along the train track to reach a designated position for operation; a trolley, which is a moving component installed on the main beam of the trolley, responsible for moving horizontally on the main beam to move the spreader from one end of the trolley to the other end; a spreader, which is installed under the trolley and is used to grab containers; an operation scheduling system, which is used to execute any of the above-mentioned operation scheduling methods for loading and unloading containers by the yard crane.

[0016] As a fourth aspect of the present application, the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program is used to execute any of the above-mentioned yard crane loading and unloading container operation scheduling methods.

[0017] The present application provides an operation scheduling method for loading and unloading containers by a yard crane. In response to receiving a container operation instruction issued by a yard crane task management system after a train enters a station, the method obtains train data, where the train data includes at least the model, car number, sequence, arrival station, departure station, and car length information of the train; based on the container operation instruction and the train data, the method controls the yard crane to locate the target car position of the train; the target car position and the train data are uploaded to the yard crane task management system as input data, and an operation scheduling process for the container is generated by calculating the input data and the target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded and unloaded and the train car; based on the operation scheduling process and the container operation instruction, the method controls the yard crane to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container. It is easy to notice that after the train enters the station, the target car position of the train is located, and the operation scheduling process is obtained based on the target car position, train data and target operation rules. Based on the operation scheduling process, the yard crane is controlled to run in one direction from the target car position to load and unload containers, so as to ensure that the yard crane can perform loading or unloading tasks in the forward or reverse order of the train, avoiding the back and forth movement of large carts, and thus achieving the technical effect of improving the loading and unloading efficiency of the yard crane, thereby solving the technical problem of low loading and unloading efficiency caused by the back and forth movement of large carts when the yard crane performs loading and unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The figure shows a flow chart of an operation scheduling method for loading and unloading containers by a yard crane provided in one embodiment of the present application.

[0020] Figure 2 Shown is a flowchart of the unloading operation provided by an embodiment of the present application.

[0021] Figure 3 Shown is a loading operation flow chart provided in one embodiment of the present application.

[0022] Figure 4 The figure shows a flow chart of an operation scheduling device for loading and unloading containers on a yard crane provided by one embodiment of the present application.

[0023] Figure 5 The figure shows a schematic structural diagram of a field bridge provided in one embodiment of the present application.

[0024] Figure 6 The figure shows a device block diagram of a field bridge provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In the description of the application, the meaning of "multiple" is at least two, for example two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any deformation thereof are intended to cover non-exclusive inclusion. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes the steps or units not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0026] In addition, references to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor does it necessarily refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] Exemplary Methods

[0028] As a first aspect of the present application, the present application provides a method for scheduling operations of loading and unloading containers by a yard crane. Figure 1 FIG. 1 is a flow chart of a method for scheduling container loading and unloading operations of a container crane provided by an embodiment of the present application. Figure 1 As shown, the job scheduling method includes the following steps:

[0029] S101, in response to receiving a container operation instruction issued by the yard crane task management system after a train enters a station, obtaining train data, where the train data includes at least the train model, train number, sequence, arrival station, departure station, and carriage length information;

[0030] Specifically, the aforementioned yard crane task management system is used to manage the loading and unloading operations of container trains. Generally, the yard crane task management system calculates received train data and the user's loading and unloading rules to derive an operation scheduling process, and then loads and unloads containers based on the operation scheduling process.

[0031] The above-mentioned operation instruction can be an instruction for unloading a container or an instruction for loading a container. Generally, after entering the railway station, the yard crane task management system can issue the corresponding operation instruction.

[0032] The aforementioned train data includes, but is not limited to, the train model, car number, sequence, arrival and departure stations, and carriage length. Obtaining this train data facilitates the precise positioning of train carriages and the generation of corresponding job scheduling processes.

[0033] In an optional embodiment, during the scheduling of loading and unloading operations of container trains, after the train arrives at the station, the train data, including vehicle model, vehicle number, sequence, arrival station, departure station, and carriage length, can be uploaded to the yard crane task management system through the 95306 system or other data sources. After receiving the train data, the yard crane task management system can issue container operation instructions. After receiving the container operation instructions, the yard crane can unload the containers on the train to the yard or load the containers on the yard onto the train carriages according to the specific operation instructions.

[0034] S102, based on the container operation instruction and train data, control the yard crane to locate the target carriage position of the train;

[0035] Specifically, the above-mentioned target car position can be the first car position of the train, the last car position of the train, or any car position of the train. The target car position is not specifically limited here and can be determined through specific operation instructions.

[0036] Specifically, when a container operation instruction is for unloading, the target car location can be determined as the first car of the train. When a container operation instruction is for loading, the target car location can be determined based on the captured container number. Generally, when user rules are in place, the yard crane can generate the corresponding operation scheduling process based on these user rules. For example, the yard crane can load containers A1-A6 into cars 7-12 of the train, and containers A7-A12 into cars 1-6 of the train, etc.

[0037] Applied to an optional embodiment, after obtaining the train data, the yard crane task management system can control the yard crane to locate the target car position of the train according to the container operation instruction and the train data. Generally, when the container operation instruction corresponds to the unloading instruction, the driver needs to manually operate the yard crane to locate the first car position of the train, and at the same time lower the spreader to the top of the container on the first car. At this time, the first car position can be determined as the above-mentioned target car position; when the container operation instruction corresponds to the loading instruction, after verifying the container box number and the train car position, the driver needs to manually operate the yard crane to locate the first car position of the train (that is, the container box number matches the first car position), and at the same time lower the spreader to the top of the container in the yard. At this time, the first car position can be determined as the above-mentioned target car position.

[0038] S103: Upload the target car position and train data as input data to the yard crane task management system. The container operation scheduling process is generated by calculating the input data and the target operation rules. The target operation rules are used to represent the relationship between the containers to be loaded and unloaded and the train cars.

[0039] Specifically, the target operation rules described above can be used to represent rules generated by customers specifying containers and train cars to be loaded and unloaded.

[0040] The above-mentioned operation scheduling process can be used to represent the scheduling process for container loading and unloading operations. Generally, the yard crane task management system can generate the operation scheduling process based on the target car position, train data and target operation rules.

[0041] In an optional embodiment, after the control yard crane is positioned to the target car position of the train, subsequent loading and unloading operations need to be performed. Therefore, the target car position and train data can be uploaded to the yard crane task management system as input data. By calculating the input data and target operation rules, an operation scheduling process for the container can be generated, and the container can be loaded and unloaded according to the operation scheduling process.

[0042] Specifically, if the operation instruction is an unloading instruction, after the control yard crane is positioned at the target car position of the train, the container at the target car position can be unloaded by the spreader. At the same time, based on the operation scheduling process, the container at the next car position adjacent to the target car position can be unloaded, and so on, until all the containers on the train car are unloaded. Conversely, if the operation instruction is a loading instruction, after the control yard crane is positioned at the target car position of the train, the container in the yard can be loaded into the target car position by the spreader. At the same time, based on the operation scheduling process, the next container in the yard can be loaded into the next car position adjacent to the target car position, and so on, until all the containers in the yard are loaded.

[0043] S104: Based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform one-way operation in a preset direction starting from the target carriage position to perform the container loading and unloading operation.

[0044] Specifically, the above-mentioned preset direction can be used to indicate the preset moving direction of the yard crane trolley, which can be to perform loading or unloading tasks along the forward direction of the train, or to perform loading or unloading tasks along the reverse direction of the train. The preset direction is not specifically limited here and can be determined by actual train data and yard crane position.

[0045] In an optional embodiment, after generating the operation scheduling process for the container, the yard crane can be controlled to perform one-way operation in a preset direction starting from the target car position to perform loading and unloading operations on the container based on the operation scheduling process and the container operation instructions.

[0046] For example, if the operation instruction is an unloading instruction, after the container on the first car position is unloaded by the sling, the yard crane trolley can be controlled to move to the second car position, and at the same time, the yard crane trolley carries the sling to run above the container on the second car position to unload the container on the second car position. Similarly, the yard crane trolley runs unidirectionally along the direction of the train track to unload the containers on the train car until all the containers on the train car are unloaded.

[0047] On the contrary, if the operation instruction is a loading instruction, after the container in the yard is loaded to the first car position by the spreader, the yard crane trolley can be controlled to move to the second car position. At the same time, the yard crane trolley carries the spreader to run above the next container in the yard, grabs the next container in the yard and moves the trolley to load the grabbed container to the second car position. Similarly, the yard crane trolley runs unidirectionally along the direction of the train track to load the containers in the yard until all the containers in the yard are loaded.

[0048] The present application provides an operation scheduling method for loading and unloading containers by a yard crane. In response to receiving a container operation instruction issued by a yard crane task management system after a train enters a station, the method obtains train data, where the train data includes at least the model, car number, sequence, arrival station, departure station, and car length information of the train; based on the container operation instruction and the train data, the method controls the yard crane to locate the target car position of the train; the target car position and the train data are uploaded to the yard crane task management system as input data, and an operation scheduling process for the container is generated by calculating the input data and the target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded and unloaded and the train car; based on the operation scheduling process and the container operation instruction, the method controls the yard crane to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container. It is easy to notice that after the train enters the station, the target car position of the train is located, and the operation scheduling process is obtained based on the target car position, train data and target operation rules. Based on the operation scheduling process, the yard crane is controlled to run in one direction from the target car position to load and unload containers, so as to ensure that the yard crane can perform loading or unloading tasks in the forward or reverse order of the train, avoiding the back and forth movement of large carts, and thus achieving the technical effect of improving the loading and unloading efficiency of the yard crane, thereby solving the technical problem of low loading and unloading efficiency caused by the back and forth movement of large carts when the yard crane performs loading and unloading operations.

[0049] In a possible implementation of the present application, in response to a container operation instruction being an unloading instruction, based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container, including: controlling the spreader of the yard crane to be lowered to the first car position of the train, and identifying the container number at the first car position; uploading the container number to the yard crane task management system, and determining whether the container number is included in the unloading list; if the container number is included in the unloading list, controlling the spreader to unload the container at the first car position.

[0050] Specifically, when the operation instruction is an unloading instruction, in the process of controlling the yard crane to perform unidirectional operation in a preset direction from the target car position to load and unload the container, after the driver manually operates the yard crane to position the first car position of the train, the spreader of the yard crane can be controlled to be lowered to the first car position of the train, and at the same time, the container number of the first car position is identified by the container number recognition device on the spreader, and the container number of the first car position is judged, that is, whether the container number is included in the unloading list. If the container number is included in the unloading list, it means that the container at the first car position is the container that needs to be unloaded, and then the spreader can be controlled to unload the container at the first car position.

[0051] In a possible implementation of the present application, determining whether the container number is included in the unloading list includes: if the container number is not included in the unloading list, determining whether the container number is correct; if the container number is correct, generating a first exception message, and uploading the first exception message to the yard crane task management system for processing; if the container number is incorrect, obtaining the correct container number, and checking the correct container number with the container number in the unloading list in the yard crane task management system.

[0052] Specifically, the first abnormal information is used to remind the yard crane task management system that the unloading process is abnormal.

[0053] Applied in an optional embodiment, in the above-mentioned process of determining whether the container number is included in the unloading list, if the container number is not included in the unloading list, the yard crane task management system needs to be manually taken over, that is, manually determine whether the identified container number is correct. If the container number is correct, it means that the yard crane task management system is operating abnormally at this time, and a first abnormality message can be generated and uploaded to the yard crane task management system for abnormality processing; if the container number is incorrect, it means that the container number is incorrectly identified, and the correct container number can be obtained, and the above-mentioned container number identification step can be repeated, that is, the correct container number is compared with the container number in the unloading list in the yard crane task management system.

[0054] In a possible implementation of the present application, after controlling the spreader to unload the container at the first car position, the method includes: judging whether the containers on the train have been unloaded based on the unloading list; if the containers on the train have not been unloaded, controlling the yard crane trolley to move to the next car position adjacent to the first car position to perform unloading operations based on the operation scheduling process; if the containers on the train have been unloaded, ending the unloading operation.

[0055] Specifically, the trolley of the above-mentioned yard crane is responsible for moving as a whole along the train tracks to reach the designated location for operation.

[0056] Applied in an optional embodiment, after controlling the spreader to unload the container at the first car position, it is necessary to determine whether the containers on the train car have been unloaded based on the unloading list. If the containers on the train have been unloaded, the unloading operation is ended; on the contrary, if the containers on the train have not been unloaded, the yard crane trolley is controlled to move to the next car position adjacent to the first car position based on the operation scheduling process to unload the container at the second car position, that is, to unload the container. In this way, the yard crane can perform unloading tasks in the forward or reverse order of the train, avoiding the back and forth movement of the trolley.

[0057] In a possible implementation of the present application, the yard crane trolley is controlled to move to the next carriage position adjacent to the first carriage position to perform unloading operations based on the operation scheduling process, including: calculating the first carriage position and the carriage length to obtain the next carriage position; taking the first carriage position as the target carriage position, and based on the operation scheduling process, controlling the yard crane trolley to move from the target carriage position to the next carriage position to perform unloading operations.

[0058] Specifically, in the process of controlling the crane trolley to move to the next car position adjacent to the first car position for unloading operations based on the operation scheduling process, the crane task management system can calculate the first car position and the car length to obtain the next car position, that is, the second car position. By using the first car position as the target car position, the crane trolley is controlled to move from the target car position to the second car position based on the operation scheduling process, and the container on the second car position can be unloaded. In this way, based on the operation scheduling of the car body sequence, the trolley maintains one-way operation and basically does not move back and forth to search for the container, reducing the ineffective movement of the trolley and improving the operation efficiency of the crane. At the same time, the present application determines the operation process according to the container box number, avoiding the existing technology of searching for the container by the box number, finding that the box number does not match after the box is placed, and then lifting the hoist to a safe height to search for the container by running the trolley, thereby optimizing the operation process.

[0059] Figure 2 The figure shows a flow chart of the unloading operation provided by an embodiment of the present application, as shown in FIG. Figure 2 As shown, the unloading operation includes the following steps:

[0060] S201, train approaching;

[0061] S202, obtaining train data;

[0062] That is, obtain data such as vehicle model, vehicle number, sequence, arrival station, departure station, container number, etc.

[0063] S203, positioning the first car body;

[0064] That is, manually locate to the first carriage position.

[0065] S204, boxed;

[0066] The spreader is about to be lowered to the position directly above the container on the first carriage.

[0067] S205, identifying the container number and uploading it to the gantry crane task management system;

[0068] S206, determine whether the container number is in the unloading list, if so, execute S207, if not, execute S211;

[0069] S207, locked;

[0070] That is, the container at the first carriage position is locked.

[0071] S208, lifting and placing the container;

[0072] S209, determine whether the task is completed, if so, end, if not, execute S210;

[0073] S210, move the truck to the next container position;

[0074] S211, manual takeover;

[0075] S212, determine whether the box number is correct, if so, execute S213, if not, enter the actual box number and jump to S205;

[0076] S213: Feedback the exception to the field crane task management system for processing, and execute S209.

[0077] In a possible implementation of the present application, in response to a container operation instruction being a loading instruction, based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform unidirectional operation in a preset direction starting from the target car position to perform loading and unloading operations on the container, including: controlling the spreader of the yard crane to be lowered to the target container in the yard, and identifying the container number of the target container to obtain the target container number; judging whether the target container number is consistent with the container number on the list to be loaded; if the target container number is consistent with the container number on the list to be loaded, judging whether there is a target car position corresponding to the target container number on the train; if there is a target car position corresponding to the target container number on the train, controlling the spreader to load the target container to the target car position of the train.

[0078] Specifically, if the operation instruction is a loading instruction, when controlling the yard crane to start from the target car position and perform one-way operation in a preset direction to load and unload the container, it is necessary to first identify the container number in the yard, and then perform the container landing, locking and loading operations based on the identification result. Specifically, the yard crane's spreader can be controlled to be lowered to the target container in the yard, and the target container number is identified to obtain the target container number. At the same time, the target container number is judged, that is, whether the target container number is consistent with the container number on the to-be-loaded list. If the target container number is consistent with the container number on the to-be-loaded list, it means that the target container is the container that needs to be loaded. Then, it is determined whether there is a target car position corresponding to the target container number on the train. If there is a target car position corresponding to the target container number on the train, then based on the association between the container to be loaded and unloaded and the train car, the spreader is controlled to load the target container to the target car position of the train, thereby loading the target container.

[0079] In a possible implementation of the present application, it is determined whether there is a target car position corresponding to the target container number on the train, including: if there is no target car position corresponding to the target container number on the train, controlling the yard crane to locate to the first car position of the train, and controlling the spreader to load the target container to the first car position; uploading the first car position to the yard crane task management system, and at the same time, based on the list to be loaded, determining whether the containers in the yard have been loaded; if the containers in the yard have not been loaded, controlling the yard crane trolley to move to the next container position in the yard for loading operations based on the operation scheduling process; if the containers in the yard have been loaded, ending the loading operation.

[0080] Specifically, in the process of judging whether there is a target car position corresponding to the target container number on the train, if there is no target car position corresponding to the target container number on the train, it means that the target container is a container that needs to be loaded, but it is not clear which car of the train the target container needs to be loaded on. At this time, based on the principle of proximity, the yard crane can be controlled to position itself at the first car position of the train, and the hoist can be controlled to load the target container into the first car position.

[0081] After the target container is loaded into the first or target carriage position, the system can determine whether the containers in the yard have been fully loaded based on the list of containers to be loaded. If so, the loading operation ends. Conversely, if the containers in the yard have not been fully loaded, the crane truck is controlled to move to the next container position in the yard for loading based on the operation scheduling process. By matching the carriage position with the container positions to be loaded, loading instructions are generated based on customer rules, and containers are loaded according to the principle of proximity, reducing the distance traveled by the truck and improving the efficiency of crane operations.

[0082] In a possible implementation of the present application, the yard crane trolley is controlled to move to the next container position in the yard for loading operations based on the operation scheduling process, including: identifying the container number of the next container in the yard to obtain the container number of the next container; calculating the position and length of the first car to obtain the next car position; judging whether the next container number is associated with the next car position; if the next container number is associated with the next car position, controlling the yard crane trolley to move to the next container position in the yard, and loading the next container to the next car position.

[0083] Specifically, when controlling the yard crane trolley to move to the next container position in the yard for loading operations, after the yard crane trolley moves to the next container position in the yard, the container number recognition device on the spreader can be used to identify the container number of the next container in the yard to obtain the container number of the next container; at the same time, the first car position and car length can be calculated to obtain the next car position, and then, when the next car position is known, the yard crane trolley is controlled to move to the next car position, and at the same time, it is determined whether the next container number is associated with the next car position. If the next container number is associated with the next car position, it means that according to the customer rules, the next container should be placed in the next car position, and the spreader on the yard crane trolley is controlled to move to the next container position in the yard, and the next container is loaded into the next car position.

[0084] In a possible implementation of the present application, determining whether the target container number is consistent with the container number on the to-be-loaded list includes: if the target container number is inconsistent with the container number on the to-be-loaded list, determining whether the target container number is correct; if the target container number is correct, generating second exception information, and uploading the second exception information to the yard crane task management system for processing; if the target container number is incorrect, obtaining the correct target container number, and checking the correct target container number with the container number on the to-be-loaded list in the yard crane task management system.

[0085] Specifically, the first abnormal information is used to remind the yard crane task management system that the loading process is running abnormally.

[0086] Applied in an optional embodiment, in the above process of determining whether the target container number is consistent with the container number on the list to be loaded, if the target container number is inconsistent with the container number on the list to be loaded, it is necessary to manually take over the yard crane task management system, that is, manually determine whether the identified container number is correct. If the container number is correct, it means that the loading process of the yard crane task management system is running abnormally at this time, and a second abnormality information can be generated and uploaded to the yard crane task management system for abnormality processing; if the container number is incorrect, it means that the container number is incorrectly identified, and the correct container number can be obtained, and the above container number identification step can be repeated, that is, the correct container number is checked with the container number on the list to be loaded in the yard crane task management system.

[0087] Figure 3 The figure shows a loading operation flow chart provided by an embodiment of the present application, as shown in FIG. Figure 3 As shown, the loading operation includes the following steps:

[0088] S301, train approaching;

[0089] S302, obtaining train data;

[0090] That is, obtain data such as vehicle model, vehicle number, sequence, arrival station, departure station, container number, etc.

[0091] S303, grab and place containers in the yard;

[0092] S304, identifying the container number and uploading it to the gantry crane task management system;

[0093] S305, determine whether the box number is consistent with the task box, if so, execute S306, if not, execute S316;

[0094] That is, determine whether the identified box number is consistent with the box number in the list to be loaded.

[0095] S306, locked;

[0096] S307, lifting;

[0097] S308, determine whether there is a target car body position, if so, execute S315 and jump to S310, if not, execute S309;

[0098] S309, manually positioning the first car body;

[0099] S310, boxing;

[0100] S311, identify the vehicle number and place the box;

[0101] S312, uploading job information;

[0102] S313, determine whether the task is completed, if so, end, if not, execute S314;

[0103] S314, move the truck to the next container position;

[0104] S315, automatically runs to the target position;

[0105] S316, manual takeover;

[0106] S317, determine whether the box number is correct, if so, execute S318, if not, execute S319 and jump to S304;

[0107] S318: Feedback the exception to the field crane task management system for processing;

[0108] S319, enter the actual box number.

[0109] Exemplary devices

[0110] As a second aspect of the present application, the present application also provides an operation scheduling device for loading and unloading containers on a yard crane. Figure 4The figure shows a schematic diagram of an operation scheduling device for loading and unloading containers provided by a yard crane according to an embodiment of the present application. Figure 4 As shown, the job scheduling device 4 includes:

[0111] The acquisition module 401 is configured to obtain train data in response to receiving a container operation instruction issued by the yard crane task management system after the train enters the station. The train data includes at least the train model, train number, sequence, arrival station, departure station, and carriage length information;

[0112] The control module 402 is used to control the yard crane to locate the target car position of the train based on the container operation instruction and train data;

[0113] Generation module 403 is used to upload the target car position and train data as input data to the yard crane task management system, and generate a container operation scheduling process by calculating the input data and the target operation rules, wherein the target operation rules are used to represent the association between the containers to be loaded and unloaded and the train cars;

[0114] The operation module 404 is used to control the yard crane to perform one-way operation in a preset direction starting from the target car position to load and unload the container based on the operation scheduling process and the container operation instructions.

[0115] This embodiment provides an operation scheduling device for loading and unloading containers on a yard crane. After the train enters the station, it locates the target car position of the train and obtains an operation scheduling process based on the target car position, train data and target operation rules. Based on the operation scheduling process, the yard crane is controlled to perform unidirectional operation from the target car position to load and unload containers, so as to ensure that the yard crane can perform loading or unloading tasks in the forward or reverse direction of the train, avoiding the purpose of moving large vehicles back and forth, thereby achieving the technical effect of improving the loading and unloading efficiency of the yard crane, thereby solving the technical problem of low loading and unloading efficiency caused by the back and forth movement of large vehicles when the yard crane performs loading and unloading operations.

[0116] Optionally, the operation module includes: a first identification module, used to control the crane's spreader to be lowered to the first car position of the train, and to identify the container number at the first car position; a first judgment module, used to upload the container number to the crane task management system, and to judge whether the container number is included in the unloading list; and an unloading operation module, used to control the spreader to unload the container at the first car position if the container number is included in the unloading list.

[0117] Optionally, the first judgment module includes: a container number judgment module, which is used to judge whether the container number is correct if the container number is not included in the unloading list; a first processing module, which is used to generate first exception information if the container number is correct, and upload the first exception information to the yard crane task management system for processing; a first container number verification module, which is used to obtain the correct container number if the container number is incorrect, and verify the correct container number with the container number in the unloading list in the yard crane task management system.

[0118] Optionally, the device also includes: a second judgment module, used to judge whether the containers on the train have been unloaded based on the unloading list; a first movement module, used to control the yard crane trolley to move to the next car position adjacent to the first car position to perform unloading operations based on the operation scheduling process if the containers on the train have not been unloaded; and an ending module, used to end the unloading operation if the containers on the train have been unloaded.

[0119] Optionally, the first moving module includes: a calculation module for calculating the first car position and the car length to obtain the next car position; an unloading module for taking the first car position as the target car position, and based on the operation scheduling process, controlling the yard bridge trolley to move from the target car position to the next car position for unloading operations.

[0120] Optionally, the operation module includes: a second identification module, used to control the spreader of the yard crane to be lowered to the target container in the yard, and identify the container number of the target container to obtain the target container number; a third judgment module, used to judge whether the target container number is consistent with the container number on the list to be loaded; a car position judgment module, used to judge whether there is a target car position corresponding to the target container number on the train if the target container number is consistent with the container number on the list to be loaded; a loading operation module, used to control the spreader to load the target container to the target car position of the train if there is a target car position corresponding to the target container number on the train.

[0121] Optionally, the carriage position judgment module includes: a first loading module, which is used to control the yard crane to locate the first carriage position of the train if the target carriage position corresponding to the target container number does not exist on the train, and control the spreader to load the target container to the first carriage position; a loading judgment module, which is used to upload the first carriage position to the yard crane task management system, and at the same time, based on the list to be loaded, judge whether the containers in the yard have been loaded; a second moving module, which is used to control the yard crane trolley to move to the next container position in the yard for loading operations based on the operation scheduling process if the containers in the yard have not been loaded; and an ending module, which is used to end the loading operation if the containers in the yard have been loaded.

[0122] Optionally, the second moving module includes: a third identification module, used to identify the container number of the next container in the yard to obtain the container number of the next container; a length calculation module, used to calculate the first car position and the car length to obtain the next car position; an association judgment module, used to judge whether the next container number is associated with the next car position; and a loading module, used to control the yard crane trolley to move to the next container position in the yard if the next container number is associated with the next car position, and load the next container to the next car position.

[0123] Optionally, the third judgment module includes: a target container number judgment module, which is used to judge whether the target container number is correct if the target container number is inconsistent with the container number on the to-be-loaded list; a second processing module, which is used to generate second exception information if the target container number is correct, and upload the second exception information to the yard crane task management system for processing; a second container number verification module, which is used to obtain the correct target container number if the target container number is incorrect, and verify the correct target container number with the container number on the to-be-loaded list in the yard crane task management system.

[0124] Exemplary field bridge

[0125] As a third aspect of the present application, the present application also provides a field bridge. Figure 5 The figure shows the structure of the field bridge provided by one embodiment of the present application. Figure 5 As shown, the field bridge 5 includes:

[0126] The trolley 51 moves as a whole along the train track to reach the designated location for operation;

[0127] The trolley 52 is a movable part installed on the main beam of the trolley, responsible for moving horizontally on the main beam to move the spreader from one end of the trolley to the other;

[0128] Spreader 53, which is installed under the trolley and is used to grab the container;

[0129] The operation scheduling system 54 is used to execute any one of the above-mentioned operation scheduling methods for loading and unloading containers by a yard crane.

[0130] Figure 6 The figure shows a device block diagram of a field bridge provided in one embodiment of the present application.

[0131] like Figure 6 As shown, the field bridge 5 includes one or more processors 61 and a memory 62 .

[0132] The processor 61 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the field bridge to perform desired functions.

[0133] The memory 62 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 61 may execute the program instructions to implement the above-described method for scheduling container loading and unloading operations on a yard crane in various embodiments of the present application and / or other desired functions. The computer-readable storage medium may also store various contents such as input signals, signal components, and noise components.

[0134] In one example, the field bridge 5 may further include an input device 63 and an output device 64 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0135] When the field bridge is a stand-alone device, the input device 63 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0136] In addition, the input device 63 may also include, for example, a keyboard, a mouse, etc.

[0137] The output device 64 can output various information to the outside, including determined distance information, direction information, etc. The output device 64 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0138] Of course, to simplify, Figure 6 Only some of the components in the field bridge related to the present application are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, any other appropriate components may be included according to specific application scenarios.

[0139] Exemplary computer-readable storage media

[0140] As a fourth aspect of the present application, the present application provides a computer-readable storage medium, the storage medium storing a computer program, the computer program being configured to perform the following steps:

[0141] S1, in response to receiving a container operation instruction issued by the yard crane task management system after the train enters the station, obtain train data, the train data including at least the train model, train number, sequence, arrival station, departure station and carriage length information;

[0142] S2, based on container operation instructions and train data, controls the yard crane to locate the target carriage position of the train;

[0143] S3: Upload the target car position and train data as input data to the yard crane task management system. By calculating the input data and the target operation rules, a container operation scheduling process is generated. The target operation rules are used to represent the relationship between the containers to be loaded and unloaded and the train cars.

[0144] S4, based on the operation scheduling process and container operation instructions, controls the yard crane to start from the target carriage position and perform one-way operation in the preset direction to load and unload the container.

[0145] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information. When the computer program information is executed by a processor, the processor executes the steps of the operation scheduling method for loading and unloading containers on a yard crane according to various embodiments of the present application described in this specification.

[0146] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0147] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program information is stored. When the computer program information is executed by a processor, the processor executes the steps in the operation scheduling method for loading and unloading containers by a yard crane according to various embodiments of the present application described in this specification.

[0148] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0149] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0150] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0151] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

Claims

1. A method for scheduling container loading and unloading operations on a yard crane, characterized in that: include: In response to receiving a container operation instruction issued by the yard crane task management system after the train enters the station, obtaining train data, wherein the train data includes at least the train model, car number, sequence, arrival station, departure station and car length information; Based on the container operation instruction and the train data, control the yard crane to locate the target carriage position of the train; Uploading the target car position and the train data as input data to the yard crane task management system, and generating a container operation scheduling process by calculating the input data and target operation rules, wherein the target operation rules are used to represent the association between the containers to be loaded and unloaded and the train cars; Based on the operation scheduling process and the container operation instruction, the yard crane is controlled to perform unidirectional operation in a preset direction starting from the target carriage position to perform loading and unloading operations on the container.

2. The method for dispatching container loading and unloading operations on a crane according to claim 1, characterized in that: In response to the container operation instruction being an unloading instruction, controlling the yard crane to perform unidirectional operation in a preset direction starting from the target carriage position to perform the container loading and unloading operation based on the operation scheduling process and the container operation instruction includes: Control the spreader of the yard crane to be lowered to the first carriage position of the train, and identify the container number on the first carriage position; Upload the container number to the yard crane task management system and determine whether the container number is included in the unloading list; If the container number is included in the unloading list, the spreader is controlled to unload the container at the first carriage position.

3. The method for dispatching container loading and unloading operations on a yard crane according to claim 2, characterized in that: The determining whether the container number is included in the unloading list includes: If the container number is not included in the unloading list, determine whether the container number is correct; If the container number is correct, first abnormal information is generated and uploaded to the yard crane task management system for processing; If the container number is incorrect, obtain the correct container number and compare the correct container number with the container number in the unloading list in the yard crane task management system.

4. The method for dispatching container loading and unloading operations on a crane according to claim 2, characterized in that: After the control spreader performs unloading operation on the container at the first carriage position, the method includes: Based on the unloading list, determine whether the containers on the train have been unloaded; If the containers on the train have not been unloaded, the yard crane trolley is controlled to move to the next carriage position adjacent to the first carriage position to perform unloading operations based on the operation scheduling process; If the containers on the train are unloaded, the unloading operation is ended.

5. The method for dispatching container loading and unloading operations on a crane according to claim 4, characterized in that: The step of controlling the yard bridge trolley to move to the next carriage position adjacent to the first carriage position to perform the unloading operation based on the operation scheduling process includes: Calculating the first carriage position and the carriage length to obtain the next carriage position; The first carriage position is used as the target carriage position, and based on the operation scheduling process, the yard bridge trolley is controlled to move from the target carriage position to the next carriage position for unloading operation.

6. The method for dispatching container loading and unloading operations on a crane according to claim 1, characterized in that: In response to the container operation instruction being a loading instruction, controlling the yard crane to perform unidirectional operation in a preset direction starting from the target carriage position to perform loading and unloading operations on the container based on the operation scheduling process and the container operation instruction includes: Control the spreader of the yard crane to lower it to the target container in the yard, and identify the container number of the target container to obtain the container number of the target container; Determine whether the target container number is consistent with the container number on the to-be-loaded list; If the target container number is consistent with the container number on the to-be-loaded list, determine whether there is a target carriage position corresponding to the target container number on the train; If there is a target carriage position corresponding to the box number of the target container on the train, the spreader is controlled to load the target container to the target carriage position of the train.

7. The method for dispatching container loading and unloading operations on a yard crane according to claim 6, characterized in that: The determining whether there is a target carriage position corresponding to the target container number on the train includes: If there is no target carriage position corresponding to the target container number on the train, control the yard crane to locate to the first carriage position of the train, and control the spreader to load the target container to the first carriage position; Uploading the first carriage position to the yard crane task management system and, based on the to-be-loaded list, determining whether the containers in the yard have been loaded; If the container in the yard has not been loaded, the yard crane is controlled to move to the next container position in the yard for loading operation based on the operation scheduling process; If the containers in the yard are loaded, the loading operation is completed.

8. The method for dispatching container loading and unloading operations on a crane according to claim 7, characterized in that: The method of controlling the yard crane trolley to move to the next container position in the yard for loading operation based on the operation scheduling process includes: Identify the next container in the yard and obtain the next container number; Calculating the first carriage position and the carriage length to obtain the next carriage position; Determining whether the next container number is associated with the next carriage position; If the next container number is associated with the next carriage position, the yard crane trolley is controlled to move to the next container position in the yard, and the next container is loaded into the next carriage position.

9. The method for dispatching container loading and unloading operations on a yard crane according to claim 6, characterized in that: The determining whether the target container number is consistent with the container number on the to-be-loaded list includes: If the target container number is inconsistent with the container number on the to-be-loaded list, determine whether the target container number is correct; If the target container number is correct, a second abnormality message is generated and uploaded to the gantry crane task management system for processing; If the target container number is incorrect, obtain the correct target container number and compare the correct target container number with the container number in the to-be-loaded list in the yard crane task management system.

10. A field bridge, characterized in that: include: A trolley moves as a whole along the train track to reach a designated location for operation; The trolley is a movable component installed on the main beam of the trolley and is responsible for moving horizontally on the main beam to move the spreader from one end of the trolley to the other; A spreader, which is installed under the trolley and is used to grab the container; An operation scheduling system is used to execute the operation scheduling method for loading and unloading containers on a yard crane as described in any one of claims 1 to 9.

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