Method for scheduling yard crane operations for loading and unloading containers and yard crane

Abstract

The application provides a yard crane container loading and unloading operation scheduling method and yard crane. After a train enters a station, the target car position of the train is positioned, and an operation scheduling flow is obtained based on the target car position, train data and target operation rules, so that the yard crane is controlled to start one-way operation from the target car position based on the operation scheduling flow to perform container loading and unloading operation, so that the yard crane can perform loading or unloading tasks in the forward or reverse order along the train, the purpose of back-and-forth walking of the trolley is avoided, and the technical effect of improving the loading and unloading operation efficiency of the yard crane is achieved. Thus, the technical problem of low loading and unloading operation efficiency caused by the back-and-forth walking of the trolley during the loading and unloading operation of the yard crane is solved.

Description

Technical Field

[0001] This application relates to the field of loading and unloading operation technology, specifically to a method for scheduling container loading and unloading operations using yard cranes and a yard crane itself. Background Technology

[0002] Currently, container train loading and unloading operations are primarily based on container-based scheduling. Before a train enters the yard, it needs to be scanned and identified, its length checked, and after the train comes to a complete stop, the location of the first wagon is determined, followed by the calculation of the positions of the other wagons and the containers on them. This system places high demands on the positioning and identification of trains and containers.

[0003] In existing technologies, the position of the containers to be unloaded on each car of the entire train and their corresponding yard positions are often calculated based on the position of the first car, the sequence number of the train car number, and the length of each car. The system needs to know the container numbers and positions of all containers on the train in order to classify the containers to be unloaded and calculate the unloading travel distance. Based on the unloading travel distance of each container to be unloaded on the train, the unloading travel distance of all 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 position are inconsistent, the operation cannot be carried out in the order of the car, resulting in the large cars traveling back and forth, wasting mechanical efficiency and time. Summary of the Invention

[0004] In view of this, this application provides a scheduling method for container loading and unloading operations using a yard crane and a yard crane itself, 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 is performing loading and unloading operations.

[0005] As a first aspect of this application, this application provides a method for scheduling container loading and unloading operations by a yard crane, comprising: in response to receiving a container operation instruction issued by a yard crane task management system after a train enters the station, acquiring train data, the train data including at least the train type, 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, and generating an operation scheduling process for the container by calculating the input data and target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded / unloaded and the train car; based on the operation scheduling process and the container operation instruction, controlling the yard crane to move unidirectionally in a preset direction from the target car position to perform container loading and unloading operations.

[0006] In one possible implementation of this application, in response to a container operation instruction being an unloading instruction, based on the operation scheduling process and the container operation instruction, the control yard crane is controlled to move unidirectionally in a preset direction from the target carriage position to perform loading and unloading operations on the container. This includes: lowering the spreader of the control yard crane to the position of the first carriage of the train and identifying the container number at the position of the first carriage; 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 position of the first carriage.

[0007] In one possible implementation of this 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 first exception information and uploading the first exception information to the yard crane task management system for processing; if the container number is incorrect, obtaining the correct container number and verifying the correct container number with the container number in the unloading list in the yard crane task management system.

[0008] In one possible implementation of this application, after the spreader is controlled to unload the container at the first carriage position, the method includes: determining whether the container on the train has been unloaded based on the unloading list; if the container on the train has not been unloaded, controlling the yard crane trolley to move to the next carriage position adjacent to the first carriage position for unloading based on the operation scheduling process; if the container on the train has been unloaded, ending the unloading operation.

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

[0010] In one possible implementation of this application, in response to a container handling instruction being a loading instruction, based on the operation scheduling process and the container handling instruction, the control yard crane starts from the target car position and moves in a preset direction to load and unload the container. This includes: lowering the spreader of the control yard crane onto the target container in the yard and identifying the container number to obtain the target container number; determining whether the target container number matches the container number on the loading list; if the target container number matches the container number on the loading list, determining whether there is a target car position on the train corresponding to the target container number; if there is a target car position on the train corresponding to the target container number, controlling the spreader to load the target container onto the target car position on the train.

[0011] In one possible implementation of this application, determining whether there is a target carriage position on the train corresponding to the target container number includes: if there is no target carriage position on the train corresponding to the target container number, controlling the yard crane to locate the first carriage position on the train, and controlling the spreader to load the target container into the first carriage position; uploading the first carriage position to the yard crane task management system, and simultaneously determining whether the containers in the yard have been loaded based on the list of containers to be 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 operation based on the operation scheduling process; if the containers in the yard have been loaded, ending the loading operation.

[0012] In one possible implementation of this application, the process of controlling the yard crane to move to the next container position in the yard for loading operations based on the operation scheduling process includes: identifying the container number of the next container in the yard to obtain the container number; calculating the position and length of the first truck bed to obtain the position of the next truck bed; determining whether the container number of the next container is associated with the position of the next truck bed; if the container number of the next container is associated with the position of the next truck bed, controlling the yard crane to move to the next container position in the yard and loading the next container into the next truck bed position.

[0013] In one possible implementation of this application, determining whether the target container number matches the container number on the loading list includes: if the target container number does not match the container number on the loading 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 verifying the correct target container number against the container number on the loading list in the yard crane task management system.

[0014] As a second aspect of this application, this application also provides a yard crane container loading and unloading operation scheduling device, comprising: an acquisition module, used to acquire 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 including at least the train type, car number, sequence, arrival station, departure station, and car length information; a control module, used to control 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, used to upload the target car position and train data as input data to the yard crane task management system, and generate an operation scheduling process for the container by calculating the input data and target operation rules, wherein the target operation rules are used to characterize the association between the container to be loaded / unloaded and the train car; and an operation module, used to control the yard crane to run unidirectionally in a preset direction from the target car position to perform container loading and unloading operations based on the operation scheduling process and the container operation instruction.

[0015] As a third aspect of this application, this application also provides a yard crane, comprising: a trolley, which moves as a whole along a railway track to reach a designated location for operation; a trolley, which is a movable component mounted on the main beam of the trolley and is responsible for moving laterally on the main beam to move a spreader from one end of the trolley to the other end; a spreader, which is mounted below the trolley and is used to grab containers; and an operation scheduling system, which is used to execute the operation scheduling method for loading and unloading containers by the yard crane as described above.

[0016] As a fourth aspect of this application, this application also provides a computer-readable storage medium storing a computer program for executing any of the above-described methods for scheduling container loading and unloading operations at yard cranes.

[0017] The container loading and unloading operation scheduling method provided in this application responds to receiving a container operation instruction issued by the yard crane task management system after the train enters the station, and obtains train data, which includes at least the train type, car number, sequence, arrival station, departure station, and car length information; based on the container operation instruction and the train data, the yard crane is controlled 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 relationship between the container to be loaded / unloaded and the train car; based on the operation scheduling process and the container operation instruction, the yard crane is controlled to move unidirectionally in a preset direction from the target car position to perform container loading and unloading operations. It is noteworthy that after the train enters the station, the location of the target carriage is determined. Based on the target carriage location, train data, and target operation rules, an operation scheduling process is obtained. This process controls the yard crane to move unidirectionally from the target carriage location to load and unload containers. This ensures that the yard crane can perform loading or unloading tasks in the forward or reverse direction of the train, avoiding the need for the main vehicle to travel back and forth. This achieves the technical effect of improving the loading and unloading efficiency of the yard crane, thus solving the technical problem of low loading and unloading efficiency caused by the back-and-forth movement of the main vehicle when the yard crane is performing loading and unloading operations. Attached Figure Description

[0018] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The diagram shown is a flowchart of a container loading and unloading operation scheduling method provided in an embodiment of this application.

[0020] Figure 2 The diagram shown is a flowchart of an unloading operation provided in an embodiment of this application.

[0021] Figure 3 The diagram shown is a flowchart of the loading operation provided in an embodiment of this application.

[0022] Figure 4 The diagram shown is a flowchart of a container loading and unloading operation scheduling device provided in an embodiment of this application.

[0023] Figure 5 The diagram shown is a structural schematic of a field bridge provided in an embodiment of this application.

[0024] Figure 6 The diagram shown is a block diagram of a field bridge provided in an embodiment of this application. Detailed Implementation

[0025] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0026] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] Exemplary methods

[0028] As a first aspect of this application, this application provides a method for scheduling container loading and unloading operations at yard cranes. Figure 1 The diagram shown is a flowchart of a container loading and unloading operation scheduling method provided in an embodiment of this application, as follows: Figure 1 As shown, the job scheduling method includes the following steps:

[0029] S101, in response to receiving the container operation instruction issued by the yard crane task management system after the train enters the station, obtains the train data, which includes at least the train type, car number, sequence, arrival station, departure station and car 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 the operation scheduling process by analyzing the received train data and the user's loading and unloading rules, and then loads and unloads containers based on the operation scheduling process.

[0031] The aforementioned work instructions can be either unloading or loading instructions for containers. Generally, after a container enters the railway station, the corresponding work instructions can be issued by the yard crane task management system.

[0032] The aforementioned train data includes, but is not limited to, information such as train type, car number, sequence, arrival station, departure station, and car length. Obtaining this train data facilitates precise positioning of train cars, thereby enabling the generation of corresponding operational scheduling procedures.

[0033] In one optional embodiment, during the scheduling of container train loading and unloading operations, after the train enters the station, train data, including train type, car number, sequence, arrival station, departure station, and car length, can be uploaded to the yard crane task management system via 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 in the yard onto the train cars according to the specific operation instructions.

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

[0035] Specifically, the target carriage location mentioned above can be the first carriage of the train, the last carriage of the train, or any carriage of the train. There is no specific limitation on the target carriage location here, and it can be determined through specific work instructions.

[0036] Specifically, when the container handling instruction is an unloading instruction, the target car location can be determined as the location of the first car of the train. When the container handling instruction is a loading instruction, the target car location can be determined based on the captured container number. Generally, with user rules in place, the yard crane can generate corresponding operation scheduling procedures according to the 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., according to user rules.

[0037] In one optional embodiment, after acquiring train data, the yard crane task management system can control the yard crane to locate the target carriage of the train based on the container operation instruction and the train data. Generally, when the container operation instruction corresponds to an unloading instruction, the driver needs to manually operate the yard crane to locate the first carriage of the train and simultaneously lower the spreader to directly above the container on the first carriage. At this time, the position of the first carriage can be determined as the aforementioned target carriage position. When the container operation instruction corresponds to a loading instruction, after verifying the container number and the train carriage position, the driver needs to manually operate the yard crane to locate the first carriage of the train (i.e., the container number matches the first carriage position) and simultaneously lower the spreader to directly above the container in the yard. At this time, the position of the first carriage can be determined as the aforementioned target carriage position.

[0038] S103, the target car location and train data are uploaded to the yard crane task management system as input data. The operation scheduling process for the container is generated by calculating the input data and target operation rules. The target operation rules are used to characterize the relationship between the container to be loaded / unloaded and the train car.

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

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

[0041] In one optional embodiment, after the control yard crane locates the target carriage of the train, subsequent loading and unloading operations need to be performed. Therefore, the target carriage location 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 work order is an unloading order, after the control yard crane locates the target car of the train, the containers on the target car can be unloaded using spreader. Simultaneously, based on the work scheduling process, the containers on the next adjacent car are unloaded, and so on, until all containers on the train cars are unloaded. Conversely, if the work order is a loading order, after the control yard crane locates the target car of the train, the containers in the yard can be loaded onto the target car using spreader. Simultaneously, based on the work scheduling process, the next container in the yard is loaded onto the next adjacent car, and so on, until all containers in the yard are loaded.

[0043] S104, based on the operation scheduling process and container operation instructions, controls the yard crane to move in a preset direction from the target car position to load and unload containers.

[0044] Specifically, the aforementioned preset direction can be used to indicate the pre-set direction of movement of the yard crane trolley. It can be either loading or unloading along the train's direction or loading or unloading along the train's direction. The preset direction is not specifically limited here and can be determined through actual train data and the location of the yard crane.

[0045] In one optional embodiment, after generating the operation scheduling process for containers, the yard crane can be controlled to run in a preset direction from the target car position to load and unload containers according to the operation scheduling process and container operation instructions.

[0046] For example, if the work instruction is an unloading instruction, after unloading the container in the first car position using the spreader, the yard crane can be controlled to move to the second car position. At the same time, the yard crane trolley carrying the spreader moves to the top of the container in the second car position to unload the container in the second car position. This process continues, with the yard crane moving in one direction along the train track to unload the containers on the train cars until all the containers on the train cars are unloaded.

[0047] Conversely, if the work order is a loading order, after the container in the yard is loaded into the first car position by the spreader, the yard crane can be controlled to move to the second car position. At the same time, the yard crane trolley carrying the spreader moves to the next container in the yard, grabs the next container in the yard, and moves the trolley to load the grabbed container into the second car position. This process continues, with the yard crane moving in one direction along the railway track to load containers in the yard until all containers in the yard are loaded.

[0048] The container loading and unloading operation scheduling method provided in this application responds to receiving a container operation instruction issued by the yard crane task management system after the train enters the station, and obtains train data, which includes at least the train type, car number, sequence, arrival station, departure station, and car length information; based on the container operation instruction and the train data, the yard crane is controlled 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 relationship between the container to be loaded / unloaded and the train car; based on the operation scheduling process and the container operation instruction, the yard crane is controlled to move unidirectionally in a preset direction from the target car position to perform container loading and unloading operations. It is noteworthy that after the train enters the station, the location of the target carriage is determined. Based on the target carriage location, train data, and target operation rules, an operation scheduling process is obtained. This process controls the yard crane to move unidirectionally from the target carriage location to load and unload containers. This ensures that the yard crane can perform loading or unloading tasks in the forward or reverse direction of the train, avoiding the need for the main vehicle to travel back and forth. This achieves the technical effect of improving the loading and unloading efficiency of the yard crane, thus solving the technical problem of low loading and unloading efficiency caused by the back-and-forth movement of the main vehicle when the yard crane is performing loading and unloading operations.

[0049] In one possible implementation of this application, in response to a container operation instruction being an unloading instruction, based on the operation scheduling process and the container operation instruction, the control yard crane is controlled to move unidirectionally in a preset direction from the target car position to perform loading and unloading operations on the container. This includes: lowering the spreader of the control yard crane to the position of the first car of the train and identifying the container number at the position of the first car; 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 position of the first car.

[0050] Specifically, when the work instruction is an unloading instruction, during the process of controlling the yard crane to move in a preset direction from the target car position to load and unload containers, after the driver manually positions the yard crane to the first car position of the train, the spreader of the yard crane can be lowered to the first car position of the train. At the same time, the container number identification device on the spreader is used to identify the container number at the first car position and determine whether the container number at the first car position 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 one possible implementation of this 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 first exception information and uploading the first exception information to the yard crane task management system for processing; if the container number is incorrect, obtaining the correct container number and verifying 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 mentioned above is used to alert the yard bridge task management system to abnormal operation during the unloading process.

[0053] In one optional embodiment, during the 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, the identification of the container number is manually judged to see if it is correct. If the container number is correct, it indicates that the yard crane task management system is malfunctioning, and a first abnormality information can be generated and uploaded to the yard crane task management system for abnormality handling. If the container number is incorrect, it indicates that the container number is incorrectly identified. The correct container number can be obtained, and the above container number identification steps are 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 one possible implementation of this application, after the spreader is controlled to unload the container at the first carriage position, the method includes: determining whether the container on the train has been unloaded based on the unloading list; if the container on the train has not been unloaded, controlling the yard crane trolley to move to the next carriage position adjacent to the first carriage position for unloading based on the operation scheduling process; if the container on the train has been unloaded, ending the unloading operation.

[0055] Specifically, the large trolleys of the aforementioned yard bridge are responsible for moving along the railway tracks to reach the designated location for operation.

[0056] In one optional embodiment, after the spreader unloads the container at the first car position, it is necessary to determine whether the container on the train car has been unloaded according to the unloading list. If the container on the train has been unloaded, the unloading operation ends; otherwise, if the container on the train has 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 carry out the unloading operation, that is, to unload the container at the second car position. In this way, the yard crane can perform the unloading task in the forward or reverse direction of the train, avoiding the need for the trolley to travel back and forth.

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

[0058] Specifically, in the process of controlling the yard crane trolley to move to the next car position adjacent to the first car position for unloading operations based on the work scheduling process, the yard crane task management system can calculate the position and length of the first car position to obtain the position of the next car position, i.e., the position of the second car position. By using the first car position as the target car position, the yard crane trolley is controlled to move from the target car position to the second car position based on the work scheduling process, and the container at the second car position can be unloaded. In this work scheduling based on the order of the wagons, the trolley maintains one-way operation, basically avoiding back-and-forth travel to find containers, reducing the ineffective travel of the trolley and improving the work efficiency of the yard crane. At the same time, this application determines the work process based on the container number, avoiding the existing technology of finding containers by container number, and then finding that the container number does not match after loading, and then raising the spreader to a safe height and running the trolley to find the container, thus optimizing the work process.

[0059] Figure 2 The diagram shown is a flowchart of an unloading operation according to an embodiment of this application. Figure 2 As shown, the unloading operation includes the following steps:

[0060] S201, train arrives;

[0061] S202, Obtain train data;

[0062] This means obtaining data such as vehicle type, vehicle number, sequence, arrival station, departure station, and container number.

[0063] S203, positioned as the first car body;

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

[0065] S204, boxed;

[0066] The spreader is about to be lowered to directly above the container in the first compartment.

[0067] S205, Identify container number and upload to the yard bridge task management system;

[0068] S206, determine whether the container number is on the unloading list. If yes, proceed to S207; otherwise, proceed to S211.

[0069] S207, locked;

[0070] This means locking the container in the first carriage.

[0071] S208, lifting and lowering box;

[0072] S209, determine whether the task is completed. If yes, end; otherwise, execute S210.

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

[0074] S211, manual connection;

[0075] S212, check if the container number is correct. If yes, proceed to S213. If no, enter the actual container number and jump to S205.

[0076] S213, report the exception to the yard bridge task management system for processing, and execute S209.

[0077] In one possible implementation of this application, in response to a container handling instruction being a loading instruction, based on the operation scheduling process and the container handling instruction, the control yard crane starts from the target car position and moves in a preset direction to load and unload the container. This includes: lowering the spreader of the control yard crane onto the target container in the yard and identifying the container number to obtain the target container number; determining whether the target container number matches the container number on the loading list; if the target container number matches the container number on the loading list, determining whether there is a target car position on the train corresponding to the target container number; if there is a target car position on the train corresponding to the target container number, controlling the spreader to load the target container onto the target car position on the train.

[0078] Specifically, if the work order is a loading order, during the process of the control crane moving unidirectionally in a preset direction from the target carriage position to load and unload containers, it is necessary to first identify the container numbers in the yard, and then perform container placement, locking, and loading operations based on the identification results. Specifically, the control crane's spreader is lowered onto the target container in the yard, and the container number is identified to obtain the target container number. Simultaneously, the target container number is judged to see if it matches the container numbers on the loading list. If the target container number matches, it indicates that the target container is the container to be loaded. Then, it is determined whether there is a target carriage position on the train corresponding to the target container number. If there is a target carriage position on the train, based on the association between the container to be loaded and the train carriage, the spreader is controlled to load the target container onto the target carriage position on the train, thus loading the target container onto the train.

[0079] In one possible implementation of this application, determining whether there is a target carriage position on the train corresponding to the target container number includes: if there is no target carriage position on the train corresponding to the target container number, controlling the yard crane to locate the first carriage position on the train, and controlling the spreader to load the target container into the first carriage position; uploading the first carriage position to the yard crane task management system, and simultaneously determining whether the containers in the yard have been loaded based on the list of containers to be 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 operation based on the operation scheduling process; if the containers in the yard have been loaded, ending the loading operation.

[0080] Specifically, in determining whether there is a target carriage position on the train corresponding to the target container number, if there is no target carriage position on the train corresponding to the target container number, it means that the target container is a container that needs to be loaded onto the train, but it is unclear which carriage of the train the target container needs to be loaded onto. In this case, based on the principle of proximity, the control crane can be positioned to the first carriage of the train, and the spreader can be controlled to load the target container onto the first carriage.

[0081] After loading the target container into the first or target container position, the system can determine whether all containers in the yard have been loaded based on the loading list. If all containers in the yard have been loaded, the loading operation ends. Otherwise, if not, the system controls the yard crane to move to the next container position in the yard for loading, based on the operation scheduling process. By matching the container positions with the positions of the containers to be loaded, and combining this with customer rules to generate loading instructions, loading is performed according to the principle of proximity, reducing the running distance of the crane and improving the efficiency of the yard crane operation.

[0082] In one possible implementation of this application, the process of controlling the yard crane to move to the next container position in the yard for loading operations based on the operation scheduling process includes: identifying the container number of the next container in the yard to obtain the container number; calculating the position and length of the first truck bed to obtain the position of the next truck bed; determining whether the container number of the next container is associated with the position of the next truck bed; if the container number of the next container is associated with the position of the next truck bed, controlling the yard crane to move to the next container position in the yard and loading the next container into the next truck bed position.

[0083] Specifically, during the process of controlling the gantry crane to move to the next container position in the yard for loading operations, after the gantry crane moves to the next container position in the yard, the container number identification 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 position and length of the first truck bed can be calculated to obtain the position of the next truck bed. Then, with the position of the next truck bed known, the gantry crane is controlled to move to the position of the next truck bed. At the same time, it is determined whether the container number of the next container is related to the position of the next truck bed. If the container number of the next container is related to the position of the next truck bed, it means that according to the customer rules, the next container should be placed in the position of the next truck bed. Then, the spreader on the gantry crane is controlled to move to the position of the next container in the yard and load the next container into the position of the next truck bed.

[0084] In one possible implementation of this application, determining whether the target container number matches the container number on the loading list includes: if the target container number does not match the container number on the loading 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 verifying the correct target container number against the container number on the loading list in the yard crane task management system.

[0085] Specifically, the first abnormal information mentioned above is used to alert the yard bridge task management system to abnormal operation during the loading process.

[0086] In one optional embodiment, during the process of determining whether the target container number matches the container number on the loading list, if the target container number does not match the container number on the loading list, the yard crane task management system needs to be manually taken over. That is, the identification of the container number is manually judged to see if it is correct. If the container number is correct, it indicates that the loading process of the yard crane task management system is abnormal, and a second abnormality information can be generated and uploaded to the yard crane task management system for abnormality handling. If the container number is incorrect, it indicates that the container number identification is incorrect, and the correct container number can be obtained. The above container number identification steps are repeated, that is, the correct container number is checked against the container number on the loading list in the yard crane task management system.

[0087] Figure 3 The diagram shown is a flowchart of a loading operation according to an embodiment of this application. Figure 3 As shown, the loading operation includes the following steps:

[0088] S301, train arrives;

[0089] S302, Obtain train data;

[0090] This means obtaining data such as vehicle type, vehicle number, sequence, arrival station, departure station, and container number.

[0091] S303, container grabbing and securing in the yard;

[0092] S304, Identify container number and upload to the yard bridge task management system;

[0093] S305, check if the box number matches the task box. If yes, proceed to S306; otherwise, proceed to S316.

[0094] That is, to determine whether the identified container number matches the container number on the loading list.

[0095] S306, locked;

[0096] S307, lifting;

[0097] S308, determine if there is a target wagon location. If yes, execute S315 and jump to S310. If no, execute S309.

[0098] S309, manual positioning of the first car body;

[0099] S310, box;

[0100] S311, identifies vehicle number and places box;

[0101] S312, Upload job information;

[0102] S313, determine whether the task is completed. If yes, end; otherwise, execute S314.

[0103] S314, move the large vehicle to the next compartment;

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

[0105] S316, manual connection;

[0106] S317, check if the box number is correct. If yes, execute S318; otherwise, execute S319 and jump to S304.

[0107] S318, report the exception to the yard crane task management system for processing;

[0108] S319, enter the actual container number.

[0109] Exemplary device

[0110] As a second aspect of this application, this application also provides an operation scheduling device for loading and unloading containers by yard cranes. Figure 4The diagram shown is a schematic representation of a container loading and unloading operation scheduling device provided in an embodiment of this application. Figure 4 As shown, the job scheduling device 4 includes:

[0111] The acquisition module 401 is used to receive a container operation instruction issued by the yard crane task management system after the train enters the station and acquire train data. The train data includes at least the train type, car number, sequence, arrival station, departure station and car length information.

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

[0113] The generation module 403 is used to upload the target car location and train data as input data to the yard crane task management system. By calculating the input data and target operation rules, it generates the operation scheduling process for the container. The target operation rules are used to characterize the relationship between the container to be loaded / unloaded and the train car.

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

[0115] This embodiment provides a scheduling device for loading and unloading containers by a yard crane. After a train enters the station, the device locates the target carriage position of the train and obtains a scheduling process based on the target carriage position, train data, and target operation rules. Based on the scheduling process, the yard crane is controlled to move unidirectionally from the target carriage position to load and unload containers. This ensures that the yard crane can perform loading or unloading tasks in the forward or reverse direction of the train, avoiding the need for the main vehicle to travel back and forth. This achieves the technical effect of improving the loading and unloading efficiency of the yard crane and solves the technical problem of low loading and unloading efficiency caused by the back-and-forth movement of the main vehicle when the yard crane performs loading and unloading operations.

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

[0117] Optionally, the first judgment module includes: a container number judgment module, used to judge whether the container number is correct if it is not included in the unloading list; a first processing module, used to generate first abnormal information if the container number is correct, and upload the first abnormal information to the yard crane task management system for processing; and a first container number verification module, 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 further includes: a second judgment module, used to determine whether the containers on the train have been unloaded based on the unloading list; a first moving module, used to control the yard crane trolley to move to the next car position adjacent to the first car position to carry out unloading operations 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 position and length of the first car body to obtain the position of the next car body; and an unloading module for using the position of the first car body as the target car body position and, based on the work scheduling process, controlling the yard crane trolley to move from the target car body position to the next car body 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 onto the target container in the yard and to identify the container number of the target container to obtain the target container number; a third judgment module, used to determine whether the target container number is consistent with the container number on the loading list; a carriage position judgment module, used to determine whether there is a target carriage position on the train corresponding to the target container number if the target container number is consistent with the container number on the loading list; and a loading operation module, used to control the spreader to load the target container onto the target carriage position on the train if there is a target carriage position on the train corresponding to the target container number.

[0121] Optionally, the carriage position determination module includes: a first loading module, used to control the yard crane to locate the first carriage position on the train if there is no target carriage position on the train corresponding to the target container number, and to control the spreader to load the target container into the first carriage position; a loading determination module, used to upload the position of the first carriage to the yard crane task management system, and at the same time determine whether the containers in the yard have been loaded based on the list of containers to be loaded; a second moving module, used to control the yard crane trolley to move to the next container position in the yard for loading operation if the containers in the yard have not been loaded; and an ending module, 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 for identifying the container number of the next container in the yard to obtain the container number of the next container; a length calculation module for calculating the position and length of the first carriage to obtain the position of the next carriage; an association judgment module for judging whether the container number of the next container is associated with the position of the next carriage; and a loading module for controlling the yard crane to move to the position of the next container in the yard and loading the next container into the position of the next carriage if the container number of the next container is associated with the position of the next carriage.

[0123] Optionally, the third judgment module includes: a target container number judgment module, used to determine whether the target container number is correct if it does not match the container number on the loading list; a second processing module, used to generate second abnormal information if the target container number is correct, and upload the second abnormal information to the yard crane task management system for processing; and a second container number verification module, 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 loading list in the yard crane task management system.

[0124] Exemplary field bridge

[0125] As a third aspect of this application, this application also provides a field bridge. Figure 5 The diagram shown is a structural schematic of a field bridge provided in an embodiment of this application. Figure 5 As shown, the yard bridge 5 includes:

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

[0127] Trolley 52 is a moving component installed on the main beam of the trolley. It is responsible for moving laterally on the main beam to move the spreader from one end of the trolley to the other.

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

[0129] The operation scheduling system 54 is used to execute the operation scheduling method for loading and unloading containers by yard cranes, which is one of the above methods.

[0130] Figure 6 The diagram shown is a block diagram of a field bridge provided in an embodiment of this application.

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

[0132] The processor 61 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the field bridge to perform the 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), 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 yard crane container loading and unloading operation scheduling method and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

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

[0135] When the bridge is a standalone device, the input device 63 can be a communication network connector for receiving the 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 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0138] Of course, for the sake of simplicity, Figure 6 Only some of the components of the field bridge relevant to this application are shown, omitting components such as buses, input / output interfaces, etc. In addition, any other suitable components may be included depending on the specific application.

[0139] Exemplary computer-readable storage media

[0140] As a fourth aspect of this application, this application provides a computer-readable storage medium storing a computer program for performing the following steps:

[0141] S1, in response to receiving the container operation instruction issued by the yard crane task management system after the train enters the station, obtains the train data, which includes at least the train type, car number, sequence, arrival station, departure station, and car length information;

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

[0143] S3 uploads the target car location and train data as input data to the yard crane task management system. By calculating the input data and target operation rules, the operation scheduling process for the container is generated. The target operation rules are used to characterize the relationship between the containers to be loaded / unloaded and the train cars.

[0144] S4, based on the operation scheduling process and container operation instructions, controls the yard crane to move in a preset direction from the target car position to load and unload containers.

[0145] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information. When the computer program information is run by a processor, it causes the processor to perform the steps in the operation scheduling method for loading and unloading containers by yard cranes according to various embodiments of this application as described in this specification.

[0146] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can 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] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program information thereon, which, when run by a processor, causes the processor to execute the steps in the operation scheduling method for loading and unloading containers by yard cranes according to various embodiments of this application.

[0148] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0149] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0150] The block diagrams of devices, apparatuses, devices, 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 those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0151] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

Claims

1. A method for scheduling container loading and unloading operations at yard cranes, characterized in that, include: In response to receiving a container operation instruction from the yard crane task management system after the train enters the station, the system acquires train data, which includes at least the train type, car number, sequence, arrival station, departure station, and car length information. Based on the container operation instructions and the train data, the control yard crane is positioned to the target carriage location of the train. The target carriage location and the train data are uploaded to the yard crane task management system as input data. The operation scheduling process for the container is generated by calculating the input data and the target operation rules. The target operation rules are used to characterize the relationship between the container to be loaded / unloaded and the train carriage. Based on the operation scheduling process and the container operation instructions, the control yard crane starts from the target car position and moves in a preset direction in one direction to load and unload the container. When the container handling instruction is a loading instruction, the step of controlling the yard crane to move unidirectionally in a preset direction from the target car position to perform loading and unloading operations on the container, based on the operation scheduling process and the container handling instruction, includes: The control crane's spreader is lowered onto the target container in the yard, and the container number of the target container is identified to obtain the container number; Determine whether the target container number matches the container number on the loading list; If the target container number matches the container number on the loading list, determine whether there is a target carriage location on the train corresponding to the target container number; If a target carriage location corresponding to the target container number exists on the train, the control spreader will load the target container into the target carriage location on the train.

2. The operation scheduling method for loading and unloading containers by yard cranes according to claim 1, characterized in that, When the container handling instruction is an unloading instruction, the step of controlling the yard crane to move unidirectionally in a preset direction from the target car position to perform loading and unloading operations on the container, based on the operation scheduling process and the container handling instruction, includes: The control crane's spreader is lowered to the position of the first carriage of the train, and the container number at the position of the first carriage is identified; The container number is uploaded to the yard crane task management system, and it is determined whether the container number is included in the unloading list; If the container number is included in the unloading list, control the spreader to unload the container at the first truck position.

3. The operation scheduling method for loading and unloading containers by yard cranes according to claim 2, characterized in that, The determination of 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, generate the first abnormal information and upload it to the yard crane task management system for processing; If the container number is incorrect, obtain the correct container number and verify it against the container number in the unloading list in the yard crane task management system.

4. The operation scheduling method for loading and unloading containers by yard cranes according to claim 2, characterized in that, After the control spreader performs the unloading operation on the container at the first car position, the method includes: Based on the unloading list, determine whether the containers on the train have been completely unloaded; If the containers on the train are not completely unloaded, the yard crane trolley is moved to the next car adjacent to the first car position to carry out the unloading operation based on the operation scheduling process. Once all containers have been unloaded from the train, the unloading operation is complete.

5. The operation scheduling method for loading and unloading containers by yard cranes according to claim 4, characterized in that, The step of controlling the yard crane trolley to move to the next car position adjacent to the first car position for unloading operations based on the operation scheduling process includes: The position of the next carriage is obtained by calculating the position of the first carriage and the length of the carriage. Using the first car position as the target car position, and based on the operation scheduling process, the yard crane trolley is controlled to move from the target car position to the next car position for unloading operations.

6. The operation scheduling method for loading and unloading containers by yard cranes according to claim 5, characterized in that, The step of determining whether there is a target carriage location on the train corresponding to the target container number includes: If there is no target carriage position on the train corresponding to the target container number, the control yard crane is positioned to the first carriage position of the train, and the spreader is controlled to load the target container into the first carriage position; The location of the first car is uploaded to the yard crane task management system. At the same time, based on the list of containers to be loaded, it is determined whether the containers in the yard have been loaded. If the containers in the yard are not fully loaded, the yard crane trolley will be moved to the next container position in the yard for loading operation based on the above-mentioned operation scheduling process. Once all containers in the yard have been loaded onto trucks, the loading operation is complete.

7. The operation scheduling method for loading and unloading containers by yard cranes according to claim 6, characterized in that, The step of controlling the yard crane trolley to move to the next container position in the yard for loading operations based on the operation scheduling process includes: The container number of the next container in the yard is identified to obtain the container number of the next container. The position of the next carriage is obtained by calculating the position of the first carriage and the length of the carriage. Determine whether the next container number is associated with the next carriage position; If the next container number is associated with the next car position, the control yard crane trolley moves to the next container position in the yard and loads the next container into the next car position.

8. The operation scheduling method for loading and unloading containers by yard cranes according to claim 1, characterized in that, The step of determining whether the target container number matches the container number on the loading list includes: If the target container number does not match the container number on the loading list, determine whether the target container number is correct. If the target container number is correct, a second abnormality information is generated and uploaded to the yard crane task management system for processing; If the target container number is incorrect, obtain the correct target container number and verify it against the container numbers in the loading list in the yard crane task management system.

9. A field bridge, characterized in that, include: The large vehicle moves as a whole along the railway track to reach the designated location for operation; The trolley is a moving component installed on the main beam of the trolley, responsible for moving laterally 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, is used to grab containers; A job scheduling system, wherein the job scheduling system is used to execute the job scheduling method for loading and unloading containers by yard cranes as described in any one of claims 1-8.

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