Terminal operation management and control method and system based on integrated business flow

Abstract

This application relates to the field of automated terminal management technology, providing a terminal operation management method and system based on an integrated business flow. The management method includes: a management device generating an operation plan based on the terminal's operational needs, and further generating an operation plan set; the management device transmitting the operation plan set to adaptive controllers corresponding to multiple automated operation devices based on a unified communication protocol, enabling the adaptive controllers to generate instruction timing sets; the management device acquiring real-time operating information of the corresponding automated operation devices collected by the adaptive controllers based on the unified communication protocol, and performing full-cycle maintenance and dynamic adjustment of the operation plan set and / or operation plan based on operational needs and real-time operating information, enabling the adaptive controllers to dynamically adjust the instruction timing sets for closed-loop management of terminal operations. This application effectively improves the coordination, stability, adaptability, and fault diagnosis efficiency of terminal operation management.

Description

Technical Field

[0001] This application relates to the field of automated terminal management technology, and in particular to a terminal operation management method and management system based on integrated business flow. Background Technology

[0002] Currently, the operation control methods of automated container terminals typically employ a hierarchical, progressive control architecture. This architecture comprises multiple independent levels, including a Terminal Operating System (TOS), an Equipment Control System (ECS), an Automatic Crane Control System (ACCS), and a lower-level Programmable Logic Controller (PLC). In existing control methods, the TOS generates the container handling operation plan and task list; the ECS decomposes the tasks transmitted by the TOS and coordinates the corresponding equipment to perform handling operations; the ACCS collects real-time operating data from various operating equipment, receives ECS commands, generates automated operation processes, and calculates control commands for each mechanism of the crane; the lowest-level PLC control system directly drives the crane mechanisms to complete automated operation based on the ACCS commands.

[0003] There is another automated terminal management method that uses TOS to directly specify the start and end points of each piece of equipment when performing each task. ECS ensures that the handling is completed within the planned time period, while ACCS and PLC still undertake the functions of real-time control and drive, respectively.

[0004] However, the two existing automated terminal operation management methods mentioned above have significant shortcomings in practical applications. First, due to the large number of system layers in the overall architecture, and the reliance on complex interfaces for data exchange and command transmission between different layers, data synchronization is delayed, easily leading to inconsistencies, conflicts, or loss of information, and poor coordination capabilities. This significantly increases the risk of errors in the overall operation of the architecture. Second, the planning, scheduling, and execution functions belong to multiple systems at different levels, resulting in multiple human-caused breakpoints in the operation process. There is a lack of effective feedback and linkage mechanisms between the upper-level plan and the real-time execution status, making it impossible to adjust the previous plan based on the actual operation dynamics, and failing to form a closed-loop management system of "planning-execution-monitoring-optimization". This leads to poor flexibility and adaptability in the overall scheduling of terminal operations. Especially when terminal operation failures occur, it is necessary to check different layers of systems one by one, resulting in low efficiency in fault handling.

[0005] In summary, existing automated terminal operation management methods have significant shortcomings in terms of architectural simplification, system integration, and information consistency, which restricts the further improvement of automated terminal operation efficiency and management level. Summary of the Invention

[0006] In view of this, this application provides a terminal operation control method and system based on integrated business flow, which can solve the problem that existing automated terminal operation control methods have significant deficiencies in system integration and information consistency, thus restricting the further improvement of the operational efficiency and management level of automated terminals.

[0007] This application provides a terminal operation management method and system based on an integrated business flow. The following describes this application from multiple aspects, and the implementation methods and beneficial effects described below can be referenced interchangeably.

[0008] In a first aspect, this application provides a terminal operation control method based on an integrated business flow. The method includes: the control equipment generates an operation plan based on the terminal's operation requirements, and further generates an operation plan set, the operation plan set including at least one operation plan, the operation plan being used to confirm the flow scheme of at least one operation object in the operation requirements;

[0009] The control equipment transmits the work plan set to the adaptive controllers corresponding to multiple automated work equipment based on a unified communication protocol, so that the adaptive controllers generate instruction timing sets. The instruction timing sets include multiple work instructions that are executed in a specified timing sequence to drive the mechanical components of the automated work equipment.

[0010] The control equipment uses a unified communication protocol to acquire real-time operating information of the corresponding automated operating equipment collected by the adaptive controller. Based on the operation requirements and real-time operating information, it performs full-cycle maintenance and dynamic adjustment of the operation plan set and / or operation plan, so that the adaptive controller can dynamically adjust the instruction timing set to achieve closed-loop control of the dock operation.

[0011] According to the embodiments of this application, the above-described technical solution of this application has at least one of the following beneficial effects:

[0012] (1) By adopting a two-level collaborative architecture of control equipment and adaptive controller, the overall architecture is simplified. A unified communication protocol is used to achieve direct communication with high determinism, high reliability and low latency between the control equipment and the adaptive controller of each automated operation equipment. This fundamentally replaces the multiple systems and supporting data interaction methods in the existing multi-layer architecture, significantly reducing the risks of data synchronization delay and interface incompatibility. As a result, the information between the control equipment and the adaptive controller is highly consistent and the data is transmitted reliably. This effectively avoids collaborative failure and operation errors caused by information conflict or loss, and improves the collaboration and stability of terminal operation control.

[0013] (2) By controlling the equipment to perform full-cycle maintenance and dynamic adjustment of the work plan set based on real-time operation information, and linking the adaptive controller to dynamically adjust the instruction timing set, a closed-loop feedback mechanism from high-level planning to low-level execution is formed, overcoming the defects of business process fragmentation and disconnect between upper-level planning and low-level execution status in the existing technology, realizing integrated business flow management of "planning-execution-monitoring-optimization", and enhancing the flexibility and adaptability of terminal operation scheduling;

[0014] (3) Based on the simplified two-level collaborative architecture consisting of control equipment and adaptive controller, when a fault occurs in the terminal operation, only the control equipment or adaptive controller needs to be checked, which greatly reduces the workload of fault checking and improves the efficiency of fault checking.

[0015] In one possible implementation of the first aspect above, the control equipment generates a work plan based on the operational needs of the dock, and further generates a set of work plans, including:

[0016] Based on the operational needs of the terminal, the control equipment generates a business plan, which is used to transform the operational needs of the terminal into input sources and constraints for all subsequent automated operations.

[0017] Based on business planning, the control equipment generates work plans and further generates a set of work plans.

[0018] According to the implementation method of this application, the macro-level business planning and operation plan formulation of terminal operation requirements are carried out through control equipment. This achieves structured modeling and centralized control of macro-level elements of operation requirements such as ship berthing, container flow, time windows, and spatial location. On the one hand, the generation of operation plans no longer relies on scattered, experience-based manual instructions or partial task lists, but strictly follows a unified top-level business logic, thereby achieving a high degree of alignment between operation plans and actual business requirements. On the other hand, it ensures that operation requirements can be clearly and consistently transmitted to the execution level, providing a clear and unified input source and constraints for the further decomposition of subsequent operation tasks and the scheduling of terminal resources, thereby enhancing the standardization and manageability of the overall operation process.

[0019] In one possible implementation of the first aspect above, based on job requirements and real-time operational information, the job plan set and / or job plan are maintained and dynamically adjusted throughout their entire lifecycle, including:

[0020] Based on operational needs, the control equipment performs the first management operation on the business plan to achieve full-cycle maintenance and dynamic adjustment of the business plan. The first management operation includes at least one of adding, deleting, modifying, and querying status.

[0021] The control equipment obtains real-time operating information of multiple automated operating devices through a unified communication protocol, and generates global operating status information of the dock based on the real-time operating information;

[0022] The control equipment manages the work plan set and / or work plan based on real-time business planning, real-time operation information and global working condition information, so as to realize the full life cycle maintenance and dynamic adjustment of the work plan set and / or work plan. Among them, real-time business planning refers to the business plan that needs to be executed now, whether it has undergone the first management operation or not.

[0023] According to the implementation method of this application, the first management operations, such as adding, deleting, modifying, and querying status, are performed on the business plan itself based on operational requirements, realizing proactive management starting from the top-level business plan. Furthermore, by combining the terminal's global operational information and real-time business plan, the lower-level work plan set or work plan is updated, ultimately enabling the execution control of automated operation equipment, as well as dynamic perception and rapid response to terminal operational conditions. This ensures the real-time nature and effectiveness of the work plan, enhances the terminal's adaptability to complex operating conditions and sudden changes, and improves the overall operational flexibility and reliability of the terminal.

[0024] In one possible implementation of the first aspect above, the control equipment manages the set of work plans and / or work plans based on real-time business planning, real-time operational information, and global operating condition information, including:

[0025] Based on real-time business planning, real-time operation information, and global operating status information, the control equipment performs a second management operation on the work plan set. The second management operation includes at least one of adding, canceling, modifying, moving, and status querying.

[0026] And / or, the control equipment performs third management operations on the work plan based on real-time business planning, real-time operation information and global operating status information. The third management operations include at least one of the following: adding, canceling, modifying, moving, status querying and plan priority adjustment.

[0027] According to the embodiments of this application, by performing a second management operation on the work plan set and / or a third management operation on the work plan, fine-grained scheduling and flexible reorganization of work resources can be achieved without regenerating all work plans and / or work plan sets. This significantly improves the terminal's processing capacity and response speed in the face of multi-task and high-concurrency scenarios, optimizes resource utilization efficiency and configuration efficiency, and can dynamically reconstruct the terminal's work process based on the terminal's work requirements and real-time work conditions.

[0028] In one possible implementation of the first aspect above, the control device transmits a set of work plans to adaptive controllers corresponding to multiple automated work devices based on a unified communication protocol, so that the adaptive controllers generate a set of instruction timings, including:

[0029] The control equipment uses a unified communication protocol to transmit the work plan set to the adaptive controllers corresponding to multiple automated work equipment, so that the adaptive controllers can generate work tasks and further generate instruction timing sets based on the work tasks.

[0030] According to the implementation of this application, the adaptive controller sets up work tasks between the work plan set and the instruction timing set based on the acquired work plan set and combined with the real-time operation information of the automated work equipment it collects. This avoids the direct refinement of the relatively macro-level work plan into micro-level work instructions, forming a hierarchical control architecture. In this way, it can realize batch centralized management of multiple work instructions through work tasks, thereby improving the flexibility and convenience of control.

[0031] In one possible implementation of the first aspect above, the control device includes an operating interface, and the method further includes:

[0032] In response to the first input on the operating interface, the control device generates a control signal, wherein the first input is used to represent an instruction for controlling the automated operation equipment;

[0033] The control equipment transmits control signals to the corresponding adaptive controller through a unified communication protocol, so that the adaptive controller can generate and / or change the instruction timing set.

[0034] According to the embodiments of this application, by setting up an operation interface on the control equipment and supporting the direct generation and transmission of control signals to a designated adaptive controller through this interface, precise and timely intervention in the operation behavior of any single piece of equipment can be achieved, such as emergency pause, manual retry, and speed fine-tuning. This retains the necessary human decision-making entry point while avoiding the redundant operations required by traditional multi-system distributed interfaces, which necessitate operators repeatedly switching between multiple terminals such as TOS / ECS / ACCS for information verification and command translation. This simplifies the operation process, significantly reducing the complexity of human-machine interaction and the risk of misoperation, improving the efficiency and safety of human-machine collaboration, and enhancing the flexibility, timeliness, and accuracy of handling abnormal situations in port operations.

[0035] In one possible implementation of the first aspect described above, the method further includes:

[0036] The control equipment uses a unified communication protocol to obtain the content and / or execution status of the job tasks and instruction timing sets generated by the adaptive controller;

[0037] In response to the second input on the operation interface, the control equipment transmits the content and / or execution status of at least one of the following: business plan, work plan set, work plan, work task, instruction timing set, and work instruction to the operation interface for display, so that staff can view it. The second input is used to indicate the instruction to view the details of the dock site operations.

[0038] According to the implementation method of this application, by integrating and displaying information at different levels, it greatly facilitates operators to understand the macro and micro work progress at the dock site, thereby enabling operators to flexibly and manually schedule on-site operations according to the on-site working conditions of the dock, effectively improving the comprehensiveness, convenience and flexibility of dock management.

[0039] Secondly, this application provides a terminal operation control system based on an integrated business flow, which includes control equipment and multiple adaptive controllers.

[0040] Specifically, the control equipment is used to execute the terminal operation control method based on integrated business flow disclosed in the first aspect and any possible implementation of the first aspect.

[0041] Specifically, multiple adaptive controllers communicate with the control equipment through a unified communication protocol. The adaptive controllers are used to collect real-time operating information of the corresponding automated operation equipment and obtain the global operating condition information and operation plan set of the dock transmitted by the control equipment, and generate instruction timing set.

[0042] According to the implementation method of this application, on the one hand, by constructing a two-layer architecture control system consisting of control equipment and multiple adaptive controllers, and using a unified communication protocol to achieve deterministic, low-latency, and highly reliable data interaction between the two, the existing multi-layer architecture with multiple systems and supporting multiple data interaction methods is fundamentally replaced. By simplifying the architecture and highly integrating the operation control function into the control equipment and adaptive controllers, not only is the system integration improved, but the architecture deployment cost and subsequent operation and maintenance cost are also reduced. At the same time, potential failure points introduced by protocol conversion, data format mapping, interface adaptation and other links are reduced, thereby improving the overall engineering feasibility and long-term operational stability of the architecture.

[0043] On the other hand, since the adaptive controller has the function of collecting real-time operating information of the corresponding automated operation equipment, receiving global operating information and operation plan set of the terminal, compared with the traditional PLC that only executes the underlying drive instructions, the adaptive controller has the ability to perceive, understand, make decisions and execute. Thus, it can cooperate with the control equipment to achieve efficient cooperation between central overall planning and autonomous execution. This ensures the consistency of the overall operation goals of the terminal and the agility of individual automated operation equipment in dealing with local dynamic operating conditions, forming a terminal operation control architecture that takes into account both centralized control and distributed execution.

[0044] In one possible implementation of the second aspect described above, the adaptive controller includes a job plan selection unit, a job task generation and scheduling unit, and a job instruction generation unit.

[0045] Specifically, the work plan selection unit is used to identify the optimal work plan from the work plan set based on the global working condition information of the dock and the real-time operating information of the corresponding automated operation equipment.

[0046] Specifically, the task generation and scheduling unit is used to decompose and instantiate the optimal task plan in real time to generate the task that the corresponding automated work equipment needs to execute.

[0047] Specifically, the job instruction generation unit is used to decompose and instantiate job tasks in real time to generate job instructions and instruction timing sets.

[0048] According to the implementation method of this application, the adaptive controller autonomously selects the optimal operation plan for the automated operation equipment that best suits the current spatiotemporal conditions based on the real-time operating conditions of the dock and the state of the corresponding automated operation equipment. It then decomposes the plan layer by layer to generate specific operation tasks and atomic instruction timing sets, realizing intelligent and adaptive optimization of equipment-level decision-making. It decentralizes some planning and scheduling functions to the execution terminal, giving full play to the advantages of edge computing. It can quickly respond to local changes in the dock operation site, optimize the operation efficiency of individual automated operation equipment, reduce the computational burden of control equipment, and enhance the overall agility and reliability of dock operation control.

[0049] Thirdly, this application provides an electronic device including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the terminal operation control method based on integrated business flow as disclosed in the first aspect and any possible implementation of the first aspect above.

[0050] Fourthly, this application provides a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the terminal operation control method based on integrated business flow disclosed in the first aspect and any possible implementation thereof.

[0051] Fifthly, this application provides a computer program product comprising: computer instructions that, when executed on an electronic device, cause the electronic device to perform the terminal operation control method based on an integrated business flow as disclosed in the first aspect and any possible implementation thereof.

[0052] The beneficial effects of the second to fifth aspects can be found in the first aspect and the beneficial effects of any possible implementation of the first aspect, and will not be repeated here. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of the dock operation control system in the embodiments of this application;

[0054] Figure 2 This is a flowchart illustrating a dock operation control method in an embodiment of this application;

[0055] Figure 3 This is a flowchart illustrating step S100 of the dock operation control method in this application embodiment;

[0056] Figure 4This is a schematic diagram of the functional architecture of the control device and adaptive controller in the embodiments of this application;

[0057] Figure 5 This is a schematic diagram of the control device and adaptive controller in an embodiment of this application.

[0058] Figure 6 This is a flowchart illustrating step S300 of the dock operation control method in this embodiment of the application.

[0059] Figure 7 This is a schematic diagram illustrating the interaction between the control device and the automated operation device in an embodiment of this application;

[0060] Figure 8 This is a block diagram of the electronic device in the embodiments of this application;

[0061] Figure 9 This is a block diagram of a system-on-chip (SoC) in the embodiments of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] The technical problems to be solved by the embodiments of this application will be described below.

[0064] As described above, existing automated terminal operation management methods that rely on a hierarchical and progressive control architecture have significant shortcomings in terms of architectural simplification, system integration, and information consistency.

[0065] Furthermore, in the existing hierarchical and progressive control architecture, each subsystem is equipped with an independent operating terminal and graphical interface. The functions are repetitive and the information is presented in a scattered manner. On-site operators need to frequently switch between multiple systems, verify information, and communicate and coordinate. This not only increases the complexity of operation and training costs, but also seriously affects the efficiency of operational decision-making and the effectiveness of task execution due to the excessively long information transmission chain and the lag in feedback.

[0066] In summary, existing automated terminal operation management methods have significant shortcomings in terms of architectural simplification, system integration, and information consistency, and also suffer from redundant user interfaces, which hinders further improvement in the operational efficiency and management level of automated terminals.

[0067] Therefore, in order to solve the above problems, this application provides a terminal operation management method and system based on integrated business flow, and the technical solution adopted is as follows:

[0068] Firstly, by adopting a two-level collaborative architecture of control equipment and adaptive controllers, the overall architecture is simplified. A unified communication protocol enables direct communication with high determinism, high reliability, and low latency between the control equipment and the adaptive controllers of each automated operation device. This fundamentally replaces the multiple systems and supporting data interaction methods in the existing multi-layer architecture, significantly reducing the risks of data synchronization delay and interface incompatibility. As a result, the information between the control equipment and the adaptive controllers is highly consistent and the data is transmitted reliably. This effectively avoids collaborative failures and operational errors caused by information conflicts or loss, and improves the coordination and stability of port operation control.

[0069] Secondly, by controlling the equipment to perform full-cycle maintenance and dynamic adjustment of the work plan set based on real-time operation information, and linking the adaptive controller to dynamically adjust the instruction timing set, a closed-loop feedback mechanism from high-level planning to low-level execution is formed. This overcomes the defects of business process fragmentation and disconnect between upper-level planning and low-level execution status in existing technologies, and realizes integrated business flow management of "planning-execution-monitoring-optimization", enhancing the flexibility and adaptability of terminal operation scheduling.

[0070] Thirdly, based on the simplified two-level collaborative architecture consisting of control equipment and adaptive controller, when a fault occurs in the terminal operation, only the control equipment or adaptive controller needs to be checked, which greatly reduces the workload of fault diagnosis and improves the efficiency of fault diagnosis.

[0071] To better understand the terminal operation control method based on integrated business flow in the embodiments of this application, the following is combined with Figure 1 First, the dock operation control system of this application embodiment on which the method depends will be described.

[0072] refer to Figure 1 , Figure 1 This is a schematic diagram of the dock operation control system in the embodiments of this application.

[0073] like Figure 1 As shown in the embodiments of this application, the dock operation control system may include control equipment and multiple adaptive controllers, and each automated equipment includes at least one adaptive controller.

[0074] The control and management equipment, acting as the central decision-making unit, is responsible for generating job plan sets and interacting with multiple adaptive controllers via a unified communication protocol. It integrates the functions of traditional TOS and ECS, simplifying the architecture, improving functional integration and decision-making efficiency, and reducing deployment and maintenance costs.

[0075] An adaptive controller may include an adaptive PLC module. Adaptive controllers not only have instruction execution capabilities but also sensing, modeling, optimization, and decision-making capabilities. Multiple adaptive controllers communicate with the control equipment via a unified communication protocol to collect real-time operating information of the corresponding automated equipment, obtain the work plan set transmitted by the control equipment, and generate instruction timing sets.

[0076] This application does not limit the type and quantity of automated operation equipment. For example, automated operation equipment can be automated quay cranes, automated guided vehicles (AGVs), automated yard cranes, etc.

[0077] This application does not limit the specific type of unified communication protocol. For example, the unified communication protocol can be a unified standard architecture protocol for industrial equipment communication, the HTTP protocol, or other mainstream communication protocols, such as industrial Ethernet protocol, fieldbus protocol, etc.

[0078] In this embodiment of the application, the control device may include an operating interface. It can be understood that, since there is only one central decision-making unit, the control device, in the terminal operation control method based on integrated business flow, the terminal operation control can be managed solely through its operating interface.

[0079] It is understood that, in this embodiment of the application, on the one hand, by constructing a two-layer architecture management system consisting of management and control equipment and multiple adaptive controllers, and using a unified communication protocol to achieve deterministic, low-latency, and highly reliable data interaction between the two, the existing multi-layer architecture with multiple systems and supporting multiple data interaction methods is fundamentally replaced. By simplifying the architecture and highly integrating the job management and control functions into the management and control equipment and adaptive controllers, not only is the system integration improved, but the architecture deployment cost and subsequent operation and maintenance cost are also reduced. At the same time, potential failure points introduced by protocol conversion, data format mapping, interface adaptation and other links are reduced, thereby improving the overall feasibility of engineering implementation and long-term operational stability of the architecture.

[0080] On the other hand, since the adaptive controller has the function of collecting real-time operating information of the corresponding automated operation equipment, receiving global operating information and operation plan set of the terminal, compared with the traditional PLC that only executes the underlying drive instructions, the adaptive controller has the ability to perceive, understand, make decisions and execute. Thus, it can cooperate with the control equipment to achieve efficient cooperation between central overall planning and autonomous execution. This ensures the consistency of the overall operation goals of the terminal and the agility of individual automated operation equipment in dealing with local dynamic operating conditions, forming a terminal operation control architecture that takes into account both centralized control and distributed execution.

[0081] The following is for reference. Figures 2 to 7 The dock operation control method in the embodiments of this application is described in detail.

[0082] refer to Figure 2 , Figure 2 The specific process of the dock operation control method in the embodiments of this application is shown.

[0083] like Figure 2 As shown in the embodiments of this application, the terminal operation management method based on integrated business flow may specifically include the following steps S100-S300:

[0084] Step S100: The control equipment generates an operation plan based on the terminal's operational requirements, and further generates an operation plan set.

[0085] The work plan set includes at least one work plan, which is used to confirm the flow scheme of at least one work object in the work requirements. For example, the work object can be a container or other object; this application does not limit this.

[0086] A work plan set is a collection of multiple work plans. These plans can be multiple work plans corresponding to the same type of work requirement, multiple work plans executed by the same automated equipment or the same work team, or multiple work plans executed during the same work period. As a clustering and grouping of work plans, this application does not impose restrictions on the grouping criteria for the work plan set.

[0087] Specifically, the operational needs of a terminal can include unloading needs, loading needs, container pick-up needs, and port arrival needs. A terminal may carry out operations based on multiple operational needs at the same time. These different operational needs may be of the same type or different types.

[0088] Among these, unloading demand refers to the need to unload containers from arriving vessels to the terminal yard, and the corresponding operational plan is the unloading operation plan. The unloading operation plan is used to confirm the flow scheme of multiple containers from the vessel to the terminal yard. At this time, multiple unloading operation plans can be combined into an unloading operation plan set.

[0089] Ship loading demand refers to the need to load certain containers from the terminal yard onto ships that are about to depart. The corresponding operational plan is called the ship loading operation plan. The ship loading operation plan is used to confirm the flow of multiple containers from the terminal yard to the corresponding ships. At this time, multiple ship loading operation plans can be combined into a ship loading operation plan set.

[0090] Container pick-up demand refers to the need to load certain containers from the terminal yard onto external trucks and exit the port through the gate. The corresponding operational plan is the container pick-up operation plan. The container pick-up operation plan is used to confirm the flow scheme of multiple corresponding containers from the terminal yard to the corresponding external trucks and out of the port. At this time, multiple container pick-up operation plans can be combined into a container pick-up operation plan set.

[0091] Port collection demand refers to the need to collect and store containers loaded on external trucks that arrive at the terminal through the gate into the terminal yard. The corresponding operational plan is called the port collection operation plan. The port collection operation plan is used to confirm the flow scheme of multiple corresponding containers from their respective external trucks to the designated location in the terminal yard. At this time, multiple port collection operation plans can be combined into a port collection operation plan set.

[0092] Furthermore, during the operation of the terminal to meet different operational needs, there is a probability that internal container relocation will be required. For example, containers originally placed in area A of the terminal yard may not be picked up for a long time, and area A is closer to the ships waiting to be handled. To improve ship loading and unloading efficiency, it is necessary to move the containers originally in area A to area B, which is farther away from the ships waiting to be handled. Therefore, in order to facilitate the management of such container relocation needs, the control equipment will generate corresponding internal relocation operation plans based on the internal container relocation needs. Multiple internal relocation operation plans constitute an internal relocation operation plan set.

[0093] In this embodiment, a work plan can determine key information such as the work time, origin, destination, automated work equipment, transfer method, and transfer sequence involved in the transfer of a batch of work objects throughout the entire dock. It should be noted that although the work plan confirms the overall transfer framework of a batch of work objects in the entire work requirement, it does not directly include the specific task details of each automated work equipment.

[0094] For example, for an unloading requirement, the unloading operation plan generated by the control equipment could be: "First, quay crane No. 3 needs to grab a container from the designated bay on the ship at 14:00:00 and place it on an automated guided vehicle (AGV)." This operation plan determines the flow sequence of the container from the ship, through the quay crane, to the AGV, but does not specify the AGV number and does not involve the specific task details of each automated operation device.

[0095] Alternatively, "First, quay crane No. 3 needs to grab the container from the designated bay on the ship at 14:00:00 and place it on automated guided vehicle No. 7." This operation plan specifies the flow sequence of the container from the ship, through the quay crane, to the automated guided vehicle, and the automated operation equipment at each stage, but does not involve the specific task details of each automated operation equipment.

[0096] Alternatively, "First, quay crane No. 3 needs to grab the container from the designated bay on the ship at 14:00:00 and place it on automated guided vehicle No. 7; then, automated guided vehicle No. 7 carrying the confirmed container will move to the designated work lane in yard No. 5." This operation plan defines the flow sequence of containers from the ship, through quay cranes and automated guided vehicles to the automated yard, as well as the automated operation equipment and destination at each stage, but does not involve the specific task details of each automated operation equipment.

[0097] Alternatively, "First, quay crane No. 3 needs to grab a container from the designated bay on the ship at 14:00:00 and place it on automated guided vehicle (AGV) No. 7; then, AGV No. 7, carrying the confirmed container, moves to the designated work lane in yard No. 5; finally, the automated yard crane in yard No. 5 grabs the container from the AGV in the designated work lane and accurately places it into the target container position." This operation plan defines the flow sequence of containers from the ship, through quay cranes, AGVs, automated yards, and to automated yard cranes, as well as the operating equipment and destination of each stage, but does not involve the specific task details of each automated operating device.

[0098] Step S200: The control equipment transmits the work plan set to the adaptive controllers corresponding to multiple automated work equipment based on the unified communication protocol, so that the adaptive controllers can generate instruction timing sets.

[0099] The instruction timing set generated by the adaptive controller can include multiple operation instructions that are executed in a specified timing sequence to drive various mechanical components of automated operating equipment.

[0100] A work instruction refers to an atomic control unit generated by the adaptive controller of each automated work equipment at the lowest level of the integrated business flow. It has clear control logic and can directly drive the physical mechanical components of the automated work equipment to perform an independent operation, such as "the hoisting mechanism rises to the specified height", "the trolley moves forward 5 meters", or "the spreader lock closes".

[0101] The instruction timing set is a sequence of atomic operation instructions dynamically organized according to a specific order and time logic. The instruction timing set defines all the actions required for the automated operation equipment to complete a complete operation task, as well as their execution order and coordination timing. During the execution process, it will be optimized and adjusted based on sensor feedback and real-time operating information of the automated operation equipment, such as adjusting the moving speed of the automated guided vehicle or pausing and waiting, to ensure the accuracy, efficiency and safety of the terminal operation process.

[0102] It is understandable that, based on steps S200 and S100, a two-level collaborative control method can be formed, with the control equipment as the central decision-making unit and each adaptive controller as a distributed execution unit. Compared with the traditional four-level collaborative control method of TOS-ECS-ACCS-PLC, this two-level collaborative control method is more streamlined. When a fault occurs at the dock operation site, only the automated operation equipment or control equipment needs to be troubleshooted, which greatly reduces the difficulty and workload of troubleshooting and effectively improves the efficiency of fault resolution.

[0103] Step S300: The control equipment, based on a unified communication protocol, acquires the real-time operating information of the corresponding automated operation equipment collected by the adaptive controller, and performs full-cycle maintenance and dynamic adjustment of the operation plan set and / or operation plan based on the operation requirements and real-time operating information, so that the adaptive controller can dynamically adjust the instruction timing set to achieve closed-loop control of the dock operation.

[0104] Specifically, the control equipment can obtain real-time operating information of the automated operation equipment from the adaptive controller through methods such as periodic polling and event triggering mechanisms. Based on the real-time operating information, the execution status of the automated operation equipment on the work plan can be determined.

[0105] Specifically, the real-time operating information of automated equipment is obtained by real-time sensing elements such as sensor networks, encoders, limit switches, load sensors and positioning systems deployed on various mechanical components of the equipment, combined with the data acquisition and processing module built into the adaptive controller.

[0106] Real-time operating information of automated equipment can include the fault status of each mechanical component of the equipment, whether the equipment is idle, whether it is damaged, and the location of the equipment. For example, whether the automated quay crane is idle, whether the spreader is intact, and the location of the automated guided vehicle.

[0107] Furthermore, the control equipment optimizes the work plan set by comparing the deviation between the current work plan and the actual execution, forming a closed-loop control model of "planning-execution-monitoring-optimization". For example, when a yard crane malfunctions, the control equipment reallocates its work plan and the work plan set to which it belongs based on the execution status of the work plan, and notifies the corresponding automated operation equipment and other related adaptive controllers to update the instruction timing set in a timely manner. Through the closed-loop control model, the traditional post-event error correction mechanism is transformed into real-time adaptive adjustment, significantly improving the flexibility, adaptability, and efficiency of terminal operations.

[0108] Therefore, compared with the prior art, the terminal operation control method based on integrated business flow provided in this application has at least the following three technical advantages:

[0109] Firstly, by adopting a two-level collaborative architecture of control equipment and adaptive controllers, the overall architecture is simplified. A unified communication protocol enables direct communication with high determinism, high reliability, and low latency between the control equipment and the adaptive controllers of each automated operation device. This fundamentally replaces the multiple systems and supporting data interaction methods in the existing multi-layer architecture, significantly reducing the risks of data synchronization delay and interface incompatibility. As a result, the information between the control equipment and the adaptive controllers is highly consistent and the data is transmitted reliably. This effectively avoids collaborative failures and operational errors caused by information conflicts or loss, and improves the coordination and stability of port operation control.

[0110] Secondly, by controlling the equipment to perform full-cycle maintenance and dynamic adjustment of the work plan set based on real-time operation information, and linking the adaptive controller to dynamically adjust the instruction timing set, a closed-loop feedback mechanism from high-level planning to low-level execution is formed. This overcomes the defects of business process fragmentation and disconnect between upper-level planning and low-level execution status in existing technologies, and realizes integrated business flow management of "planning-execution-monitoring-optimization", enhancing the flexibility and adaptability of terminal operation scheduling.

[0111] Thirdly, based on the simplified two-level collaborative architecture consisting of control equipment and adaptive controller, when a fault occurs in the terminal operation, only the control equipment or adaptive controller needs to be checked, which greatly reduces the workload of fault diagnosis and improves the efficiency of fault diagnosis.

[0112] refer to Figures 3-5 ,in, Figure 3 The specific process of step S100 in the embodiment of this application is shown. Figure 4 This application illustrates a functional architecture of the control device and adaptive controller in an embodiment. Figure 5 This application illustrates one structure of the control device and adaptive controller in an embodiment of the present application.

[0113] like Figure 3 and Figure 4 As shown, in step S100, the control equipment generates a work plan based on the terminal's operational needs, and further generates a work plan set, which may specifically include the following steps S110-S120:

[0114] Step S110: The control equipment generates a business plan based on the terminal's operational needs.

[0115] Business planning is used to transform the terminal's operational needs into input sources and constraints for all subsequent automated operations.

[0116] Specifically, the business plan exists in the form of a structured data model, which can be defined using formats such as XML, JSON, or DB. The business plan includes at least key fields such as vessel identifiers, a list of container identifiers, operation type codes, planned time intervals, and designated terminal yard locations. For example, the unloading business plan for a vessel might specify that 100 containers need to be unloaded to yard locations A01-A05 within 24 hours. This structured modeling ensures that operational requirements can be parsed by machines, replacing traditional operation instructions that rely on natural language descriptions, thus serving as the input source and constraint for all subsequent automated operations.

[0117] like Figure 5 As shown in the embodiments of this application, the control equipment may include a multi-scenario business planning unit. The multi-scenario business planning unit may include business planning sub-units such as unloading business planning sub-unit, loading business planning sub-unit, container lifting business planning sub-unit, and port arrival business planning sub-unit. Different business planning sub-units are used to generate corresponding business plans for different types of operational needs.

[0118] Specifically, the unloading business planning subunit is used to generate corresponding unloading business plans based on the unloading demand of the terminal; the loading business planning subunit is used to generate corresponding loading business plans based on the loading demand of the terminal; the container pickup business planning subunit is used to generate corresponding container pickup business plans based on the container pickup demand of the terminal; and the port arrival business planning subunit is used to generate corresponding port arrival business plans based on the port arrival demand of the terminal.

[0119] Step S120: The control equipment generates a work plan based on the business plan, and further generates a set of work plans.

[0120] like Figure 5 As shown, specifically, in this embodiment of the application, the control device may include a work plan generation unit. The work plan generation unit is used to generate work plans and work plan sets. The business plan on which it generates the work plan needs to be automatically confirmed by the control device or manually confirmed to avoid the work plan generation unit generating work plans based on incorrect business plans.

[0121] The work plan generation unit transforms structured business plans into a series of logically coherent, resource-allocable, and time-sequentially executable work plans. Furthermore, based on on-site work requirements, it clusters and groups multiple different work plans to obtain a work plan set.

[0122] It is understandable that, compared with existing technologies, the embodiments of this application utilize control equipment to conduct macro-level business planning and operation plan formulation for terminal operation requirements, achieving structured modeling and centralized control of macro-level elements of operation requirements such as ship berthing, container flow, time windows, and spatial location. On the one hand, this ensures that the generation of operation plans no longer relies on scattered, experience-based manual instructions or partial task lists, but strictly follows a unified top-level business logic, thereby achieving a high degree of alignment between operation plans and actual business needs. On the other hand, it ensures that operation requirements can be clearly and consistently transmitted to the execution level, providing a clear and unified input source and constraints for further decomposition of subsequent operation tasks and terminal resource scheduling, enhancing the standardization and manageability of the overall operation process.

[0123] like Figure 4 and Figure 5 As shown in the embodiments of this application, the adaptive controller may include a job plan selection unit, a job task generation and scheduling unit, and a job instruction generation unit.

[0124] The job plan selection unit is used to identify the optimal job plan from the job plan set based on the real-time operating information of the corresponding automated work equipment.

[0125] The job plan selection unit has a built-in optimization strategy. Based on the optimization strategy and real-time operation information, it performs dynamic calculations and comparisons, and autonomously selects the job plan that is most suitable for the automated work equipment to execute at the current moment from the job plan set as the optimal job plan, and binds it to the optimal job plan.

[0126] It is important to note that an adaptive controller for an automated work device can receive multiple work plan sets simultaneously and identify the optimal work plan from among these sets.

[0127] For example, an automated yard crane may receive unloading plan set A, container pickup plan set B, and port arrival plan set C simultaneously. Although the yard crane is currently located near the working bay of the container pickup plan and the spreader is in good condition, the unloading plan set has a higher priority. Therefore, the operation plan selection unit of the yard crane will judge based on this real-time information and prioritize selecting one of the operation plans in the unloading plan set A that involves the yard crane for binding and execution, thereby ensuring the high efficiency and adaptive collaboration of the entire terminal operation.

[0128] This application does not limit the specific logic of the optimization strategy. For example, the optimization strategy may be to prioritize the execution of high-priority tasks, or to select tasks that can reduce empty driving paths or balance the load, etc.

[0129] The task generation and scheduling unit is used to decompose and instantiate the optimal task plan in real time to generate the task that the corresponding automated equipment needs to execute.

[0130] Specifically, the task generation and scheduling unit takes the optimal task plan as input and, based on the real-time operating information of the automated equipment, further breaks down and instantiates the optimal task plan into task executable by the automated equipment, each task having clearly defined pick-up and delivery location coordinates and an automated equipment identifier. The task defines the complete actions of a single automated equipment within one operation cycle.

[0131] The job task involves several key pieces of information, including but not limited to the starting location, destination, and task start time. However, it should be noted that while the job task covers the framework of a single automated operation, it does not directly include the specific action details of each automated operation device.

[0132] In this embodiment, the task generation and scheduling unit may include various task generation subunits such as a ship task generation subunit, a gate task generation subunit, and an in-yard transfer task generation subunit, depending on the different task requirements.

[0133] The ship operation task generation subunit analyzes the bound unloading or loading operation plans and, based on the real-time operating information of the corresponding automated operation equipment, decomposes the corresponding operation plans and generates precise operation tasks to be performed by the corresponding automated operation equipment. The corresponding automated operation equipment can be a quay crane, horizontal transport equipment, or site crane, etc. Specifically, the quay crane can be an automated quay crane, the horizontal transport equipment can be an automated guided vehicle, and the site crane can be an automated yard crane.

[0134] The gate operation task generation subunit is used to analyze the bound container pick-up or port arrival operation plan, and based on the real-time operation information of the corresponding automated operation equipment, decompose the corresponding operation plan and generate the precise operation tasks to be executed by the corresponding automated operation equipment, such as site cranes.

[0135] The on-site relocation task generation subunit is used to analyze the bound internal relocation operation plan, and based on the real-time operation information of the corresponding automated operation equipment, decompose the corresponding operation plan and generate the container relocation task to be executed by the corresponding automated operation equipment. The corresponding automated operation equipment can be horizontal transport equipment, site cranes, etc.

[0136] For example, when the adaptive controller of the automated guided vehicle (AGV) binds an unloading plan from the job plan set as the optimal job plan for the AGV through the job plan selection unit, the job task generation and scheduling unit will analyze in detail the container list, container pick-up coordinates, and timing requirements of the unloading plan contained in the optimal job plan. At the same time, combined with real-time information such as the current position and loading status of the AGV, the unloading plan will be gradually decomposed into job tasks that the AGV can execute.

[0137] Specifically, the automation controller of AGV No. 3 selects the unloading plan corresponding to quay crane No. 1 from the set of unloading plans that only specify different quay crane equipment but not AGVs, based on its location information closest to quay crane No. 1, and binds it as the optimal operation plan. Alternatively, it selects the unloading plan corresponding to quay crane No. 1 from the set of unloading plans that are already specified for this AGV, and binds it as the optimal operation plan.

[0138] When the automation controller of AGV No. 3 confirms that AGV No. 3 is currently in an idle state, the automation controller of AGV No. 3 generates a task to "AGV No. 3 go to the quay crane No. 1 to retrieve the box" based on the bound optimal work plan.

[0139] After AGV No. 3 retrieves the container from quay crane No. 1, its adaptive controller continues to generate a task to "deliver the container from quay crane No. 1 to the destination location" based on the destination location included in the optimal work plan. The destination location in this optimal work plan can be updated in real-time by the control equipment and transmitted to the adaptive controller of AGV No. 3, or it can remain unchanged.

[0140] The instantiated task corresponding to AGV No. 3 includes information such as automated operation equipment, starting position coordinates, and destination coordinates, but it still does not involve the lower-level details of motor current control.

[0141] In this embodiment, the job instruction generation unit is used to decompose and instantiate the job task in real time to generate job instructions and instruction timing sets.

[0142] Specifically, the work instruction generation unit takes the work task as input and combines it with the real-time operating information of the automated work equipment, especially the current precise status of each mechanical component of the automated work equipment obtained from the sensor network, to further decompose the relatively macroscopic work task into a set of instruction timing that can directly drive the automated work equipment to perform an independent and complete action.

[0143] The operation instructions in the instruction timing set will directly drive the various components of the corresponding automated operation equipment to perform actions.

[0144] For example, when an automated quay crane performs container unloading operations, its adaptive controller parses the task into a set of instruction sequences. These sequences can include, in order, a series of operational instructions such as "moving the trolley to the target ship's bay," "moving the trolley above the container position," "lifting and lowering to align the spreader with the container," "locking the lock," "lifting and raising the container," "moving the trolley to the landside lane," "lifting and lowering to place the container onto the AGV," "unlocking the lock," and "lifting and raising the container to reset when unloaded." The adaptive controller dynamically coordinates the execution sequence and parameters of these operational instructions to achieve a smooth transfer of the container from the ship to the automated guided vehicle.

[0145] It is understood that in this embodiment, the adaptive controller not only possesses the ability to perceive the equipment status but also the ability to make decisions. It can identify the optimal work plan from the work plan set and further generate a set of instruction timings for driving automated work equipment. The adaptive controller and the control equipment work together to form a collaborative decision-making relationship.

[0146] Furthermore, by controlling equipment and adaptive controllers, closed-loop control of the multi-level integrated business flow of "business planning - operation plan / operation plan set - operation task - operation instruction / instruction sequence set - operation execution" is achieved, realizing the whole process of integrated and dynamic adaptive optimization for the terminal's operation requirements from macro planning to equipment execution.

[0147] It is understood that in this embodiment, the adaptive controller, based on the state of the corresponding automated equipment, autonomously selects the most suitable work plan under the current spatiotemporal conditions from the work plan set as the optimal work plan for the corresponding automated equipment, and decomposes it layer by layer to generate specific work tasks and atomic instruction timing sets, thereby realizing intelligent and adaptive optimization of equipment-level decision-making. It decentralizes some planning and scheduling functions to the execution terminal, giving full play to the advantages of edge computing, enabling rapid response to local changes in the dock operation site, optimizing the operation efficiency of individual automated equipment, and enhancing the overall agility and reliability of dock operation control.

[0148] In this embodiment, based on the job plan selection unit, job task generation and scheduling unit, and job instruction generation unit included in the adaptive controller, in step S200, the control device transmits the job plan set to the adaptive controllers corresponding to multiple automated work devices based on a unified communication protocol, so that the adaptive controllers generate instruction timing sets, which may specifically include the following:

[0149] The control equipment uses a unified communication protocol to transmit the work plan set to the adaptive controllers corresponding to multiple automated work equipment, so that the adaptive controllers can generate work tasks and further generate instruction timing sets based on the work tasks.

[0150] It is understood that in this embodiment of the application, the adaptive controller sets up work tasks between the work plan set and the instruction timing set based on the acquired work plan set and combined with the real-time operation information of the automated work equipment it collects. This avoids the direct refinement of the relatively macro-level work plan into micro-level work instructions, forming a hierarchical control architecture. In this way, it can realize the batch centralized management of multiple work instructions through work tasks, thereby improving the flexibility and convenience of control.

[0151] refer to Figure 6 , Figure 6 The specific process of step S300 in the embodiment of this application is shown.

[0152] like Figure 6 As shown, in step S300, based on job requirements and real-time operational information, the job plan set and / or job plan are maintained and dynamically adjusted throughout their entire lifecycle. Specifically, this may include the following steps S310-S330:

[0153] Step S310: Based on operational requirements, the control equipment performs the first management operation on the business plan to achieve full-cycle maintenance and dynamic adjustment of the business plan.

[0154] Specifically, the control device performs a first management operation on the business plan through its included business planning management unit. The first management operation may include at least one of the following: adding, deleting, modifying, and querying status.

[0155] New operations occur when the terminal receives new operational requests. For example, when a shipping company sends a new shipping schedule forecast, informing that a vessel will berth in two days and requires the loading and unloading of 500 containers, the control equipment will generate a new unloading operation plan based on this external order, combined with the berth schedule and yard status. New operations mark the starting point of this operation plan, signifying that the batch of operations has officially entered the terminal's production sequence.

[0156] The delete operation is used to cancel business plans that have been generated but no longer need to be executed. In other words, when a work requirement is cancelled, the corresponding business plan needs to be deleted. For example, a customer originally planned to export a batch of goods via a port and had already generated a port-bound business plan through the control equipment. However, due to factory production delays, the goods could not be delivered before the cut-off time, so the order was cancelled through the business acceptance or demand acceptance system. In this case, the business planning management unit needs to delete the port-bound plan to release the pre-occupied yard space and planned time window, avoiding unnecessary scheduling preparations by the control equipment. Similarly, if a shipping company temporarily decides to cancel a port call due to weather conditions, all loading and unloading business plans related to that ship also need to be deleted.

[0157] When certain elements of operational requirements change, modifications are needed to adjust certain elements of the existing business plan to respond to the changes. For example, if a shipping company notifies that the vessel's arrival or departure time is delayed by two hours, then the relevant loading and unloading operational plans need to be revised to adjust the planned time intervals. These modifications ensure that the plan adapts to actual changes and prevent errors at the execution level.

[0158] Status query operations are implemented throughout the entire lifecycle of business planning, allowing for real-time access to the current execution stage of the plan. For example, managers can view the execution status of a vessel's loading plan on a monitoring dashboard, thus determining the appropriate time to issue a notification for loading and arrival at the port. Similarly, when customer service personnel receive inquiries about whether a batch of export containers has been successfully arrived at the port, they can query the status of the relevant port arrival plan to obtain feedback as "completed" or "in progress," enabling accurate responses to the customer. Status queries are fundamental to achieving visualized management, anomaly alerts, and dynamic scheduling.

[0159] By using the business planning management unit to perform primary management operations on multiple business plans of the terminal, proactive management starting from the top-level business planning is achieved, ensuring the consistency between business plans and the terminal's operational needs, while also providing a basis for adjusting the lower-level operational plan set.

[0160] Step S320: The control equipment obtains real-time operating information of multiple automated operating equipment through a unified communication protocol, and generates global operating status information of the dock based on the real-time operating information.

[0161] The control equipment integrates and analyzes the real-time operating information of various automated operating equipment to obtain the overall operating status information of the terminal, forming a comprehensive perception of the terminal's operating environment and conditions.

[0162] The overall operational status information of the terminal may include various information such as the working status of multiple automated operating equipment, yard occupancy rate, ship container loading progress, and ship container unloading progress, and this application does not limit this.

[0163] In this step, global operational information for the terminal is generated based on real-time operating information from different automated equipment. This ensures that control equipment can promptly perceive dynamic changes at the equipment level, providing an accurate and comprehensive data foundation for global decision-making and avoiding information silos or delays. Furthermore, data transmission is based on a unified communication protocol, avoiding information lag or loss caused by data synchronization delays or complex interfaces in traditional architectures.

[0164] The global operating condition information obtained in this step serves as the basis for subsequent full-cycle maintenance and dynamic adjustment of the work plan set, improving the accuracy and timeliness of decision-making and enhancing the terminal's adaptability to complex operating conditions.

[0165] Step S330: The control equipment manages the work plan set and / or work plan based on real-time business planning, real-time operation information and global working condition information, so as to realize the full life cycle maintenance and dynamic adjustment of the work plan set and / or work plan.

[0166] Among them, real-time business planning refers to business plans that need to be executed now, whether or not they have undergone the first management operation.

[0167] Specifically, the control equipment manages the work plans and work plan sets through its included work plan management unit to ensure that the work plan sets transmitted to each adaptive controller are adapted to the real-time operating conditions of the terminal and the real-time operation of the automated work equipment, thereby ensuring the real-time performance and effectiveness of the work plans, optimizing resource scheduling, and improving the flexibility and reliability of terminal operations.

[0168] It is understood that, in the embodiments of this application, based on the management of business planning, work plans and work plan sets, the business planning, work plans and work plan sets involved in steps S100 and S200 are all in a state of dynamic real-time updating, thereby making the work tasks, work instructions and instruction timing sets generated by the adaptive controller also in a state of dynamic real-time updating.

[0169] It is understood that in this embodiment, the first management operations, such as adding, deleting, modifying, and querying the status of the business plan itself, are performed based on operational requirements, realizing proactive management starting from the top-level business plan. Furthermore, by combining the terminal's global operational information and real-time business plan, the lower-level work plan set or work plan is updated, ultimately enabling the execution control of automated equipment, as well as dynamic perception and rapid response to terminal operational conditions. This ensures the real-time nature and effectiveness of the work plan, enhances the terminal's adaptability to complex operating conditions and sudden changes, and improves the overall operational flexibility and reliability of the terminal.

[0170] In this embodiment of the application, in step S330, the control device manages the job plan set and / or job plan based on real-time business planning, real-time operation information, and global operating condition information. Specifically, this may include at least one of the following steps S331 and S332:

[0171] Step S331: The control equipment performs a second management operation on the work plan set based on real-time business planning, real-time operation information and global operating status information.

[0172] Specifically, a second management operation is performed through the work plan management unit of the control equipment. The second management operation may include at least one of adding, canceling, modifying, moving, and querying status.

[0173] When a terminal begins a new operational phase, or when a batch of interconnected operational requests need to be managed in a unified manner, the control equipment creates a new set of operational plans—this is called a "new operational plan set" operation. For example, at 8:00 AM, the terminal receives an operational request to unload the Maersk No. 3 vessel. Based on this request, the control equipment generates an unloading business plan, and further, based on this business plan, generates operational plans involving at least several automated quay cranes and automated quay areas. These are divided into different operational plan sets according to the quay cranes, allowing for centralized monitoring of multiple operational plans through the crane's display interface, and centralized allocation of resources such as automated guided vehicles, automated yard cranes, and container yard positions. The "new" operation creates these plan sets and incorporates all related operational plans into them.

[0174] When a port is forced to suspend all operations due to extreme weather, the control equipment needs to cancel all unexecuted work plans. This is done by performing a cancellation operation on the work plans. For example, after a typhoon warning is issued, the dispatcher performs a cancellation operation, marking all current work plans as canceled. All work plans in the work plans become invalid, and automated equipment stops performing operations and returns to a safe position.

[0175] Modifications to a work schedule set occur when the overall attributes of the work schedule set need to be adjusted, or when specific work schedules need to be adjusted. For example, if a terminal raises the priority of all work schedules for a certain quay crane due to an emergency, the global priority parameter of the work schedule set involving that quay crane can be modified.

[0176] When moving a set of work plans, the entire set is typically transferred from one automated work unit, work group, or execution status to another. For example, if an automated work unit malfunctions and cannot continue executing all its currently assigned work plans, the entire work plan set corresponding to that automated work unit needs to be transferred to another available automated work unit to ensure operational continuity. Alternatively, when shifts change at the terminal, all currently incomplete work plans need to be transferred from one work group to the next to ensure operational continuity. Or, the entire work plan set may need to switch from one execution status to another, such as moving it from "pending execution" to "in execution."

[0177] Managers can perform status queries on the work schedule set to understand the current operational load and overall progress of the terminal. For example, querying statistics such as the number of completed plans, the number of plans yet to be executed, and the average waiting time in the work schedule set can help managers judge the overall operational progress of the terminal.

[0178] Step S332: The control equipment performs third management operations on the work plan based on real-time business planning, real-time operation information and global operating status information.

[0179] Specifically, a third management operation is performed through the work plan management unit of the control equipment. The third management operation may include at least one of the following: adding, canceling, modifying, moving, status querying, and adjusting plan priority.

[0180] The operation of adding a new work plan occurs when a new business plan is generated. The control equipment will generate a corresponding work plan and add it to the corresponding work plan set. For example, if a customer submits a box pickup request through the reservation system, the control equipment will immediately generate a box pickup work plan and add it to the currently running "box pickup work plan set" for execution.

[0181] Cancellation of a work plan occurs when the corresponding business plan no longer needs to be executed, and the corresponding work plan is removed from the work plan collection. For example, if a customer temporarily cancels box pickup, the control equipment will cancel the corresponding box pickup work plan from the work plan collection, releasing the occupied equipment resources.

[0182] Modifying a work plan occurs when certain key information in the work plan changes. Key information may include at least one of the following: work object, origin, destination, automated work equipment, transfer method, and transfer sequence. For example, during unloading, if the shipping company notifies that the destination yard location for a batch of containers has been changed from A03 to B05, then the destination information in the work plan corresponding to that batch of containers needs to be modified.

[0183] Moving a work plan occurs when a work plan needs to be moved to another set of work plans, typically transferring a work plan from one automated work platform to another. For example, during unloading a ship, if the original plan was to unload containers from quay crane #2, but now it needs to be changed to unloading from quay crane #3, then the unloading work plan originally executed by quay crane #2 needs to be moved to the unloading work plan set executed by quay crane #3. By moving work plans, flexible cross-scheduling of different automated work platforms can be achieved, thereby ensuring the smooth operation of the work.

[0184] The plan priority adjustment operation is used to adjust the priority of some operation plans in emergency situations, so as to achieve flexible and mobile management of terminal operations. For example, if a container on quay crane No. 3 needs to be loaded onto the ship first, but its corresponding operation plan is ranked later, the manager can raise the priority of the container's loading plan, so that these operation plans will be executed first by the relevant automated operation equipment.

[0185] Through status query operations, managers can track the execution status of individual work plans in real time, including whether execution has started, execution progress, and whether execution has ended.

[0186] This step ensures meticulous management of the work plan, optimizes the execution sequence and resource utilization efficiency, and enhances the adaptability and reliability of terminal operations.

[0187] It is understood that, in the embodiments of this application, by implementing a second management operation on the work plan set and / or a third management operation on the work plan, fine-grained scheduling and flexible reorganization of work resources can be achieved without regenerating all work plans and / or work plan sets. This significantly improves the terminal's processing capacity and response speed in the face of multi-task and high-concurrency scenarios, optimizes resource utilization efficiency and configuration efficiency, and can dynamically reconstruct the terminal's work process based on the terminal's work requirements and real-time work conditions.

[0188] refer to Figure 7 , Figure 7 The interaction between the control device and the automated operation device in the embodiments of this application is shown.

[0189] like Figure 7 As shown, based on the fact that the control equipment has an operating interface, this terminal operation control method based on integrated business flow may further include the following steps S400-S500:

[0190] Step S400: In response to the first input on the operating interface of the control device, the control device generates a control signal. The first input represents an instruction for controlling the automated operation equipment.

[0191] Specifically, the user interface provides human-machine interaction capabilities, allowing operators to input commands for controlling automated equipment, such as emergency pause, manual retry, speed adjustment, or task priority. The control equipment translates these inputs into control signals for the adaptive controller. This step retains necessary human intervention access, enhancing operational flexibility and emergency response capabilities.

[0192] Step S500: The control device transmits control signals to the corresponding adaptive controller through a unified communication protocol, so that the adaptive controller generates and / or changes the instruction timing set.

[0193] Specifically, the control equipment sends control signals directly to a designated adaptive controller via a unified communication protocol. The adaptive controller then adjusts or generates new instruction timing sets or work instructions to drive the automated equipment to perform corresponding actions. This step simplifies the human-machine interaction process, avoids the complexity of traditional multi-system switching, and improves operational efficiency and safety.

[0194] It is understood that, in this embodiment of the application, by setting up an operation interface on the control equipment and supporting the direct generation and transmission of control signals to a designated adaptive controller through this operation interface, precise and timely intervention in the operation behavior of any single piece of equipment can be achieved, such as emergency pause, manual retry, and speed fine-tuning. This retains the necessary human decision-making entry point while avoiding the redundant operations required by traditional multi-system distributed interfaces, which necessitate operators repeatedly switching between multiple terminals such as TOS / ECS / ACCS for information verification and instruction translation. This simplifies the operation process, significantly reducing the complexity of human-machine interaction and the risk of misoperation, improving the efficiency and safety of human-machine collaboration, and enhancing the flexibility, timeliness, and accuracy of handling abnormal situations in port operations.

[0195] In this embodiment of the application, based on the fact that the control equipment has an operating interface, the terminal operation control method based on integrated business flow may further include the following steps S600-S700:

[0196] Step S600: The control device obtains the content and / or execution status of the job tasks, job instructions and instruction timing sets generated by the adaptive controller based on the unified communication protocol.

[0197] Step S700: In response to the second input on the operation interface, the control device transmits the content and / or execution status of at least one of the corresponding business plan, work plan set, work plan, work task, instruction timing set and work instruction to the operation interface for display, so that the staff can view it.

[0198] The second input is used to indicate the command to view details of on-site operations at the dock.

[0199] Specifically, for on-site management personnel, it is necessary to have timely access to information on the operational status of the dock, from macro to micro levels. The control equipment integrates its generated business plans, work plans, and work plan sets with the work tasks, instruction timing sets, and work instructions generated by the adaptive controller, which it obtains through a unified communication protocol. This forms a progressively detailed information architecture: "Business Plan - Work Plan Set / Work Plan - Work Task - Instruction Timing Set / Work Instruction." It can also respond to a second input on the user interface, displaying information at the corresponding level through the interface. The information corresponding to each level includes at least the content and execution progress of that level.

[0200] For example, when managers need to know the unloading progress of a certain automated quay crane in a ship unloading operation, they can enter the corresponding viewing command on the operation interface, first find the corresponding ship unloading operation, then find the corresponding work plan set / work plan, and then find the corresponding work task. Finally, they can confirm the unloading progress of the automated quay crane based on the execution progress of the work task.

[0201] It is understood that, in this embodiment of the application, by integrating and displaying information at different levels, it greatly facilitates operators' understanding of the macro and micro work progress at the dock site, thereby enabling operators to flexibly and manually schedule on-site operations according to the on-site working conditions of the dock, effectively improving the comprehensiveness, convenience and flexibility of dock management.

[0202] In summary, the terminal operation control method and system based on integrated business flow provided in this application have at least the following three technical advantages:

[0203] Firstly, by adopting a two-level collaborative architecture of control equipment and adaptive controllers, the overall architecture is simplified. A unified communication protocol enables direct communication with high determinism, high reliability, and low latency between the control equipment and the adaptive controllers of each automated operation device. This fundamentally replaces the multiple systems and supporting data interaction methods in the existing multi-layer architecture, significantly reducing the risks of data synchronization delay and interface incompatibility. As a result, the information between the control equipment and the adaptive controllers is highly consistent and the data is transmitted reliably. This effectively avoids collaborative failures and operational errors caused by information conflicts or loss, and improves the coordination and stability of port operation control.

[0204] Secondly, by controlling the equipment to perform full-cycle maintenance and dynamic adjustment of the work plan set based on real-time operation information, and linking the adaptive controller to dynamically adjust the instruction timing set, a closed-loop feedback mechanism from high-level planning to low-level execution is formed. This overcomes the defects of business process fragmentation and disconnect between upper-level planning and low-level execution status in existing technologies, and realizes integrated business flow management of "planning-execution-monitoring-optimization", enhancing the flexibility and adaptability of terminal operation scheduling.

[0205] Thirdly, based on the simplified two-level collaborative architecture consisting of control equipment and adaptive controller, when a fault occurs in the terminal operation, only the control equipment or adaptive controller needs to be checked, which greatly reduces the workload of fault diagnosis and improves the efficiency of fault diagnosis.

[0206] This application provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. When the processor loads and executes the instruction or program, the electronic device performs the integrated business flow terminal operation control method described in the above embodiments. Its specific functions and corresponding technical effects can be found in the above embodiments. Figures 1-7 The integrated business flow terminal operation control method explained above will not be repeated here. The following section will combine... Figure 8 The electronic devices described in the embodiments of this application will be described in detail.

[0207] refer to Figure 8 The diagram shows a block diagram of an electronic device 800 according to one embodiment of this application. The electronic device 800 may include one or more processors 801 coupled to a controller hub 803. In at least one embodiment, the controller hub 803 communicates with the processor 801 via a multi-branch bus such as a front side bus (FSB) 810, a point-to-point interface such as a quick path interconnect (QPI), or a similar connection. The processor 801 executes instructions controlling general types of data processing operations. In one embodiment, the controller hub 803 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0208] Electronic device 800 may also include a coprocessor 802 and a memory 804 coupled to a controller hub 803. Alternatively, one or both of the memory and GMCH may be integrated within the processor (as described in this application), with memory 804 and coprocessor 802 directly coupled to processor 801 and controller hub 803, which resides on a single chip with IOH. Memory 804 may be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, coprocessor 802 is a dedicated processor, such as, for example, a high-throughput MIC (many integerized core) processor, a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor. Optional properties of coprocessor 802 are indicated by dashed lines. Figure 8 middle.

[0209] Memory 804, as a computer-readable storage medium, may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 804 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDDs), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0210] In one embodiment, electronic device 800 may further include a network interface controller (NIC) 806. Network interface 806 may include a transceiver for providing a radio interface for electronic device 800 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, network interface 806 may be integrated with other components of electronic device 800. Network interface 806 can implement the functions of the communication unit in the above embodiments.

[0211] Electronic device 800 may further include input / output (I / O) device 805. I / O device 805 may include: a user interface designed to enable a user to interact with electronic device 800; a peripheral component interface designed to enable peripheral components to also interact with electronic device 800; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 800.

[0212] It is worth noting that, Figure 8 This is merely an example. That is, although... Figure 8 The electronic device 800 shown includes multiple devices such as processor 801, coprocessor 802, controller hub 803, and memory 804. However, in practical applications, devices using the methods of this application may include only a portion of the devices in the electronic device 800. For example, it may include only processor 801 and network interface 806. Figure 8 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 804, which is a computer-readable storage medium, stores instructions or programs that, when executed on a computer, perform the integrated business flow terminal operation control method described in the above embodiments. Specific details can be found in the methods described in the above embodiments, and will not be repeated here.

[0213] Now for reference Figure 9 The diagram shown is a block diagram of a system-on-chip (SoC) 900 according to an embodiment of this application. Figure 9 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 9 In this SoC 900, the following are included: an interconnect unit 950 coupled to an application processor 910; a system proxy unit 980; a bus controller unit 990; an integrated memory controller unit 940; a group or one or more coprocessors 920, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 930; and a direct memory access (DMA) unit 960. In one embodiment, the coprocessor 920 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0214] The static random access memory (SRAM) cell 930 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 900 to perform a terminal operation control method according to the integrated business flow described in the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0215] This application provides a computer-readable storage medium storing at least one instruction or at least one program segment. The instruction or program segment is loaded and executed by a processor to implement the integrated business flow terminal operation control method described in the above embodiments. Its specific functions and corresponding technical effects can be found in the above embodiments. Figures 1-7 The integrated business flow terminal operation control method explained herein will not be elaborated upon here.

[0216] This application provides a computer program product, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device causes the device to implement the integrated business flow terminal operation control method described in the above embodiments. Its specific functions and corresponding technical effects can be found in the above embodiments. Figures 1-7 The integrated business flow terminal operation control method explained herein will not be elaborated upon here.

[0217] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0218] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0219] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0220] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media include any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0221] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0222] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0223] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0224] It should be noted that in the examples and description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0225] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A terminal operation management and control method based on integrated business flow, characterized in that, include: The control equipment generates an operation plan based on the operational requirements of the dock, and further generates an operation plan set, which includes at least one operation plan. The operation plan is used to confirm the flow scheme of at least one operation object in the operational requirements. The control device, based on a unified communication protocol, transmits the work plan set to the adaptive controllers corresponding to multiple automated work devices, so that the adaptive controllers generate an instruction timing set, which includes multiple work instructions executed in a specified timing sequence for driving the mechanical components of the automated work devices. The control device, based on the unified communication protocol, acquires the real-time operating information of the corresponding automated operation equipment collected by the adaptive controller, and performs full-cycle maintenance and dynamic adjustment of the operation plan set and / or the operation plan based on the operation requirements and the real-time operating information, so that the adaptive controller can dynamically adjust the instruction timing set to perform closed-loop control of the dock operation.

2. The method according to claim 1, characterized in that, The control equipment generates an operation plan based on the terminal's operational needs, and further generates an operation plan set, including: The control equipment generates a business plan based on the operational requirements of the terminal. The business plan is used to transform the operational requirements of the terminal into input sources and constraints for all subsequent automated operations. The control equipment generates the work plan based on the business plan, and further generates the work plan set.

3. The method according to claim 2, characterized in that, The process of performing full-cycle maintenance and dynamic adjustment of the job plan set and / or the job plan based on the job requirements and the real-time operation information includes: Based on the operational requirements, the control equipment performs a first management operation on the business plan to achieve full-cycle maintenance and dynamic adjustment of the business plan. The first management operation includes at least one of adding, deleting, modifying, and querying status. The control equipment obtains real-time operating information of multiple automated operating devices through the unified communication protocol, and generates global operating status information of the dock based on the real-time operating information; The control equipment manages the job plan set and / or the job plan based on real-time business planning, real-time operation information, and global operating condition information, so as to realize full-cycle maintenance and dynamic adjustment of the job plan set and / or the job plan. The real-time business planning refers to the business plan that needs to be executed now, whether or not it has undergone the first management operation.

4. The method according to claim 3, characterized in that, The control equipment manages the job plan set and / or the job plan based on real-time business planning, real-time operation information, and global operating condition information, including: The control device performs a second management operation on the job plan set based on the real-time business plan, the real-time operation information, and the global operating status information. The second management operation includes at least one of adding, canceling, modifying, moving, and querying status. And / or, the control device performs a third management operation on the work plan based on the real-time business plan, the real-time operation information, and the global working condition information. The third management operation includes at least one of adding, canceling, modifying, moving, querying status, and adjusting plan priority.

5. The method according to claim 4, characterized in that, The control device, based on a unified communication protocol, transmits the work plan set to the adaptive controllers corresponding to multiple automated work devices, so that the adaptive controllers generate instruction timing sets, including: The control device transmits the job plan set to the adaptive controllers corresponding to the multiple automated work devices based on the unified communication protocol, so that the adaptive controllers generate job tasks and further generate the instruction timing set based on the job tasks.

6. The method according to claim 5, characterized in that, The control device includes an operating interface, and the method further includes: In response to a first input on the operating interface, the control device generates a control signal, wherein the first input represents an instruction for controlling the automated operation equipment; The control device transmits the control signal to the corresponding adaptive controller through the unified communication protocol, so that the adaptive controller generates and / or changes the instruction timing set.

7. The method according to claim 6, characterized in that, The method further includes: The control device obtains the content and / or execution status of the job task and instruction timing set generated by the adaptive controller based on the unified communication protocol; In response to a second input to the operation interface, the control device transmits the content and / or execution status of at least one of the corresponding business plan, the work plan set, the work plan, the work task, the instruction timing set, and the work instruction to the operation interface for display, so that staff can view it. The second input is used to indicate an instruction to view the details of the dock site operations.

8. A terminal operation management and control system based on an integrated business flow, characterized in that, The system includes: A control device, said control device being used to perform the method according to any one of claims 1 to 7; Multiple adaptive controllers are connected to the control device via a unified communication protocol. The adaptive controllers are used to collect real-time operating information of the corresponding automated operation equipment, obtain the operation plan set transmitted by the control device, and generate the instruction timing set.

9. The dock operation control system according to claim 8, characterized in that, The adaptive controller includes: The job plan selection unit is used to identify the optimal job plan from the job plan set based on the real-time operating information of the corresponding automated work equipment. The task generation and scheduling unit is used to decompose and instantiate the optimal task plan in real time to generate the task to be executed by the automated work equipment. The job instruction generation unit is used to decompose and instantiate the job task in real time to generate the job instruction and the instruction timing set.

10. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the dock operation control method as described in any one of claims 1 to 7.

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