CN115564346A - Container shipment method, device and equipment for unmanned container truck and readable storage medium - Google Patents
Container shipment method, device and equipment for unmanned container truck and readable storage medium Download PDFInfo
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Abstract
The invention provides a container shipment method, a device, equipment and a readable storage medium of an unmanned container truck, wherein the container shipment method of the unmanned container truck comprises the following steps: when the loading of the last container is finished, determining a target parking space in a bridge crane buffer area; and controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship. The invention can solve the problem of dispatching and loading containers for multi-vehicle combined transportation, and ensure that the containers to be loaded by the unmanned truck sequentially arrive below the bridge crane after being sequentially driven out of the buffer zone on the basis that the containers arrive at the buffer zone in an unordered manner, thereby realizing the sequential loading of the containers.
Description
Technical Field
The invention relates to the technical field of port traffic scheduling, in particular to a container shipping method, device, equipment and readable storage medium for unmanned container trucks.
Background
When shipping containers at a port terminal, each container has a fixed planned position and all containers must be shipped in a fixed order. Different containers are stacked in different storage yards, the distances from the different storage yards to the bridge crane are different, the routes are different, and the quantity of traffic lights such as traffic lights required to pass is also different, so that the sequence of the different containers reaching the lower part of the bridge crane is different from the command sequence below the dispatching platform when a plurality of vehicles are transported.
At present, a manned container truck is adopted for container shipment at a port and a wharf, and the conventional manned container truck scheme mainly adopts manpower to schedule the concurrent sequence among a plurality of vehicles so as to realize the ordered shipment of containers. For example, the container can be loaded according to a ship diagram (a distribution position diagram of the containers on the ship) by means of avoiding under a bridge crane through man-made driving or observing under the bridge crane through a person under the bridge crane and informing the driver of deceleration, parking waiting and the like through an interphone.
Disclosure of Invention
The invention mainly aims to provide a container shipping method, a device, equipment and a readable storage medium of an unmanned container truck, and aims to solve the technical problems of low efficiency and low safety of the container shipping method of the unmanned container truck in the prior art.
In a first aspect, the present invention provides an unmanned container shipping method, comprising the steps of:
when the loading of the last container is finished, determining a target parking space in a bridge crane buffer area;
and controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship.
Optionally, before the step of determining the target parking space in the bridge crane buffer area when the loading of the last container is completed, the method comprises:
determining occupied parking spaces with unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
Optionally, after the step of determining that there is an occupied parking space without an unmanned truck collection in the bridge crane buffer area, the method further includes:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
Optionally, when the loading of the previous container is completed, the step of determining the target parking space in the bridge crane buffer area includes:
when the loading of the last container is finished, sequencing all array elements in the target array by using a small top heap algorithm to obtain an ordered array;
determining a target container number, wherein the target container number is a container number corresponding to the most front array element in the ordered array;
determining a target parking space number corresponding to the target container number based on the mapping relation;
and taking the occupied parking space corresponding to the target parking space number as the target parking space in the bridge crane buffer area.
Optionally, the container shipment method for unmanned container trucks further includes:
determining whether an idle parking space exists based on the parking space state of the bridge crane buffer area;
if the idle parking space is determined to exist, determining the number of the container corresponding to the container to be loaded on the ship based on a ship map of port operation;
determining the storage yard position of the container corresponding to the container number based on the container number;
controlling the unmanned container truck in the idle state to reach the storage yard position, and loading the containers corresponding to the container numbers onto the unmanned container truck in the idle state;
and when the container loading is finished, controlling the unmanned container truck in the idle state to reach the idle parking space.
In a second aspect, the present invention also provides an unmanned container loading apparatus, comprising:
the determining module is used for determining a target parking space in the bridge crane buffer area when the loading of the previous container is finished;
and the control device is used for controlling the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship.
Optionally, the container shipping apparatus with unmanned container trucks further includes a sorting module, configured to:
determining occupied parking spaces of unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
Optionally, the container shipping apparatus without a truck further includes a building module, configured to:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
Optionally, the determining module is specifically configured to:
when the loading of the last container is finished, sequencing all array elements in the target array by using a small top heap algorithm to obtain an ordered array;
determining a target container number, wherein the target container number is a container number corresponding to the most front array element in the ordered array;
determining a target parking space number corresponding to the target container number based on the mapping relation;
and taking the occupied parking space corresponding to the target parking space number as the target parking space in the bridge crane buffer area.
Optionally, the control module is further specifically configured to:
determining whether an idle parking space exists or not based on the parking space state of the bridge crane buffer area;
if the idle parking space is determined to exist, determining the number of the container corresponding to the container to be loaded on the ship based on a ship map of port operation;
determining the storage yard position of the container corresponding to the container number based on the container number;
controlling the unmanned container truck in the idle state to reach the storage yard position, and loading the containers corresponding to the container numbers onto the unmanned container truck in the idle state;
and when the container loading is finished, controlling the unmanned truck in the idle state to reach the idle parking space.
In a third aspect, the present invention further provides an unmanned container loading device, which includes a processor, a memory, and an unmanned container loading program stored in the memory and executable by the processor, wherein the unmanned container loading program, when executed by the processor, implements the steps of the unmanned container loading method.
In a fourth aspect, the present invention further provides a readable storage medium, on which an unmanned container shipping program is stored, wherein when the unmanned container shipping program is executed by a processor, the steps of the unmanned container shipping method are implemented.
The invention provides a container shipment method, a device, equipment and a readable storage medium of an unmanned container truck, wherein the container shipment method of the unmanned container truck comprises the following steps: when the loading of the last container is finished, determining a target parking space in a bridge crane buffer area; and controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship. The invention can solve the problem of dispatching and loading containers for multi-vehicle combined transportation, and ensure that the containers loaded by the unmanned truck sequentially arrive below the bridge crane after being sequentially driven out of the buffer area on the basis that the containers arrive at the buffer area in an unordered manner, thereby realizing the sequential loading of the containers. On the basis, sequencing of all array elements in the target array is realized through a small top-stacking algorithm, the concurrency quantity of container shipping scheduling in unit time can be increased, and the shipping efficiency of containers is improved on the basis of orderly shipping the containers.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of an unmanned container loading device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of the container shipping method without an unmanned container truck according to the present invention;
FIG. 3 is a schematic flow chart of a container loading method for unmanned container trucks according to another embodiment of the present invention;
fig. 4 is a functional block diagram of an embodiment of the container ship-loading device without an artificial card.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides an unmanned container loading device.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an unmanned container ship loading device according to an embodiment of the present invention. In this embodiment of the present invention, the container shipment equipment without an agc may include a processor 1001 (e.g., a Central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of computer storage medium, may include an operating system, a network communications module, a user interface module, and an unmanned truck container ship loader. The processor 1001 may call a container shipment program of the unmanned container truck stored in the memory 1005, and execute the container shipment method of the unmanned container truck according to the embodiment of the present invention.
In a second aspect, the embodiment of the invention provides a container shipping method without an unmanned truck.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of the container shipping method without the person collecting card according to the present invention.
In an embodiment of the container shipment method without an unmanned container truck, the container shipment method without an unmanned container truck comprises the following steps:
step S10, when the loading of the previous container is finished, determining a target parking space in a bridge crane buffer area;
and S20, controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship.
In this embodiment, consider that the mode of adopting someone collecting card to carry out container shipment among the prior art, its inefficiency and security are not high, so in order to solve above-mentioned problem, this scheme adopts unmanned collecting card to carry out container shipment. However, the unmanned card collector cannot achieve avoidance in a narrow area below the bridge crane through manual driving as well as reduction, parking and other modes through manual use of an interphone and the like to ensure that the AGVs (unmanned automatic driven card collectors, i.e., unmanned card collectors) reach the lower part of the bridge crane in order.
However, if the dispatching personnel manually dispatches the unmanned card collection, the following problems also exist: (1) The unmanned truck is not driven by people, and a dispatcher cannot accurately control the unmanned truck to stop at a specified position; (2) The unmanned truck needs to be added with human-computer interaction equipment and a human-computer interaction protocol through scheduling by a dispatcher, so that the development difficulty of the unmanned truck automatic driving system is additionally increased; (3) One scheduling person may not be able to consider the scheduling of multiple unmanned trucks, and the scheduling person needs to be added, so that the overall scheduling efficiency is low.
Therefore, according to the scheme of the embodiment, on the basis that the unmanned container truck is adopted for container shipment, in order to ensure that the unmanned container truck at the port can realize ordered shipment, parking spaces for parking the unmanned container truck are divided near the bridge crane to serve as buffer areas, and the unmanned container truck is dispatched to the buffer areas firstly. The proportion of the buffer areas to the unmanned hub parking spaces is 1:n, namely n parking spaces exist in each buffer area for parking the unmanned hub, and containers of the number are conveniently dispatched into the buffer areas simultaneously and concurrently to wait for shipment. And sequencing by a priority queue algorithm when the ship loading task of the last container is finished every time, so as to determine the target parking space in the bridge crane buffer area. And the containers loaded by the unmanned container trucks parked in the target parking spaces are target containers which need to be loaded next time according to the ship chart sequence. After the target parking space in the bridge crane buffer area is determined, the unmanned container trucks in the target parking space are controlled to reach the bridge crane loading area, so that the subsequent bridge crane can directly load the target containers loaded on the unmanned container trucks in the loading area.
By the mode, the vehicles can orderly arrive below the bridge crane after being orderly driven out of the buffer area, and the scheduling and shipping problems of the multi-vehicle combined transport containers are solved, so that the containers are sequentially shipped.
Further, in an embodiment, before the step S10, the method includes:
determining occupied parking spaces with unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
In this embodiment, because there are a plurality of parking spaces in the bridge crane buffer area, if it is necessary to determine the target parking space with the highest priority in the above buffer area, it is necessary to sort the parking spaces in the bridge crane buffer area by using a priority queue algorithm, so as to determine the target parking space in the bridge crane buffer area. Therefore, in the scheme of this embodiment, all occupied parking spaces (parking spaces where no human container is parked) in the buffer area need to be combined into a logical buffer area, and the ground parking spaces in the buffer area are numbered and then mapped into a computer memory to form a queue. Before the step of determining the target parking space in the bridge crane buffer area, the occupied parking space with the unmanned container truck in the bridge crane buffer area needs to be determined, and then container numbers corresponding to the containers loaded by the unmanned container truck in the occupied parking space are sequenced based on the sequence of the occupied parking space numbers, so that a target array is obtained.
The container numbers corresponding to the obtained target array are not sequenced according to a ship diagram sequence, but are sequenced based on the parking space sequence of occupied parking spaces, no people gather the card at first and do not need to consider the sequence when the container is loaded to go to a buffer, the container may arrive in disorder, if the container numbers are in the parking space sequence, an error occurs, namely, the container number sequence in the target array is out of order relative to the shipping sequence. Therefore, a priority queue algorithm is needed to determine the unmanned truck (stopped at a target parking space and loaded with a target container) which needs to drive into the buffer area of the bridge crane at last, and ordered shipment of the containers can be realized on the basis that the containers arrive at the buffer area in an unordered manner.
For example, if there are 5 parking spaces in the bridge buffer, among them, parking space No. 1 is occupied by an unmanned truck with container number 2, parking space No. 2 is occupied by an unmanned truck with container number 3, parking space No. 4 is occupied by an unmanned truck with container number 1, and parking space No. 5 is occupied by an unmanned truck with container number 4. And sequencing the container numbers corresponding to the containers loaded by the unmanned container trucks in the occupied parking spaces based on the sequence of the occupied parking space numbers to obtain a target array [2,3,1,4].
Further, in an embodiment, after the step of determining that there are occupied parking spaces without any truck collection in the buffer area of the bridge crane, the method further includes:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
In this embodiment, after the target array is obtained, the subsequent priority queue algorithm (the algorithm that ensures that the output is ordered) determines the container number with the highest priority in the target array by using the container number as the ordering comparison factor (the container number is ordered according to the output). In the actual dispatching control, the container number with the highest priority is also loaded on the unmanned container truck, and the unmanned container truck is parked on the parking space in the bridge crane buffer area, so that after the container number with the highest priority is determined, the target parking space where the unmanned container truck loading the target container (the container corresponding to the container number with the highest priority) is parked in the buffer area needs to be determined, and therefore when the target container loading task corresponding to the container number with the highest priority is executed, the unmanned container truck on which parking space number is ordered can be driven into the bridge crane loading area from the bridge crane buffer area.
Therefore, in the scheme of this embodiment, after the step of determining that the occupied parking spaces of the unmanned trucks exist in the bridge crane buffer area, the container numbers of the containers loaded by the unmanned trucks in the occupied parking spaces are sorted based on the sequence of the occupied parking space numbers, so as to obtain the target array. And constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
For example, the array element (container number) of the target array [2,3,1,4],2 corresponds to the occupied space number 1,3, and the array element of the occupied space number 2,1 corresponds to the occupied space number 4,4, and corresponds to the occupied space number 5. Once the array elements with the highest priority and the mapping relation are determined, the target parking space can be accurately determined based on the mapping relation when the ship loading dispatching control is carried out subsequently, and therefore the ordered ship loading with higher accuracy and working efficiency is achieved.
Still further, in an embodiment, referring to fig. 3, the step S10 further includes:
s101, when the shipping of the previous container is finished, sequencing all array elements in the target array by using a small top-stacking algorithm to obtain an ordered array;
step S102, determining a target container number, wherein the target container number is a container number corresponding to the most front array element in the ordered array;
step S103, determining a target parking space number corresponding to the target container number based on the mapping relation;
and step S104, taking the occupied parking space corresponding to the target parking space number as a target parking space in the bridge crane buffer area.
In this embodiment, since the container numbers need to be prioritized according to the ship diagram order, the container with the highest priority taken out from the array element queue of the target array is the container with the smallest container number. The priority queue sorting algorithm has a plurality of algorithms, but the time complexity (the time required by sorting n numbers once) of each sorting algorithm is different, wherein the smallest time complexity is the heap sorting algorithm, and the small top heap algorithm for sorting from small to large is selected because the smallest number needs to be taken out each time. The priority queue algorithm in the solution of this embodiment uses a small top heap sorting algorithm to sort all array elements in the target array. In all sorting algorithms, the time complexity of the small top-stacking algorithm (the sorting time is the lowest under the condition of n-number sorting) is low, so that the sorting speed of the algorithm can be increased by adopting the small top-stacking algorithm, more unmanned trucks can be dispatched in unit time, the concurrence number of container shipping dispatching is increased, and the shipping efficiency of containers is increased on the basis of orderly shipping the containers.
Therefore, in this embodiment, in order to improve the shipping efficiency of containers on the basis of orderly shipping the containers, the step of determining the target parking space in the bridge crane buffer area when the shipping of the last container is completed includes: and when the last container is loaded on the ship, sequencing all array elements in the target array by using a small top heap algorithm to obtain an ordered array. And determining a target container number in the ordered array, wherein the target container number is the container number corresponding to the most front array element in the ordered array. Based on the constructed mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space, the target parking space number corresponding to the target container number can be accurately determined, and then the occupied parking space corresponding to the target parking space number is used as the target parking space in the bridge crane buffer area. The target parking spaces are determined by the sequencing, the sequencing efficiency is high, and the determined target parking spaces are accurate.
Further, in an embodiment, the container shipment method for unmanned trucks further includes:
determining whether an idle parking space exists based on the parking space state of the bridge crane buffer area;
if the idle parking space is determined to exist, determining the number of the container corresponding to the container to be loaded on the ship based on a ship map of port operation;
determining the storage yard position of the container corresponding to the container number based on the container number;
controlling the unmanned container truck in the idle state to reach the storage yard position, and loading the containers corresponding to the container numbers onto the unmanned container truck in the idle state;
and when the container loading is finished, controlling the unmanned container truck in the idle state to reach the idle parking space.
In this embodiment, in addition to loading the containers in the bridge crane buffer area, the containers need to be loaded and transported from the yard to the vacant parking spaces in the bridge crane buffer area, and after the vacant parking spaces are occupied, the vacant parking spaces become occupied parking spaces, so that the numbers of the containers in all the occupied parking spaces are sorted in the subsequent loading process. For example, parking space 3 in the buffer is free, and at this time, there is No. 5 container to be shipped after No. 4 container, so that No. 5 container is first loaded from the corresponding yard position to be transported to parking space 3 in the buffer, and at this time, the target array is changed to [2,3,5,1,4]. And when the last container is loaded on the ship, sequencing the containers based on the new target array to obtain the target parking spaces corresponding to the container numbers with the highest priority, and executing the container loading task.
Wherein, the step of loading the container from the storage yard to the vacant parking stall of the bridge crane buffer zone comprises: firstly, whether free parking spaces exist is determined based on the parking space state of the bridge crane buffer area, so that whether an unmanned container is required to be dispatched to load the corresponding container to the free parking spaces in the buffer area is determined. And when the vacant parking spaces exist, determining the container numbers corresponding to the containers needing to be loaded next based on the ship diagram of the port operation. After the container number is determined, the storage yard position of the container corresponding to the container number is determined, so that the unmanned container truck in the idle state is controlled to reach the storage yard position, and the container corresponding to the container number is loaded on the unmanned container truck in the idle state. And when the container loading is finished, controlling the unmanned truck in the idle state to reach the idle parking space, namely finishing the scheduling task of loading and transporting the container from the storage yard to the idle parking space of the bridge crane buffer area.
In this embodiment, a container shipping method for unmanned truck includes: when the loading of the last container is finished, determining a target parking space in a bridge crane buffer area; and controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship. The invention can solve the problem of dispatching and loading containers for multi-vehicle combined transportation, and ensure that the containers loaded by the unmanned truck sequentially arrive below the bridge crane after being sequentially driven out of the buffer area on the basis that the containers arrive at the buffer area in an unordered manner, thereby realizing the sequential loading of the containers. On the basis, sequencing of all array elements in the target array is realized through a small top-stacking algorithm, the concurrency quantity of container shipping scheduling in unit time can be increased, and the shipping efficiency of containers is improved on the basis of orderly shipping the containers.
In a third aspect, an embodiment of the present invention further provides an unmanned container loading device.
Referring to fig. 4, a functional module of an embodiment of the container ship-loading device without the manned container truck is shown.
In this embodiment, the container shipment device of unmanned truck includes:
the determining module 10 is used for determining a target parking space in the bridge crane buffer area when the loading of the previous container is finished;
and the control device 20 is used for controlling the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the containers loaded on the unmanned truck onto the ship.
Further, in an embodiment, the container shipping apparatus with unmanned trucks further includes a sorting module, configured to:
determining occupied parking spaces of unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
Further, in an embodiment, the container shipping apparatus with unmanned trucks further includes a building module, configured to:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
Further, in an embodiment, the determining module 10 is specifically configured to:
when the loading of the last container is finished, sequencing all array elements in the target array by using a small top heap algorithm to obtain an ordered array;
determining a target container number, wherein the target container number is a container number corresponding to the most front array element in the ordered array;
determining a target parking space number corresponding to the target container number based on the mapping relation;
and taking the occupied parking space corresponding to the target parking space number as a target parking space in the bridge crane buffer area.
Further, in an embodiment, the control module 20 is further specifically configured to:
determining whether an idle parking space exists based on the parking space state of the bridge crane buffer area;
if the idle parking space is determined to exist, determining the number of the container corresponding to the container to be loaded on the ship based on a ship map of port operation;
determining the storage yard position of the container corresponding to the container number based on the container number;
controlling the unmanned container truck in the idle state to reach the storage yard position, and loading the containers corresponding to the container numbers onto the unmanned container truck in the idle state;
and when the container loading is finished, controlling the unmanned truck in the idle state to reach the idle parking space.
The function implementation of each module in the container shipping device without the manned container terminal corresponds to each step in the embodiment of the container shipping method without the manned container terminal, and the function and implementation process are not described in detail herein.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the invention stores the container shipping program of the unmanned container, wherein the container shipping program of the unmanned container is executed by the processor, and the steps of the container shipping method of the unmanned container are realized.
The method for implementing the container shipment program of the unmanned container terminal when executed may refer to each embodiment of the container shipment method of the unmanned container terminal of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An unmanned container loading method for container truck, which is characterized in that the unmanned container loading method for container truck comprises the following steps:
when the loading of the previous container is finished, determining a target parking space in the bridge crane buffer area;
and controlling the unmanned truck in the target parking space to reach a bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship.
2. The method of unmanned container loading according to claim 1, wherein said step of determining a target slot in a buffer of a bridge crane upon completion of loading of a previous container comprises:
determining occupied parking spaces of unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
3. The method for container loading with an unmanned card collection of claim 2, further comprising, after said step of determining that there are occupied spaces for an unmanned card collection in the buffer of the bridge crane:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck on the occupied parking space and the parking space number of the occupied parking space.
4. The method of unmanned container loading according to claim 3, wherein said step of determining a target slot in a buffer of a bridge crane upon completion of loading of a previous container comprises:
when the loading of the last container is finished, sequencing all array elements in the target array by using a small top heap algorithm to obtain an ordered array;
determining a target container number, wherein the target container number is a container number corresponding to the most front array element in the ordered array;
determining a target parking space number corresponding to the target container number based on the mapping relation;
and taking the occupied parking space corresponding to the target parking space number as the target parking space in the bridge crane buffer area.
5. The method of unmanned container loading according to claim 1, wherein said method of unmanned container loading further comprises:
determining whether an idle parking space exists based on the parking space state of the bridge crane buffer area;
if the idle parking space is determined to exist, determining the number of the container corresponding to the container to be loaded on the ship based on a ship map of port operation;
determining the storage yard position of the container corresponding to the container number based on the container number;
controlling the unmanned container truck in the idle state to reach the storage yard position, and loading the containers corresponding to the container numbers onto the unmanned container truck in the idle state;
and when the container loading is finished, controlling the unmanned truck in the idle state to reach the idle parking space.
6. An unmanned container loading apparatus for a container, comprising:
the determining module is used for determining a target parking space in the bridge crane buffer area when the loading of the previous container is finished;
and the control device is used for controlling the unmanned truck in the target parking space to reach the bridge crane loading area so as to load the containers loaded on the unmanned truck onto a ship.
7. The unmanned container loading unit of claim 6, further comprising a sequencing module for:
determining occupied parking spaces of unmanned trucks in a bridge crane buffer area;
and sequencing the container numbers of the containers loaded by the unmanned container trucks on the occupied parking spaces based on the occupied parking space numbers to obtain a target array.
8. The unmanned container loading vessel of claim 7, further comprising a build module for:
and constructing a mapping relation between the container number of the container loaded by the unmanned container truck in the occupied parking space and the parking space number of the occupied parking space.
9. An unmanned container loading facility comprising a processor, a memory, and an unmanned container loading program stored on the memory and executable by the processor, wherein the unmanned container loading program when executed by the processor implements the steps of the unmanned container loading method of any one of claims 1 to 5.
10. A readable storage medium having stored thereon an unmanned container ship loader program, wherein the unmanned container ship loader program when executed by a processor implements the steps of the unmanned container ship loader method according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211216877.5A CN115564346A (en) | 2022-09-30 | 2022-09-30 | Container shipment method, device and equipment for unmanned container truck and readable storage medium |
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| CN202211216877.5A CN115564346A (en) | 2022-09-30 | 2022-09-30 | Container shipment method, device and equipment for unmanned container truck and readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817538A (en) * | 2023-01-09 | 2023-03-21 | 杭州飞步科技有限公司 | Control method, device, equipment and medium for unmanned card concentrator |
| CN116976502A (en) * | 2023-07-10 | 2023-10-31 | 浙江智港通科技有限公司 | Structured ship configuration method, system and medium for container ship |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817538A (en) * | 2023-01-09 | 2023-03-21 | 杭州飞步科技有限公司 | Control method, device, equipment and medium for unmanned card concentrator |
| CN116976502A (en) * | 2023-07-10 | 2023-10-31 | 浙江智港通科技有限公司 | Structured ship configuration method, system and medium for container ship |
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