CN109292472A - Automatic dock ship-loading and load-distribution, unloading stockyard place allocation method and system - Google Patents
Automatic dock ship-loading and load-distribution, unloading stockyard place allocation method and system Download PDFInfo
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- CN109292472A CN109292472A CN201811088035.XA CN201811088035A CN109292472A CN 109292472 A CN109292472 A CN 109292472A CN 201811088035 A CN201811088035 A CN 201811088035A CN 109292472 A CN109292472 A CN 109292472A
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- shellfish
- ship
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- stockyard
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
- B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
Abstract
The invention discloses a kind of automatic dock ship-loading and load-distributions, unloading stockyard place allocation method and system, the coordinate of each shellfish position on target ship is determined first, in ship-loading and load-distribution, for each loading stockyard, it calculates and loads the distance between stockyard and shellfish position each on the target ship, and choose the corresponding shellfish position of minimum range and load shellfish position onto ship for the target of container to be loaded in corresponding loading stockyard；When unloading stockyard place allocation, for each shellfish position, the distance between shellfish position to each unloading stockyard is calculated, and chooses the target unloading stockyard that the corresponding unloading stockyard of minimum range is the corresponding upper container to be unloaded in shellfish position.It is calculated using the position of shellfish position each in target ship and loads the distance between stockyard or unloading stockyard, it obtains shellfish position position when container is loaded onto ship aboard ship or unloads the unloading stockyard position of ship time, the accuracy of distance between ship-loading and load-distribution or unloading stockyard place allocation and target ship is improved, to improve the operating efficiency of existing dress ship-discharging operation.
Description
Technical field
The invention belongs to automated container terminal technical fields, specifically, being to be related to a kind of automatic dock shipment
Prestowage, unloading stockyard place allocation method and system.
Background technique
Current automatic dock operating system (TOS) carries out harbour dress using automatic stowage and automatic stockyard place allocation function
Unload plan, that is, being the container selection optimal location that need to fall into stockyard according to preset strategy and rule.
Existing automatic stowage, automatic stockyard place allocation are with the center of the fore Stern Post line of target ship for original
Point establishes coordinate system, calculates the distance apart from Container Yard target position, carries out ship-loading and load-distribution and unloading heap according to this distance
The formulation of field place allocation plan.
But in existing this formulation mode, the calculating of distance is not accurate enough, exists centainly to handling ship operating efficiency
It influences, so that the path distance that most of horizontal trasportation equipment executes job task is too long, adds additional AGV(Automated
Guided Vehicle, automatic guide vehicle) operating range so that equipment execute dress ship-discharging operation when runing time, energy consumption,
Meaningless increase is worn, leads to AGV occur to distribute anxiety to a certain degree, will appear gantry crane dress ship-discharging operation when serious and AGV is waited to send
The case where receiving case, influences gantry crane operating efficiency.
Summary of the invention
This application provides a kind of automatic dock ship-loading and load-distribution, unloading stockyard place allocation method and systems, transport to level
The working path distance of transfer device improves, and improves the operating efficiency of existing dress ship-discharging operation.
In order to solve the above technical problems, the application is achieved using following technical scheme:
It proposes a kind of automatic dock ship-loading and load-distribution method, includes the steps of determining that the coordinate of each shellfish position on target ship；Needle
To each loading stockyard, calculates and load the distance between each shellfish position on stockyard and the target ship, and be directed to each loading heap
Field, the target for choosing the corresponding shellfish position of minimum range as container to be loaded in corresponding loading stockyard load shellfish position onto ship.
Further, the coordinate of each shellfish position on target ship is determined, specifically: it obtains and is believed based on the ship of target ship
Breath and berthing information, determine the shellfish column pitch on the target ship on each Bei Wei captain direction；Based on the target ship
Center point coordinate and the shellfish column pitch, determine the coordinate of each shellfish position.
Further, the coordinate of the position of shellfish on target ship is determined simultaneously, the method also includes: it is based on the ship information
With berthing information, the coordinate of non-shellfish bit architecture and its width on captain direction on the target ship are determined；Then determine institute
State the coordinate of each shellfish position, further includes: center point coordinate, the shellfish column pitch, the non-shellfish position knot based on the target ship
The coordinate of structure and its width on captain direction determine the coordinate of each shellfish position.
It proposes a kind of automatic dock unloading stockyard place allocation method, includes the steps of determining that each shellfish position on target ship
Coordinate；For each shellfish position, the distance between shellfish position to each unloading stockyard is calculated；For each shellfish position, it is corresponding to choose minimum range
Unloading stockyard be the corresponding upper container to be unloaded in shellfish position target unloading stockyard.
Further, the coordinate of each shellfish position on target ship is determined, specifically: it obtains and is believed based on the ship of target ship
Breath and berthing information, determine the shellfish column pitch on the target ship on each Bei Wei captain direction；Based on the target ship
Center point coordinate and the shellfish column pitch, determine the coordinate of each shellfish position.
Further, the coordinate of the position of shellfish on target ship is determined simultaneously, the method also includes: it is based on the ship information
With berthing information, the coordinate of non-shellfish bit architecture and its width on captain direction on the target ship are determined；Then determine institute
State the coordinate of each shellfish position, further includes: center point coordinate, the shellfish column pitch, the non-shellfish position knot based on the target ship
The coordinate of structure and its width on captain direction determine the coordinate of each shellfish position.
It is proposed a kind of automatic dock ship-loading and load-distribution system, including target ship shellfish position coordinate determining module, loading distance
Computing module and target shipment shellfish position determining module；Target ship shellfish position coordinate determining module, for determining target ship
The coordinate of upper each shellfish position；The loading distance calculation module calculates for being directed to each loading stockyard and loads stockyard and the target
The distance between each shellfish position on ship；Target shipment shellfish position determining module is chosen minimum for being directed to each loading stockyard
Target apart from corresponding shellfish position for container to be loaded in corresponding loading stockyard loads shellfish position onto ship.
Further, target ship shellfish position coordinate determining module includes that ship information acquiring unit, berthing information obtain
Take unit, shellfish column pitch computing unit, non-shellfish bit architecture information acquisition unit and shellfish position coordinate determination unit；The ship information
Acquiring unit, for obtaining the ship information of the target ship；The berthing information acquisition unit, for obtaining the target
The berthing information of ship；The shellfish column pitch computing unit determines institute for being based on the ship information and the berthing information
State the shellfish column pitch on each Bei Wei captain direction；The non-shellfish bit architecture information acquisition unit, for being believed based on the ship
Breath and berthing information determine the coordinate of non-shellfish bit architecture and its width on captain direction on the target ship；The shellfish
Position coordinate determination unit, for center point coordinate, the shellfish column pitch and the non-shellfish bit architecture based on the target ship
Coordinate and its width on captain direction, determine the coordinate of each shellfish position.
It is proposed a kind of automatic dock unloading stockyard place allocation system, including target ship shellfish position coordinate determining module, unloading
Distance calculation module and target unloading stockyard determining module；Target ship shellfish position coordinate determining module, for determining target
The coordinate of each shellfish position on ship；The unloading distance calculation module, for for each shellfish position, calculate shellfish position to each unloading stockyard it
Between distance；The target unloading stockyard determining module, for for each shellfish position, choosing the corresponding unloading stockyard of minimum range to be
The target unloading stockyard of the corresponding upper container to be unloaded in shellfish position.
Further, target ship shellfish position coordinate determining module includes that ship information acquiring unit, berthing information obtain
Take unit, shellfish column pitch computing unit, non-shellfish bit architecture information acquisition unit and shellfish position coordinate determination unit；The ship information
Acquiring unit, for obtaining the ship information of the target ship；The berthing information acquisition unit, for obtaining the target
The berthing information of ship；The shellfish column pitch computing unit determines institute for being based on the ship information and the berthing information
State the shellfish column pitch on each Bei Wei captain direction；The non-shellfish bit architecture information acquisition unit, for being believed based on the ship
Breath and berthing information determine the coordinate of non-shellfish bit architecture and its width on captain direction on the target ship；The shellfish
Position coordinate determination unit, for center point coordinate, the shellfish column pitch and the non-shellfish bit architecture based on the target ship
Coordinate and its width on captain direction, determine the coordinate of each shellfish position.
Compared with prior art, the advantages of the application and good effect is: the automatic dock shipment that the application proposes is matched
It carries, in unloading stockyard place allocation method and system, it is first determined the berthing information and ship information of target ship, and according to these letters
The specific coordinate for determining each shellfish position on target ship is ceased, in ship-loading and load-distribution calculating, for each loading stockyard, calculates and loads
The distance between each shellfish position on stockyard and target ship, and choose the corresponding shellfish position of minimum range for it is corresponding load in stockyard to
The target shipment shellfish position for loading packaging, is unloading stockyard place allocation in the works, for each shellfish position, calculates separately shellfish position and unloads to each
The distance between stockyard is carried, and chooses the target that the corresponding unloading stockyard of minimum range is the corresponding upper container to be unloaded in shellfish position and unloads
Carry stockyard；In compared with the prior art in such a way that ship central point calculates stockyard target position distance, the application is then according to mesh
Point carries out ship-loading and load-distribution plan or unloading stockyard place allocation plan centered on marking each operation shellfish position of ship, that is, according to object ship
Each shellfish position of oceangoing ship and the position in loading or unloading stockyard carry out that ship-loading and load-distribution or unloading stockyard place allocation can be improved apart from calculating
The accuracy of distance between target ship reduces distance and calculates influence of the inaccuracy to handling ship operating efficiency, to improve
The operating efficiency of existing dress ship-discharging operation.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Detailed description of the invention
Fig. 1 is the method flow diagram for the automatic dock ship-loading and load-distribution method that the application proposes；
Fig. 2 is the method flow diagram for the automatic dock unloading stockyard place allocation method that the application proposes；
Fig. 3 is the system architecture diagram for the automatic dock ship-loading and load-distribution system that the application proposes；
Fig. 4 is the system architecture diagram for the automatic dock unloading stockyard place allocation system that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail with reference to the accompanying drawing.
The automatic dock ship-loading and load-distribution of the application proposition, unloading stockyard place allocation method and system, it is intended to use object ship
The position of each shellfish position calculates and loads the distance between stockyard or unloading stockyard in oceangoing ship, when obtaining container shipment aboard ship
Ship-loading and load-distribution is improved or the distance between stockyard place allocation and target ship that unloads in shellfish position position or the unloading stockyard position for unloading ship time
Accuracy reduces distance and calculates influence of the inaccuracy to handling ship operating efficiency, to improve the work of existing dress ship-discharging operation
Industry efficiency.
Specifically, the automatic dock ship-loading and load-distribution method that the application proposes, as shown in Figure 1, including the following steps:
Step S11: the coordinate of each shellfish position on target ship is determined.
The coordinate for determining each shellfish position on target ship, first has to the ship information for first knowing target ship and berthing letter
Breath；Berthing information includes the berthing checking bollard and offset information of object ship oceangoing ship, has also just known the position of berthing, any ship
Harbour can all have accurate berthing position；Ship information can provide the length of target ship, the spacing letter between each shellfish position
Breath, the position of non-shellfish bit architecture and its width information on captain direction etc., and then can be determined according to these information
Spacing between each shellfish position, so that it is determined that the specific location coordinate of each shellfish position.
Specifically, can determine the center position of target ship, according to berthing information and ship information with the centre bit
Coordinate system can be established as origin by setting, so according to shellfish column pitch D1, non-shellfish bit architecture (such as driver's cabin etc.) position and
Width D 2 extrapolates the center point coordinate of each shellfish position in a coordinate system.
Step S12: being directed to each loading stockyard, calculates and loads the distance between each shellfish position on stockyard and target ship.
When ship-loading and load-distribution, container to be loaded is placed in each loading stockyard, for each loading stockyard, is calculated separately
Load the distance between each shellfish position of stockyard and target ship；For there is N number of shellfish position on target ship, then for M
Stockyard is loaded, is calculated
,,……,, total M group, often
The range information of the N number of data of group.
Step S13: being directed to each loading stockyard, chooses the corresponding shellfish position of minimum range and loads in stockyard to be corresponding wait load collection
The target shipment shellfish position of vanning.That is,
For
,,……,In every group away from
From data, minimum range is therefrom selected, can then determine the shellfish position for calculating minimum range and loads stockyard, it will most narrow spacing
Target from corresponding shellfish position for container to be loaded in corresponding loading stockyard loads shellfish position onto ship.
Then for the container to be loaded in each loading stockyard, all determining has corresponding target shipment shellfish position, so as to
It is enough accurately will container loading be loaded to target ship, reduce distance and calculate influence of the inaccuracy to ship-loading operation efficiency,
To improve the operating efficiency of existing ship-loading operation.
The stockyard place allocation method as shown in Fig. 2, the automatic dock that the application proposes unloads, includes the following steps:
Step S21: the coordinate of each shellfish position on target ship is determined；Specific method of determination is the same as step S11.
Step S22: for each shellfish position, the distance between shellfish position to each unloading stockyard is calculated.
When unloading stockyard place allocation, container to be unloaded is placed in each shellfish position of target ship, for each shellfish position, is divided
It Ji Suan not the distance between shellfish position and unloading stockyard；For there is P shellfish on target ship, then for Q unloading stockyard,
It is calculated
,,……,, total P group, every group of Q
The range information of a data.
Step S23: for each shellfish position, choosing the corresponding unloading stockyard of minimum range is the corresponding upper container to be unloaded in shellfish position
Target unload stockyard.That is,
For
,,……,In every group apart from number
According to, therefrom select minimum range, can then determine calculate minimum range shellfish position and unloading stockyard, by minimum range pair
The unloading stockyard answered is the target unloading stockyard of the corresponding upper container to be unloaded in shellfish position.
Then for the container to be unloaded in each shellfish position, all determine by corresponding target unloading stockyard, so as to essence
It is true that container to be unloaded is offloaded to target unloading stockyard from target ship, it reduces distance and calculates inaccuracy to unloading ship-loading operation
The influence of efficiency, to improve the operating efficiency of existing ship-discharging operation.
Based on automatic dock ship-loading and load-distribution method set forth above, the application accordingly proposes a kind of automatic dock shipment
Loading system, as shown in figure 3, including target ship shellfish position coordinate determining module 31, loading distance calculation module 32 and target dress
Ship shellfish position determining module 33；Target ship shellfish position coordinate determining module 31 is for determining the coordinate of each shellfish position on target ship；Dress
Distance calculation module 32 is carried to be used to be directed to each loading stockyard, calculate load on stockyard and target ship between each shellfish position away from
From；Target loads shellfish position determining module 33 onto ship and is used to be directed to each loading stockyard, chooses the corresponding shellfish position of minimum range and loads to be corresponding
The target shipment shellfish position of container to be loaded in stockyard.
Specifically, target ship shellfish position coordinate determining module 31 includes ship information acquiring unit 311, berthing acquisition of information
Unit 312, shellfish column pitch computing unit 313, non-shellfish bit architecture information acquisition unit 314 and shellfish position coordinate determination unit 315；Ship
Oceangoing ship information acquisition unit 311 is used to obtain the ship information of target ship；Berthing information acquisition unit 312 is for obtaining object ship
The berthing information of oceangoing ship；Shellfish column pitch computing unit 313 is used to be based on ship information and berthing information, determines each captain side Bei Wei
Upward shellfish column pitch；Non- shellfish bit architecture information acquisition unit 314 is used to be based on ship information and berthing information, determines object ship
The coordinate of non-shellfish bit architecture and its width on captain direction on oceangoing ship；Shellfish position coordinate determination unit 315 is for being based on object ship
The center point coordinate of oceangoing ship, the coordinate of shellfish column pitch and Fei Bei bit architecture and its width on captain direction determine each shellfish position
Coordinate.
Based on automatic dock unloading stockyard place allocation method set forth above, the application also proposes that a kind of automatic dock unloads
Ship stockyard place allocation system, as shown in figure 4, including target ship shellfish position coordinate determining module 41, unloading 42 and of distance calculation module
Target unloading stockyard determining module 43；Target ship shellfish position coordinate determining module 41 is for determining the seat of each shellfish position on target ship
Mark；Distance calculation module 42 is unloaded to be used to calculate the distance between shellfish position to each unloading stockyard for each shellfish position；Target unloading heap
Field determining module 43 is used to choose the corresponding unloading stockyard of minimum range for each shellfish position as the corresponding upper container to be unloaded in shellfish position
Target unload stockyard.
The framework of specific target ship shellfish position coordinate determining module 41 is the same as automatic dock ship-loading and load-distribution set forth above
Target ship shellfish position coordinate determining module 31 in system, it will not go into details herein.
Automatic dock ship-loading and load-distribution, the unloading stockyard place allocation method and system of above-mentioned the application proposition, using object ship
The position of each shellfish position calculates and loads the distance between stockyard or unloading stockyard in oceangoing ship, when obtaining container shipment aboard ship
Ship-loading and load-distribution is improved or the distance between stockyard place allocation and target ship that unloads in shellfish position position or the unloading stockyard position for unloading ship time
Accuracy reduces distance and calculates influence of the inaccuracy to handling ship operating efficiency, to improve the work of existing dress ship-discharging operation
Industry efficiency.
It should be noted that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. automatic dock ship-loading and load-distribution method, which comprises the steps of:
Determine the coordinate of each shellfish position on target ship；
For each loading stockyard, calculates and load the distance between each shellfish position on stockyard and the target ship, and
For each loading stockyard, the corresponding shellfish position of minimum range is chosen as the target dress of container to be loaded in corresponding loading stockyard
Ship shellfish position.
2. automatic dock ship-loading and load-distribution method according to claim 1, which is characterized in that determine each shellfish on target ship
The coordinate of position, specifically:
Acquisition and the ship information based on target ship and berthing information, determine each Bei Wei captain direction on the target ship
On shellfish column pitch；
Center point coordinate and the shellfish column pitch based on the target ship determine the coordinate of each shellfish position.
3. automatic dock ship-loading and load-distribution method according to claim 2, which is characterized in that determine shellfish position on target ship
Coordinate simultaneously, the method also includes:
Based on the ship information and berthing information, determine on the target ship coordinate of non-shellfish bit architecture and its in captain side
Upward width；
Then determine the coordinate of each shellfish position, further includes: center point coordinate, the shellfish column pitch based on the target ship,
The coordinate and its width on captain direction of the non-shellfish bit architecture determine the coordinate of each shellfish position.
The stockyard place allocation method 4. automatic dock unloads, which comprises the steps of:
Determine the coordinate of each shellfish position on target ship；
For each shellfish position, the distance between shellfish position to each unloading stockyard is calculated；
For each shellfish position, the target unloading heap that the corresponding unloading stockyard of minimum range is the corresponding upper container to be unloaded in shellfish position is chosen
?.
The stockyard place allocation method 5. automatic dock according to claim 4 unloads, which is characterized in that determine on target ship
The coordinate of each shellfish position, specifically:
Acquisition and the ship information based on target ship and berthing information, determine each Bei Wei captain direction on the target ship
On shellfish column pitch；
Center point coordinate and the shellfish column pitch based on the target ship determine the coordinate of each shellfish position.
The stockyard place allocation method 6. automatic dock according to claim 5 unloads, which is characterized in that determine on target ship
Shellfish position coordinate simultaneously, the method also includes:
Based on the ship information and berthing information, determine on the target ship coordinate of non-shellfish bit architecture and its in captain side
Upward width；
Then determine the coordinate of each shellfish position, further includes: center point coordinate, the shellfish column pitch based on the target ship,
The coordinate and its width on captain direction of the non-shellfish bit architecture determine the coordinate of each shellfish position.
7. automatic dock ship-loading and load-distribution system, which is characterized in that including target ship shellfish position coordinate determining module, load distance
Computing module and target shipment shellfish position determining module；
Target ship shellfish position coordinate determining module, for determining the coordinate of each shellfish position on target ship；
The loading distance calculation module, for be directed to each loading stockyard, calculate load stockyard with it is each on the target ship
The distance between shellfish position；
Target shipment shellfish position determining module chooses the corresponding shellfish position of minimum range for being directed to each loading stockyard to correspond to
Load the target shipment shellfish position of container to be loaded in stockyard.
8. automatic dock ship-loading and load-distribution system according to claim 7, which is characterized in that the target ship shellfish position is sat
Mark determining module includes ship information acquiring unit, berthing information acquisition unit, shellfish column pitch computing unit, non-shellfish bit architecture letter
Cease acquiring unit and shellfish position coordinate determination unit；
The ship information acquiring unit, for obtaining the ship information of the target ship；
The berthing information acquisition unit, for obtaining the berthing information of the target ship；
The shellfish column pitch computing unit determines that each shellfish position exists for being based on the ship information and the berthing information
Shellfish column pitch on captain direction；
The non-shellfish bit architecture information acquisition unit determines the object ship for being based on the ship information and berthing information
The coordinate of non-shellfish bit architecture and its width on captain direction on oceangoing ship；
Shellfish position coordinate determination unit, for center point coordinate, the shellfish column pitch and described based on the target ship
The coordinate of non-shellfish bit architecture and its width on captain direction determine the coordinate of each shellfish position.
The stockyard place allocation system 9. automatic dock unloads, which is characterized in that including target ship shellfish position coordinate determining module, unloading
Distance calculation module and target unloading stockyard determining module；
Target ship shellfish position coordinate determining module, for determining the coordinate of each shellfish position on target ship；
The unloading distance calculation module, for calculating the distance between shellfish position to each unloading stockyard for each shellfish position；
The target unloading stockyard determining module, for choosing the corresponding unloading stockyard of minimum range to correspond to for each shellfish position
The target unloading stockyard of the upper container to be unloaded in shellfish position.
The stockyard place allocation system 10. automatic dock according to claim 9 unloads, which is characterized in that the target ship
Shellfish position coordinate determining module includes ship information acquiring unit, berthing information acquisition unit, shellfish column pitch computing unit, non-shellfish position
Structural information acquiring unit and shellfish position coordinate determination unit；
The ship information acquiring unit, for obtaining the ship information of the target ship；
The berthing information acquisition unit, for obtaining the berthing information of the target ship；
The shellfish column pitch computing unit determines that each shellfish position exists for being based on the ship information and the berthing information
Shellfish column pitch on captain direction；
The non-shellfish bit architecture information acquisition unit determines the object ship for being based on the ship information and berthing information
The coordinate of non-shellfish bit architecture and its width on captain direction on oceangoing ship；
Shellfish position coordinate determination unit, for center point coordinate, the shellfish column pitch and described based on the target ship
The coordinate of non-shellfish bit architecture and its width on captain direction determine the coordinate of each shellfish position.
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| CN201811088035.XA CN109292472B (en) | 2018-09-18 | 2018-09-18 | Automatic wharf loading, loading and unloading yard position allocation method and system |
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| CN201811088035.XA CN109292472B (en) | 2018-09-18 | 2018-09-18 | Automatic wharf loading, loading and unloading yard position allocation method and system |
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| CN109911643A (en) * | 2019-04-02 | 2019-06-21 | 上海快仓智能科技有限公司 | Material put-on method, control device, equipment and system |
| CN111218779A (en) * | 2019-12-30 | 2020-06-02 | 广东溢达纺织有限公司 | Sewing machine assisting apparatus, system, method, computer device, and storage medium |
| CN111897369A (en) * | 2020-07-08 | 2020-11-06 | 神华黄骅港务有限责任公司 | Second wheel loading control system, method, device and storage medium |
| CN111932203A (en) * | 2020-08-03 | 2020-11-13 | 上海海勃物流软件有限公司 | Automatic position selection and distribution method, terminal and medium for turning containers in container area |
| CN113682841A (en) * | 2021-09-06 | 2021-11-23 | 青岛港国际股份有限公司 | Ten-thousand-ton ship unloading operation method |
| CN114803573A (en) * | 2022-04-14 | 2022-07-29 | 华能曹妃甸港口有限公司 | Automatic ship loading and cabin changing method for bulk cargo wharf |
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