CN113788327B - Unmanned platform transportation system, method, equipment and storage medium - Google Patents
Unmanned platform transportation system, method, equipment and storage medium Download PDFInfo
- Publication number
- CN113788327B CN113788327B CN202110875742.9A CN202110875742A CN113788327B CN 113788327 B CN113788327 B CN 113788327B CN 202110875742 A CN202110875742 A CN 202110875742A CN 113788327 B CN113788327 B CN 113788327B
- Authority
- CN
- China
- Prior art keywords
- unmanned
- unmanned platform
- container
- transfer device
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention provides an unmanned platform transportation system, a method, equipment and a storage medium, wherein the system comprises: the unmanned platform vehicle is used for carrying the containers; the top of the unmanned platform vehicle and the bottom of the container are respectively provided with a guide assembly which is matched with each other; unmanned transfer device sets up in the stroke range below of an at least loop wheel machine, supplies the loop wheel machine to change the packing box and places, carries out route navigation and the unmanned transfer device butt joint that corresponds based on the butt joint task when unmanned platform truck, slides in and spacing in unmanned platform truck's top along unmanned platform truck's length direction through guide assembly guide packing box, and locating component and packing box detachably are passed through to unmanned platform truck's both sides are spacing to be connected. The invention can reduce the invalid standby time of the crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operating efficiency of the unmanned wharf.
Description
Technical Field
The invention relates to the field of unmanned transportation of containers, in particular to the whole vehicle arrangement of an electrically-driven flat vehicle.
Background
With the rapid development of container transportation industry in automated docks, airports and large parks, in order to improve the operation efficiency and shorten the loading and unloading time of containers as much as possible, an advanced scientific production organization system and reliable and efficient automatic loading and unloading equipment are required, more goods need to be transported, and the efficiency and quality of container transportation are very important.
Currently, however, for example: the positioning of the containers loaded by unmanned trucks and flat cars under shore bridges is a critical problem which needs to be solved urgently, and has the problems of low efficiency and high risk, so that the research on the automatic detection and positioning technology of the container positions of the containers is very important. The containers are required to be evenly and stably loaded into the flat car through a large crane each time, and the primary premise for ensuring the transportation safety of the containers is that the large crane is used for loading the containers into the flat car. After the container is loaded into the flat car, if the container is overloaded or unbalanced loaded and unbalanced weight reaches a limit value, the container is easy to turn over when being impacted or acted by external force in the transportation process, and wharf traffic accidents are caused. In order to ensure the safety of container transportation, the quantity of containers and the loading quality of the containers need to be detected in the loading stage, and the containers are reasonably and accurately loaded on the flat car; and after the container is loaded into the flat car, the gravity center of the container is vertically overlapped with the center of the car body or the error is within an allowable range.
Moreover, the large crane can work only after waiting for the flat cars to enter the lifting travel range of the large crane, and when a plurality of flat cars simultaneously run below the large crane, the large crane can only wait for the cranes to finish the lifting operation in sequence; on the contrary, sometimes, no platform trailer enters the hoisting travel range of the large crane, and the large crane can only be empty, so that the operation efficiency is reduced.
Accordingly, the present invention provides an unmanned platform transportation system, method, apparatus and storage medium.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an unmanned platform transportation system, a method, equipment and a storage medium, which overcome the difficulties in the prior art, can reduce the invalid standby time of a crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operation efficiency of an unmanned wharf by the cooperation of the unmanned platform vehicle and an unmanned transfer device.
An embodiment of the present invention provides an unmanned platform transportation system, including:
at least one unmanned platform vehicle for carrying the containers and at least one unmanned transfer device;
the top of the unmanned platform vehicle and the bottom of the container are respectively provided with a guide assembly which is matched with each other;
unmanned transfer device sets up in the stroke range below of an at least loop wheel machine, supplies the loop wheel machine to transfer the packing box and places, unmanned platform truck with correspond unmanned transfer device docks, through the guide subassembly guide the packing box is followed unmanned platform truck's length direction slide in and spacing in unmanned platform truck's top, unmanned platform truck's both sides pass through locating component with packing box detachably is spacing to be connected.
Preferably, a docking task is generated based on the number information of the container and the position information of the unmanned transfer device, and is sent to the unmanned flatcar configured to carry the container, and the unmanned flatcar performs path navigation based on the docking task and docks with the corresponding unmanned transfer device.
Preferably, the guide assembly comprises:
at least two rows of rollers arranged at the bottom of the container;
at least two rows of chutes are arranged at the top of the unmanned platform vehicle, each row of chutes is limited by one row of rollers for the rollers to slide in the chutes.
Preferably, the positioning assembly comprises:
the at least two groups of clamping tenons are arranged on two sides of the container;
at least two sets of buckles set up in unmanned platform truck's both sides, every the buckle with the trip block will packing box detachably be spacing in unmanned platform truck's upper surface.
Preferably, a first butt piece is arranged at the end part of the sliding groove at one side of the unmanned platform vehicle;
unmanned transfer device includes at least two rows of drive belts that receive motor drive, the packing box crimping in the drive belt, the tip of drive belt is equipped with the second and to the union piece, works as unmanned platform truck with when unmanned transfer device docks, first butt joint piece and second butt joint piece are pegged graft and are formed at least partial spout jointly, supply the packing box receives the drive of drive belt to unmanned platform truck removes, follows the spout slides in unmanned platform truck's top.
Preferably, when the unmanned platform vehicle corresponding to the next hoisting task in the task queue of the crane does not drive into the lower part of the travel range of the crane, the crane hoists the container of the hoisting task to an idle unmanned transfer device below the travel range.
Preferably, a plurality of unmanned transfer devices are arranged below the stroke range of each crane, and the unmanned transfer devices are distributed on the edge of the stroke range.
Preferably, the length of the unmanned flatcar is equal to the length of the cargo box; the width of the unmanned platform vehicle is equal to the width of the container.
The embodiment of the invention also provides an unmanned platform transportation method, which adopts the unmanned platform transportation system and comprises the following steps:
s110, judging whether the unmanned platform vehicle corresponding to the next hoisting task in the task queue of the crane drives into the lower part of the travel range of the crane, if so, executing a step S120, and if not, executing a step S130;
s120, hoisting the container of the hoisting task to the unmanned platform vehicle, and returning to the step S110;
s130, judging whether at least one idle unmanned transfer device is arranged below the travel range, if so, executing a step S140, otherwise, executing a step S180;
s140, hoisting the container of the hoisting task to an idle unmanned transfer device below the travel range by the crane;
s160, after the unmanned flat car is in butt joint with the unmanned transfer device, the unmanned transfer device drives the container to slide in along the length direction of the unmanned flat car and is limited at the top of the unmanned flat car;
s170, two sides of the unmanned platform vehicle are detachably connected with the container in a limiting manner through positioning components;
and S180, ending.
Preferably, between step S140 and step S160, further comprising: step S150, generating a docking task based on the number information of the container and the position information of the unmanned transfer device, and sending the docking task to the unmanned platform vehicle configured to carry the container;
an embodiment of the present invention further provides an unmanned platform transportation apparatus, including:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the above-described unmanned platform transport method via execution of the executable instructions.
Embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed, performs the steps of the above-described unmanned platform transportation method.
The invention aims to provide an unmanned platform transportation system, method, equipment and storage medium, which can reduce the invalid standby time of a crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the running efficiency of an unmanned wharf by matching the unmanned platform vehicle and an unmanned transfer device.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a side view of the unmanned platform transport system of the present invention.
Fig. 2 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A in fig. 1.
Fig. 3 is an exploded view of the unmanned platform transport system of the present invention.
Fig. 4 is a front end schematic view of the unmanned platform transport system of the present invention.
Fig. 5 is a rear end schematic view of the unmanned platform transport system of the present invention.
Fig. 6 is a schematic top view of the unmanned platform transport system of the present invention.
Fig. 7 is a sectional view taken along line B-B in fig. 6.
Fig. 8 is a sectional view taken along line C-C in fig. 6.
Fig. 9 is a schematic view of the docking of the unmanned platform vehicle with the unmanned aerial vehicle transfer device in the unmanned platform transportation system of the present invention.
Figure 10 is a schematic view of the unmanned platform transport system of the present invention positioned below a crane.
Fig. 11 is a schematic flow diagram of an unmanned platform transportation method embodying the present invention.
Fig. 12 is a schematic structural view of the unmanned platform transportation apparatus of the present invention.
Fig. 13 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Reference numerals
1 cargo box
1A front end face
1B rear end face
1C top surface
2 unmanned platform vehicle
21 first butt joint member
3 guide assembly
31 roller
32 chute
4 positioning assembly
41 tenon
42 fastener
5 unmanned transfer device
51 second docking member
6 loop wheel machine
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware forwarding modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In addition, the flow shown in the drawings is only an exemplary illustration, and not necessarily includes all the steps. For example, some steps may be divided, some steps may be combined or partially combined, and the actual execution sequence may be changed according to the actual situation. The use of "first," "second," and the like in the detailed description is not intended to identify any order, quantity, or importance, but rather is used to distinguish one element from another. It should be noted that features of the embodiments of the invention and of the different embodiments may be combined with each other without conflict.
Fig. 1 is a side view of the unmanned platform transport system of the present invention. Fig. 2 isbase:Sub>A sectional view taken along the linebase:Sub>A-base:Sub>A in fig. 1. Fig. 3 is an exploded view of the unmanned platform transport system of the present invention. Fig. 4 is a front end schematic view of the unmanned platform transport system of the present invention. Fig. 5 is a rear end schematic view of the unmanned platform transport system of the present invention. Fig. 6 is a top schematic view of the unmanned platform transport system of the present invention. Fig. 7 is a sectional view taken along line B-B in fig. 6. Fig. 8 is a sectional view taken along line C-C in fig. 6. As shown in fig. 1 to 8, the unmanned platform transportation system 1 of the present invention includes: at least one unmanned flatcar 2 for handling containers 1 and at least one unmanned transfer device 5. The top of the unmanned platform vehicle 2 and the bottom of the container 1 are respectively provided with a guide assembly 3 which are matched with each other. The unmanned transferring device 5 is disposed below a travel range of at least one crane 6, and is used for the crane 6 to transfer the container 1, and generate a docking task based on the number information of the container 1 and the geographic position information of the unmanned transferring device 5, for example: the automatic cargo handling system is used for controlling the unmanned platform vehicle 2 to travel to the geographic position (point A) of the unmanned transfer device 5, carrying out butt joint on a specified cargo container 1 (cargo container numbered as No. 37) and sending the cargo container to the unmanned platform vehicle 2 configured to carry the cargo container 1, when the unmanned platform vehicle 2 carries out path navigation based on the butt joint task and is in butt joint with the corresponding unmanned transfer device 5, the cargo container 1 is guided to slide into the top of the unmanned platform vehicle 2 along the length direction of the unmanned platform vehicle 2 and limited on the top of the unmanned platform vehicle 2 through the guide assembly 3, and two sides of the unmanned platform vehicle 2 are detachably limited and connected with the cargo container 1 through the positioning assemblies 4. The front end face 1A of the container 1 is matched with the head of the unmanned platform vehicle 2, the rear end face 1B of the front end face of the container 1 is matched with the tail of the unmanned platform vehicle 2, and the top face 1C of the container 1 is exposed out of the unmanned platform vehicle 2. The unmanned platform vehicle 2 can perform path navigation based on the received docking tasks, reach the unmanned transfer device 5 loaded with the containers 1 to be transported, and load the containers 1 corresponding to the docking tasks from the unmanned transfer device 5. The container 1 in this embodiment may be a container, or may be a slogan container for shipping or train transportation, but is not limited thereto.
In this embodiment, the guide assembly 3 includes: two rows of rollers 31 and two rows of chutes 32, the rollers 31 are arranged at the bottom of the cargo box 1. Two rows of sliding grooves 32 are arranged on the top of the unmanned platform vehicle 2, and each row of sliding grooves 32 limit one row of the rollers 31 so that the rollers 31 can slide in the sliding grooves 32. The above-mentioned locating component 4 includes: two sets of tenons 41 and two sets of buckles 42, wherein the two sets of tenons 41 are arranged on two sides of the container 1. Two sets of fasteners 42 are disposed on two sides of the unmanned vehicle 2, and each of the fasteners 42 is engaged with the tenon 41 to detachably limit the cargo box 1 on the upper surface of the unmanned vehicle 2. The end of the sliding chute 32 on one side of the unmanned platform vehicle 2 is provided with a first butt piece 21.
Fig. 9 is a schematic view of the docking of the unmanned aerial vehicle with the unmanned transport device in the unmanned aerial vehicle transportation system of the present invention. As shown in fig. 9, the unmanned aerial vehicle 5 includes at least two rows of transmission belts driven by a motor, the container 1 is pressed on the transmission belts, a second docking member 51 is disposed at an end of the transmission belts, when the unmanned aerial vehicle 2 is docked with the unmanned aerial vehicle 5, the first docking member 21 and the second docking member 51 are plugged together to form at least a partial sliding slot, so that the container 1 is driven by the transmission belts to move towards the unmanned aerial vehicle 2 and slide along the sliding slot into the top of the unmanned aerial vehicle 2. It is achieved that the unmanned transfer device 5 can transfer the containers 1 to the unmanned flatcar 2 independently without the assistance of the crane 6.
In a preferred embodiment, when the unmanned platform vehicle 2 corresponding to the next hoisting task in the task queue of the crane 6 is not driven below the travel range of the crane 6, the crane 6 hoists the container 1 of the hoisting task to an empty unmanned transfer device 5 below the travel range. A plurality of unmanned transfer devices 5 are arranged below the stroke range of each crane 6. The unmanned transfer device can buffer the working efficiency of the crane, so that the crane can perform corresponding hoisting work when the unmanned platform vehicle 2 does not enter the lower part of the stroke range of the crane 6, and the invalid standby of the crane is avoided, thereby enhancing the working efficiency of the crane, reducing the waiting time of the unmanned platform vehicle and optimizing the running efficiency of the unmanned wharf. The unmanned transferring devices 5 are distributed at the edge of the travel range, so as to shorten the driving distance of the unmanned transferring devices 5, but not limited thereto.
In a preferred embodiment, the length of the unmanned flatcar 2 is equal to or less than the length of the cargo box 1. The width of the unmanned platform vehicle 2 is less than or equal to the width of the container 1. So that the unmanned aerial vehicle 2 can have a minimum length and width to facilitate safe driving in the unmanned dock.
Figure 10 is a schematic view of the unmanned platform transport system of the present invention positioned below a crane. As shown in fig. 10, three unmanned transfer devices 5 are provided below the travel range of the crane 6, and since the unmanned aerial vehicle 2 corresponding to the next hoisting task in the task queue of the crane 6 is far away, it is not below the travel range of the crane 6. Therefore, the crane 6 sequentially hoists the containers 1 to the vacant unmanned flat car 2. Since the unmanned aerial vehicle 2 corresponding to the hoisting task does not appear all the time, the crane 6 caches the hoisting work of the crane through the unmanned aerial vehicle 2, generates the docking task based on the number information of the container 1 and the position information of the unmanned transfer device 5, and sends the docking task to the unmanned aerial vehicle 2 configured to carry the container 1, so that the unmanned aerial vehicle 2 knows the target packing cargo space of the crane (the corresponding unmanned transfer device 5 of the container 1 is loaded), and the crane 6 does not need to be matched with the crane when the subsequent unmanned aerial vehicle 2 drives into the travel range of the crane 6 until no idle unmanned aerial vehicle 2 exists. When the unmanned platform vehicle 2 performs path navigation based on docking tasks and reaches the front and the back of the unmanned transfer device 5, the first docking piece 21 and the second docking piece 51 are plugged together to form at least part of a chute, so that the container 1 is driven by the driving belt to move towards the unmanned platform vehicle 2 and slide into the top of the unmanned platform vehicle 2 along the chute. And the two sides of the unmanned platform vehicle 2 are detachably connected with the container 1 in a limiting way through a positioning component 4. After the containers 1 are loaded from the unmanned transfer device 5, the unmanned platform vehicle 2 can leave by itself. It can be seen that, in the above process, if the unmanned transfer device 5 is not provided for assistance, the unmanned platform vehicle 2 needs to be left unused for a long time, and the effective working time of the crane is greatly reduced.
Fig. 11 is a schematic flow diagram of an unmanned platform transportation method embodying the present invention. As shown in fig. 11, an embodiment of the present invention provides an unmanned platform transportation method, which uses the above-mentioned unmanned platform transportation system (see fig. 10), and includes the following steps:
s110, determining whether the unmanned platform vehicle 2 corresponding to the next hoisting task in the task queue of the crane 6 is driven below the travel range of the crane 6, if so, performing step S120, otherwise, performing step S130.
And S120, hoisting the container 1 subjected to the hoisting task to the unmanned platform vehicle 2, and returning to the step S110.
And S130, judging whether at least one idle unmanned transfer device 5 is arranged below the travel range, if so, executing a step S140, and if not, executing a step S180.
S140, the crane 6 hoists the container 1 for the hoisting task to an empty unmanned transferring device 5 below the travel range.
S150, a docking job is generated based on the number information of the container 1 and the position information of the unmanned transfer device 5, and is transmitted to the unmanned flatcar 2 configured to transport the container 1.
And S160, after the unmanned platform vehicle 2 is in butt joint with the unmanned transfer device 5, the unmanned transfer device 5 drives the container 1 to slide in along the length direction of the unmanned platform vehicle 2 and is limited at the top of the unmanned platform vehicle 2.
And S170, detachably limiting and connecting two sides of the unmanned platform vehicle 2 with the container 1 through a positioning assembly 4.
And S180, ending.
In a preferred embodiment, when the unmanned platform vehicle 2 corresponding to the next hoisting task in the task queue of the crane 6 does not drive into the lower part of the travel range of the crane 6, the crane 6 hoists the container 1 of the hoisting task to an empty unmanned transfer device 5 below the travel range. A plurality of unmanned transfer devices 5 are arranged below the stroke range of each crane 6. The unmanned transfer device can buffer the working efficiency of the crane, so that the crane can perform corresponding hoisting work when the unmanned platform vehicle 2 does not enter the lower part of the stroke range of the crane 6, and the invalid standby of the crane is avoided, thereby enhancing the working efficiency of the crane, reducing the waiting time of the unmanned platform vehicle and optimizing the running efficiency of the unmanned wharf. The unmanned transferring devices 5 are distributed at the edge of the travel range, so as to shorten the driving distance of the unmanned transferring devices 5, but not limited thereto.
In a preferred embodiment, the above-mentioned guide assembly 3 comprises: two rows of rollers 31 and two rows of chutes 32, the rollers 31 are arranged at the bottom of the cargo box 1. Two rows of sliding grooves 32 are arranged on the top of the unmanned platform vehicle 2, and each row of sliding grooves 32 limit one row of the rollers 31 so that the rollers 31 can slide in the sliding grooves 32. The positioning assembly 4 includes: two sets of tenons 41 and two sets of buckles 42, wherein the two sets of tenons 41 are arranged on two sides of the container 1. Two sets of fasteners 42 are disposed on two sides of the unmanned vehicle 2, and each of the fasteners 42 is engaged with the tenon 41 to detachably limit the cargo box 1 on the upper surface of the unmanned vehicle 2. The first butt piece 21 is disposed at the end of the chute 32 on one side of the unmanned flatcar 2, but not limited thereto.
In a preferred embodiment, the unmanned aerial vehicle 5 includes at least two rows of belts driven by a motor, the container 1 is pressed against the belts, a second docking member 51 is disposed at an end of the belts, and when the unmanned aerial vehicle 2 is docked with the unmanned aerial vehicle 5, the first docking member 21 and the second docking member 51 are inserted together to form at least a partial chute, so that the container 1 is driven by the belts to move towards the unmanned aerial vehicle 2 and slide along the chute into the top of the unmanned aerial vehicle 2. It is achieved, but not limited to, that the unmanned transfer device 5 can independently transfer the containers 1 to the unmanned platform vehicle 2 without the assistance of the crane 6.
In a preferred embodiment, the length of the unmanned flatcar 2 is equal to or less than the length of the cargo box 1. The width of the unmanned platform vehicle 2 is less than or equal to the width of the container 1. So that the unmanned aerial vehicle 2 can have a minimum length and width to facilitate safe driving in the unmanned dock, but not limited thereto.
The unmanned platform transportation method can reduce the invalid standby time of the crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operation efficiency of the unmanned wharf through the cooperation of the unmanned platform vehicle and the unmanned transfer device.
The embodiment of the invention also provides unmanned platform transportation equipment, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to perform the steps of the unmanned platform conveyance method via execution of executable instructions.
As shown above, the unmanned platform transportation system according to the embodiment of the invention can reduce the invalid standby time of the crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operating efficiency of the unmanned dock by the cooperation of the unmanned platform vehicle and the unmanned transfer device.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module, "or" platform.
Fig. 12 is a schematic structural view of the unmanned platform transportation apparatus of the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 12. The electronic device 600 shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 12, the electronic device 600 is in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, and the like.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 11.
The storage unit 620 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM) 6201 and/or a cache storage unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include programs/utilities 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the steps of the unmanned platform transportation method are realized when the program is executed. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As shown above, the unmanned platform transportation system according to the embodiment of the invention can reduce the invalid standby time of the crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operation efficiency of the unmanned dock by the cooperation of the unmanned platform vehicle and the unmanned transfer device.
Fig. 13 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 13, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computing devices (e.g., through the internet using an internet service provider).
In summary, the present invention provides an unmanned platform transportation system, method, device and storage medium, which can reduce the invalid standby time of a crane, enhance the working efficiency of the crane, reduce the waiting time of the unmanned platform vehicle and optimize the operation efficiency of the unmanned dock by the cooperation of the unmanned platform vehicle and the unmanned transfer device.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (11)
1. An unmanned platform transportation system, comprising: at least one unmanned platform vehicle (2) for transporting the containers (1) and at least one unmanned transfer device (5);
the top of the unmanned platform vehicle (2) and the bottom of the container (1) are respectively provided with a guide assembly (3) which are matched with each other;
unmanned transfer device (5) set up in the stroke range below of an at least loop wheel machine (6), supply loop wheel machine (6) to transfer in with packing box (1) and place, unmanned platform truck (2) and corresponding unmanned transfer device (5) butt joint, through guide subassembly (3) guide packing box (1) are followed the length direction of unmanned platform truck (2) slide in and spacing in the top of unmanned platform truck (2), the both sides of unmanned platform truck (2) pass through locating component (4) with packing box (1) detachably spacing connection works as unmanned platform truck (2) that next hoist and mount task corresponds in the task queue of loop wheel machine (6) do not drive in the stroke range below of loop wheel machine (6), then loop wheel machine (6) will hoist and mount packing box (1) of hoist and mount the idle unmanned transfer device (5) of stroke range below.
2. The unmanned platform transport system of claim 1, wherein docking tasks are generated based on number information of the containers (1) and position information of the unmanned transport device (5) and sent to the unmanned flatcar (2) configured to carry the containers (1), and the unmanned flatcar (2) is docked with the corresponding unmanned transport device (5) based on the docking tasks for path navigation.
3. The unmanned platform transport system of claim 1, wherein the guide assembly (3) comprises:
at least two rows of rollers (31) arranged at the bottom of the container (1);
at least two rows of chutes (32) are arranged at the top of the unmanned platform vehicle (2), each row of the chutes (32) are limited by one row of the rollers (31) for the rollers (31) to slide in the chutes (32).
4. The unmanned platform transportation system of claim 1, wherein the positioning assembly (4) comprises:
at least two groups of tenons (41) are arranged on two sides of the container (1);
at least two sets of buckles (42), set up in the both sides of unmanned platform car (2), every buckle (42) with trip (41) block will packing box (1) detachably be spacing in the upper surface of unmanned platform car (2).
5. The unmanned platform transport system of claim 1, wherein the chute (32) end of one side of the unmanned platform vehicle (2) is provided with a first butt piece (21);
unmanned transfer device (5) include at least two rows receive motor drive's drive belt, packing box (1) crimping in the drive belt, the tip of drive belt is equipped with second butt joint piece (51), works as unmanned platform truck (2) with when unmanned transfer device (5) dock, first butt joint piece (21) and second butt joint piece (51) are pegged graft and are formed at least partial spout jointly, supply packing box (1) receive the drive of drive belt to unmanned platform truck (2) remove, follow the spout slides in the top of unmanned platform truck (2).
6. The unmanned platform transport system according to claim 1, wherein a number of unmanned transfer devices (5) are arranged below the range of travel of each crane (6), and the unmanned transfer devices (5) are distributed at the edge of the range of travel.
7. The unmanned flatbed transport system of claim 1, wherein the length of the unmanned flatbed vehicle (2) is equal to the length of the cargo box (1); the width of the unmanned platform vehicle (2) is equal to that of the container (1).
8. An unmanned platform transportation method employing the unmanned platform transportation system of claim 1, comprising:
s110, judging whether the unmanned platform vehicle corresponding to the next hoisting task in the task queue of the crane drives into the lower part of the travel range of the crane, if so, executing a step S120, otherwise, executing a step S130;
s120, hoisting the container of the hoisting task to the unmanned platform vehicle, and returning to the step S110;
s130, judging whether at least one idle unmanned transfer device is arranged below the travel range, if so, executing a step S140, otherwise, executing a step S180;
s140, hoisting the container of the hoisting task to an idle unmanned transfer device below the travel range by the crane;
s160, after the unmanned flat car is in butt joint with the unmanned transfer device, the unmanned transfer device drives the container to slide in along the length direction of the unmanned flat car and is limited at the top of the unmanned flat car;
s170, two sides of the unmanned platform vehicle are detachably connected with the container in a limiting manner through positioning components;
and S180, ending.
9. The unmanned platform transportation method of claim 8, further comprising, between steps S140 and S160:
and S150, generating a docking task based on the number information of the container and the position information of the unmanned transfer device, and sending the docking task to the unmanned platform vehicle configured to carry the container.
10. An unmanned platform transportation device, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the unmanned platform transport method of claim 8 via execution of the executable instructions.
11. A computer-readable storage medium storing a program which, when executed by a processor, performs the steps of the unmanned platform transportation method of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110875742.9A CN113788327B (en) | 2021-07-30 | 2021-07-30 | Unmanned platform transportation system, method, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110875742.9A CN113788327B (en) | 2021-07-30 | 2021-07-30 | Unmanned platform transportation system, method, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113788327A CN113788327A (en) | 2021-12-14 |
| CN113788327B true CN113788327B (en) | 2023-01-24 |
Family
ID=79181243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110875742.9A Active CN113788327B (en) | 2021-07-30 | 2021-07-30 | Unmanned platform transportation system, method, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113788327B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116553352B (en) * | 2023-07-06 | 2023-11-03 | 江西五十铃汽车有限公司 | Container storage equipment and method |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030198544A1 (en) * | 2002-04-19 | 2003-10-23 | Tom Campbell | Centralized cargo transfer system using a movable transfer dock |
| WO2013169110A1 (en) * | 2012-05-08 | 2013-11-14 | Raadgevend Ingenieursburo F. Koch B.V. | Overhead crane, assembly of at least two overhead cranes, automated guided vehicle, and assembly thereof |
| CN104192576B (en) * | 2014-08-19 | 2017-01-11 | 天津港(集团)有限公司 | Container horizontal transportation system |
| CN105692096B (en) * | 2016-03-22 | 2018-05-11 | 奇瑞汽车股份有限公司 | A kind of car body coating auxiliary mould automatic conveying system and its carrying method |
| DE102017103097A1 (en) * | 2017-02-15 | 2018-08-16 | Konecranes Global Corporation | Automatically guided transport vehicle for containers and method for operating the same and system with an automatically guided transport vehicle |
| CN108910544A (en) * | 2018-06-29 | 2018-11-30 | 奥尔森（镇江）电气机械有限公司 | A kind of intelligence harbour container handling system |
| CN110356752B (en) * | 2018-08-03 | 2021-11-26 | 北京京东乾石科技有限公司 | Goods circulation system and method |
| CN211569437U (en) * | 2019-07-09 | 2020-09-25 | 深圳中集专用车有限公司 | Automatic transfer control system |
| CN210762531U (en) * | 2019-10-23 | 2020-06-16 | 上海木木聚枞机器人科技有限公司 | Automatic docking mechanism, automatic docking equipment and automatic docking system |
| CN111532802B (en) * | 2020-04-02 | 2021-07-02 | 唐山哈船科技有限公司 | Arrival cargo transportation transfer device and method |
| CN112407820B (en) * | 2020-09-30 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | AGV transportation bracket, transportation system, transportation control system and transportation method |
| CN112758699A (en) * | 2020-12-25 | 2021-05-07 | 上海振华重工(集团)股份有限公司 | Automatic transportation, loading and unloading method and system for aviation container |
-
2021
- 2021-07-30 CN CN202110875742.9A patent/CN113788327B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113788327A (en) | 2021-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220332505A1 (en) | Delivery apparatus, system, method, electronic device and computer readable storage medium | |
| CN113135497B (en) | Box unloading method, system, equipment and storage medium for automatic alignment of integrated card and crane | |
| CN112389916B (en) | Automated warehouse system, control method, storage medium, and electronic device | |
| CN113788327B (en) | Unmanned platform transportation system, method, equipment and storage medium | |
| JP2010102590A (en) | Guided vehicle system | |
| EP3786099A1 (en) | Container inspection system, port facility, and container inspection method | |
| JP2003292168A (en) | Container terminal and operating method of automatically guided vehicle in container terminal | |
| CN212314971U (en) | Transfer equipment and container transportation system | |
| CN113492106B (en) | Goods sorting method, goods sorting system and device | |
| CN105293103B (en) | Automatic luggage container conveying method and device used for transportation vehicles | |
| CN113516423B (en) | Container sorting method, control device and storage medium | |
| KR20020061293A (en) | Method for dispatching a transporter of a port container terminal | |
| CN112279096B (en) | Container turning prompting method, device, equipment and storage medium based on augmented reality | |
| JP6096702B2 (en) | Container terminal gate system | |
| CN114089698A (en) | AGV (automatic guided vehicle) scheduling system and method based on transition platform | |
| CN209905959U (en) | Based on express delivery transport vechicle intelligence haulage equipment | |
| CN210594348U (en) | Positioning access board device for platform freight transportation track | |
| EP3779519A1 (en) | Container inspection system, port facility, and container inspection method | |
| JP2021031226A (en) | Position information management method, position information management device, and position information management program | |
| JP2009143580A (en) | Container condition confirming system in container terminal gate | |
| JP2006282338A (en) | Container terminal gate | |
| KR102162557B1 (en) | BTC operation system using smart device | |
| JPS63300099A (en) | Conveyance controller | |
| CN113753604A (en) | Railway freight handling control system | |
| JP2008184329A (en) | Method for carrying out inspected item in automated guided vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 503-3, 398 Jiangsu Road, Changning District, Shanghai 200050 Patentee after: Shanghai Xijing Technology Co.,Ltd. Address before: Room 503-3, 398 Jiangsu Road, Changning District, Shanghai 200050 Patentee before: SHANGHAI WESTWELL INFORMATION AND TECHNOLOGY Co.,Ltd. |