CN115676410B - Container position identification method, device, equipment and medium - Google Patents

Container position identification method, device, equipment and medium Download PDF

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Publication number
CN115676410B
CN115676410B CN202211510408.4A CN202211510408A CN115676410B CN 115676410 B CN115676410 B CN 115676410B CN 202211510408 A CN202211510408 A CN 202211510408A CN 115676410 B CN115676410 B CN 115676410B
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container
bin
information
shell
determining
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CN115676410A (en
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张晨军
孔德有
张向辉
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Shenzhen Pingfang Science And Technology Co ltd
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Shenzhen Pingfang Science And Technology Co ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Abstract

The application relates to a container position identification method, a device, equipment and a medium, wherein the method comprises the following steps: acquiring a first shell position of hoisting equipment; when corresponding operation is carried out on the target container, the moving distance of the lifting device is obtained, and a second shell position of the lifting device is obtained according to the moving distance, the first shell position and the standard container length of the container; acquiring a second beta Bei Qie chart corresponding to the second beta, and establishing a coordinate system based on the second beta Bei Qie chart; acquiring the vertical distance between a lifting appliance and the ground, the lifting appliance moving distance of the lifting appliance and container standard single-container parameters when corresponding operation is performed on a target container; determining layer information of a target container in a coordinate system according to the vertical distance and the standard container height of the container, and determining row information in the coordinate system according to the moving distance of the lifting appliance and the standard container width of the container; and determining the bin information of the target container according to the second bin, the row information and the layer information of the target container. The application improves the recognition efficiency of container positions in the storage yard area.

Description

Container position identification method, device, equipment and medium
Technical Field
The application relates to the technical field of container position identification, in particular to a container position identification method, a device, equipment and a medium.
Background
Container transportation plays an important role in economic development. In a land storage yard, a plurality of containers can be stored in any storage yard, the containers are stacked according to a shellfish position, a layer and a row, when a certain container needs to be lifted or stacked, a lifting system is required to be controlled manually to lift or stack, wherein the lifting system comprises lifting equipment and a lifting appliance arranged on the lifting equipment, the lifting equipment is controlled to move in the shellfish position direction, after the lifting equipment moves to a target shellfish position, the lifting appliance is controlled to move along the row until the lifting appliance reaches the target row, and then the lifting appliance is controlled to move vertically so as to realize the layer movement of the lifting appliance, and finally the target position is reached.
The container yard area is large in scale, the number of containers is large, and in order to improve the hoisting efficiency of the containers, the container empty positions of the container yard area are determined, so that the container position information needs to be identified. In the related art, a marker method is generally adopted for identifying the container position information, specifically, a marker is manually arranged in a container yard in advance, a calibration device is further arranged on a hoisting system, when the lifting appliance moves towards the marker, the calibration device identifies the marker, when the calibration device is completely overlapped with the marker, the current position of the lifting appliance is the position of the marker when the calibration device identifies the marker, and the position of the marker is the position of the container position to be identified.
Aiming at the technology, the inventor finds that when the method is adopted for identification, the marker is needed to be manually placed in advance, and the identification efficiency of the container position is low.
Disclosure of Invention
In order to improve the recognition efficiency of tank bit information, the application provides a container tank bit recognition method, a device, equipment and a medium.
In a first aspect, the present application provides a container location recognition method, which adopts the following technical scheme:
acquiring a first shell position of hoisting equipment;
when corresponding operation is carried out on a target container, the moving distance of the lifting device is obtained, and a second shell position of the lifting device is obtained according to the moving distance, the first shell position and the standard container length of the container;
acquiring a second beta Bei Qie chart corresponding to the second beta, and establishing a coordinate system based on the second beta Bei Qie chart;
obtaining a vertical distance between a lifting appliance and the ground, a lifting appliance moving distance of the lifting appliance and container standard single-box parameters when corresponding operation is carried out on the target container, wherein the container standard single-box parameters comprise: container standard width and container standard height; determining layer information of a target container in the coordinate system according to the vertical distance and the standard container height of the container, and determining row information in the coordinate system according to the lifting appliance moving distance and the standard container width of the container;
And determining the box position information of the target container according to the second shell position, the row information and the layer information of the target container.
By adopting the technical scheme, the lifting device can move along the shell position direction, the lifting appliance on the lifting device can move along the row direction, and when corresponding operation is performed on the target container, the second shell position of the lifting device is determined according to the moving distance of the lifting device and the initial first shell position of the lifting device and the standard container length of the container, and the second shell position is used as the shell position of the target container; and then, a coordinate system is established according to a second beta Bei Qie chart corresponding to the second beta, and then, the vertical distance between the lifting appliance and the ground, the standard container height, the lifting appliance moving distance and the standard container width of the container when corresponding operation is carried out on the target container are combined to determine the row information and the layer information under the coordinate system, and the row information and the layer information of the second beta and the target container are used as the container position information of the target container, so that the complexity of determining the container position information by using the marker is reduced.
In one possible implementation manner, determining the row information under the coordinate system according to the lifting appliance moving distance and the container standard box width includes:
When the initial position of the lifting appliance is a starting end, second shell position margin information of a second shell position is obtained;
determining the row information under the coordinate system according to the second beta margin information, the lifting appliance moving distance and the container standard box width, wherein the second beta margin information is the distance between a wheel driving lane of lifting equipment and a second beta starting row;
when the initial position of the lifting appliance is a non-initial end, initial line information is acquired;
and determining the row information under the coordinate system according to the initial row information, the lifting appliance moving distance and the standard container width of the container.
Through adopting above-mentioned technical scheme, when the initial position of hoist is located the initiating terminal, then obtain the line information under the container coordinate system based on hoist's travel distance, second shellfish position limit information and container standard case width, when the initial position of hoist is not the initiating terminal, obtain the initial line information of hoist, then obtain the line information under the container coordinate system based on initial line information, hoist travel distance and container standard case width, through the judgement to hoist initial position, use corresponding calculation method based on the initial position of different hoists and then can effectively improve the acquisition efficiency of container line information.
In one possible implementation manner, after determining the bin information of the target container according to the second bin, the row information and the layer information of the target container, the method further includes:
acquiring the second number of remaining boxes of the second beta based on the box information of the target container and the second beta Bei Qie chart;
and determining the optimal bin of the next container based on the number of the second bin remaining bins and the number of the second bin neighborhood bin remaining bins.
By adopting the technical scheme, the number of the remaining boxes of the second shell level is obtained based on the box level information and the second shell level Bei Qietu, the optimal next container shell level is determined based on the number of the remaining boxes of the second shell level and the number of the remaining boxes of the second shell level neighborhood shell level, and the moving distance and the moving time of a lifting system can be reduced by determining the optimal next container shell level, so that the lifting or stacking efficiency of the container is improved.
In one possible implementation manner, the determining the optimal bin of the next container based on the number of remaining bins of the second bin and the number of remaining bins of the second bin neighborhood comprises:
judging whether the number of the second shell level residual boxes is larger than a preset residual box number minimum threshold value or not;
If the number of the adjacent shell positions is larger than the preset minimum threshold value, determining that the second shell position is the optimal shell position, and if the number of the adjacent shell positions is not larger than the preset minimum threshold value, determining that the next container is the optimal shell position.
By adopting the technical scheme, whether the number of the second bin remaining boxes is larger than the minimum threshold value of the preset number of the remaining boxes is judged, if so, the second bin is determined to be the optimal bin, the bin container can be lifted preferentially or stored preferentially, and if not, whether the number of the second bin neighborhood bin remaining boxes is larger than the minimum threshold value of the preset number of the remaining boxes is judged so as to determine the optimal bin of the next container, so that the container can be stacked or lifted rapidly, and the transportation efficiency of the container is improved.
In one possible implementation manner, before determining the optimal bin of the next container based on the number of remaining bins of the second bin and the number of remaining bins of the second bin neighborhood bin, the method further includes:
when the current storage yard is in a bidirectional hoisting condition, judging whether the running direction of the other hoisting device is consistent with the running direction of the current hoisting device, and obtaining a judging result;
And determining the shell level in the second shell level field according to the judging result, and obtaining the number of the remaining boxes of the shell level neighborhood shell level of the shell level in the second shell level field.
By adopting the technical scheme, if the current storage yard is in bidirectional lifting, the driving directions of the two lifting devices are required to be judged first, and the second shell position neighborhood shell position is determined based on the judging result so as to reduce the possibility of collision of the lifting devices.
In one possible implementation manner, the obtaining the number of second bin positions of the second bin position neighborhood bin positions of the bin positions in the second bin position field includes:
acquiring a field Bei Qie diagram of the second shell level field shell level, and determining the number of remaining bin levels of the second shell level neighborhood shell level according to the field Bei Qie diagram;
or alternatively, the first and second heat exchangers may be,
and obtaining the ground sensing information of the shell bits in the second shell bit field, and determining the number of the residual box bits of the shell bits in the second shell bit neighborhood according to the ground sensing information.
By adopting the technical scheme, the number of the remaining boxes of the second shell level neighborhood shell level is obtained through the neighborhood Bei Qietu of the second shell level neighborhood shell level, the determination efficiency is high, the number of the remaining boxes of the second shell level neighborhood shell level can be determined through the ground sensing information, and the determination accuracy is high.
In one possible implementation manner, before the obtaining the first bin of the lifting device, the method further includes:
Acquiring a hoisting instruction, wherein the hoisting instruction comprises the content of a hoisting container to be operated and the quantity of the hoisting containers to be operated; determining a plurality of storage yards corresponding to the content of the hoisting container to be operated according to the corresponding relation between the storage yards and the content;
determining a plurality of target storage yards corresponding to the lifting equipment from the plurality of storage yards according to the number of the lifting containers to be operated, wherein the plurality of target storage yards comprise the current storage yard;
determining the number of the target hoisting containers to be operated corresponding to the current storage yard, and sending hoisting prompt information carrying the number of the target hoisting containers to be operated to terminal equipment of technicians corresponding to the current storage yard, wherein the hoisting prompt information is used for prompting the technicians to execute corresponding operations.
By adopting the technical scheme, the storage yard is determined based on the content of the hoisting container to be operated in the hoisting instruction, so that containers with the same content are placed in the determined storage yard, a plurality of target storage yards are determined according to the number of the hoisting containers to be operated, and the number of the hoisting containers to be operated of the target corresponding to the current storage yard is sent to the technician corresponding to the current storage yard, so that the technician can orderly work according to hoisting prompt information, and reasonable utilization of storage yard space is realized.
In a second aspect, the present application provides a container position identifying device, which adopts the following technical scheme:
a container location identification method comprising:
the first acquisition module is used for acquiring a first shell position of the hoisting equipment;
the second acquisition module is used for acquiring the moving distance of the lifting device when the corresponding operation is carried out on the target container, and acquiring a second shell position of the lifting device according to the moving distance and the standard container length of the first shell position and the container;
the coordinate system establishing module is used for acquiring a second beta Bei Qie chart corresponding to the second beta and establishing a coordinate system based on the second beta Bei Qie chart;
the third obtaining module is used for obtaining the vertical distance between the lifting appliance and the ground, the lifting appliance moving distance of the lifting appliance and the container standard single-box parameter when the corresponding operation is carried out on the target container, wherein the container standard single-box parameter comprises: container standard width and container standard height;
the row information and layer information determining module is used for determining the layer information of the target container under the coordinate system according to the vertical distance and the standard container height of the container, and determining the row information under the coordinate system according to the lifting appliance moving distance and the standard container width of the container;
And the box position information determining module is used for determining the box position information of the target container according to the second beta, the row information and the layer information of the target container.
Third, the application provides an electronic device, which adopts the following technical scheme:
at least one processor;
a memory;
at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: performing the method of any of the first aspects.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method according to any of the first aspects.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when corresponding operation is carried out on the target container, determining a second shell level of the lifting device according to the moving distance of the lifting device and the initial first shell level of the lifting device and the standard container length of the container, wherein the second shell level is used as the shell level of the target container; and then, a coordinate system is established according to a second beta Bei Qie chart corresponding to the second beta, and then, the vertical distance between the lifting appliance and the ground, the standard container height, the lifting appliance moving distance and the standard container width of the container when corresponding operation is carried out on the target container are combined to determine the row information and the layer information under the coordinate system, and the row information and the layer information of the second beta and the target container are used as the container position information of the target container, so that the complexity of determining the container position information by using the markers is reduced, and the working efficiency of identifying the container position of the container is effectively improved.
2. And acquiring the number of the remaining boxes of the second shell level based on the box level information and the second shell level Bei Qietu, determining the optimal shell level of the next container based on the number of the remaining boxes of the second shell level and the number of the remaining boxes of the neighborhood shell level of the second shell level, and reducing the moving distance and the moving time of a hoisting system by determining the optimal shell level of the next container so as to improve the hoisting or stacking efficiency of the container.
Drawings
Fig. 1 is a schematic diagram of a lifting device traveling in a yard area.
Fig. 2 is a schematic illustration of container placement in a stack of fields.
Fig. 3 is a flow chart of a container position identifying method according to an embodiment of the present application.
Fig. 4 is a diagram of a second bayesian Bei Qie according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a container position identifying device according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the application are described in further detail below with reference to the drawings.
As shown in fig. 1, fig. 1 is a schematic view of a lifting device traveling in a yard area, where the lifting system 100 includes: a lifting device 101 and a lifting appliance 102 which is arranged on the lifting device and can move along the row. The lifting system 100 is used for piling or lifting containers in a yard area, the yard area is provided with wheel running rails for the lifting device 101 to move, and the lifting device 101 can move along the increasing or decreasing direction of the shellfish position of the containers on the wheel running rails. The lifting appliance 102 arranged on the lifting device 101 is used for lifting the container, the lifting appliance 102 moves along the progressive increasing or progressive decreasing direction of the stacking area, and after reaching the target row, the lifting appliance moves downwards to reach the target layer, and then the container is grabbed or stacked.
Wherein, the elements of a storage area forming the box position respectively comprise a pile position, a shellfish position, a row and a layer, and with reference to fig. 2, fig. 2 is a container placement schematic diagram of a pile field. It will be appreciated that the container may be divided according to the length cross section of the container when the container is placed in the yard, for example, the container may be divided into 20-rule and 40-rule with the length of 20-rule container corresponding to the shellfish being an odd number of shellfish, such as shellfish 001, shellfish 003 and shellfish 005 in fig. 2, and in one possible case, it is required to occupy 2 20-rule containers when a container with a length of 40-rule needs to be placed, so that an even number of shellfish may be set as the length of 40-rule container corresponding to the shellfish, as shown by shellfish 002 in fig. 2. For the labeled 20-ruler container in fig. 2, the bin information includes: shellfish 007, row 004, layer 4, the corresponding container's bin designation J510070044, where J51 represents the stacking field, for the 40-gauge container noted in fig. 2, the bin information includes: shellfish 002, row 001, layer 2, the corresponding bin designation for this container is J510020012, where J51 represents the heap area.
The container yard area is large in scale, the number of containers is large, and in order to improve the hoisting efficiency of the containers, the container empty positions of the container yard area are determined, so that the container position information needs to be identified. One way to identify the container location information in the related art is: when a hoisting system operator performs operation on the container, the container position information is identified by using a macroscopic method, but the error rate of the data information identified by the method is higher, and the workload of the hoisting system operator is increased, so that the problem of high manual error rate is solved; another way of identification is: the method for identifying the container positions of the ship is applied to a storage yard. However, the ship and the yard are in two different application scenes, the ship floats on the water surface, when the container is loaded and unloaded, the ship floats up and down, the length of a lifting rope in a lifting system is changed, the container in the yard area is fixed, the position of the container is not changed, and therefore the container position recognition accuracy is limited.
In order to effectively identify the container positions in the storage yard area, a marker identification method is adopted in the related technology, specifically, a marker is manually arranged in the container storage yard in advance, a calibration device is further arranged on the hoisting system, when the lifting appliance moves towards the marker, the marker is identified by the calibration device, and when the calibration device is completely overlapped with the marker, the current position of the lifting appliance is the position of the marker, namely the position information of the container position of the target container when the calibration device identifies the marker.
The inventor finds that the marker needs to be manually placed in advance when the method is adopted, and the container position recognition efficiency is low.
Furthermore, the application provides a container position recognition method which can improve the container position recognition efficiency.
Specifically, the container position identification method provided by the embodiment of the application can be applied to a container storage area of a land storage yard, and an electronic device for identifying container positions when lifting equipment stores containers or lifts the containers is arranged in the storage area to be identified in advance. The embodiment of the application provides a container position identification method which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, the server is an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto, and the terminal device and the server may be directly or indirectly connected through a wired or wireless communication manner, which is not limited herein.
Referring to fig. 3, fig. 3 is a flow chart of a container position identifying method according to an embodiment of the present application, where the method includes steps S100, S101, S103, S104, and S105, where:
step S100, obtaining a first shell position of the hoisting equipment.
For the embodiment of the application, a hoisting system is manually installed in a storage yard area, after the hoisting system is installed, the shell level information of the hoisting system is manually determined based on the actual distribution condition of shell levels in a pile field area and the installed position of the hoisting system, the shell level information is used as the first shell level of hoisting equipment of the hoisting system, the first shell level of the hoisting equipment is input into electronic equipment, the electronic equipment can record the initial position value of the hoisting equipment, the electronic equipment can automatically generate a numerical value corresponding to the position of the hoisting equipment after the hoisting equipment is moved each time, the initial position value of the hoisting equipment is randomly generated by the electronic equipment, the initial position value of the hoisting equipment can be 0 or 100, and the initial position value of the hoisting equipment is not limited. It can be understood that the position of the lifting appliance of the current lifting system can be an initial position or a non-initial position, and can be set according to actual conditions.
And step S101, when corresponding operation is carried out on the target container, the moving distance of the lifting device is obtained, and the second shell position of the lifting device is obtained based on the moving distance, the first shell position and the standard container length of the container.
Specifically, corresponding wheel driving tracks of lifting devices are arranged in a storage yard area, the distance between the two wheel driving tracks of the lifting devices is generally larger than the distance from an initial row to a final row corresponding to a shellfish position, the lifting devices move along the shellfish position direction based on the wheel driving tracks, the vertical distance between the fixed ends of lifting devices arranged on the lifting devices and the ground is larger than the height of an initial layer corresponding to the shellfish position to a final layer, and containers in the storage yard area are stacked upwards in sequence according to the direction of the layers.
Wherein the corresponding operation performed on the target container may include lifting the target container or stacking the target container.
For the embodiment of the application, the electronic equipment can record the position value of the lifting equipment at any time, the lifting equipment can move according to the standard container length multiple of the container when the lifting equipment carries out lifting operation of the target container, and the target container can be ensured to be neatly stacked, so when a technician operates the lifting system to move and randomly place or lift the target container, the electronic equipment acquires the moving distance of the lifting equipment, and specifically, the acquiring mode can comprise the following steps: the electronic device can calculate the position value and the initial position value when the lifting device executes corresponding operation on the target container to obtain a moving distance, wherein the moving distance is equal to the position value-initial position value when the lifting device executes corresponding operation.
Further, a mobile shell number is calculated according to the mobile distance and the container standard box length, wherein the mobile shell number=mobile distance/container standard box length; and determining the second shell level according to the first shell level and the moving shell level. It can be understood that when the position value after the movement of the lifting device is greater than the initial position value before the movement of the lifting device, the lifting device is indicated to move along the direction of increasing the number of shellfish, and then the second shellfish position=the first shellfish position+the movement shellfish number; when the position value after the movement of the lifting device is less than the initial position value before the movement of the lifting device, the lifting device is indicated to move along the decreasing direction of the shellfish number, and then the second shellfish number=the first shellfish number-the movement shellfish number.
For explaining the data of each specification of the container, please refer to table 1, the 40-rule box length occupies 2 20-rule box lengths, and for different yards, the shellfish-bit division can be performed according to the actual demand setting. Preferably 20 gauge.
TABLE 1
Specification of specification Length x width x height Tare gross weight (ton) Volume (m 3)
20 ruler 5.69*2.13*2.18 17.5 24-26
40 ruler 11.8*2.13*2.18 22 54
40-ruler high cabinet 11.8*2.13*2.72 22 68
45-ruler high cabinet 13.58*2.34*2.71 29 86
20 chi top cabinet 5.89*2.32*2.31 20 31.5
40-ruler top opening cabinet 12.01*2.33*2.15 30.4 65
20-ruler flat bottom container 5.85*2.32*2.15 23 28
40 ruler flat bottom counter 12.05*2.12*1.96 36 50
Step S102, a second beta Bei Qie chart corresponding to the second beta is obtained, and a coordinate system is established based on the second beta Bei Qie chart.
Wherein the second bayesian Bei Qie graph can include: the second bin Bei Qie map is pre-constructed and completed, and can represent the stacking condition of the containers with the second bin, the second bin Bei Qie map can be specifically referred to fig. 4, and the distance between the wheel driving lane of the hoisting device with the second bin and the starting line of the second bin is second bin edge information, the second bin edge information is manually predetermined, the second bin Bei Qie map and the second bin edge information are manually pre-input into the yard management software, and the electronic device can directly obtain the second bin Bei Qie map and the second bin edge information from the yard management software.
For the embodiment of the application, the rectangular coordinate system is established by taking the second beta Bei Qie chart as a plane, the vertical direction of the lifting appliance of the lifting device and the ground is taken as the Y axis of the rectangular coordinate system, the transverse moving direction of the lifting appliance of the lifting device is taken as the X axis of the rectangular coordinate system, the initial row of the second beta is taken as the origin of the rectangular coordinate system, and the coordinate system is established based on the second beta Bei Qie chart, so that the calculation is more convenient, and the recognition efficiency of the electronic equipment can be improved.
Step S103, obtaining the vertical distance between the lifting appliance and the ground, the lifting appliance moving distance of the lifting appliance and the standard single container parameters of the container when corresponding operation is carried out on the target container, wherein the standard single container parameters of the container comprise: container standard width and container standard height.
The lifting appliance moving distance is the distance of the lifting appliance moving along the moving direction, and the vertical distance between the lifting appliance and the ground is the distance between the moving end of the lifting appliance and the ground.
Specifically, when the corresponding operation is performed on the target container, the lifting appliance moves up and down, the moving end of the lifting appliance extends or contracts, the electronic equipment can acquire the total extension or total expansion amount of the moving end, and then the distance between the moving end of the lifting appliance and the ground is determined according to the distance between the lifting appliance and the ground and the total extension or total expansion amount of the moving end. The container standard single box parameters are manually input into the electronic equipment in advance, and the container standard single box parameters of each storage yard zone are unified, wherein the container standard single box parameters comprise container standard box width and container standard box height.
And step S104, determining layer information of the target container in the coordinate system according to the vertical distance and the standard container height of the container, and determining row information in the coordinate system according to the moving distance of the lifting appliance and the standard container width of the container.
For the embodiment of the application, a preferred calculation formula for calculating the layer information is: layer information = vertical distance/container standard height.
For row information, determining the row information under a coordinate system according to the lifting appliance moving distance and the standard container width of the container comprises the following steps: when the initial position of the lifting appliance is a starting end, second shell position margin information of a second shell position is obtained; determining row information under a coordinate system according to second beta margin information, a lifting appliance moving distance and a container standard box width, wherein the second beta margin information is the distance between a wheel driving lane of lifting equipment and a second beta starting row;
specifically, when the lifting appliance is positioned at the starting end, the electronic equipment automatically monitors the lifting appliance moving distance of the lifting appliance and simultaneously acquires second beta-position edge distance information of a second beta-position when the lifting appliance moves. According to the second beta margin information, the lifting appliance moving distance and the standard container width of the container, row information under a coordinate system can be obtained, wherein a preferred calculation formula can be as follows: line= (lifting appliance moving distance-second beta margin information)/container standard width, and further line information of a target container can be obtained rapidly.
When the initial position of the lifting appliance is a non-initial end, acquiring initial line information; and determining the row information under the coordinate system according to the initial row information, the lifting appliance moving distance and the standard container width of the container.
Specifically, when the initial position of the lifting appliance is a non-initial end, acquiring initial line information, wherein the initial line is corresponding line information at the first shell position, and calculating based on the initial line information, the lifting appliance moving distance and the container standard width to obtain line information under a coordinate system, wherein when the lifting appliance moves along the increasing direction of the container line, the calculation formula is as follows: line information = starting line information + spreader travel distance/container standard width, when the spreader moves in the direction of decreasing container line, the calculation formula is: line = starting line-spreader travel distance/container standard width. When the initial position of the lifting appliance is a non-initial end, the electronic equipment can judge the moving direction of the lifting appliance based on the distance between the lifting appliance and the initial end, namely when the distance between the lifting appliance and the initial end is increased, the electronic equipment judges that the lifting appliance moves along the progressive increasing direction, and when the distance between the lifting appliance and the initial end is reduced, the electronic equipment judges that the lifting appliance moves along the progressive decreasing direction. Based on the above embodiment, whether the lifting appliance is located at the starting end or not is judged, so that corresponding row information can be calculated by using a corresponding calculation formula, and the row information of the container can be rapidly obtained by the position of the lifting appliance, the moving distance of the lifting appliance, the standard container width of the container and the corresponding calculation formula.
Step S105, determining the bin information of the target container according to the second bin, the row information and the layer information of the target container.
Specifically, the bin information of the container includes the bin information, row information, and layer information of the container.
Based on the embodiment, the lifting device can move along the shell level direction, the lifting appliance on the lifting device can move along the row direction, and when corresponding operation is performed on the target container, the second shell level of the lifting device is determined according to the moving distance of the lifting device and the initial first shell level of the lifting device and the standard container length of the container, and the second shell level is used as the shell level of the target container; and then, a coordinate system is established according to a second beta Bei Qie chart corresponding to the second beta, and then, the vertical distance between the lifting appliance and the ground, the standard container height, the lifting appliance moving distance and the standard container width of the container when corresponding operation is carried out on the target container are combined to determine the row information and the layer information under the coordinate system, and the row information and the layer information of the second beta and the target container are used as the box position information of the target container, so that the complexity of determining the box position information by using the marker is reduced, a reference object is not needed, and the identification efficiency is greatly improved.
Further, in order to improve the efficiency of lifting or stacking the container, in another embodiment of the present application, after determining the bin information of the target container based on the second bin, the row information and the layer information of the target container, the method further includes: step S106 (not shown in the drawings) and step S107 (not shown in the drawings), wherein:
and step S106, based on the tank level information of the target container and the second tank level Bei Qie chart, acquiring the second tank level residual tank level number of the second tank level.
The technical personnel control the hoisting system to randomly place the target container to obtain the container position information of the target container, and then the electronic equipment marks the container position information of the target container in a corresponding second beta Bei Qie chart, wherein one marking mode can be as follows: the electronic equipment fills the row information and the layer information of the target container into the corresponding beta structure diagram in a coordinate mode; another way of calibration may be: the corresponding boxes in the corresponding beta structure diagram are set to be preset colors based on the row information and the layer information of the target container, and the preset colors are not limited by the embodiment of the application, so that the user can set the preset colors by himself. The uncalibrated part in the second beta Bei Qie chart is the container position of the container which is not placed, so that the number of the container positions of all the container which are not placed in the second beta after the target container is placed can be obtained based on the second beta Bei Qie chart, and the number of the remaining container positions of the second beta is the number of the remaining container positions of the second beta. It can be understood that each time the container stacking operation is performed, the electronic equipment can accumulate, record and store, so that the container position information of all containers which have completed the stacking operation can be obtained, the shellfish positions of all placed containers can be obtained based on the container position information of all containers which have completed the stacking operation, the number of the remaining container positions of all shellfish positions can be obtained, further, the stacking area space can be reasonably planned, and the space utilization rate of the stacking area is improved.
Further, when the operation performed by the lifting appliance on the target container is lifting, the electronic device can acquire container content information based on the container position information of the target container, and acquire the container position number of the container in the same type in the current bin and the class of the container based on the container content information.
And step S107, determining the optimal bin of the next container based on the number of the remaining bin of the second bin and the number of the remaining bin of the neighborhood bin of the second bin.
Specifically, when the lifting appliance stacks the target container randomly, the electronic device may acquire the corresponding number of remaining boxes, that is, the number of remaining boxes of the second bin based on the bin positions of the target container, and simultaneously acquire the number of remaining boxes of the second bin neighboring bin positions, where in the embodiment of the present application, the preferred second bin neighboring bin position is 1 bin, that is, when the second bin position is 005 Bei Shi, the second bin neighboring bin position may be 006 bin or 004 bin. The electronic equipment automatically judges whether the number of the second bin remaining boxes is larger than a preset minimum threshold of the number of the remaining boxes so as to ensure that the containers in each bin are reserved with the preset threshold number, if so, the second bin is the optimal bin of the next container, and if not, the neighborhood bin of the second bin is the optimal bin of the next container, wherein the preset minimum threshold of the number of the remaining boxes can be set according to actual requirements and can be any of 0, 2, 5 and 7.
Based on the above embodiment, the second bin number of the second bin can be obtained through the bin information of the target container and the second bin Bei Qie chart, when the hoisting device performs one operation on each container, the corresponding bin number of the bin numbers can be obtained, and then the remaining bin numbers of all the bins of the placed containers can be obtained, and the optimal bin of the next container can be determined based on the second bin number of the current target container and the second bin neighborhood bin number of the bin numbers, and the movement of the hoisting system can be reduced by obtaining the optimal bin of the next container, so that the operation efficiency of the hoisting system is further improved, and the working time is saved.
Specifically, in order to further improve the hoisting efficiency, in another embodiment of the present application, determining an optimal bin based on the number of remaining bin positions of the second bin positions and the neighborhood bin positions of the second bin positions includes: judging whether the number of the second shell level residual boxes is larger than a preset residual box number minimum threshold value or not; if the number of the adjacent shell positions is larger than the preset minimum threshold value, determining that the second shell position is the optimal shell position, and if the number of the adjacent shell positions is not larger than the preset minimum threshold value, determining that the next container is the optimal shell position.
Specifically, in the embodiment of the application, when the number of the second bin positions remaining is greater than the preset minimum threshold value of the number of the remaining bin positions, determining the second bin positions as the optimal bin positions of the next container, prompting a hoisting driver by the electronic equipment that the second bin positions are the optimal bin positions, and placing the next container at the second bin positions by the hoisting equipment driver preferentially; when the number of the second bin remaining boxes is not greater than a preset remaining box number threshold, the electronic equipment indicates that the second bin cannot be placed continuously, acquires the number of the remaining boxes of the second bin neighborhood bin from the database, judges whether the number of the remaining boxes of the second bin neighborhood bin is greater than a preset remaining box number minimum threshold or not, determines whether the number of the second bin neighborhood bin can be placed continuously, if the number of the second bin neighborhood bin is greater than the preset remaining box number minimum threshold, the electronic equipment prompts a hoisting driver to place the container in the neighborhood bin preferentially, if the number of the second bin neighborhood bin is not greater than the preset remaining box number threshold, the electronic equipment sequentially increases and decreases the number of the remaining boxes of the neighborhood bin to the bin with the second bin as the center until the optimal bin is determined, and the hoisting equipment can directly place the container into the preset space by determining the optimal bin until the optimal bin is not needed, so that the hoisting equipment can move frequently, and the hoisting efficiency is improved.
Further, in the embodiment of the present application, before determining the optimal bin of the next container based on the number of remaining bins of the second bin and the number of remaining bins of the neighborhood bin of the second bin, the method further includes: step SA1 (not shown in the drawings) and step SA2 (not shown in the drawings), wherein:
step SA1, judging whether the running direction of another hoisting device is consistent with the running direction of the current hoisting device or not when the current storage yard is in the bidirectional hoisting condition, and obtaining a judging result;
the judging result comprises consistent direction and inconsistent direction.
For the embodiment of the application, when a bidirectional lifting condition exists in a storage yard area, namely, two lifting devices are respectively positioned at one side of a starting row and one side of a terminating row of a stacking field area, lifting and stacking are carried out on containers at the same time, when the lifting devices move once to generate corresponding moving distances, the electronic device obtains the moving distances of the two lifting devices at the same time, and when the moving distance of one lifting device is increased and the moving distance of the other lifting device is decreased, the running directions of the two lifting devices are consistent.
And step SA2, determining the shell level in the second shell level field according to the judging result, and obtaining the number of the remaining boxes of the shell level in the second shell level neighborhood of the shell level in the second shell level field.
Specifically, when the running directions of the two hoisting devices are the same, the second shell level is taken as the central shell level, the second shell level neighborhood shell level is determined in a direction of gradually increasing or decreasing the shell level, and meanwhile, the electronic device can acquire the corresponding residual box level number from the data information base based on the second shell level neighborhood shell level.
When the running directions of the two lifting devices are different, namely the two lifting devices run relatively, the second beta neighborhood beta is determined along the movement direction of the other lifting device at the moment, so that the possibility of collision of the two lifting devices is reduced.
Based on the above embodiment, if the current yard is bidirectional lifting, the form directions of the two lifting devices need to be judged first, and the second bin neighborhood bin is determined based on the judging result so as to reduce the possibility of collision of the lifting devices.
Further, obtaining the number of remaining bin positions of the second bin position neighborhood bin positions of the bin positions in the second bin position field includes:
obtaining a neighborhood Bei Qie diagram of the second shell level neighborhood shell level, and determining the number of remaining bin positions of the second shell level neighborhood shell level according to the neighborhood Bei Qie diagram;
or alternatively, the first and second heat exchangers may be,
and obtaining the ground sensing information of the second shell level neighborhood shell level, and determining the number of the residual boxes of the second shell level neighborhood shell level according to the ground sensing information.
Specifically, one possible implementation way to obtain the number of remaining bin positions in the second bin position neighborhood is: the electronic device automatically obtains a corresponding Bei Qie chart from an information database based on the identified second bin neighborhood bin positions, and can obtain the corresponding residual bin number from a bin number information base according to the neighborhood Bei Qie chart, wherein the Bei Qie chart of each bin position in the information database is updated as the container is lifted or piled and is Bei Qietu in the latest state; another possible implementation is: the electronic equipment identifies the adjacent shell position of the second shell position, and acquires the ground sensing information of the adjacent shell position of the second shell position from the ground sensing information database based on the adjacent shell position of the second shell position. Therefore, the embodiment of the application can acquire the number of the remaining boxes of the second shell level neighborhood shell level through the neighborhood Bei Qietu of the second shell level neighborhood shell level, has higher determining efficiency, and can also determine the number of the remaining boxes of the second shell level neighborhood shell level through the ground sensing information, thereby having high determining accuracy.
Further, in another embodiment of the present application, before the first shell level of the hoisting device is obtained, the method further includes: steps S1-S4 (not shown in the drawings), wherein in step S1, hoisting instructions are obtained, wherein the hoisting instructions comprise the content of the hoisting container to be operated and the quantity of the hoisting containers to be operated;
specifically, the hoisting instruction can be transmitted through the wireless communication system, and the electronic equipment controls the hoisting system to correspondingly operate the container according to the hoisting instruction after receiving the hoisting instruction.
And S2, determining a plurality of storage yards corresponding to the contents of the hoisting container to be operated according to the corresponding relation between the storage yards and the contents.
Specifically, after the electronic device receives the hoisting instruction, the corresponding storage yard needs to be determined according to the content of the hoisting container to be operated in the hoisting instruction, and the corresponding storage yard can be acquired from the storage yard information management software based on the hoisting instruction, and the storage yard information is input into the storage yard information management software in advance by the human being.
And S3, determining a plurality of target storage yards corresponding to the hoisting equipment from a plurality of storage yards according to the number of hoisting containers to be operated, wherein the plurality of target storage yards comprise the current storage yard.
Specifically, the hoisting instruction includes the number of hoisting containers to be operated, the number of containers which can be placed in different yards is different, a plurality of target yards meeting the requirements are determined from a plurality of yards based on the number of hoisting containers to be operated, when the electronic equipment receives the hoisting instruction, the situation of the number of container positions of all the yards can be automatically obtained from the data information base, and the target yards meeting the requirements are automatically screened out based on the hoisting instruction, for example, when the number of the hoisting containers to be operated is the preset number, the electronic equipment judges based on the number of container positions in all the yard areas, and when the number of container positions in the yard areas is larger than the preset number, the electronic equipment judges that the yard areas meet the requirements, and then a plurality of target yards meeting the requirements can be determined from all the yard areas.
Step S4, determining the number of the target hoisting containers to be operated corresponding to the current storage yard, and sending hoisting prompt information carrying the number of the target hoisting containers to be operated to terminal equipment of technicians corresponding to the current storage yard, wherein the hoisting prompt information is used for prompting the technicians to execute corresponding operations.
Specifically, the electronic device obtains container position number information of a target storage yard based on the target storage yard, the container position number information of the target storage yard is planned in advance, and average distribution is carried out based on the number of hoisting containers to be operated and the number of the target storage yard, so that the number of corresponding target hoisting containers to be operated in each storage yard can be obtained, and hoisting prompt information is sent, wherein the prompt information comprises: and the electronic equipment sends the prompt information to terminal equipment of technicians, and the technicians hoist the target to-be-operated containers based on the hoisting prompt information.
Based on the embodiment, the storage yard is determined based on the content of the hoisting container to be operated in the hoisting instruction, so that containers with the same content are placed in the determined storage yard, a plurality of target storage yards are determined according to the number of the hoisting containers to be operated, and the number of the target hoisting containers to be operated corresponding to the current storage yard is sent to the technician corresponding to the current storage yard, so that the technician can orderly work according to hoisting prompt information, and reasonable utilization of storage yard space is realized.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a container position identifying device according to an embodiment of the present application, including:
a first obtaining module 510, configured to obtain a first shell position of the hoisting device;
the second obtaining module 520 is configured to obtain a movement distance of the lifting device when performing a corresponding operation on the target container, and obtain a second beta of the lifting device according to the movement distance, the first beta and the standard container length of the container;
the coordinate system establishing module 530 is configured to obtain a second beta Bei Qie chart corresponding to the second beta, and establish a coordinate system based on the second beta Bei Qie chart;
a third obtaining module 540, configured to obtain a vertical distance between a spreader and the ground, a moving distance of the spreader, and container standard single-box parameters when performing corresponding operations on a target container, where the container standard single-box parameters include: container standard width and container standard height;
A row information and layer information determining module 550, configured to determine layer information of the target container in the coordinate system according to the vertical distance and the standard container height of the container, and determine row information in the coordinate system according to the movement distance of the lifting appliance and the standard container width of the container;
the bin information determining module 560 is configured to determine bin information of the target container according to the second bin, the row information and the layer information of the target container.
In one possible implementation manner of the embodiment of the present application, the row information and layer information determining module 550 is configured to, when executing determining row information in a coordinate system according to a lifting appliance moving distance and a container standard width:
when the initial position of the lifting appliance is a starting end, second shell position margin information of a second shell position is obtained;
determining row information under a coordinate system according to second beta margin information, a lifting appliance moving distance and a container standard box width, wherein the second beta margin information is the distance between a wheel driving lane of lifting equipment and a second beta starting row;
when the initial position of the lifting appliance is a non-initial end, acquiring initial line information;
and determining the row information under the coordinate system according to the initial row information, the lifting appliance moving distance and the standard container width of the container.
One possible implementation manner of the embodiment of the present application further includes:
the quantity acquisition module is used for acquiring the second shell level residual box level quantity of the second shell level based on the box level information of the target container and the second shell level Bei Qie chart;
the optimal bin position determining module is used for determining the optimal bin position of the next container based on the number of the remaining bin positions of the second bin positions and the number of the remaining bin positions of the neighborhood bin positions of the second bin positions.
In one possible implementation manner of the embodiment of the present application, the optimal bin position determining module is configured to, when determining the optimal bin position of the next container based on the number of remaining bin positions of the second bin position and the number of remaining bin positions of the second bin position neighboring bin positions:
judging whether the number of the second shell level residual boxes is larger than a preset residual box number minimum threshold value or not;
if the number of the adjacent shell positions is larger than the preset minimum threshold value, determining that the second shell position is the optimal shell position, and if the number of the adjacent shell positions is not larger than the preset minimum threshold value, determining that the next container is the optimal shell position.
In one possible implementation manner of the embodiment of the present application, the optimal bewteen determining module is further configured to:
when the current storage yard is in a bidirectional hoisting condition, judging whether the running direction of the other hoisting device is consistent with the running direction of the current hoisting device, and obtaining a judging result;
And determining the shell level in the second shell level field according to the judging result, and obtaining the number of the remaining boxes of the shell level neighborhood shell level of the shell level in the second shell level field.
In one possible implementation manner of the embodiment of the present application, the optimal bin level determining module is configured to, when executing the number of remaining bin levels in the second bin level neighborhood bin level for obtaining the bin level in the second bin level field:
acquiring a field Bei Qie diagram of the second shell level field shell level, and determining the number of remaining bin positions of the second shell level neighborhood shell level according to the field Bei Qie diagram;
or alternatively, the first and second heat exchangers may be,
and acquiring the ground sensing information of the shell bits in the second shell bit field, and determining the number of the residual box bits of the shell bits in the neighborhood of the second shell bits according to the ground sensing information.
One possible implementation manner of the embodiment of the present application, the apparatus further includes:
the instruction acquisition module is used for acquiring hoisting instructions, wherein the hoisting instructions comprise the content of the hoisting container to be operated and the quantity of the hoisting containers to be operated;
the first determining module is used for determining a plurality of storage yards corresponding to the content of the hoisting container to be operated according to the corresponding relation between the storage yards and the content;
the second determining module is used for determining a plurality of target storage yards corresponding to the hoisting equipment from a plurality of storage yards according to the number of hoisting containers to be operated, wherein the plurality of target storage yards comprise the current storage yard;
The determining and sending module is used for determining the number of the target hoisting containers to be operated corresponding to the current storage yard, sending hoisting prompt information carrying the number of the target hoisting containers to be operated to terminal equipment of technicians corresponding to the current storage yard, and the hoisting prompt information is used for prompting the technicians to execute corresponding operations.
The electronic device provided by the embodiment of the application is introduced below, and the electronic device described below and the container position identification method described above can be referred to correspondingly.
An embodiment of the present application provides an electronic device, as shown in fig. 6, fig. 6 is a schematic structural diagram of an electronic device provided in the embodiment of the present application, and an electronic device 600 shown in fig. 6 includes: a processor 601 and a memory 603. The processor 601 is coupled to a memory 603, such as via a bus 602. Optionally, the electronic device 600 may also include a transceiver 604. It should be noted that, in practical applications, the transceiver 604 is not limited to one, and the structure of the electronic device 600 is not limited to the embodiment of the present application.
The processor 601 may be a CPU (central processing unit), a general purpose processor, a DSP (digital signal processor), an ASIC (application specific integrated circuit), an FPGA (field programmable gate array) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with the disclosure of embodiments of the application. The processor 601 may also be a combination that performs computing functions, such as including one or more microprocessors, a combination of a DSP and a microprocessor, and the like.
Bus 602 may include a path to transfer information between the components. The bus 602 may be a PCI (peripheral component interconnect) bus or an EISA (extended industrial standard architecture) bus, or the like. The bus 602 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
The memory 603 may be, but is not limited to, a ROM (read only memory) or other type of static storage device that can store static information and instructions, a RAM (random access memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (electrically erasable programmable read only memory), a CD-ROM (compact disc read only memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 603 is used for storing application program codes for executing embodiments of the present application and is controlled to be executed by the processor 601. The processor 601 is arranged to execute application code stored in the memory 603 for implementing what is shown in the foregoing method embodiments.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the application.
A computer readable storage medium provided in the embodiments of the present application is described below, and the computer readable storage medium described below and the method described above may be referred to correspondingly.
The embodiment of the application provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the steps of the container bit recognition method are realized when the computer program is executed by a processor.
Since embodiments of the computer-readable storage medium portion and embodiments of the method portion correspond to each other, embodiments of the computer-readable storage medium portion are described with reference to embodiments of the method portion.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.

Claims (9)

1. A method for identifying container locations, comprising:
acquiring a first shell position of hoisting equipment;
when corresponding operation is carried out on a target container, the moving distance of the lifting device is obtained, and a second shell position of the lifting device is obtained according to the moving distance, the first shell position and the standard container length of the container;
acquiring a second beta Bei Qie chart corresponding to the second beta, and establishing a coordinate system based on the second beta Bei Qie chart;
obtaining a vertical distance between a lifting appliance and the ground, a lifting appliance moving distance of the lifting appliance and container standard single-box parameters when corresponding operation is carried out on the target container, wherein the container standard single-box parameters comprise: container standard width and container standard height;
determining layer information of a target container in the coordinate system according to the vertical distance and the standard container height of the container, and determining row information in the coordinate system according to the lifting appliance moving distance and the standard container width of the container;
determining the box position information of the target container according to the second shell position, the row information and the layer information of the target container;
after determining the bin information of the target container according to the second bin, the row information and the layer information of the target container, the method further comprises the following steps:
Acquiring the second number of remaining boxes of the second beta based on the box information of the target container and the second beta Bei Qie chart;
and determining the optimal bin of the next container based on the number of the second bin remaining bins and the number of the second bin neighborhood bin remaining bins.
2. The container position recognition method according to claim 1, wherein the determining the row information in the coordinate system according to the hanger moving distance and the container standard width comprises:
when the initial position of the lifting appliance is a starting end, second shell position margin information of a second shell position is obtained;
determining the row information under the coordinate system according to the second beta margin information, the lifting appliance moving distance and the container standard box width, wherein the second beta margin information is the distance between a wheel driving lane of lifting equipment and a second beta starting row;
when the initial position of the lifting appliance is a non-initial end, initial line information is acquired;
and determining the row information under the coordinate system according to the initial row information, the lifting appliance moving distance and the standard container width of the container.
3. The container level identification method of claim 1, wherein the determining the optimal level for the next container based on the second number of remaining levels and the second number of remaining levels in the neighborhood of levels comprises:
Judging whether the number of the second shell level residual boxes is larger than a preset residual box number minimum threshold value or not;
if the number of the adjacent shell positions is larger than the preset minimum threshold value, determining that the second shell position is the optimal shell position, and if the number of the adjacent shell positions is not larger than the preset minimum threshold value, determining that the next container is the optimal shell position.
4. The method for recognizing container positions according to claim 1, wherein,
before determining the optimal bin of the next container based on the number of the second bin remaining bins and the number of the second bin neighborhood bin remaining bins, the method further comprises:
when the current storage yard is in a bidirectional hoisting condition, judging whether the running direction of the other hoisting device is consistent with the running direction of the current hoisting device, and obtaining a judging result;
and determining the second shell level neighborhood shell level according to the judging result, and obtaining the number of the second shell level neighborhood shell level residual boxes of the second shell level neighborhood shell level.
5. The container level identification method according to claim 1, wherein the obtaining the number of remaining second bin levels in the second bin level neighborhood bin level of the second bin level neighborhood bin level comprises:
obtaining a neighborhood Bei Qie diagram of a second shell level neighborhood shell level, and determining the number of remaining bin positions of the second shell level neighborhood shell level according to the neighborhood Bei Qie diagram;
Or alternatively, the first and second heat exchangers may be,
and obtaining the ground sensing information of the second shell level neighborhood shell level, and determining the number of the residual boxes of the second shell level neighborhood shell level according to the ground sensing information.
6. The container position identification method according to claim 1, wherein before the first bin position of the hoisting device is obtained, further comprising:
acquiring a hoisting instruction, wherein the hoisting instruction comprises the content of a hoisting container to be operated and the quantity of the hoisting containers to be operated;
determining a plurality of storage yards corresponding to the content of the hoisting container to be operated according to the corresponding relation between the storage yards and the content;
determining a plurality of target storage yards corresponding to the lifting equipment from the plurality of storage yards according to the number of the lifting containers to be operated, wherein the plurality of target storage yards comprise the current storage yard;
determining the number of the target hoisting containers to be operated corresponding to the current storage yard, and sending hoisting prompt information carrying the number of the target hoisting containers to be operated to terminal equipment of technicians corresponding to the current storage yard, wherein the hoisting prompt information is used for prompting the technicians to execute corresponding operations.
7. A container position identification device, comprising:
The first acquisition module is used for acquiring a first shell position of the hoisting equipment;
the second acquisition module is used for acquiring the moving distance of the lifting device when the corresponding operation is carried out on the target container, and acquiring a second shell position of the lifting device according to the moving distance and the standard container length of the first shell position and the container;
the coordinate system establishing module is used for acquiring a second beta Bei Qie chart corresponding to the second beta and establishing a coordinate system based on the second beta Bei Qie chart;
the third obtaining module is used for obtaining the vertical distance between the lifting appliance and the ground, the lifting appliance moving distance of the lifting appliance and the container standard single-box parameter when the corresponding operation is carried out on the target container, wherein the container standard single-box parameter comprises: container standard width and container standard height;
the row information and layer information determining module is used for determining the layer information of the target container under the coordinate system according to the vertical distance and the standard container height of the container, and determining the row information under the coordinate system according to the lifting appliance moving distance and the standard container width of the container;
the bin information determining module is used for determining bin information of the target container according to the second shell position, the row information and the layer information of the target container;
The quantity acquisition module is used for acquiring the second number of remaining boxes of the second beta based on the box information of the target container and the second beta Bei Qie chart;
and the optimal bin position determining module is used for determining the optimal bin position of the next container based on the number of the second bin position residual bin positions and the number of the second bin position neighborhood bin position residual bin positions.
8. An electronic device, comprising:
at least one processor;
a memory;
at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: performing the method of any one of claims 1-6.
9. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 6.
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