Rapid loading and unloading cargo hold of transshipment barge and control method of rapid loading and unloading cargo hold

Abstract

The invention relates to a cargo hold for quick loading and unloading of a transshipment barge and a control method of the cargo hold, and relates to the technical field of ships, the cargo hold comprises a W-shaped cargo hold, the bottom of the cargo hold is provided with two sets of symmetrical unloading ports along the head line and the tail line of the barge, and the unloading ports are provided with opening-degree-adjustable cargo hold door assemblies respectively; the cargo distribution detection module is installed in the cargo hold and used for obtaining cargo pile surface area information in the cargo hold, calculating the gravity center position of the cargo hold based on the cargo pile surface area information in the cargo hold and calculating the opening degree distribution result of the unloading opening in the bottom of the cargo hold based on the gravity center position information of the cargo hold; the data input end of the controller is in data connection with the data output end of the cargo distribution detection module, the signal output end of the controller is in signal connection with the signal input ends of the multiple cabin door assemblies, and the controller is used for receiving the opening degree distribution result and adjusting the opening degree of a cargo hold bottom unloading opening. The stability of the barge in the unloading process can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of ship technology, and in particular to a cargo hold for rapid loading and unloading of a transshipment barge and a control method thereof. Background Art

[0002] With the continuous development of global trade, the demand for maritime transportation of bulk commodities such as iron ore is increasing. Self-unloading barges are an important tool for maritime cargo transportation. Their loading and unloading efficiency and cargo hold wear resistance directly affect transportation costs and time.

[0003] A self-unloading barge is a type of barge that uses onboard unloading equipment to continuously unload bulk cargo such as ore, coal, cement, grain, or salt from the ship's hold. Common self-unloading barges have a V- or W-shaped cargo hold. A longitudinal conveyor belt runs through the hold floor, allowing cargo to flow through a controllable hatch assembly onto the belt. The cargo is then transported to a hoisting conveyor located at the bow or stern. From there, the conveyor is transported to a feeding conveyor on the open deck for delivery to shore.

[0004] However, existing barge cargo holds lack a detection module for detecting the surface distribution of cargo within the hold, making it impossible to adjust the opening of the hatch assembly below the discharge port based on the distribution of cargo above the discharge port. If the cargo is unevenly distributed above the discharge port during unloading, the barge may tilt during unloading, affecting its stability. Summary of the Invention

[0005] In order to ensure the stability of the barge during the unloading process, the present application provides a cargo hold for rapid loading and unloading of a transshipment barge and a control method thereof.

[0006] The present application provides a cargo hold for rapid loading and unloading of a transshipment barge and a control method thereof, which adopts the following technical solutions: A cargo hold for rapid loading and unloading of a transshipment barge, comprising a W-shaped cargo hold, two sets of symmetrical unloading ports provided at the bottom of the cargo hold along the bow and stern lines of the barge, each of the unloading ports being respectively provided with a hatch assembly with an adjustable opening; and: a cargo distribution detection module, installed in the cargo hold, for obtaining surface area information of the cargo pile in the cargo hold, calculating the center of gravity position of the cargo hold based on the information of the surface area of ​​the cargo pile in the cargo hold, and calculating the opening distribution result of the unloading port at the bottom of the cargo hold based on the center of gravity position information of the cargo hold; The controller has a data input end connected to the data output end of the cargo distribution detection module, and a signal output end connected to the signal input ends of several hatch components, for receiving the opening distribution result and adjusting the opening of the unloading port at the bottom of the cargo hold.

[0007] By adopting the above technical solution, when the barge docks and the transfer cart on the dock is aligned with the longitudinal conveyor belt on the barge, the relevant personnel in the operating cabin can formulate the unloading order of the cargo hold through the control panel in the operating cabin, and then the relevant personnel can input the instruction to start unloading, and can control the hatch assembly at the bottom of the cargo hold to open the unloading port according to the initial opening, so that the cargo in the cargo hold flows out through the opened unloading port; in the process of the cargo flowing out through the two unloading ports and continuously sent out through the longitudinal conveyor belt in the barge, the cargo distribution detection module collects the surface point cloud data of the cargo in the cargo hold at the set time interval, and obtains the center of gravity position information of the cargo pile in the cargo hold based on the surface point cloud data of the cargo in the cargo hold and the cargo hold model, and distributes the unloading port opening result based on the center of gravity position information of the cargo in the cargo hold. By adjusting the opening of the unloading port at the bottom of the cargo hold, the cargo hold can be kept stable, the occurrence of posture imbalance and tilting during the unloading process of the barge can be reduced, and the stability of the overall hull of the barge during the unloading process can be improved.

[0008] Preferably, a spire-shaped support structure is provided at the bottom of the cargo hold, and the support structure is composed of two supporting inclined plates, which are arranged along the length direction of the cargo hold, and the two inner side walls of the cargo hold near the bottom are arranged to be inclined inward, and a discharge bucket unit is formed between the two supporting inclined plates and the two inner side walls of the cargo hold, and the two groups of discharge ports are evenly arranged at the bottom of the two discharge bucket units; A transverse partition is arranged between any two adjacent unloading ports, and both ends of the transverse partition are fixedly connected to the inner side wall of the cargo hold and the supporting inclined plate respectively.

[0009] By adopting the above technical solution, through the setting of the support structure at the bottom of the cargo hold, a W-shaped structure can be formed at the bottom of the cargo hold. During the unloading of cargo in the cargo hold, the spire-shaped support structure composed of two supporting inclined plates can divert the cargo, so that the cargo in the cargo hold can quickly flow into the two unloading ports and out, thereby optimizing the cargo unloading rate; through the setting of cross partitions between the unloading ports, the structural strength around the unloading ports can be enhanced, and at the same time, the cargo hold can be divided into areas, which facilitates the unloading of cargo in the cargo hold.

[0010] Preferably, the cargo distribution detection module includes: A first radar is installed in the cargo hold, located near the bow of the barge, and is used to collect surface point cloud data of the cargo near the bow; a second radar installed in the cargo hold, located near the stern of the barge, for collecting surface point cloud data of the cargo near the stern; a data processor having a data input terminal data-connected to the data output terminals of the first radar and the second radar, and configured to calculate cargo distribution data of the cargo at the opened unloading port based on the surface point cloud data of the cargo, and calculate an opening distribution result of the two unloading ports based on the cargo distribution data; The first radar and the second radar are both millimeter wave radars.

[0011] By adopting the above technical solution, when the cargo in the cargo hold flows out through a pair of open discharge ports, the radar closest to the first pair of opened radars can be selected for cargo scanning and processing based on the unloading order of the cargo hold. If the unloading order of the cargo in the cargo hold is from the bow end to the stern end, the first radar is activated to perform surface inspection on the cargo above the open discharge ports in the cargo hold and collect cargo surface point cloud data. If the unloading order of the cargo in the cargo hold is from the stern end to the bow end, the second radar is activated to perform surface inspection on the cargo above the open discharge ports in the cargo hold and collect cargo surface point cloud data. By processing the cargo surface point cloud data above the discharge ports through a data processor, the distribution of cargo on the two open discharge ports can be calculated, and the distribution of the openings of the two open discharge ports can be determined based on the cargo distribution above the two discharge ports. This can reduce the occurrence of uneven distribution of cargo above the two discharge ports that affects the posture of the barge.

[0012] A method for controlling a cargo hold for rapid loading and unloading of a transfer barge is provided, characterized in that it comprises the following steps: Step S1: Establish a database for storing the unloading port information at the bottom of the cargo hold, wherein the unloading port information includes the coordinates of the center point of the unloading port, the unloading port number information, the unloading order of the unloading port, the maximum opening data of each unloading port, and the empty cargo hold model; Step S2: Data acquisition: When the unloading port at the bottom of the cargo hold is opened for unloading, initial point cloud data in the cargo hold is acquired at set time intervals using multiple radars; Step S3: Calculate the center of gravity of the barge, based on the surface area of ​​the cargo inside the cargo hold during unloading, to calculate the center of gravity of the cargo hold; Step S4, adjusting the center of gravity of the cargo hold, allocating the opening of the unloading port based on the center of gravity position of the cargo hold during unloading, and adjusting the center of gravity position of the cargo hold.

[0013] Preferably, the step S1 includes the following steps: Step S11: Divide the cargo hold bottom into a plurality of unloading units along the bow and stern lines of the barge, wherein each unloading unit includes two unloading ports, and the two unloading ports of the same unloading unit are symmetrical with respect to the support structure inside the cargo hold; Step S12: sequentially numbering the multiple unloading units along the direction from the bow end to the stern end of the barge, and numbering each unloading unit one by one; Step S13: Determine the opening order of the unloading units based on the positions of the unloading ports at the bottom of the cargo hold, and number the unloading ports in each unloading unit one by one.

[0014] Preferably, step S3 includes the following steps: Step S31: During the unloading process of the cargo hold, initial point cloud data of the cargo hold is collected by multiple radars at set time intervals; Step S32: pre-process the initial point cloud data to obtain a cargo hold depth image and a three-dimensional point cloud of the cargo hold, and divide a two-dimensional cargo area in the cargo hold depth image; Step S33: Map the two-dimensional cargo pile area to the empty cargo hold model to obtain the cargo pile surface area; Step S34: Calculate the center of gravity coordinates of the cargo pile surface area in the cargo hold by numerical approximation method based on the cargo pile surface area and the empty cargo hold model.

[0015] Preferably, the step S32 includes the following steps: Step S321: Set up target detection and mark a 2D bounding box in the cargo hold depth image using the target detection model; Step S322: Divide a two-dimensional cargo area in the cargo hold depth image using a 2D bounding box.

[0016] Preferably, the step S33 includes the following steps: Step S331: Obtain the depth value of the boundary pixel of the 2D bounding box; Step S332: Convert the 2D coordinates of the boundary of the 2D bounding box into 3D coordinates by inverse projection according to the depth values ​​of the boundary pixels of the 2D bounding box to obtain a plurality of 3D boundary points; Step S333: obtaining the minimum boundary formed by the three-dimensional boundary points; Step S334: Map the minimum boundary to the empty cargo hold model to obtain the cargo pile surface area.

[0017] Preferably, step S4 includes the following steps: Step S41: collecting coordinate data of the center of gravity of the cargo hold at set time intervals; Step S42: Acquire the center point data of the unloading port in the unloading unit at the bottom of the cargo hold that is unloading, and recalculate the opening distribution result of the two unloading ports based on the coordinate data of the center of gravity of the cargo hold; Step S43: Transmit the opening distribution results of the two unloading ports to the controller, and control the unloading ports to adjust their openings according to the given opening distribution results through the controller.

[0018] Preferably, the step S42 includes the following steps: Step S423: Obtain coordinate data of the center of gravity of the cargo hold; Step S422: Obtain the center coordinates of the unloading openings in the two groups of unloading units opened at the bottom of the cargo hold, and calculate the distances between the center of gravity of the cargo hold and the center points of the unloading openings to obtain the distribution of cargo above the unloading openings opened at the bottom of the cargo hold; Step S423: Calculate the distribution result of the opening of the unloading ports in the two unloading units based on the distance between the center of gravity of the cargo hold and the center of the unloading port.

[0019] In summary, the cargo hold for rapid loading and unloading of a transshipment barge and the control method thereof of the present application have at least one of the following beneficial technical effects: 1. When the barge docks and the transfer trolley on the dock is aligned with the longitudinal conveyor belt on the barge, the relevant personnel in the operation cabin can use the control panel in the operation cabin to determine the unloading order of the cargo hold. Then, the relevant personnel can input the command to start unloading, and can control the hatch assembly at the bottom of the cargo hold to open the unloading port according to the initial opening, so that the cargo in the cargo hold flows out through the opened unloading port; in the process of the cargo flowing out through the two unloading ports and continuously sent out through the longitudinal conveyor belt in the barge, the cargo distribution detection module collects the surface point cloud data of the cargo in the cargo hold at the set time interval, and obtains the center of gravity position information of the cargo pile in the cargo hold based on the surface point cloud data of the cargo in the cargo hold and the cargo hold model, and obtains the unloading port opening distribution result based on the center of gravity position information of the cargo in the cargo hold. By adjusting the opening of the unloading port at the bottom of the cargo hold, the cargo hold can be kept stable, the imbalance and tilt of the barge during unloading can be reduced, and the stability of the overall hull of the barge during unloading can be improved; 2. By setting the support structure at the bottom of the cargo hold, a W-shaped structure can be formed at the bottom of the cargo hold. During the unloading process of the cargo in the cargo hold, the spire-shaped support structure composed of two supporting inclined plates can divert the cargo, so that the cargo in the cargo hold can quickly flow into the two unloading ports and out, thereby optimizing the cargo unloading rate; by setting the cross partitions between the unloading ports, the structural strength around the unloading ports can be enhanced, and at the same time, it can have the effect of dividing the cargo hold into areas, which is convenient for the unloading of cargo in the cargo hold. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of an embodiment of the present application used to illustrate the overall position of the cargo hold in a barge.

[0021] Figure 2 It is a schematic diagram of an embodiment of the present application used to illustrate the overall structure of the cargo hold bottom hatch assembly.

[0022] Figure 3 It is a schematic diagram of an embodiment of the present application used to illustrate the overall structure of the hatch assembly at the unloading port.

[0023] Figure 4 It is a schematic diagram of an embodiment of the present application for illustrating the overall process of the cargo hold control method.

[0024] Explanation of the accompanying reference numerals: 1. Cargo hold; 11. Support inclined plate; 12. Transverse partition; 2. Unloading bucket unit; 3. Unloading port; 4. Door assembly; 41. Driving mechanism; 441. Hydraulic telescopic cylinder; 42. Sub-door; 43. Connecting rod structure; 5. Longitudinal conveyor belt. DETAILED DESCRIPTION

[0025] The following combination Figure 1-Figure 4 This application is described in further detail.

[0026] Example The embodiment of the present application discloses a cargo hold 1 for rapid loading and unloading of a transshipment barge and a control method thereof. Figure 1-Figure 3 It mainly includes a cargo hold 1, the radial section of which is W-shaped, and the lower part of the cargo hold 1 is formed with two unloading bucket units 2 which are symmetrical about the bow and stern lines of the hull, and the two unloading bucket units 2 are arranged along the axis of the bow and stern lines of the barge.

[0027] Among them, the two unloading bucket units 2 are separated by two supporting inclined plates 11 located at the bottom of the cargo hold 1. The two supporting inclined plates 11 are arranged in a tower shape in the middle of the bottom of the cargo hold 1, and the two unloading bucket units 2 are respectively formed between the two supporting inclined plates 11 and the inner side walls of the cargo hold 1.

[0028] Please refer to Figure 1 In this embodiment, two groups of unloading ports 3 are provided at the bottom of the two groups of unloading bucket units 2 along the axial direction of the bow and stern line of the barge. Each group of unloading ports 3 includes 14 unloading ports 3. The 14 unloading ports 3 are evenly arranged on the bottom of the cargo hold 1 along the axial direction of the bow and stern line of the barge. A hatch assembly 4 for controlling the opening or closing of the unloading port 3 is installed at each unloading port 3.

[0029] In this embodiment, inside the cargo hold 1 , 13 transverse partitions 12 are spaced apart in the two unloading bucket units 2 formed between the two supporting inclined plates 11 and the inner wall of the cargo hold 1 , and the 14 pairs of unloading ports 3 are separated by the 13 pairs of transverse partitions 12 .

[0030] The two unloading ports 3 in each unloading hopper unit 2 are unloading port 3 and unloading port 3. When the barge docks to unload, two sets of unloading units are opened each time. The two sets of unloading units are respectively set close to the bow and stern of the barge, and the unloading order of the bottom of the cargo hold 1 is opened in sequence from gradually approaching the middle of the barge.

[0031] Reference Figure 3In the embodiment of the present application, the hatch assembly 4 includes a driving mechanism 41 and two sub-hatch doors 42. The two sub-hatch doors 42 are hingedly installed at the bottom of the unloading port 3, and the two sub-hatch doors 42 are symmetrically arranged at the bottom of the unloading port 3; the driving mechanism 41 includes a hydraulic telescopic cylinder 441 and a connecting rod structure 43. The hydraulic seat of the hydraulic telescopic cylinder 441 is installed at the bottom of the cargo hold 1 of the barge, the telescopic rod of the hydraulic telescopic cylinder 441 is connected to one of the sub-hatch doors 42, and the connecting rod structure 43 has two groups. The two sub-hatch doors 42 are respectively connected by two connecting rod structures 43. When the hydraulic telescopic cylinder 441 drives one of the sub-hatch doors 42 to open through the telescopic rod, the other sub-hatch door 42 can be synchronously driven to open in the opposite direction through the connecting rod structure 43. The hydraulic telescopic cylinder 441 can achieve the technical effect of controlling the opening or closing of the unloading port 3.

[0032] By controlling the length of the telescopic rod through the hydraulic telescopic cylinder 441, the width of the opening and closing between the two sub-doors 42 can be controlled, thereby achieving the technical effect of automatically controlling the opening of the unloading port 3.

[0033] Two longitudinal conveyor belts 5 are provided at the bottom of the cargo hold 1, and the two longitudinal conveyor belts 5 are respectively located below the two groups of unloading ports 3. When unloading begins, the unloading ports 3 in the two groups of unloading units are opened according to the initial opening degree, and the cargo in the cargo hold 1 flows from the opened unloading ports 3 to the longitudinal conveyor belts 5 and then is sent out from the cargo hold 1.

[0034] In this embodiment, a cargo distribution detection module is also installed in the cargo hold 1. The cargo distribution detection module is installed in the cargo hold 1 and is used to obtain the surface area information of the cargo pile in the cargo hold 1, and calculate the center of gravity position of the cargo hold 1 based on the surface area information of the cargo pile in the cargo hold 1, and calculate the opening distribution result of the unloading port 3 at the bottom of the cargo hold 1 based on the center of gravity position information of the cargo hold 1.

[0035] The data output end of the cargo distribution detection module is connected to the controller through a data cable. The signal output end of the controller is controlled and connected to the signal input end of the hatch assembly 4 at the unloading port 3. The controller receives the opening distribution result data output by the cargo distribution detection module, and controls the opening of the unloading port 3 according to the given opening distribution result by controlling the hatch assembly 4 at the two unloading ports 3. The cargo distribution amount on the two unloading ports 3 is adjusted by controlling the opening of the two unloading ports 3, so that the cargo distribution above the two unloading ports 3 tends to be uniform, thereby reducing the uneven outflow of cargo in the cargo hold 1 and the occurrence of instability of the barge.

[0036] By analyzing the center of gravity of the cargo hold 1 through a data processor and adjusting the opening of the unloading port 3 in the unloading unit, the bow and stern ends of the barge can be unloaded evenly, thereby improving the stability of the barge during the unloading process.

[0037] In this embodiment, after the barge docks, the ends of the two longitudinal conveyor belts 5 on the barge near the bow end are docked with the transport trolley on the port terminal.

[0038] Please refer to Figure 1 In this embodiment, a plurality of transverse partitions 12 are arranged between the two supporting inclined plates 11 and the inner wall of the cargo hold 1. The plurality of transverse partitions 12 are evenly arranged in the unloading bucket unit 2 along the bow and stern lines of the barge, and the transverse partitions 12 are respectively spaced apart between two adjacent unloading ports 3.

[0039] The supporting inclined plate 11 can divert the cargo so that the cargo flows quickly to the unloading port 3 at the bottom, optimizing the cargo unloading rate; through the setting of the cross partition 12, the structural strength around the unloading port 3 can be enhanced, while also playing a role in guiding the flow of cargo.

[0040] In this embodiment, in order to further guide the cargo to flow toward the unloading port 3, guide slopes are provided on both sides of the top of the transverse partition 12 along the direction close to the unloading port 3. The guide slopes further guide the cargo around the unloading port 3 to flow into the unloading port 3.

[0041] In this embodiment, the cargo distribution detection module includes a first radar and a second radar. Both are mounted on the top inner wall of the cargo hold 1, and both are millimeter-wave radars. The first radar is located near the bow of the barge and is used to acquire surface point cloud data of the cargo from the bow to the stern. The second radar is located near the stern of the barge and is used to acquire surface point cloud data of the cargo from the stern to the bow.

[0042] In order to facilitate relevant personnel in the operating cabin to obtain real-time image data of the interior of the cargo hold 1, in some other embodiments, multiple dust-proof cameras can be installed on the top inner wall of the cargo hold 1. The multiple dust-proof cameras are evenly arranged on the top of the cargo hold 1 along the bow and stern line of the barge. Different dust-proof cameras correspond to different unloading ports 3, and the data output ends of the dust-proof cameras are connected to the display in the operating cabin. This facilitates relevant personnel in the operating cabin to obtain real-time unloading conditions in the cargo hold 1 through the dust-proof cameras.

[0043] It should be noted that, in this embodiment, the two groups of unloading ports 3 at the bottom of the cargo hold 1 are opposite to each other, and the transverse partitions 12 in the two unloading bucket units 2 are opposite to each other, and the unloading unit at the bottom of the cargo hold 1 is formed by separating two transverse partitions 12 located on the same straight line.

[0044] It should be noted that, in this embodiment, in order to improve the wear resistance of the cargo hold 1, AQ98 wear-resistant steel is used as the main board in direct contact with the cargo on the surface of the partition 12, the inner wall of the cargo hold 1, and the supporting inclined plate 11. Since AQ98 wear-resistant steel has excellent wear resistance, there is no need to additionally install polymer wear-resistant plates, which can reduce material costs and the complexity of installation and maintenance.

[0045] Based on the above-mentioned cargo hold for rapid loading and unloading of a transfer barge, this embodiment also proposes a control method for the cargo hold for rapid loading and unloading of a transfer barge, referring to Figure 4 , which mainly includes the following steps: Step S1. Establish a database for storing the unloading port information at the bottom of the cargo hold, wherein the unloading port information includes the coordinates of the center point of the unloading port, the unloading port number information, the unloading order of the unloading port, the maximum opening data of each unloading port, and the empty cargo hold model; wherein the center point of the unloading port is the intersection of the diagonals of the unloading port on the inner wall of the bottom of the cargo hold; and the maximum opening data is the opening area value of each unloading port.

[0046] Step S2: Data acquisition: When the unloading port at the bottom of the cargo hold is opened for unloading, initial point cloud data in the cargo hold is acquired at set time intervals using multiple radars; Step S3: Calculate the center of gravity of the barge, based on the surface area of ​​the cargo inside the cargo hold during unloading, to calculate the center of gravity of the cargo hold; Step S4, adjusting the center of gravity of the cargo hold, allocating the opening of the unloading port based on the center of gravity position of the cargo hold during unloading, and adjusting the center of gravity position of the cargo hold.

[0047] Wherein, step S1 includes the following steps: Step S11: Divide the cargo hold bottom into a plurality of unloading units along the bow and stern lines of the barge, wherein each unloading unit includes two unloading ports, and the two unloading ports of the same unloading unit are symmetrical with respect to the support structure inside the cargo hold; Step S12: sequentially numbering the multiple unloading units along the direction from the bow end to the stern end of the barge, and numbering each unloading unit one by one; Step S13: Determine the opening order of the unloading units based on the positions of the unloading ports at the bottom of the cargo hold, and number the unloading ports in each unloading unit one by one.

[0048] In this embodiment, the total length of the barge is 123.8 meters, the total length of the cargo hold is 106.2 meters, and the total width of the cargo hold is 29.4 meters.

[0049] Among them, the cargo hold is divided into 14 unloading units by a dividing line. The 14 unloading units are numbered A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, and A14 in the direction from the bow to the stern of the barge.

[0050] Among them, each unloading unit includes a unloading port and a unloading port. The maximum opening data of the fixed compensation port and the unloading port in the same unloading unit are the same, and are symmetrical about the supporting structure composed of two supporting inclined plates.

[0051] The unloading port on the left side of the unloading unit is numbered AN_g, and the unloading port on the right side is numbered AN_b, where N represents the number of the unloading unit in which the unloading port is located. For example, the unloading port on the left side of the unloading unit A1 is numbered A1_g, and the unloading port on the right side is numbered A1_b.

[0052] It should be noted that in this embodiment, the order of unloading the cargo hold is from both ends toward the center. When the barge docks, the unloading ports in the two sets of unloading units (i.e., A1 and A14) at the bottom of the cargo hold are opened to their initial openings. The cargo in the cargo hold flows through the unloading ports in the unloading units at both ends to the longitudinal conveyor belt, where it is then discharged.

[0053] The initial unloading opening is determined by the maximum opening of the smaller unloading opening in the two groups of unloading units. In this embodiment, 60% of the maximum opening of the smaller unloading opening is taken as the initial opening of the unloading openings of the two groups of unloading units.

[0054] For example, in this embodiment, the maximum opening of the fixed unloading unit A1_g and the compensating unloading unit A1_b in the unloading unit A1 are both 2.42 square meters; the maximum opening of the unloading port A14_g and the unloading port A14_b of the unloading unit A14 opened simultaneously with the unloading unit A1 are both 4.72 square meters. Therefore, during the unloading process of the unloading units A1 and A14, the initial opening of the unloading ports in the unloading units A1 and A14 are both 1.45 square meters, which can ensure that the goods on the unloading units A1 and A14 flow out evenly.

[0055] Wherein, step S3 includes the following steps: Step S31: During the unloading process of the cargo hold, initial point cloud data of the cargo hold is collected by multiple radars at set time intervals; Step S32: pre-process the initial point cloud data to obtain a cargo hold depth image and a three-dimensional point cloud of the cargo hold, and divide a two-dimensional cargo area in the cargo hold depth image; Step S33: Map the two-dimensional cargo pile area to the empty cargo hold model to obtain the cargo pile surface area; Step S34: Calculate the center of gravity coordinates of the cargo pile surface area in the cargo hold by numerical approximation method based on the cargo pile surface area and the empty cargo hold model.

[0056] The 3D point cloud data is projected onto a 2D plane to obtain an intermediate depth image. In this embodiment, the projection plane is a cross-section of the middle of the cargo hold. The 3D point cloud data is projected onto the designated projection plane, and the depth of each 3D point cloud is recorded. These depth values ​​are the pixel values ​​of the depth image. The depth values ​​on the projected 2D plane are arranged according to pixel position to generate a 2D depth image. In this depth image, the grayscale value or color value of each pixel corresponds to the distance from the interior surface of the cargo hold to the radar.

[0057] Wherein, step S32 includes the following steps: Step S321: Set up target detection and mark a 2D bounding box in the cargo hold depth image using the target detection model; Step S322: Divide a two-dimensional cargo area in the cargo hold depth image using a 2D bounding box.

[0058] In this embodiment, the algorithm model for target detection of cargo in the cargo hold is the YOLO_v5 algorithm model, which can mark a 2D bounding box in the hull depth image through the target detection model, and use the 2D bounding box to divide the two-dimensional cargo pile area in the depth image of the cargo hold.

[0059] Wherein, step S33 includes the following steps: Step S331: Obtain the depth value of the boundary pixel of the 2D bounding box; Step S332: Convert the 2D coordinates of the boundary of the 2D bounding box into 3D coordinates by inverse projection according to the depth values ​​of the boundary pixels of the 2D bounding box to obtain a plurality of 3D boundary points; Step S333: obtaining the minimum boundary formed by the three-dimensional boundary points; Step S334: Map the minimum boundary to the empty cargo hold model to obtain the cargo pile surface area.

[0060] Among them, the formula for inverse projection is:

[0061]

[0062]

[0063] Where (u, v) is the pixel coordinate in the depth image; D(u, v) is the depth value of the pixel; ( , ) is the coordinate of the camera optical center; ( , ) is the focal length of the camera. In the inverse projection formula, Z refers to the depth value of the pixel, that is, the distance from the optical center of the camera to the pixel in three-dimensional space.

[0064] By using target recognition to frame the two-dimensional depth image of the cargo hold, a two-dimensional depth image of the cargo pile can be obtained. By processing the 2D bounding box through inverse projection, the three-dimensional boundary points of the cargo pile in the cargo hold can be obtained. Through the three-dimensional boundary points, the three-dimensional point cloud data of the cargo pile in the cargo hold can be obtained. By processing the three-dimensional point cloud data of the cargo pile surface through the implicit surface fitting algorithm, the surface domain of the cargo pile that fits the surface of the cargo pile in the cargo hold can be obtained.

[0065] By transferring the surface area of ​​the cargo pile to the empty cargo hold model, the three-dimensional model of the cargo pile in the cargo hold can be obtained. Based on the numerical approximation method, the center of gravity coordinates of the cargo pile in the cargo hold can be calculated through the three-dimensional model of the cargo pile in the cargo hold.

[0066] Wherein, step S4 includes the following steps: Step S41: collecting coordinate data of the center of gravity of the cargo hold at set time intervals; Step S42: Acquire the center point data of the unloading port in the unloading unit at the bottom of the cargo hold that is unloading, and recalculate the opening distribution result of the two unloading ports based on the coordinate data of the center of gravity of the cargo hold; Step S43: Transmit the opening distribution results of the two unloading ports to the controller, and control the unloading ports to adjust their openings according to the given opening distribution results through the controller.

[0067] Wherein, step S42 includes the following steps: Step S423: Obtain coordinate data of the center of gravity of the cargo hold; Step S422: Obtain the center coordinates of the unloading openings in the two groups of unloading units opened at the bottom of the cargo hold, and calculate the distances between the center of gravity of the cargo hold and the center points of the unloading openings to obtain the distribution of cargo above the unloading openings opened at the bottom of the cargo hold; Step S423: Calculate the distribution result of the opening of the unloading ports in the two unloading units based on the distance between the center of gravity of the cargo hold and the center of the unloading port.

[0068] In this embodiment, the opening distribution is calculated based on the ratio of the distance between the center points of the unloading ports of the two unloading units and the center of gravity of the cargo hold. The opening of the unloading port with a larger cargo distribution volume and a downward tilt can be increased, and the opening of the unloading port with a smaller cargo distribution volume can be decreased, so that the cargo distribution in the cargo hold gradually becomes uniform. By continuously adjusting the opening of the unloading port, the cargo in the cargo hold can be evenly distributed during the unloading process of the barge.

[0069] For example, at a certain moment, a barge unloads cargo through unloading units A3 and A12 at the bottom of the cargo hold. The two unloading ports of unloading unit A3 are numbered A3_g and A3_b, and the two unloading ports of unloading unit A12 are numbered A12_g and A12_b.

[0070] The spatial coordinates of the cargo hold in the spatial coordinate system of the cargo hold are (0.6, 0.8, 4.8), the coordinates of the center point of the unloading port A3_g in the unloading unit A3 are (-42.3, 4.4, 0), and the coordinates of the center point of the unloading port A3_b are (-42.3, -4.4, 0); the coordinates of the unloading port A12_g in the unloading unit A12 are (42.3, 4.4, 0), and the coordinates of the center point of the unloading port A12_b are (42.3, -4.4, 0).

[0071] The distances between the center of gravity of the cargo hold and the center coordinates of A3_g, A3_b, A12_g, and A12_b are L1=43.3 meters, L2=43.5 meters, L3=42.1 meters, and L4=42.3 meters, respectively.

[0072] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application in sequence. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A cargo hold for rapid loading and unloading of a transshipment barge, characterized in that: The invention comprises a cargo hold (1), wherein the cargo hold (1) is a W-shaped cargo hold (1), and two sets of symmetrical unloading ports (3) are provided at the bottom of the cargo hold (1) along the bow and stern lines of the barge, and each of the unloading ports (3) is respectively provided with a hatch assembly (4) with an adjustable opening; and: A cargo distribution detection module is installed in the cargo hold (1) and is used to obtain surface area information of the cargo pile in the cargo hold (1), calculate the center of gravity position of the cargo hold (1) based on the information of the surface area of ​​the cargo pile in the cargo hold (1), and calculate the opening distribution result of the unloading port (3) at the bottom of the cargo hold (1) based on the center of gravity position information of the cargo hold (1); The controller has a data input terminal connected to the data output terminal of the cargo distribution detection module, and a signal output terminal connected to the signal input terminals of the plurality of hatch components (4), and is used to receive the opening distribution result and adjust the opening of the cargo hold (1) bottom unloading port (3).

2. The cargo hold for rapid loading and unloading of a transshipment barge according to claim 1, characterized in that: The bottom of the cargo hold (1) is provided with a spire-shaped support structure, which is composed of two support inclined plates (11). The two support inclined plates (11) are provided along the length direction of the cargo hold (1), and the two inner side walls of the cargo hold (1) are inclined inward. A discharge hopper unit (2) is formed between the two support inclined plates (11) and the two inner side walls of the cargo hold (1), and two groups of discharge ports (3) are evenly provided at the bottom of the two discharge hopper units (2). A transverse partition (12) is provided between any two adjacent unloading ports (3), and both ends of the transverse partition (12) are fixedly connected to the inner side wall of the cargo hold (1) and the supporting inclined plate (11), respectively.

3. The cargo hold for rapid loading and unloading of a transshipment barge according to claim 2, characterized in that: The cargo distribution detection module includes: A first radar is installed in the cargo hold (1), located in the cargo hold (1) near the bow end of the barge, and is used to collect surface point cloud data of the cargo near the bow end; A second radar is installed in the cargo hold (1), located in the cargo hold (1) near the stern end of the barge, and is used to collect surface point cloud data of the cargo near the stern end; A data processor, the data input end of which is data-connected to the data output ends of the first radar and the second radar, for calculating cargo distribution data of the cargo at the opened unloading port (3) based on the surface point cloud data of the cargo, and calculating the opening distribution result of the two unloading ports (3) based on the cargo distribution data; The first radar and the second radar are both millimeter wave radars.

4. A method for controlling a cargo hold for rapid loading and unloading of a transfer barge according to any one of claims 1 to 3, characterized in that: The following steps are involved: Step S1: Establish a database for storing the unloading port information at the bottom of the cargo hold, wherein the unloading port information includes the coordinates of the center point of the unloading port, the unloading port number information, the unloading order of the unloading port, the maximum opening data of each unloading port, and the empty cargo hold model; Step S2: Data acquisition: When the unloading port at the bottom of the cargo hold is opened for unloading, initial point cloud data in the cargo hold is acquired at set time intervals using multiple radars; Step S3: Calculate the center of gravity of the barge, based on the surface area of ​​the cargo inside the cargo hold during unloading, to calculate the center of gravity of the cargo hold; Step S4, adjusting the center of gravity of the cargo hold, allocating the opening of the unloading port based on the center of gravity position of the cargo hold during unloading, and adjusting the center of gravity position of the cargo hold.

5. A method for controlling a cargo hold for rapid loading and unloading of a transshipment barge according to claim 4, characterized in that: The step S1 comprises the following steps: Step S11: Divide the cargo hold bottom into a plurality of unloading units along the bow and stern lines of the barge, wherein each unloading unit includes two unloading ports, and the two unloading ports of the same unloading unit are symmetrical with respect to the support structure inside the cargo hold; Step S12: sequentially numbering the multiple unloading units along the direction from the bow end to the stern end of the barge, and numbering each unloading unit one by one; Step S13: Determine the opening order of the unloading units based on the positions of the unloading ports at the bottom of the cargo hold, and number the unloading ports in each unloading unit one by one.

6. A method for controlling a cargo hold for rapid loading and unloading of a transshipment barge according to claim 5, characterized in that: The step S3 comprises the following steps: Step S31: During the unloading process of the cargo hold, initial point cloud data of the cargo hold is collected by multiple radars at set time intervals; Step S32: pre-process the initial point cloud data to obtain a cargo hold depth image and a three-dimensional point cloud of the cargo hold, and divide a two-dimensional cargo area in the cargo hold depth image; Step S33: Map the two-dimensional cargo pile area to the empty cargo hold model to obtain the cargo pile surface area; Step S34: Calculate the center of gravity coordinates of the cargo pile surface area in the cargo hold by numerical approximation method based on the cargo pile surface area and the empty cargo hold model.

7. A method for controlling a cargo hold for rapid loading and unloading of a transfer barge according to claim 6, characterized in that: The step S32 includes the following steps: Step S321: Set up target detection and mark a 2D bounding box in the cargo hold depth image using the target detection model; Step S322: Divide a two-dimensional cargo area in the cargo hold depth image using a 2D bounding box.

8. A method for controlling a cargo hold for rapid loading and unloading of a transshipment barge according to claim 7, characterized in that: The step S33 includes the following steps: Step S331: Obtain the depth value of the boundary pixel of the 2D bounding box; Step S332: Convert the 2D coordinates of the boundary of the 2D bounding box into 3D coordinates by inverse projection according to the depth values ​​of the boundary pixels of the 2D bounding box to obtain a plurality of 3D boundary points; Step S333: obtaining the minimum boundary formed by the three-dimensional boundary points; Step S334: Map the minimum boundary to the empty cargo hold model to obtain the cargo pile surface area.

9. A method for controlling a cargo hold for rapid loading and unloading of a transshipment barge according to claim 8, characterized in that: The step S4 comprises the following steps: Step S41: collecting coordinate data of the center of gravity of the cargo hold at set time intervals; Step S42: Acquire the center point data of the unloading port in the unloading unit at the bottom of the cargo hold that is unloading, and recalculate the opening distribution result of the two unloading ports based on the coordinate data of the center of gravity of the cargo hold; Step S43: Transmit the opening distribution results of the two unloading ports to the controller, and control the unloading ports to adjust their openings according to the given opening distribution results through the controller.

10. A method for controlling a cargo hold for rapid loading and unloading of a transshipment barge according to claim 9, characterized in that: The step S42 includes the following steps: Step S423: Obtain coordinate data of the center of gravity of the cargo hold; Step S422: Obtain the center coordinates of the unloading openings in the two groups of unloading units opened at the bottom of the cargo hold, and calculate the distances between the center of gravity of the cargo hold and the center points of the unloading openings to obtain the distribution of cargo above the unloading openings opened at the bottom of the cargo hold; Step S423: Calculate the distribution result of the opening of the unloading ports in the two unloading units based on the distance between the center of gravity of the cargo hold and the center of the unloading port.

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