Automatic shipment balance control method

Abstract

The invention discloses an automatic shipment balance control method, which belongs to the technical field of automatic shipment control, and comprises the following steps: scanning a cabin of a berthing empty ship, establishing a cabin three-dimensional model, constructing a wharf coordinate system and a ship coordinate system, and obtaining ship type data; planning a shipping strategy according to the ship type data, setting shipping turns and blanking point coordinates and target material height of each turn, and determining safe operation parameters of the chute tube; according to the coordinates of the blanking point of the current turn and the safe operation parameters of the chute tube, the outlet of the chute tube is controlled to be aligned with the coordinates of the blanking point of the current turn based on the wharf coordinate system by adjusting the motion parameters of the ship loader, and blanking is conducted when it is monitored that the material height of the current turn reaches the target material height; controlling the outlet of the chute tube to transfer to the blanking point coordinate of the next round; refreshing the cabin three-dimensional model in the loading process, obtaining the posture of the ship body, and updating the coordinates of the blanking point; and stopping the shipping operation until the shipping volume reaches the standard. The method can improve the automatic shipment balance control precision.

Description

Technical Field

[0001] This invention relates to an automatic ship loading balance control method, belonging to the field of automatic ship loading control technology. Background Technology

[0002] Automated ship loading refers to the remote automatic control of a ship loader by using laser scanning and 3D modeling to identify the hatches of the ship, combined with positioning technology, and planning the loading path and material drop points based on human experience.

[0003] Currently, automated ship loading technology mainly focuses on the coordinated control of the loading process, coordinating the start-up and shutdown times of bucket wheel excavators, belt conveyors, and ship loaders from the perspective of synchronizing loading volume and equipment operation time. During the loading process, to improve loading efficiency and reduce ship berthing time, loading volume is typically operated at full capacity. At river terminals, where vessels are small and have limited carrying capacity, high-volume loading operations pose safety risks of tilting and drifting, which in severe cases can even lead to capsizing and sinking.

[0004] Current technology primarily involves both the shipowner and the dock operator assigning personnel to observe the ship's condition on-site and guide the loader operator to operate the equipment locally or remotely to ensure ship safety. However, manual monitoring and early warning processes are time-consuming, prone to fatigue, and susceptible to misjudgments. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic ship loading balance control method that can improve the accuracy of automatic ship loading balance control.

[0006] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides an automatic ship loading balance control method, comprising: Scan the cabins of berthed empty ships, create a 3D model of the cabins, construct the dock coordinate system and the ship coordinate system, and obtain ship type data; Based on the ship type data, plan the loading strategy, set the loading rounds and the coordinates of the material drop points and target material height for each round, and determine the safe operation parameters of the chute; Based on the current round's material drop point coordinates and the chute's safety operation parameters, the chute's outlet is controlled to align with the current round's material drop point coordinates by adjusting the ship loader's motion parameters and using the dock coordinate system. When the material height of the current round reaches the target material height, the chute's outlet is controlled to move to the next round's material drop point coordinates. During the loading process, the 3D model of the ship's hold is refreshed to obtain the ship's attitude. When the ship's tilt angle is greater than the tilt safety adjustment threshold, the outlet of the control chute is mirrored based on the ship's coordinate system. When the ship's tilt angle is greater than the tilt safety warning threshold, a tilt alarm is issued. When the ship's translational drift distance is greater than the translation safety adjustment threshold, the outlet of the control chute is controlled to follow the ship's translation based on the dock coordinate system. When the ship's translational drift distance is greater than the translation safety warning threshold, a re-mooring is prompted. When the ship's rotational drift angle is greater than the rotation safety adjustment threshold, the outlet of the control chute is rotated relative to the hatch center coordinates based on the dock coordinate system. When the ship's rotational drift angle is greater than the rotation safety warning threshold, a re-mooring is prompted. Loading operations will cease once the target loading volume is reached.

[0007] Building upon the first aspect, further steps include scanning the cabins of berthed empty ships, creating 3D models of the cabins, constructing the dock coordinate system and ship coordinate system, and obtaining ship type data, including: A laser scanner was used to scan the cabins of an empty ship that was moored, a 3D model of the cabins was created, and the hatches and partitions of the ship were identified using the point cloud sliding window method. The first origin is the endpoint of the wharf shoreline. The wharf shoreline is The axis, the normal line of the wharf shoreline is The axis, vertically upward is Establish the dock coordinate system using axes; The second origin is the midpoint of the ship's partition. The longitudinal centerline of the ship is The normal to the longitudinal axis of a ship is... The axis, vertically upward is Establish the ship's coordinate system using axes; Ship parameters are calculated based on the dock coordinate system, ship type is defined based on the ship parameters, and ship type data is obtained.

[0008] In conjunction with the first aspect, further, the ship parameters include the ship's hatch width, hatch length, hatch elevation, bilge elevation, bilge height, partition height, and the distance from the hatch and bilge to the connection point of the cantilever and chute. The formula for calculating the hatch width is: ; in, Indicates the width of the hatch. , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the bow of the ship in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the vertices of the stern on the sea side of the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the stern of the ship's hatch in the dock coordinate system. of axis, axis, Axis coordinates; The formula for calculating the hatch length is: ; in, Indicates the length of the hatch; The formula for calculating the hatch elevation is: ; in, Indicates the hatch elevation; Bottom Elevation For the point cloud of the hold in the dock coordinate system The average value of the axis coordinates; The formula for calculating the cabin height is: ; in, Indicates cabin altitude; The formula for calculating the partition height is: ; in, Indicates the partition height. , These represent the two endpoints of the partition in the dock coordinate system. , of Axis coordinates; The formula for calculating the distance from the hatch to the connection point between the cantilever and the chute is: ; in, Indicates the connection point from the hatch to the cantilever and chute. distance, Indicates the connection point between the cantilever and the chute in the wharf coordinate system. of Axis coordinates; The formula for calculating the distance from the bottom of the bilge to the connection point between the cantilever and the chute is: ; in, Indicates the connection point from the bilge to the cantilever and chute. The distance.

[0009] In conjunction with the first aspect, further, the safe operating parameters of the chute include the safe distance between the chute outlet and the top of the material, the safe distance between the chute outlet and the edge of the hatch, and the safe distance between the chute outlet and the top of the partition when shifting hatches; the motion parameters of the ship loader include the trolley control parameters, the cantilever control parameters, and the chute control parameters. The trolley control parameters include the position coordinates of the trolley in the wharf coordinate system, the cantilever control parameters include the extension length, pitch angle, and slewing angle of the cantilever, and the chute control parameters include the extension length of the chute.

[0010] In conjunction with the first aspect, further methods for monitoring high material levels include: Obtain the distance from the material drop point to the connection point between the cantilever and the chute, and update the distance from the hatch to the connection point between the cantilever and the chute; The material height is calculated based on the distance from the material drop point to the connection point between the cantilever and the chute, the updated distance from the hatch to the connection point between the cantilever and the chute, and the height inside the hatch. The distance from the material drop point to the connection point between the cantilever and the chute is the average distance collected by the radar level gauges located on both sides of the connection point between the cantilever and the chute. The formula for calculating material height is: ; in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The distance from the material drop point to the connection point between the cantilever and the chute Indicates the first The first round The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

[0011] In conjunction with the first aspect, further methods for monitoring high material levels include: Obtain the material point cloud within a ring-shaped area centered on the chute in the dock coordinate system. The average value of the axis coordinates is calculated, and the connection point between the cantilever and the chute in the dock coordinate system is updated. The axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute; Based on the material point cloud within the annular area centered on the chute in the wharf coordinate system. The average value of the axis coordinates, and the connection point between the cantilever and the chute in the updated dock coordinate system. Calculate the material height using the axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute; The formula for calculating material height is: ; in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The connection point between the cantilever and the chute in the updated dock coordinate system at each material drop point. Axis coordinates Indicates the first The first round The material point cloud within a ring-shaped area centered on the chute in the dock coordinate system corresponding to each material drop point. The average value of the axis coordinates. Indicates the first The first round The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

[0012] In conjunction with the first aspect, further, the hull's inclination angle includes the hull's position relative to the dock coordinate system. The angle of inclination of the plane and relative to The angle of inclination of a plane; The ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ; in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the width of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates; The ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ; in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the length of the hatch; When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm; When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm.

[0013] In conjunction with the first aspect, furthermore, the translational drift distance of the hull includes the hull's displacement along the dock coordinate system. Translational drift distance of the axis and along The translational drift distance of the axis; When the ship's hull is in the dock coordinate system The translational drift distance of the axis is greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation, when the ship's hull moves along the axis in the dock coordinate system The translational drift distance of the axis is greater than When the axis translation safety warning threshold is reached, a prompt to re-tether the cable should be made. When the ship's hull is in the dock coordinate system The translational drift distance of the axis is greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation, when the ship's hull moves along the axis in the dock coordinate system The translational drift distance of the axis is greater than When the axis translation safety warning threshold is reached, a prompt will be made to re-tether the cable.

[0014] In conjunction with the first aspect, further, the rotational drift angle of the hull is the hull's relative position in the dock coordinate system. The rotational drift angle of the axis; The ship's hull relative to the dock coordinate system The rotational drift angle of the axis is: ; in, Indicates the ship's hull relative to the dock coordinate system. The rotational drift angle of the axis, Indicates the length of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates; The new coordinates of the material drop point after rotating the outlet of the control chute relative to the hatch center coordinates based on the dock coordinate system are: ; in, , Representing the first in the dock coordinate system The first round Each material drop point axis, Axis coordinates , These represent the control chute outlet after rotation relative to the hatch center coordinates based on the dock coordinate system. , The updated value, , These represent the center of the hatch in the dock coordinate system, i.e., the midpoint of the partition. of axis, Axis coordinates.

[0015] In a second aspect, the present invention provides an automatic ship loading balance control system applied to the automatic ship loading balance control method described in the first aspect, comprising: The detection subsystem is used to acquire detection data at the loading site and transmit it to the data processing subsystem and the control execution subsystem. The data processing subsystem is used to generate loading strategies and loading instructions based on the detection data at the loading site and transmit them to the control execution subsystem. The control execution subsystem is used to integrate and process the detection data, loading strategies, loading instructions and manual instructions at the loading site, generate control instructions for the loading machine, control the loading machine to perform loading according to the control instructions, and feed back the status and execution results of the loading machine to the human-machine interaction subsystem. The human-machine interaction subsystem is used to visualize the status and execution results of the ship loader, and provides an interface to receive manual instructions input by operators and send the manual instructions to the control execution subsystem; The detection subsystem includes: The ship loader testing unit includes a trolley positioning device for detecting the position coordinates of the trolley, a cantilever extension testing device for detecting the extension length of the cantilever, a cantilever pitch testing device for detecting the pitch angle of the cantilever, a cantilever rotation testing device for detecting the rotation angle of the cantilever, and a chute extension testing device for detecting the extension length of the chute. The trolley positioning device, cantilever extension testing device, cantilever pitch testing device, cantilever rotation testing device, and chute extension testing device are all equipped with a correlation calibration device for verifying the test data. Laser scanning unit, used to scan point cloud data of ship and dock surfaces; The collision avoidance detection unit is used for collision avoidance detection of large vehicles, cantilever arms, and chute. The material height detection unit is used to detect the height of the material near the outlet of the chute; Metering units include a wharf entrance belt scale for measuring the loading volume, a stockyard exit belt scale for measuring the material taking volume, and a discharge point belt scale for measuring the unloading volume. The water level detection unit is used to detect the water level at the dock.

[0016] Thirdly, the present invention provides a computer device, comprising: Storage medium used to store computer programs; A processor for executing computer programs to implement the automatic loading balance control method provided in the first aspect.

[0017] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the automatic loading balance control method provided in the first aspect.

[0018] Fifthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the automatic loading balance control method provided in the first aspect.

[0019] Compared with the prior art, the beneficial effects of the present invention are: The automatic ship loading balance control method provided by this invention utilizes 3D modeling technology to intelligently monitor changes in the ship's attitude during loading, and guides the ship loader to automatically execute loading strategies and adjust the loading drop points, ensuring the ship's stability and safety throughout the entire loading operation. In the event of tilting or drifting, the ship loader's operating attitude is automatically adjusted to maintain the original strategy of the loading drop point's position relative to the ship, thus ensuring ship safety. This method replaces manual observation, reducing labor costs and improving the safety and reliability of loading operations. Attached Figure Description

[0020] Figure 1 This is a flowchart of the automatic ship loading balance control method provided in an embodiment of the present invention; Figure 2 This is a top-view diagram of a ship in the dock coordinate system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a ship in the dock coordinate system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a ship's side view in the dock coordinate system provided in an embodiment of the present invention; Figure 5 This is a side view of the loading process in the dock coordinate system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the point cloud of materials within a ring-shaped area provided in an embodiment of the present invention; Figure 7 The hull relative to the dock coordinate system provided in this embodiment of the invention. Schematic diagram of a tilted plane; Figure 8 The hull relative to the dock coordinate system provided in this embodiment of the invention. Schematic diagram of a tilted plane; Figure 9 This is a schematic diagram of ship translation and drift in the dock coordinate system provided in this embodiment of the invention; Figure 10 This is a schematic diagram of the ship's rotation and drift in the dock coordinate system provided in this embodiment of the invention; Figure 11 This is a schematic diagram of the automatic ship loading balance control system provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the loading strategy provided in an embodiment of the present invention; In the diagram: 1. Trolley; 2. Cantilever; 3. Conveyor; 4. Cabin; 5. Partition. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Unless otherwise specified, embodiments of the present invention and the technical features thereof can be combined with each other.

[0023] This invention provides an automatic ship loading balance control method, such as... Figure 2 , Figure 3 As shown, the ship loader includes a trolley 1, a cantilever 2 mounted on the trolley 1, and a chute 3 connecting the cantilever 2. The ship includes a hold 4 and a partition 5 between the holds 4, as shown. Figure 1 As shown, the method includes: Scan the cabins of berthed empty ships, create a 3D model of the cabins, construct the dock coordinate system and the ship coordinate system, and obtain ship type data; Based on the ship type data, plan the loading strategy, set the loading rounds and the coordinates of the material drop points and target material height for each round, and determine the safe operation parameters of the chute; Based on the current round's material drop point coordinates and the chute's safety operation parameters, the chute's outlet is controlled to align with the current round's material drop point coordinates by adjusting the ship loader's motion parameters and using the dock coordinate system. When the material height of the current round reaches the target material height, the chute's outlet is controlled to move to the next round's material drop point coordinates. During the loading process, the 3D model of the ship's hold is refreshed to obtain the ship's attitude. When the ship's tilt angle is greater than the tilt safety adjustment threshold, the outlet of the control chute is mirrored based on the ship's coordinate system. When the ship's tilt angle is greater than the tilt safety warning threshold, a tilt alarm is issued. When the ship's translational drift distance is greater than the translation safety adjustment threshold, the outlet of the control chute is controlled to follow the ship's translation based on the dock coordinate system. When the ship's translational drift distance is greater than the translation safety warning threshold, a re-mooring is prompted. When the ship's rotational drift angle is greater than the rotation safety adjustment threshold, the outlet of the control chute is rotated relative to the hatch center coordinates based on the dock coordinate system. When the ship's rotational drift angle is greater than the rotation safety warning threshold, a re-mooring is prompted. Loading operations will cease once the target loading volume is reached.

[0024] The automatic ship loading balance control method provided in this invention utilizes 3D modeling technology to intelligently monitor changes in the ship's attitude during loading, and guides the ship loader to automatically execute loading strategies and adjust the loading drop points, ensuring the ship's stability and safety throughout the entire loading operation. In the event of tilting or drifting, the ship loader's operating attitude is automatically adjusted to maintain the original strategy of the loading drop point relative to the ship's position, thus ensuring ship safety. This method replaces manual observation, reduces labor costs, and improves the safety and reliability of loading operations.

[0025] Figure 1 This is a flowchart of the automatic ship loading balance control method provided in this embodiment. This flowchart only shows the logical sequence of the method in this embodiment. Provided that there is no conflict, different methods can be used. Figure 1 Complete the steps shown or described in the order indicated.

[0026] The automatic loading balance control method provided in this embodiment can be applied to a terminal and can be executed by an automatic loading balance control method system. This system can be implemented by software and / or hardware and can be integrated into the terminal, such as any tablet computer or computer device with communication function.

[0027] In one possible embodiment, establishing a 3D model of the ship's cabin, constructing a dock coordinate system and a ship coordinate system, and obtaining ship type data include: A laser scanner was used to scan the cabins of an empty ship that was moored, a 3D model of the cabins was created, and the point cloud sliding window method was used to identify the ship's hatches and partitions. The first origin is the endpoint of the wharf shoreline. The wharf shoreline is The axis, the normal line of the wharf shoreline is The axis, vertically upward is Establish the dock coordinate system using axes; The second origin is the midpoint of the ship's partition. The longitudinal centerline of the ship is The normal to the longitudinal axis of a ship is... The axis, vertically upward is Establish the ship's coordinate system using axes; Ship parameters are calculated based on the dock coordinate system, ship type is defined based on the ship parameters, and ship type data is obtained.

[0028] In this embodiment, the ship's top view in the dock coordinate system is as follows: Figure 2 As shown, the front view of the ship is as follows Figure 3 As shown, the ship's side view diagram is as follows: Figure 4 As shown in the side view diagram of the loading process, Figure 5 As shown.

[0029] Specifically, such as Figure 2 , Figure 4 , Figure 5 As shown, the ship parameters include the ship's hatch width, hatch length, hatch elevation, bilge elevation, bilge height, partition height, and the distance from the hatch and bilge to the connection point of the cantilever and chute.

[0030] The formula for calculating the hatch width is: ; in, Indicates the width of the hatch. , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the bow of the ship in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the vertices of the stern on the sea side of the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the stern of the ship's hatch in the dock coordinate system. of axis, axis, Axis coordinates.

[0031] The formula for calculating the hatch length is: ; in, Indicates the length of the hatch.

[0032] The formula for calculating the hatch elevation is: ; in, Indicates the hatch elevation.

[0033] Bottom Elevation For the point cloud of the hold in the dock coordinate system The average value of the axis coordinates.

[0034] The formula for calculating the cabin height is: ; in, Indicates the cabin altitude.

[0035] The formula for calculating the partition height is: ; in, Indicates the partition height. , These represent the two endpoints of the partition in the dock coordinate system. , of Axis coordinates.

[0036] The formula for calculating the distance from the hatch to the connection point between the cantilever and the chute is: ; in, Indicates the connection point from the hatch to the cantilever and chute. distance, Indicates the connection point between the cantilever and the chute in the wharf coordinate system. of Axis coordinates.

[0037] The formula for calculating the distance from the bottom of the bilge to the connection point between the cantilever and the chute is: ; in, Indicates the connection point from the bilge to the cantilever and chute. The distance.

[0038] In one possible embodiment, the loading strategy is planned based on the ship type data.

[0039] In this embodiment, the terminal production management system formulates loading operation orders based on the incoming ship information. The work orders include material information, stockpile information, process line equipment, materials and quality of each hold, etc. Utilizing historical and industry loading experience, the system formulates loading strategies and determines the loading rounds based on ship type data.

[0040] Specifically, the loading strategy is determined based on ship type data and loading volume, such as... Figure 12 As shown, for a 10,000-ton, two-tank ship, the loading strategy for a 10,000-ton loading capacity is as follows: In the first round, the sluice box loading is carried out along loading points ① to ⑩. The solid line is the loading route, and the dashed line is the sluice box moving route. Subsequent loading rounds repeat along points ③ to ⑩. The entire loading process does not require interruption of the flow.

[0041] In one possible embodiment, the safe operating parameters of the chute include the safe distance between the chute outlet and the top of the material, the safe distance between the chute outlet and the edge of the hatch, and the safe distance between the chute outlet and the top of the partition when shifting hatches; the motion parameters of the ship loader include trolley control parameters, cantilever control parameters, and chute control parameters. The trolley control parameters include the position coordinates of the trolley in the wharf coordinate system, the cantilever control parameters include the extension length, pitch angle, and slewing angle of the cantilever, and the chute control parameters include the extension length of the chute.

[0042] In this embodiment, the safe distance between the outlet of the chute and the top of the material is set to 0.3m, the safe distance between the outlet of the chute and the edge of the hatch is set to 0.5m, and the safe distance between the outlet of the chute and the top of the partition is set to 0.3m when the hatch is moved.

[0043] Specifically, such as Figure 5 As shown, the outlet of the chute The safe distance from the top of the material is , Figure 5 middle, This indicates that the material is of high quality.

[0044] In one possible embodiment, the method for monitoring material height includes: Obtain the distance from the material drop point to the connection point between the cantilever and the chute, and update the distance from the hatch to the connection point between the cantilever and the chute; The material height is calculated based on the distance from the material drop point to the connection point between the cantilever and the chute, the updated distance from the hatch to the connection point between the cantilever and the chute, and the height inside the hatch.

[0045] Specifically, the distance from the material drop point to the connection point between the cantilever and the chute is the average distance collected by the radar level gauges located on both sides of the connection point between the cantilever and the chute.

[0046] The formula for calculating material height is: ; in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The distance from the material drop point to the connection point between the cantilever and the chute Indicates the first The first round The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

[0047] In one possible embodiment, such as Figure 6 As shown, the methods for monitoring material height include: Obtain the radius centered on the chute in the dock coordinate system. to Material point cloud within the annular region The average value of the axis coordinates is calculated, and the connection point between the cantilever and the chute in the dock coordinate system is updated. The axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute; Based on the material point cloud within the annular area centered on the chute in the wharf coordinate system. The average value of the axis coordinates, and the connection point between the cantilever and the chute in the updated dock coordinate system. The material height is calculated using the axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute.

[0048] The formula for calculating material height is: ; in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The connection point between the cantilever and the chute in the updated dock coordinate system at each material drop point. Axis coordinates Indicates the first The first round The material point cloud within a ring-shaped area centered on the chute in the dock coordinate system corresponding to each material drop point. The average value of the axis coordinates, Indicates the number of rounds. The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

[0049] In one possible embodiment, the hull's inclination angle includes the hull's position relative to the dock coordinate system. The angle of inclination of the plane and relative to The angle of inclination of a plane.

[0050] like Figure 7 As shown, the ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ; in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the width of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates.

[0051] like Figure 8 As shown, the ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ; in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the length of the hatch.

[0052] When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm.

[0053] Specifically, settings The plane tilt safety adjustment threshold is set to 1°. The safety warning threshold for plane tilt is 1.5°.

[0054] When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm.

[0055] Specifically, settings The plane tilt safety adjustment threshold is set to 1.5°. The safety warning threshold for plane tilt is 3°.

[0056] In one possible embodiment, such as Figure 9 As shown, the translational drift distance of the hull includes the hull's movement along the dock coordinate system. Translational drift distance of the axis and along Translational drift distance of the axis .

[0057] When the ship's hull is in the dock coordinate system Translational drift distance of the axis Greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation When the ship's hull is along the dock coordinate system Translational drift distance of the axis Greater than When the axis translation safety warning threshold is reached, a prompt will be made to re-tether the cable.

[0058] Specifically, settings The axis translation safety adjustment threshold is set to 1m. The safety warning threshold for axis translation is 4m.

[0059] When the ship's hull is in the dock coordinate system Translational drift distance of the axis Greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation When the ship's hull is along the dock coordinate system Translational drift distance of the axis Greater than When the axis translation safety warning threshold is reached, a prompt will be made to re-tether the cable.

[0060] Specifically, settings The axis translation safety adjustment threshold is set to 0.5m. The safety warning threshold for axis translation is 2m.

[0061] In one possible embodiment, the rotational drift angle of the hull is the hull relative to the dock coordinate system. The rotational drift angle of the axis.

[0062] like Figure 10 As shown, the ship's hull relative to the dock coordinate system The rotational drift angle of the axis is: ; in, Indicates the ship's hull relative to the dock coordinate system. The rotational drift angle of the axis, Indicates the length of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates.

[0063] When the ship's hull is relative to the dock coordinate system Rotational drift angle of the axis When the rotation safety adjustment threshold is exceeded, the outlet of the control chute rotates relative to the hatch center coordinates based on the dock coordinate system. When the ship's hull is relative to the dock coordinate system Rotational drift angle of the axis If the speed exceeds the rotation safety warning threshold, a prompt will be made to re-tether the cable.

[0064] Specifically, the rotation safety adjustment threshold is set to 1°, and the rotation safety warning threshold is set to 3°.

[0065] The new coordinates of the material drop point after rotating the outlet of the control chute relative to the hatch center coordinates based on the dock coordinate system are: ; in, , Representing the first in the dock coordinate system The first round Each material drop point axis, Axis coordinates , These represent the control chute outlet after rotation relative to the hatch center coordinates based on the dock coordinate system. , The updated value, , These represent the center of the hatch in the dock coordinate system, i.e., the midpoint of the partition. of axis, Axis coordinates.

[0066] This invention provides an automatic ship loading balance control system applied to the automatic ship loading balance control method provided in this invention, such as... Figure 11 As shown, it includes: The detection subsystem is used to acquire detection data at the loading site and transmit it to the data processing subsystem and the control execution subsystem. The data processing subsystem is used to generate loading strategies and loading instructions based on the detection data at the loading site and transmit them to the control execution subsystem. The control execution subsystem is used to integrate and process the detection data, loading strategies, loading instructions and manual instructions at the loading site, generate control instructions for the loading machine, control the loading machine to perform loading according to the control instructions, and feed back the status and execution results of the loading machine to the human-machine interaction subsystem. The human-machine interaction subsystem is used to visualize the status and execution results of the ship loader, and provides an interface to receive manual instructions input by operators and send the manual instructions to the control execution subsystem; The detection subsystem includes: The ship loader testing unit includes a trolley positioning device for detecting the position coordinates of the trolley, a cantilever extension testing device for detecting the extension length of the cantilever, a cantilever pitch testing device for detecting the pitch angle of the cantilever, a cantilever rotation testing device for detecting the rotation angle of the cantilever, and a chute extension testing device for detecting the extension length of the chute. The trolley positioning device, cantilever extension testing device, cantilever pitch testing device, cantilever rotation testing device, and chute extension testing device are all equipped with a correlation calibration device for verifying the test data. Laser scanning unit, used to scan point cloud data of ship and dock surfaces; The collision avoidance detection unit is used for collision avoidance detection of large vehicles, cantilever arms, and chute. The material height detection unit is used to detect the height of the material near the outlet of the chute; Metering units include a wharf entrance belt scale for measuring the loading volume, a stockyard exit belt scale for measuring the material taking volume, and a discharge point belt scale for measuring the unloading volume. The water level detection unit is used to detect the water level at the dock.

[0067] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic ship loading balance control method, the ship loader comprising a trolley, a cantilever mounted on the trolley, and a chute connecting the cantilever, characterized in that, include: Scan the cabins of berthed empty ships, create a 3D model of the cabins, construct the dock coordinate system and the ship coordinate system, and obtain ship type data; Based on the ship type data, plan the loading strategy, set the loading rounds and the coordinates of the material drop points and target material height for each round, and determine the safe operation parameters of the chute; Based on the current round's material drop point coordinates and the chute's safety operation parameters, the chute's outlet is controlled to align with the current round's material drop point coordinates by adjusting the ship loader's motion parameters and using the dock coordinate system. When the material height of the current round reaches the target material height, the chute's outlet is controlled to move to the next round's material drop point coordinates. During the loading process, the 3D model of the ship's hold is refreshed to obtain the ship's attitude. When the ship's tilt angle is greater than the tilt safety adjustment threshold, the outlet of the control chute is mirrored based on the ship's coordinate system. When the ship's tilt angle is greater than the tilt safety warning threshold, a tilt alarm is issued. When the ship's translational drift distance is greater than the translation safety adjustment threshold, the outlet of the control chute is controlled to follow the ship's translation based on the dock coordinate system. When the ship's translational drift distance is greater than the translation safety warning threshold, a re-mooring is prompted. When the ship's rotational drift angle is greater than the rotation safety adjustment threshold, the outlet of the control chute is rotated relative to the hatch center coordinates based on the dock coordinate system. When the ship's rotational drift angle is greater than the rotation safety warning threshold, a re-mooring is prompted. Loading operations will cease once the target loading volume is reached.

2. The automatic ship loading balance control method according to claim 1, characterized in that, Scan the cabins of berthed empty ships, create a 3D model of the cabins, construct the dock coordinate system and the ship coordinate system, and obtain ship type data including: A laser scanner was used to scan the cabins of an empty ship that was moored, a 3D model of the cabins was created, and the point cloud sliding window method was used to identify the ship's hatches and partitions. The first origin is the endpoint of the wharf shoreline. The wharf shoreline is The axis, the normal line of the wharf shoreline is The axis, vertically upward is Establish the dock coordinate system using axes; The second origin is the midpoint of the ship's partition. The longitudinal centerline of the ship is The normal to the longitudinal axis of a ship is... The axis, vertically upward is Establish the ship's coordinate system using axes; Ship parameters are calculated based on the dock coordinate system, ship type is defined based on the ship parameters, and ship type data is obtained.

3. The automatic ship loading balance control method according to claim 2, characterized in that, Ship parameters include the ship's hatch width, hatch length, hatch elevation, hull elevation, hull height, partition height, and the distance from the hatch and hull to the connection point of the cantilever and chute. The formula for calculating the hatch width is: ； in, Indicates the width of the hatch. , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the bow of the ship in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the vertices of the stern on the sea side of the hatch in the dock coordinate system. of axis, axis, Axis coordinates , , These represent the landside vertices of the stern of the ship's hatch in the dock coordinate system. of axis, axis, Axis coordinates; The formula for calculating the hatch length is: ； in, Indicates the length of the hatch; The formula for calculating the hatch elevation is: ； in, Indicates the hatch elevation; Bottom Elevation For the point cloud of the hold in the dock coordinate system The average value of the axis coordinates; The formula for calculating the cabin height is: ； in, Indicates cabin altitude; The formula for calculating the partition height is: ； in, Indicates the partition height. , These represent the two endpoints of the partition in the dock coordinate system. , of Axis coordinates; The formula for calculating the distance from the hatch to the connection point between the cantilever and the chute is: ； in, Indicates the connection point from the hatch to the cantilever and chute. distance, Indicates the connection point between the cantilever and the chute in the wharf coordinate system. of Axis coordinates; The formula for calculating the distance from the bottom of the bilge to the connection point between the cantilever and the chute is: ； in, Indicates the connection point from the bilge to the cantilever and chute. The distance.

4. The automatic ship loading balance control method according to claim 1, characterized in that, The safe operating parameters for the chute include the safe distance between the chute outlet and the top of the material, the safe distance between the chute outlet and the edge of the hatch, and the safe distance between the chute outlet and the top of the partition when shifting hatches. The motion parameters of the ship loader include the trolley control parameters, the cantilever control parameters, and the chute control parameters. The trolley control parameters include the position coordinates of the trolley in the wharf coordinate system. The cantilever control parameters include the extension length, pitch angle, and slewing angle of the cantilever. The chute control parameters include the extension length of the chute.

5. The automatic ship loading balance control method according to claim 1, characterized in that, Methods for monitoring material levels include: Obtain the distance from the material drop point to the connection point between the cantilever and the chute, and update the distance from the hatch to the connection point between the cantilever and the chute; The material height is calculated based on the distance from the material drop point to the connection point between the cantilever and the chute, the updated distance from the hatch to the connection point between the cantilever and the chute, and the height inside the hatch. The distance from the material drop point to the connection point between the cantilever and the chute is the average distance collected by the radar level gauges located on both sides of the connection point between the cantilever and the chute. The formula for calculating material height is: ； in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The distance from the material drop point to the connection point between the cantilever and the chute Indicates the first The first round The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

6. The automatic ship loading balance control method according to claim 1, characterized in that, Methods for monitoring material levels include: Obtain the material point cloud within a ring-shaped area centered on the chute in the dock coordinate system. The average value of the axis coordinates is calculated, and the connection point between the cantilever and the chute in the dock coordinate system is updated. The axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute; Based on the material point cloud within the annular area centered on the chute in the wharf coordinate system. The average value of the axis coordinates, and the connection point between the cantilever and the chute in the updated dock coordinate system. Calculate the material height using the axis coordinates and the distance from the hatch to the connection point between the cantilever and the chute; The formula for calculating material height is: ； in, Indicates the first The first round The material height at each drop point Indicates the cabin height. Indicates the first The first round The connection point between the cantilever and the chute in the updated dock coordinate system at each material drop point. Axis coordinates Indicates the first The first round The material point cloud within a ring-shaped area centered on the chute in the dock coordinate system corresponding to each material drop point. The average value of the axis coordinates, Indicates the first The first round The distance from the hatch to the connection point between the cantilever and the chute at each material drop point is updated.

7. The automatic ship loading balance control method according to claim 1, characterized in that, The hull's inclination angle includes the hull's position relative to the dock coordinate system. The angle of inclination of the plane and relative to The angle of inclination of a plane; The ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ； in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the width of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates; The ship's hull relative to the dock coordinate system The angle of inclination of the plane is: ； in, Indicates the ship's hull relative to the dock coordinate system. The angle of inclination of the plane, Indicates the length of the hatch; When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm; When the ship's hull is relative to the dock coordinate system The angle of inclination of the plane is greater than When adjusting the safety threshold for plane tilt, the outlet of the control chute relative to the ship's coordinate system... Mirroring the ship in a plane, when the ship's hull is relative to the dock coordinate system... The angle of inclination of the plane is greater than When the plane tilts to the safety warning threshold, a warning is issued. Plane tilt alarm.

8. The automatic ship loading balance control method according to claim 1, characterized in that, The translational and drift distance of the hull includes the hull's position along the dock coordinate system. Translational drift distance of the axis and along The translational drift distance of the axis; When the ship's hull is in the dock coordinate system The translational drift distance of the axis is greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation, when the ship's hull moves along the axis in the dock coordinate system The translational drift distance of the axis is greater than When the axis translation safety warning threshold is reached, a prompt to re-tether the cable should be made. When the ship's hull is in the dock coordinate system The translational drift distance of the axis is greater than When adjusting the axis translation safety threshold, the outlet of the control chute, based on the dock coordinate system, follows the hull along... Axis translation, when the ship's hull moves along the axis in the dock coordinate system The translational drift distance of the axis is greater than When the axis translation safety warning threshold is reached, a prompt will be made to re-tether the cable.

9. The automatic ship loading balance control method according to claim 1, characterized in that, The rotational drift angle of the hull is the hull relative to the dock coordinate system. The rotational drift angle of the axis; The ship's hull relative to the dock coordinate system The rotational drift angle of the axis is: ； in, Indicates the ship's hull relative to the dock coordinate system. The rotational drift angle of the axis, Indicates the length of the hatch. , , , These represent the sea-side vertices of the bow of the ship at the hatch in the dock coordinate system. stern seaside apex , the landward apex of the bow Stern landside apex of Axis coordinates; The new coordinates of the material drop point after rotating the outlet of the control chute relative to the hatch center coordinates based on the dock coordinate system are: ； in, , Representing the first in the dock coordinate system The first round Each material drop point axis, Axis coordinates , These represent the control chute outlet after rotation relative to the hatch center coordinates based on the dock coordinate system. , The updated value, , These represent the center of the hatch in the dock coordinate system, i.e., the midpoint of the partition. of axis, Axis coordinates.

10. An automatic ship loading balance control system applied to the automatic ship loading balance control method according to any one of claims 1 to 9, characterized in that, include: The detection subsystem is used to acquire detection data at the loading site and transmit it to the data processing subsystem and the control execution subsystem. The data processing subsystem is used to generate loading strategies and loading instructions based on the detection data at the loading site and transmit them to the control execution subsystem. The control execution subsystem is used to integrate and process the detection data, loading strategies, loading instructions and manual instructions at the loading site, generate control instructions for the loading machine, control the loading machine to perform loading according to the control instructions, and feed back the status and execution results of the loading machine to the human-machine interaction subsystem. The human-machine interaction subsystem is used to visualize the status and execution results of the ship loader, and provides an interface to receive manual instructions input by operators and send the manual instructions to the control execution subsystem; The detection subsystem includes: The ship loader testing unit includes a trolley positioning device for detecting the position coordinates of the trolley, a cantilever extension testing device for detecting the extension length of the cantilever, a cantilever pitch testing device for detecting the pitch angle of the cantilever, a cantilever rotation testing device for detecting the rotation angle of the cantilever, and a chute extension testing device for detecting the extension length of the chute. The trolley positioning device, cantilever extension testing device, cantilever pitch testing device, cantilever rotation testing device, and chute extension testing device are all equipped with a correlation calibration device for verifying the test data. Laser scanning unit, used to scan point cloud data of ship and dock surfaces; The collision avoidance detection unit is used for collision avoidance detection of large vehicles, cantilever arms, and chute. The material height detection unit is used to detect the height of the material near the outlet of the chute; Metering units include a wharf entrance belt scale for measuring the loading volume, a stockyard exit belt scale for measuring the material taking volume, and a discharge point belt scale for measuring the unloading volume. The water level detection unit is used to detect the water level at the dock.

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