Ship berth absolute coordinate-based shore-to-ship crane berth changing method and shore-to-ship crane berth changing device

Abstract

Embodiments of the present application disclose a shore-to-ship crane berth changing method based on absolute coordinates of ship berths and a shore-to-ship crane berth changing device. The method comprises: receiving a shore-to-ship crane berth changing task; obtaining historical operation record information of a target ship; determining whether the recorded berths in the historical operation record information include a target berth according to the historical operation record information; outputting a manual berth changing prompt information when the recorded berths in the historical operation record information are empty; controlling the shore-to-ship crane to the target berth for operation according to the absolute coordinates of the target berth when the recorded berths include the target berth; obtaining relative coordinate information corresponding to the target ship when the recorded berths are not empty and do not include the target berth; determining the absolute coordinates of the target berth according to the operation record information and the relative coordinate information, and controlling the shore-to-ship crane to the target berth for operation. Through the scheme, the demand for manual intervention is greatly reduced, and the berth changing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of container terminal automation, and in particular to a quay crane shell-changing method and device based on the absolute coordinates of the ship's shell position. Background Technology

[0002] In automated operations at container terminals, computer commands direct a series of automated devices to relay containers from one location on a container ship to another off-ship location, or vice versa. The location on the container ship is determined by bay number, row number, and layer number. Bay numbering is longitudinal, running from bow to stern. Row numbering is transverse, proceeding from the ship's center outwards to port and starboard. Layer numbering is vertical. When a quay crane operates on the ship, a bay transfer operation is first performed, moving the crane along a track on the quay to the corresponding bay. Only after the crane is secured can loading and unloading operations begin at the container bay where the crane is located.

[0003] However, currently, the direction and position of the same vessel upon arrival at port are uncertain each time, resulting in different coordinates for the hull location each time. This forces the hull-changing operation to rely solely on manual operation by the operator. Furthermore, the operator cannot know the exact hull location of the quay crane from the remote control room, requiring guidance from the ship's command officer. This leads to the quay crane frequently stopping and starting, and even moving back and forth, during the hull-changing process, making the operation complex and inefficient. Summary of the Invention

[0004] This application addresses some of the shortcomings by providing a quay crane shell-changing method and device based on the absolute coordinates of the ship's shell position. This solution can accurately calculate the absolute coordinates of the container ship's shell position, significantly reducing the need for manual shell-changing operations and greatly improving the efficiency and automation of quay crane shell-changing. Furthermore, by establishing a database of historical ship operation records and relative coordinate information, the absolute coordinates of unknown shell positions can be calculated using the relative coordinate differences between shell positions, ensuring accurate quay crane positioning, reducing operational interruptions, and improving the overall operational efficiency of the terminal.

[0005] Firstly, a method for quay crane-based barn swapping based on the absolute coordinates of a ship's barn location is provided, comprising: receiving a quay crane-based barn swapping task, the task instructing the quay crane to reach the target barn location of the target ship and perform the operation; acquiring historical operation record information of the target ship, the historical operation record information indicating the absolute coordinates of the recorded barn locations of the target ship after arrival at port for the current voyage; determining, based on the historical operation record information, whether the recorded barn locations include the target barn location; when the recorded barn locations in the historical operation record information are empty, outputting a manual barn swapping prompt message; and, if the recorded barn locations include the target barn location, determining, based on the absolute coordinates of the target barn location indicated by the historical operation record information... The system controls the quay crane to operate at the target bay location to complete the bay replacement task. If the recorded bay locations are not empty but do not include the target bay location, the system acquires the relative coordinate information corresponding to the target vessel. This relative coordinate information indicates the relative coordinate difference between multiple bay locations of the target vessel, including the first bay location among the recorded bay locations and the target bay location. Based on the absolute coordinates of the first bay location indicated by the operation record information and the relative coordinate difference between the first bay location and the target bay location indicated by the relative coordinate information, the system determines the absolute coordinates of the target bay location. Based on the absolute coordinates of the target bay location, the system controls the quay crane to operate at the target bay location to complete the bay replacement task.

[0006] This solution enables quay cranes to automatically locate target barn positions directly based on absolute coordinate records from historical operations, significantly reducing the need for manual intervention and improving barn changing efficiency. Simultaneously, a dynamic calculation mechanism based on the relative coordinate differences between barn positions allows for the estimation of positions not directly recorded, minimizing the impact of changes in vessel berthing positions on operations and enhancing automation accuracy.

[0007] In conjunction with the first aspect, in a possible implementation of the first aspect, the method further includes: in response to confirming that the quay crane has picked up a container from the target bay or placed the container at the target bay, adding the absolute coordinates of the target bay to the historical operation record information.

[0008] This solution automatically captures and stores the absolute coordinates of the shell location during loading and unloading operations, continuously improving the historical operation record database and providing data support for subsequent shell replacement tasks.

[0009] In conjunction with the first aspect, in a possible implementation of the first aspect, when the recorded bit is not empty and does not include the target bit, the recorded bit includes a second bit, and the relative coordinate information includes a first relative coordinate difference between the first bit and the second bit and a second relative coordinate difference between the second bit and the target bit. Determining the absolute coordinates of the target bit based on the absolute coordinates of the first bit indicated by the job record information and the relative coordinate difference between the first bit and the target bit indicated by the relative coordinate information includes: determining the target relative coordinate difference between the first bit and the target bit based on the first relative coordinate difference and the second relative coordinate difference; and determining the absolute coordinates of the target bit based on the absolute coordinates of the first bit indicated by the job record information and the target relative coordinate difference.

[0010] This scheme indirectly calculates the target position coordinates by using the relationship of relative coordinate differences, thus overcoming the limitation of single position association and improving the positioning reliability under complex working conditions.

[0011] In conjunction with the first aspect, in a possible implementation of the first aspect, the method further includes: in response to confirming that the target vessel has departed, adding the target relative coordinate difference to the relative coordinate information.

[0012] This scheme accumulates relative coordinate difference data of ship positions under different voyages, optimizes the method of estimating ship positions for subsequent voyages, and achieves long-term effectiveness and comprehensiveness of relative coordinate information.

[0013] In conjunction with the first aspect, in a possible implementation of the first aspect, the relative coordinate information further includes a third relative coordinate difference between the third bay position and the first bay position. The method further includes: determining a fourth relative coordinate difference between the target bay position and the third bay position based on the target absolute coordinate difference and the third relative coordinate difference; and adding the fourth relative coordinate difference to the relative coordinate information in response to confirming that the target vessel has departed.

[0014] This scheme expands the relative coordinate relationship of the beta position and enables cross-validation of data, thereby improving the completeness and accuracy of the relative coordinate information.

[0015] In conjunction with the first aspect, in a possible implementation of the first aspect, obtaining the relative coordinate information corresponding to the target vessel includes: obtaining the berthing direction of the target vessel, which includes berthing on the port side or on the starboard side; and determining the sign of the relative coordinate difference indicated by the relative coordinate information based on the berthing direction, wherein the sign of the relative coordinate difference is opposite when the berthing direction is port side berthing and when the berthing direction is starboard side berthing.

[0016] This scheme solves the problem of coordinate offset caused by changes in the berthing direction of ships, avoids deviations in berthing coordinate calculation due to direction switching, and enhances the robustness of the method.

[0017] Secondly, a quay crane shell-changing device based on the absolute coordinates of a ship's shell location is provided, comprising: an acquisition module for acquiring a quay crane shell-changing task, the task instructing the quay crane to proceed to a target shell location of a target ship for operation, and acquiring historical operation record information of the target ship, the historical operation record information indicating the absolute coordinates of the recorded shell locations of the target ship; and a processing module for determining, based on the historical operation record information, whether the recorded shell locations include the target shell location; if the recorded shell locations include the target shell location, the processing module is specifically used to control the quay crane to proceed to the target shell location for operation based on the absolute coordinates of the target shell location indicated by the historical operation record information. The processing module is used to complete the quay crane shell swapping task. If the recorded shell locations do not include the target shell location, the acquisition module is specifically used to acquire the relative coordinate information corresponding to the target vessel. This relative coordinate information indicates the relative coordinate difference between multiple shell locations of the target vessel, including the first shell location among the recorded locations and the target shell location. The processing module is specifically used to determine the absolute coordinates of the target shell location based on the absolute coordinates of the first shell location indicated by the operation record information and the relative coordinate difference between the first shell location and the target shell location indicated by the relative coordinate information. Based on the absolute coordinates of the target shell location, the processing module controls the quay crane to proceed to the target shell location to complete the quay crane shell swapping task.

[0018] Thirdly, an electronic device is provided, comprising: at least one memory and at least one processor, the memory being coupled to the processor; the memory being used to store computer program code / instructions; when the computer program code / instructions are executed by the processor, causing the electronic device to implement the shore-based shell replacement method based on the absolute coordinates of the ship's shell position as described in any of the first aspects.

[0019] Fourthly, a readable storage medium is provided, on which instructions are stored, which, when executed on an electronic device, cause the electronic device to implement the shore-based shell-changing method based on the absolute coordinates of the ship's shell position as described in any of the first aspects.

[0020] Fifthly, a computer program product is provided, comprising: computer instructions that, when executed on an electronic device, cause the electronic device to implement the shore-to-shore shell replacement method based on the absolute coordinates of the ship's shell position as described in any of the first aspects. Attached Figure Description

[0021] Figure 1 A schematic diagram of a container ship number provided in an embodiment of this application is shown;

[0022] Figure 2 A schematic flowchart of the shore-based shell swapping method based on the absolute coordinates of the ship's shell position, provided in an embodiment of this application, is shown.

[0023] Figure 3 A schematic flowchart of a shore-bridge shell-changing method provided in an embodiment of this application is shown;

[0024] Figure 4 This illustration shows a schematic diagram of the modular composition of a shore-bridge shell-exchanging device provided in an embodiment of this application;

[0025] Figure 5 A block diagram of an electronic device provided in an embodiment of this application is shown;

[0026] Figure 6 This illustration shows a structural schematic diagram of a system-on-chip (SoC) provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] First, the prior art and technical problems involved in the embodiments of this application are introduced.

[0029] As mentioned earlier, the position on a container ship consists of the bay number, row number, and layer number. Among them, the bay number is a longitudinal number, that is, numbered from bow to stern; the row number is a transverse number, that is, numbered from the center of the ship towards the port and starboard sides; and the layer number is a vertical number.

[0030] Figure 1 A schematic diagram illustrating a container ship numbering system provided in an embodiment of this application is shown. For example... Figure 1 As shown, the berth number indicates the container's position along the length of the ship, used to determine the cargo's fore-and-aft position on board. Specifically, in... Figure 1 In the scenario shown, the bays are numbered using the width of a 20-foot container as the module, with odd numbers representing 20-foot bays and even numbers representing 40-foot bays. For example, 01, 03, etc., represent 20-foot bays, while 02, 06, etc., represent 40-foot bays. When actually loading a 40-foot container, it will occupy two consecutive odd-numbered bays. Furthermore, as... Figure 1 As shown, the rank number indicates the position of the container along the width of the ship, and is divided from the center of the ship toward the port and starboard sides. It is used to determine the port and starboard position of the cargo on the deck or in the hold.

[0031] When a quay crane operates on a vessel, the first step is to perform a shell-changing operation, which involves moving the quay crane along the shoreline tracks to the corresponding shell-changing position. Specifically, the quay crane first moves horizontally along the longitudinal direction of the dock's shoreline tracks, aligns with the different shell-changing positions on the vessel, and then anchors. It can then move laterally using a quay crane trolley that covers all the positions from port to starboard under that shell-changing position.

[0032] As mentioned earlier, because the direction and position of the same ship berthing at a port are uncertain each time it arrives, the berth coordinates are also different each time it arrives. In other words, Figure 1 The coordinates of the barn positions shown will change depending on the direction and position of the ship. Currently, the quay crane operator can only perform barn replacement manually, that is, manually align the barn with the different barn positions on the ship, which makes the barn replacement operation complicated and inefficient.

[0033] To address the aforementioned issues, this application proposes a shore-based shell replacement method 200 based on the absolute coordinates of the ship's shell position. Figure 2 A schematic flowchart of a shore-based shell-changing method 200 based on the absolute coordinates of a ship's shell position, provided in an embodiment of this application, is shown. Figure 2 As shown, method 200 includes steps S210 to S270. In method 200, by acquiring historical operation record information of the target vessel, and depending on whether the recorded bay positions in the historical operation record information include the target bay position, the absolute coordinates of the bay position are determined by methods such as directly controlling based on historical absolute coordinates or calculating absolute coordinates based on relative coordinate information, thereby controlling the quay crane operation. This allows for accurate calculation of the absolute coordinates of the container ship's bay position, significantly reducing the need for manual bay changing operations and greatly improving the efficiency and automation level of quay crane bay changing.

[0034] Step S210: Receive the barn exchange task from the shore crane.

[0035] The quay crane's shell-changing task is used to instruct the quay crane to reach the target shell location of the target vessel and perform operations. For example, in an embodiment of this application, the quay crane's shell-changing task is an instruction issued by the automated terminal management system to the quay crane control unit. This instruction includes at least the identification information of the target vessel and the shell location number of the target shell location to be operated on. Based on this instruction, the quay crane can move from its current position to the designated shell location of the target vessel to perform container loading and unloading operations. In an embodiment of this application, the target shell location can be... Figure 1 The numbers 01 or 03 are shown.

[0036] Step S220: Obtain the historical operation record information of the target vessel.

[0037] The historical operation record information is used to indicate the absolute coordinates of the recorded container bay positions of the target vessel after its arrival at port for the current voyage. In embodiments of this application, the historical operation record information can be stored in the vessel's operation record table. This historical operation record can be for the same vessel and the same voyage, recording the container bay positions and their absolute coordinates that the quay cranes have actually grabbed or placed during the current voyage of the target vessel. Furthermore, the absolute coordinates of the container bay positions can refer to... Figure 1 The actual physical location coordinates of the bay position shown are usually in millimeters. For example, an absolute coordinate of 64,000 millimeters indicates that the bay position is 64 meters away from the reference zero point of the dock.

[0038] For example, within the same voyage after the target vessel berths, bay positions 01, 02, and 05 have already been operated on, and the historical operation record information records the absolute coordinates of these bay positions, such as bay position 01 having an absolute coordinate of 10,000 mm. After the target vessel departs and re-berths, due to the change in voyage, the historical operation record information will re-record the new absolute coordinates of the bay positions.

[0039] Step S230: Based on the historical operation record information, determine whether the recorded bay number includes the target bay number.

[0040] This step involves querying and matching historical operation records, specifically determining whether the target bay number exists in the set of recorded bay positions. For example, in an embodiment of this application, determining whether the recorded bay positions include the target bay position can involve comparing the target bay position number in the quay crane bay replacement task with all bay position numbers recorded for the current voyage in the ship's operation record table one by one to check for any equalities.

[0041] Step S240: When the recorded bit in the historical job record information is empty, output a manual bit change prompt message.

[0042] In this step, if the system finds no historical operation records for the current voyage, meaning there are no known absolute coordinates of the target bay location for reference, it cannot automatically calculate the target bay location coordinates. Therefore, it can only prompt the operator to intervene manually, such as sending a text message "No historical operation data, please manually change bay locations." For example, in the embodiments of this application, "no recorded bay location" can mean that there is no record for the current voyage number in the ship's operation record table, indicating that the target vessel has not yet performed any loading or unloading operations after this berthing, and no absolute coordinates of the bay location have been obtained.

[0043] Step S250: If the recorded shellfish location includes the target shellfish location, control the quay crane to go to the target shellfish location to perform operations according to the absolute coordinates of the target shellfish location indicated by the historical operation record information, so as to complete the shellfish replacement task of the quay crane.

[0044] In this step, if the absolute coordinates of the target bay location already exist in the historical operation record information, the system directly sends this coordinate value as a control command to the quay crane. This, in turn, drives the coordinated movements of the quay crane's trolley travel mechanism, hoisting mechanism, and other components, enabling the quay crane's spreader to precisely reach the target bay location for container grabbing or placement. For example, assuming the quay crane's bay replacement task requires movement to bay location 02, and the historical operation record information already records the absolute coordinates of bay location 12 as 79000 mm, then in this step, the quay crane can automatically move to this coordinate position and begin operations. The entire bay replacement process requires no manual intervention, making it highly efficient and precise.

[0045] Step S260: If the recorded bay position is not empty and does not include the target bay position, obtain the relative coordinate information corresponding to the target vessel.

[0046] The relative coordinate information is used to indicate the relative coordinate difference between multiple bay positions of the target vessel, including a first bay position among the recorded bay positions and the target bay position. The first bay position may refer to a bay position with known absolute coordinates selected from historical operation records, used as a reference point for calculation. The relative coordinate difference may refer to the coordinate offset of the target bay position relative to the first bay position, and its value can be positive or negative. In embodiments of this application, the relative coordinate information may be pre-stored in a file corresponding to the target vessel.

[0047] In this embodiment of the application, the sign of the relative coordinate difference can be determined based on the berthing direction. Specifically, the berthing direction of the target vessel is obtained, which includes berthing on the port side or the starboard side; based on the berthing direction, the sign of the relative coordinate difference indicated by the relative coordinate information is determined, wherein the sign of the relative coordinate difference is opposite when the berthing direction is port side berthing and when the berthing direction is starboard side berthing.

[0048] Step S270: Based on the absolute coordinates of the first shell location indicated by the operation record information and the relative coordinate difference between the first shell location and the target shell location indicated by the relative coordinate information, determine the absolute coordinates of the target shell location, and control the quay crane to move to the target shell location to perform operations in order to complete the shell replacement task of the quay crane.

[0049] In this step, when historical operation records exist but the target bay location has not yet been recorded, the absolute coordinates of the target bay location can be calculated using the ship's relative coordinate information table. For example, the relative coordinate information records the fixed position differences between different bay locations of the same ship. Therefore, by selecting a first bay location with recorded absolute coordinates and combining the relative coordinate difference between the first bay location and the target bay location, the absolute coordinates of the target bay location can be calculated. Finally, based on the calculated absolute coordinates of the target bay location, the quay crane can be controlled to move to the target bay location for operations, such as driving the quay crane trolley to the designated coordinate position and initiating loading and unloading.

[0050] Method 200 acquires historical operation records of the target vessel and, based on whether the recorded barn location includes the target location, employs a hybrid control strategy that directly uses historical absolute coordinates or calculates absolute coordinates using relative coordinate information. This enables precise calculation and automatic movement of the quay crane to the target barn location without manual operation by the operator or signalman. Ultimately, this solves the problem of reliance on manual operation, complex process, and low efficiency in barn swapping due to the uncertainty of the vessel's berthing direction and position each time, significantly improving barn swapping efficiency and the level of automation at the terminal.

[0051] The following is about Figure 2 Each step or a feasible solution for a particular step is described in detail.

[0052] Optionally, in step S260, this embodiment of the application can also determine the absolute coordinates of the target bay by multi-hop indirect calculation. Specifically, when the recorded bay is not empty and does not include the target bay, the recorded bay includes a second bay, and the relative coordinate information includes a first relative coordinate difference between the first bay and the second bay and a second relative coordinate difference between the second bay and the target bay. Based on the first relative coordinate difference and the second relative coordinate difference, the target relative coordinate difference between the first bay and the target bay is determined; based on the absolute coordinates of the first bay indicated by the job record information and the target relative coordinate difference, the absolute coordinates of the target bay are determined.

[0053] In the embodiments of this application, the second bit position has a relative coordinate relationship with both the first bit position (with known absolute coordinates) and the target bit position. Therefore, the embodiments of this application can calculate the target relative coordinate difference between the first bit position and the target bit position by summing or subtracting the two relative coordinate differences. For example, suppose the historical operation record contains the absolute coordinates of bit position 04, but the relative coordinate information does not contain a direct relative coordinate difference between bit position 04 and target 08, but there is a first relative coordinate difference between bit position 04 and bit position 10, and a second relative coordinate difference between bit position 10 and bit position 08. Therefore, the first relative coordinate difference and the second relative coordinate difference can be added together to obtain the target relative coordinate difference between bit position 04 and bit position 08.

[0054] Through this multi-hop calculation, even if the target position has no direct relative coordinate relationship with any known absolute coordinate position, as long as a relative coordinate path exists, the coordinate calculation can be completed, thereby greatly improving the reliability of positioning.

[0055] Optionally, in step S260, this embodiment of the application may also save the new relative coordinate difference calculated from the current voyage into the relative coordinate information when the ship departs. Specifically, in response to confirming the departure of the target ship, the target relative coordinate difference is added to the relative coordinate information. It should be understood that, in the embodiments of this application, confirming the departure of the target ship may refer to the terminal operating system receiving a confirmation signal that the ship has completed all loading and unloading operations, the crew has cast off the moorings, and left the terminal. The target relative coordinate difference may refer to the coordinate difference between two bay positions that have not been previously stored and are calculated from the recorded absolute coordinates during this berthing period. Furthermore, adding this difference to the ship bay position relative coordinate information table can enrich the database content and provide more comprehensive data support for the future berthing of the same ship.

[0056] Optionally, in step S260, this embodiment of the application can further extend the calculated target relative coordinate difference to generate a new relative coordinate difference between the target and other bay positions. Specifically, the relative coordinate information also includes a third relative coordinate difference between the third bay position and the first bay position. Based on the target absolute coordinate difference and the third relative coordinate difference, a fourth relative coordinate difference between the target bay position and the third bay position is determined. In response to confirming the departure of the target vessel, the fourth relative coordinate difference is added to the relative coordinate information.

[0057] It should be understood that, in the embodiments of this application, the third bit can refer to any other bit that already exists in the relative coordinate information and has a known relative coordinate difference from the first bit. The fourth relative coordinate difference can refer to the coordinate difference between the target bit and the third bit obtained by calculating the target relative coordinate difference between the target bit and the first bit and the third relative coordinate difference between the third bit and the first bit.

[0058] For example, the previous calculations have shown that the target relative coordinate difference between bay position 18 and bay position 4 is 54,000 mm. Assuming the relative coordinate information table already contains a third relative coordinate difference of 30,000 mm between bay position 10 and bay position 4, even if bay position 10 is not currently used, the system can automatically subtract the third relative coordinate difference of 30,000 mm from the target relative coordinate difference of 54,000 mm to obtain a fourth relative coordinate difference of 24,000 mm between bay position 18 and bay position 10. This fourth relative coordinate difference can be used to calculate the absolute coordinates of the target vessel when operating at bay position 10. This scheme greatly enriches the connectivity and data density of the relative coordinate information table, making it easier to find a direct relationship between any known bay position and the target bay position, reducing the number of calculation steps, and improving positioning efficiency and data accuracy.

[0059] Optionally, after calculating the absolute coordinates of the target bay location through step S260, this embodiment of the application can also record the absolute coordinates of the target bay location in real time during each actual loading and unloading operation. Specifically, in response to confirming that the quay crane picks up a container from the target bay location or places the container down at the target bay location, the absolute coordinates of the target bay location are added to the historical operation record information.

[0060] In one embodiment of this application, the calculated absolute coordinates, along with the current voyage number and bay number, can be inserted as a new record into the historical operation record table. Furthermore, in subsequent operations on the same voyage of the same vessel, the absolute coordinates of the target bay can be extracted from the historical operation record at any time without recalculation.

[0061] The following describes a detailed embodiment of method 200 with reference to the accompanying drawings.

[0062] This application provides a relative coordinate information table for a ship's berth. The table stores data including: an auto-incrementing ID, ship name, ship berth number, reference berth number, and the relative coordinates of the berth number to the reference berth number. Table 1 illustrates a relative coordinate information table provided in this application.

[0063]

[0064] In the relative coordinates shown in Table 1, the sign of the relative coordinates can be determined based on the direction the ship is moored. For example, when the ship is moored to starboard, the smaller the bay position, the larger its absolute coordinate. In other words, the coordinates decrease from small to large bay positions. For example, assuming bay position 10 is used as the reference bay position, the relative coordinate of bay position 2 based on bay position 10 is greater than 0, and the relative coordinate of bay position 14 based on bay position 10 is less than 0.

[0065] In the embodiments of this application, the relative coordinate information table may be stored in the file corresponding to the ship, so that the ship, as shown in Table 1, can use it during each quay crane operation, that is, to calculate the absolute coordinates of the bay position during each quay crane operation.

[0066] Furthermore, this application embodiment also provides a historical operation record table for a vessel, which records the absolute coordinates of the bay position recorded during each operation of the quay crane. The historical operation record table stores data including: an auto-incrementing ID, vessel voyage number, vessel bay position number, and the absolute coordinates of the current voyage bay position. Table 2 shows a schematic diagram of a historical operation record table provided in this application embodiment.

[0067]

[0068] As shown in Table 2, the quay crane operates multiple times in bay positions 3, 6, and 12, thus allowing for multiple recordings of the absolute coordinates of these bay positions. In other embodiments of this application, the quay crane can also directly read the absolute coordinates of bay positions 3, 6, and 12 from the historical operation records shown in Table 2 during each operation, without needing to record them again.

[0069] The following describes the shore-bridge shell-changing method provided in this application embodiment, based on the relative coordinate information table shown in Table 1 and the historical operation record table shown in Table 2. Figure 3 A schematic flowchart of a shore-bridge shell-changing method provided in an embodiment of this application is shown.

[0070] like Figure 3 As shown, corresponding to step S210, after the vessel berths, the quay crane receives the work assignment and then confirms whether a shell change is required. For example, this work assignment instructs the quay crane to operate at the vessel's shell bay 18 (i.e., the aforementioned target shell bay), thus requiring the quay crane to change shells. Furthermore, corresponding to step S220, based on this work assignment, the quay crane determines that it needs to attempt to obtain the absolute coordinates of shell bay 18, that is, to obtain the absolute coordinates of shell bay 18 based on the historical work record table shown in Table 2. Then, corresponding to step S230, the quay crane needs to confirm whether the historical work record table includes the absolute coordinates of shell bay 18.

[0071] In some embodiments of this application, corresponding to step S240, if the recorded bay number in the historical operation record table is empty, the quay crane cannot obtain the absolute coordinates of bay number 18. Furthermore, as... Figure 3 As shown, the quay crane can only change shells manually by the operator. For example, if a ship has just docked at the port and the quay crane has not performed any operations during the same voyage, the quay crane can only change shells manually by the operator due to the lack of coordinate information on the ship's docking position and direction.

[0072] In some embodiments of this application, corresponding to step S250, if the absolute coordinates of bay berth 18 have been recorded in the historical operation record table, the quay crane can directly move to bay berth 18 to perform operations based on the absolute coordinates of bay berth 18 recorded in the historical operation record table to complete the operation task. For example, if the quay crane has previously performed operations at bay berth 18 within the same voyage of the vessel, then as shown in Table 2, the historical operation record table can record the absolute operations of bay berths that have been completed, that is, record the absolute coordinates of bay berth 18.

[0073] In some other embodiments of this application, corresponding to step S260, if the historical job record table is not empty and does not include the absolute coordinates of bit 18, the embodiments of this application can obtain a relative coordinate information table. For example, taking Table 1 and Table 2 as examples, the historical job record table shown in Table 2 does not include bit 18, so the embodiments of this application can obtain the relative coordinate information table shown in Table 1.

[0074] In one case, as shown in Table 2, the historical operation record table records the absolute coordinates of bay positions 3, 6, 12 and 20, while the absolute coordinates of bay position 18 cannot be determined from the existing relative coordinates in Table 1. Therefore, in this case, the driver must manually change the bay.

[0075] In another case, if the relative coordinate information table records the relative coordinates of position 18 and the position in the historical operation record table, then the embodiments of this application can determine the absolute coordinates of position 18 based on the relative coordinate information table and the historical operation record table.

[0076] For example, Table 3 shows a schematic of another relative coordinate information table according to an embodiment of this application.

[0077]

[0078] Table 3 shows that the relative coordinate difference between bay berth 18 and bay berth 3 (i.e., the aforementioned first bay berth) is 24,000 mm, indicating a direct reference relationship between them. Table 2 shows that the absolute coordinate of bay berth 3 is 106,000 mm. Furthermore, since the vessel is berthing to starboard, the absolute coordinate of bay berth 18 relative to bay berth 3 will be smaller, therefore the relative coordinate needs to be reversed, i.e., -24,000. Finally, the absolute coordinate of bay berth 18 is 106,000 - 24,000 = 82,000 mm.

[0079] As another example, Table 4 shows a schematic of yet another relative coordinate information table as illustrated in an embodiment of this application.

[0080]

[0081] Table 4 records the relative coordinate differences between bayonet position 18 and bayonet position 1 (i.e., the aforementioned first bayonet position), and between bayonet position 3 (i.e., the aforementioned second bayonet position) and bayonet position 1, indicating an indirect reference relationship between bayonet position 18 and bayonet position 3. Therefore, based on the relative coordinate values ​​shown in Table 4, the relative coordinate difference between bayonet position 18 and bayonet position 1 (i.e., the aforementioned first relative coordinate difference) can be subtracted from the relative coordinate difference between bayonet position 3 and bayonet position 1 (i.e., the aforementioned second relative coordinate difference), yielding a relative coordinate difference of 30000 - 6000 = 24000 mm between bayonet position 18 and bayonet position 3. Furthermore, based on Table 1 and the relative coordinate difference between bayonet position 18 and bayonet position 3, the absolute coordinate of bayonet position 18 is obtained as 106000 - 24000 = 82000 mm.

[0082] Continue to refer to Figure 3 In some embodiments of this application, after calculating the absolute coordinates of bay berth 18 to be 82,000 mm, in response to confirming that the quay crane has picked up a container from bay berth 18 or lowered the container at bay berth 18, embodiments of this application can add the absolute coordinates of bay berth 18 (82,000 mm) to the historical operation record table shown in Table 1. For example, embodiments of this application can record the current voyage of the operating vessel, the operating bay number 18, and the absolute coordinates of the operating bay (82,000 mm) to the vessel's historical operation record table.

[0083] Continue to refer to Figure 3 In other embodiments of this application, when a vessel departs, the embodiments of this application can recalculate the relative coordinates between each pair of operational bay positions based on all vessel operation records for the current voyage and the vessel's existing bay position relative coordinate information. Furthermore, the embodiments of this application can also convert the existing relative coordinates in the relative coordinate information table into relative coordinates between the operational bay position and the basic reference bay position number, and save this information to the vessel bay position relative coordinate information table.

[0084] For example, Table 5 shows the relative coordinates between pairs of recalculated positions provided in the embodiments of this application.

[0085]

[0086] Table 5 shows the relative coordinates between all pairs of berths with overlapping timelines after the quay crane operation. The calculation of relative coordinates requires consideration of the vessel's berthing direction. For example, if the vessel is berthing to starboard, the absolute coordinate of berth 10 is 64,000 mm, and the absolute coordinate of berth 18 is 40,000 mm. Therefore, the relative coordinate of berth 18 to berth 10 is 24,000 mm, not -24,000 mm.

[0087] For example, assuming the relative coordinate information during the quay crane operation is shown in Table 1, by iterating through the data in Tables 1 and 5, the data for bay positions 18 and 10 can be processed. Specifically, by searching for data in Table 1 where the bay position or reference bay position is equal to 18 or 10, the data with Id 3 is obtained. The relative coordinate of 10 bays relative to 8 bays is 6000 mm, while according to Table 5, the relative coordinate of 18 bays relative to 10 bays is 24000 mm. Furthermore, by performing calculations on these two data points, the relative coordinate of 18 bays relative to 8 bays is 24000 + 6000 = 30000, and this calculation result can be saved in Table 5. By performing the same processing on the other data in Table 1, the updated result of Table 1 is finally obtained, as shown in Table 6 with newly added Ids 4-7.

[0088]

[0089] Referring to Table 6, we find two data points with position 2, which can be further merged. From these two data points, we know that the relative coordinate of position 8 to position 1 is -(-18000) + 3000 = 21000. This leads to Id7 in Table 7 as shown below.

[0090]

[0091] Furthermore, as shown in Table 7, bayonet position 8 appears in both the bayonet position and the reference bayonet position, and therefore can be further merged. Consequently, the relative coordinates of bayonet position 10 relative to bayonet position 1 are 6000 + 21000 = 27000, and the relative coordinates of bayonet position 18 relative to bayonet position 1 are 30000 + 21000 = 51000. Thus, Table 8 is obtained as shown below.

[0092]

[0093] As shown in Table 8, all bay positions share the same reference bay position. Therefore, by determining the absolute coordinates of bay position 1, the coordinates of the other bay positions can be obtained. The data shown in Table 8 can be updated in the ship's relative coordinate information table.

[0094] The embodiments of this application enable the accurate calculation of the absolute coordinates of container ship bay positions, significantly reducing the need for manual bay changing operations and greatly improving the efficiency and automation of quay crane bay changing. Furthermore, by establishing a database of historical ship operation records and relative coordinate information, the absolute coordinates of unknown bay positions can be calculated using the relative coordinate differences between bay positions, ensuring accurate quay crane positioning, reducing operational interruptions, and improving the overall operational efficiency of the terminal.

[0095] It is understood that the specific functions and corresponding technical effects of the shore-to-shore shell-changing device based on the absolute coordinates of the ship's shell position provided in this embodiment can be referred to the explanation of the above embodiment. Figure 4 This illustration shows a schematic diagram of the module composition of a quay crane shell-changing device 400 based on the absolute coordinates of a ship's shell location, according to an embodiment of this application. Specifically, the acquisition module 410 is used to acquire a quay crane shell-changing task, which instructs the quay crane to reach the target shell location of the target ship for operation, and to acquire historical operation record information of the target ship, which indicates the absolute coordinates of the recorded shell locations of the target ship; the processing module 420 is used to determine, based on the historical operation record information, whether the recorded shell locations include the target shell location; if the recorded shell locations include the target shell location, the processing module 420 is specifically used to control the quay crane to move to the target shell location for operation based on the absolute coordinates of the target shell location indicated by the historical operation record information, so as to complete the quay crane shell-changing task. If the recorded bay location does not include the target bay location, the acquisition module 410 is specifically used to acquire the relative coordinate information corresponding to the target vessel. The relative coordinate information is used to indicate the relative coordinate difference between multiple bay locations of the target vessel. The multiple bay locations include the first bay location among the recorded bay locations and the target bay location. The processing module 420 is specifically used to determine the absolute coordinate of the target bay location based on the absolute coordinate of the first bay location indicated by the operation record information and the relative coordinate difference between the first bay location and the target bay location indicated by the relative coordinate information. Based on the absolute coordinate of the target bay location, the module controls the quay crane to go to the target bay location to carry out operations, so as to complete the quay crane bay replacement task.

[0096] This application also provides a computer program product that, when run on an electronic device, causes the electronic device to execute the technical solutions described in the above embodiments. Its implementation principle and technical effects are similar to those of the related embodiments described above, and will not be repeated here.

[0097] This application also provides a readable storage medium containing instructions that, when executed by an electronic device, cause the electronic device to perform the technical solutions described in the above embodiments. The implementation principle and technical effects are similar and will not be repeated here.

[0098] This application also provides a chip for executing instructions. When the chip is running, it executes the technical solutions described in the above embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0099] The hardware module of the electronic device described below can be used to implement the aforementioned method 200 and Figure 3 The execution process is shown.

[0100] Now for reference Figure 5The diagram shows a block diagram of an electronic device 500 according to one embodiment of this application. The electronic device 500 may include one or more processors 501 coupled to a controller hub 503. In at least one embodiment, the controller hub 503 communicates with the processor 501 via a multi-branch bus such as a front side bus (FSB), a point-to-point interface such as a quick path interconnect (QPI), or a similar connection 510. The processor 501 executes instructions controlling general types of data processing operations. In one embodiment, the controller hub 503 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0101] Electronic device 500 may also include a coprocessor 502 and a memory 504 coupled to a controller hub 503. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with memory 504 and coprocessor 502 directly coupled to processor 501 and controller hub 503, which resides on a single chip with the IOH. Memory 504 may be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, coprocessor 502 is a dedicated processor, such as, for example, a high-throughput MIC processor (many integrated core, MIC), a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor, etc. Optional properties of coprocessor 502 are indicated by dashed lines. Figure 5 middle.

[0102] Memory 504, as a computer-readable storage medium, may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 504 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDD(s)), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0103] In one embodiment, electronic device 500 may further include a network interface controller (NIC) 506. NIC 506 may include a transceiver for providing a radio interface for electronic device 500 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, NIC 506 may be integrated with other components of electronic device 500. NIC 506 can implement the functions of the communication unit in the above embodiments.

[0104] Electronic device 500 may further include input / output (I / O) devices 505. I / O 505 may include: a user interface designed to enable a user to interact with electronic device 500; a peripheral component interface designed to enable peripheral components to also interact with electronic device 500; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 500.

[0105] It is worth noting that, Figure 5 This is merely an example. That is, although... Figure 5 The electronic device 500 shown includes multiple devices such as processor 501, controller hub 503, and memory 504. However, in actual applications, devices using the methods of this application may include only a portion of the devices in the electronic device 500. For example, it may include only processor 501 and NIC 506. Figure 5 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 504, which is a computer-readable storage medium, stores instructions that, when executed on a computer, cause the electronic device 500 to perform the methods according to the above embodiments. Specific details can be found in the methods of the above embodiments, and will not be repeated here.

[0106] Now for reference Figure 6 The diagram shown is a block diagram of a SoC 600 according to an embodiment of this application. Figure 6In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 6 In this SoC 600, the following are included: an interconnect unit 650 coupled to an application processor 610; a system proxy unit 680; a bus controller unit 690; an integrated memory controller unit 640; a group or one or more coprocessors 620, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 630; and a direct memory access (DMA) unit 660. In one embodiment, the coprocessor 620 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0107] The static random-access memory (SRAM) unit 630 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 600 to perform the quay bridge replacement method according to the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0108] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0109] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0110] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0111] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0112] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0113] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0114] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0115] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A method for exchanging shells using a quay crane based on the absolute coordinates of a ship's shell position, characterized in that, include: Receive a quay crane shell swapping task, which is used to instruct the quay crane to reach the target shell position of the target vessel and carry out the operation. Obtain the historical operation record information of the target vessel, which is used to indicate the absolute coordinates of the recorded position of the target vessel after arrival at port for the current voyage; Based on the historical operation record information, determine whether the recorded bay position includes the target bay position; When the recorded bit position in the historical operation record information is empty, a manual bit change prompt message is output; If the recorded shellfish location includes the target shellfish location, the quay crane is controlled to move to the target shellfish location to perform operations based on the absolute coordinates of the target shellfish location indicated by the historical operation record information, so as to complete the shellfish replacement task of the quay crane. If the recorded bay positions are not empty and do not include the target bay position, obtain the relative coordinate information corresponding to the target vessel. The relative coordinate information is used to indicate the relative coordinate difference between multiple bay positions of the target vessel. The multiple bay positions include the first bay position among the recorded bay positions and the target bay position. Based on the absolute coordinates of the first shellfish location indicated by the operation record information and the relative coordinate difference between the first shellfish location and the target shellfish location indicated by the relative coordinate information, the absolute coordinates of the target shellfish location are determined, and based on the absolute coordinates of the target shellfish location, the quay crane is controlled to move to the target shellfish location to perform operations, so as to complete the shellfish exchange task.

2. The method according to claim 1, characterized in that, The method further includes: In response to confirming that the quay crane picks up a container from the target bay or places the container down at the target bay, the absolute coordinates of the target bay are added to the historical operation record information.

3. The method according to claim 1 or 2, characterized in that, If the recorded bit position is not empty and does not include the target bit position, the recorded bit position includes the second bit position, and the relative coordinate information includes a first relative coordinate difference between the first bit position and the second bit position, and a second relative coordinate difference between the second bit position and the target bit position. Determining the absolute coordinates of the target bay based on the absolute coordinates of the first bay indicated by the job record information and the relative coordinate difference between the first bay and the target bay indicated by the relative coordinate information includes: Based on the first relative coordinate difference and the second relative coordinate difference, determine the target relative coordinate difference between the first bay and the target bay; The absolute coordinates of the target position are determined based on the absolute coordinates of the first position indicated by the work record information and the relative coordinate difference of the target.

4. The method according to claim 3, characterized in that, The method further includes: In response to confirmation that the target vessel has departed, the target relative coordinate difference is added to the relative coordinate information.

5. The method according to claim 3, characterized in that, The relative coordinate information also includes a third relative coordinate difference between the third bit and the first bit, and the method further includes: Based on the target relative coordinate difference and the third relative coordinate difference, determine the fourth relative coordinate difference between the target position and the third position; In response to confirmation that the target vessel has departed, the fourth relative coordinate difference is added to the relative coordinate information.

6. The method according to claim 1 or 2, characterized in that, The process of obtaining the relative coordinate information corresponding to the target vessel includes: Obtain the berthing direction of the target vessel, which includes berthing on the port side or on the starboard side; Based on the berthing direction, the sign of the relative coordinate difference indicated by the relative coordinate information is determined, wherein the sign of the relative coordinate difference when berthing is on the port side is opposite to that when berthing is on the starboard side.

7. A shore-based shell-changing device based on the absolute coordinates of a ship's shell position, characterized in that, include: The acquisition module is used to receive a quay crane shell swapping task, which instructs the quay crane to reach the target shell location of the target vessel for operation, and to acquire historical operation record information of the target vessel, which indicates the absolute coordinates of the recorded shell location of the target vessel. The processing module is used to determine, based on the historical job record information, whether the recorded bit position includes the target bit position; When the recorded shellfish location includes the target shellfish location, the processing module is specifically used to control the quay crane to go to the target shellfish location to perform operations based on the absolute coordinates of the target shellfish location indicated by the historical operation record information, so as to complete the shellfish exchange task of the quay crane; If the recorded bay positions do not include the target bay position, the acquisition module is specifically used to acquire the relative coordinate information corresponding to the target vessel. The relative coordinate information is used to indicate the relative coordinate difference between multiple bay positions of the target vessel. The multiple bay positions include the first bay position among the recorded bay positions and the target bay position. The processing module is specifically used to determine the absolute coordinates of the target shell location based on the absolute coordinates of the first shell location indicated by the operation record information and the relative coordinate difference between the first shell location and the target shell location indicated by the relative coordinate information, and to control the quay crane to go to the target shell location to perform operations based on the absolute coordinates of the target shell location, so as to complete the shell replacement task of the quay crane.

8. An electronic device, characterized in that, include: At least one memory and at least one processor, the memory being coupled to the processor; the memory being used to store computer program code / instructions; when the computer program code / instructions are executed by the processor, the electronic device causes the quay crane shell replacement method based on the absolute coordinates of the ship's shell position as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores instructions that, when executed on an electronic device, cause the electronic device to implement the shore-based shell-changing method based on the absolute coordinates of the ship's shell position as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, include: Computer instructions, when executed on an electronic device, cause the electronic device to implement the shore-to-shore shell-changing method based on the absolute coordinates of the ship's shell position as described in any one of claims 1 to 6.

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