A shore crane alignment guidance and safety protection system and method

Abstract

A shore crane alignment guidance and safety protection system and method, the system includes a system controller and laser scanners for each operating lane, a main operating lane selector, and an information feeding device respectively connected to the system controller, wherein the laser scanning surface of each operating lane laser scanner is perpendicular to the corresponding operating lane and the intersection line with the lane is the lane centerline, so as to simultaneously obtain the cross-sectional profiles of the inner trailer tow plate and the inner trailer load box operating in all operating lanes, and provide them to the system controller, which determines the current operating lane, generates alignment guidance information, and provides the alignment guidance information to the inner trailer driver located in the current operating lane through the information feeding device. The present invention can dynamically determine the current operating lane and its alignment guidance information, thereby improving the effectiveness and timeliness of alignment guidance, improving operating efficiency, improving system reliability, and reducing the system's use and maintenance costs.

Description

Technical Field

[0001] The invention relates to a shore crane alignment guidance and safety protection system and method. Background Art

[0002] 1. 2D laser scanner

[0003] The 2D laser scanner uses an internal rotating mechanism to perform laser scanning and ranging of the surrounding environment on a scanning plane. The ranging method is the time-of-flight measurement method:

[0004] 1. Emits a circular spot laser pulse at the current scanning angle;

[0005] 2. Receive the laser pulse reflected from the surface of the target;

[0006] 3. Measure the time interval from when the laser pulse is emitted to when it is received, and obtain the distance of the target at the current scanning angle through time-distance conversion;

[0007] 4. By continuously changing the scanning angle on a plane (laser scanning plane) through a rotating mechanism, the cross-sectional profile of the surrounding environment on this plane can be measured, and the measurement data is given in polar coordinates, which can be further converted into two-dimensional rectangular coordinates in the scanner device coordinate system.

[0008] The two-dimensional laser scanner (hereinafter referred to as laser scanner) based on the above technology can work effectively under all-weather conditions and obtain accurate two-dimensional contour data. It is an important sensor for realizing the automated and safe operation of large-scale mechanical equipment.

[0009] (II) Operation equipment and operation site layout

[0010] The basic application of the present invention is the loading and unloading operation of the container terminal. For the most common shore gantry crane that adopts the through-type multi-lane operation mode, the various operating elements are described as follows:

[0011] 1. Container: Figure 1 As shown, it is a rectangular metal box with different box types. Lock holes are provided on the four corner columns of the upper and lower bottom surfaces for hoisting and fixing on a flat plate. The box types involved in the present invention include 20-foot boxes, 40-foot boxes (ordinary boxes and high boxes) and 45-foot boxes. The length, width, height and lock hole spacing of each box type are international standards, in which the box width is exactly the same, and the length and height are different.

[0012] 2. Shore gantry crane: a crane with a frame structure, such as Figure 1 As shown, the structural elements include:

[0013] 1) Trolley: It includes two sets of gantry legs. During container loading and unloading operations, the gantry legs close to the dock shoreline (sea side) are called front gantry legs 2, and the gantry legs away from the dock shoreline (land side) are called rear gantry legs 5. Each set of gantry legs includes two left and right door posts, and wheels are installed under the door posts. During operation, the gantry legs move on the ground rails in a direction parallel to the shoreline.

[0014] 2) Saddle beam: The left and right doorposts of the front door legs and the rear door legs are connected by a saddle beam 8, 9 respectively. The two saddle beams 8, 9 are parallel and perpendicular to the driving direction of the lane; the height of the saddle beam from the ground is about 12 to 15 meters.

[0015] 3) Lifting device: Steel rails are laid on the saddle beam, and a wheel-rail running mechanism is set up, which can move along the crossbeam direction, called a trolley; a lifting device 10 is hoisted on the trolley by a wire rope. During loading and unloading operations, the trolley drives the lifting device to move above the target lane, and the lifting device is raised and lowered by retracting and releasing the wire rope, and the lifting device is lowered to the top of the inner trailer in the lane to complete the operation; the main beam of the lifting device has two pairs of retractable horizontal booms 11, and the bottom ends and middle positions of the booms 11 are provided with rotatable locking pins 12, and the two pairs of locking pins at the two ends are called external The two pairs of lock pins in the middle are called middle locks, which can be retracted or lowered; the lifting device is equipped with a box-shaped telescopic boom 11 of the container to be loaded and unloaded as needed, so that the lock pin 12 is aligned with the lock hole on the top surface of the container. After the lock pin is inserted into the lock hole and rotated, it can be firmly connected with the container to realize the lifting of the container; the lifting device can lift a single 20-foot / 40-foot / 45-foot container at a time, or it can lift two 20-foot containers at a time; when lifting a single 40-foot, 45-foot container and a 20-foot container, the middle lock is retracted; when lifting two 20-foot containers, the middle lock is lowered.

[0016] 3. Internal trailer: Figure 1 , Figure 2 As shown, a container transport truck with a pallet includes a front 201 and a pallet 202. The container is placed on the pallet 202, and loading and unloading operations are achieved through a sling. The pallet is surrounded by guide plates that are higher than the surface of the pallet to limit the movement of the container. Described from the position of the trailer driver, the guide plates on the left and right sides are called left guide plates 206 and right guide plates 205, the guide plate close to the front of the vehicle is called the front guide plate 203, and the guide plate away from the front of the vehicle is called the rear guide plate 204. The distance between the inner surfaces of the left guide plate 206 and the right guide plate 205 is slightly larger than the width of the container, and the distance between the inner surfaces of the front guide plate and the rear guide plate is slightly larger than the length of a 45-foot container, which are all standard values.

[0017] 4. Lane: Figure 1As shown in the figure, the lanes 22 to 27 for the inner trailer are located between the front and rear legs of the shore crane. There are generally six lanes under each shore crane, parallel to the shoreline, with standard width and spacing. The inner trailer enters along the lanes from the left and right sides of the crane and stops under the crane, cooperating with the crane driver to load and unload containers through lifting with a sling. During the operation, there is generally one main operation lane, and loading and unloading operations are mainly carried out in the main operation lane; if the container transport ship is small in size, or in some special cases, loading and unloading operations can also be carried out in multiple lanes in turn.

[0018] (III) Operation process

[0019] The basic operation of the shore crane using the above operation mode is: using the lifting equipment to place the container lifted from the container ship on the inner trailer board (receiving the container), or lifting the container carried on the inner trailer board to the container ship (delivering the container). The typical process is:

[0020] 1. Container collection: The inner trailer driver drives the empty inner trailer to the designated operating lane of the shore crane according to the operating instructions and stops, so that the placement area of ​​the target box on the pallet is aligned with the vertical projection area of ​​the target box lifted by the spreader; the crane driver operates the trolley to stop above the operating lane, aligns the spreader with the lane, lowers the spreader, and places the lifted container on the pallet of the inner trailer; operates the spreader to unlock; lifts the spreader; after the spreader is lifted to a safe height, the inner trailer driver drives the inner trailer away.

[0021] 2. Shipping boxes: The inner trailer driver drives the inner trailer loaded with boxes to the designated working lane of the shore crane according to the operating instructions and stops the trailer so that the top of the target box to be lifted on the pallet is aligned with the vertical projection area of ​​the hoisting arm; the crane driver operates the trolley to stop above the working lane, aligns the hoisting device with the lane, lowers the hoisting device to the top of the working box, inserts the locking pin into the lock hole on the top surface of the working box, and operates the hoisting device to lock it; lifts the hoisting device; after the hoisting device is lifted to a safe height, the inner trailer driver drives the inner trailer away.

[0022] (IV) Internal trailer alignment guidance

[0023] With the above-mentioned loading and unloading process, the main factor affecting the operating efficiency of the shore crane is the deviation between the initial parking position of the inner trailer and the correct position, which results in the need to brake when the spreader is lowered to a height close to the loading and unloading height. The inner trailer driver needs to continue to move the vehicle forward and backward to align it with the spreader before the spreader can be finally lowered, which prolongs the operation process. Accurate alignment depends on the operating skills of the inner trailer driver.

[0024] If the deviation between the current position of the inner trailer and the correct parking position and the adjustment direction can be given in real time through an operation information display screen installed in a position convenient for the inner trailer driver to observe, the inner trailer driver can drive the inner trailer to park at the accurate position in advance and complete the operation without pausing in the middle during the lowering of the spreader, thereby significantly improving the operation efficiency.

[0025] (V) Hazards of internal trailer operation and ways to avoid them

[0026] Using the above-mentioned loading and unloading operation process, the main operational hazards of shore crane lane operations and the corresponding hazard avoidance methods include:

[0027] 1. The inner trailer pulls the sling horizontally: During the container collection operation, after the container lifted by the sling is placed on the inner trailer's platform, the inner trailer starts to leave before the sling is unlocked, causing the sling that has not yet been separated from the work box to be pulled horizontally by the inner trailer; during the container delivery operation, after the sling is locked on the top of the work box but has not yet been lifted, the inner trailer starts to leave, causing the work box that has not yet been separated from the inner trailer's platform to be pulled horizontally by the inner trailer together with the sling; the corresponding danger avoidance method is to provide the following safety departure prompt information to the inner trailer driver through the operation information display screen:

[0028] 1) When the loading and unloading operation is completed but the lifting device has not yet been lifted to a safe height, the "Keep Parking" prompt will appear;

[0029] 2) When the loading and unloading operation is completed and the lifting equipment reaches or exceeds the safe height, the prompt "You can leave" will be displayed.

[0030] 2. The spreader hits the front of the trailer / the box: When loading and unloading boxes, the parking position of the inner trailer deviates too much from the correct alignment position, causing the spreader (including the load box) to hit the front of the inner trailer or the load box of the inner trailer during the lowering process; the corresponding method to avoid the danger is to automatically perform the lowering brake when the spreader is lowered below the safe braking height.

[0031] (VI) Application Status

[0032] In order to improve the efficiency of the shore crane lane operation, there are currently some independent inner trailer alignment guidance systems, which generally use a laser scanner installed on a pan / tilt to scan the main operating lane. There are the following defects:

[0033] 1. It can only provide alignment guidance for the pre-set main operating lane. When multiple lanes are operating at the same time, it cannot quickly provide alignment guidance information for the actual operating lane, and the improvement of operating efficiency is limited;

[0034] 2. The laser scanning surface of the remote lane is relatively inclined, which is easily affected by the height and lateral position of the inner trailer, and the alignment data is not accurate enough;

[0035] 3. The overall installation structure of the pan / tilt and laser scanner is complex and difficult to install;

[0036] 4. After the gimbal has been working for a period of time, there will be an accumulated angle error, which cannot ensure that the scanner can accurately scan the center line of the lane. Regular calibration is required, which affects the efficiency of use.

[0037] 5. In the high humidity and high salt fog environment at the seaside, the continuous rotation of the gimbal is prone to mechanical failure, making maintenance difficult, the system maintenance workload is large, and the cost of use is high.

[0038] There is currently no available system solution for the lane operation safety protection system of shore cranes. Summary of the invention

[0039] The main purpose of the present invention is to overcome at least one of the above-mentioned technical defects and to provide a shore crane alignment guidance and safety protection system and method.

[0040] To achieve the above object, the present invention adopts the following technical solutions:

[0041] A shore crane alignment guidance and safety protection system comprises a system controller and laser scanners for each operating lane respectively connected to the system controller, a main operating lane selector and an information feeding device, wherein the laser scanning surface of the laser scanner of each operating lane is perpendicular to the corresponding operating lane and the intersection line with the lane is the lane centerline, so as to simultaneously obtain the cross-sectional profiles of the inner trailer tow plate and the inner trailer loaded box operating in all the operating lanes; the system controller uses predetermined basic operating condition parameters of container loading and unloading operations, real-time operating condition parameters of the spreader obtained from the crane control system, real-time scanning data obtained from the laser scanners of each operating lane and main operating lane information obtained from the main operating lane selector to obtain the current operating condition parameters of the spreader, the current operating condition parameters of the trailers in each operating lane and the alignment deviation of the inner trailer operation, determine the current operating lane, generate alignment guidance information, and provide the alignment guidance information to the inner trailer driver located in the current operating lane through the information feeding device.

[0042] Further:

[0043] The shore crane is a shore gantry crane with a frame structure, including a trolley, a left saddle beam, a right saddle beam, a trolley and a hoist, wherein the trolley includes a front door leg and a rear door leg, the front door leg and the rear door leg each include two left and right door posts, and wheels are installed under the front door leg and the rear door leg; the left saddle beam is connected between the left door post of the front door leg and the left door post of the rear door leg, the right saddle beam is connected between the right door post of the front door leg and the right door post of the rear door leg, the left saddle beam and the right saddle beam are parallel and perpendicular to the driving direction of the working lane; tracks are laid on the left saddle beam and the right saddle beam; the trolley is a wheel-rail walking mechanism arranged on the track; the hoist is installed on the trolley, driven by the trolley, and performs loading and unloading operations above the inner trailer in the lane.

[0044] The laser scanner of each working lane is installed on the inner side of the left saddle beam or the inner side of the right saddle beam above each working lane of the shore crane.

[0045] The information feeding device includes an operation information display screen, and the system controller provides the alignment guidance information and the safe departure prompt information to the inner trailer driver located in the current operation lane through the operation information display screen; preferably, the operation information display screen is installed at a suitable position of each door post of the shore crane for easy observation by the inner trailer driver; preferably, it also includes a display controller connected to the display controller, and more preferably, the system controller communicates with the display controller via Ethernet, sends the alignment guidance information and the safe departure prompt information to the display controller, and the display controller controls the operation information display screen to display.

[0046] The system controller communicates with the crane control system via the industrial bus, and communicates with the laser scanners of each working lane and the main working lane selector via Ethernet. When the system controller determines that there is an operating hazard, it sends a sling lowering braking command to the crane control system via the industrial bus.

[0047] A shore crane alignment guidance and safety protection method uses the shore crane alignment guidance and safety protection system, wherein the cross-sectional profiles of the inner trailer pallets and inner trailer containers operating in all operating lanes are obtained through the laser scanning surface of the laser scanner of each operating lane, and the system controller uses predetermined basic operating parameters of container loading and unloading operations, real-time operating parameters of the spreader obtained from the crane control system, real-time scanning data obtained from the laser scanner of each operating lane, and main operating lane information obtained from the main operating lane selector to generate the current operating parameters of the spreader, the current operating parameters of the trailer in each operating lane, and the alignment deviation of the inner trailer operation, determine the current operating lane, generate alignment guidance information, and provide the alignment guidance information to the inner trailer driver located in the current operating lane through an information feeding device.

[0048] Further:

[0049] When there is an inner trailer in a certain working lane, the method for determining the working alignment deviation of the inner trailer in the lane includes:

[0050] 1) If the state of the spreader box matches the state of the inner trailer box, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer board or the inner trailer box and the correct position specified in the operation specification. If there are multiple correct positions according to the operation specification, the deviation with the smaller absolute value is used for calculation;

[0051] 2) If the load state of the spreader does not match the load state of the inner trailer, when the current height of the spreader is not lower than the safety braking height, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer load box and the correct position of the load box for completing the unloading operation in one time according to the operating specifications; when the current height of the spreader is lower than the safety braking height, the inner trailer operation alignment deviation is judged to be invalid.

[0052] The method for determining the current working lane includes:

[0053] 1) If the inner trailer operation alignment deviation of the current parking lane of the spreader is valid, the current operation lane is the current parking lane of the spreader;

[0054] 2) If the inner trailer operation alignment deviation of the lane where the spreader is currently parked is invalid, the current operation lane is the main operation lane.

[0055] When the system controller determines that the operation hazard exists, a sling lowering brake command is issued to the crane control system through the industrial bus. Preferably, the operation hazard is that there is a possibility that the sling hits the front of the inner trailer or the inner trailer container in the current operation lane. The determination conditions of the operation hazard are to meet the following 1) to 4):

[0056] 1) The current operating lane is the lane where the spreader is currently parked;

[0057] 2) The current height of the spreader is lower than the spreader's safe braking height;

[0058] 3) There is a trailer in the current working lane;

[0059] 4) The alignment deviation of the inner trailer operation in the current operation lane is judged to be invalid or exceeds the alignment safety value.

[0060] The system controller also generates safe departure prompt information for the current working lane based on the real-time operating parameters of the spreader and the current operating parameters of the inner trailer in the current working lane, and provides the safe departure prompt information to the driver of the inner trailer in the current working lane, wherein the generation condition of the safe departure prompt information is that the current working lane is the current parking lane of the spreader and the current operating lifting height of the spreader is valid.

[0061] The present invention has the following beneficial effects:

[0062] The shore crane alignment guidance and safety protection system provided by the present invention is provided with a laser scanner corresponding to each working lane, and the laser scanning surface of the laser scanner of each working lane is perpendicular to the corresponding working lane and the intersection line with the lane is the lane centerline, so that the accurate cross-sectional contours of the inner trailer tow plate and the inner trailer load box operating in all working lanes can be obtained simultaneously; the system controller uses predetermined basic operating condition parameters of container loading and unloading operations, real-time operating condition parameters of the spreader obtained from the crane control system, real-time scanning data obtained from the laser scanner of each working lane and main working lane information obtained from the main working lane selector to obtain the current operating condition parameters of the spreader, the current operating condition parameters of the trailer in each working lane and the alignment deviation of the inner trailer operation, determine the current working lane, generate alignment guidance information, and provide the alignment guidance information to the inner trailer driver located in the current working lane through the information feeding device. Since the system controller can simultaneously calculate the alignment guidance data of each working lane, it can dynamically determine the current working lane and its alignment guidance information, thereby improving the effectiveness and timeliness of the alignment guidance, ensuring the actual improvement of working efficiency, and also improving the reliability of the system and reducing the system's use and maintenance costs.

[0063] In the preferred solution, the system of the present invention can also provide a function of reminding the inner trailer to leave safely and a function of preventing the front of the vehicle from being smashed / the lane from being hit, thereby providing comprehensive safety protection for the lane operation of the shore crane, and has a high use value and system cost-effectiveness.

[0064] In a preferred solution, if the operational hazard exists, the system controller can send a sling lowering braking instruction to the crane control system to avoid the occurrence of operational accidents.

[0065] The present invention provides positioning guidance information and safe departure prompt information to the inner trailer driver in the operation lane during the loading and unloading operation of the shore crane at the container terminal. At the same time, the lowering of the crane spreader is braked and controlled in the event of an operational hazard, thereby avoiding the occurrence of operational accidents, thereby improving operational efficiency and ensuring safe production. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the structure of a shore gantry crane and the installation of the system equipment in one embodiment of the present invention;

[0067] Figure 2 It is a schematic diagram of the structure of an inner trailer in one embodiment of the present invention;

[0068] Figure 3 A system structure block diagram of an embodiment of the present invention;

[0069] Figure 4 is a processing flow chart of a system controller in one embodiment of the present invention;

[0070] Figure 5 A schematic diagram of positioning points of a cross-section profile of an inner trailer board in an embodiment of the present invention;

[0071] Figure 6 It is a schematic diagram of positioning points of a cross-section profile of a single loading box of an inner trailer in one embodiment of the present invention;

[0072] Figure 7 It is a schematic diagram of the positioning points of the cross-section profile of the double 20-foot load boxes of the inner trailer in one embodiment of the present invention;

[0073] Figure 8 This is an example of displaying alignment guidance information and safe departure prompt information in an embodiment of the present invention. DETAILED DESCRIPTION

[0074] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0075] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing as well as for coupling or communication.

[0076] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0077] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0078] See also Figure 1 In some embodiments, the shore crane is a shore gantry crane with a frame structure, including a trolley, a left saddle beam 9, a right saddle beam 8, a trolley and a spreader 10, wherein the trolley includes a front door leg 2 and a rear door leg 5, the front door leg 2 and the rear door leg 5 each include two left and right door posts, and wheels are installed below the front door leg 2 and the rear door leg 5; the left saddle beam 9 is connected between the left door post 4 of the front door leg 2 and the left door post 7 of the rear door leg 5, the right saddle beam 8 is connected between the right door post 3 of the front door leg 2 and the right door post 6 of the rear door leg 5, the left saddle beam 9 and the right saddle beam 8 are parallel and perpendicular to the driving direction of the working lanes 14 to 19; tracks are laid on the left saddle beam 9 and the right saddle beam 8; the trolley is a wheel-rail walking mechanism arranged on the track; the spreader 10 is installed on the trolley, driven by the trolley to move, and loads and unloads the container 1 above the inner trailer 13 in the lane.

[0079] like Figure 1As shown, the embodiment of the present invention proposes a shore crane alignment guidance and safety protection system, which includes a system controller 21 and laser scanners 22-27 of each working lane respectively connected to the system controller 21, a main working lane selector 30 and an information feeding device, wherein the laser scanning surface 28 of each working lane laser scanner 22-27 is perpendicular to the corresponding working lane 14-19 and the intersection line with the lane is the lane center line, and can simultaneously obtain the accurate cross-sectional profile 29 of the trailer and the load box of the inner trailer 10 working in all the working lanes 14-19; the system controller 2 Using the predetermined basic working condition parameters of container 1 loading and unloading operation, the real-time working condition parameters of the spreader 10 obtained from the crane control system, the real-time scanning data obtained from the laser scanners 22-27 of each working lane, and the main working lane information obtained from the main working lane selector 30, the current working condition parameters of the spreader 10, the current working condition parameters of the trailer 13 in each working lane, and the alignment deviation of the inner trailer operation are obtained, the current working lane is determined, the alignment guidance information is generated, and the alignment guidance information is provided to the inner trailer driver located in the current working lane through the information feeding device. The system can not only provide accurate alignment guidance information to the inner trailer driver to improve the efficiency of the shore crane loading and unloading operation, but also avoid the occurrence of inner trailer operation accidents through accurate alignment guidance, and achieve efficient production and safe production.

[0080] When working, the system controller 21 can simultaneously calculate the alignment guidance data of each working lane, dynamically determine the current working lane and its alignment guidance information, thereby improving the effectiveness and timeliness of the alignment guidance, ensuring the actual improvement of working efficiency, and also improving the reliability of the system and reducing the use and maintenance costs of the system. The system controller 21 can also determine whether there is an operating hazard based on relevant information. If it is determined that there is an operating hazard, the system controller 21 can send a brake command to the crane control system to lower the sling 10 to avoid the occurrence of operating accidents. Therefore, the system of the preferred embodiment also has the function of providing a safe departure reminder for the inner trailer 13 and an anti-smashing head / lane anti-collision box function, providing comprehensive safety protection for the lane operation of the shore crane, and has high use value and system cost performance.

[0081] In a preferred embodiment, the information feeding device may include a display controller 31 and operation information display screens 32 to 35. The shore crane alignment guidance and safety protection system includes a system controller 21 and laser scanners 22 to 27 of each operation lane respectively connected to the system controller 21, a main operation lane selector 30, a display controller 31, and operation information display screens 32 to 35 connected to the display controller 31; the system controller 21 uses the basic operating parameters of the container 1 loading and unloading operation, the real-time operating parameters of the spreader 10 obtained from the crane control system, the real-time scanning data obtained from the laser scanners 22 to 27 of each operation lane, and the main operation lane selected from the main operation lane selector 30. information, calculate the current operating condition parameters of the spreader 10, the current operating condition parameters of the trailer 13 in each operating lane and the operating alignment deviation of the inner trailer 13, determine the current operating lane, generate alignment guidance information and safe departure prompt information, determine the operating hazard, and provide the alignment guidance information and the safe departure prompt information to the inner trailer driver located in the current operating lane through the display controller 31 and the operating information display screens 32~35. In addition, if the operating hazard exists, the system controller 21 also sends a brake command to lower the spreader 10 to the crane control system to avoid the occurrence of operating accidents.

[0082] In some embodiments, the laser scanners 22-27 of each working lane are installed on the inner side of the left saddle beam above each working lane of the shore crane, and the laser scanning surface is perpendicular to the lane and the intersection line with the lane is the lane centerline, which is used to obtain the profile of the inner trailer board and the profile of the inner trailer container operating in the lane, and send them to the system controller 21 through Ethernet. The laser scanners 22-27 of each working lane can also be installed on the inner side of the right saddle beam above each lane of the shore crane. However, the present invention is not limited to the above installation positions.

[0083] In some embodiments, the operation information display screens 32-35 are installed at appropriate positions on each door post of the shore crane for easy observation by the inner trailer driver; the display controller 31 communicates with the operation information display screens 32-35 via Ethernet, and distributes the alignment guidance information and the safe departure prompt information received from the system controller 21 to the operation information display screens 32-35 for real-time display, so that the inner trailer driver of the current operation lane can observe during the operation process, thereby achieving accurate alignment and safe departure.

[0084] like Figure 3As shown, in some embodiments, the system controller 21 communicates with the crane control system 303 through the industrial bus 304, and communicates with the laser scanners 22-27 of each working lane through the Ethernet 302, and obtains real-time scanning data from the laser scanners 22-27 of each working lane. The system controller 21 also communicates with the main working lane selector 30 through the Ethernet 302 to obtain the main working lane information. The system controller 21 also communicates with the display controller 31 through the Ethernet 302, and sends the alignment guidance information and the safe departure prompt information to the display controller 31.

[0085] The installation positions of the system controller 21 , the main operation lane selector 30 and the display controller 31 can be flexibly selected, and the present invention does not impose any limitation thereto.

[0086] In some embodiments, the real-time working condition parameters of the spreader include:

[0087] 1) Lifting equipment;

[0088] 2) Lock pin status;

[0089] 3) Carton status;

[0090] 4) Parking lane;

[0091] 5) Lifting height.

[0092] In some embodiments, the current operating condition parameters of the spreader include:

[0093] 1) The state of the lifting equipment loading box;

[0094] 2) The current operating lifting height of the hoist.

[0095] In some embodiments, the current operating condition parameters of the inner trailer in each operating lane include:

[0096] 1) the current position of the front guide plate of the inner trailer board, the current position of the rear guide plate of the inner trailer board and the current position of the midpoint of the inner trailer board in the cross-sectional profile of the inner trailer board;

[0097] 2) the current position of the left end point of the upper surface of the inner trailer box, the current position of the right end point of the upper surface of the inner trailer box, and the current position of the midpoint of the upper surface of the inner trailer box in the cross-sectional profile of the inner trailer box;

[0098] 3) The status of the inner trailer loading box.

[0099] In some embodiments, when there is an inner trailer in a certain working lane, the method for determining the working alignment deviation of the inner trailer in this lane is as follows:

[0100] 1) If the state of the spreader box is matched with the state of the inner trailer box, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer board or the inner trailer box and the correct position specified in the operation specification. If there are multiple correct positions according to the operation specification, the deviation with the smaller absolute value is used for calculation;

[0101] 2) If the load status of the spreader box does not match the load status of the inner trailer box, when the current height of the spreader is not lower than the safety braking height, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer load box and the correct position of the load box for completing the unloading operation in one time according to the operating specifications; when the current height of the spreader is lower than the safety braking height, the inner trailer operation alignment deviation is invalid.

[0102] In some embodiments, the current working lane is determined as follows:

[0103] 1) If the inner trailer operation alignment deviation of the current parking lane of the spreader is valid, the current operation lane is the current parking lane of the spreader;

[0104] 2) If the inner trailer operation alignment deviation of the lane where the spreader is currently parked is invalid, the current operation lane is the main operation lane.

[0105] In some embodiments, the generation condition of the safe departure prompt information is that the current operating lane is the current parking lane of the spreader and the current operating lifting height of the spreader is valid. If the current operating lifting height of the spreader is lower than the height of a standard 20-foot container, the inner trailer safe departure prompt information is "Keep Parked", otherwise it is "Please Leave".

[0106] In some embodiments, when the system controller determines that there is an operation hazard, it sends a sling lowering brake command to the crane control system through the industrial bus to avoid the occurrence of an operation accident. The operation hazard is that there is a possibility that the sling may hit the front of the inner trailer or the inner trailer container in the current operation lane.

[0107] In some embodiments, the determination condition of the operation hazard is to meet the following conditions:

[0108] 1) The current operating lane is the lane where the spreader is currently parked;

[0109] 2) The current height of the spreader is lower than the spreader's safe braking height;

[0110] 3) There is a trailer in the current working lane;

[0111] 4) The alignment deviation of the inner trailer operation in the current operation lane is invalid or exceeds the alignment safety value.

[0112] The specific embodiments of the present invention are described in further detail below.

[0113] 1. Definition of orientation and coordinate system

[0114] This alignment guidance and safety protection system needs to obtain and calculate a series of spatial data and working condition information of the shore crane and the inner trailer in real time. In order to clearly express these spatial data and working condition information, the orientation and coordinate system used in the following description are defined as follows:

[0115] 1. Definition of direction

[0116] The orientation of this system is defined by the standing posture when facing the coastline. Therefore, the coastline direction is the front, the travel direction of the trolley is the "left / right" direction, the travel direction of the trolley is the "forward / backward" direction, and the lifting direction of the spreader is the "up / down" direction.

[0117] In the following text, the driving direction of the inner trailer is set to be from left to right, that is, the front of the vehicle is on the right; if the inner trailer drives from right to left, the front of the vehicle is on the left, it can be handled in a left-right symmetrical manner, which does not affect the description of the method. According to the above orientation definition, the "right guide plate" of the inner trailer in the following text is equivalent to the "front guide plate" in the previous text, and the "left guide plate" is equivalent to the "rear guide plate" in the previous text.

[0118] 2. Lane coordinate system and related definitions

[0119] like Figure 1 As shown, the scales and positions involved in this system are expressed using the following working lane coordinate system 20: the X-axis points to the right, the Y-axis points to the front, and the Z-axis points upward; the X-axis is the centerline of the lane in the front-to-back direction, and the Y-axis is the projection line of the centerline of the hanger in the left-to-right direction on the lane.

[0120] The spatial data used is defined as:

[0121] 1) Dimensions: The "length" described in this article is defined in the X direction, the "width" is defined in the Y direction, and the "height" is defined in the Z direction;

[0122] 2)Position: Pos X ,Pos Y ,Pos Z ) indicates the coordinates are (Pos X ,Pos Y ,Pos Z ) point;

[0123] 3) Two-dimensional projection coordinates: Pos XY (x,y) represents the coordinates of the projection point of Pos on the XY plane; Pos YZ (y,z) represents the coordinates of the projection point of Pos on the YZ plane; PosZX (z,x) represents the coordinates of the projection point of Pos on the ZX plane;

[0124] 4) Seg(Pos1,Pos2): a 2D or 3D line segment with endpoints Pos1 and Pos2;

[0125] 5)MidPos(Pos1,Pos2): the midpoint of Seg(Pos1,Pos2);

[0126] 6)Len(Pos1,Pos2): length of Seg(Pos1,Pos2).

[0127] 2. System Structure

[0128] 1. Equipment composition and function

[0129] like Figure 1 and Figure 3 As shown in the figure, the equipment composition, installation method and basic functions of this system include:

[0130] 1) System controller 21: installed on the inner surface of the lane side of the left rear door column of the shore crane, serving as the system control center, completing the generation of positioning guidance information and safe departure instruction information, as well as the determination of operational hazards and the lowering control of the spreader;

[0131] 2) Laser scanner 22-27: installed on the inner side of the left saddle beam above each operating lane of the shore crane, the laser scanning surface is perpendicular to the lane and the intersection line with the lane is the lane centerline, used to obtain the profile of the inner trailer's trailer and the inner trailer's container in operation in the lane, and send it to the system controller via Ethernet;

[0132] 3) Main operation lane selector 30: installed on the inner surface of the lane side of the left rear door column of the shore crane at a height convenient for manual operation, communicating with the system controller via Ethernet, and setting the current main operation lane through manual on-site operation;

[0133] 4) Display controller 31: installed on the inner surface of the lane side of the left rear door column of the shore crane, communicates with the system controller through Ethernet, obtains positioning guidance information and safe departure prompt information, and distributes it to the operation information display screen through Ethernet;

[0134] 5) Operation information display screen 32-35: It is a high-brightness outdoor large-size graphic display screen, installed on the lane side of each door post of the shore crane at an appropriate position for the inner trailer driver to observe. It communicates with the display controller through Ethernet, receives and displays the alignment guidance information and safe departure prompt information in graphic form.

[0135] 2. System controller processing flow

[0136] like Figure 4 As shown, the system controller completes the following processing flow in sequence:

[0137] 1) Obtain the real-time working parameters of the spreader from the crane control system;

[0138] 2) Calculate the current operating parameters of the spreader;

[0139] 3) Obtaining real-time scanning profile data of the center line of each working lane from each laser scanner;

[0140] 4) Identify the real-time contours of the inner trailer's towing plate and loading box from the real-time scanning contour data of the center line of each operating lane, and calculate the current operating condition parameters of the trailer in each lane and the alignment deviation of the inner trailer operation;

[0141] 5) Obtain the current main operating lane number from the main operating lane selector, and determine the current operating lane by combining the real-time operating parameters of the spreader, the current operating parameters of the trailers in each lane, and the alignment deviation of the trailers in the lanes;

[0142] 6) Based on the real-time working condition parameters of the spreader and the current working condition parameters, the current working condition parameters of the trailer in each lane and the working alignment deviation, the alignment guidance information and safe departure prompt information of the current working lane are generated;

[0143] 7) Sending the alignment guidance information of the current working lane and the safe departure prompt information to the display controller;

[0144] 8) Detect and determine the operating hazard of the current operating lane, where the operating hazard is the spreader hitting the front of the inner trailer or the inner trailer container;

[0145] 9) If a dangerous operation is found in the current operation lane, when the spreader height is not higher than the safe braking height, a spreader lowering braking command is issued to the crane control system.

[0146] 3. Basic working parameters

[0147] The definitions, symbolic representations and acquisition methods of the basic operating parameters used in this system are summarized as follows:

[0148] 1. Laser Scanner

[0149] 1) Lane number: Lane is the lane number of a laser scanner, which is obtained from the system configuration parameters; if the shore crane has N lane There are working lanes, then Lane=1…N lane .

[0150] 2. Container

[0151] Length, width and height C of each container type L / C W / C H International standards, among which C W Exactly the same, the length, height and related data of the box are represented by symbols:

[0152] 1) 20-foot container: length C L20 = 6.06 meters, height C H ;

[0153] 2) 40-foot container: There are two types of containers: ordinary container and high container. The length of ordinary container is C L40 = 12.20 meters, height C H ; The length of the high box is the same as that of the ordinary box, and the height is C HH ;

[0154] 3) 45-foot container: length C L45 = 13.72 meters, height C HH ;

[0155] 4) Redundancy between the measured box length and the standard box length when determining the box type: ε CL , generally 20cm.

[0156] 3. Lifting equipment

[0157] 1) Safe braking height: DKSafe H , obtained from the crane technical parameters, generally 10 to 12 meters.

[0158] 4. Inner trailer

[0159] 1) Pallet length: TP L , is the distance between the front and rear guide plates of the inner trailer, which is obtained from the technical parameters of the inner trailer and is generally 13.80 meters.

[0160] 5. Specifications for loading and unloading operations

[0161] 1) Maximum distance between a single 20-foot left cargo box and the left guide plate of the inner trailer: TC20LGap L_max , generally 1.52 meters;

[0162] 2) Maximum distance between the right side guide plate of the inner trailer and the right side container of the inner trailer: TC20RGap L_max , generally 1.52 meters;

[0163] 3) TwinCL20Gap L , generally 8cm;

[0164] 4) Position safety value: TASafe dX , generally 10cm.

[0165] 4. Real-time operating parameters

[0166] The real-time operating parameters used by this system are obtained in real time by the system controller. The definitions and symbolic representations of each parameter are summarized as follows:

[0167] 1. Time parameters

[0168] 1) System data processing time cycle: τ, generally 10 to 100 milliseconds;

[0169] 2) Current time: t

[0170] 3) Previous moment: t-τ

[0171] 2. Real-time working parameters of the spreader

[0172] The real-time working parameters of the spreader used in this system are obtained from the shore crane control system. The definitions of each parameter are as follows:

[0173] 1) Wingspan length: DSALen(t)

[0174] DSALen(t) meaning <![CDATA[DSALen CL20 ]]> The spreader arm span is 20 feet box length <![CDATA[DSALen CL40 ]]> The spreader arm span is 40 feet box length <![CDATA[DSALen CL45 ]]> The spreader arm span is 45 feet box length <![CDATA[DSALen unkn own]]> Spreader span is unknown

[0175] 2) Middle lock release state: DMidLockSt(t)

[0176] DMidLockSt(t) meaning <![CDATA[DMidLockSt0]]> The lock of the lifting device is not lowered <![CDATA[DMidLockSt1]]> The lifting device is locked and lowered

[0177] 3) External lock status: DLockSt(t)

[0178] DLockSt(t) meaning <![CDATA[DLockSt0]]> Lifting device external lock unlocking <![CDATA[DLockSt1]]> Lifting device external lock

[0179] 4) Carton loading status: DLandSt(t)

[0180] DLandSt(t) meaning <![CDATA[DLandSt0]]> The sling is not attached to the box <![CDATA[DLandSt1]]> Lifting box

[0181] 5) Current parking lane: DLane(t). If the spreader is not parked in the working lane, DLane(t) is invalid.

[0182] 6) Current height: DH Z (t)

[0183] 3. Main working lane

[0184] The main operation lane information used by this system is obtained from the main operation lane selector, and the parameter definitions are as follows:

[0185] 1) Main operating lane: MLane(t), which is manually set on site through the main operating lane selector.

[0186] 5. Symbolic definitions of logical expressions and operation expressions

[0187] In this system, the calculation of the current working condition parameters, the generation of positioning guidance and safe departure prompt information, and the determination of working danger involve a series of logical judgments and numerical operations. In order to clearly express these logical expressions and operation expressions, this section defines the symbols used in the expressions as follows:

[0188] 1) Vld(Var(t)): indicates that the operating parameter Var is valid at time t;

[0189] 2) Invld(Var(t)): indicates that the operating parameter Var is invalid at time t;

[0190] 3) V1=V2: indicates that the values ​​of V1 and V2 are equal;

[0191] 4) Con1∩Con2: represents the logical "and" of the logical conditions Con1 and Con2;

[0192] 5) Con1∪Con2: represents the logical "or" of the logical conditions Con1 and Con2;

[0193] 6) otherwise: indicates other situations that are not within the scope of the logical conditions clearly listed in the current category;

[0194] 7) |Var|: represents the absolute value of the numerical working condition parameter Var;

[0195] 8) absmin(Var1, Var2): indicates the smaller absolute value of the numerical operating parameters Var1 and Var2.

[0196] 6. Definition and calculation method of current operating condition parameters

[0197] The current operating condition parameters used by this system include the current operating condition parameters of the spreader and the current operating condition parameters of the inner trailer. These operating condition parameters are calculated through basic operating condition parameters and real-time operating condition parameters. This section gives the symbolic representation and calculation method of these current operating condition parameters.

[0198] 1. Current operating parameters of the spreader

[0199] 1) Lifting device loading status: DLoadSt(t)

[0200] The load box status of the spreader during this operation can be determined based on the lock pin lock status DLockSt(t), DMidLockSt(t) and arm span status DSALenSt(t) when the spreader is lowered above the parking lane:

[0201]

[0202]

[0203] 2) The current lifting height of the spreader: DLiftH dZ (t)

[0204] The lifting height of the current operation of the spreader depends on the landing height DLandH of the current lane operation. Z (t), DLandH Z The calculation method of (t) is as follows:

[0205]

[0206] DLiftH dZ The calculation method of (t) is as follows:

[0207] <![CDATA[DLiftH dZ (t)]]> condition <![CDATA[DH Z (t)-DLandH Z (t)]]> <![CDATA[Vld(DLandH Z (t))]]> invalid otherwise

[0208] 2. Current operating parameters of the inner trailer

[0209] 1) Inner trailer board positioning point

[0210] The inner trailer board positioning points of the lane Lane include the current positions of the left and right guide plates in the inner trailer board profile and the current position of the board midpoint, such as Figure 5 As shown, the following symbols are used:

[0211] (1) Current position of left guide plate:

[0212] TPLPos ZX (Lane,t)=Pos ZX (TPL Z (Lane,t),TPL X (Lane,t))

[0213] (2) Current position of right guide plate:

[0214] TPRPos ZX (Lane,t)=Pos ZX (TPR Z (Lane,t),TPR X (Lane,t))

[0215] (3) Current position of the center point of the carriage:

[0216] TPMPos ZX (Lane,t)=Pos ZX (TPM Z (Lane,t),TPM X (Lane,t))

[0217] Among them, the current position of the left and right guide plates is detected and identified in the profile of the inner trailer plate. If the detection fails, it is invalid.

[0218] TPMPos ZX The calculation method of (Lane,t) is as follows:

[0219]

[0220]

[0221] 2) Inner trailer box positioning point

[0222] The inner trailer container positioning points of Lane include the current positions of the left and right end points and the center point of the upper surface of the container in the inner trailer container profile, including the single container and double 20-foot containers. Figure 6 and Figure 7 As shown, the following symbols are used:

[0223] (1) Current position of the left end point on the upper surface of the left carrier box:

[0224] TLCLPos ZX (Lane,t)=Pos ZX (TLCL Z (Lane,t),TLCL X (Lane,t))

[0225] (2) Current position of the right end point on the upper surface of the left carrier box:

[0226] TLCRPos ZX (Lane,t)=Pos ZX (TLCR Z (Lane,t),TLCR X (Lane,t))

[0227] (3) Current position of the center point on the upper surface of the left carrier:

[0228] TLCMPos ZX (Lane,t)=Pos ZX (TLCM Z (Lane,t),TLCM X (Lane,t))

[0229] (4) Current position of the left end point on the upper surface of the right carrier box:

[0230] TRCLPos ZX (Lane,t)=Pos ZX (TRCL Z (Lane,t),TRCL X (Lane,t))

[0231] (5) Current position of the right end point on the upper surface of the right carrier box:

[0232] TRCRPos ZX (Lane,t)=Pos ZX (TRCR Z (Lane,t),TRCR X (Lane,t))

[0233] (6) Current position of the center point on the upper surface of the right carrier box:

[0234] TRCMPos ZX (Lane,t)=Pos ZX (TRCM Z (Lane,t),TRCM X (Lane,

[0235] t))

[0236] Among them, the current positions of the left and right end points of the upper surfaces of the left and right cargo boxes are detected and identified in the cross-sectional profile of the inner trailer cargo box. If they cannot be detected, they are invalid.

[0237] TLCMPos ZX The calculation method of (Lane,t) is as follows:

[0238]

[0239] TRCMPos ZX The calculation method of (Lane,t) is as follows:

[0240]

[0241] 3) Inner trailer loading status: TLoadSt(Lane,t)

[0242] Based on the inner trailer's pallet positioning point and the container positioning point, the container loading status of the inner trailer in the lane Lane can be determined:

[0243]

[0244]

[0245] 7. Calculation method of alignment deviation of inner trailer operation

[0246] The alignment deviation of the inner trailer in the lane is calculated based on the current operating parameters of the inner trailer. If the spreader height is lower than the safe braking height, it is also necessary to consider whether the spreader loading state matches the inner trailer loading state to avoid collision accidents.

[0247] 1. Matching status between the spreader and the inner trailer container: DTMacthSt(Lane,t)

[0248] For a certain state of DLoadSt(t), when the state of TLoadSt(Lane,t) satisfies the following matching conditions, DTMacthSt(Lane,t) is valid, otherwise DTMacthSt(Lane,t) is invalid.

[0249]

[0250]

[0251] 2. Internal trailer operation alignment deviation: TAOffset dX (Lane,t)

[0252] Lane Lane trailer operation alignment deviation TAOffset dX The valid conditions for (Lane,t) are:

[0253]

[0254] When TAOffset dX When (Lane,t) is valid, its value is calculated based on the inner trailer container status and the spreader container status, the specific method is as follows:

[0255]

[0256]

[0257] 8. Determination of the current operating lane

[0258] Since actual operations may be carried out in lanes other than the main operation lane, in order to improve the timeliness and effectiveness of the alignment guidance information and safe departure prompt information output by the system, it is necessary to dynamically determine the current operation lane. The current operation lane ActLane(t) is determined based on the real-time working condition parameters of the spreader, the current alignment deviation of the inner trailer operation in each lane, and the main operation lane set by the main operation lane selector. The method is as follows:

[0259]

[0260] 9. Alignment guidance information

[0261] If the alignment deviation of the inner trailer operation in the current working lane is valid, the system controller outputs alignment guidance information to the display controller, the content of which is the alignment deviation of the inner trailer operation in the current working lane, and the operation information display screen displays it in graphic form.

[0262] Figure 8In the figure, (a) is an example of the alignment guidance information displayed on the operation information display screen, wherein the text portion is the current operation lane number and the absolute value of the inner trailer operation alignment deviation of the current operation lane, and the pattern portion is the alignment adjustment direction. If the inner trailer operation alignment deviation is a negative value, the direction pattern is a right arrow, if the inner trailer operation alignment deviation is a positive value, the direction pattern is a left arrow, and if the inner trailer operation alignment deviation is 0, the alignment adjustment direction is not displayed.

[0263] 10. Safe departure reminder information

[0264] In order to avoid accidents caused by the inner trailer starting too early after the operation is completed, the system needs to display a safe departure prompt on the operation information display screen. The inner trailer driver in the current operation lane can leave the site safely after the operation is completed by following the prompt.

[0265] Figure 8 In the figure, (b) and (c) are examples of safe departure prompt information displayed on the operation information display. The safe departure prompt information is generated based on the current operating lifting height of the spreader. The information content is: if the current operating lifting height of the spreader is lower than the height of a standard 20-foot container, "Keep parked" is displayed, otherwise "Please leave" is displayed.

[0266] The safe departure reminder information is generated as follows:

[0267]

[0268] 11. Determination of Operation Hazards

[0269] In order to avoid accidents in which the spreader and the container it lifts hit the front of the inner trailer or the inner trailer container during operation, causing personal injury or death of the inner trailer driver or damage to equipment, this system determines such operational hazards. If the operational risk determination is valid, the system controller sends a spreader lowering brake command to the crane control system through the industrial bus.

[0270] The method of determining the hazardous situation of an operation is as follows:

[0271]

[0272] The present invention provides a complete and highly integrated system solution for the two needs of alignment guidance and safety protection for the inner trailer lane operation of the shore crane, while overcoming the application defects of the existing alignment guidance system, effectively improving the efficiency of receiving and sending box operations while ensuring operation safety.

[0273] The background section of the present invention may contain background information about the problem or environment of the present invention, but does not necessarily describe the prior art. Therefore, the content included in the background section is not an admission by the applicant that the prior art is available.

[0274] The above content is a further detailed description of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, it can also make several substitutions or modifications to these described embodiments, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention. In the description of this specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the scope of protection of the patent application.

Claims

1. A shore crane alignment guidance and safety protection method, using a shore crane alignment guidance and safety protection system, characterized in that: The shore crane alignment guidance and safety protection system comprises a system controller and laser scanners for each working lane, a main working lane selector and an information feeding device respectively connected to the system controller, wherein the laser scanning surface of the laser scanner for each working lane is perpendicular to the corresponding working lane and the intersection line with the lane is the lane center line, so as to simultaneously obtain the cross-sectional profiles of the inner trailer trailers and inner trailer containers working in all the working lanes; The method comprises: The cross-sectional profiles of the inner trailer pallets and inner trailer containers operating in all the working lanes are obtained through the laser scanning surface of the laser scanner of each working lane, and the system controller uses the predetermined basic working condition parameters of container loading and unloading operations, the real-time working condition parameters of the spreader obtained from the crane control system, the real-time scanning data obtained from the laser scanner of each working lane, and the main working lane information obtained from the main working lane selector to generate the current working condition parameters of the spreader, the current working condition parameters of the trailer in each working lane, and the alignment deviation of the inner trailer operation, determine the current working lane, generate alignment guidance information, and provide the alignment guidance information to the inner trailer driver located in the current working lane through the information feeding device; When there is an inner trailer in a certain working lane, the method for determining the working alignment deviation of the inner trailer in the lane includes: 1) If the state of the spreader box matches the state of the inner trailer box, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer board or the inner trailer box and the correct position specified in the operation specification. If there are multiple correct positions according to the operation specification, the deviation with the smaller absolute value is used for calculation; 2) If the load box state of the spreader does not match the load box state of the inner trailer, when the current height of the spreader is not lower than the safety brake height, the inner trailer operation alignment deviation is the left-right deviation between the current position of the inner trailer load box and the correct position of the load box for completing the unloading operation in one go according to the operating specifications; when the current height of the spreader is lower than the safety brake height, the inner trailer operation alignment deviation is judged to be invalid; The method for determining the current working lane includes: 1) If the inner trailer operation alignment deviation of the current parking lane of the spreader is valid, the current operation lane is the current parking lane of the spreader; 2) If the inner trailer operation alignment deviation of the lane where the spreader is currently parked is invalid, the current operation lane is the main operation lane.

2. The shore crane alignment guidance and safety protection method according to claim 1, characterized in that: The shore crane is a shore gantry crane with a frame structure, including a trolley, a left saddle beam, a right saddle beam, a trolley and a hoist, wherein the trolley includes a front door leg and a rear door leg, the front door leg and the rear door leg each include two left and right door posts, and wheels are installed under the front door leg and the rear door leg; the left saddle beam is connected between the left door post of the front door leg and the left door post of the rear door leg, the right saddle beam is connected between the right door post of the front door leg and the right door post of the rear door leg, the left saddle beam and the right saddle beam are parallel and perpendicular to the driving direction of the working lane; tracks are laid on the left saddle beam and the right saddle beam; the trolley is a wheel-rail walking mechanism arranged on the track; the hoist is installed on the trolley, driven by the trolley, and performs loading and unloading operations above the inner trailer in the lane.

3. The shore crane alignment guidance and safety protection method according to claim 2, characterized in that: The laser scanner of each working lane is installed on the inner side of the left saddle beam or the inner side of the right saddle beam above each working lane of the shore crane.

4. The shore crane alignment guidance and safety protection method according to any one of claims 1 to 3, characterized in that: The information feeding device comprises an operation information display screen, and the system controller provides the alignment guidance information and safe departure prompt information to the inner trailer driver located in the current operation lane through the operation information display screen.

5. The shore crane alignment guidance and safety protection method according to claim 4, characterized in that: The operation information display screen is installed at an appropriate position on each door post of the shore crane for easy observation by the inner trailer driver; the shore crane alignment guidance and safety protection system also includes a display controller, which is connected to the display controller. The system controller communicates with the display controller via Ethernet, sends the alignment guidance information and the safe departure prompt information to the display controller, and the display controller controls the operation information display screen to display.

6. The shore crane alignment guidance and safety protection method according to any one of claims 1 to 3, characterized in that: The system controller communicates with the crane control system via the industrial bus, and communicates with the laser scanners of each working lane and the main working lane selector via Ethernet. When the system controller determines that there is an operating hazard, it sends a sling lowering braking command to the crane control system via the industrial bus.

7. A shore crane alignment guidance and safety protection method according to any one of claims 1 to 3, characterized in that: When the system controller determines that there is an operation hazard, a sling lowering brake command is sent to the crane control system through the industrial bus. The operation hazard is that there is a possibility that the sling may hit the front of the inner trailer or the inner trailer container in the current operation lane. The determination conditions of the operation hazard are to meet the following 1) to 4) items: 1) The current operating lane is the lane where the spreader is currently parked; 2) The current height of the spreader is lower than the spreader's safe braking height; 3) There is a trailer in the current working lane; 4) The alignment deviation of the inner trailer operation in the current operation lane is judged to be invalid or exceeds the alignment safety value.

8. A shore crane alignment guidance and safety protection method according to any one of claims 1 to 3, characterized in that: The system controller also generates safe departure prompt information for the current working lane based on the real-time operating parameters of the spreader and the current operating parameters of the inner trailer in the current working lane, and provides the safe departure prompt information to the driver of the inner trailer in the current working lane, wherein the generation condition of the safe departure prompt information is that the current working lane is the current parking lane of the spreader and the current operating lifting height of the spreader is valid.

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