Ship loading control method and device for ship loader and storage medium thereof

Abstract

The application discloses a ship loader loading control method and device and a storage medium thereof, relates to the technical field of ship loaders, and has the technical scheme as follows: the control method comprises the following steps: real-time modeling is performed on a plurality of target objects; the target objects comprise a ship cabin, a chute and ship cabin goods; three-dimensional point cloud data of the ship cabin is acquired according to modeling information; the ship cabin is divided into a plurality of loading areas according to the three-dimensional point cloud data; three-dimensional point cloud data of each loading area is analyzed to determine the height of goods in each loading area; and the loading direction of the chute of the ship loader is determined according to the height of the goods. Through the ship loading control method, the material condition in the ship cabin can be automatically judged, and the loading direction can be reasonably planned, so that the operation safety and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of ship loaders, and in particular to a ship loader loading control method, device, and storage medium thereof. Background Art

[0002] This section is intended to provide a background or context to the embodiments recited in the claims. No admission is made that anything herein is prior art by virtue of its inclusion in this section.

[0003] Ship loaders are large-scale bulk material machines used for ship loading operations at bulk material terminals. During the engineering process, the ship loader must work with the loader's chute and its ancillary facilities to achieve loading operations. Currently, loading operations primarily rely on manual observation and operation from the driver's cab. During the loading process, loading operations are usually carried out into the ship's hold in sequence according to human judgment. However, manual observation has many blind spots, resulting in the inability to accurately judge the material situation in the hold during loading. This leads to a chaotic loading process, which not only may cause the chute to collide with the material in the hold, posing a safety hazard, but also affects loading efficiency. Summary of the Invention

[0004] In response to the above technical problems, the present invention proposes a ship loading control method, device and storage medium for a ship loader, which can automatically judge the material situation in the cabin and reasonably plan the loading direction, thereby improving operation safety and efficiency.

[0005] To solve the above technical problems, the technical solution adopted by the present invention includes four aspects.

[0006] In a first aspect, a method for controlling ship loading by a ship loader is provided, comprising the following steps:

[0007] Real-time modeling of multiple targets, including cabins, chutes, and cargo in the cabin;

[0008] Obtain three-dimensional point cloud data of the cabin based on the modeling information;

[0009] Dividing the cabin into a plurality of loading areas according to the three-dimensional point cloud data;

[0010] Analyzing the three-dimensional point cloud data of each loading area to determine the cargo height of each loading area;

[0011] The loading direction of the ship loader chute is determined according to the height of each cargo.

[0012] In some embodiments, dividing the cabin into a plurality of loading areas according to the three-dimensional point cloud data includes:

[0013] Determine the two vertical sides of the cabin as the X-axis and the Y-axis according to the modeling information;

[0014] According to the X-axis, the Y-axis and the three-dimensional point cloud data, a plurality of coordinate points in the cabin are determined as target points;

[0015] Each of the target points is taken as a center to expand outwardly into a plurality of circular loading areas.

[0016] In some embodiments, one of the plurality of loading areas is located at the center of the bottom surface of the cabin, and the remaining loading areas are uniformly distributed around the center of the bottom surface of the cabin.

[0017] In some embodiments, the three-dimensional point cloud data of the loading area is analyzed to determine the cargo height of each loading area, including:

[0018] A plurality of point cloud data in the loading area are obtained;

[0019] The point cloud data of the plurality of loading areas are sequentially arranged, and a plurality of point cloud data located in the middle after the arrangement are taken as mean data;

[0020] The mean data is subjected to mean filtering to obtain an elevation value of the loading area;

[0021] The cargo height of the loading area is determined according to the elevation value.

[0022] In some embodiments, the loading direction of the loading machine chute is determined according to the cargo height of each loading area, including:

[0023] The elevation values of a plurality of loading areas in a direction close to a side wall of the cabin are subjected to mean filtering to obtain a peripheral elevation value in the direction of the side wall, and the peripheral elevation values in four directions of the cabin are sequentially obtained;

[0024] The peripheral elevation values are compared to determine the minimum peripheral elevation value as a guide direction;

[0025] The elevation values of each loading area in the guide direction are compared with the elevation value of the loading area at the center of the cabin to determine the loading direction of the loading area with the minimum elevation value.

[0026] In some embodiments, the loading direction of the loading machine chute is determined according to the cargo height of each loading area, including:

[0027] When the elevation value of the loading area at the center of the cabin is the minimum, the position of the loading area at the center of the cabin towards the guide direction is taken as the loading direction;

[0028] When the elevation value of the loading area in the guide direction is the minimum, the center of the loading area or a position away from the guide direction is taken as the loading direction.

[0029] In some embodiments, the determining the loading direction of the ship loader chute according to the respective cargo height further comprises:

[0030] determining whether the ship loader chute has a collision risk according to the loading direction and the three-dimensional point cloud data;

[0031] If not, performing the loading operation in the determined loading direction.

[0032] In some embodiments, the determining whether the ship loader chute has a collision risk according to the loading direction and the three-dimensional point cloud data comprises:

[0033] obtaining ship loader chute point cloud data and ship cabin point cloud data according to real-time modeling information;

[0034] determining a chute equation according to the ship loader chute point cloud data;

[0035] determining a ship cabin equation according to the ship cabin point cloud data;

[0036] determining whether the chute surface and the ship cabin region intersect according to the chute equation and the ship hatch equation;

[0037] If the intersection can occur, it is determined that the ship loader chute has a collision risk.

[0038] In some embodiments, the chute equation is:

[0039]

[0040] wherein, l is the length of the chute; r is the radius of the chute;

[0041] the ship cabin fitting equation is:

[0042] wherein, h is the height of the upper surface of the ship hatch; the normal vector of the first side of the ship cabin is (m1, n1, 0), the normal vector of the second side of the ship cabin is (m2, n2, 0), the normal vector of the third side of the ship cabin is (m3, n3, 0), and the normal vector of the fourth side of the ship cabin is (m4, n4, 0), wherein m1, m2, m3, m4, n1, n2, n3, and n4 are constants.

[0043] In some embodiments, the determining whether the ship loader chute has a collision risk according to the loading direction and the three-dimensional point cloud data comprises:

[0044] obtaining ship loader chute point cloud data and ship cabin point cloud data according to real-time modeling information;

[0045] determining the elevation value of the bottom of the chute according to the ship loader chute point cloud data;

[0046] determining the elevation value of the cabin bottom according to the cabin point cloud data;

[0047] The elevation value of the bottom of the chute is compared with the elevation value of the bottom of the cabin to determine whether there is a risk of collision between the chute of the ship loader and the bottom of the ship.

[0048] In a second aspect, the present application provides a ship loading machine control device, comprising: a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the aforementioned ship loading method are performed.

[0049] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program that can be executed by one or more processors, and the computer program can be used to implement the steps of the aforementioned loading method.

[0050] Compared with the prior art, one or more embodiments of the above solutions may have the following advantages or beneficial effects:

[0051] The present application provides a ship loader loading control method, device, and storage medium thereof. The loading method includes: real-time modeling of multiple targets; the targets include a cabin, a chute, and cargo in the cabin; obtaining three-dimensional point cloud data of the cabin based on the modeling information; dividing the cabin into multiple loading areas based on the three-dimensional point cloud data; analyzing the three-dimensional point cloud data of each loading area to determine the cargo height of each loading area; and determining the loading direction of the loader chute based on each cargo height. Through this loading method, the cargo situation in the cabin can be obtained through the three-dimensional point cloud data, and the cabin can be divided into areas for processing. The loading direction can be reasonably planned based on the cargo height of each area, thereby ensuring safe loading, orderly and reasonable loading operations, and achieving efficient loading, thereby improving operational safety and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Hereinafter, the present application will be described in more detail based on embodiments and with reference to the accompanying drawings;

[0053] Figure 1 Schematic diagram of a flow chart of a ship loading control method of a ship loader according to an embodiment of the present invention;

[0054] Figure 2 In the embodiment of the present invention, Figure 1 An exemplary flow chart of step S3 shown in FIG;

[0055] Figure 3 In the embodiment of the present invention, Figure 1 An exemplary flow chart of step S4 shown in FIG.

[0056] Figure 4In the embodiment of the present invention, Figure 1 An exemplary flow chart of step S5 shown in FIG;

[0057] Figure 5 In the embodiment of the present invention, Figure 4 An exemplary flow chart of step S54 shown in FIG.

[0058] Figure 6 In the embodiment of the present invention, Figure 5 An exemplary flow chart of step S541 shown in FIG.

[0059] Figure 7 In the embodiment of the present invention, Figure 5 An exemplary flow chart of step S543 shown in FIG.

[0060] Figure 8 A schematic block diagram of a control device provided in an embodiment of the invention;

[0061] Figure 9 A schematic diagram of a storage medium provided in an embodiment of the present invention.

[0062] In the drawings, like components are given like reference numerals, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0063] The present disclosure is further described below with reference to the embodiments shown in the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0064] In the existing technology, loading operations mainly rely on manual observation and operation in the driver's cab. During the loading process, loading operations are usually carried out into the cabin in sequence according to manual judgment. However, there are many blind spots in manual observation, which may result in the inability to accurately judge the material situation in the cabin during loading, thereby causing the chute to collide with the material in the cabin during loading, posing a safety hazard. In addition, the loading process is chaotic, affecting loading efficiency.

[0065] The embodiment of the present application discloses a ship loading control method of a ship loader, such as Figure 1As shown, the system includes the following steps: real-time modeling of multiple targets; the targets include a ship cabin, a chute, and cargo in the cabin; obtaining three-dimensional point cloud data of the ship cabin based on the modeling information; dividing the ship cabin into multiple loading areas based on the three-dimensional point cloud data; analyzing the three-dimensional point cloud data of each loading area to determine the cargo height in each loading area; and determining the loading direction of the loader chute based on each cargo height. By rationally zoning the ship cabin and determining the cargo height of each loading area using the three-dimensional point cloud data, the cargo situation in each area of ​​the cabin can be accurately determined, and the loading direction can be automatically determined based on the identified situation, allowing accurate loading operations. Furthermore, the loading process can be rationally planned based on each loading area, allowing loading operations to be carried out in an orderly and logical manner, achieving safe and efficient loading, thereby improving operational safety and efficiency.

[0066] Some embodiments of the present disclosure also provide a control device and a storage medium corresponding to the above-mentioned shipping method.

[0067] At least one embodiment of the present disclosure provides a loading control method for a loader. The loading method can be implemented in the form of software, hardware, firmware, or any combination thereof, and loaded and executed by a processor in a device such as a mobile phone, tablet computer, laptop computer, desktop computer, network server, etc., thereby realizing automated loading and accurately identifying cargo information in the cabin, so as to accurately perform loading operations and improve loading efficiency.

[0068] Reference below Figure 1 As shown, a ship loading control method of a ship loader provided by at least one embodiment of the present disclosure is described, and the control method includes steps S1 to S5.

[0069] S1. Real-time modeling of multiple targets; the targets include a cabin, a chute, and cargo in the cabin.

[0070] In some embodiments, when modeling, a three-dimensional laser radar is installed on the top of the loader's boom to perform real-time scanning and modeling of the cabin, chute, and cargo in the cabin. The vertex of the loader's chute is used as the coordinate point, and the three-dimensional point cloud data obtained by the three-dimensional laser radar scanning is fitted to obtain the outer surface equation of the loader's chute as the loader's chute equation, and the cabin opening line segment and the upper surface equation of objects in the cabin are used as the cabin equation.

[0071] S2. Obtain three-dimensional point cloud data of the cabin based on the modeling information.

[0072] In some embodiments, when modeling the cabin, the X-axis is parallel to the ship direction, the Y-axis is perpendicular to the ship direction, and the Z-axis is perpendicular to the cabin surface upward, so as to facilitate the display of three-dimensional point data of the cargo in the cabin.

[0073] S3. Divide the cabin into multiple loading areas according to the three-dimensional point cloud data.

[0074] In some embodiments, one of the multiple loading areas is located at the center of the hold floor, and the remaining loading areas are evenly distributed around the center of the hold floor. In this embodiment, nine loading areas are provided, one of which is located at the center of the hold, and the remaining loading areas are evenly distributed around the center of the hold, thus evenly dividing the hold to facilitate loading of materials or cargo according to the availability of the materials or cargo in each loading area, thereby facilitating efficient and accurate loading operations.

[0075] In some embodiments, the cabin is divided into a plurality of loading areas according to the three-dimensional point cloud data, such as Figure 2 Shown, including:

[0076] S31. Determine the two vertical sides of the cabin as the X-axis and the Y-axis based on the modeling information. In this embodiment, the bottom surface of the cabin is regarded as a rectangle, such that the X-axis and the Y-axis are the long side and the short side of the rectangle, respectively.

[0077] S32, determining multiple coordinate points in the cabin as target points based on the X-axis, Y-axis and the three-dimensional point cloud data;

[0078] In some embodiments, the cabin is regarded as a rectangle, with the X-axis and the Y-axis being the long side and the short side of the rectangle, so that when determining multiple target points, the X-axis and Y-axis directions are taken as the long side and the short side, respectively. Position, 9 target points are formed in the plane coordinates, one of which is located at the center of the cabin, and the remaining target points are evenly distributed around the center of the cabin. After the target point is determined, the coordinate value of the corresponding target point is determined through the three-dimensional point cloud data.

[0079] S33: Taking each target point as the center of a circle, expand outward to form a plurality of circular loading areas.

[0080] In some embodiments, a circle is drawn with the target point as the center and 100 points around the target point as the radius, and the circular area is expanded outward as the loading area, that is, the cylinder formed by the extension of the circle is regarded as the area of ​​interest of the side wall of the loader chute.

[0081] S4. Analyze the three-dimensional point cloud data of each loading area to determine the cargo height of each loading area.

[0082] In some embodiments, step S4, such as Figure 3 Shown, including:

[0083] S41. Acquire a plurality of point cloud data within the loading area.

[0084] S42, sequentially arranging the point cloud data of the plurality of loading areas, and taking a plurality of point cloud data located in the middle after the arrangement as average data;

[0085] S43, performing mean filtering on the mean data to obtain the elevation value of the loading area;

[0086] S44. Determine the cargo height in the loading area according to the elevation value.

[0087] In some embodiments, the elevation value of each loading area is recorded as A, wherein the 9 loading areas are recorded as A in sequence. 11 、A 12 、A 13 、A 21 、A 22 、A 23 、A 31 、A 32 、A 33 .

[0088] S5. Determine the loading direction of the ship loader chute according to the height of each cargo.

[0089] In some embodiments, step S5, such as Figure 4 Shown, including:

[0090] S51. Perform mean filtering on multiple loading area elevation values ​​in a direction close to a side wall of the cabin to obtain a peripheral elevation value in the direction of the side wall, and sequentially obtain peripheral elevation values ​​in four directions of the cabin respectively;

[0091] S52, comparing the peripheral elevation values, and determining the minimum peripheral elevation value as the guiding direction;

[0092] S53: Compare the elevation values ​​of each loading area in the guidance direction with the elevation value of the loading area at the center of the cabin, and determine the loading area with the minimum elevation value as the loading direction.

[0093] In some embodiments, the peripheral elevation value is recorded as B, and the peripheral elevation values ​​in the four directions are recorded as B1, B2, B3, and B4 respectively. The specific formula is as follows:

[0094]

[0095] Where B0 is the average peripheral elevation value after mean filtering of the four peripheral elevation values.

[0096] Thus, when determining the loading area with the minimum elevation value as the loading direction, it includes:

[0097] When the elevation value of the loading area at the center of the cabin is the smallest, the position of the loading area at the center of the cabin facing the guidance direction is the loading direction;

[0098] When the elevation value of the loading area in the guiding direction is the smallest, the center of the loading area or the position deviating from the guiding direction is taken as the loading direction.

[0099] In some embodiments, the four peripheral elevation values ​​B1, B2, B3, B4 and the central elevation value A 22 Compare and determine the two smallest directions as the main loading directions.

[0100] If the center is A 22 If the elevation values ​​of the four peripheral elevation values ​​B1, B2, B3, and B4 are consistent, the central loading area A 22 Carry out loading operations at the center of the ship;

[0101] If the minimum elevation value is A 22 and an edge direction, such as A 22 and B1, then compare A 22 、A 11 、A 12 、A 13 The elevation value of 22 The elevation value of is the smallest, so install A first. 22 The area is close to the direction of B1; if A 12 If the elevation value is the smallest, install A first. 12 The area is away from the side of B1; if A 11 or A 13 When the elevation value of B1 is the smallest, it is necessary to compare the elevation values ​​of B1 and B4. If B1 <B4,则以A 11 The center of the ship is taken as the loading position; if B1>B4, then A 13 The center of the area is used as the loading location. The rest of the loading areas rely on this logic to cycle through, thereby completing the loading operation of the entire hold in an orderly manner, reasonably allocating the loading direction, and improving loading efficiency.

[0102] In some embodiments, after determining the loading direction of the ship and the chute, determining the loading direction of the loader chute according to each cargo height further includes:

[0103] S54: Determine whether there is a collision risk with the ship loader chute based on the loading direction and the three-dimensional point cloud data.

[0104] In some embodiments, the collision risk of the ship loader chute mainly lies in the side wall and the bottom of the ship loader chute. Therefore, when determining whether the ship loader chute has a collision risk, if Figure 5 Shown, including:

[0105] S541. Determine whether there is a collision risk between the side of the ship loader chute and the side of the cabin;

[0106] Specifically, such as Figure 6 As shown, S5411, based on the real-time modeling information, obtain the ship loader chute point cloud data and the cabin point cloud data;

[0107] S5412, determining a chute equation based on the ship loader chute point cloud data;

[0108] Specifically, the chute equation is:

[0109] Where, l is the length of the ship loader chute, r is the radius of the chute; x, z, y are the coordinates of the ship loader chute;

[0110] S5413. Determine a cabin equation based on the cabin point cloud data;

[0111] Specifically, the hatch has four edges, which are fitted into four faces. Assuming that the height of the upper surface of the hatch is h, the cabin equation is:

[0112]

[0113] Where h is the height of the hatch top surface; the normal vector of the first side of the cabin is (m1, n1, 0), the normal vector of the second side of the cabin is (m2, n2, 0), the normal vector of the third side of the cabin is (m3, n3, 0), and the normal vector of the fourth side of the cabin is (m4, n4, 0), where m1, m2, m3, m4, n1, n2, n3, and n4 are constants;

[0114] in, is the surface equation of the first side of the cabin;

[0115] is the surface equation of the second side of the cabin;

[0116] is the surface equation of the third side of the cabin;

[0117] is the surface equation of the fourth side of the cabin.

[0118] In each equation, x, z, and y are the coordinates of each side of the cabin; the area of ​​concern for these four sides is the interval z≤h.

[0119] S5414: Determine whether the chute curved surface and the cabin area intersect based on the chute equation and the cabin opening equation;

[0120] S5415: If intersection is possible, determine that there is a collision risk between the ship loader chute and the ship loader chute;

[0121] S5416: If there is no intersection, it is determined that there is no collision risk.

[0122] S542: Determine whether there is a collision risk between the bottom of the ship loader chute and the bottom of the ship;

[0123] Specifically, such as Figure 7 As shown, S5421, based on the real-time modeling information, obtain the ship loader chute point cloud data and the cabin point cloud data;

[0124] S5422: Determine the elevation value of the bottom of the chute according to the point cloud data of the ship loader chute;

[0125] S5423. Determine the elevation value of the cabin bottom according to the cabin point cloud data;

[0126] S5424: Compare the elevation of the chute bottom with the elevation of the cabin bottom to determine whether there is a risk of collision between the chute of the ship loader and the bottom of the ship;

[0127] S5425: If the elevation of the chute bottom is less than or equal to the elevation of the cabin bottom, it is determined that there is a collision risk.

[0128] S5426: If the elevation value of the bottom of the chute is greater than the elevation value of the bottom of the cabin, it is determined that there is no collision risk.

[0129] In some embodiments, after determining whether there is a collision risk:

[0130] S55. If there is no collision risk, proceed with loading operations in the determined loading direction;

[0131] S56. If there is a collision risk, the loader chute is controlled to move in the opposite direction or stop to prevent collision with the ship's hold.

[0132] The loading control method for a ship loader provided by the embodiments of the present disclosure can obtain the cargo situation in the cabin through three-dimensional point cloud data, and process the cabin by area, and reasonably plan the loading direction according to the cargo height in each area, so as to ensure safe loading and carry out loading operations in an orderly and reasonable manner, thereby achieving efficient loading and improving operation safety and efficiency.

[0133] At least some embodiments of the present disclosure further provide a ship loader control device, such as Figure 8 As shown, the power circuit control device includes a memory 21 and a processor 22. The memory 21 stores a computer program. When the computer program is executed by the processor, the steps of the control method of any embodiment of the present disclosure are performed.

[0134] In some embodiments, the processor 22 is used to execute all or part of the steps in the control method of any embodiment of the present disclosure. The memory 21 is used to store various types of data, which may include instructions for any application or method in the electronic device, as well as application-related data.

[0135] The processor 22 can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is used to execute the application management method in the above embodiment 1.

[0136] The memory 21 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0137] At least some embodiments of the present disclosure further provide a computer-readable storage medium, such as Figure 9 As shown, the readable storage medium stores a computer program 31, which implements the steps of the control method provided by any embodiment of the present disclosure when executed by a processor.

[0138] In some embodiments, the storage medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0140] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0141] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0142] In summary, the present application provides a ship loader loading control method, device, and storage medium thereof. This control method, by rationally zoning the ship hold and using three-dimensional point cloud data to determine the cargo height in each loading area, can accurately determine the cargo situation in each area of ​​the hold. This automatically determines the loading direction based on the identified situation, accurately performs loading operations, and rationally plans the loading process based on each loading area, performing loading operations in an orderly and logical manner, achieving safe and efficient loading, thereby improving operational safety and efficiency.

[0143] The various embodiments in the present disclosure are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0144] The scope of protection of the present disclosure is not limited to the above-described embodiments. Obviously, those skilled in the art may make various modifications and variations to the present disclosure without departing from the scope and spirit of the present disclosure. If such modifications and variations fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include such modifications and variations.

Claims

1. A ship loading control method for a ship loader, characterized in that: The following steps are involved: Real-time modeling of multiple targets, including cabins, chutes, and cargo in the cabin; Obtain three-dimensional point cloud data of the cabin based on the modeling information; Dividing the cabin into a plurality of loading areas according to the three-dimensional point cloud data; Analyzing the three-dimensional point cloud data of each loading area to determine the cargo height of each loading area; Determining the loading direction of the loader chute according to the height of each cargo; The analyzing the three-dimensional point cloud data of the loading area to determine the cargo height of each loading area includes: acquiring a plurality of point cloud data within the loading area; sequentially arranging the plurality of point cloud data of the loading area and taking a plurality of point cloud data located in the middle of the arrangement as mean data; performing mean filtering on the mean data to obtain the elevation value of the loading area; and determining the cargo height of the loading area according to the elevation value; Determining the loading direction of the ship loader chute according to the height of each cargo includes: Perform mean filtering on the elevation values ​​of multiple loading areas close to one side wall of the cabin to obtain the peripheral elevation value in the direction of the side wall, and then obtain the peripheral elevation values ​​in the four directions of the cabin in turn; Comparing the respective peripheral elevation values, and determining the minimum peripheral elevation value as the guiding direction; The elevation values ​​of each loading area in the guidance direction are compared with the elevation value of the loading area at the center of the cabin, and the loading area with the minimum elevation value is determined as the loading direction.

2. A ship loading control method of a ship loader according to claim 1, characterized in that: The step of dividing the cabin into a plurality of loading areas according to the three-dimensional point cloud data comprises: Determine the two vertical sides of the cabin as the X-axis and the Y-axis according to the modeling information; Determining multiple coordinate points in the cabin as target points based on the X-axis, the Y-axis and the three-dimensional point cloud data; Each of the target points is used as the center of a circle and expanded outward to form a plurality of circular loading areas.

3. A ship loading control method of a ship loader according to claim 1, characterized in that: One of the multiple loading areas is located at the center of the cabin bottom surface, and the remaining loading areas are evenly distributed around the center of the cabin bottom surface.

4. A ship loading control method of a ship loader according to claim 1, characterized in that: The loading area for determining the minimum elevation value is the loading direction, including: When the elevation value of the loading area at the center of the cabin is the smallest, the position of the loading area at the center of the cabin facing the guidance direction is the loading direction; When the elevation value of the loading area in the guiding direction is the smallest, the center of the loading area or the position deviating from the guiding direction is taken as the loading direction.

5. A ship loading control method of a ship loader according to claim 1, characterized in that: The step of determining the loading direction of the ship loader chute according to the height of each cargo further includes: Determining whether there is a collision risk with the loader chute based on the loading direction and the three-dimensional point cloud data; If not, proceed with loading operations in the determined loading direction.

6. A ship loading control method of a ship loader according to claim 5, characterized in that: The determining, based on the loading direction and the three-dimensional point cloud data, whether the loader chute has a collision risk includes: Based on real-time modeling information, obtain the point cloud data of the ship loader chute and the cabin; Determining a chute equation based on the ship loader chute point cloud data; determining a cabin equation according to the cabin point cloud data; Determining whether the chute surface and the cabin area intersect based on the chute equation and the cabin opening equation; If intersection can occur, it is determined that there is a risk of collision between the ship loader chute.

7. A ship loading control method of a ship loader according to claim 6, characterized in that: The chute equation is: Where, l is the length of the chute; r is the radius of the chute; The cabin equation is: Where h is the height of the upper surface of the hatch; the normal vector of the first side of the cabin is , the normal vector of the second side of the cabin is , the normal vector of the third side of the cabin is , the normal vector of the fourth side of the cabin is ,in , , , , , , , is a constant.

8. A ship loading control method of a ship loader according to claim 5, characterized in that: Determining whether there is a collision risk with the ship loader chute based on the loading direction and the three-dimensional point cloud data includes: Based on real-time modeling information, obtain the point cloud data of the ship loader chute and the cabin; Determine the elevation value of the bottom of the chute according to the point cloud data of the chute of the ship loader; determining the elevation value of the cabin bottom according to the cabin point cloud data; The elevation value of the bottom of the chute is compared with the elevation value of the bottom of the cabin to determine whether there is a risk of collision between the chute of the ship loader and the bottom of the ship.

9. A ship loader control device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the control method according to any one of claims 1 to 8 are performed.

10. A computer-readable storage medium, characterized in that The computer program stored in the storage medium can be executed by one or more processors, and the computer program can be used to implement the steps of the control method according to any one of claims 1 to 8.

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