Unloading method, device, storage medium and equipment for ship unloader

Abstract

The present disclosure relates to a ship unloading method, device, storage medium and equipment for a ship unloader, the method comprising: generating a ship unloading schedule according to preset ship unloading plan information; scanning, by a scanning assembly on the ship unloader, a to-be-unloaded ship indicated by the ship unloading schedule to obtain scanning data, the scanning assembly comprising a millimeter wave radar and a laser radar; three-dimensionally modeling each to-be-unloaded hold on the to-be-unloaded ship according to the scanning data to obtain a three-dimensional model of each to-be-unloaded hold, the three-dimensional model comprising positioning information of a hatch and boundary positioning information of materials in the hold; and for each to-be-unloaded hold, performing an unloading operation on to-be-unloaded materials in the to-be-unloaded hold according to the three-dimensional model of the to-be-unloaded hold and an unloading sequence of the to-be-unloaded hold indicated by the ship unloading schedule.

Description

Technical Field

[0001] This disclosure relates to the field of ship unloading machine technology, and more specifically, to a ship unloading method, apparatus, storage medium, and equipment for a ship unloading machine. Background Technology

[0002] Currently, ship unloading operations at docks are generally carried out by manually operating a handle in the control room or by wireless remote control to control the unloading machine on-site. As a result, the efficiency and safety of the unloading operation depend entirely on the skill and fatigue level of the driver. Summary of the Invention

[0003] The purpose of this disclosure is to provide a method, apparatus, storage medium, and equipment for unloading ships using a ship unloader, in order to solve the aforementioned technical problems.

[0004] To achieve the above objectives, in a first aspect, this disclosure provides a method for unloading ships using a ship unloader, comprising:

[0005] Generate an unloading schedule based on the preset unloading plan information;

[0006] For the vessel to be unloaded as indicated in the unloading schedule, the vessel to be unloaded is scanned by the scanning component on the unloading machine to obtain scanning data. The scanning component includes millimeter-wave radar and lidar.

[0007] Based on the scan data, a three-dimensional model is performed on each cargo hold on the vessel to be unloaded, resulting in a three-dimensional model of each cargo hold. The three-dimensional model includes the location information of the hatch and the boundary location information of the materials inside the cargo hold.

[0008] According to the unloading schedule indicated by the unloading schedule, for each cargo hold to be unloaded, the material to be unloaded in the cargo hold to be unloaded is unloaded according to the three-dimensional model of the cargo hold.

[0009] Optionally, before unloading the material to be unloaded from each cargo hold according to the unloading sequence indicated by the unloading schedule, and before unloading the material to be unloaded from that cargo hold based on its three-dimensional model, the method further includes:

[0010] The three-dimensional models of each of the cargo holds to be unloaded are meshed to generate a mesh model of each cargo hold to be unloaded. The mesh model includes parallel mesh lines and vertical mesh lines, wherein the parallel mesh lines are parallel to the track direction of the unloader, and the vertical mesh lines are perpendicular to the track direction of the unloader.

[0011] Optionally, the step of unloading the material to be unloaded from the cargo hold based on the three-dimensional model of the cargo hold includes:

[0012] Based on the grid model of the cargo hold to be unloaded, determine the unloading start point of each unloading layer of the material to be unloaded;

[0013] The ship unloader is controlled to start unloading from the unloading starting point according to the preset unloading strategy.

[0014] Optionally, determining the unloading start point of each unloading layer of material to be unloaded based on the mesh model of the cargo hold includes:

[0015] For any unloading layer, determine the straight-line distance between the hopper of the ship unloader and each grid vertex of that unloading layer in the grid model, wherein the grid vertex represents the intersection of the parallel grid line and the vertical grid line;

[0016] The grid vertex with the shortest straight-line distance is determined as the unloading starting point of the unloading layer.

[0017] Optionally, controlling the unloader to start unloading from the unloading starting point according to a preset unloading strategy includes:

[0018] Starting from the unloading start point, unloading proceeds along a preset first direction, and during the unloading process, it is detected in real time whether the unloader has reached the boundary position of the material to be unloaded;

[0019] When the unloader reaches the boundary position of the material to be unloaded, the unloader is controlled to rotate and unload in the second direction.

[0020] When the unloader reaches the unloading start point again, the unloader is controlled to stop unloading at this unloading layer, and the unloading start point of the next unloading layer is determined according to the grid model.

[0021] Optionally, the unloading method for the unloader further includes:

[0022] The three-dimensional models of each of the cargo holds to be unloaded are applied to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatches of each cargo hold to be unloaded and the three-dimensional position coordinates of the material boundary points inside each cargo hold to be unloaded.

[0023] Optionally, the unloading schedule includes:

[0024] The name and total deadweight of the vessel to be unloaded;

[0025] The names, quantities, loads, and unloading sequences of each cargo hold on the vessel to be unloaded.

[0026] Secondly, this disclosure provides an unloading device for a ship unloader, comprising:

[0027] The scheduling module is used to generate an unloading schedule based on the preset unloading plan information.

[0028] The scanning module is used to scan the vessel to be unloaded as indicated in the unloading schedule using the scanning components on the unloading machine to obtain scanning data. The scanning components include millimeter-wave radar and lidar.

[0029] The model module is used to perform three-dimensional modeling of each cargo hold on the ship to be unloaded based on the scan data, and to obtain a three-dimensional model of each cargo hold. The three-dimensional model includes the hatch positioning information and the boundary positioning information of the materials inside the cargo hold.

[0030] The control module is used to perform unloading operations on the materials to be unloaded in each cargo hold according to the unloading sequence indicated by the unloading schedule, based on the three-dimensional model of the cargo hold.

[0031] Thirdly, this disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in the first aspect.

[0032] Fourthly, this disclosure provides an electronic device, comprising:

[0033] A memory on which computer programs are stored;

[0034] A processor for executing the computer program in the memory to implement the steps of the method described in the first aspect.

[0035] In the above technical solution, the vessel to be unloaded is determined based on the unloading plan information. The vessel is then scanned using a scanning component on the unloading machine to obtain scan data. This scan data is then used for 3D modeling to obtain a 3D model. Based on this 3D model, the unloading machine is controlled to unload the material from the vessel's hold according to the unloading sequence specified in the unloading plan information. This method allows the 3D modeling to accurately locate the vessel's hold and enables the unloading machine to automatically unload according to a preset sequence. This significantly reduces the safety hazards associated with manually selecting the unloading path and improves the operating efficiency of the unloading machine.

[0036] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 A flowchart illustrating an exemplary embodiment of a ship unloading method for a ship unloader is shown.

[0039] Figure 2 A flowchart illustrating a specific implementation of step S140 in an exemplary embodiment is shown;

[0040] Figure 3 A flowchart illustrating a specific implementation of step S141 in an exemplary embodiment is shown;

[0041] Figure 4 A flowchart illustrating a specific implementation of step S142 in an exemplary embodiment is shown;

[0042] Figure 5 A schematic diagram of an unloading device for a ship unloader provided in an exemplary embodiment is shown;

[0043] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0044] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0045] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0046] Currently, fully automated operation of ship unloaders lacks path planning or has unreasonable path planning. Often, operators set the unloading route, and the ship unloader unloads according to the set route. Alternatively, operators determine the order of the cargo holds to be unloaded, and then unload in sequence. Such unloading methods do not consider that work efficiency can be improved through path planning, and do not provide reasonable and efficient path planning methods.

[0047] To address the aforementioned problems, this disclosure provides a method, apparatus, storage medium, and equipment for unloading a ship using a ship unloader. Three-dimensional modeling allows the ship unloader to accurately locate the position of the cargo hold to be unloaded, enabling it to automatically unload materials according to a preset unloading sequence. This significantly reduces the safety hazards associated with manually selecting the unloading path and improves the operating efficiency of the ship unloader.

[0048] Figure 1 A flowchart illustrating an exemplary embodiment of a ship unloading method for a ship unloader is shown below. Please refer to... Figure 1The method includes:

[0049] S110 generates an unloading schedule based on the preset unloading plan information.

[0050] In one possible implementation, the unloading schedule may include: the name and total deadweight of the vessel to be unloaded; the name, quantity, deadweight, and unloading sequence of each cargo hold on the vessel to be unloaded. The unloading sequence may, for example, be unloading from left to right.

[0051] Here, the unloading schedule may also include the unloading sequence of the vessels waiting to be unloaded. Based on the unloading sequence of the vessels waiting to be unloaded, the unloader is controlled to move sequentially to each vessel to unload.

[0052] Here, the preset unloading plan information may include unloading information in the unloading schedule, as well as other unloading information.

[0053] S120, for the vessel to be unloaded as indicated in the unloading schedule, the scanning component on the unloading machine is used to scan the vessel to be unloaded and obtain scanning data. The scanning component includes millimeter-wave radar and lidar.

[0054] The scan data obtained here may include, but is not limited to, the boundary information, height and volume of the ship's hold, the boundary information and height of the hatch, and the boundary information, height and volume of the materials inside the hold.

[0055] The boundary information can be, but is not limited to, the coordinates of the boundary points of the material pile inside the hull. Furthermore, the scanning data can be, but is not limited to, acquired through a scanning component. A scanning component can be, but is not limited to, a combination of a millimeter-wave radar and a lidar, or multiple millimeter-wave radars and a lidar. The millimeter-wave radar and lidar can be mounted on the boom of the ship unloader. The lidar can be mounted on the boom relatively close to the hopper. Since the boom height of the ship unloader is relatively fixed, mounting the lidar at this position allows it to acquire scanning data by rotation. The millimeter-wave radar can be mounted at any position on the lidar's mounting bracket.

[0056] It is worth noting that a single scanning component can be installed on the boom of a ship unloader, but not limited to one; multiple components can also be installed.

[0057] S130. Based on the scan data, a three-dimensional model is created for each cargo hold on the vessel to be unloaded, resulting in a three-dimensional model of each cargo hold. This three-dimensional model includes the location information of the hatch and the boundary location information of the materials inside the cargo hold.

[0058] In some embodiments, after obtaining scanning data via millimeter-wave radar and lidar, the scanning data is modeled during the time when the unloader is not operating, generating a three-dimensional model.

[0059] In actual operation, the control system can select the corresponding unloading area in the three-dimensional model according to the actual production needs. The unloading area should be within the boundary range of the actual unloading pile. A target unloading area is generated. For each unloading layer in the target unloading area, the unloading start point and unloading stop point of the layer need to be selected first, and the coordinates of the unloading start point and unloading stop point are generated. The unloading start point and the unloading stop point are located at the same height.

[0060] S140, according to the unloading sequence of each cargo hold to be unloaded as indicated by the unloading schedule, for each cargo hold to be unloaded, the material to be unloaded in the cargo hold to be unloaded is unloaded according to the three-dimensional model of the cargo hold to be unloaded.

[0061] After the 3D modeling is completed, the control system controls the unloader to unload materials from each ship in sequence according to the unloading schedule. For any ship to be unloaded, the control system controls the unloader to unload materials from each of the ship's cargo holds in sequence according to the unloading schedule.

[0062] In specific implementation, before step S140 above, the unloading method further includes: performing meshing processing on the three-dimensional model of each cargo hold to be unloaded to generate a mesh model of each cargo hold to be unloaded. The mesh model includes parallel mesh lines and vertical mesh lines, wherein the parallel mesh lines are parallel to the track direction of the unloading machine, and the vertical mesh lines are perpendicular to the track direction of the unloading machine.

[0063] Among them, the three-dimensional model of each cargo hold to be unloaded is meshed, which enables the ship unloader to accurately locate the unloading start point, unloading stop point and each unloading turning point.

[0064] Here, the 3D models of each vessel to be unloaded can also be meshed to generate a mesh model of each vessel. Based on this mesh model, the position of each vessel to be unloaded can be accurately located.

[0065] In the above scheme, the vessel to be unloaded is determined based on the unloading plan information. The vessel is scanned using a scanning component on the unloading machine to obtain scan data. This scan data is then used for 3D modeling to obtain a 3D model. The unloading machine is then controlled according to this 3D model to unload the material from the vessel's hold according to the unloading sequence specified in the unloading plan information. This method allows the unloading machine to accurately locate the vessel's hold and automatically unload according to a preset sequence. This significantly reduces the safety hazards associated with manually selecting the unloading path and improves the operating efficiency of the unloading machine.

[0066] Figure 2 A flowchart illustrating a specific implementation of step S140 in an exemplary embodiment is shown below. Please refer to... Figure 2 The method includes:

[0067] S141, Based on the grid model of the cargo hold to be unloaded, determine the unloading start point of each unloading layer in the material to be unloaded.

[0068] The material to be unloaded refers to the material piled up in the hold of the ship to be unloaded. During the unloading process of the ship unloader, it is first necessary to determine the unloading starting point of each unloading layer of the material to be unloaded so that the hopper of the ship unloader can accurately align with the material to be unloaded.

[0069] S142, control the ship unloader to start unloading from the unloading starting point according to the preset unloading strategy.

[0070] For any unloading layer, after determining the unloading start point, the control system begins unloading according to the preset unloading strategy.

[0071] The unloading strategy may include the initial unloading direction of the unloader and the angle of rotation of the unloader.

[0072] For example, the initial unloading direction can be from left to right, and the angle of rotation for unloading can be 90°.

[0073] In the above scheme, the unloading starting point of the ship unloader can be determined by the grid model, which can make the ship unloader accurately locate the unloading starting point. Then, by pre-setting the unloading strategy, the ship unloader is controlled to start unloading from the unloading starting point according to the unloading strategy. This allows for reasonable planning of the unloading path of the ship unloader in advance, which can greatly reduce the safety hazards of manually selecting the unloading path, and at the same time improve the operating efficiency of the ship unloader.

[0074] Figure 3 A flowchart illustrating a specific implementation of step S141 in an exemplary embodiment is shown below. Please refer to... Figure 3 The method includes:

[0075] S1411, for any unloading layer, determine the straight-line distance between the unloader's hopper and each grid vertex of the unloading layer in the grid model, where the grid vertex represents the intersection of the parallel grid line and the vertical grid line.

[0076] For example, the straight-line distance between the hopper of the ship unloader and each grid vertex of the unloading layer in the mesh model can be calculated using the following formula:

[0077]

[0078] In the formula, A(x1,y1,z1) represents the coordinates of the hopper of the unloader, and B(x2,y2,z2) represents the coordinates of any grid vertex of the unloading layer in the grid model.

[0079] It is worth noting that the coordinates of the unloader's hopper can also be obtained by scanning the components.

[0080] In another possible implementation, the Euclidean distance formula can also be used to calculate the straight-line distance between the unloader's hopper and each grid vertex of the unloading layer in the grid model.

[0081] S1412, determine the grid vertex with the shortest straight-line distance as the unloading starting point of the unloading layer.

[0082] When it is determined that the straight-line distance between the hopper of the ship unloader and a certain grid vertex of the unloading layer in the grid model is the shortest, that grid vertex is taken as the unloading starting point.

[0083] In the above scheme, the optimal unloading starting point can be determined by calculating the shortest straight-line distance between the hopper of the ship unloader and each grid vertex of the unloading layer in the grid model. This can greatly reduce the safety hazards of manually selecting the unloading starting point and improve the operating efficiency of the ship unloader.

[0084] Figure 4 A flowchart illustrating a specific implementation of step S142 in an exemplary embodiment is shown. Figure 4 The illustrated process describes the unloading of materials from the starting point of any unloading layer according to a preset unloading strategy. This unloading strategy may include the initial unloading direction of the unloader and the rotation angle of the unloader. Please refer to... Figure 4 The method includes:

[0085] S1421, starting from the unloading start point, unloads material along a preset first direction, and during the unloading process, it detects in real time whether the unloader has reached the boundary position of the material to be unloaded.

[0086] In this unloading strategy, the initial unloading direction is the preset first direction. For example, the first direction indicates the direction of the parallel grid line corresponding to the unloading start point.

[0087] For example, after determining the unloading start point, the control system controls the ship unloader to move from the unloading start point to the boundary point on the parallel grid line where it is located to unload.

[0088] S1422, when the unloader reaches the boundary position of the material to be unloaded, control the unloader to rotate and unload in the second direction.

[0089] The second direction can be determined based on the current unloading direction and the slewing unloading angle in the unloading strategy. For example, if the slewing unloading angle is 90°, then the unloader is rotated 90° based on the current unloading direction to determine the second direction, and then the unloader is controlled to unload along the second direction.

[0090] For example, the unloader starts unloading from the unloading start point and unloads material along the direction of the parallel grid line where the unloading start point is located (i.e., the first direction). When the unloader reaches the first boundary position of the material to be unloaded, it controls the unloader to rotate 90° at the grid vertex corresponding to the first boundary position to the vertical grid line of the grid vertex, and controls the unloader to move and unload material along the direction of the vertical grid line (i.e., the second direction). When the unloader reaches the next boundary position of the material to be unloaded, it controls the unloader to rotate 90° again in the same rotation direction to the parallel grid line of the grid vertex, and controls the unloader to move and unload material along the direction of the parallel grid line (i.e., the new second direction). The above steps are repeated until the unloader reaches the unloading start point again.

[0091] S1423, when the unloader reaches the unloading start point again, control the unloader to stop unloading at the unloading layer, and determine the unloading start point of the next unloading layer according to the grid model.

[0092] The unloading is performed by rotating the unloader according to the method described in step S1422. When the unloader reaches the unloading starting point again, the control system controls the unloader to stop unloading. At this time, the unloading of this layer is completed, and the unloading of the next layer is carried out. The unloading of each layer below is controlled by the unloader according to the method shown in steps S1421-S1423.

[0093] In the previous embodiments, the three-dimensional models of each cargo hold to be unloaded can be applied to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatches of each cargo hold to be unloaded and the three-dimensional position coordinates of the material boundary points inside each cargo hold to be unloaded. Thus, based on the three-dimensional position coordinates of the hatches of each cargo hold to be unloaded, the position of the hatches of each cargo hold to be unloaded can be accurately located so as to control the unloader to accurately reach each hatch. Based on the three-dimensional position coordinates of the material boundary points inside each cargo hold to be unloaded, the boundary of the material to be unloaded can be accurately located so as to control the unloader to accurately complete the slewing unloading.

[0094] Figure 5 A schematic diagram of an unloading device for a ship unloader is shown, according to an exemplary embodiment. Figure 5 As shown, the unloading device 500 for the unloading machine includes:

[0095] The scheduling module 501 is used to generate an unloading schedule based on the preset unloading plan information.

[0096] The scanning module 502 is used to scan the vessel to be unloaded as indicated in the unloading schedule using the scanning components on the unloading machine to obtain scanning data. The scanning components include millimeter-wave radar and lidar.

[0097] Model module 503 is used to perform three-dimensional modeling of each cargo hold on the ship to be unloaded based on the scan data, and obtain a three-dimensional model of each cargo hold. The three-dimensional model includes the location information of the hatch and the boundary location information of the materials inside the cargo hold.

[0098] The control module 504 is used to perform unloading operations on the materials to be unloaded in each cargo hold according to the unloading sequence indicated by the unloading schedule, based on the three-dimensional model of the cargo hold.

[0099] Optionally, model module 503 is also used to mesh the three-dimensional models of each cargo hold to be unloaded, generating a mesh model of each cargo hold to be unloaded. The mesh model includes parallel mesh lines and vertical mesh lines, wherein the parallel mesh lines are parallel to the track direction of the unloader, and the vertical mesh lines are perpendicular to the track direction of the unloader.

[0100] Optionally, the control module 504 is also used to determine the unloading start point of each unloading layer of the material to be unloaded based on the grid model of the cargo hold to be unloaded, and to control the unloader to start unloading from the unloading start point according to the preset unloading strategy.

[0101] Optionally, the control module 504 is also configured to determine, for any unloading layer, the straight-line distance between the unloader's hopper and each grid vertex of the unloading layer in the grid model, wherein the grid vertex represents the intersection of the parallel grid line and the vertical grid line, and to determine the grid vertex with the shortest straight-line distance as the unloading starting point of the unloading layer.

[0102] Optionally, the control module 504 is further configured to unload material along a preset first direction starting from the unloading start point, and during the unloading process, detect in real time whether the unloader has reached the boundary position of the material to be unloaded, control the unloader to rotate and unload material along a second direction when the unloader reaches the boundary position of the material to be unloaded, and control the unloader to stop unloading material at the unloading layer when the unloader unloads material again and reaches the unloading start point, and determine the unloading start point of the next unloading layer according to the grid model.

[0103] Optionally, the model module 503 is also used to apply the three-dimensional model of each cargo hold to be unloaded to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatch of each cargo hold and the three-dimensional position coordinates of the material boundary points inside each cargo hold.

[0104] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0105] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. For example, electronic device 600 may be provided as a server. (Refer to...) Figure 6 The electronic device 600 includes a processor 601, which may be one or more, and a memory 602 for storing computer programs executable by the processor 601. The computer program stored in the memory 602 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 601 may be configured to execute the computer program to perform the aforementioned unloading method for a ship unloader.

[0106] Additionally, the electronic device 600 may also include a power supply component 603 and a communication component 604. The power supply component 603 can be configured to perform power management of the electronic device 600, and the communication component 604 can be configured to enable communication of the electronic device 600, such as wired or wireless communication. Furthermore, the electronic device 600 may also include an input / output (I / O) interface 605. The electronic device 600 can operate on an operating system stored in the memory 602.

[0107] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the unloading method for the unloader described above. For example, the non-transitory computer-readable storage medium may be the memory 602 including program instructions described above, which may be executed by the processor 601 of the electronic device 600 to complete the unloading method for the unloader described above.

[0108] In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described unloading method for a ship unloader when executed by the programmable device.

[0109] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0110] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0111] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for unloading ships using a ship unloader, characterized in that, include: Generate an unloading schedule based on the preset unloading plan information; For the vessel to be unloaded as indicated in the unloading schedule, the vessel to be unloaded is scanned by the scanning component on the unloading machine to obtain scanning data. The scanning component includes millimeter-wave radar and lidar. Based on the scan data, a three-dimensional model is performed on each cargo hold on the vessel to be unloaded, resulting in a three-dimensional model of each cargo hold. The three-dimensional model includes the location information of the hatch and the boundary location information of the materials inside the cargo hold. According to the unloading sequence of each cargo hold to be unloaded as indicated by the unloading schedule, for each cargo hold to be unloaded, the material to be unloaded in the cargo hold to be unloaded is unloaded according to the three-dimensional model of the cargo hold to be unloaded. Before unloading materials from each cargo hold according to the unloading schedule indicated by the unloading schedule, and before unloading the materials from that cargo hold based on its three-dimensional model, the process further includes: The three-dimensional models of each of the cargo holds to be unloaded are meshed to generate mesh models of each cargo hold to be unloaded. The mesh models include parallel mesh lines and vertical mesh lines, wherein the parallel mesh lines are parallel to the track direction of the unloader and the vertical mesh lines are perpendicular to the track direction of the unloader. The unloading operation of the material to be unloaded in the cargo hold, based on the three-dimensional model of the cargo hold, includes: Based on the grid model of the cargo hold to be unloaded, determine the unloading start point of each unloading layer of the material to be unloaded; The ship unloader is controlled to start unloading from the unloading starting point according to a preset unloading strategy. The control of the unloader to start unloading from the unloading starting point according to the preset unloading strategy includes: Starting from the unloading start point, unloading proceeds along a preset first direction, and during the unloading process, it is detected in real time whether the unloader has reached the boundary position of the material to be unloaded; When the unloader reaches the boundary position of the material to be unloaded, the unloader is controlled to rotate and unload in the second direction. When the ship unloader reaches the unloading start point again, the ship unloader is controlled to stop unloading at this unloading layer, and the unloading start point of the next unloading layer is determined according to the grid model; The step of determining the unloading start point of each unloading layer of material to be unloaded based on the grid model of the cargo hold to be unloaded includes: For any unloading layer, determine the straight-line distance between the hopper of the ship unloader and each grid vertex of that unloading layer in the grid model, wherein the grid vertex represents the intersection of the parallel grid line and the vertical grid line; The grid vertex with the shortest straight-line distance is determined as the unloading starting point of the unloading layer; The unloading method for the unloader further includes: The three-dimensional models of each of the cargo holds to be unloaded are applied to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatches of each cargo hold to be unloaded and the three-dimensional position coordinates of the material boundary points inside each cargo hold to be unloaded.

2. The unloading method for a ship unloader according to claim 1, characterized in that, The unloading schedule includes: The name and total deadweight of the vessel to be unloaded; The names, quantities, loads, and unloading sequences of each cargo hold on the vessel to be unloaded.

3. A ship unloading device for a ship unloader, characterized in that, include: The scheduling module is used to generate an unloading schedule based on the preset unloading plan information. The scanning module is used to scan the vessel to be unloaded as indicated in the unloading schedule using the scanning components on the unloading machine to obtain scanning data. The scanning components include millimeter-wave radar and lidar. The model module is used to perform 3D modeling of each cargo hold on the vessel to be unloaded based on the scanned data, obtaining a 3D model of each cargo hold, the 3D model including the hatch positioning information and the boundary positioning information of the materials inside the hold; the control module is used to perform unloading operations on the materials to be unloaded in each cargo hold according to the unloading sequence indicated by the unloading schedule, based on the 3D model of the cargo hold; it is also used to perform unloading operations on the materials to be unloaded in each cargo hold according to the unloading sequence indicated by the unloading schedule, based on the 3D model of the cargo hold; and to determine the unloading start point of each unloading layer of the materials to be unloaded based on the mesh model of the cargo hold. And for controlling the ship unloader to start unloading from the unloading starting point according to the preset unloading strategy; starting from the unloading starting point, unloading along the preset first direction, and during the unloading process, detecting in real time whether the ship unloader has reached the boundary position of the material to be unloaded, for controlling the ship unloader to rotate and unload along the second direction when the ship unloader reaches the boundary position of the material to be unloaded, and for controlling the ship unloader to stop unloading at the unloading layer when the ship unloader unloads again and reaches the unloading starting point, and determining the unloading starting point of the next unloading layer according to the grid model; The model module is also used to mesh the three-dimensional models of each cargo hold to be unloaded, generating a mesh model of each cargo hold. The mesh model includes parallel grid lines and perpendicular grid lines, wherein the parallel grid lines are parallel to the track direction of the unloader, and the perpendicular grid lines are perpendicular to the track direction of the unloader. The three-dimensional models of each cargo hold to be unloaded are applied to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatches of each cargo hold to be unloaded and the three-dimensional position coordinates of the material boundary points within each cargo hold to be unloaded. The control module is also used to determine the unloading start point of each unloading layer of the material to be unloaded in the following manner: for any unloading layer, determining the straight-line distance between the hopper of the ship unloader and each grid vertex of the unloading layer in the grid model, wherein the grid vertex represents the intersection of the parallel grid line and the vertical grid line; The grid vertex with the shortest straight-line distance is determined as the unloading starting point of the unloading layer.

4. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-3.

5. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-3.

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