An automated warehousing system for a ship and a super-rolling protection method and system thereof

Abstract

This invention belongs to the field of intelligent warehousing technology, specifically relating to an automated warehousing system for ships and its over-roll protection method and system. This invention detects the ship's tilt in real time, issuing an over-roll signal when the tilt exceeds a set threshold. Furthermore, before the reciprocating shuttle transfers storage containers, its horizontal movement is divided into multiple steps based on its current and target positions. The shuttle moves step-by-step to the target position according to these steps. When the loaded shuttle is about to reach the target position, it checks whether the over-roll signal has been triggered. If triggered, the storage container is lowered, locked, and movement is paused. This solves the technical problem in existing technologies where excessive ship tilt during the horizontal movement of the reciprocating shuttle transfers can cause storage containers to fall, leading to accidents.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing technology, specifically relating to an automated warehousing system for ships and its over-roll protection method and system. Background Technology

[0002] Automated storage systems are a product of the rapid development of modern logistics. Their use has greatly improved the operational efficiency and modernization level of logistics companies and increased the utilization rate of storage space.

[0003] When automated storage and retrieval systems (AS / RS) are applied to naval environments, to enable the transfer of different goods, goods are placed in storage containers and transferred between these containers using reciprocating shuttles. When the containers are placed on racks, a locking mechanism uses horizontally retractable locking pins to secure them, preventing them from falling off the racks during ship swaying and tilting. However, when transferring containers using reciprocating shuttles, the shuttles lock and unlock the containers using top blocks. This structure is unsuitable for a locking mechanism and therefore struggles to cope with ship swaying and tilting, potentially causing the containers to fall and leading to accidents.

[0004] Chinese invention patent application CN117326251A, published on January 2, 2024, discloses an automated warehouse control and management system and method. It employs a variable structure control algorithm based on position deviation feedback to control the operating speed of equipment. When the deviation is large, time-optimal control is used for rapid system response to reduce the deviation. When the deviation is small, feedforward + PID control is used to enable the equipment (including reciprocating shuttles) to stably track a given motion trajectory. However, this method is only applicable when the ship's tilt is small. When the tilt is too large, the storage containers may still fall off the reciprocating shuttles, causing an accident. Summary of the Invention

[0005] The purpose of this invention is to provide an automated storage system for ships and its over-roll protection method and system, in order to solve the technical problem in the prior art where, when the reciprocating shuttle of the transfer storage vehicle moves horizontally, the storage vehicle falls due to the excessive tilt of the ship, causing an accident.

[0006] To solve the above-mentioned technical problems, the present invention provides a technical solution for an over-roll protection method for an automated storage system on ships: based on the initial position and target position of the reciprocating shuttle's horizontal movement, the horizontal movement of the reciprocating shuttle is divided into multiple stages, and the reciprocating shuttle moves to the target position step by step according to the divided stages; when the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal is triggered; if the over-roll signal is triggered, the storage container is lowered and locked, and the movement is paused; the over-roll signal is triggered when the tilt of the ship exceeds a set threshold.

[0007] The beneficial effects of the above technical solution are as follows: The technical solution of the over-roll protection method for an automated storage system for ships of the present invention is a pioneering invention. By detecting the tilt of the ship in real time, an over-roll signal is issued when the tilt exceeds a set threshold. Since reciprocating shuttles often need to traverse multiple workstations to reach the target position, which takes a long time and is more prone to accidents where storage containers fall, the horizontal movement of the reciprocating shuttle is set to move one position at a time; if an over-roll signal is detected when the shuttle is about to reach the current target position, the reciprocating shuttle lowers the storage container, locks it, and stops moving. This solves the technical problem in the prior art where, during the horizontal movement of the reciprocating shuttle for transferring storage containers, the excessive tilt of the ship causes the storage containers to fall, leading to accidents.

[0008] Furthermore, the degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

[0009] Furthermore, when the reciprocating shuttle under load is about to reach the end of a certain stage, if the over-sway signal is not triggered, the reciprocating shuttle will move towards the end of the next stage according to the divided stages.

[0010] Furthermore, after the over-shake signal disappears, it is determined whether the reciprocating shuttle has moved to the last stage; if it has not moved to the last stage, the storage container is lifted and the reciprocating shuttle is moved toward the end of the next stage according to the divided stages.

[0011] The beneficial effect of the above technical solution is that after the over-shake signal disappears, the original operation process continues without human intervention, thus improving the working efficiency of the equipment.

[0012] Furthermore, if the movement has reached the final stage, the system will determine whether the storage container needs to be lifted according to the instructions. If it needs to be lifted, the reciprocating shuttle will perform a lifting action to lift the storage container.

[0013] Furthermore, during the lifting motion of the reciprocating shuttle, if an over-sway signal is triggered, the lifting motion is switched to a lowering motion, the storage container is lowered and locked, and the motion is paused; after the over-sway signal disappears, the lifting motion is switched back to the uppering motion to lift the storage container and the motion continues.

[0014] Furthermore, if an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the shuttle reaches its final position and stops.

[0015] Furthermore, the over-sway protection method also includes pausing the movement of the reciprocating shuttle when it reaches the target position under no-load conditions.

[0016] The beneficial effects of the above technical solution are: the reciprocating shuttle car in the unloaded state has less power because it is not carrying a load, so it will not cause overloading or storage container falling accidents. Therefore, a simple and easy-to-implement method can be chosen to handle the situation.

[0017] The present invention provides a technical solution for an over-roll protection system for an automated storage system on ships, comprising a controller and a detection module for detecting the degree of ship tilt. The controller is used by a computer program to execute instructions for an over-roll protection method for an automated storage system on ships as described below. Based on the initial and target positions of the horizontal movement of the reciprocating shuttle, the horizontal movement of the reciprocating shuttle is divided into multiple stages, and the reciprocating shuttle moves step by step to the target position according to the divided stages. When the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal is triggered. If the over-roll signal is triggered, the storage container is lowered and locked, and the movement is paused. The over-roll signal is triggered when the degree of ship tilt exceeds a set threshold.

[0018] The beneficial effects of the above technical solution are as follows: The over-roll protection system for an automated storage system for ships, as described in this invention, is a pioneering invention. By real-time detection of the ship's tilt, an over-roll signal is issued when the tilt exceeds a set threshold. Since reciprocating shuttles often need to traverse multiple workstations to reach the target position, which takes a long time and increases the risk of storage containers falling, the system is designed so that the horizontal movement of the reciprocating shuttle moves one position at a time; if an over-roll signal is detected just before reaching the current target position, the reciprocating shuttle lowers the storage container, locks it, and pauses its movement. This solves the technical problem in the prior art where, during the horizontal movement of the reciprocating shuttle for transferring storage containers, excessive tilt of the ship causes the storage containers to fall, leading to accidents.

[0019] Furthermore, the degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

[0020] Furthermore, when the reciprocating shuttle under load is about to reach the end of a certain stage, if the over-sway signal is not triggered, the reciprocating shuttle will move towards the end of the next stage according to the divided stages.

[0021] Furthermore, after the over-shake signal disappears, it is determined whether the reciprocating shuttle has moved to the last stage; if it has not moved to the last stage, the storage container is lifted and the reciprocating shuttle is moved toward the end of the next stage according to the divided stages.

[0022] The beneficial effect of the above technical solution is that after the over-shake signal disappears, the original operation process continues without human intervention, thus improving the working efficiency of the equipment.

[0023] Furthermore, if the movement has reached the final stage, the system will determine whether the storage container needs to be lifted according to the instructions. If it needs to be lifted, the reciprocating shuttle will perform a lifting action to lift the storage container.

[0024] Furthermore, during the lifting motion of the reciprocating shuttle, if an over-sway signal is triggered, the lifting motion is switched to a lowering motion, the storage container is lowered and locked, and the motion is paused; after the over-sway signal disappears, the lifting motion is switched back to the uppering motion to lift the storage container and the motion continues.

[0025] Furthermore, if an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the shuttle reaches its final position and stops.

[0026] Furthermore, the over-sway protection method also includes pausing the movement of the reciprocating shuttle when it reaches the target position under no-load conditions.

[0027] The beneficial effects of the above technical solution are: the reciprocating shuttle car in the unloaded state has less power because it is not carrying a load, so it will not cause overloading or storage container falling accidents. Therefore, a simple and easy-to-implement method can be chosen to handle the situation.

[0028] The present invention provides a technical solution for an automated storage system for ships, comprising: a reciprocating shuttle, a controller, and a detection module for detecting the degree of ship tilt. The controller is used to execute instructions in a computer program as described below for an over-roll protection method for an automated storage system for ships. Based on the initial and target positions of the reciprocating shuttle's horizontal movement, the horizontal movement of the reciprocating shuttle is divided into multiple stages, and the reciprocating shuttle moves step by step to the target position according to the divided stages. When the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal is triggered. If the over-roll signal is triggered, the storage container is lowered and locked, and the movement is paused. The over-roll signal is triggered when the degree of ship tilt exceeds a set threshold.

[0029] The beneficial effects of the above technical solution are as follows: The technical solution of the automated storage system for ships of the present invention belongs to an improved invention. By real-time detection of the ship's tilt, an over-roll signal is issued when the ship's tilt exceeds a set threshold. Since reciprocating shuttles often need to traverse multiple workstations to reach the target position, which takes a long time and is more prone to accidents where storage containers fall, the horizontal movement of the reciprocating shuttle is set to move one position at a time; if an over-roll signal is detected when the shuttle is about to reach the current target position, the reciprocating shuttle lowers the storage container, locks it, and stops moving. This solves the technical problem in the prior art where, during the horizontal movement of the reciprocating shuttle for transferring storage containers, the storage containers fall due to excessive tilt of the ship, causing accidents.

[0030] Furthermore, the degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

[0031] Furthermore, when the reciprocating shuttle under load is about to reach the end of a certain stage, if the over-sway signal is not triggered, the reciprocating shuttle will move towards the end of the next stage according to the divided stages.

[0032] Furthermore, after the over-shake signal disappears, it is determined whether the reciprocating shuttle has moved to the last stage; if it has not moved to the last stage, the storage container is lifted and the reciprocating shuttle is moved toward the end of the next stage according to the divided stages.

[0033] The beneficial effect of the above technical solution is that after the over-shake signal disappears, the original operation process continues without human intervention, thus improving the working efficiency of the equipment.

[0034] Furthermore, if the movement has reached the final stage, the system will determine whether the storage container needs to be lifted according to the instructions. If it needs to be lifted, the reciprocating shuttle will perform a lifting action to lift the storage container.

[0035] Furthermore, during the lifting motion of the reciprocating shuttle, if an over-sway signal is triggered, the lifting motion is switched to a lowering motion, the storage container is lowered and locked, and the motion is paused; after the over-sway signal disappears, the lifting motion is switched back to the uppering motion to lift the storage container and the motion continues.

[0036] Furthermore, if an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the shuttle reaches its final position and stops.

[0037] Furthermore, the over-sway protection method also includes pausing the movement of the reciprocating shuttle when it reaches the target position under no-load conditions.

[0038] The beneficial effects of the above technical solution are: the reciprocating shuttle car in the unloaded state has less power because it is not carrying a load, so it will not cause overloading or storage container falling accidents. Therefore, a simple and easy-to-implement method can be chosen to handle the situation. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the tilt angle data processing of an embodiment of an automated storage system for ships and its over-roll protection method according to the present invention.

[0040] Figure 2 This is a schematic diagram of the motion breakdown of a reciprocating shuttle car, representing an embodiment of an automated warehousing system for ships and its over-roll protection method according to the present invention.

[0041] Figure 3 This is a flowchart illustrating the horizontal motion over-roll protection function under load, as an embodiment of an automated storage system for ships and its over-roll protection method according to the present invention.

[0042] Figure 4 This is a flowchart illustrating the dynamic setting of the target position in an embodiment of an automated storage system for ships and its over-roll protection method according to the present invention.

[0043] Figure 5 This is a flowchart illustrating the over-roll protection function of the lifting mechanism in an embodiment of an automated storage system for ships and its over-roll protection method according to the present invention. Detailed Implementation

[0044] When automated storage and retrieval systems (AS / RS) are applied in a naval environment, the ship's inherent tendency to roll and tilt limits their application. If the ship tilts excessively, storage containers carrying goods may fall off the shuttle while it is being transferred, potentially causing an accident. This invention incorporates a detection module that monitors the ship's tilt in real time. When an excessive tilt angle is detected, an over-roll signal is issued. Furthermore, before the shuttle transfers the storage containers, its horizontal movement is divided into multiple steps based on its current and target positions. The shuttle moves step-by-step to the target position according to these steps. When the loaded shuttle is about to reach the target position, it checks if the over-roll signal has been triggered. If triggered, the storage containers are lowered, locked, and the movement is paused. This invention solves the technical problem in existing technologies where, during the horizontal movement of a reciprocating shuttle car for transfer storage, the storage container falls due to excessive tilting of the hull, causing an accident.

[0045] An embodiment of the automated warehousing system for ships according to the present invention:

[0046] An automated warehousing system for ships according to the present invention includes a reciprocating shuttle for transferring storage containers, and an over-roll protection system for preventing storage containers holding goods from falling off the horizontally moving reciprocating shuttle.

[0047] Specifically, the over-roll protection system includes a detection module and a controller capable of detecting the degree of tilt of the hull in real time. When the degree of tilt of the hull is too large, an over-roll signal is issued, and the controller executes internal program instructions to implement an over-roll protection method to prevent the storage containers from falling off the horizontally moving reciprocating shuttle. Specifically, the detection module is an inclination sensor that can detect the tilt angle of the hull in real time. The over-roll protection method is described below.

[0048] like Figure 1 As shown, when the tilt angle of the hull is less than the set angle threshold, the system operates according to the normal procedure. When the tilt angle of the hull is greater than the set angle threshold, an over-roll signal is triggered, and the equipment is protected by the over-roll protection function module.

[0049] In other embodiments, the detection module can also be a height sensor capable of detecting the height difference between the two sides of the hull in real time. In this case, the pre-set threshold can be a height difference threshold; of course, it can still be an angle threshold, as long as the height difference data detected by the sensor is processed and converted into angle data.

[0050] Specifically, such as Figure 2 As shown, this embodiment decomposes the motion of the reciprocating shuttle into two parts: horizontal motion and vertical motion. The horizontal motion is divided into two cases depending on whether the reciprocating shuttle is carrying storage equipment: loaded state and unloaded state; the vertical motion is divided into two cases depending on the direction of motion of the reciprocating shuttle: lifting upward and lifting downward.

[0051] When the reciprocating shuttle is moving horizontally in an unloaded state, it has low power because it is not carrying a load, so it will not overload or cause the storage container to fall. In this case, the reciprocating shuttle will stop moving after reaching the current target position and will not receive new instructions.

[0052] The horizontal movement of the reciprocating shuttle under load is divided into two modes: one is placing the storage device from its initial position to an adjacent position, and the other is placing the storage device from its initial position to a position spaced several workstations apart. In the second mode, the reciprocating shuttle needs to traverse multiple workstations to reach the target position from its current position, which takes a long time and greatly increases the possibility of overloading or the storage device falling off. To avoid accidents, this embodiment sets the reciprocating shuttle to move one position at a time. In the second mode, before the reciprocating shuttle moves under load, the number of steps required for the reciprocating shuttle to move one position and a list of target positions for moving one position are calculated based on the current position and the target position (i.e., the horizontal movement of the reciprocating shuttle is divided into multiple stages). The reciprocating shuttle reaches the final target position step by step.

[0053] Specifically, such as Figure 4 As shown, after calculating the number of steps required for the reciprocating shuttle to move one position and the list of target positions for that position, the system first checks if the number of steps already completed is less than the target number of steps required to reach the final target position. If it is not less, the reciprocating shuttle has reached the final target position. If it is less, the system checks if it is about to reach the currently set target position (i.e., the end point of a certain stage). If so, the system checks if an over-sway signal has been triggered. If the over-sway signal is triggered, the current process ends, and the over-sway protection function begins. If the over-sway signal is not triggered, the number of steps already completed is incremented by 1, and the next target position is set according to the list of target positions for that position. In this way, after the over-sway signal disappears, the original operation process continues without human intervention, improving the efficiency of the equipment.

[0054] like Figure 3As shown, before the reciprocating shuttle begins its movement, it acquires its current position and the target position it needs to reach. It then calculates the number of steps required for the shuttle to move one position and a list of target positions for that position. Based on this list, it sets the target position for the first move and checks if the number of steps already moved is less than the target number. If not, the shuttle has reached the final target position, and its horizontal movement is complete. If less, just before reaching the target position, it checks if an over-sway signal is triggered. If not, it sets the next target position based on the list. If the over-sway signal is triggered, the shuttle lowers and locks the storage container upon reaching the target position, pausing its movement and no longer receiving new commands. It resumes movement after the over-sway signal disappears. Specifically, after the over-shake signal disappears, it is first determined whether the movement has reached the last step (i.e., whether the movement has reached the last stage). If the movement has not reached the last step, the reciprocating shuttle first performs a lifting action to lift the storage container again, and sets the next target position according to the target position list of moving one position. If the movement has reached the last step, it is determined whether to lift the storage container according to the instruction.

[0055] like Figure 5 As shown, if an over-sway signal is triggered during the lifting motion of the reciprocating shuttle, the lifting motion will be switched to a lifting and lowering motion. The storage container will be lowered and locked, and the movement will be paused, no longer accepting new commands. After the over-sway signal disappears, the lifting motion will be switched back to lifting motion to raise the storage container and continue moving.

[0056] If the over-sway signal is triggered during the lifting and lowering movement of the shuttle, the lifting and lowering will continue until it reaches the lowering position and stops.

[0057] An embodiment of the over-roll protection method for an automated storage system on ships according to the present invention:

[0058] This invention discloses an over-roll protection method for an automated warehousing system for ships. This method involves real-time detection of the ship's tilt, triggering an over-roll signal when the tilt exceeds a set threshold. Furthermore, before the reciprocating shuttle transfers storage containers, its horizontal movement is divided into multiple steps based on its current and target positions. The shuttle then moves step-by-step to the target position according to these steps. When the loaded shuttle is about to reach the target position, it is determined whether the over-roll signal has been triggered. If triggered, the storage container is lowered, locked, and the movement is paused. The specific over-roll protection method for an automated warehousing system for ships has been clearly described in the aforementioned embodiment of an automated warehousing system for ships and will not be repeated here.

[0059] An embodiment of the over-roll protection system for an automated warehousing system for ships according to the present invention:

[0060] An over-roll protection system for an automated storage system for ships includes a detection module and a controller capable of detecting the ship's tilt in real time. When the ship tilts excessively, an over-roll signal is issued, and the controller executes internal program instructions to prevent storage containers from falling off a horizontally moving reciprocating shuttle. The over-roll protection system for an automated storage system for ships has been described sufficiently clearly in the above-described embodiment of an automated storage system for ships, and will not be repeated here.

[0061] This invention can quickly lock and halt the movement of storage containers when the ship's tilt angle is too large, preventing overloading or container falls. Furthermore, the original sequence of actions will automatically resume after the over-roll signal disappears, requiring no human intervention. This not only ensures equipment safety but also improves operational efficiency.

[0062] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for over-roll protection in an automated storage system for ships, characterized in that, Based on the initial and target positions of the reciprocating shuttle's horizontal movement, the horizontal movement of the reciprocating shuttle is divided into multiple stages. The reciprocating shuttle moves step by step to the target position according to the divided stages. When the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal is triggered. If the over-roll signal is triggered, the storage container is lowered and locked, and the movement is paused. The over-roll signal is triggered when the tilt of the hull exceeds a set threshold. If the over-roll signal is not triggered, the reciprocating shuttle moves towards the end of the next stage according to the divided stages. After the over-roll signal disappears, it is determined whether the reciprocating shuttle has moved to the last stage. If it has not moved to the last stage, the storage container is lifted, and the reciprocating shuttle moves towards the end of the next stage according to the divided stages. If it has already moved to the last stage, it is determined according to the instruction whether the storage container needs to be lifted. If it needs to be lifted, the reciprocating shuttle performs a lifting action to lift the storage container.

2. The over-roll protection method for an automated warehousing system for ships according to claim 1, characterized in that, The degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

3. The over-roll protection method for an automated warehousing system for ships according to claim 2, characterized in that, The tilt angle is detected by a tilt sensor.

4. The over-roll protection method for an automated warehousing system for ships according to claim 1, characterized in that, One way to divide the horizontal movement of a reciprocating shuttle into multiple stages is to calculate the number of steps the reciprocating shuttle takes to move one position and a list of target positions for that position.

5. The over-roll protection method for an automated warehousing system for ships according to claim 4, characterized in that, The following method is used to determine whether the target position has been reached: if the number of steps taken to move one position is not less than the target number of steps required to reach the final target position, then the reciprocating shuttle has reached the final target position.

6. The over-roll protection method for an automated warehousing system for ships according to claim 1, characterized in that, If an over-sway signal is triggered during the lifting motion of the reciprocating shuttle, the lifting motion will be switched to a lifting and lowering motion. The storage container will be lowered and locked before the motion is paused. After the over-sway signal disappears, the lifting motion will be switched back to a lifting motion to lift the storage container and then the motion will continue.

7. The over-roll protection method for an automated storage system for ships according to claim 1 or 6, characterized in that, If an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the lowering position is reached and the movement stops.

8. The over-roll protection method for an automated warehousing system for ships according to claim 1, 2, or 3, characterized in that, The over-sway protection method also includes: pausing the movement of the reciprocating shuttle when it reaches the target position under no-load conditions.

9. An over-roll protection system for an automated storage system on ships, characterized in that, The system includes a controller and a detection module for detecting the degree of hull tilt. The controller is used by a computer program to execute instructions to implement the over-roll protection method for an automated storage system for ships, as described below: Based on the initial and target positions of the reciprocating shuttle's horizontal movement, the horizontal movement of the reciprocating shuttle is divided into multiple stages, and the reciprocating shuttle moves step by step to the target position according to the divided stages; when the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal is triggered. If the over-roll signal is triggered, the storage container is lowered and locked, and the movement is paused. The over-roll signal is triggered when the tilt of the hull exceeds a set threshold. If the over-roll signal is not triggered, the reciprocating shuttle moves toward the end of the next stage according to the divided stages. After the over-roll signal disappears, it is determined whether the reciprocating shuttle has moved to the last stage. If it has not moved to the last stage, the storage container is lifted and the reciprocating shuttle moves toward the end of the next stage according to the divided stages. If it has already moved to the last stage, it is determined according to the instruction whether the storage container needs to be lifted. If it needs to be lifted, the reciprocating shuttle performs a lifting action to lift the storage container.

10. The over-roll protection system for an automated warehousing system for ships according to claim 9, characterized in that, The degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

11. The over-roll protection system for an automated warehousing system for ships according to claim 10, characterized in that, The tilt angle is detected by a tilt sensor.

12. The over-roll protection system for an automated warehousing system for ships according to claim 9, characterized in that, One way to divide the horizontal movement of a reciprocating shuttle into multiple stages is to calculate the number of steps the reciprocating shuttle takes to move one position and a list of target positions for that position.

13. The over-roll protection system for an automated warehousing system for ships according to claim 12, characterized in that, The following method is used to determine whether the target position has been reached: if the number of steps taken to move one position is not less than the target number of steps required to reach the final target position, then the reciprocating shuttle has reached the final target position.

14. The over-roll protection system for an automated warehousing system for ships according to claim 9, characterized in that, If an over-sway signal is triggered during the lifting motion of the reciprocating shuttle, the lifting motion will be switched to a lifting and lowering motion. The storage container will be lowered and locked before the motion is paused. After the over-sway signal disappears, the lifting motion will be switched back to a lifting motion to lift the storage container and then the motion will continue.

15. The over-roll protection system for an automated storage system for ships according to claim 9 or 14, characterized in that, If an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the lowering position is reached and the movement stops.

16. The over-roll protection system for an automated storage system for ships according to claim 9, 10, or 11, characterized in that, The over-sway protection method also includes: pausing the movement of the reciprocating shuttle when it reaches the target position under no-load conditions.

17. An automated warehousing system for ships, comprising a reciprocating shuttle, characterized in that, It also includes an over-roll protection system for an automated warehousing system for ships, as described below. This over-roll protection system includes a controller and a detection module for detecting the degree of ship tilt. The controller executes instructions from a computer program to implement the following over-roll protection method for an automated warehousing system for ships: Based on the initial and target positions of the reciprocating shuttle's horizontal movement, the horizontal movement of the reciprocating shuttle is divided into multiple stages, and the reciprocating shuttle moves step-by-step to the target position according to the divided stages; when the reciprocating shuttle under load is about to reach the end position of a certain stage, it is determined whether an over-roll signal has been triggered. If an over-roll signal is triggered, the storage container is lowered, locked, and movement is paused. The over-roll signal is triggered when the tilt of the hull exceeds a set threshold. If the over-roll signal is not triggered, the reciprocating shuttle moves towards the end of the next stage according to the divided stages. After the over-roll signal disappears, it is determined whether the reciprocating shuttle has reached the last stage. If it has not reached the last stage, the storage container is lifted, and the reciprocating shuttle moves towards the end of the next stage according to the divided stages. If it has reached the last stage, it is determined whether the storage container needs to be lifted according to the instruction. If it needs to be lifted, the reciprocating shuttle performs a lifting action to lift the storage container.

18. The automated warehousing system for ships according to claim 17, characterized in that, The degree of tilt is the tilt angle, and the set threshold is the set angle threshold.

19. The automated warehousing system for ships according to claim 18, characterized in that, The tilt angle is detected by a tilt sensor.

20. The automated warehousing system for ships according to claim 17, characterized in that, One way to divide the horizontal movement of a reciprocating shuttle into multiple stages is to calculate the number of steps the reciprocating shuttle takes to move one position and a list of target positions for that position.

21. The automated warehousing system for ships according to claim 20, characterized in that, The following method is used to determine whether the target position has been reached: if the number of steps taken to move one position is not less than the target number of steps required to reach the final target position, then the reciprocating shuttle has reached the final target position.

22. The automated warehousing system for ships according to claim 17, characterized in that, If an over-sway signal is triggered during the lifting motion of the reciprocating shuttle, the lifting motion will be switched to a lifting and lowering motion. The storage container will be lowered and locked before the motion is paused. After the over-sway signal disappears, the lifting motion will be switched back to a lifting motion to lift the storage container and then the motion will continue.

23. The automated warehousing system for ships according to claim 17 or 22, characterized in that, If an over-sway signal is triggered during the lifting and lowering of the reciprocating shuttle, the lifting and lowering will continue until the lowering position is reached and the movement stops.

24. The automated warehousing system for ships according to claim 17, 18, or 19, characterized in that, Once the reciprocating shuttle reaches the target location when it is unloaded, it stops moving.

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