An automatic control system and method for traffic safety signals inside the track of a shore crane

Abstract

The present invention provides an automatic control system for traffic safety signals inside the rails of a shore crane, comprising: a master controller; signal lights; a countdown indicator screen; a spreader position indicator screen; a slave controller, which is provided with a control program that executes a basic control logic and a spreader movement trajectory prediction model; the spreader movement trajectory prediction model is used to predict the spreader movement trajectory so as to obtain the remaining time for the spreader to reach a specified virtual intersection area; the basic control logic is used to control the signal lights, the countdown indicator screen and the spreader position indicator screen to display according to the basic control instructions for the traffic inside the rails of the port shore crane. The present invention also provides a control method, which is applied to the automatic control system for traffic safety signals inside the rails of the shore crane as described above; the present invention improves the passing efficiency and passing safety of motor vehicles under the shore crane and reduces the misjudgment risk of motor vehicle drivers.

Description

Technical Field

[0001] The present invention relates to the technical field of port lifting equipment, and particularly to an automatic control system and method for traffic safety signals inside the rails of a quay crane. Background Art

[0002] Quay cranes are commonly seen in container terminals and are mainly used for loading and unloading containers. The spreader of a quay crane used for grasping containers can move within a fixed stroke to lift the container from the ship and place it at a designated location, or lift the container from the designated location onto the ship. A quay crane has four major moving mechanisms: the trolley, the hoist, the luffing, and the gantry. Among them, the gantry mechanism can drive the spreader to move horizontally in a direction parallel to the quay front shoreline; the trolley mechanism can drive the spreader to move horizontally in a direction perpendicular to the shoreline at a fixed height; the hoist mechanism can drive the spreader to move vertically. Under normal circumstances, the quay crane driver adjusts the position of the spreader by controlling the movements of the gantry, trolley, and hoist mechanisms. The movements of the gantry, trolley, and hoist mechanisms are all completed by the rotation of the motor driving the wheels or pulleys. By installing encoders on the motor, wheels, or pulleys, the moving distances of the gantry, trolley, and hoist mechanisms can be detected, and thus the real-time positions of these mechanisms can be obtained. Usually, these encoders are connected to the PLC controller of the quay crane's electric control system. To ensure safe operation, when moving the spreader, the quay crane driver must raise the hoist to a fixed height (safe height) before moving the trolley. In addition, when a motor vehicle passes under the quay crane, it should pay attention to avoiding the spreader and not pass under the spreader, because there may be goods, tools, or parts falling from above during this period. Due to the complex on-site operation environment of the quay crane, motor vehicles are also restricted by a safe speed limit when driving at the operation site and are not allowed to exceed the speed limit.

[0003] Generally, a dedicated operation lane and a non-operation traffic lane for ordinary motor vehicles are provided under the quay crane. The traffic lane is used for the passage of non-operation vehicles and should not be used for container lifting operation scenarios. The path of the traffic lane is generally parallel to the moving path of the gantry mechanism of the quay crane and perpendicular to the moving path of the trolley mechanism. Since the trolley mechanism operates at a fixed height, the path of the traffic lane and the moving path of the trolley mechanism do not intersect in three-dimensional space, but they are perpendicular to each other in the vertical projection direction, generating a virtual intersection area. When a motor vehicle passes through the virtual intersection area, it is necessary to ensure that the spreader is not suspended above the virtual intersection area to ensure traffic safety.

[0004] During the operation of a container terminal, it often happens that multiple quay cranes operate on the same ship simultaneously. In such a complex operating environment, in order to improve the loading and unloading efficiency, several quay cranes often park side by side with a relatively narrow spacing to form an operation sequence. When the terminal operates on multiple ships simultaneously, the quay cranes operating on site may form multiple operation sequences. If a motor vehicle needs to pass under multiple quay cranes forming an operation sequence at one time, it is necessary to observe the dynamic state of the spreader of each quay crane successively and pass through one by one to ensure safe passage. Quay cranes usually have two modes: task-based operation and non-task-based operation. In the task-based operation mode, the driver usually operates the spreader to move continuously back and forth between the ship on the offshore side and the operation lane on the near-shore side. The starting point and the ending point of the spreader's running track are set according to the known operation plan. Therefore, the running track of the spreader in the task-based operation mode is regular and predictable. On the contrary, in the non-task-based operation mode, the starting point or the ending point of the spreader operation may be temporarily designated by the driver, and the spreader will move in a jogging and non-continuous manner. Therefore, the running track of the spreader in the non-task-based operation mode is unconventional, has uncertainty, and is difficult to predict.

[0005] In the prior art, a signal lamp is a traffic indication device, commonly seen in places such as road traffic and railway traffic, mainly used to regulate the traffic flow and ensure the order and safety of traffic operation. A signal lamp usually includes at least two colors of lights, red and green, and indicates the behavior of vehicles or pedestrians through the on-off change. The existing passing prompts for the engineering vehicle lanes under large-scale machinery at domestic and foreign terminals mainly adopt static signs. Static signs include: signboards: obvious signboards are set in the prohibited passing areas, usually painted with icons or words reminding to avoid the spreader to warn personnel and drivers, and the advantage of this method is simple and intuitive, easy to understand; ground markings and coatings: use markings, coatings, etc. on the ground to mark the prohibited passing areas, usually with eye-catching colors and shapes, so that people can clearly identify the prohibited passing range; fixed notice boards: fixed notice boards are set up at the terminal to explain the regulations and prohibitions in specific areas to remind relevant personnel to abide by safety rules; fixed light source and other devices: in the night or low visibility conditions, the static signs may include fixed light source devices, such as lights or reflective materials, to enhance the visibility of the signs.

[0006] Such static signs are easily ignored by drivers. First of all, drivers may reduce their attention to fixed signs due to habitual neglect. In addition, drivers may face information overload in the complex operating environment at the terminal and need to process a large amount of visual information simultaneously, resulting in insufficient attention to roadside signs. Finally, static signs are fixed and cannot be adjusted according to the actual situation or special circumstances, and cannot update traffic information in a timely manner. Summary of the Invention

[0007] In view of this, it is necessary to propose an automatic control system and method for traffic safety signals inside the rails of a shore crane to solve the above-mentioned problems in the background technology, so as to solve the technical problem of how to improve the passing efficiency and passing safety of motor vehicles under the shore crane at the same time and reduce the risk of misjudgment of motor vehicle drivers.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] The present invention proposes an automatic control system for traffic safety signals inside the rails of a shore crane, which is applied to a port operation area including several shore cranes and several motor vehicles traveling under the shore cranes. The control system includes:

[0010] Signal lights, installed at a position convenient for the driver to observe on the trolley mechanism of the shore crane; the signal lights include a red light and a green light. When the red light of the signal light is constantly on and the green light is off, it indicates that the traffic lane under the current shore crane is in a non-safe passing state; when the red light of the signal light is off and the green light is constantly on, it indicates that the traffic lane under the current shore crane is in a safely passable state;

[0011] A countdown indicator screen, used to display the countdown state of the signal light's on and off;

[0012] A spreader position indicator screen, used to display the spreader position information of the shore crane;

[0013] Several sub-controllers, which are electrically connected to the corresponding signal lights, the corresponding countdown indicator screens and the corresponding spreader position indicator screens respectively; the sub-controller is provided with a control program, and the control program executes a basic control logic and a spreader operation trajectory prediction model; the spreader operation trajectory prediction model is used to predict the spreader operation trajectory, so as to obtain the remaining time for the spreader to reach the specified virtual intersection area; the basic control logic is used to control the signal lights, the countdown indicator screens and the spreader position indicator screens to display according to the basic control instructions for the traffic inside the rails of the port shore crane.

[0014] A master controller, which is communicatively connected to each sub-controller respectively, and is used to control each sub-controller.

[0015] Further, the control program includes a basic control module and a spreader operation trajectory prediction module; the basic control module executes the basic control logic; the spreader operation trajectory prediction module runs the spreader operation trajectory prediction model.

[0016] Further, the spreader operation trajectory prediction model is an LSTM model.

[0017] Further, the sub-controllers and the shore cranes are in one-to-one correspondence in terms of quantity;

[0018] A signal lamp, a countdown indicator screen, and a spreader position indicator screen form a traffic information display combination;

[0019] Each quay crane is installed with at least one said traffic information display combination.

[0020] Furthermore, the basic control logic sequentially executes the following steps:

[0021] Step 1: According to the length of the specified virtual intersection area and the normal safe driving speed of the motor vehicle, determine the time required for the motor vehicle to normally pass through the specified virtual intersection area;

[0022] Step 2: According to the time for the motor vehicle to normally pass through the specified virtual intersection area, and the maximum running speeds of the trolley mechanism and the hoisting mechanism of the quay crane, determine the spreader running range where the corresponding motor vehicle can pass safely and the spreader running range where the corresponding motor vehicle cannot pass safely;

[0023] Step 3: The sub-controller reads the real-time positions of the trolley mechanism and the hoisting mechanism of the quay crane through the PLC of the quay crane, calculates the real-time position of the spreader of the quay crane. When the sub-controller detects that the spreader of the quay crane is within the spreader running range where the corresponding motor vehicle can pass safely, the sub-controller sets the red light of the signal lamp to go out and the green light to stay on; when the sub-controller detects that the spreader is within the spreader running range where the corresponding motor vehicle cannot pass safely, the sub-controller sets the red light of the signal lamp to stay on and the green light to go out.

[0024] The present invention provides an automatic control method for traffic safety signals inside the rails of a quay crane, which is applied to the automatic control system for traffic safety signals inside the rails of the quay crane as described in any one of the above. This control method includes the following steps executed sequentially:

[0025] Step S1, during the operation of the quay crane, the sub-controller determines whether the current operation mode of the quay crane is a task operation mode or a non-task operation mode; when the current operation mode of the sub-controller is a non-task operation mode, the sub-controller executes the basic control logic; when the current operation mode of the sub-controller is a task operation mode and the height after the hoisting mechanism of the quay crane rises is not less than a set height, the spreader movement trajectory prediction model of the sub-controller starts to predict the spreader movement trajectory of the quay crane, and then executes S2;

[0026] Step S2, obtain the countdown when the spreader of the quay crane reaches the end of the specified virtual intersection area;

[0027] Step S3, according to the countdown obtained in S2, control the signal lamp, the countdown indicator screen, and the spreader position indicator screen to reflect the countdown and related traffic control signals;

[0028] Before the debugging phase before step S1, it further includes: S100, training a spreader operation trajectory prediction model.

[0029] Furthermore, S100 further includes the following sub-steps executed in sequence:

[0030] S1001, obtaining sample data;

[0031] S1002, using an LSTM model as the framework of the spreader operation trajectory prediction model.

[0032] Furthermore, when the current operation mode of the sub-controller is the operation mode with tasks and the height after the lifting mechanism of the quay crane rises is less than a set height, the sub-controller executes the basic control logic.

[0033] Furthermore, in S3, when multiple quay cranes form an operation sequence in the port operation area, the master controller turns on the guiding mode: by controlling the control signal lights, countdown indicator screens, and spreader position indicator screens of the first quay crane in the operation sequence, guiding the motor vehicle to pass under the quay cranes in the operation sequence at one time;

[0034] The master controller controls all sub-controllers in the guiding mode.

[0035] The present invention further provides an automatic control method for traffic safety signals inside the rails of a quay crane, which is applied to a port operation area including several quay cranes and several motor vehicles traveling under the quay cranes. The quay crane is provided with at least one traffic safety signal display device, and the traffic safety signal display device is used to display motor vehicle no-entry information, motor vehicle passing information, traffic signal countdown information, and the spreader position information of the quay crane. The control method includes the following steps executed in sequence:

[0036] Step S1, during the operation of the quay crane, determine whether the current operation mode is the operation mode with tasks or the operation mode without tasks; when the current operation mode is the operation mode without tasks, execute a basic control logic; when the current operation mode is the operation mode with tasks and the height after the lifting mechanism of the quay crane rises is not less than a set height, start predicting the spreader operation trajectory of the quay crane through the spreader operation trajectory prediction model;

[0037] Step S2, obtain the countdown when the spreader of the quay crane reaches the end of the specified virtual intersection area;

[0038] Step S3, according to the countdown obtained in S2, the traffic safety signal display device reflects the countdown and related traffic control signals;

[0039] In the debugging stage before step S1, it further includes: S100, training a spreader operation trajectory prediction model.

[0040] The described basic control logic sequentially executes the following steps:

[0041] Step 1: Determine the time required for the motor vehicle to normally pass through the specified virtual intersection area according to the length of the specified virtual intersection area and the normal safe driving speed of the motor vehicle.

[0042] Step 2: Determine the spreader operation range where the corresponding motor vehicle can pass safely and the spreader operation range where the corresponding motor vehicle cannot pass safely according to the time for the motor vehicle to normally pass through the specified virtual intersection area and the maximum running speeds of the trolley mechanism and the hoisting mechanism of the quay crane.

[0043] Step 3: Read the real-time positions of the trolley mechanism and the hoisting mechanism of the quay crane, calculate the real-time position of the spreader of the quay crane. When it is detected that the spreader of the quay crane is within the spreader operation range where the corresponding motor vehicle can pass safely, set the traffic safety signal display device to display the passing state; when the sub-controller detects that the spreader is within the spreader operation range where the corresponding motor vehicle cannot pass safely, set the traffic safety signal display device to display the no-entry state.

[0044] The beneficial effects of the present invention are as follows:

[0045] The present invention realizes the dynamic prediction of the operation trajectory of the spreader of the quay crane, and through the real-time prediction of the operation trajectory of the spreader, enables the signal lamp to provide real-time passing state information, effectively solves the problem that the existing static signs may be ignored by drivers and the low efficiency of the existing traffic indication system with fixed control logic, and also facilitates the driver to more intuitively understand the passable state under the quay crane, thereby improving the driver's observation and operation efficiency. The present invention facilitates the driver of the operation to make more rapid and accurate decisions in a complex operation environment and reduces the risk of inattentiveness caused by information overload. The present invention predicts based on the real-time operation trajectory of the spreader of the quay crane, can update the automatic control strategy at any time according to the actual situation, which enables the traffic prompt of the quay crane to more flexibly adapt to different working scenarios, timely reflect the movement state of the spreader, improve the accuracy and practicability of the passing prompt, thereby improving the passing efficiency and passing safety of the motor vehicle under the quay crane and reducing the misjudgment risk of the motor vehicle driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These figures are for illustrative purposes only and thus do not limit the present invention.

[0047] Figure 1 This is a schematic structural principle diagram of an automatic control system for traffic safety signals inside the rail of a shore crane according to the present invention;

[0048] Figure 2 This is a working flowchart of an automatic control method for traffic safety signals inside the rail of a shore crane in Embodiment 2 of the present invention;

[0049] Figure 3 This is a front view of the installation structure of a shore crane, a motor vehicle, a signal lamp, a countdown indicator screen, and a spreader position indicator screen related to the present invention;

[0050] Figure 4 This is a front view of the countdown indicator screen and the spreader position indicator screen related to the present invention;

[0051] Figure 5 This is a front view of an automatic control system for traffic safety signals inside the rail of a shore crane with multiple shore cranes arranged related to the present invention;

[0052] Figure 6a This is a schematic structural diagram of the spreader at one position and the end of the virtual intersection area related to the present invention;

[0053] Figure 6b This is a schematic structural diagram of the spreader at another position and the end of the virtual intersection area related to the present invention;

[0054] Explanation of reference numerals:

[0055] Shore crane 200; traffic lane 300; motor vehicle 400; spreader 2001; signal lamp 600; countdown indicator screen 500; spreader position indicator screen 700. Detailed implementation manners

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be further described clearly and completely below in conjunction with the embodiments of the present invention. It should be noted that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0057] The following is a detailed description of the embodiments of the present invention depicted in the drawings. The embodiments are detailed to clearly convey the present invention. However, the amount of details provided is not intended to limit the expected variations of the embodiments; on the contrary, the purpose is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention defined by the appended claims.

[0058] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to those skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0059] Embodiments of the present invention include various steps, which will be described below. These steps may be performed by hardware components, or may be included in machine-executable instructions that may be used to program a general or special-purpose processor using the instructions to perform these steps. Alternatively, the steps may be performed by a combination of hardware, software, and firmware and / or a human operator.

[0060] The various methods described herein may be practiced by combining one or more machine-readable storage media containing code according to the present invention with appropriate standard computer hardware to execute the code contained therein. Apparatus for practicing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system that includes or has network access to a computer program encoded according to the various methods described herein, and the method steps of the present invention may be accomplished by modules, routines, subroutines, or sub-parts of a computer program product.

[0061] If the specification states that a component or feature “may”, “is capable of”, “can”, or “might” include or have a feature, then it is not necessary for that particular component or feature to include or have the feature.

[0062] As used in the specification and the subsequent claims herein, the meaning of “a”, “an”, and “the” includes plural referents unless the context clearly dictates otherwise. Further, as used in the description herein, unless the context clearly dictates otherwise, the meaning of “in” includes “in” and “on”.

[0063] Exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which the exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only and to make the present invention thorough and complete and to fully convey the scope of the present invention to those of ordinary skill in the art. However, the disclosed invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Various modifications will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present invention. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. Additionally, these equivalents are intended to include both currently known equivalents and equivalents developed in the future (i.e., any elements developed to perform the same function regardless of structure). Moreover, the terms and phrases used are for the purpose of describing the exemplary embodiments and should not be considered limiting. Accordingly, the present invention will be given the broadest scope, including various substitutions, modifications, and equivalents consistent with the disclosed principles and features. For clarity, details of technical materials known in the technical field related to the present invention have not been described in detail so as not to unnecessarily obscure the present invention.

[0064] Thus, for example, those of ordinary skill in the art will understand that schematic diagrams, schematic views, illustrations, etc. represent conceptual views or processes embodying the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware as well as hardware capable of executing the relevant software. Similarly, any switches shown in the figures are merely conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and the particular technique can be selected by the entity implementing the present invention. Those of ordinary skill in the art should further understand that the exemplary hardware, software, processes, methods, and / or operating systems described herein are for illustrative purposes and are not intended to be limited to any particular named elements.

[0065] Embodiments of the present invention may provide a computer program product, which may include a machine-readable storage medium having instructions tangibly implemented thereon, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, magnetic tapes, floppy disks, optical disks, CD-ROMs, and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable ROMs (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memories, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code such as software or firmware). The machine-readable medium may include non-transitory media, where data may be stored and which does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, magnetic disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memories, memories or memory devices. The computer program product may include code and / or machine-executable instructions, which may represent any combination of processes, functions, subroutines, programs, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. By passing and / or receiving information, data, variables, parameters, or memory contents, code segments may be coupled to another code segment or hardware circuit. The information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0066] In addition, embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program product) for performing the necessary tasks may be stored in a machine-readable medium. The processor may perform the necessary tasks.

[0067] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0068] Each of the appended claims defines a separate invention, which for purposes of infringement is considered to include equivalents of the various elements or limitations specified in the claim. Depending on the context, all references to "the invention" in the following may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to "the invention" will refer to the subject matter recited in one or more but not necessarily all of the claims.

[0069] Unless otherwise specified herein or clearly contradicted by the context, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is merely intended to better illustrate the invention and does not limit the scope of the claimed invention. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the invention.

[0070] The various terms used herein are as follows. In the case where the terms used in the claims are not defined below, the broadest definition should be given, which is reflected in printed publications and issued patents at the time of filing the application by those skilled in the relevant art.

[0071] Embodiment 1

[0072] As Figure 1 、 Figures 3 - 5 shown:

[0073] This embodiment proposes an automatic control system for traffic safety signals inside the rails of a quay crane, which is applied to a port operation area including several quay cranes 200 and several motor vehicles 400 (specifically, the motor vehicle 400 is a non-operating vehicle such as a pickup truck or a sedan) traveling under the quay crane 200. The control system includes:

[0074] Signal lights 600, installed at a position on the trolley mechanism of the quay crane 200 that is convenient for the driver to observe (the purpose is to facilitate the driver's observation); the signal lights 600 include a red light and a green light. When the red light of the signal lights 600 is continuously on and the green light is off, it indicates that the traffic lane 300 under the current quay crane 200 is in a non-safe passing state; when the red light of the signal lights 600 is off and the green light is continuously on, it indicates that the traffic lane 300 under the current quay crane 200 is in a safely passable state;

[0075] Countdown indicator screen 500, used to display the countdown status of the on and off of the signal lights 600;

[0076] Spreaders position indicator screen 700, used to display the position information of the spreader 2001 of the quay crane 200;

[0077] A number of sub - controllers, each of which is electrically connected to a corresponding signal lamp 600, a corresponding countdown indicator screen 500, and a corresponding spreader position indicator screen 700; Each sub - controller is provided with a control program, and this control program executes a basic control logic (process) and a spreader operation trajectory prediction model; The spreader operation trajectory prediction model is used to predict the spreader operation trajectory, so as to obtain the remaining time for the spreader 2001 to reach the specified virtual intersection area; The basic control logic is used to control the signal lamp 600, the countdown indicator screen 500, and the spreader position indicator screen 700 to display according to the basic control instructions for the traffic inside the quay crane track of the port.

[0078] A master controller, which is communicatively connected to each sub - controller respectively and is used to control each sub - controller.

[0079] Specifically, when there are multiple quay cranes forming an operation sequence in the port operation area, the master controller activates the guiding mode and controls each sub - controller in the guiding mode.

[0080] Optionally, the spreader position indicator screen 700 clearly indicates the real - time position of the spreader 2001 in the form of an arrow.

[0081] Optionally, the basic control instructions for the traffic inside the quay crane track of the port are specifically as follows: The signal lamp 600 consists of a red light and a green light. When the red light of the signal lamp 600 is constantly on and the green light is off, it indicates that the traffic lane 300 under the current quay crane 200 is in a non - safe passing state; When the red light of the signal lamp 600 is off and the green light is constantly on, it indicates that the traffic lane 300 under the current quay crane 200 is in a safely passable state.

[0082] Optimally, the control program includes a basic control module and a spreader operation trajectory prediction module; The basic control module executes the basic control logic; The spreader operation trajectory prediction module runs the spreader operation trajectory prediction model.

[0083] Optimally, the spreader operation trajectory prediction model is an LSTM model.

[0084] Optimally, the number of sub - controllers corresponds one - to - one with the number of quay cranes 200;

[0085] A signal lamp, a countdown indicator screen, and a spreader position indicator screen form a traffic information display combination;

[0086] Each quay crane is installed with at least one such traffic information display combination.

[0087] Optimally, the basic control logic sequentially executes the following steps:

[0088] Step 1: Determine the time required for the motor vehicle 400 to normally pass through the specified virtual intersection area according to the length of the specified virtual intersection area and the normal safe driving speed of the motor vehicle 400.

[0089] Step 2: Determine the operating range of the spreader 2001 corresponding to the safe passage of the motor vehicle 400 and the operating range of the spreader 2001 corresponding to the non-safe passage of the motor vehicle 400 according to the time for the motor vehicle 400 to normally pass through the specified virtual intersection area and the maximum operating speeds of the trolley mechanism and the hoisting mechanism of the quay crane 200. Specifically, the operating range of the spreader 2001 corresponding to the safe passage of the motor vehicle 400 is the operating range of the spreader 2001 under the condition that the motor vehicle 400 can safely pass through the virtual intersection area. Specifically, the operating range of the spreader 2001 corresponding to the non-safe passage of the motor vehicle 400 is the operating range of the spreader 2001 under the condition that the motor vehicle 400 cannot safely pass through the virtual intersection area.

[0090] Step 3: The sub-controller reads the real-time positions of the trolley mechanism and the hoisting mechanism of the quay crane 200 through the PLC of the quay crane 200, calculates the real-time position of the spreader 2001 of the quay crane 200. When the sub-controller detects that the spreader 2001 of the quay crane 200 is within the operating range of the spreader 2001 corresponding to the safe passage of the motor vehicle 400, the sub-controller sets the red light of the signal lamp 600 to go out and the green light to be on constantly. When the sub-controller detects that the spreader 2001 is within the operating range of the spreader 2001 corresponding to the non-safe passage of the motor vehicle 400, the sub-controller sets the red light of the signal lamp 600 to be on constantly and the green light to go out.

[0091] Embodiment 2

[0092] Embodiment 2 is an optimized design of any technical solution of Embodiment 1.

[0093] As Figures 1 - 5 shown:

[0094] This embodiment proposes a method for automatically controlling the traffic safety signal inside the rail of a quay crane, which is applied to the traffic safety signal automatic control system inside the rail of a quay crane described in any technical solution of Embodiment 1. The control method includes the following steps executed in sequence:

[0095] Step S1, during the operation of the quay crane 200, determine whether the current operation mode of the sub-controller is a task operation mode or a non-task operation mode (specifically, the driver's operation of the quay crane is regarded as "operation"); when the current operation mode of the sub-controller is a non-task operation mode, the sub-controller executes the basic control logic; when the current operation mode of the sub-controller is a task operation mode and the height after the lifting mechanism of the quay crane 200 rises is not less than a set height, the spreader movement trajectory prediction model of the sub-controller starts to predict the movement trajectory of the spreader 2001 of the quay crane 200, and then execute S2;

[0096] Step S2, obtain the countdown when the spreader 2001 of the quay crane 200 reaches the end of the specified virtual intersection area (i.e., the side close to the spreader 2001, as shown in Figure 6a , Figure 6b );

[0097] Step S3, according to the countdown obtained in S2, control the signal lamp 600, the countdown indicator screen 500 and the spreader position indicator screen 700 to reflect the countdown and indicate the traffic control signal for the driving of the motor vehicle 400;

[0098] In the debugging stage before step S1, it also includes: S100, train the spreader movement trajectory prediction model.

[0099] Preferably, S100 also includes the following sub-steps executed in sequence:

[0100] S1001, obtain sample data;

[0101] S1002, adopt the LSTM model as the framework of the spreader movement trajectory prediction model.

[0102] Specifically, the sub-controller judges the task / non-task operation mode by reading the "operation mode" signal point in the PLC of the quay crane 200.

[0103] Preferably, when the current operation mode of the sub-controller is a task operation mode and the height after the lifting mechanism of the quay crane 200 rises is less than a set height, the sub-controller executes the basic control logic.

[0104] Preferably, in S3, when multiple quay cranes 200 form an operation sequence in the port operation area, the master controller turns on the guiding mode: that is, by controlling the control signal lamp 600, the countdown indicator screen 500 and the spreader position indicator screen 700 of the first quay crane 200 in the operation sequence, guide the motor vehicle 400 to pass under the quay cranes 200 in the operation sequence at one time;

[0105] The master controller controls all sub-controllers in the guiding mode.

[0106] Embodiment 3

[0107] This embodiment proposes an automatic control method for traffic safety signals inside the rails of a shore crane, which is applied to a port operation area including several shore cranes and several motor vehicles traveling under the shore cranes. The shore crane is provided with at least one traffic safety signal display device, and is characterized in that the traffic safety signal display device is used to display motor vehicle no-entry information, motor vehicle passing information, traffic signal countdown information, and the spreader position information of the shore crane. The control method includes the following steps executed in sequence:

[0108] Step S1, during the operation of the shore crane, determine whether the current operation mode is a task operation mode or a non-task operation mode; when the current operation mode is a non-task operation mode, execute a basic control logic; when the current operation mode is a task operation mode and the height after the rise of the hoisting mechanism of the shore crane is not less than a set height, start predicting the spreader operation trajectory of the shore crane through a spreader operation trajectory prediction model, and then execute S2;

[0109] Step S2, obtain the countdown when the spreader of the shore crane reaches the end of the specified virtual intersection area;

[0110] Step S3, according to the countdown obtained in S2, the traffic safety signal display device reflects the countdown and related traffic control signals;

[0111] In the debugging stage before step S1, it also includes: S100, train a spreader operation trajectory prediction model.

[0112] The basic control logic sequentially executes the following steps:

[0113] Step 1: Determine the time required for a motor vehicle to normally pass through the specified virtual intersection area according to the length of the specified virtual intersection area and the normal safe driving speed of the motor vehicle;

[0114] Step 2: Determine the spreader operation range where the corresponding motor vehicle can pass safely and the spreader operation range where the corresponding motor vehicle cannot pass safely according to the time for the motor vehicle to normally pass through the specified virtual intersection area and the maximum running speeds of the trolley mechanism and the hoisting mechanism of the shore crane;

[0115] Step 3: Read the real-time positions of the trolley mechanism and the hoisting mechanism of the shore crane, calculate the real-time position of the spreader of the shore crane. When it is detected that the spreader of the shore crane is within the spreader operation range where the corresponding motor vehicle can pass safely, set the traffic safety signal display device to display the passing state; when the sub-controller detects that the spreader is within the spreader operation range where the corresponding motor vehicle cannot pass safely, set the traffic safety signal display device to display the no-entry state.

[0116] Specifically, each quay crane is at least equipped with a traffic safety signal display device.

[0117] This embodiment further provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the automatic control method for traffic safety signals inside the track of a quay crane as described in any one of the above technical solutions.

[0118] This embodiment further provides an electronic device system that implements the steps of the automatic control method for traffic safety signals inside the track of a quay crane as described in any one of the above technical solutions.

[0119] Embodiment 4

[0120] Embodiment 4 is a further optimized design of any one of the technical solutions in Embodiment 2;

[0121] The control method of the present invention can control the signal lights in two modes, namely the basic control mode and the countdown control mode.

[0122] (1) Basic control mode, meeting the following technical requirements:

[0123] Technical requirement 1: Determine the time required for a motor vehicle to normally pass through the intersection area according to the length of the intersection area and the normal safe driving speed of the motor vehicle.

[0124] Technical requirement 2: Determine the operating range of the spreader for the motor vehicle to safely pass through and non-safely pass through the intersection area according to the time for the motor vehicle to normally pass through the intersection area and the maximum operating speeds of the trolley mechanism and the hoisting mechanism of the quay crane.

[0125] Technical requirement 3: The sub-controller of each quay crane reads the real-time positions of the trolley mechanism and the hoisting mechanism through the PLC of the quay crane electric control system, calculates the real-time position of the spreader. When the sub-controller detects that the spreader is within the operating range of the spreader where safe passage is possible, the red light of the signal light is set to go out and the green light is set to be on constantly; when the sub-controller detects that the spreader is within the operating range of the spreader where non-safe passage is possible, the red light of the signal light is set to be on constantly and the green light is set to go out.

[0126] (2) Countdown control mode, and the working process of the countdown control mode is as follows:

[0127] In step S100, during system debugging, a spreader operation trajectory prediction model is trained, and its training process includes S1001 and S1002 executed sequentially:

[0128] S1001, Obtain sample data: The module reads the operation sample data xt (hereinafter referred to as the sample time series) for a period of time from the shore crane PLC, which includes the time t, the trolley position px, the trolley speed vx, the hoisting position py, and the hoisting speed vy, and stores them in the database for calling;

[0129] S1002, Use the LSTM model as the framework of the spreader operation trajectory prediction model; The LSTM model includes an input layer, an LSTM layer, Dropout, a Dense layer, and an output layer; Select a section of the sample time series xt1 in the database to train the LSTM model, and take the sample time series xt2 in different time periods to verify and test the LSTM model until the output result of the LSTM model conforms to the spreader movement position in the test sample xt2; After the current training is completed, the LSTM model with stable output and training parameters is used as the spreader operation trajectory prediction model;

[0130] Specifically, the training algorithm is as follows: Input the sample data sequence xt into the LSTM model, and generate the hidden state matrix ht and the memory cell state Ct through the processing of the forget gate, input gate, and output gate; Through the calculation of multiple time steps, the input sequence is gradually converted into an output sequence; Through the forward propagation of the input sequence and the backward propagation of the output sequence for multiple times for iterative training until the model converges; Finally, generate the prediction sequence yt through the final hidden state ht. This prediction sequence includes the time t', the trolley position px', and the hoisting position py'.

[0131] Specifically, the formulas for each part of the training algorithm are as follows:

[0132] ① Forget gate: f t =σ(W f ·[h t-1 , x t +b f ) where f t is the output of the forget gate, σ is the sigmoid activation function, W f is the weight matrix of the forget gate, [h t-1 , x t is the concatenation vector of the previous hidden state and the current input, b f is the bias term of the forget gate;

[0133] ② Input gate: i t =σ(W i ·[h t-1 , x t +b i ) where i t is the output of the input gate, W i is the weight matrix of the input gate, b iis the bias term of the input gate;

[0134] ③ Output gate: o t = σ(W o · [h t-1 , x t + b o ) where o t is the output of the output gate, W o is the weight matrix of the output gate, b o is the bias term of the output gate;

[0135] ④ Candidate memory cell state: where is the candidate memory cell state, tanh is the hyperbolic tangent activation function, W c is the weight matrix of the candidate memory cell state, b c is the bias term of the candidate memory cell state;

[0136] ⑤ Update memory cell state: where C t is the memory cell state at the current time, C t-1 is the memory cell state at the previous time;

[0137] ⑥ Update hidden state: h t = o t · tanh(C t ) where h t is the hidden state at the current time;

[0138] ⑦ Generate prediction sequence: y t = W y · h t + b y where y t is the predicted value at the current time, W y is the weight matrix of the output layer, b y is the bias term of the output layer.

[0139] So far, the training of the spreader operation trajectory prediction model is completed and can be put into use after the system is officially run.

[0140] Optimally, the step S1 includes S11 and S12 executed sequentially:

[0141] S11: During the operation of the quay crane, the sub - controller judges the current operation mode of the quay crane in real - time;

[0142] Specifically, the judgment method is as follows: The operation mode is divided into two types: "task-based operation" and "non-task operation"; the sub-controller judges the current driver's operation mode by reading the current operation task status signal point provided by the PLC controller of the quay crane's electric control system; when the signal point feedbacks "0", it means that the quay crane has no current operation task, that is, it is judged that the driver's operation mode is "non-task operation"; when the signal point feedbacks "1", it means that there is a current operation task, that is, it is judged that the driver's operation mode is "task-based operation".

[0143] If the driver's operation mode is the task-based operation mode, when the spreader is within the safe passing range of the spreader operation, the sub-system controller sets the red light of the signal lamp to go out and the green light to be on constantly; when the hoisting mechanism rises from the low position to a height higher than a certain set height (generally the safe height), the spreader operation trajectory prediction module of the sub-system starts to predict the spreader operation trajectory;

[0144] Before the spreader operation trajectory prediction model starts to predict the spreader operation trajectory, the sub-controller controls the signal lamp in the basic control mode;

[0145] If the driver's operation mode is the non-task operation mode, the sub-controller controls the signal lamp in the basic control mode, and the countdown t in the basic control mode g is always equal to 0;

[0146] S12: The spreader operation trajectory prediction model predicts the spreader operation trajectory, and S12 includes S121, S122, and S123 executed in the following order;

[0147] S121, obtain the spreader historical operation trajectory data; the spreader operation trajectory prediction module corresponding to the spreader operation trajectory prediction model can save the spreader operation trajectory data in the most recent 15 seconds at the current moment and use it as the spreader historical operation trajectory;

[0148] The specific implementation of S121: The spreader operation trajectory data includes time t, trolley position px, trolley speed vx, hoisting position py, and hoisting speed vy; the spreader operation trajectory prediction module stores the spreader operation trajectory data at the current moment in the database or memory for calling by reading the relevant point data of the quay crane PLC in real time; since the spreader is constantly moving during the actual operation process, the spreader operation trajectory prediction module can collect the PLC point data at a certain time interval; when the spreader operation trajectory prediction module needs to call the spreader historical operation trajectory data, it will read the spreader operation trajectory data from the database or memory from 15 seconds before the current moment to the current moment;

[0149] S122, input the spreader historical operation trajectory data into the pre-trained spreader operation trajectory prediction model, and this spreader operation trajectory prediction model is an LSTM network;

[0150] S123. Output the spreader trajectory prediction data corresponding to the spreader historical operation trajectory data through the output layer of the spreader operation trajectory prediction model. Specifically, the spreader trajectory prediction data output by the spreader operation trajectory prediction module is a prediction time series composed of time t', trolley position px', and hoisting position py' in the next 10 seconds at the current moment.

[0151] In step S2: Calculate the countdown t g , as follows:

[0152] The sub-controller calculates the remaining time t for the spreader to reach the end of the intersection area (the side close to the spreader) according to the prediction time series output by the spreader operation trajectory prediction module g ;

[0153] Assume that the position of the end of the intersection area (the side close to the spreader) is P, and obtain the trajectory prediction data at time t 0 ; The value of t' corresponding to when p x ' = P can be obtained from the trajectory prediction data; Let the current moment be t n , then the countdown t g = t' - t n ;

[0154] To avoid large deviations between the countdown t g and the actual value caused by prediction errors, the sub-controller can calculate the time t for the current trolley to move to position P at the highest speed in real time min ; Set a compensation value t b , if t g > t min + t b , the value of t g will be updated to t min + t b .

[0155] In step S3: Control the signal lights and the countdown, as follows:

[0156] When t g is 0, the subsystem controls the signal lights in the basic control mode;

[0157] When t g is updated, the subsystem uses t g as the countdown for the green light to go out, and the value of t g decreases gradually to 0 as the real time changes, and at the same time the system displays the countdown on the display screen; Usually, as long as t g is not 0, set the red light of the signal light to go out and the green light to be on constantly.

[0158] When t g decreases to 0, it means that the countdown control for this round ends, return to step S1 and perform a new round of control;

[0159] In any case, regardless of g For what value, as long as the hoist enters the non-safe passage hoist operation range, immediately set the signal light to be long red and the green light to be off.

[0160] In S3, the execution process of the boot mode is described as follows:

[0161] When multiple shore cranes form an operation sequence at the dock site, the overall system can start the guidance mode, and guide the motor vehicles to pass under the shore cranes in the operation sequence at one time by controlling the signal light and countdown of the first shore crane in the operation sequence; in S3, the execution process of the guidance mode includes the following steps S31-S33:

[0162] S31, each sub-controller of the shore crane reads the position of the trolley mechanism through the shore crane electronic control system PLC, and feeds back the position information to the main controller; the main controller reads the maximum distance l between the trolley mechanisms of all shore cranes according to the position of the trolley mechanisms of all shore cranes and the maximum distance l between the trolley mechanisms when the shore cranes are working side by side max , determine the number of shore crane operation sequences;

[0163] S32, for the shore cranes forming the operation sequence, the subcontroller determines its operation mode; if the operation mode of any shore crane in the operation sequence is a no-task operation mode, each subsystem maintains the original mode operation;

[0164] S33, if all the shore cranes in the operation sequence are in task operation mode, the main controller determines whether the condition that the motor vehicle can safely pass under the shore cranes in the operation sequence at one time is met.

[0165] Specifically, the master controller obtains the signal light countdown parameter t of all sub-controllers corresponding to the shore cranes in the operation sequence. g , that is, t g1 , t g2 ,……,t gn ; If all t g If all parameters are greater than 0, the master controller calculates the time t required for a vehicle to enter the first intersection area and exit the nth intersection area according to the real-time position of the trolley mechanism of all shore cranes in the operation sequence. n , if t g1 >t 1 ,t g2 >t 2 ,……,t gn >t n , then the condition is met, otherwise, the condition is not met;

[0166] If the condition for a one-time safe passage is met, the master controller sets the signal light of the first quay crane in the operation sequence to turn off the red light and keep the green light on through the slave controller, and uses t g1 as the countdown for the green light to turn off and display it on the display screen. Otherwise, set the green light to turn off and the red light to stay on;

[0167] Regardless of whether the condition for a one-time safe passage is met, the remaining quay crane subsystems in the operation sequence operate in their original modes.

[0168] The control scheme of the spreader position indicator screen is described as follows:

[0169] The spreader position indicator screen is controlled by the slave controller and keeps running in any state. The control scheme is as follows:

[0170] As Figure 3 、 Figure 4 shown, first, establish a two-dimensional coordinate system based on the spatial relationship between the physical position of the spreader position indicator screen and the physical position of the spreader, and map the spreader position indicator screen and the spreader operation range in this coordinate system; the slave controller calculates the angle of the line connecting the two by obtaining the real-time position of the spreader and combining the geometric relationship between the spreader and the spreader position indicator screen, and draws an arrow pointing to the spreader at any time on the spreader position indicator screen; the motor vehicle driver can quickly locate the position of the spreader along the direction of the arrow through the indication of the spreader position indicator screen; compared with static signs, the spreader position indicator screen can quickly attract the driver's attention and improve their observation efficiency of the spreader position.

[0171] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. An automatic control system for in-rail traffic safety signals of a shore crane, applied to a port operation area including a plurality of shore cranes and a plurality of motor vehicles running under the shore cranes, characterized in that: The control system includes: The signal light is installed at a position of the trolley mechanism of the shore crane that is easy for the driver to observe; the signal light includes a red light and a green light. When the red light of the signal light is on for a long time and the green light is off, it indicates that the lane under the shore crane is in an unsafe passage state; when the red light of the signal light is off and the green light is on for a long time, it indicates that the lane under the shore crane is in a safe passage state; Countdown indicator screen, used to display the countdown status of the signal light on and off; The spreader position indicator screen is used to display the spreader position information of the shore crane; A plurality of sub-controllers are electrically connected to corresponding signal lights, corresponding countdown indicator screens and corresponding spreader position indicator screens respectively; the sub-controllers are provided with a control program, which executes a basic control logic and a spreader operation trajectory prediction model; the spreader operation trajectory prediction model is used to predict the spreader operation trajectory, so as to obtain the remaining time for the spreader to arrive at a designated virtual intersection area; the basic control logic is used to control the signal lights, countdown indicator screens and spreader position indicator screens to display according to the basic control instructions for the in-track traffic of the port shore crane; A main controller is connected to each sub-controller for controlling each sub-controller; The basic control logic described performs the following steps in sequence: Step 1: Determine the time required for a motor vehicle to normally pass through the designated virtual intersection area according to the length of the designated virtual intersection area and the normal safe driving speed of the motor vehicle; Step 2: According to the time when the motor vehicle normally passes through the designated virtual intersection area and the maximum operating speed of the trolley mechanism and the lifting mechanism of the shore crane, determine the operating range of the spreader for the motor vehicle to pass safely and the operating range of the spreader for the motor vehicle to pass unsafely; Step 3: The sub-controller reads the real-time positions of the trolley mechanism and the lifting mechanism of the shore crane through the PLC of the shore crane, and calculates the real-time position of the spreader of the shore crane. When the sub-controller detects that the spreader of the shore crane is within the spreader operation range for safe passage of the corresponding motor vehicle, the red light of the signal light is set to be off and the green light is always on; when the sub-controller detects that the spreader is within the spreader operation range for unsafe passage of the corresponding motor vehicle, the red light of the signal light is set to be always on and the green light is off.

2. The automatic control system for in-track traffic safety signals of a shore crane according to claim 1 is characterized in that: The control program comprises a basic control module and a spreader running track prediction module; the basic control module executes basic control logic; the spreader running track prediction module runs a spreader running track prediction model.

3. The automatic control system for in-track traffic safety signals of a shore crane according to claim 1 is characterized in that: The spreader running trajectory prediction model is an LSTM model.

4. The automatic control system for in-track traffic safety signals of a shore crane according to claim 1 is characterized in that: The sub-controllers correspond to the shore cranes in number one to one; A traffic information display combination is composed of a signal light, a countdown indicator screen and a spreader position indicator screen; Each shore crane is equipped with at least one of the traffic information display combinations.

5. A method for automatically controlling the in-track traffic safety signal of a shore crane, characterized in that: Applied to the automatic control system of in-rail traffic safety signals of a shore crane as claimed in any one of claims 1 to 4, the control method comprises the following steps performed in sequence: Step S1, during the operation of the shore crane, the sub-controller determines whether the current operation mode of the shore crane is a task operation mode or a non-task operation mode; when the current operation mode of the sub-controller is the non-task operation mode, the sub-controller executes the basic control logic; when the current operation mode of the sub-controller is the task operation mode and the height of the lifting mechanism of the shore crane after rising is not less than a set height, the spreader operation trajectory prediction model of the sub-controller starts to predict the spreader operation trajectory of the shore crane, and then executes S2; Step S2, obtaining a countdown of the arrival of the spreader of the shore crane at the end of the designated virtual intersection area; Step S3, according to the countdown obtained in S2, control the signal light, countdown indicator screen and spreader position indicator screen to reflect the countdown and related traffic control signals; The debugging stage before step S1 also includes: S100, training a spreader running trajectory prediction model.

6. The automatic control method for on-track traffic safety signals of a shore crane according to claim 5, characterized in that: S100 also includes the following sub-steps executed in sequence: S1001, obtaining sample data; S1002, using the LSTM model as the framework of the spreader operation trajectory prediction model.

7. The automatic control method for on-track traffic safety signals of a shore crane according to claim 5, characterized in that: When the current operation mode of the sub-controller is the task operation mode and the height of the hoisting mechanism of the shore crane after raising is less than a set height, the sub-controller executes the basic control logic.

8. The automatic control method for on-track traffic safety signals of a shore crane according to claim 5, characterized in that: In S3, when multiple shore cranes appear in the port operation area to form an operation sequence, the master controller starts the guidance mode: by controlling the control signal light, countdown indicator screen and spreader position indicator screen of the first shore crane in the operation sequence, the motor vehicle is guided to pass under the shore cranes in the operation sequence at one time; The master controller controls all sub-controllers in the boot mode.

9. A method for automatically controlling traffic safety signals in a shore crane track, applied to a port operation area including a plurality of shore cranes and a plurality of motor vehicles running under the shore cranes, wherein the shore cranes are provided with at least one traffic safety signal display device, characterized in that: The traffic safety signal display device is used to display motor vehicle prohibition information, motor vehicle passing information, traffic signal countdown information and shore crane spreader position information. The control method includes the following steps performed in sequence: Step S1, during the operation of the shore crane, it is determined whether the current operation mode is a task operation mode or a non-task operation mode; when the current operation mode is the non-task operation mode, a basic control logic is executed; when the current operation mode is the task operation mode and the height of the hoisting mechanism of the shore crane after the lifting is not less than a set height, the spreader operation trajectory of the shore crane is predicted by the spreader operation trajectory prediction model; Step S2, obtaining a countdown of the arrival of the spreader of the shore crane at the end of the designated virtual intersection area; Step S3, according to the countdown obtained in S2, the traffic safety signal display device reflects the countdown and related traffic control signals; The debugging stage before step S1 also includes: S100, training a spreader running trajectory prediction model; The basic control logic described performs the following steps in sequence: Step 1: Determine the time required for a motor vehicle to normally pass through the designated virtual intersection area according to the length of the designated virtual intersection area and the normal safe driving speed of the motor vehicle; Step 2: According to the time when the motor vehicle normally passes through the designated virtual intersection area and the maximum operating speed of the trolley mechanism and the lifting mechanism of the shore crane, determine the operating range of the spreader for the motor vehicle to pass safely and the operating range of the spreader for the motor vehicle to pass unsafely; Step 3: Read the real-time positions of the trolley mechanism and the lifting mechanism of the shore crane, calculate the real-time position of the spreader of the shore crane, and when it is detected that the spreader of the shore crane is within the spreader operation range for safe passage of the corresponding motor vehicle, set the traffic safety signal display device to display the passage status; when the sub-controller detects that the spreader is within the spreader operation range for unsafe passage of the corresponding motor vehicle, set the traffic safety signal display device to display the prohibited passage status.

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