A bay and port area operation management method and system

Abstract

The present invention relates to the field of logistics monitoring technology, and specifically to a bay and port operation management method and system. The cargo box information is detected multiple times through the gate and the mobile transport terminal, especially the correspondence between the color and number of the cargo box, to prevent the situation where the cargo box number cannot be discovered after being tampered with. In addition, a two-dimensional coordinate system is established by taking an image of the cargo ship through a loading device, and the cargo box placement area is divided according to the size of the cargo box to be loaded in the two-dimensional coordinate system, and a regional coordinate set is established. In the loading process, Z-axis coordinates are added separately for the loaded cargo box, so that each loaded cargo box has an exclusive three-dimensional coordinate set, which is convenient for accurately locating the position of the cargo box in the cargo hold. The settlement data of the cargo ship can also be judged by monitoring the reference plane, and then the carrying capacity of the cargo ship can be judged. The present invention realizes full-link monitoring of the cargo box from the gate to the cargo ship, and automatically generates the position coordinates of the cargo box in the cargo hold of the cargo ship, eliminating the complex process of manual recording and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics management, and in particular to a bay and port area operation management method and system. Background Art

[0002] With the popularization of intelligent technology, the transformation of ports into intelligent ones is the future development direction. In the existing technology, the scanning method for cargo holds of cargo ships usually adopts point cloud data. When there are no obstacles outside the cargo hold, the point cloud data cannot be used. When there are obstacles inside the cargo hold, such as a part of the cargo box, the point cloud data cannot determine whether the position corresponding to the detected coordinates is the cargo box or the inner wall of the cargo hold. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides the following technical solutions: a bay and port operation management method, comprising the steps of:

[0004] S1. A visual sensor is set at the gate to perform gate detection, and the cargo box information of the cargo box is obtained by software analysis of the image obtained by the visual sensor. The cargo box information includes the color, number, and size of the cargo box. The cloud processing module specifies the storage area of ​​the cargo box according to the cargo box information.

[0005] S2. After the cargo box is transported to the storage area, the cloud processing module notifies the mobile transport terminal to move and place the cargo box. After the moving and placing is completed, the mobile transport terminal uploads the placement position of the cargo box to the cloud processing module.

[0006] S3. The cloud processing module obtains the cargo ship information of the docked cargo ship, and the cargo ship information includes the model, number, cargo hold size and cargo hold depth of the cargo ship.

[0007] S4. After the cloud processing module receives the image of the cargo hold of the docked cargo ship taken by the loading and unloading device at the set position and set height, it establishes a two-dimensional coordinate system according to the edge information in the image, divides the plane position area of ​​the container to be loaded in the two-dimensional coordinate system according to the size of the container to be loaded, establishes a regional coordinate set with the coordinates of the divided plane position area in the two-dimensional coordinate system, and then establishes a three-dimensional coordinate system with the two-dimensional coordinate system as the reference plane and adding the Z axis.

[0008] S5. The mobile transport terminal transports the cargo boxes to be loaded from the storage area to the loading area next to the loading and unloading device according to the instructions of the cloud processing module, and the loading device loads the cargo boxes.

[0009] S6. In the process of the loading device loading the cargo box into the cargo hold, every time the loading device completes loading of a cargo box, the cloud processing module adds the Z-axis coordinate that is exclusive to the loaded cargo box to the regional coordinate set where the cargo box is located after loading is completed, based on the distance measurement data of the loading device to the loaded cargo box at a set height.

[0010] S7. The cloud processing module creates a stereoscopic image and table of the cargo box position in the established three-dimensional coordinate system based on the obtained set of all regional coordinates with Z-axis coordinates.

[0011] Preferably, the edge information includes edge information of an existing cargo box and edge information of a cargo hold boundary. When edge information of an existing cargo box exists in the edge information, the establishment of the regional coordinate set refers to the coordinates corresponding to the edge information of the existing cargo box.

[0012] Preferably, in step S4, the cloud-based processing module obtains the boundary of the cargo hold based on edge information in the image, and determines the reference plane of the three-dimensional coordinate system using the distance measurement information from the loading device to the boundary of the cargo hold.

[0013] Preferably, in step S6, when the loading device moves the cargo box to the top of the cargo hold, the reference plane of the three-dimensional coordinate system is corrected by the distance measurement information of the boundary of the cargo hold to obtain the distance measurement data of the reference plane before loading; when the cargo box is loaded into the cargo hold, the cargo box is measured to obtain the distance measurement data of the cargo box; when the loading device leaves from above the cargo hold, the boundary of the cargo hold is measured again to obtain the distance measurement data of the reference plane after loading; the distance measurement data of the corrected reference plane and the displacement data of the corrected reference plane in the three-dimensional coordinate system are obtained by subtracting the distance measurement data of the reference plane before loading from the distance measurement data of the reference plane after loading; the vertical distance of the cargo box relative to the reference plane is obtained by subtracting the distance measurement data of the cargo box from the distance measurement data of the corrected reference plane; the vertical distance of the cargo box relative to the reference plane is taken as the Z-axis coordinate of the loaded cargo box, and a regional coordinate set with Z-axis coordinates exclusively for the loaded cargo box is established.

[0014] Preferably, the displacement data of all corrected reference surfaces in the three-dimensional coordinate system are added together to obtain the total settlement data of the cargo ship hull.

[0015] Preferably, whenever the mobile transport terminal moves the cargo box, the cloud processing module verifies the cargo box information obtained by the mobile transport terminal. When the cloud processing module finds that the cargo box information obtained by the mobile transport terminal does not match the cargo box information obtained in the gate detection, an alarm signal is issued.

[0016] A bay and port operation management system executes the above method, including a cloud processing module, a gate monitoring module, a mobile transport terminal and a loading device. The gate monitoring module includes a visual sensor, the mobile transport terminal is provided with a visual sensor, and the loading device is provided with a visual sensor and a laser rangefinder facing the direction of the cargo ship.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) By monitoring the cargo container information, the entire process from entering the gate to loading onto the cargo ship can be monitored, especially the matching monitoring of the cargo container color and cargo container number to prevent the cargo container information from being tampered with;

[0019] (2) By combining images with ranging information, different two-dimensional coordinate systems are established for different cargo ships. Without relying on point cloud data, the plane placement positions of cargo boxes in the cargo holds of cargo ships can be divided, and the Z-axis coordinates can be set separately for each cargo box. The plane position and vertical position coordinates of each cargo box are established to achieve accurate positioning of each cargo box.

[0020] (3) Monitor the settlement data of the cargo ship by adjusting the reference plane in the three-dimensional coordinate system.

[0021] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the process of the present invention;

[0023] Figure 2 Schematic diagram of the functional structure of the system of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-Figure 2 The present invention provides a bay and port operation management system, including a cloud processing module, a gate monitoring module, a mobile transport terminal and a loading device. The gate monitoring module includes a visual sensor for obtaining the color, number and size of the cargo box. It is a conventional prior art to obtain the image of the cargo box by using a visual sensor and to obtain the number and size of the cargo box by software analysis of the obtained image. In this embodiment, a parameter of cargo box color is newly added to establish a corresponding relationship between the cargo box number and the cargo box color, so as to prevent the situation in which the cargo box number cannot be discovered in time after being tampered with in the subsequent process.

[0026] The mobile transport terminal is equipped with a visual sensor to verify the information of the cargo box to prevent the cargo box information from not matching, especially to verify the correspondence between the cargo box color and the cargo box number. When the correspondence between the cargo box number and the cargo box color does not match, it can be reported to the cloud processing module in time, so that the mobile transport terminal can handle the abnormal cargo box on the spot and prevent the abnormal cargo box from entering the next process.

[0027] The loading device is equipped with a visual sensor and a laser rangefinder facing the direction of the cargo ship. The loading device is usually a portal crane, but can also be other loading equipment with a lifting function.

[0028] The control method of the system of the present invention is:

[0029] S1. Obtain the cargo box information through gate detection, including the color, number, and size of the cargo box. The cloud processing module specifies the storage area of ​​the cargo box according to the cargo box information and executes the next step.

[0030] S2. After the cargo box is transported to the storage area, the cloud processing module notifies the mobile transport terminal to move and place the cargo box. After the moving and placing is completed, the mobile transport terminal uploads the placement position of the cargo box to the cloud processing module. The cargo box can be directly transported by the truck carrying the cargo box, or it can be unloaded at the gate and transported by the mobile transport terminal in the port area. The key point is that the mobile transport terminal must check the cargo box information when transporting and placing the cargo box to the storage area to prevent the cargo box information from being tampered with during the process of transporting the cargo box from the gate to the storage location. In this process, the color of the cargo box is obviously difficult to change. The change of the cargo box color requires a large-scale operation. Large-scale operations cannot escape the monitoring of other monitoring equipment in the port area. Therefore, the cargo box color and cargo box number must be verified, and then the cargo box number is found to be tampered with, resulting in the inconsistency between the cargo box number and the cargo box color. After this step does not find that the cargo box information is incorrect and the cargo box is placed in the storage area, the next step is executed.

[0031] S3. The cloud processing module obtains the cargo ship information of the docked cargo ship, which includes the model, number, cargo hold size and cargo hold depth of the cargo ship, providing a reference for the subsequent establishment of the three-dimensional coordinate system and executing the next step.

[0032] S4. After the cloud processing module receives the image of the cargo hold of the docked cargo ship taken by the visual sensor of the loading and unloading device at the set position and set height, it establishes a two-dimensional coordinate system according to the edge information in the image, and the set height refers to the model of the cargo ship. The large cargo ship can be higher, and the small cargo ship can be lower. The set position refers to the cargo hold position of the cargo ship. In order to ensure that the captured image can cover the entire cargo hold and reduce the necessity of moving the loading and unloading device, the set position refers to the center position of the cargo hold of the cargo ship. According to the size of the cargo box to be loaded, the plane position area of ​​the cargo box to be loaded is divided in the two-dimensional coordinate system, and the coordinates of the divided plane position area in the two-dimensional coordinate system are used to establish a regional coordinate set. Among them, the edge information includes the edge information of the existing cargo box and the edge information of the cargo hold boundary. When there is no cargo box in the cargo hold, the cloud processing module automatically divides the placement position of each cargo box in the two-dimensional coordinate system of the cargo hold according to the size of the cargo box to be loaded, for reference and adjustment by the operator, or the placement position is actively divided in the two-dimensional coordinate system according to the size of the cargo box to be loaded. Then, the regional coordinates corresponding to the plane position of each cargo box to be loaded in the two-dimensional coordinate system, that is, the regional coordinate set, are obtained. Each regional coordinate set represents the placement area of ​​the to-be-loaded containers in the plane position. When the edge information contains edge information of existing containers, the establishment of the regional coordinate set refers to the corresponding coordinates of the edge information of the existing containers in the two-dimensional coordinate system, so that the containers to be loaded of the same size as the existing containers are placed preferentially on the same regional coordinate set in the two-dimensional coordinate system, and the stacking of containers of the same size in the same plane position in the two-dimensional coordinate system is achieved. When the coordinates of the plane position where the containers to be loaded should be placed in the cargo hold are determined, a three-dimensional coordinate system is established with the two-dimensional coordinate system as the reference plane and the Z axis is added. The plane where the original two-dimensional coordinate system is located is the reference plane. The cloud processing module obtains the boundary of the cargo hold based on the edge information in the image, and measures the distance to the boundary of the cargo hold through the laser rangefinder of the loading device to obtain the distance measurement value corresponding to the reference plane. After the three-dimensional coordinate system is established, the next step is executed.

[0033] S5. The mobile transport terminal transports the cargo box to be loaded from the storage area to the loading area next to the loading and unloading device according to the instruction of the cloud processing module, and the loading device loads it. The mobile transport terminal checks the cargo box information again before transporting the cargo box to ensure that the color and number of the cargo box correspond accurately, prevent the cargo box information of the cargo box from being tampered with during the storage period, and ensure that the cargo box transported from the storage area to the loading area is the same cargo box as the cargo box previously transported from the gate to the storage area.

[0034] S6. In the process of loading the cargo box into the cargo hold by the loading device, every time the loading device completes loading of a cargo box, the cloud processing module adds the Z-axis coordinates that belong exclusively to the loaded cargo box to the regional coordinate set where the cargo box is located after loading is completed, based on the distance measurement data of the loading device to the loaded cargo box at the set height. Specifically, when the loading device moves the cargo box to the top of the cargo hold, the reference plane of the three-dimensional coordinate system is corrected by the distance measurement information of the cargo hold boundary to obtain the distance measurement data of the reference plane before loading. After the cargo box is loaded to the position of the corresponding regional coordinate set in the cargo hold, the cargo box is measured to obtain the distance measurement data of the cargo box. When the loading device leaves the cargo hold, the cargo hold boundary is measured again to obtain the distance measurement data of the reference plane after loading. The distance measurement data of the corrected reference plane and the displacement data of the corrected reference plane in the three-dimensional coordinate system are obtained by subtracting the distance measurement data of the reference plane before loading from the distance measurement data of the reference plane after loading. In this application, the three-dimensional coordinate system itself does not change after it is established. Only the Z-axis position of the reference plane in the three-dimensional coordinate system changes. Therefore, it is necessary to obtain the specific data of the Z-axis position change of the reference plane in the three-dimensional coordinate system by subtracting the distance measurement data of the reference plane before loading from the distance measurement data of the reference plane after loading, that is, the Z-axis displacement data of the reference plane in the three-dimensional coordinate system, and the displacement data is the settlement data of the cargo ship hull. The total settlement data of the cargo ship hull is obtained by adding all the displacement data, which provides a reference for calculating the load-bearing capacity of the cargo ship. For example, before loading, the current waterline position height of the cargo ship is obtained, and the maximum threshold of the waterline height is set. The maximum distance that the cargo ship can sink is obtained by subtracting the current waterline position height from the maximum threshold of the waterline height. When the total displacement data obtained by adding all the displacement data of the reference plane in the three-dimensional coordinate system reaches the above-mentioned maximum distance that the cargo ship can sink, an alarm is issued to remind the cargo ship that its carrying capacity has reached its limit. The vertical distance of the cargo box relative to the reference plane is obtained by subtracting the distance measurement data of the cargo box from the distance measurement data of the corrected reference plane, and the vertical distance of the cargo box relative to the reference plane is used as the Z-axis coordinate of the loaded cargo box, and a regional coordinate set with Z-axis coordinates is established exclusively for the loaded cargo box. The Z-axis coordinates include the Z-axis coordinates of the top surface of the cargo box obtained through the above content; if the gate monitoring module has obtained the size of the cargo box, the Z-axis coordinates of the bottom surface of the cargo box can also be obtained by adding the Z-axis coordinates of the top surface to the height of the cargo box, so that the coordinate range of the cargo box in the three-dimensional coordinate system is obtained, which is convenient for subsequent use.

[0035] The positive and negative values ​​of the Z-axis coordinates corresponding to the regional coordinate set define the vertical position of the cargo box. Negative values ​​represent that the cargo box is inside the cargo hold, and positive values ​​represent that the cargo box is outside the cargo hold. When the value of the Z-axis coordinate of the top surface corresponding to a cargo box is negative and the difference between the absolute value of the Z-axis coordinate and the depth of the cargo hold of the cargo ship obtained before is the same as the size height of the cargo box, it means that the cargo box is located at the bottom of the cargo hold of the cargo ship; or if the Z-axis coordinate of a part of the cargo box is positive and the Z-axis coordinate of a part is negative, then the part with positive Z-axis coordinate is outside the cargo hold, and the part with negative Z-axis coordinate is inside the cargo hold. By analogy, the specific positions of all loaded cargo boxes in the cargo hold of the cargo ship can be obtained, including both the plane position of the cargo box and the vertical position of the cargo box. So far, the plane position coordinates and vertical position coordinates of all loaded cargo boxes are obtained, and the next step is executed.

[0036] S7. The cloud processing module creates a stereoscopic image and table of the container position in the established three-dimensional coordinate system based on the obtained set of all regional coordinates with Z-axis coordinates. The stereoscopic image and table can clearly show the specific position of any container in the cargo hold and can be used to connect with the management system of the cargo ship.

[0037] On the basis of the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in the present invention can be implemented in combination with existing electrical technology, information technology, software technology and general protocols. They are not within the scope of protection required by the present invention and will not be described in detail in this application.

[0038] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered as exemplary and non-restrictive in all respects.

Claims

1. A bay and port area operation management method, characterized in that: Includes steps: S1. A visual sensor is set at the gate to perform gate detection, and the cargo box information of the cargo box is obtained by software analysis of the image obtained by the visual sensor, wherein the cargo box information includes the color, number, and size of the cargo box, and the cloud processing module specifies the storage area of ​​the cargo box according to the cargo box information; S2. After the cargo box is transported to the storage area, the cloud processing module notifies the mobile transport terminal to move and place the cargo box. After the moving and placing is completed, the mobile transport terminal uploads the placement position of the cargo box to the cloud processing module; S3. The cloud processing module obtains the cargo ship information of the docked cargo ship, and the cargo ship information includes the model, number, cargo hold size and cargo hold depth of the cargo ship; S4. After receiving the image captured by the visual sensor of the loading and unloading device at the set position and the set height of the cargo hold of the docked cargo ship, the cloud processing module establishes a two-dimensional coordinate system according to the edge information in the image, divides the plane position area of ​​the cargo box to be loaded in the two-dimensional coordinate system according to the size of the cargo box to be loaded, establishes a regional coordinate set with the coordinates of the divided plane position area in the two-dimensional coordinate system, and then establishes a three-dimensional coordinate system with the two-dimensional coordinate system as the reference plane and adding the Z axis; S5. The mobile transport terminal transports the cargo box to be loaded from the storage area to the loading area next to the loading and unloading device according to the instructions of the cloud processing module, and the loading device loads it; S6. During the process of loading the cargo box into the cargo hold by the loading device, each time the loading device completes loading of a cargo box, the cloud processing module adds a Z-axis coordinate that is exclusive to the loaded cargo box to the regional coordinate set of the cargo box after loading is completed, based on the distance measurement data obtained by the loading device at the set height to the loaded cargo box; S7. The cloud processing module creates a stereoscopic image and a table of the container position in the established three-dimensional coordinate system based on the obtained set of coordinates of all regions with Z-axis coordinates; In step S6, when the loading device moves the cargo box to the top of the cargo hold, the reference plane of the three-dimensional coordinate system is corrected by the distance measurement information of the cargo hold boundary to obtain the distance measurement data of the reference plane before loading; when the cargo box is loaded into the cargo hold, the cargo box is measured to obtain the distance measurement data of the cargo box; when the loading device leaves from above the cargo hold, the cargo hold boundary is measured again to obtain the distance measurement data of the reference plane after loading; the distance measurement data of the corrected reference plane and the displacement data of the corrected reference plane in the three-dimensional coordinate system are obtained by subtracting the distance measurement data of the reference plane before loading from the distance measurement data of the reference plane after loading; the vertical distance of the cargo box relative to the reference plane is obtained by subtracting the distance measurement data of the cargo box from the distance measurement data of the corrected reference plane; the vertical distance of the cargo box relative to the reference plane is taken as the Z-axis coordinate of the loaded cargo box, and a regional coordinate set with Z-axis coordinates exclusively belonging to the loaded cargo box is established.

2. The bay and port area operation management method according to claim 1 is characterized in that: The edge information includes edge information of an existing cargo box and edge information of a cargo hold boundary. When edge information of an existing cargo box exists in the edge information, the establishment of the regional coordinate set refers to the coordinates corresponding to the edge information of the existing cargo box.

3. The bay and port area operation management method according to claim 2 is characterized in that: In step S4, the cloud processing module obtains the boundary of the cargo hold according to the edge information in the image, and determines the reference plane of the three-dimensional coordinate system with the distance measurement information of the loading device to the boundary of the cargo hold.

4. The bay and port area operation management method according to claim 3 is characterized in that: The displacement data of all the corrected reference surfaces in the three-dimensional coordinate system are added together to obtain the total settlement data of the cargo ship hull.

5. The bay and port area operation management method according to claim 1 is characterized in that: Whenever the mobile transport terminal moves a cargo box, the cloud processing module verifies the cargo box information obtained by the mobile transport terminal. When the cloud processing module finds that the cargo box information obtained by the mobile transport terminal does not match the cargo box information obtained in the gate detection, an alarm signal is issued.

6. A bay and port operation management system, executing the method according to any one of claims 1 to 5, characterized in that: It includes a cloud processing module, a gate monitoring module, a mobile transport end and a loading device. The gate monitoring module includes a visual sensor, the mobile transport end is provided with a visual sensor, and the loading device is provided with a visual sensor and a laser rangefinder facing the direction of the cargo ship.

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