Automatic operation method for ship clearance

Abstract

The invention provides an automatic operation method for ship clearance, and belongs to the technical field of automation. The method comprises the following steps: step 1, acquiring in-cabin space size data and in-cabin equipment state information according to a ship number and image equipment; 2, a sensor is configured, and the type of residues to be cleared in a cabin of the ship to be cleared and distribution parameters of the residues to be cleared are obtained; 3, generating a corresponding in-cabin space model based on in-cabin space size data of the ship to be cleared, and mapping the residue into the in-cabin space model to obtain a first in-cabin model; step 4, according to the first in-cabin model and in-cabin equipment state information, generating a cabin cleaning operation process of the ship to be cleaned; and step 5, generating a control instruction of the equipment according to the clearance operation process, and detecting and generating a clearance report after the clearance operation process is completed. Through the specified clearance strategy, the clearance is automatically completed, the clearance working efficiency is effectively improved, and the automatic clearance is more convenient.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an automated operation method for ship warehouse clearance. Background Art

[0002] At present, ship transportation is the most convenient and cost-effective mode of transportation in my country. When the transport ship arrives at the destination dock, the goods are usually transported to the cabin and then extracted to land. However, there are usually some residues in the cabin, which are usually cleaned manually. This method has high labor costs and will make the work efficiency low, increasing the cost of ship transportation. Therefore, the present invention proposes an automated operation method for ship clearance. Summary of the invention

[0003] The present invention provides an automated operation method for ship clearance, which constructs a three-dimensional model based on the parameters in the cabin by using sensors and imaging devices, maps the residues into the model, predicts and constructs the route of the clearance equipment, and generates instructions to control the clearance equipment to complete the clearance.

[0004] In one aspect, the present invention provides an automated operation method for ship clearance, comprising: Step 1: According to the ship number and the image equipment, obtain the space dimension data of the cabin of the ship to be cleared and the status information of the equipment in the cabin of the ship to be cleared; Step 2: configuring a sensor in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared; Step 3: Based on the cabin space dimension data of the ship to be cleared, a corresponding cabin space model is generated, and the corresponding residues to be cleared are mapped to the cabin space model to obtain a first cabin model; Step 4: Generate a warehouse clearing operation process for the ship to be cleared according to the first cabin model and cabin equipment status information; Step 5: Generate control instructions for the corresponding clearance equipment according to the clearance operation process of the ship to be cleared. After the clearance operation process is completed, detect the clearance results and generate a clearance report.

[0005] On the other hand, it also includes: According to the ship record history library, obtain the ship number of the ship to be cleared and obtain the basic information of the ship; According to the basic information of the ship, the two-dimensional map information and the equipment information in the cabin of the ship to be cleared are obtained.

[0006] On the other hand, according to the ship number and the image equipment, the space dimension data of the cabin of the ship to be cleared and the equipment status information of the cabin of the ship to be cleared are obtained, including: Based on the two-dimensional map information of the cabin of the ship to be cleared, select the installation position of the image device, and configure a unique first number for each image device; configure a unique second number for each installation position; Match the first number and the second number one by one according to the position installation relationship to complete the installation configuration of the imaging device; The space dimension data of the cabin of the ship to be cleared is obtained based on the image device, and the equipment status information of the cabin of the ship to be cleared is obtained based on the equipment information of the cabin of the ship to be cleared.

[0007] On the other hand, a sensor is arranged in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared, including: In the cabin of the ship to be cleared, the corresponding sensor type is selected based on the preset cabin parameter type; Determine the installation locations of different types of sensors based on the space dimensions of the ship to be cleared, and install and configure all sensors; Using an image processing algorithm to analyze the original image of the interior of the ship to be cleared acquired by the image device, and identifying the shape and color characteristics of the residues to be cleared in the interior of the ship to be cleared; Use deep learning algorithms to classify images and identify different types of residues to be cleared; The parameters of the residues to be cleared are obtained by using sensors; the parameters of the residues to be cleared are matched with the type characteristics of the residues to be cleared, and the distribution parameters of different types of residues to be cleared are obtained.

[0008] On the other hand, based on the cabin space dimension data of the ship to be cleared, a corresponding cabin space model is generated, including: According to the original image of the interior of the ship to be cleared collected by the imaging device, the original image is split into a plurality of parallelograms; Construct a three-dimensional coordinate system XOY, and map all parallelograms into the three-dimensional coordinate system XOY based on the space dimension data of the ship to be cleared; Get the first corner point of any parallelogram in the original image, then the side length of any parallelogram in the original image where the first corner point is located is , then the relative coordinates of the first corner point corresponding to the three-dimensional coordinate system XOY are: ;in, represents the horizontal coordinate of the first corner point, represents the ordinate of the first corner point, represents the vertical coordinate of the first corner point, R represents the distance from the first corner point to the origin, represents the angle between the projection of the first corner point on the XY plane and the X-axis, represents the angle between the first corner point and the Z axis, represents the dot product, Indicates the preset coordinate axis scale; The cabin space model is constructed according to the three-dimensional coordinate system XOY.

[0009] On the other hand, the corresponding residues to be cleared are mapped to the cabin space model to obtain the first cabin model, including: Construct a coordinate system X1O1Y1 of the image of any residue to be cleared relative to the original image, and generate a parallelogram corresponding to the image of the residue to be cleared; Based on the coordinates of any corner point of the parallelogram corresponding to the image of the residues to be cleared, the residues to be cleared are mapped to the cabin space model in combination with the mapping relationship between the X1O1Y1 coordinate system and the XOY coordinate system to obtain a first residue image; The first residue image of all the residues to be cleared is mapped into the cabin interior space model to obtain the first cabin interior model.

[0010] On the other hand, according to the first cabin model and the cabin equipment status information, a clearance operation process of the ship to be cleared is generated, including: Obtaining material type information of any residue to be cleared in the hold of the ship to be cleared, and determining a cleaning method for the residue to be cleared according to a mapping relationship between material type and cleaning equipment; The position of the residue to be cleared in the first cabin model is defined as the end point, all nodes from the start point to the end point of the target clearing equipment are obtained, and all nodes constitute a path point set; Add the starting point to the path point set, set the cost to 0, obtain the initial cost from the starting point to any node, take the path corresponding to the minimum cost value of the initial cost as the initial path, and add the node o corresponding to the minimum cost value of the initial cost to the optimal set, where the cost is determined by the time-distance-cost mapping table; Select the node with the minimum cost to node o from the path point set as the next connection path, and add the selected node to the optimal set; Iterate until there is an end point in the eugenics set, and all points in the eugenics set and their paths are the warehouse clearance operation paths; According to the cleaning method of the residues to be cleared, a first clearing operation process of the residues to be cleared is generated in combination with the clearing operation path; According to the status and location of the equipment in the cabin, the degree of influence of the equipment in the cabin on the overall first warehouse clearing operation process is determined during the first warehouse clearing operation process. If the degree of influence is greater than the preset danger level, the corresponding equipment in the cabin is determined as an obstacle and added to the first warehouse clearing operation process to generate a warehouse clearing operation process.

[0011] On the other hand, according to the clearance operation process of the ship to be cleared, the control instructions of the corresponding clearance equipment are generated. After the clearance operation process is completed, the clearance results are detected and a clearance report is generated, including: According to the warehouse clearing operation process, a control instruction signal is sent to all warehouse clearing devices corresponding to the warehouse clearing operation process, and any warehouse clearing device splits the control instruction signal according to the corresponding device type to obtain a device signal, and obtains the first device instruction of the warehouse clearing device based on the signal decryption; According to the initial position of the cleaning device and the first device instruction, a first route for cleaning the residues to be cleaned out is planned; After the warehouse cleaning equipment completes the first route, it runs to the stop position according to the second route; After the warehouse clearing process is completed, the warehouse clearing result is checked. If the residual ratio of the residues to be cleared is greater than the preset residual ratio, the warehouse clearing device corresponding to the residues to be cleared will repeatedly issue the first device instruction; otherwise, the warehouse clearing is completed and a warehouse clearing report is generated.

[0012] The present invention provides an automated operation method for ship clearance, which constructs a three-dimensional model based on the parameters in the cabin by using sensors and imaging devices, maps the residues into the model, predicts and constructs the route of the clearance equipment, and generates instructions to control the clearance equipment to complete the clearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 The present invention is a flowchart of an automated operation method for ship clearance provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0016] Embodiment 1: like Figure 1 As shown, an embodiment of the present invention provides an automated operation method for ship clearance, the method mainly comprising the following steps: Step 1: According to the ship number and the image equipment, obtain the space dimension data of the cabin of the ship to be cleared and the status information of the equipment in the cabin of the ship to be cleared; Step 2: configuring a sensor in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared; Step 3: Based on the cabin space dimension data of the ship to be cleared, a corresponding cabin space model is generated, and the corresponding residues to be cleared are mapped to the cabin space model to obtain a first cabin model; Step 4: Generate a warehouse clearing operation process for the ship to be cleared according to the first cabin model and cabin equipment status information; Step 5: Generate control instructions for the corresponding clearance equipment according to the clearance operation process of the ship to be cleared. After the clearance operation process is completed, detect the clearance results and generate a clearance report.

[0017] In this embodiment, the ship number refers to a specific number that uniquely identifies each ship, which is usually provided and managed by a ship management agency or an international shipping and maritime organization (such as IMO).

[0018] In this embodiment, the imaging device refers to a device used to obtain the space dimension data and the status information of the equipment in the cabin of the ship, including: a laser scanner, a camera, a rangefinder, etc.

[0019] In this embodiment, the cabin space dimension data refers to the dimensions and layout information of each cabin inside the ship, including the length, width, height and other dimension parameters of each cabin.

[0020] In this embodiment, the in-cabin equipment status information refers to the current operating status and working conditions of various equipment inside the ship to be cleared, including: electrical equipment, mechanical equipment, instrument equipment, communication equipment, etc.

[0021] In this embodiment, the sensors include: environmental sensors, motion sensors, liquid level sensors, position sensors and other types.

[0022] In this embodiment, the residues to be cleared refer to substances left in the cargo hold, oil tank or other storage areas of the ship, such as oily chemical residues, bulk cargo residues, wastewater and sewage.

[0023] In this embodiment, the distribution parameter refers to the specific location and distribution of the residues to be cleared in the ship's hold, such as the location of the residues in the cargo hold, oil tank, etc.

[0024] In this embodiment, the cabin space model is a three-dimensional model that describes and represents the space in detail.

[0025] In this embodiment, the first cabin model is a model obtained by mapping the corresponding residues to be cleared into the cabin space model, and displays the geometric shapes, sizes and features of different areas inside the ship.

[0026] In this embodiment, the warehouse clearance operation process includes the type of warehouse clearance equipment, and the order, method and time of determining the cleaning of the equipment, including all the processes of warehouse clearance.

[0027] In this embodiment, the control instructions refer to the formulation and issuance of specific operating steps and instructions for guiding the cleaning work, such as: operating sequence and steps, equipment and tools used, operating parameters and conditions, etc.

[0028] In this embodiment, the clearance result refers to the completion status and effect evaluation of the clearance operation, including: operation completion status, cleaning effect evaluation, residue removal status, etc.

[0029] In this embodiment, the clearance report is a comprehensive record of the internal cleaning process of the vessel to be cleared, including: operation process records, equipment status and use records, safety and environmental protection compliance, etc.

[0030] The working principle and beneficial effects of the above technical solution are: through the acquisition of ship cabin data, spatial model generation and automated operation process, the efficiency and accuracy of warehouse clearance operations are improved, resource utilization is optimized, clear reports are generated, and it is helpful to modernize and improve the efficiency of ship management and maintenance.

[0031] Embodiment 2: Based on the above embodiment 1, it also includes: According to the ship record history library, obtain the ship number of the ship to be cleared and obtain the basic information of the ship; According to the basic information of the ship, the two-dimensional map information and the equipment information in the cabin of the ship to be cleared are obtained.

[0032] In this embodiment, the ship record history library refers to a database or archive system containing various information and records of the ship, including the ship's ship number, registration information, historical navigation data, maintenance records, equipment installation information, etc.

[0033] In this embodiment, the basic ship information includes: ship number, ship registration information, ship size and structure, etc.

[0034] In this embodiment, the two-dimensional map information refers to the plan view of the interior space of the ship, including: the location of passages and doors, functional areas, etc.

[0035] In this embodiment, the in-cabin equipment information refers to the detailed information and status of various equipment inside the ship, including: equipment name, equipment location, equipment function, operating status and other information.

[0036] The working principle and beneficial effects of the above technical solution are: through automated acquisition of ship information, integration of cabin maps and equipment data, improved management efficiency, safety and transparency, optimized resource allocation, and enhanced operational convenience.

[0037] Embodiment 3: On the basis of the above-mentioned embodiment 2, according to the ship number and the image device, the space dimension data of the cabin of the ship to be cleared and the status information of the equipment in the cabin of the ship to be cleared are obtained, including: Based on the two-dimensional map information of the cabin of the ship to be cleared, select the installation position of the image device, and configure a unique first number for each image device; configure a unique second number for each installation position; Match the first number and the second number one by one according to the position installation relationship to complete the installation configuration of the imaging device; The space dimension data of the cabin of the ship to be cleared is obtained based on the image device, and the equipment status information of the cabin of the ship to be cleared is obtained based on the equipment information of the cabin of the ship to be cleared.

[0038] In this embodiment, the installation location refers to the specific physical location of the imaging device in the ship's cabin.

[0039] In this embodiment, the first number is a unique identifier configured for each image device and is used to manage and identify these devices.

[0040] In this embodiment, the second number is a unique identifier configured for each installation location and is used to manage the installation location.

[0041] In this embodiment, matching refers to associating the first number of each image device with the second number of its corresponding installation position to establish a clear installation configuration table.

[0042] In this embodiment, installation configuration refers to starting settings and adjustments for devices and the like.

[0043] The working principle and beneficial effects of the above technical solution are: by installing and configuring in-cabin imaging equipment, accurate spatial dimension data and real-time equipment monitoring are provided to improve the efficiency and level of ship clearance operations.

[0044] Embodiment 4: On the basis of the above-mentioned embodiment 3, a sensor is arranged in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared, including: In the cabin of the ship to be cleared, the corresponding sensor type is selected based on the preset cabin parameter type; Determine the installation locations of different types of sensors based on the space dimensions of the ship to be cleared, and install and configure all sensors; Using an image processing algorithm to analyze the original image of the interior of the ship to be cleared acquired by the image device, and identifying the shape and color characteristics of the residues to be cleared in the interior of the ship to be cleared; Use deep learning algorithms to classify images and identify different types of residues to be cleared; The parameters of the residues to be cleared are obtained by using sensors; the parameters of the residues to be cleared are matched with the type characteristics of the residues to be cleared, and the distribution parameters of different types of residues to be cleared are obtained.

[0045] In this embodiment, the preset cabin parameter type refers to various physical and functional requirements pre-set during the ship clearance process, including: specific requirements of the clearance task, types and performance specifications of sensors, cabin space dimensions and layout data, etc.

[0046] In this embodiment, the sensor types include: laser scanner, gas sensor, temperature sensor, humidity sensor and the like.

[0047] In this embodiment, the image processing algorithm is a process of processing the image after image preprocessing, including the steps of edge detection, target detection and segmentation, and feature extraction.

[0048] In this embodiment, the original image refers to the image data of the interior of the ship cabin collected from the imaging device without any processing.

[0049] In this embodiment, shape and color features, shape features refer to the size (length, width, height), edge shape (such as round, rectangular, irregular shape, etc.), and any specific geometric features (such as angle, curvature, etc.) of the residue; color features refer to the RGB value of the color or the brightness in the color space, etc.

[0050] In this embodiment, the deep learning algorithm uses a convolutional neural network (CNN) as the basic structure to process image data, extract local features in the image through the convolution layer, reduce the dimension of the data through the pooling layer, and finally achieve the final classification decision through the fully connected layer.

[0051] In this embodiment, image classification refers to the task of assigning an input image to a predefined category or label, where the categories include contour, texture, color histogram, etc.

[0052] In this embodiment, the parameters of the residues to be cleared refer to various features and attributes of the residues, such as size, contour, geometric features, etc.

[0053] In this embodiment, the distribution parameters refer to the spatial distribution characteristics of the residues to be cleared in the ship's cabin, including: location information, density distribution, regional distribution, etc.

[0054] The working principle and beneficial effects of the above technical solution are: using sensors and deep learning to identify residues in the ship, improving clearance efficiency and safety, and reducing costs and identification errors.

[0055] Embodiment 5: On the basis of the above-mentioned embodiment 3, based on the cabin space dimension data of the ship to be cleared, a corresponding cabin space model is generated, including: According to the original image of the interior of the ship to be cleared collected by the imaging device, the original image is split into a plurality of parallelograms; Construct a three-dimensional coordinate system XOY, and map all parallelograms into the three-dimensional coordinate system XOY based on the space dimension data of the ship to be cleared; Get the first corner point of any parallelogram in the original image, then the side length of any parallelogram in the original image where the first corner point is located is , then the relative coordinates of the first corner point corresponding to the three-dimensional coordinate system XOY are: ;in, represents the horizontal coordinate of the first corner point, represents the ordinate of the first corner point, represents the vertical coordinate of the first corner point, R represents the distance from the first corner point to the origin, represents the angle between the projection of the first corner point on the XY plane and the X-axis, represents the angle between the first corner point and the Z axis, represents the dot product, Indicates the preset coordinate axis scale; The cabin space model is constructed according to the three-dimensional coordinate system XOY.

[0056] In this embodiment, mapping refers to mapping the parallelogram area in the ship cabin from the two-dimensional image space to the three-dimensional coordinate system XOY.

[0057] In this embodiment, the first corner point refers to a vertex of any parallelogram selected in the original in-cabin image.

[0058] In this embodiment, the relative coordinates refer to a set of parameters describing the position of the first corner point in the three-dimensional coordinate system XOY.

[0059] In this embodiment, the three-dimensional coordinate system XOY is constructed with the X-axis and Y-axis located on a horizontal plane in the ship's cabin, and the Z-axis is perpendicular to the XO plane and upward, indicating the height of the space in the cabin. The constructed scale is a fixed equal scale in the cabin.

[0060] The working principle and beneficial effects of the above technical solution are: using image segmentation and three-dimensional mapping to accurately locate the space inside the ship's cabin, improve the accuracy of spatial perception and data management efficiency, and improve the efficiency of ship clearance.

[0061] Embodiment 6: On the basis of the above-mentioned embodiment 5, the corresponding residues to be cleared are mapped to the cabin space model to obtain a first cabin model, including: Construct a coordinate system X1O1Y1 of the image of any residue to be cleared relative to the original image, and generate a parallelogram corresponding to the image of the residue to be cleared; Based on the coordinates of any corner point of the parallelogram corresponding to the image of the residues to be cleared, the residues to be cleared are mapped to the cabin space model in combination with the mapping relationship between the X1O1Y1 coordinate system and the XOY coordinate system to obtain a first residue image; The first residue image of all the residues to be cleared is mapped into the cabin interior space model to obtain the first cabin interior model.

[0062] In this embodiment, the first residue image refers to an image representation in which a single warehouse clearance residue is mapped from its position in the original image to the cabin space model through coordinate system conversion and mapping.

[0063] The working principle and beneficial effects of the above technical solution are: by converting the clearance residues from the original image to the cabin space model through coordinate mapping, the residues are accurately located, and the accuracy of the positioning of the cabin residues and the spatial perception are improved.

[0064] Embodiment 7: On the basis of the above-mentioned embodiment 1, a clearance operation process of the ship to be cleared is generated according to the first cabin model and the cabin equipment status information, including: Obtaining material type information of any residue to be cleared in the hold of the ship to be cleared, and determining a cleaning method for the residue to be cleared according to a mapping relationship between material type and cleaning equipment; The position of the residue to be cleared in the first cabin model is defined as the end point, all nodes from the start point to the end point of the target clearing equipment are obtained, and all nodes constitute a path point set; Add the starting point to the path point set, set the cost to 0, obtain the initial cost from the starting point to any node, take the path corresponding to the minimum cost value of the initial cost as the initial path, and add the node o corresponding to the minimum cost value of the initial cost to the optimal set, where the cost is determined by the time-distance-cost mapping table; Select the node with the minimum cost to node o from the path point set as the next connection path, and add the selected node to the optimal set; Iterate until there is an end point in the eugenics set, and all points in the eugenics set and their paths are the warehouse clearance operation paths; According to the cleaning method of the residues to be cleared, a first clearing operation process of the residues to be cleared is generated in combination with the clearing operation path; According to the status and location of the equipment in the cabin, the degree of influence of the equipment in the cabin on the overall first warehouse clearing operation process is determined during the first warehouse clearing operation process. If the degree of influence is greater than the preset danger level, the corresponding equipment in the cabin is determined as an obstacle and added to the first warehouse clearing operation process to generate a warehouse clearing operation process.

[0065] In this embodiment, the material type information refers to the type or category of the residues in the ship's hold to be cleared, such as chemical substances, metals, waste materials, etc.

[0066] In this embodiment, the mapping relationship between material type and cleaning equipment refers to determining the specific cleaning equipment suitable for cleaning the residues of different material types in the ship's hold to be cleared, and the cleaning equipment includes: chemical cleaning equipment, metal cutting equipment, flow machine, etc.

[0067] In this embodiment, the cleaning method refers to cleaning different types of residues in the ship's cabin according to the mapping relationship between material type and cleaning equipment.

[0068] In this embodiment, the node refers to a basic component unit of the path, and refers to a position in the model of the first cabin.

[0069] In this embodiment, the waypoint set refers to the set of all possible in-cabin location nodes.

[0070] In this embodiment, the cost refers to a cost parameter for reaching a certain node from a starting point.

[0071] In this embodiment, the time-distance length-cost mapping table is a heuristic function mapping table result used in path planning, and the cost is obtained based on the heuristic function according to the distance length and time.

[0072] In this embodiment, the eugenic set refers to a set of nodes selected from nodes that meet the minimum cost requirement.

[0073] In this embodiment, the initial path refers to the initial path from the starting point to the first node.

[0074] In this embodiment, the cleaning operation path refers to a set of paths from a starting point (cleaning equipment) to an end point (the location of the residues to be cleaned) when performing cleaning operations in a ship's cabin.

[0075] In this embodiment, the first cleaning operation process refers to the initial steps and processes of cleaning operations in the ship's cabin.

[0076] In this embodiment, the degree of influence refers to the degree of influence of the equipment in the cabin on the overall first warehouse cleaning operation process.

[0077] In this embodiment, the preset risk level refers to a constant set in advance to measure the degree of impact that the equipment in the cabin may bring when executing the warehouse clearance operation process.

[0078] In this embodiment, the obstacle refers to the equipment inside the cabin that may affect the operation process or safety during the path planning of the warehouse clearance operation.

[0079] The working principle and beneficial effects of the above technical solution are: the solution utilizes the relationship between material mapping and cleaning equipment, and through path planning and equipment status evaluation, automatically generates the optimal cleaning operation process inside the ship to improve operation efficiency.

[0080] Embodiment 8: On the basis of the above-mentioned embodiment 7, according to the cleaning operation process of the ship to be cleaned, a control instruction corresponding to the cleaning equipment is generated, and after the cleaning operation process is completed, the cleaning result is detected and a cleaning report is generated, including: According to the warehouse clearing operation process, a control instruction signal is sent to all warehouse clearing devices corresponding to the warehouse clearing operation process, and any warehouse clearing device splits the control instruction signal according to the corresponding device type to obtain a device signal, and obtains the first device instruction of the warehouse clearing device based on the signal decryption; According to the initial position of the cleaning device and the first device instruction, a first route for cleaning the residues to be cleaned out is planned; After the warehouse cleaning equipment completes the first route, it runs to the stop position according to the second route; After the warehouse clearing process is completed, the warehouse clearing result is checked. If the residual ratio of the residues to be cleared is greater than the preset residual ratio, the warehouse clearing device corresponding to the residues to be cleared will repeatedly issue the first device instruction; otherwise, the warehouse clearing is completed and a warehouse clearing report is generated.

[0081] In this embodiment, the control command signal is a signal sent to the warehouse cleaning device by the system, including start, stop, moving direction, cleaning method and the like.

[0082] In this embodiment, signal splitting refers to parsing the control instruction signal sent to the warehouse cleaning device according to the standard of the device type.

[0083] In this embodiment, the device signal refers to the operation instructions and parameters specific to each warehouse clearing device separated from the control instruction signal.

[0084] In this embodiment, signal decryption refers to further processing the device signal extracted from the control instruction signal to obtain the specific operation instructions and parameters that the warehouse clearing device needs to execute.

[0085] In this embodiment, the first device instruction refers to a specific operation instruction obtained by the warehouse clearing device after parsing the received control instruction signal.

[0086] In this embodiment, the first route refers to the cleaning operation route determined by the cleaning device according to the initial position and the first device instruction.

[0087] In this embodiment, the "second route" refers to the path of action that the cleaning equipment takes to the stop position after completing the cleaning operation of the first route.

[0088] In this embodiment, the residue ratio refers to the ratio coefficient between the residues cleaned up and the original residues in the area to be cleared.

[0089] The working principle and beneficial effects of the above technical solution are: through command sending, route planning and real-time monitoring, the efficiency and cleaning quality of the cleaning equipment are improved, ensuring the efficient execution and result quality of the residue cleaning operation.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated operation method for ship clearance, characterized in that: include: Step 1: According to the ship number and the image equipment, obtain the space dimension data of the cabin of the ship to be cleared and the status information of the equipment in the cabin of the ship to be cleared; Step 2: configuring a sensor in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared; Step 3: Based on the cabin space dimension data of the ship to be cleared, a corresponding cabin space model is generated, and the corresponding residues to be cleared are mapped to the cabin space model to obtain a first cabin model; Step 4: Generate a warehouse clearing operation process for the ship to be cleared according to the first cabin model and cabin equipment status information; Step 5: Generate control instructions for the corresponding clearance equipment according to the clearance operation process of the ship to be cleared. After the clearance operation process is completed, detect the clearance results and generate a clearance report.

2. The automated operation method for ship clearance according to claim 1, characterized in that: Also includes: According to the ship record history library, obtain the ship number of the ship to be cleared and obtain the basic information of the ship; According to the basic information of the ship, the two-dimensional map information and the equipment information in the cabin of the ship to be cleared are obtained.

3. The automated operation method for ship clearance according to claim 2, characterized in that: According to the ship number and image equipment, obtain the space dimension data of the ship to be cleared and the equipment status information of the ship to be cleared, including: Based on the two-dimensional map information of the cabin of the ship to be cleared, select the installation position of the image device, and configure a unique first number for each image device; configure a unique second number for each installation position; Match the first number and the second number one by one according to the position installation relationship to complete the installation configuration of the imaging device; The space dimension data of the cabin of the ship to be cleared is obtained based on the image device, and the equipment status information of the cabin of the ship to be cleared is obtained based on the equipment information of the cabin of the ship to be cleared.

4. The automated operation method for ship clearance according to claim 3, characterized in that: A sensor is arranged in the cabin of the ship to be cleared to obtain the types of the residues to be cleared and the distribution parameters of the residues to be cleared in the cabin of the ship to be cleared, including: In the cabin of the ship to be cleared, the corresponding sensor type is selected based on the preset cabin parameter type; Determine the installation locations of different types of sensors based on the space dimensions of the ship to be cleared, and install and configure all sensors; Using an image processing algorithm to analyze the original image of the interior of the ship to be cleared acquired by the image device, and identifying the shape and color characteristics of the residues to be cleared in the interior of the ship to be cleared; Use deep learning algorithms to classify images and identify different types of residues to be cleared; The parameters of the residues to be cleared are obtained by using sensors; the parameters of the residues to be cleared are matched with the type characteristics of the residues to be cleared, and the distribution parameters of different types of residues to be cleared are obtained.

5. The automated operation method for ship clearance according to claim 3, characterized in that: Based on the cabin space dimension data of the ship to be cleared, the corresponding cabin space model is generated, including: According to the original image of the interior of the ship to be cleared collected by the imaging device, the original image is split into a plurality of parallelograms; Construct a three-dimensional coordinate system XOY, and map all parallelograms into the three-dimensional coordinate system XOY based on the space dimension data of the ship to be cleared; Get the first corner point of any parallelogram in the original image, then the side length of any parallelogram in the original image where the first corner point is located is , then the relative coordinates of the first corner point corresponding to the three-dimensional coordinate system XOY are: ;in, represents the horizontal coordinate of the first corner point, represents the ordinate of the first corner point, represents the vertical coordinate of the first corner point, R represents the distance from the first corner point to the origin, represents the angle between the projection of the first corner point on the XY plane and the X-axis, represents the angle between the first corner point and the Z axis, represents the dot product, Indicates the preset coordinate axis scale; The cabin space model is constructed according to the three-dimensional coordinate system XOY.

6. The automated operation method for ship clearance according to claim 5, characterized in that: The corresponding residues to be cleared are mapped to the cabin space model to obtain the first cabin model, including: Construct a coordinate system X1O1Y1 of the image of any residue to be cleared relative to the original image, and generate a parallelogram corresponding to the image of the residue to be cleared; Based on the coordinates of any corner point of the parallelogram corresponding to the image of the residues to be cleared, the residues to be cleared are mapped to the cabin space model in combination with the mapping relationship between the X1O1Y1 coordinate system and the XOY coordinate system to obtain a first residue image; The first residue image of all the residues to be cleared is mapped into the cabin interior space model to obtain the first cabin interior model.

7. The automated operation method for ship clearance according to claim 1, characterized in that: According to the first cabin model and cabin equipment status information, a clearance operation process of the ship to be cleared is generated, including: Obtaining material type information of any residue to be cleared in the hold of the ship to be cleared, and determining a cleaning method for the residue to be cleared according to a mapping relationship between material type and cleaning equipment; The position of the residue to be cleared in the first cabin model is defined as the end point, all nodes from the start point to the end point of the target clearing equipment are obtained, and all nodes constitute a path point set; Add the starting point to the path point set, set the cost to 0, obtain the initial cost from the starting point to any node, take the path corresponding to the minimum cost value of the initial cost as the initial path, and add the node o corresponding to the minimum cost value of the initial cost to the optimal set, where the cost is determined by the time-distance-cost mapping table; Select the node with the minimum cost to node o from the path point set as the next connection path, and add the selected node to the optimal set; Iterate until there is an end point in the eugenics set, and all nodes and paths of the eugenics set are clearance operation paths; According to the cleaning method of the residues to be cleared, a first clearing operation process of the residues to be cleared is generated in combination with the clearing operation path; According to the status and location of the equipment in the cabin, the degree of influence of the equipment in the cabin on the overall first warehouse clearing operation process is determined during the first warehouse clearing operation process. If the degree of influence is greater than the preset danger level, the corresponding equipment in the cabin is determined as an obstacle and added to the first warehouse clearing operation process to generate a warehouse clearing operation process.

8. The automated operation method for ship clearance according to claim 7, characterized in that: According to the clearance operation process of the ship to be cleared, the control instructions of the corresponding clearance equipment are generated. After the clearance operation process is completed, the clearance results are tested and a clearance report is generated, including: According to the warehouse clearing operation process, a control instruction signal is sent to all warehouse clearing devices corresponding to the warehouse clearing operation process, and any warehouse clearing device splits the control instruction signal according to the corresponding device type to obtain a device signal, and obtains the first device instruction of the warehouse clearing device based on the signal decryption; According to the initial position of the cleaning device and the first device instruction, a first route for cleaning the residues to be cleaned out is planned; After the warehouse cleaning equipment completes the first route, it runs to the stop position according to the second route; After the warehouse clearing process is completed, the warehouse clearing result is checked. If the residual ratio of the residues to be cleared is greater than the preset residual ratio, the warehouse clearing device corresponding to the residues to be cleared will repeatedly issue the first device instruction; otherwise, the warehouse clearing is completed and a warehouse clearing report is generated.

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