Method and system for bulk cargo transshipment at a terminal

Abstract

The present application provides a method and system for bulk cargo transshipment at a terminal, wherein the method includes: obtaining bulk cargo transshipment information, the bulk cargo transshipment information includes a transshipment route under a target transshipment scenario, the target transshipment scenario being one of the transshipment from a ship to a storage yard, the transshipment from a storage yard to a ship, and the transshipment between stockpiles; based on the transshipment route, the transshipment equipment is laid out in the target transshipment scenario, and the transshipment equipment is controlled to perform bulk cargo transshipment; the progress of bulk cargo transshipment is monitored, and according to the progress of bulk cargo transshipment, it is determined whether the transshipment equipment has reached a position adjustment condition; when the progress of bulk cargo transshipment reaches the position adjustment condition, the layout of the transshipment equipment is adjusted according to the position adjustment strategy corresponding to the target transshipment scenario until the bulk cargo transshipment is completed. By using freely movable transshipment equipment for bulk cargo transshipment at the terminal, a flexible layout of the transshipment equipment under different storage yard layouts and bulk cargo transshipment progresses is achieved, and the operational efficiency of bulk cargo transshipment at the terminal can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of dock loading and unloading operations, and in particular to a bulk cargo transshipment method and system for a dock. Background Art

[0002] With the acceleration of global economic integration, the volume of international trade has increased year by year. As an important transit point for maritime trade, the efficiency of the transshipment of bulk cargo (such as coal, ore, grain, etc.) at the terminal directly affects the transportation level of bulk cargo at the terminal yard. The rationality of the transshipment of bulk cargo at the terminal yard also directly affects the operational efficiency of the bulk cargo terminal. With the gradual promotion of the concept of smart terminals, the transshipment of bulk cargo at the terminal yard has transformed towards informatization, digitization, and intelligence. Therefore, under the premise of limited hardware resources at the terminal, how to achieve efficient transportation of bulk cargo has become a core issue.

[0003] In the related art, since bulk cargo loading, unloading, storage and transshipment require a certain space, the operating efficiency and the types and quantities of loading and unloading equipment required for bulk cargo transshipment at the terminal yard are different based on the different types of cargo, operating methods and on-site conditions. In the bulk cargo yards of many terminals, in order to improve operating efficiency and adapt to the needs of different types of cargo, multiple fixed sub-belts are usually connected to the main belt for bulk cargo transmission, and a corresponding bucket wheel stacker is configured on each sub-belt to perform loading and unloading tasks. Although this layout method can meet the requirements of rapid transshipment to a certain extent, it still has shortcomings in the actual operation process, especially the need to build more belt conveyors and stacker equipment, resulting in low utilization of yard equipment and reduced available area of ​​the yard, which increases operating costs. In addition, the setting of fixed ground sub-belts cannot meet the needs of flexible changes in the layout of equipment under different yard layouts. Therefore, the current terminal yard bulk cargo transshipment method still faces the problems of low operating efficiency and insufficient flexibility. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention discloses a bulk cargo transshipment method and system for a terminal, which are used to solve the technical problems of low efficiency and insufficient flexibility of bulk cargo transshipment operations in terminal yards in the prior art.

[0006] In a first aspect, the present application provides a bulk cargo transshipment method at a wharf, the method comprising: obtaining bulk cargo transshipment information, the bulk cargo transshipment information comprising a transshipment route under a target transshipment scenario, the target transshipment scenario being one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles; based on the transshipment route, laying out transshipment equipment in the target transshipment scenario, and controlling the transshipment equipment to perform bulk cargo transshipment; monitoring bulk cargo transshipment progress, and judging whether the transshipment equipment reaches a position adjustment condition based on the bulk cargo transshipment progress, the bulk cargo transshipment progress comprising a material taking progress and / or a material laying progress, the position adjustment condition comprising the material taking progress of a material taking pile in the storage yard being the completion of material taking or the material laying progress of a material laying pile in the storage yard being the completion of material laying; when the bulk cargo transshipment progress reaches the position adjustment condition, adjusting the layout of the transshipment equipment according to the position adjustment strategy corresponding to the target transshipment scenario until the bulk cargo transshipment is completed.

[0007] In one embodiment of the present invention, the transfer equipment includes a material reclaimer, a transfer machine, a material spreading machine and a main belt. The material reclaiming method of the material reclaimer is forward reclaiming, and the material spreading method of the material spreading machine is backward reclaiming. When the material reclaimer is in forward reclaiming, the number of the transfer machines increases according to the material reclaiming progress of the material pile in the yard; when the material spreading machine is in backward spreading, the number of the transfer machines increases according to the material spreading progress of the material pile in the yard.

[0008] In one embodiment of the present invention, the transfer equipment is laid out in the target transfer scenario based on the transfer route, including: if the target transfer scenario is transfer from a ship to a storage yard, the position of a material placing machine is determined according to the end position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, the multiple transfer machines are used to connect the material placing machine with the main belt, and one end of the main belt is connected to the ship; if the target transfer scenario is transfer from the storage yard to a ship, the position of a material reclaimer is determined according to the starting position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, the multiple transfer machines are used to connect the material reclaimer with the main belt, and one end of the main belt is connected to the ship; if the target transfer scenario is transfer between stockpiles, the position of the material reclaimer is determined according to the starting position in the transfer route, the position of the material placing machine is determined according to the end position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, the multiple transfer machines are used to connect the material reclaimer with the material placing machine.

[0009] In one embodiment of the present invention, judging whether the transfer equipment meets the position adjustment condition according to the bulk cargo transfer progress includes: if the transfer scenario is the transfer from a ship to a storage yard, then when the material distribution progress of the material distribution pile is the completion of material distribution, determining that the transfer equipment meets the position adjustment condition; if the transfer scenario is the transfer from the storage yard to a ship, then when the material taking progress of the material taking pile is the completion of material taking, determining that the transfer equipment meets the position adjustment condition; if the transfer scenario is the transfer between material piles, then when the material taking progress of the material taking pile is the completion of material taking or the material distribution progress of the material distribution pile is the completion of material distribution, determining that the transfer equipment meets the position adjustment condition.

[0010] In one embodiment of the present invention, the target transfer scenario is the transfer from a ship to a storage yard; the adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: obtaining a first material distribution sequence of the material distribution machine in the storage yard and a first arrangement data of the material distribution pile in the storage yard, the first material distribution sequence including material distribution in a row direction and material distribution in a column direction; if the first material distribution sequence is material distribution in a row direction, then according to the first arrangement data, determining a first construction position of the transfer machine when each row of material is distributed according to the first arrangement data, and when the current row of material is distributed, moving the first target transfer machine to the first construction position corresponding to the transfer machine when the next row of material is distributed according to the material distribution progress; if the first material distribution sequence is material distribution in a column direction, then according to the first arrangement data, determining a second construction position of the transfer machine when each column of material is distributed according to the first arrangement data, and when the current column of material is distributed, moving the second target transfer machine to the second construction position corresponding to the transfer machine when the next column of material is distributed according to the material distribution progress.

[0011] In one embodiment of the present invention, the transfer scenario is transfer from a storage yard to a ship; the adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: obtaining a first material retrieving sequence of the reclaimer in the storage yard and a second arrangement data of the reclaimed material pile in the storage yard, the first material retrieving sequence including retrieving along the row direction and retrieving along the column direction; if the first material retrieving sequence is retrieving along the row direction, then according to the second arrangement data, determining the third construction position of the transfer machine when retrieving each row, and when retrieving the current row, adding a third target transfer machine according to the material retrieving progress, the addition of the third target transfer machine is to control the transfer machine when retrieving the previous row to move to the third construction position corresponding to the transfer machine when retrieving the current row; if the first material retrieving sequence is retrieving along the column direction, then according to the second arrangement data, determining the fourth construction position of the transfer machine when retrieving each column, and when retrieving the current column, adding a fourth target transfer machine according to the material retrieving progress, the addition of the fourth target transfer machine is to control the transfer machine when retrieving the previous row to move to the third construction position corresponding to the transfer machine when retrieving the current row.

[0012] In one embodiment of the present invention, the transfer scenario is transfer between material piles; the adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: obtaining a second material retrieving sequence of the retrieving machine in the stockpile and a third arrangement data of the retrieving material pile in the stockpile, the second material retrieving sequence includes retrieving along the row direction and retrieving along the column direction; if the second material retrieving sequence is retrieving along the row direction, then according to the third arrangement data, the fifth construction position of the transfer machine when retrieving each row is determined, and when retrieving the current row, the fifth target transfer machine is added according to the material retrieving progress, and the addition of the fifth target transfer machine is to control the transfer machine when retrieving the previous row to move to the fifth construction position corresponding to the transfer machine when retrieving the current row; if the second material retrieving sequence is retrieving along the column direction, then according to the third arrangement data, the sixth construction position of the transfer machine when retrieving each column is determined, and when retrieving the current column, the sixth target transfer machine is added according to the material retrieving progress, and the addition of the sixth target transfer machine is to control the transfer machine when retrieving the previous row to move to the sixth construction position corresponding to the transfer machine when retrieving the current row.

[0013] In one embodiment of the present invention, the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario, and further includes: obtaining a second material distribution sequence of the material distribution machine in the yard and a fourth arrangement data of the material distribution pile in the yard, the second material distribution sequence including material distribution in the row direction and material distribution in the column direction; if the second material distribution sequence is material distribution in the row direction, then according to the fourth arrangement data, the seventh construction position of the transfer machine when each row of material is distributed is determined, and when the current row of material is distributed, the seventh target transfer machine is moved out according to the material distribution progress to the seventh construction position corresponding to the transfer machine when the next row of material is distributed; if the second material distribution sequence is material distribution in the column direction, then according to the fourth arrangement data, the eighth construction position of the transfer machine when each column of material is distributed is determined, and when the current column of material is distributed, the eighth target transfer machine is moved out according to the material distribution progress to the eighth construction position corresponding to the transfer machine when the next column of material is distributed.

[0014] In one embodiment of the present invention, the method for generating the transfer route includes: obtaining the starting position, the end position, the outer boundary of the yard and the distribution of the material pile / distribution pile inside the bulk cargo transfer; generating the transfer route according to the starting position, the end position, the outer boundary and the distribution of the material pile / distribution pile.

[0015] In a second aspect, the present application provides a terminal bulk cargo transshipment system, the system comprising: an acquisition module, used to acquire bulk cargo transshipment information, the bulk cargo transshipment information including a transshipment route under a target transshipment scenario, the target transshipment scenario being one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles; a layout module, used to layout transshipment equipment in the target transshipment scenario based on the transshipment route, and control the transshipment equipment to perform bulk cargo transshipment; a judgment module, used to monitor the bulk cargo transshipment progress, and judge whether the transshipment equipment reaches a position adjustment condition according to the bulk cargo transshipment progress, the bulk cargo transshipment progress including a material taking progress and / or a material distribution progress, the position adjustment condition including the material taking progress of the material taking pile in the storage yard being the completion of material taking or the material distribution progress of the material distribution pile in the storage yard being the completion of material distribution; an adjustment module, used to adjust the layout of the transshipment equipment according to the position adjustment strategy corresponding to the target transshipment scenario when the bulk cargo transshipment progress reaches the position adjustment condition until the bulk cargo transshipment is completed.

[0016] As described above, the embodiment of the present invention provides a bulk cargo transshipment method and system at a terminal, which has the following features:

[0017] Beneficial effects:

[0018] Firstly, through the transshipment route under the target transshipment scenario, the transshipment equipment is laid out in the target transshipment scenario, and the transshipment equipment is controlled to perform bulk cargo transshipment. The target transshipment scenario is one of the transshipment from ship to yard, transshipment from yard to ship and transshipment between stockpiles. Then, in the bulk cargo transshipment, the progress of bulk cargo transshipment is monitored to determine whether the transshipment equipment has reached the position adjustment conditions. Finally, when the bulk cargo transshipment progress reaches the position adjustment conditions, the layout of the transshipment equipment is adjusted according to the position adjustment strategy corresponding to the target transshipment scenario, and the bulk cargo transshipment is continued until the bulk cargo transshipment is completed. The bulk cargo transshipment at the terminal is performed using freely movable transshipment equipment, which not only avoids the construction of a large number of fixed belt conveyors and stacker-reclaimer equipment, but also improves the utilization rate of yard equipment and the available area of ​​the yard, effectively reduces the operating cost of bulk cargo transshipment at the terminal, can ensure the operational efficiency of bulk cargo transshipment at the terminal, but also realizes the flexible layout of transshipment equipment under different yard layouts and bulk cargo transshipment progress, which can meet the flexibility requirements in bulk cargo transshipment operations at the terminal.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 It is a schematic diagram of a bulk cargo yard layout of a terminal in the related art;

[0022] Figure 2 is a schematic diagram of an implementation environment of a terminal bulk cargo transfer system shown in an exemplary embodiment of the present application;

[0023] Figure 3 is a flow chart of a bulk cargo transshipment method at a terminal shown in an exemplary embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a bulk cargo yard layout of a terminal shown in an exemplary embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a transfer equipment layout shown in an exemplary embodiment of the present application;

[0026] Figure 6 is a schematic diagram of the layout of transfer equipment in a transfer scenario from a ship to a storage yard, shown in an exemplary embodiment of the present application;

[0027] Figure 7 is a schematic diagram of the layout of transfer equipment in another transfer scenario from a ship to a storage yard, shown in an exemplary embodiment of the present application;

[0028] Figure 8 It is a schematic diagram of a layout adjustment of a transfer machine in a yard shown in an exemplary embodiment of the present application;

[0029] Fig. 9 is a schematic diagram of a transfer equipment layout in a transfer scenario from a storage yard to a ship, shown in an exemplary embodiment of the present application;

[0030] Fig.10 is a schematic diagram of the layout of transfer equipment in another field-to-ship transfer scenario shown in an exemplary embodiment of the present application;

[0031] Fig.11 It is a structural schematic diagram of a terminal bulk cargo transshipment system shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0033] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0034] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0035] At present, in order to improve the operation efficiency and meet the needs of different types of cargoes, many terminals usually adopt multiple fixed sub-belts to connect with the main belt for bulk cargo transportation, and configure corresponding stackers and reclaimers on each sub-belt to perform loading and unloading tasks. Figure 1 , Figure 1 This is a schematic diagram of a bulk cargo layout of a terminal yard in the related art. Figure 1 As shown, multiple sub-belts are built in the yard to connect to the main belt, and corresponding stackers are configured on each sub-belt to carry out loading and unloading operations. Taking bulk cargo unloading as an example, the transfer is from the loading and unloading ship to the main belt, each sub-belt, stacker-reclaimer, and the pile in sequence.

[0036] However, the inventors of the present application have discovered through research that configuring a corresponding reclaimer on each sub-belt for loading and unloading operations requires the construction of more belt conveyors and stacker-reclaimer equipment during actual operations, resulting in low utilization of yard equipment and reduced available yard area, thereby increasing operating costs. In addition, the setting of fixed ground sub-belts cannot meet the demand for flexible changes in the layout of equipment under different yard layouts.

[0037] Therefore, see Figure 2 , Figure 2 FIG. 1 is a schematic diagram of an implementation environment of a terminal bulk cargo transfer system shown in an exemplary embodiment of the present application. Figure 2As shown, the implementation environment may include a terminal bulk cargo transfer system 210 and a computer device 220. The terminal bulk cargo transfer system 210 may be arranged in the computer device 220 for controlling the terminal bulk cargo transfer. The computer device 220 may be at least one of a desktop graphics processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. Through the terminal bulk cargo transfer system 210, the freely movable transfer equipment is controlled to transfer bulk cargo at the terminal, which not only avoids the construction of a large number of fixed belt conveyors and stacker-reclaimer equipment, but also improves the utilization rate of the yard equipment and the available area of ​​the yard, effectively reduces the operating cost of the terminal bulk cargo transfer, can ensure the operational efficiency of the terminal bulk cargo transfer, and also realizes the flexible layout of the transfer equipment under different yard layouts and bulk cargo transfer progress, which can meet the flexibility requirements in the terminal bulk cargo transfer operation.

[0038] See also Figure 3 , Figure 3 is a flowchart of a bulk cargo transshipment method at a terminal shown in an exemplary embodiment of the present application. The method can be applied to Figure 2 It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0039] like Figure 3 As shown, in an exemplary embodiment, the terminal bulk cargo transshipment method includes at least steps S310 to S340, which are described in detail as follows:

[0040] Step S310, obtaining bulk cargo transshipment information, the bulk cargo transshipment information including the transshipment route under the target transshipment scenario, the target transshipment scenario being one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles.

[0041] Among them, inter-stockpile transfer refers to the transfer of bulk cargo between different stockpiles in the same yard.

[0042] It should be noted that the transfer from ship to yard is to distribute the bulk cargo in the ship to the yard, the transfer from yard to ship is to take the bulk cargo from the yard and put it into the ship, and the transfer between stockpiles is to take the bulk cargo from one stockpile and distribute it to another stockpile.

[0043] In one embodiment, a method for generating a transfer route includes: obtaining a starting point position, an end point position, and an outer boundary of a storage yard and an internal distribution of material piles for taking and distributing materials; and generating a transfer route according to the starting point position, the end point position, the outer boundary, and the distribution of material piles for taking and distributing materials.

[0044] Among them, the external boundary of the yard refers to the dividing line between the yard and the external environment; the distribution of the material pile / distribution material pile inside the yard refers to the distribution of multiple material piles in the yard. In the transfer from the ship to the yard, the distribution of the material pile is pre-planned, and in the transfer from the yard to the ship, the distribution of the material pile can be directly obtained. In the transfer between material piles, the distribution of the material pile is also pre-planned, and the distribution of the material pile can also be directly obtained; the distribution of the material pile / distribution material pile includes but is not limited to the size of the material pile, the location of the material pile, the arrangement of the material pile and the interval between the material piles.

[0045] It should be noted that the distribution of the material pile can be flexibly set according to needs.

[0046] In this embodiment, the influence of the outer boundary of the yard and the distribution of the internal material handling pile / distribution pile on the route planning is taken into account. When generating the transfer route, the starting point and end point of the bulk cargo transfer are used as the starting point and end point of the transfer route respectively, and the detailed route is determined according to the outer boundary of the yard and the distribution of the internal material handling pile / distribution pile, so as to generate the transfer route. In this way, the reliability of the generated transfer route is ensured.

[0047] Step S320, based on the transshipment route, the transshipment equipment is laid out in the target transshipment scenario, and the transshipment equipment is controlled to perform bulk cargo transshipment.

[0048] Specifically, the transfer equipment includes a reclaimer, a transfer machine, a material spreading machine and a main belt. The reclaimer's reclaiming method is forward reclaiming, and the material spreading machine's reclaiming method is backward spreading. When the reclaimer is reclaiming in the forward direction, the number of transfer machines increases according to the reclaiming progress of the material pile in the yard; when the material spreading machine is spreading in the backward direction, the number of transfer machines increases according to the spreading progress of the material pile in the yard.

[0049] Among them, the reclaimer, transfer machine and concrete placing machine can all move freely; the forward reclaiming of the reclaimer means that when the reclaimer is performing the reclaiming operation, its working device (such as grab, bucket or bucket wheel, etc.) excavates materials in the direction of the equipment's forward movement; the backward placing of the concrete placing machine means that during the placing process, as the material is laid, the concrete placing machine moves in the direction away from the laid material.

[0050] In this embodiment, a main belt is provided, as well as mobile equipment such as a material taking machine, a material placing machine, and a transfer machine, and their loading and unloading process flows are connected. Through the application of freely movable transfer equipment, among which, the transfer machine replaces multiple fixed belts on the ground, and the reclaimer and the distributor replace the stacker-reclaimer on the distribution belt, so as to realize the bulk cargo transfer in the terminal yard. The independent reclaimer and distributor are set up, which increases the working range and can be moved freely in the material yard. Different from the way that the stacker-reclaimer moves along the belt, the transfer machine avoids the construction of more fixed belt conveyors and stacker-reclaimer equipment, thus improving the utilization rate of the yard equipment and the available area of ​​the yard, effectively reducing the operating cost of bulk cargo transfer at the terminal, and improving the operating efficiency of bulk cargo transfer at the terminal; in addition, in the forward reclaiming of the reclaimer, the number of transfer machines increases according to the reclaiming progress of the reclaiming pile in the yard, and in the backward distribution of the distributor, the number of transfer machines increases according to the distribution progress of the distribution pile in the yard. In this way, the mobile combination arrangement (i.e. increase or decrease) of the transfer machine is carried out according to the reclaiming progress or the distribution progress, realizing the flexible layout of the transfer equipment under different bulk cargo transfer progress, further improving the utilization rate of the yard equipment.

[0051] See also Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a bulk cargo yard layout of a terminal according to an exemplary embodiment of the present application. Figure 4 As shown, in the stockpile, there are multiple stockpiles, and a main belt is set between the stockpile and the ship. The transfer scenarios that can be realized include: from stockpile to stockpile, that is, mutual transfer between two stockpiles; from main belt to stockpile, that is, after unloading, the bulk cargo goes directly into the stockpile by the main belt without falling to the ground for the second time; from stockpile to main belt, that is, after taking the material from the stockpile, it is directly transported by the main belt for loading on the ship without falling to the ground for the second time.

[0052] In a possible embodiment, the reclaimer is a bucket wheel excavator, and the material placing machine is a fan-shaped material placing machine.

[0053] Among them, the bucket wheel excavator adopts layered mining from top to bottom, and mines the material pile through the compound movement of the bucket wheel rotating in the vertical direction and rotating in the horizontal direction, and continuously transfers the material to the transfer machine through the receiving and discharging conveyors to realize continuous operation; the fan-shaped spreading machine integrates the functions of walking, boom pitching, extension, rotation and other functions, and can realize continuous material receiving, conveying and stacking operations. The fan-shaped spreading machine spreads materials with uniform height and width based on the size of the pile, and the spreading of bulk goods is realized by the fan-shaped spreading machine with slow rotational movement (that is, alternating horizontally from one side of the equipment to the other side).

[0054] In addition, the transfer machine is used to connect the bucket wheel excavator and the fan-shaped material placing machine to realize the functions of continuous material receiving, transfer operation and extended transportation distance. The transfer machine can move longitudinally and transversely to adapt to the flexible layout of transfer operations under different yard layouts and bulk cargo transfer progress.

[0055] It should also be noted that the present application does not limit the types of material reclaimers and material placing machines.

[0056] As a possible embodiment, the bucket wheel excavator starts to take materials from the top of the material pile, taking materials at a certain height and a certain step distance at a time, that is, taking materials for the first layer. After the first layer of materials is taken, the bucket wheel excavator starts to take materials for the next layer. After completing the taking of materials from one material pile, it moves forward and starts taking materials from the next material pile.

[0057] As a possible implementation example, the fan-shaped material placing machine starts placing materials from the lowest position of the first row of the material pile, and stacks them up layer by layer. After completing the placing of the first row of materials, the fan-shaped material placing machine extends and retracts its boom, and its movement switches from fan-shaped swinging to backward straight movement to place the next row of materials. After completing the placing of one material pile, it retreats to the first row position of the next material pile, and starts arranging the remaining material piles.

[0058] In one embodiment, based on the transfer route, the transfer equipment is laid out in the target transfer scenario, including: if the target transfer scenario is transfer from a ship to a storage yard, the position of the material placing machine is determined according to the end position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, and the multiple transfer machines are used to connect the material placing machine to the main belt, and one end of the main belt is connected to the ship; if the target transfer scenario is transfer from the storage yard to the ship, the position of the material reclaimer is determined according to the starting position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, and the multiple transfer machines are used to connect the material reclaimer to the main belt, and one end of the main belt is connected to the ship; if the target transfer scenario is transfer between stockpiles, the position of the material reclaimer is determined according to the starting position in the transfer route, the position of the material placing machine is determined according to the end position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, and the multiple transfer machines are used to connect the material reclaimer and the material placing machine.

[0059] Among them, when the other end of the main belt is connected to the ship, it is realized through a ship loading and unloading machine.

[0060] In this embodiment, in the transfer scenario from ship to yard, the transfer equipment used includes a material placing machine, a transfer machine and a main belt; in the transfer scenario from yard to ship, the transfer equipment used includes a material taking machine, a transfer machine and a main belt; in the transfer scenario between piles, the transfer equipment used includes a material taking machine, a transfer machine and a material placing machine. Whether the excavator and the material placing machine work together or work separately, the transfer machine is required to cooperate to realize the material transportation.

[0061] In this embodiment, based on different transshipment scenarios, the transshipment equipment can be freely combined, and the transshipment equipment can be flexibly arranged under different yard layouts and bulk cargo transshipment progress, meeting the flexibility requirements in the bulk cargo transshipment operations at the terminal. Compared with the traditional yard, the equipment investment is reduced and the available yard area is also greatly increased.

[0062] In a possible embodiment, when the transfer machine is connected to the fabric machine and the main belt, the transfer machine can be connected to one end of the main belt or connected to a transfer material picking point of the main belt (multiple transfer material picking points are provided on the main belt), and the other end of the main belt is connected to the ship; when the transfer machine is connected to the feeding machine and the main belt, similarly, the transfer machine can be connected to one end of the main belt or connected to a transfer material picking point of the main belt, and the other end of the main belt is connected to the ship.

[0063] See also Figure 5 , Figure 5 5 is a schematic diagram of a transfer equipment layout in a transfer scenario from a ship to a storage yard, wherein the transfer equipment includes a fan-shaped material distributor, a transfer machine and a main belt, wherein the fan-shaped material distributor is arranged at the material pile for material distribution, a plurality of transfer machines connect the material distributor and the main belt, the transfer machine is connected to a transfer material collection point of the main belt, and one end of the main belt is connected to the ship, thereby realizing the transfer of bulk cargo from the ship to the storage yard.

[0064] In a possible embodiment, in the generation of the transshipment route, if the target transshipment scenario is transshipment from a ship to a storage yard, the starting position of the transshipment route is the position where bulk cargo is transshipped in the main belt, and the end position is the position of the first pile of materials in the storage yard where materials are laid; if the target transshipment scenario is transshipment from the storage yard to a ship, the starting position of the transshipment route is the position of the first pile of materials in the storage yard where materials are taken, and the end position is the position where bulk cargo is transshipped in the main belt; if the target transshipment scenario is transshipment between piles of materials, the starting position of the transshipment route is the position of the first pile of materials in the storage yard where materials are taken, and the end position is the position of the first pile of materials in the storage yard where materials are laid.

[0065] Among them, the pile for first material extraction in the stockyard and the pile for first material distribution in the stockyard are preset, which can determine the direction of material extraction and material distribution.

[0066] In a possible embodiment, a transfer route is generated according to the starting point position, the end point position, the outer boundary of the yard and the distribution of the internal reclaiming pile / distributing pile of bulk cargo transfer. In different transfer scenarios, based on the forward reclaiming of the reclaimer and the backward distributing of the distributing machine, a variety of transfer routes are first generated, and then the target transfer route is selected according to preset screening conditions, wherein the screening conditions include the transportation distance.

[0067] In a possible embodiment, it is also necessary to ensure that the number of arranged transfer machines is an integer.

[0068] In a possible embodiment, the stockpile is arranged in rows and columns in the stockpile yard, such as a checkerboard layout. The transfer machines are arranged in the stockpile yard based on the layout of the stockpile.

[0069] Step S330, monitor the bulk cargo transfer progress, and determine whether the transfer equipment reaches the position adjustment condition based on the bulk cargo transfer progress. The bulk cargo transfer progress includes the material taking progress and / or the material distribution progress. The position adjustment condition includes that the material taking progress of the material taking pile in the yard is completed or the material distribution progress of the material distribution pile in the yard is completed.

[0070] In this embodiment, the transfer equipment can be flexibly arranged under different yard layouts and bulk cargo transfer schedules, thereby meeting the flexibility requirements in bulk cargo transfer operations at the terminal.

[0071] Specifically, judging whether the transfer equipment meets the position adjustment conditions according to the progress of bulk cargo transfer includes: if the transfer scenario is the transfer from a ship to a storage yard, then when the laying progress of the material laying pile is the completion of laying, determining that the transfer equipment meets the position adjustment conditions; if the transfer scenario is the transfer from the storage yard to the ship, then when the material taking progress of the material taking pile is the completion of material taking, determining that the transfer equipment meets the position adjustment conditions; if the transfer scenario is the transfer between material piles, then when the material taking progress of the material taking pile is the completion of material taking or the laying progress of the material laying pile is the completion of laying, determining that the transfer equipment meets the position adjustment conditions.

[0072] It should be noted that in the transfer scenario from ship to yard, only the laying of materials in the yard is involved. When the laying progress of the laying pile is completed, the transfer equipment meets the position adjustment conditions; in the transfer scenario from yard to ship, only the material taking in the yard is involved. When the material taking progress of the material taking pile is completed, the transfer equipment meets the position adjustment conditions; in the transfer scenario between material piles, both the material taking in the yard and the laying of materials in the yard are involved. When the material taking progress of the material taking pile is completed or the laying progress of the material spreading pile is completed, the transfer equipment meets the position adjustment conditions.

[0073] It should also be noted that in the transportation scenario between material piles, due to the different sizes of the material taking pile and the material spreading pile, and the different working speeds of the material taking machine and the material spreading machine, the material taking progress of the material taking pile and the material spreading progress of the material spreading pile may be the same or different. Therefore, the position adjustment condition may be that the material taking progress of the material taking pile is the completion of material taking or the material spreading progress of the material spreading pile is the completion of material spreading, and both may exist at the same time.

[0074] In this embodiment, different position adjustment conditions are set for the transfer equipment based on different transfer scenarios. In this way, the transfer equipment can be flexibly arranged under different yard layouts and bulk cargo transfer progress, meeting the flexibility requirements in bulk cargo transfer operations at the terminal.

[0075] Step S340, when the bulk cargo transfer progress reaches the position adjustment condition, the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario until the bulk cargo transfer is completed.

[0076] Specifically, the target transfer scenario is the transfer from a ship to a storage yard; the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario, including: obtaining the first placing sequence of the material placing machine in the storage yard and the first arrangement data of the material placing pile in the storage yard, the first placing sequence including placing in the row direction and placing in the column direction; if the first placing sequence is placing in the row direction, then according to the first arrangement data, the first construction position of the transfer machine when placing in each row is determined, and when placing in the current row, the first target transfer machine is moved out according to the placing progress to the first construction position corresponding to the transfer machine when placing in the next row; if the first placing sequence is placing in the column direction, then according to the first arrangement data, the second construction position of the transfer machine when placing in each column is determined, and when placing in the current column, the second target transfer machine is moved out according to the placing progress to the second construction position corresponding to the transfer machine when placing in the next column.

[0077] Among them, the first laying order includes laying in the row direction and laying in the column direction. The setting of the row and column directions can be to set the direction along the longer side of the yard as the row direction, and set the column direction perpendicular to the row direction; the first arrangement data includes but is not limited to the size of the material pile, the row spacing between the material piles, the column spacing between the material piles, the number of rows and the number of columns, etc.

[0078] It should be noted that when weaving along the row direction, that is, when weaving starts, weaving can be done continuously from one end of a row to the other end, and after completing a row, move to the next row for weaving; when weaving along the column direction, that is, when weaving starts, weaving can be done from the top to the bottom of a column (or vice versa), and after completing a column, move to the next column to continue weaving.

[0079] In this embodiment, the construction position of the transfer machine for each row or column of fabric is determined based on the first arrangement data, and in the current row or column of fabric, the target transfer machine is moved out to the construction position corresponding to the next row or column of fabric according to the fabric progress, and the transfer machine is moved according to the construction position corresponding to the next row or column of fabric, which not only achieves precise control of the movement of the transfer machine, but also facilitates the construction of the transfer equipment for the next row or column of fabric.

[0080] It should also be noted that when fabricating each row or column, the fabric machine is in a backward fabricating mode, but when the current row is finished and the next row needs to be fabricated or the current column is finished and the next column needs to be fabricated, the fabric machine moves from the end of the current row to the beginning of the next row, or from the end of the current column to the beginning of the next column.

[0081] See also Figure 6 , Figure 6FIG. 1 is a schematic diagram of a transfer equipment layout in a transfer scenario from a ship to a storage yard, shown in an exemplary embodiment of the present application. Taking the material distribution along the row direction as an example, Figure 6 (a) shows the layout of the transfer equipment when the material is first placed. The transfer machine connects the material placing machine and the main belt. The material placing machine is arranged at the first pile of the first row, and the operation mode of its material placing device is fan-shaped material placing mode. Figure 6 As shown in (b), the material placing machine is a backward material placing machine. During the material placing process of a pile, the material placing machine moves backward as a whole. Figure 6 As shown in (c), after the material placing machine has finished placing one pile of materials, it continues placing the next pile of materials. At this time, a transfer machine is removed and moved to the corresponding construction position of the transfer machine when placing the next row of materials. When removing, the frontmost transfer machine placed horizontally is removed, and the transfer machine that was previously directly connected to the material placing machine is moved horizontally to the left to connect the material placing machine with the remaining fixed transfer machines.

[0082] See also Figure 7 , Figure 7 FIG. 1 is a schematic diagram of another transfer equipment layout in a transfer scenario from a ship to a storage yard, shown in an exemplary embodiment of the present application. Taking the material distribution along the row direction as an example, Figure 7 As shown in (a), after the first row of fabric is completed, the second row of fabric begins. At this time, the fabric machine moves from the end of the first row to the beginning of the second row and continues to fabricate; Figure 7 As shown in (b), during the second row of material laying, similar to the first row of material laying, after the material laying machine completes the material laying of one pile, it continues the material laying of the subsequent pile and moves the removed transfer machine to the corresponding construction position of the transfer machine during the third material laying.

[0083] See also Figure 8 , Figure 8 FIG. 1 is a schematic diagram of an exemplary embodiment of the present application showing a layout adjustment of a transfer machine in a stacking yard. Figure 8 As shown, exemplarily, based on the progress of the fabric, the transfer machine is removed to the construction position corresponding to the next row of fabric.

[0084] Specifically, the transfer scenario is the transfer from the yard to the ship; the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario, including: obtaining the first material retrieving sequence of the reclaimer in the yard and the second arrangement data of the reclaimed material pile in the yard, the first material retrieving sequence including retrieving along the row direction and retrieving along the column direction; if the first material retrieving sequence is retrieving along the row direction, then according to the second arrangement data, the third construction position of the transfer machine when retrieving each row is determined, and when retrieving the current row, the third target transfer machine is added according to the material retrieving progress, and the addition of the third target transfer machine is to control the transfer machine when retrieving the previous row to move to the third construction position corresponding to the transfer machine when retrieving the current row; if the first material retrieving sequence is retrieving along the column direction, then according to the second arrangement data, the fourth construction position of the transfer machine when retrieving each column is determined, and when retrieving the current column, the fourth target transfer machine is added according to the material retrieving progress, and the addition of the fourth target transfer machine is to control the transfer machine when retrieving the previous row to move to the third construction position corresponding to the transfer machine when retrieving the current row.

[0085] Among them, the first material picking sequence includes picking up materials along the row direction and picking up materials along the column direction. The setting of the row and column directions can be to set the direction along the longer side of the yard as the row direction, and set the column direction perpendicular to the row direction; the second arrangement data includes but is not limited to the size of the material pile, the row spacing between the material piles, the column spacing between the material piles, the number of rows and the number of columns, etc.

[0086] It should be noted that when taking materials along the row direction, that is, when you start taking materials, you can first take materials continuously from one end of a row to the other end, and then move to the next row to take materials after completing a row; when taking materials along the column direction, that is, when you start taking materials, you can take materials from the top to the bottom of a column (or vice versa) in sequence, and after completing a column, move to the next column to continue taking materials.

[0087] In this embodiment, the construction position of the transfer machine when each row or column of materials is picked up is determined according to the second arrangement data, and when the current row or column of materials is picked up, the target transfer machine is added according to the material picking progress, wherein the increase of the target transfer machine is to control the transfer machine when the previous row or column of materials is picked up to move to the construction position corresponding to the transfer machine when the current row or column of materials is picked up, and move according to the construction position corresponding to the transfer machine when the current row or column of materials is picked up, which not only realizes the precise control of the movement of the transfer machine, but also facilitates the construction of the transfer equipment when the current row or column of materials is picked up.

[0088] It should also be noted that when taking materials from each row or each column, the material taking machine takes materials in a forward manner, but when taking materials from the current row is completed and it is necessary to take materials from the next row or when taking materials from the current column is completed and it is necessary to take materials from the next column, the material taking machine will move from the end of the current row to the beginning of the next row, or, from the end of the current column to the beginning of the next column.

[0089] See also Fig. 9 , Fig. 9 FIG. 1 is a schematic diagram of a transfer equipment layout in a transfer scenario from a storage yard to a ship, shown in an exemplary embodiment of the present application. Taking the material collection along the row direction as an example,

[0090] like Fig. 9 (a) shows the layout of the transfer equipment when starting to reclaim materials. The transfer machine connects the reclaimer and the main belt. The reclaimer is arranged at the first pile of materials in the first row, and the operation mode of its reclaiming device is forward reclaiming. Fig. 9 As shown in (b), the reclaimer is a forward reclaimer. During the process of reclaiming materials from a pile, the reclaimer moves forward as a whole. Fig. 9 As shown in (c), after the reclaimer finishes reclaiming one material pile, it continues to reclaim the next material pile. At this time, a transfer machine is added. When adding, the one added is the frontmost one of the vertical transfer machines, and the transfer machine that was directly connected to the reclaimer moves forward horizontally to connect the reclaimer with the remaining transfer machines.

[0091] See also Fig.10 , Fig.10 FIG. 1 is a schematic diagram of another transfer equipment layout in a transfer scenario from a field to a ship, shown in an exemplary embodiment of the present application. Taking the material collection along the row direction as an example, Fig.10 As shown in (a), after the first row of materials is taken, the second row of materials begins to be taken. At this time, the material taking machine moves from the end of the first row to the beginning of the second row and continues to take materials. At this time, an additional horizontal transfer machine is required; Fig.10 As shown in (b), during the second row of material taking process, the material taking machine is the same as the first row of material taking machine. After completing the material taking of one pile, the material taking machine continues to take materials of the subsequent piles, and moves from the transfer machine during the first row of material taking to the corresponding construction position of the transfer machine during the second row of material taking.

[0092] In one possible embodiment, material is taken from the point where the material pile is closest to the main belt, and material is laid from the point farthest from the main belt. Therefore, when taking material from each row or column, material is taken from the nearest row or column, and when laying material in each row or column, material is laid from the farthest row or column.

[0093] As a possible embodiment, since the fabric is laid from the farthest row or column when each row or column is laid, when the fabric is turned to the next row or column, it is closer to the main belt, and at least one of the vertically arranged transfer machines needs to be removed, such as Figure 7 As shown, two transfer machines have been removed.

[0094] As a possible embodiment, since the material is taken from the nearest row or column when taking materials from each row or column, when turning to the next row or column to take materials, it is farther away from the main belt, and at least one more transfer machine needs to be added to the horizontally arranged transfer machine, such as Fig.10 As shown, a transfer machine has been added.

[0095] Specifically, the transfer scenario is the transfer between material piles; the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario, including: obtaining the second material picking sequence of the material picker in the stockpile and the third arrangement data of the material picker pile in the stockpile. The second material picking sequence includes picking up materials along the row direction and picking up materials along the column direction; if the second material picking sequence is picking up materials along the row direction, then according to the third arrangement data, the fifth construction position of the transfer machine when picking up materials in each row is determined, and when picking up materials in the current row, the fifth target transfer machine is added according to the material picking progress, and the addition of the fifth target transfer machine is to control the transfer machine when picking up materials in the previous row to move to the fifth construction position corresponding to the transfer machine when picking up materials in the current row; if the second material picking sequence is picking up materials in the column direction, then according to the third arrangement data, the sixth construction position of the transfer machine when picking up materials in each column is determined, and when picking up materials in the current column, the sixth target transfer machine is added according to the material picking progress, and the addition of the sixth target transfer machine is to control the transfer machine when picking up materials in the previous row to move to the sixth construction position corresponding to the transfer machine when picking up materials in the current row.

[0096] Furthermore, adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario also includes: obtaining a second material distribution sequence of the material distribution machine in the yard and a fourth arrangement data of the material distribution pile in the yard, the second material distribution sequence including material distribution in the row direction and material distribution in the column direction; if the second material distribution sequence is material distribution in the row direction, then according to the fourth arrangement data, determining the seventh construction position of the transfer machine when each row of material is distributed according to the fourth arrangement data, and when the current row of material is distributed, moving the seventh target transfer machine to the seventh construction position corresponding to the transfer machine when the next row of material is distributed according to the material distribution progress; if the second material distribution sequence is material distribution in the column direction, then according to the fourth arrangement data, determining the eighth construction position of the transfer machine when each column of material is distributed according to the fourth arrangement data, and when the current column of material is distributed, moving the eighth target transfer machine to the eighth construction position corresponding to the transfer machine when the next column of material is distributed according to the material distribution progress.

[0097] It should be noted that in the transfer scenario between stockpiles, the position adjustment strategy on the material taking side is the same as that in the transfer scenario from the yard to the ship, and the position adjustment strategy on the material spreading side is the same as that in the transfer scenario from the ship to the yard. The difference is that in the transfer scenario between stockpiles, the transfer machines on the material taking side and the material spreading side are connected to each other.

[0098] In this embodiment, when taking materials, the transfer machine in the previous row or column of materials is moved according to the corresponding construction position of the transfer machine when taking materials in the current row or column of materials. When laying materials, the transfer machine is moved according to the corresponding construction position when laying materials in the next row or column of materials. This not only achieves precise control of the movement of the transfer machine, but also facilitates the construction of transfer equipment during subsequent material taking or laying.

[0099] It should also be noted that in the transportation scenario between material piles, the material picking order on the material picking side can be picking up materials along the row direction or picking up materials along the column direction, and the material spreading order on the material spreading side can be spreading along the row direction or spreading along the column direction. Therefore, there are four combinations, namely: the material picking order on the material picking side is picking up materials along the row direction, and the material spreading order on the material spreading side is spreading along the row direction; the material picking order on the material picking side is picking up materials along the row direction, and the material spreading order on the material spreading side is spreading along the column direction; the material picking order on the material picking side is picking up materials along the column direction, and the material spreading order on the material spreading side is spreading along the row direction; the material picking order on the material picking side is picking up materials along the column direction, and the material spreading order on the material spreading side is spreading along the column direction.

[0100] In a possible embodiment, the first arrangement data, the second arrangement data, the third arrangement data and the fourth arrangement data all include the size of the material pile, the row spacing between the material piles, the column spacing between the material piles, the number of rows and the number of columns, etc. It should be understood that the sum of the row spacing or column spacing between the material piles and the width of the material pile is an integer multiple of the length of the loader, and the sum of the row spacing or column spacing between the material piles and the length of the material pile is an integer multiple of the length of the loader. In this way, it is possible to ensure that the number of loaders added or removed each time is an integer.

[0101] In a possible embodiment, when the transfer equipment is moved, it needs to be stopped and relocated, that is, the transfer equipment is powered off first, and the transfer machine is removed, added, or the material reclaimer and material placing machine are moved, etc. After the transfer equipment is moved, the equipment is powered on to continue bulk cargo transfer.

[0102] The above-mentioned terminal bulk cargo transshipment method firstly arranges the transshipment equipment in the target transshipment scenario through the transshipment route under the target transshipment scenario, and controls the transshipment equipment to perform bulk cargo transshipment. The target transshipment scenario is one of the transshipment from ship to yard, the transshipment from yard to ship and the transshipment between stockpiles. Then, in the bulk cargo transshipment, the bulk cargo transshipment progress is monitored to determine whether the transshipment equipment reaches the position adjustment condition. Finally, when the bulk cargo transshipment progress reaches the position adjustment condition, the layout of the transshipment equipment is adjusted according to the position adjustment strategy corresponding to the target transshipment scenario, and the bulk cargo transshipment is continued until the bulk cargo transshipment is completed. The terminal bulk cargo transshipment is performed using freely movable transshipment equipment, which not only avoids the construction of a large number of fixed belt conveyors and stacker-reclaimer equipment, but also improves the utilization rate of yard equipment and the available area of ​​the yard, effectively reduces the operating cost of terminal bulk cargo transshipment, can ensure the operational efficiency of terminal bulk cargo transshipment, but also realizes the flexible layout of transshipment equipment under different yard layouts and bulk cargo transshipment progress, which can meet the flexibility requirements in terminal bulk cargo transshipment operations.

[0103] See also Fig.11 , Fig.11 is a schematic diagram of a bulk cargo transfer system at a terminal shown in an exemplary embodiment of the present application. The system can be applied to Figure 2 The implementation environment shown is a schematic diagram. It should be understood that the system may also be applicable to other exemplary implementation environments, and this embodiment does not limit the implementation environment to which the system is applicable.

[0104] like Fig.11 As shown, in an exemplary embodiment, the terminal bulk cargo transshipment system 1100 includes at least an acquisition module 1110, a layout module 1120, a judgment module 1130 and an adjustment module 1140, which are described in detail as follows:

[0105] An acquisition module 1110 is used to acquire bulk cargo transshipment information, where the bulk cargo transshipment information includes a transshipment route under a target transshipment scenario, where the target transshipment scenario is one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles;

[0106] A layout module 1120 is used to layout the transshipment equipment in the target transshipment scenario based on the transshipment route, and control the transshipment equipment to perform bulk cargo transshipment;

[0107] The judgment module 1130 is used to monitor the bulk cargo transfer progress and judge whether the transfer equipment has reached the position adjustment condition according to the bulk cargo transfer progress. The bulk cargo transfer progress includes the material taking progress and / or the material spreading progress. The position adjustment condition includes that the material taking progress of the material taking pile in the yard is completed or the material spreading progress of the material spreading pile in the yard is completed.

[0108] The adjustment module 1140 is used to adjust the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario when the bulk cargo transfer progress reaches the position adjustment condition until the bulk cargo transfer is completed.

[0109] It should be noted that the terminal bulk cargo transshipment system provided in the above embodiment and the terminal bulk cargo transshipment method provided in the above embodiment belong to the same concept, wherein the contents of the operations performed by each module have been described in detail in the method embodiment and will not be repeated here.

[0110] In one embodiment, the terminal bulk cargo transshipment system can manage bulk cargo transshipment in multiple yards at the same time, and the bulk cargo transshipment and transshipment equipment in each yard operation are controlled separately.

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0112] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0113] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A bulk cargo transshipment method at a wharf, characterized in that: The method comprises: Acquire bulk cargo transshipment information, where the bulk cargo transshipment information includes a transshipment route under a target transshipment scenario, where the target transshipment scenario is one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles; Based on the transshipment route, the transshipment equipment is laid out in the target transshipment scenario, and the transshipment equipment is controlled to perform bulk cargo transshipment; Monitor the bulk cargo transfer progress, and determine whether the transfer equipment has reached a position adjustment condition according to the bulk cargo transfer progress, the bulk cargo transfer progress includes material taking progress and / or material distribution progress, and the position adjustment condition includes that the material taking progress of the material taking pile in the yard is completed or the material distribution progress of the material distribution pile in the yard is completed; When the bulk cargo transfer progress reaches the position adjustment condition, the layout of the transfer equipment is adjusted according to the position adjustment strategy corresponding to the target transfer scenario until the bulk cargo transfer is completed.

2. The bulk cargo transshipment method at a terminal according to claim 1, characterized in that: The transfer equipment includes a material reclaimer, a transfer machine, a material spreading machine and a main belt. The material reclaiming method of the material reclaimer is forward reclaiming, and the material spreading method of the material spreading machine is backward reclaiming. When the material reclaimer is in forward reclaiming, the number of the transfer machines increases according to the material reclaiming progress of the material pile in the yard; when the material spreading machine is in backward spreading, the number of the transfer machines increases according to the material spreading progress of the material pile in the yard.

3. The bulk cargo transshipment method at a terminal according to claim 2, characterized in that: The step of laying out the transfer equipment in the target transfer scenario based on the transfer route includes: If the target transfer scenario is transfer from a ship to a storage yard, the position of a material placing machine is determined according to the terminal position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, wherein the multiple transfer machines are used to connect the material placing machine with the main belt, and one end of the main belt is connected to the ship; If the target transfer scenario is transfer from a storage yard to a ship, the position of the reclaimer is determined according to the starting position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route, wherein the multiple transfer machines are used to connect the reclaimer to the main belt, and one end of the main belt is connected to the ship; If the target transfer scenario is transfer between material piles, the position of the material reclaimer is determined according to the starting position in the transfer route, the position of the material placing machine is determined according to the end position in the transfer route, and the positions of multiple transfer machines are determined based on the transfer route. The multiple transfer machines are used to connect the material reclaimer and the material placing machine.

4. The bulk cargo transshipment method at a terminal according to claim 1, characterized in that: The determining whether the transfer equipment meets the position adjustment condition according to the bulk cargo transfer progress includes: If the transfer scenario is transfer from a ship to a storage yard, when the material distribution progress of the material distribution pile is completed, it is determined that the transfer equipment meets the position adjustment condition; If the transfer scenario is transfer from a storage yard to a ship, when the material taking progress of the material taking pile is completion of taking, it is determined that the transfer equipment meets the position adjustment condition; If the transfer scenario is transfer between material piles, then when the material taking progress of the material taking pile is completion of material taking or the material spreading progress of the material spreading pile is completion of material spreading, it is determined that the transfer equipment meets the position adjustment condition.

5. The bulk cargo transshipment method at a terminal according to claim 3, characterized in that: The target transfer scenario is transfer from a ship to a storage yard; The adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: Acquire a first material placing sequence of the material placing machine in the stockyard and first arrangement data of the material placing piles in the stockyard, wherein the first material placing sequence includes placing materials in a row direction and placing materials in a column direction; If the first material laying sequence is laying in the row direction, then according to the first arrangement data, the first setting position of the transfer machine for each row of material laying is determined, and when the current row of material is laid, the first target transfer machine is moved out according to the laying progress to the first setting position corresponding to the transfer machine for the next row of material laying; If the first fabric order is to fabricate along the column direction, the second construction position of the transfer machine for each column of fabric is determined according to the first arrangement data, and when the current column of fabric is fabricated, the second target transfer machine is moved out according to the fabric progress to the second construction position corresponding to the transfer machine for the next column of fabric.

6. The bulk cargo transshipment method at a terminal according to claim 3, characterized in that: The transfer scenario is transfer from a storage yard to a ship; The adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: Acquire a first material retrieving sequence of the retrieving machine in the stockyard and second arrangement data of the retrieving material pile in the stockyard, wherein the first material retrieving sequence includes retrieving along a row direction and retrieving along a column direction; If the first material fetching sequence is to fetch materials along the row direction, then according to the second arrangement data, the third construction position of the transfer machine when fetching materials in each row is determined, and when the current row is fetched, a third target transfer machine is added according to the material fetching progress, and the addition of the third target transfer machine is to control the transfer machine when fetching materials in the previous row to move to the third construction position corresponding to the transfer machine when fetching materials in the current row; If the first material picking order is to pick up materials along the column direction, then the fourth construction position of the transfer machine when picking up materials in each column is determined according to the second arrangement data, and when picking up materials in the current column, the fourth target transfer machine is added according to the material picking progress. The addition of the fourth target transfer machine is to control the transfer machine when picking up materials in the previous row to move to the third construction position corresponding to the transfer machine when picking up materials in the current row.

7. The bulk cargo transshipment method at a terminal according to claim 3, characterized in that: The transfer scenario is transfer between stockpiles; The adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario includes: Acquire a second retrieving sequence of the retrieving machine in the stockyard and third arrangement data of the retrieving material pile in the stockyard, wherein the second retrieving sequence includes retrieving along the row direction and retrieving along the column direction; If the second material fetching sequence is to fetch materials along the row direction, then according to the third arrangement data, the fifth construction position of the transfer machine when fetching materials in each row is determined, and when the current row is fetched, the fifth target transfer machine is added according to the material fetching progress, and the addition of the fifth target transfer machine is to control the transfer machine when fetching materials in the previous row to move to the fifth construction position corresponding to the transfer machine when fetching materials in the current row; If the second material picking order is to pick up materials along the column direction, then the sixth construction position of the transfer machine when picking up materials in each column is determined according to the third arrangement data, and when picking up materials in the current column, the sixth target transfer machine is added according to the material picking progress. The addition of the sixth target transfer machine is to control the transfer machine when picking up materials in the previous row to move to the sixth construction position corresponding to the transfer machine when picking up materials in the current row.

8. The bulk cargo transshipment method at a terminal according to claim 7, characterized in that: The step of adjusting the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario also includes: Acquire a second material placing sequence of the material placing machine in the stockyard and fourth arrangement data of the material placing piles in the stockyard, wherein the second material placing sequence includes placing materials in a row direction and placing materials in a column direction; If the second material laying sequence is laying in the row direction, the seventh setting position of the transfer machine for each row of material laying is determined according to the fourth arrangement data, and when laying the current row of material, the seventh target transfer machine is moved out according to the laying progress to the seventh setting position corresponding to the transfer machine for the next row of material laying; If the second material-laying order is to lay materials in the column direction, the eighth construction position of the transfer machine for each column of material is determined according to the fourth arrangement data, and when laying materials in the current column, the eighth target transfer machine is moved out according to the laying progress to the eighth construction position corresponding to the transfer machine for the next column of material.

9. The bulk cargo transshipment method at a terminal according to any one of claims 1 to 8, characterized in that: The generation method of the transfer route includes: Obtain the starting and ending positions of bulk cargo transfer, as well as the external boundary and internal distribution of the loading / distributing stockpiles of the yard; The transfer route is generated according to the starting point position, the end point position, the external boundary and the material collection pile / material distribution pile distribution.

10. A bulk cargo transfer system at a terminal, characterized in that: The system comprises: An acquisition module, used to acquire bulk cargo transshipment information, wherein the bulk cargo transshipment information includes a transshipment route under a target transshipment scenario, wherein the target transshipment scenario is one of transshipment from a ship to a storage yard, transshipment from a storage yard to a ship, and transshipment between stockpiles; A layout module, for laying out the transshipment equipment in the target transshipment scenario based on the transshipment route, and controlling the transshipment equipment to perform bulk cargo transshipment; A judgment module, used for monitoring the bulk cargo transfer progress, and judging whether the transfer equipment has reached a position adjustment condition according to the bulk cargo transfer progress, wherein the bulk cargo transfer progress includes a material taking progress and / or a material spreading progress, and the position adjustment condition includes that the material taking progress of the material taking pile in the yard is completed or the material spreading progress of the material spreading pile in the yard is completed; The adjustment module is used to adjust the layout of the transfer equipment according to the position adjustment strategy corresponding to the target transfer scenario when the bulk cargo transfer progress reaches the position adjustment condition until the bulk cargo transfer is completed.

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