In-cabin material pile dynamic simulation method and system in ship loading process

Abstract

The invention provides an in-cabin material pile dynamic simulation method in a ship loading process, and belongs to the field of intelligent control, the method comprises the following steps: firstly, acquiring a cargo hold depth and a repose angle coefficient of a material based on a distance sensor, recording distance data L0 at an initial moment of first emptying to represent the cargo hold depth, and then recording the position of a chute platform before each emptying, then, the heights of the material piles below and around the chute tube are calculated after each time of discharging, and finally, the heights of the material piles below and around the chute tube are updated after each time of discharging. According to the in-cabin material pile dynamic simulation method in the ship loading process, dynamic simulation and three-dimensional simulation of the material pile in the ship cargo cabin in the bulk cargo loading process are achieved in combination with real-time monitoring of the height of the material pile at the non-highest point position, and the requirements for supporting sliding barrel wall collision, stable control over the ship attitude and the like are met.

Description

Technical Field

[0001] This application relates to the field of intelligent control for ship loading in bulk cargo terminals, and particularly to a method and system for dynamically simulating the in - hold material pile during the ship loading process. Background Art

[0002] Intelligent ship loading technology is an important part of the intelligent development of bulk cargo downstream ports. During the ship loading process, the chute not only continuously discharges materials but also needs to intermittently change its position to ensure uniform distribution of materials in the cargo hold. It is very important to accurately grasp the shape of the in - hold material pile in real - time for chute collision avoidance and optimized routing, and also for maintaining uniform discharging in the hold and non - off - loading of the ship. Although the current three - dimensional laser scanning technology is very mature, problems such as severe dust pollution in the hold, intense vibration of the chute platform, and serious occlusion between the chute and the material flow restrict the application of three - dimensional laser scanning technology in this scenario. Currently, a combination of material height monitoring and manual observation is mostly adopted. Material height monitoring is to install a vertically downward ranging radar on the chute platform to help automatically control the telescopic movement of the chute to ensure a specific distance between the chute opening and the material pile; manual observation is to install a vertically downward - looking camera on the ship loader, and manually judge the height of the material pile in the moving direction of the chute to avoid the chute hitting the material pile horizontally. However, the manual observation angle is from top - down, with poor three - dimensional sense. Once the chute hits the material pile during movement, it is easy to cause deformation or even breakage of the chute opening. Based on material height monitoring, this invention utilizes the natural law of material sliding during the piling process to realize the dynamic simulation of the in - hold material pile during the ship loading process, meeting the needs of chute collision avoidance and maintaining the stability of the ship's attitude in intelligent ship loading. Summary of the Invention

[0003] Embodiments of this application provide a method and system for dynamically simulating the in - hold material pile during the ship loading process to improve the above problems.

[0004] To achieve the above object, this application adopts the following technical solutions:

[0005] In a first aspect, embodiments of this application propose a method for dynamically simulating the in - hold material pile during the ship loading process, which is applicable to a system for dynamically simulating the in - hold material pile. The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. The method includes:

[0006] The control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharge is L0, representing the hold depth;

[0007] The control terminal records the position of the chute platform before each discharge.

[0008] After each discharging, the control terminal calculates the height of the material pile under and around the chute.

[0009] After each discharging, the control terminal updates the height of the material pile under and around the chute.

[0010] Combined with the first aspect, in some embodiments, the control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data at the initial moment of the first discharging is recorded as L0, representing the hold depth, including:

[0011] After the first discharging is completed, the control terminal controls the chute platform to horizontally move towards the azimuth where the ranging sensor is located, and during the movement, l t and the distance d from the initial position t , until l t equals L0 for the first time;

[0012] Taking d t as the independent variable and l t as the dependent variable, the slope obtained by linear regression is used as the angle of repose coefficient k of the material.

[0013] Combined with the first aspect, in some embodiments, the control terminal records the position of the chute platform before each discharging, including:

[0014] Before each discharging, the control terminal records the horizontal position of the chute [p x,t , p y,t , and converts it into the row and column numbers [i, j] in the hatch grid in real time according to the positioning of the 4 corner points of the hatch.

[0015] Combined with the first aspect, in some embodiments, the control terminal calculates the height of the material pile under and around the chute after each discharging, including:

[0016] After each discharging, the control terminal records the distance data lt, and calculates the height H of the material pile under the chute [i,j] = L0 - l t + k × b;

[0017] The control terminal takes the position directly below the chute as the center of the circle, and calculates the height H of the material pile of all grids within the radius of H [i,j] / k around the periphery [i+di,j+dj] = H [i,j] - k × w × SQRT(d i 2 + d j 2 ), where SQRT is the square root function, and d i and d j are the number of horizontal grids and vertical grids of the grid from the center of the circle.

[0018] In combination with the first aspect, in some embodiments, the control terminal updates the height of the material pile below and around the chute after each discharging, including:

[0019] Directly replace the original value in the two-dimensional array with the calculated H [i,j] Directly replace the original value in the two-dimensional array.

[0020] Compare the calculated H [i+di,j+dj] with the original value in the two-dimensional array, and save the larger value.

[0021] In combination with the first aspect, in some embodiments, the method further includes:

[0022] After the control terminal updates the height of the material pile below and around the chute after each discharging, the control terminal obtains the cargo hold depth and the angle of repose coefficient of the material again based on the distance sensor.

[0023] In a second aspect, an in-cabin material pile dynamic simulation system during the ship loading process is proposed in an embodiment of the present application. The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. The system is configured to:

[0024] The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharging is L0, representing the cargo hold depth;

[0025] The control terminal records the position of the chute platform before each discharging;

[0026] The control terminal calculates the height of the material pile below and around the chute after each discharging;

[0027] The control terminal updates the height of the material pile below and around the chute after each discharging.

[0028] In combination with the second aspect, in some embodiments, the system is configured to:

[0029] The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharging is L0, representing the cargo hold depth, including:

[0030] After the first discharging is completed, the control terminal controls the chute platform to horizontally move in the direction of the distance measuring sensor, and the l t and the distance d from the initial position during the movement t , until l t is equal to L0 for the first time;

[0031] Take dt Taking l as the independent variable t and l as the dependent variable, the slope obtained from linear regression is used as the material angle of repose coefficient k.

[0032] Combined with the second aspect, in some embodiments, the system is configured to:

[0033] Before each discharging, the control terminal records the position of the chute platform, including:

[0034] Before each discharging, the control terminal records the horizontal position [p x,t , p y,t of the chute, and converts it into the row and column numbers [i, j] in the hatch grid in real time according to the positioning of the four corner points of the hatch.

[0035] Combined with the second aspect, in some embodiments, the system is configured to:

[0036] After each discharging, the control terminal calculates the height of the material pile under and around the chute, including:

[0037] After each discharging, the control terminal records the distance data lt and calculates the height H of the material pile under the chute [i,j] = L0 - l t + k × b;

[0038] The control terminal takes the position directly below the chute as the center of the circle and calculates the height H of the material pile of all grids within the radius of H [i,j] / k around the periphery [i+di,j+dj] = H [i,j] - k × w × SQRT(d i 2 + d j 2 ), where SQRT is the square root function, and d i and d j are the number of horizontal grids and the number of vertical grids of the grid from the center of the circle.

[0039] Combined with the second aspect, in some embodiments, the system is configured to:

[0040] After each discharging, the control terminal updates the height of the material pile under and around the chute, including:

[0041] Directly replace the original value in the two-dimensional array with the calculated H [i,j] .

[0042] Compare the calculated H [i+di,j+dj] with the original value in the two-dimensional array and save the larger value.

[0043] Combined with the second aspect, in some embodiments, the system is configured to:

[0044] After the control terminal updates the height of the material pile below and around the chute each time after discharging, the control terminal obtains the hold depth and the angle of repose coefficient of the material again based on the distance sensor.

[0045] A third aspect of an embodiment of the present invention provides an electronic device, which includes:

[0046] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method proposed in the first aspect of the embodiment of the present invention.

[0047] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method proposed in the first aspect of the embodiment of the present invention.

[0048] In summary, the above method and device have the following technical effects:

[0049] A method for dynamically simulating the in-hold material pile during the ship loading process proposed in an embodiment of the present application. First, the control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharge is L0, representing the hold depth. Then, the control terminal records the position of the chute platform before each discharge. Then, the control terminal calculates the height of the material pile below and around the chute after each discharge. Finally, the control terminal updates the height of the material pile below and around the chute after each discharge. A method for dynamically simulating the in-hold material pile during the ship loading process proposed in an embodiment of the present application, combined with real-time monitoring of the material pile height at non-highest points, realizes dynamic simulation and three-dimensional simulation of the material pile in the ship's hold during the bulk cargo ship loading process, which is beneficial to supporting requirements such as chute wall collision and ship attitude stability control. Description of the Drawings

[0050] Figure 1 It is a flowchart of a method for dynamically simulating the in-hold material pile during the ship loading process proposed in the present invention.

[0051] Figure 2 It is a flowchart of another method for dynamically simulating the in-hold material pile during the ship loading process proposed in the present invention.

[0052] Figure 3 It is a schematic side view of in-hold material pile simulation and meshing during the ship loading process proposed in the present invention.

[0053] Figure 4 It is a schematic overhead view of in-hold material pile simulation meshing during the ship loading process proposed in the present invention. Detailed Embodiments

[0054] Next, in conjunction with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] An embodiment of the present application proposes a method for dynamically simulating the material pile in the hold during the ship loading process, which is applicable to a system for dynamically simulating the material pile in the hold. The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. Please refer to Figures 1-4 , the method includes the following steps:

[0056] S101: The control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharge is L0, which represents the hold depth.

[0057] Optionally, in this embodiment, first, after the first discharge is completed, the control terminal controls the chute platform to move horizontally in the direction of the ranging sensor, and the l t and the distance d from the initial position t during the movement, until l t equals L for the first time 0， Taking d t as the independent variable and l t as the dependent variable, the slope obtained by linear regression is used as the angle of repose coefficient k of the material.

[0058] In this embodiment, optionally, first, after the control terminal completes the first discharge operation, it will control the chute platform to move horizontally in the direction of the ranging sensor. During the movement, the distance d t of the chute platform from its initial position is recorded, t as well as the l value corresponding to this distance. This process will continue until the lt value reaches the preset L0 value for the first time. Subsequently, taking d t as the independent variable and l t as the dependent variable, through linear regression analysis, a best-fit line is calculated. The slope of this line represents the angle of repose coefficient k of the material, and this coefficient is a key parameter for measuring the stacking characteristics of the material.

[0059] S102: The control terminal records the position of the chute platform before each discharge.

[0060] Specifically, in this embodiment, before each discharging, the control terminal records the horizontal position of the chute x,t , p y,t , and converts it into the row and column numbers [i, j] in the hatch grid in real time according to the positioning of the four corner points of the hatch.

[0061] S103: After each discharging, the control terminal calculates the height of the material pile under and around the chute.

[0062] Specifically, in this embodiment, after each discharging, the control terminal records the distance data lt and calculates the height H of the material pile under the chute [i,j] = L0 - l t + k × b;

[0063] The control terminal takes the position directly below the chute as the center of the circle and calculates the height H of the material pile of all grids within the radius of H [i,j] / k within the range [i+di,j+dj] = H [i,j] - k × w × SQRT(d i 2 + d j 2 ), where SQRT is the square root function, and d i and d j are the number of horizontal grids and the number of vertical grids of the grid from the center of the circle.

[0064] S104: After each discharging, the control terminal updates the height of the material pile under and around the chute.

[0065] Specifically, in this embodiment, the calculated H [i,j] is directly used to replace the original value in the two-dimensional array.

[0066] The calculated H [i+di,j+dj] is compared with the original value in the two-dimensional array, and the larger value is saved.

[0067] Optionally, after the control terminal updates the height of the material pile under and around the chute after each discharging, the control terminal obtains the depth of the cargo hold and the angle of repose coefficient of the material based on the distance sensor again.

[0068] It can be understood that after each discharging operation is completed, the control terminal will automatically update the height data of the material pile under the chute and its surrounding area. Subsequently, the control terminal will use the distance sensor again to obtain the depth information of the cargo hold and calculate the angle of repose coefficient of the material based on these data.

[0069] Exemplarily, measure the global positioning positions of the four corner points of the hatch, [p1x, p1y], [p2x, p2y], [p3x, p3y], [p4x, p4y]. Grid it according to the rectangular shape of the cargo hold hatch. Each grid is a square with a side length of w, and establish a two-dimensional array H[i, j]. The length of the hatch = i×w, and the width of the hatch = j×w. The initial value of all the values in H[i, j] is 0. Note: i represents the simulation resolution. The higher the resolution, the finer the simulation but the greater the computational effort, and vice versa.

[0070] Install a global positioning device on the upper surface of a certain position of the chute platform, and install a vertically downward ranging sensor on the lower surface directly below it. Measure the horizontal distance b between this position and the center of the chute. Record the horizontal position of the chute [px,t, py,t] in real time, with the unit of m. After correcting by the horizontal distance b, this position represents the horizontal position of the center of the chute; record the distance data lt collected by the ranging sensor in real time. This position has not been corrected by the horizontal distance b and represents the distance from the ranging sensor to the surface of the stockpile directly below. The data acquisition time interval is no more than 1 s.

[0071] Exemplarily, the hatch of a certain ship of our company is a rectangle with a length of 16 meters and a width of 12 meters. With a grid side length of 0.1 meter, the hatch is gridified into a two-dimensional array H[160, 130]. The ship is docked in the direction about 20 degrees north by west. After boarding and positioning measurement, the northwest corner point is at 38 degrees 57.853 minutes north latitude and 117 degrees 48.471 minutes east longitude, the northeast corner point is at 38 degrees 57.851 minutes north latitude and 117 degrees 48.483 minutes east longitude, the southeast corner point is at 38 degrees 57.845 minutes north latitude and 117 degrees 48.481 minutes east longitude, and the southwest corner point is at 38 degrees 57.846 minutes north latitude and 117 degrees 48.470 minutes east longitude.

[0072] Install a Beidou positioning sensor on our company's ship unloader, and install a base station at a fixed position on the shore. Real-time differential calculation is performed on the position data of the Beidou positioning sensor, and the error can be controlled within 2 cm. Install a microwave radar rangefinder below the Beidou positioning sensor, and the error is controlled at about 2 mm. After measurement, the horizontal distance between the two sensors and the center of the chute is about 90 cm. The data acquisition time interval is 1 s.

[0073] This embodiment is the first time for the second round of loading (loading to the required total cargo volume) after the first round of loading operation of this ship is completed (loaded to half full). The dynamic simulation results of the stockpile after the first round of loading operation show that the height of the materials loaded in the entire cargo hold is approximately 4 meters.

[0074] In this embodiment, the material is discharged in the center of the hold, that is, at the 80th row and 65th column of the two-dimensional array after the hatch is meshed. The height of the material pile measured after the discharging is about 6.61 meters. After the discharging is completed, the driver controls the chute to move horizontally about 3.2 meters in the direction of the ranging sensor, and the measured material height gradually decreases and stabilizes at about 4 meters. After calculation, the angle of repose coefficient k of the material is 0.817.

[0075] After the discharging is completed, it is estimated that the height of the material pile H[80,65] under the chute is 7.35 meters. Taking the position directly below the chute as the center of the circle, the height of the material pile in the surrounding grids is estimated, and the maximum value is taken by superimposing it with the dynamic simulation result of the material pile before discharging, forming the dynamic simulation result 6 of the material pile after discharging.

[0076] A method for dynamically simulating the material pile in the hold during the ship loading process proposed in the embodiment of the present application. First, the control terminal obtains the depth of the cargo hold and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharging is L0, representing the depth of the cargo hold. Then, the control terminal records the position of the chute platform before each discharging. Then, the control terminal estimates the height of the material pile under and around the chute after each discharging. Finally, the control terminal updates the height of the material pile under and around the chute after each discharging. A method for dynamically simulating the material pile in the hold during the ship loading process proposed in the embodiment of the present application, combined with the real-time monitoring of the height of the material pile at non-highest point positions, realizes the dynamic simulation and three-dimensional simulation of the material pile in the ship's cargo hold during the bulk cargo ship loading process, which is beneficial to supporting requirements such as chute wall collision and ship attitude stability control.

[0077] Based on the same inventive concept, the embodiment of the present application also proposes a system for dynamically simulating the material pile in the hold during the ship loading process. The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. The system is configured as follows:

[0078] The control terminal obtains the depth of the cargo hold and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharging is L0, representing the depth of the cargo hold;

[0079] The control terminal records the position of the chute platform before each discharging;

[0080] The control terminal estimates the height of the material pile under and around the chute after each discharging;

[0081] The control terminal updates the height of the material pile under and around the chute after each discharging.

[0082] Combined with the second aspect, in some embodiments, the system is configured as follows:

[0083] The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the cargo hold depth, including:

[0084] After the first feeding is completed, the control terminal controls the chute platform to move horizontally towards the azimuth where the ranging sensor is located, and the l t and the distance d from the initial position t , until l t equals L0 for the first time;

[0085] Taking d t as the independent variable and l t as the dependent variable, the slope obtained by linear regression is used as the angle of repose coefficient k of the material.

[0086] Combined with the second aspect, in some embodiments, the system is configured to:

[0087] Before each feeding, the control terminal records the position of the chute platform, including:

[0088] Before each feeding, the control terminal records the horizontal position of the chute [p x,t , p y,t , and converts it into the row and column numbers [i, j] in the hatch grid in real time according to the positioning of the four corner points of the hatch.

[0089] Combined with the second aspect, in some embodiments, the system is configured to:

[0090] After each feeding, the control terminal calculates the height of the material pile under and around the chute, including:

[0091] After each feeding, the control terminal records the distance data lt and calculates the height H of the material pile under the chute [i,j] = L0 - l t + k × b;

[0092] The control terminal takes the position directly below the chute as the center of the circle and calculates the height H of the material pile of all grids within the radius of H [i,j] / k around it [i+di,j+dj] = H [i,j] - k × w × SQRT(d i 2 + d j 2 ), where SQRT is the square root function, and d i and d j are the number of horizontal grids and the number of vertical grids of the grid from the center of the circle.

[0093] Combined with the second aspect, in some embodiments, the system is configured to:

[0094] The control terminal updates the height of the material pile under and around the chute after each discharge, including:

[0095] Replacing the original value in the two-dimensional array directly with the calculated H [i,j]

[0096] Comparing the calculated H [i+di,j+dj] with the original value in the two-dimensional array and saving the larger value.

[0097] In combination with the second aspect, in some embodiments, the system is configured to:

[0098] After the control terminal updates the height of the material pile under and around the chute after each discharge, the control terminal obtains the hold depth and the angle of repose coefficient of the material again based on the distance sensor.

[0099] A dynamic simulation system for in-hold material piles during the ship loading process proposed by the embodiments of the present application. First, the control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first discharge is L0, representing the hold depth. Then, the control terminal records the position of the chute platform before each discharge. Then, the control terminal calculates the height of the material pile under and around the chute after each discharge. Finally, the control terminal updates the height of the material pile under and around the chute after each discharge. A dynamic simulation method for in-hold material piles during the ship loading process proposed by the embodiments of the present application, combined with real-time monitoring of the height of the material pile at non-peak positions, realizes the dynamic simulation and three-dimensional simulation of the in-hold material pile in the ship's hold during the bulk cargo ship loading process, which is beneficial to supporting requirements such as chute wall collision and ship attitude stability control.

[0100] Based on the same inventive concept, an embodiment of the present application also proposes an electronic device, which includes:

[0101] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the dynamic simulation method for in-hold material piles during the ship loading process of the embodiments of the present application.

[0102] ​An electronic device proposed in an embodiment of the present application. First, the control terminal obtains the hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the hold depth. Then, the control terminal records the position of the chute platform before each feeding. Then, the control terminal calculates the height of the material pile below and around the chute after each feeding. Finally, the control terminal updates the height of the material pile below and around the chute after each feeding. A method for dynamically simulating the in-hold material pile during the ship loading process proposed in an embodiment of the present application, combined with the real-time monitoring of the height of the material pile at non-peak positions, realizes the dynamic simulation and three-dimensional simulation of the material pile in the ship's hold during the bulk cargo ship loading process, which is beneficial to supporting requirements such as chute wall collision and ship attitude stability control.

[0103] In addition, to achieve the above object, an embodiment of the present application also proposes a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, it implements the method for dynamically simulating the in-hold material pile during the ship loading process of the embodiment of the present application.

[0104] The following is a specific introduction to the various components of the electronic device:

[0105] Among them, the processor is the control center of the electronic device, which can be a single processor or a collective term for multiple processing elements. For example, the processor is one or more central processing units (CPUs), or can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0106] Optionally, the processor can execute various functions of the electronic device by running or executing software programs stored in the memory and calling data stored in the memory.

[0107] Among them, the memory is used to store the software program for executing the solution of the present invention and is controlled by the processor for execution. The specific implementation manner can refer to the above method embodiments and will not be elaborated here.

[0108] Optionally, the memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor or exist independently and be coupled to the processor through the interface circuit of the electronic device. The embodiments of the present invention do not make specific limitations on this.

[0109] A transceiver for communicating with a network device or with a terminal device.

[0110] Optionally, the transceiver may include a receiver and a transmitter. Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0111] Optionally, the transceiver may be integrated with the processor or exist independently and be coupled to the processor through the interface circuit of the router. The embodiments of the present invention do not make specific limitations on this.

[0112] In addition, the technical effects of the electronic device may refer to the technical effects of the data transmission method described in the above method embodiments and will not be elaborated here.

[0113] It should be understood that the processor in the embodiments of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0114] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0115] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that contains one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be solid-state drives.

[0116] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context before and after.

[0117] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0118] It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0119] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

Claims

1. A dynamic simulation method for in - hold material piles during the ship - loading process, characterized in that, Applicable to a dynamic simulation system for in-cabin material piles. The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. The method includes: The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the cargo hold depth; The control terminal records the position of the chute platform before each feeding; The control terminal calculates the height of the material pile below and around the chute after each feeding; The control terminal updates the height of the material pile below and around the chute after each feeding.

2. The dynamic simulation method of the in-cabin material pile during the ship loading process according to claim 1, characterized in that, The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the cargo hold depth, including: After the first discharging is completed, the control terminal controls the chute platform to move horizontally towards the azimuth where the sensor is located, and the distance l from the initial position during the movement t and the distance d from the initial position t , until l t equals L0 for the first time; With d t as the independent variable and l t as the dependent variable, the slope obtained from linear regression is used as the angle of repose coefficient k of the material.

3. A method for dynamically simulating the in - hold material pile during the ship - loading process according to claim 1, characterized in that, The control terminal records the position of the chute platform before each feeding, including: Before each discharging, the control terminal records the horizontal position of the chute [p x,t , p y,t , and in real-time converts it into the row and column numbers [i, j] in the hatch grid according to the positioning of the four corner points of the hatch.

4. A method for dynamically simulating the in - hold material pile during the ship - loading process according to claim 1, characterized in that, The control terminal calculates the height of the material pile below and around the chute after each feeding, including: After each discharging, the control terminal records the distance data lt and calculates the height H of the material pile below the chute [i,j] = L0 - l t + k × b; The control terminal calculates the material pile heights H of all the grids within a radius of H [i,j] / k centered at the position directly below the chute [i+di,j+dj] = H [i,j] - k × w × SQRT(d i 2 + d j 2 ), where SQRT is the square root function, and d i and d j are the number of horizontal grids and vertical grids of the grid from the center of the circle 5. A dynamic simulation method for in - hold material piles during the ship - loading process according to claim 1, characterized in that, The control terminal updates the height of the material pile below and around the chute after each feeding, including: Replace the original value in the two-dimensional array directly with the calculated H [i,j] ​ Compare the estimated H [i+di,j+dj] with the original value in the two-dimensional array, and save the larger value.

6. A method for dynamically simulating the in - hold material pile during the ship - loading process according to claim 1, characterized in that, The method further includes: After the control terminal updates the height of the material pile below and around the chute after each feeding, the control terminal obtains the cargo hold depth and the angle of repose coefficient of the material again based on the distance sensor.

7. A dynamic simulation method and system for in - hold material piles during the ship - loading process, characterized in that, The system includes a control terminal, a hatch, and a chute platform. The chute platform includes an upper surface and a lower surface, a positioning device, and a distance sensor. The system is configured to: The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the cargo hold depth; The control terminal records the position of the chute platform before each feeding; The control terminal calculates the height of the material pile below and around the chute after each feeding; The control terminal updates the height of the material pile below and around the chute after each feeding.

8. A dynamic simulation system for in - hold material piles during the ship - loading process according to claim 7, characterized in that, The system is configured to: The control terminal obtains the cargo hold depth and the angle of repose coefficient of the material based on the distance sensor. Among them, the distance data recorded at the initial moment of the first feeding is L0, representing the cargo hold depth, including: After the first discharging is completed, the control terminal controls the chute platform to move horizontally towards the azimuth where the sensor is located, and the distance l from the initial position and the distance d away from the initial position during the movement t until l t equals L0 for the first time; t ​ Taking d t as the independent variable and l t as the dependent variable, the slope obtained by linear regression is used as the material angle of repose coefficient k.

9. The in - hold material pile dynamic simulation system during the ship - loading process according to claim 1, wherein, The system is configured to: The control terminal records the position of the chute platform before each feeding, including: Before each material discharge, the control terminal records the horizontal position of the chute [p x,t , p y,t , and in real time converts it into the row and column numbers [i, j] in the hatch grid according to the positioning of the four corner points of the hatch.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory communicatively connected to at least one of the processors; wherein, the memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the method according to any one of claims 1-6.

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