Simulation training method and system for double-lifting and double-lifting-appliance of remote-control quay crane

Abstract

The invention provides an analogue simulation training method and system for double lifting and double lifting appliances of a remote control quay crane, and the method comprises the steps: obtaining the working condition parameters of the double lifting and double lifting appliances of the remote control quay crane in actual operation, and carrying out the container firmware simulation and motion simulation based on the working condition parameters; and on the basis of the contents of the container firmware simulation and the motion simulation simulation, constructing simulation training subjects of double lifting appliances and double lifting appliances, so that training personnel can select at least one of the training subjects to carry out simulation training. According to the analogue simulation training method and system for the double-lifting and double-lifting-appliance of the remote-control quay crane, the electronic equipment and the storage medium, analogue simulation aiming at a scene of the double-lifting and double-lifting-appliance of the remote-control quay crane is realized for the first time, and various scenes encountered actually are disassembled into subject training forms; and the user is helped to know the mastering condition and the ability level in the training more clearly.

Description

Technical Field

[0001] The present invention relates to the technical field of scenario simulation, and more specifically, to a simulation training method, system, electronic device, and storage medium for a remotely controlled quay crane with double hoists and double spreaders. Background Art

[0002] With the continuous growth of global trade, the cargo throughput of ports has been increasing continuously, and the requirements for port operation efficiency and automation level are also getting higher and higher. Automated terminals have realized automated operations in links such as cargo handling, transportation, and storage through advanced technical equipment and control systems, significantly improving the operation efficiency and competitiveness of ports. As an important part of port automation, the Remote Control Quay Crane enables operators to remotely control the quay crane in the control room for container handling operations, improving the safety and comfort of operations while reducing labor costs.

[0003] Traditional quay cranes are usually equipped with a single hoist and single spreader system, and can only handle one container at a time. In order to improve the handling efficiency, the double hoist and double spreader technology has emerged. The double hoist and double spreader system enables the quay crane to lift two containers simultaneously, significantly increasing the handling speed.

[0004] The existing simulations are often for the single hoist and single spreader system, and the personnel complete the single hoist and single spreader operations according to the training content customized in advance by the program. However, due to the certain differences in the operation characteristics between the double hoist and double spreader and the single hoist and single spreader, a set of simulation training systems need to be re-established for the double hoist and double spreader scenario. Summary of the Invention

[0005] In view of the technical problems existing in the prior art, the present invention provides a simulation training method and system for a remotely controlled quay crane with double hoists and double spreaders to assist training personnel to complete simulation training according to the characteristics of the double hoists and double spreaders.

[0006] According to a first aspect of the present invention, there is provided a simulation training method for a remotely controlled quay crane with double hoists and double spreaders, including:

[0007] Obtaining the working condition parameters during the actual operation of the remotely controlled quay crane with double hoists and double spreaders, and performing container firmware simulation and motion simulation based on the working condition parameters;

[0008] Based on the content of the container firmware simulation and the motion simulation, constructing simulation training subjects for the double hoists and double spreaders, so that training personnel can select at least one of the training subjects for simulation training.

[0009] Further, the performing container firmware simulation and motion simulation based on the working condition parameters includes:

[0010] Based on the working condition parameters of the container's size, details, and material, model the container fasteners to obtain various types of container fastener elements;

[0011] Based on the working condition parameters of the lifting frame and hydraulic cylinders of the double-lifting double-spreader device, model the fasteners of the double-lifting double-spreader device to obtain the fastener elements of the double-lifting double-spreader device;

[0012] Based on the motion parameters of the double-lifting double-spreader device, model the motion state of the double-lifting double-spreader device to obtain the dynamic elements of the double-lifting double-spreader device.

[0013] Furthermore, the modeling of the fasteners of the double-lifting double-spreader device based on the working condition parameters of the lifting frame and hydraulic cylinders of the double-lifting double-spreader device to obtain the fastener elements of the double-lifting double-spreader device includes:

[0014] Simulate the 6 degrees of freedom of movement of the hydraulic cylinders of the double-lifting double-spreader device;

[0015] Simulate the closing and separation, left and right misalignment, front and back misalignment, and up and down misalignment of the lifting frame of the double-lifting double-spreader device.

[0016] Furthermore, the construction of the simulation training subjects for the double-lifting double-spreader based on the content of the container fastener simulation and motion simulation includes:

[0017] Based on the size of the container, the distance between the two containers in the double-spreader, the height of the two containers in the double-spreader, and the inclination of the two containers in the double-spreader, construct multiple simulation training subjects for loading and unloading ships.

[0018] Furthermore, the construction of the multiple simulation training subjects for loading and unloading ships includes:

[0019] For different container sizes, respectively simulate multiple training subjects in the loading and unloading processes where the distance between the two containers is greater than the preset value, the distance between the two containers is less than the preset value, the heights of the two containers are inconsistent, there is an offset between the two containers, and the two containers are misaligned front and back.

[0020] Furthermore, the method further includes:

[0021] Evaluate the performance of the trainee in the simulation training from a preset number of dimensions, and the multiple dimensions include: the number of containers operated, the container lifting and lowering efficiency, the number of container collisions, the number of times the container touches down too heavily, the neatness of container stacking, and the container movement trajectory.

[0022] Further, the evaluation of the performance of the simulation training of the trainee from a plurality of preset dimensions includes:

[0023] According to the process of the simulation training of the trainee, obtain the scoring values of each dimension;

[0024] Based on the weight coefficients pre-allocated for each dimension and the scoring values of each dimension, calculate the final score of the simulation training of the trainee through weighted calculation.

[0025] According to the second aspect of the present invention, there is provided a simulation training system for a remotely controlled quay crane with double lifting and double spreaders, including:

[0026] A system simulation module, configured to obtain the working condition parameters during the actual operation of the remotely controlled quay crane with double lifting and double spreaders, and perform container firmware simulation and motion simulation based on the working condition parameters;

[0027] A simulation training module, configured to construct a simulation training subject for the double lifting and double spreaders based on the content of the container firmware simulation and the motion simulation, so as to allow the trainee to select at least one of the training subjects for simulation training.

[0028] According to the third aspect of the present invention, there is provided an electronic device, including a memory and a processor, and the processor is configured to implement the steps of the above-mentioned simulation training method for a remotely controlled quay crane with double lifting and double spreaders when executing a computer management program stored in the memory.

[0029] According to the fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored, and the computer management program implements the steps of the above-mentioned simulation training method for a remotely controlled quay crane with double lifting and double spreaders when executed by a processor.

[0030] The simulation training method, system, electronic device and storage medium for a remotely controlled quay crane with double lifting and double spreaders provided by the present invention realize the simulation for the scenario of a remotely controlled quay crane with double lifting and double spreaders for the first time, and disassemble it into the form of subject training according to various actual scenarios, helping users to more clearly understand the mastery situation and ability level in this training. Description of the Drawings

[0031] Figure 1 It is a flowchart of a simulation training method for a remotely controlled quay crane provided by the present invention;

[0032] Figure 2 It is a schematic diagram of the original container model provided by an embodiment of the present invention;

[0033] Figure 3 It is a front view of a double lifting and double spreader device provided by an embodiment of the present invention;

[0034] Figure 4 It is a side view of the double-lifting and double-spreader device provided by the embodiment of the present invention;

[0035] Figure 5 It is a top view of the double-lifting and double-spreader device provided by the embodiment of the present invention;

[0036] Figure 6 It is a schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention being closed;

[0037] Figure 7 It is a schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention being separated;

[0038] Figure 8 It is a schematic diagram of the left-right displacement of the double-lifting and double-spreader device provided by the embodiment of the present invention;

[0039] Figure 9 It is a schematic diagram of the front-back displacement of the double-lifting and double-spreader device provided by the embodiment of the present invention;

[0040] Figure 10 It is a schematic diagram of the up-down displacement of the double-lifting and double-spreader device provided by the embodiment of the present invention;

[0041] Figure 11 It is a schematic diagram of the operating trajectory of the double-lifting and double-spreader during ship loading training provided by the embodiment of the present invention;

[0042] Figure 12 It is a schematic diagram of the single 20-foot ship loading training with different heights of double container trucks provided by the embodiment of the present invention;

[0043] Figure 13 It is a schematic diagram of the single 20-foot ship loading training with offset double container trucks provided by the embodiment of the present invention;

[0044] Figure 14 It is a schematic diagram of the single 20-foot ship loading training with front-back dislocation of double container trucks provided by the embodiment of the present invention;

[0045] Figure 15 It is a schematic diagram of the mixed ship loading training of double 20-foot and single 40-foot containers with too large distance between double container trucks provided by the embodiment of the present invention;

[0046] Figure 16 It is a schematic diagram of the operating trajectory of the double-lifting and double-spreader during ship unloading training provided by the embodiment of the present invention;

[0047] Figure 17 It is a structural diagram of the simulation training system for the remote-controlled quay crane with double-lifting and double-spreader provided by the embodiment of the present invention;

[0048] Figure 18 It is a schematic diagram of the embodiment of the electronic device provided by the embodiment of the present invention. Detailed implementation manners

[0049] The specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0050] Figure 1 It is a flowchart of a simulation training method for a remotely controlled quay crane with double hoists and double spreaders provided by the present invention, as Figure 1 , and the method includes:

[0051] 101. Obtain the working condition parameters of the remotely controlled quay crane with double hoists and double spreaders during actual operation, and perform container firmware simulation and motion simulation based on the working condition parameters;

[0052] 102. Based on the content of the container firmware simulation and the motion simulation, construct a simulation training subject for the double hoists and double spreaders, so that the trainer can select at least one of the training subjects for simulation training.

[0053] It should be noted that the embodiment of the present invention is directed to the training simulation of the double hoist and double spreader system. Since there are some collaborations and differences in the transmission connections between the double hoist and double spreader system and the single spreader system, the embodiment of the present invention needs to perform corresponding simulations on the container matching relationship and motion relationship of the double hoist and double spreader system in order to provide support for subsequent training.

[0054] In step 101, the embodiment of the present invention first simulates the double hoist and double spreader system. The simulation content mainly includes the implementation of the firmware of the double hoist and double spreader system, as well as the dynamic design of factors such as the attitude, swing, and rotation of the container during motion.

[0055] Furthermore, in step 102, the embodiment of the present invention calls multiple subjects designed for the trainer to complete training according to the system firmware elements and dynamic elements simulated in step 101. The composition of the subjects is mainly determined by the size, spacing, height difference, etc. of the containers, so as to help the trainer select one or more subjects for training.

[0056] The simulation training method for a remotely controlled quay crane with double hoists and double spreaders provided by the present invention realizes the simulation for the scenario of the remotely controlled quay crane with double hoists and double spreaders for the first time, and disassembles it into the form of subject training according to various actual scenarios, helping users to more clearly understand the mastery and ability level in this training.

[0057] Based on the above embodiments, the performing container firmware simulation and motion simulation based on the working condition parameters includes:

[0058] Based on the working condition parameters of the size, details, and material of the container, model the container firmware to obtain various types of container firmware elements;

[0059] Based on the hoisting frame and the working condition parameters of the hydraulic cylinders of the double-hoisting and double-lifting device, model the firmware of the double-hoisting and double-lifting device to obtain the firmware elements of the double-hoisting and double-lifting device.

[0060] Based on the motion parameters of the double-hoisting and double-lifting device, model the motion state of the double-hoisting and double-lifting device to obtain the dynamic elements of the double-hoisting and double-lifting device.

[0061] It should be noted that the double-hoisting and double-lifting quay crane is a unique port handling equipment, which has significant differences from the traditional single-hoisting and single-lifting quay crane in terms of structure, function and application scenarios. The double-hoisting and double-lifting quay crane includes two independent hoisting devices, and each hoisting device is equipped with an independent winch drive system. The two lifting tools can handle two containers simultaneously, with high working efficiency, and is suitable for large ports or high-throughput requirements.

[0062] In view of this characteristic, in the embodiments of the present invention, first, a simulation is performed on the overall system of the double-hoisting and double-lifting quay crane model. The overall system simulation mainly includes three aspects of simulation content. The first aspect is to perform a simulation modeling on the container firmware.

[0063] Figure 2 This is a schematic diagram of the original container model provided by the embodiments of the present invention. There are three common types of containers used on general common quay cranes, namely: 20-foot container: length: 6.058 meters, width: 2.438 meters, height: 2.591 meters; 40-foot container: length: 12.192 meters, width: 2.438 meters, height: 2.591 meters; 45-foot container: length: 13.716 meters, width: 2.438 meters, height: 2.995 meters.

[0064] In the embodiments of the present invention, the dimensions of these three types of containers are modeled respectively, and the specific process is as follows:

[0065] (1) Create a basic cube

[0066] Open Blender and delete the default cube.

[0067] Use "Add>Mesh>Cube" to create a cube.

[0068] Adjust the scale (Scale X / Y / Z) of the cube according to the container dimensions.

[0069] (2) Set the specific dimensions

[0070] Enter the edit mode (Edit Mode) and select all vertices.

[0071] Enter precise dimensions using the Transform panel:

[0072] For a 20-foot container: Length = 6.058 m, Width = 2.438 m, Height = 2.591 m.

[0073] For a 40-foot container: Length = 12.192 m, Width = 2.438 m, Height = 2.591 m.

[0074] For a 45-foot container: Length = 13.716 m, Width = 2.438 m, Height = 2.995 m.

[0075] (3) Add details

[0076] Corner fittings: Add metal corner fittings at the four corners of the container and cut out the shape using the Bevel tool or Boolean tool.

[0077] Door frame: Create a rectangular door frame at one end of the container and adjust the thickness and proportion.

[0078] Ventilation holes: Add an array of small holes on the side walls and implement using the Array Modifier.

[0079] Surface texture: Simulate the surface of steel plates and smooth the model using the Subdivision Surface Modifier.

[0080] (4) Materials and textures

[0081] Base material: Set the color of the container (usually blue, red, or yellow).

[0082] Wear effect: Add details such as scratches and rust, and mix multiple materials using the node editor.

[0083] Environment mapping: Import an HDRI environment map to enhance the realism.

[0084] In a second aspect, the embodiments of the present invention need to simulate the operating conditions of the double-lifting double-spreader quay crane model, and its moving mechanisms generally need to include:

[0085] Trolley, simulate the movement of the trolley through the handle buttons. Pushing the handle forward controls the trolley to move forward, and pulling the handle backward controls the trolley to move backward. The maximum speed is 3 m / s. The master handle of the trolley has 5 gears, and the maximum speed is reached at the maximum gear.

[0086] Gantry, simulate the movement of the gantry through the handle buttons. The maximum speed of the crane is 0.75 m / s. The master handle of the gantry has 5 gears, and the maximum speed is reached at the maximum gear; pushing the handle to the left controls the gantry to move to the left; pushing the handle to the right controls the gantry to move to the right.

[0087] Lifting: Simulate the lifting motion state through the handle buttons. The maximum speed during empty lifting is 3 m / s, and the maximum speed during container loading is 1.5 m / s. The master controller has 5 gears, and the maximum speed is achieved at the maximum gear.

[0088] Spreader: Simulate the spreader motion state through the spreader master controller. Press and hold the middle lock extension button, and the middle lock spacing will extend; press and hold the middle lock retraction button, and the middle lock spacing will shorten. When the spreader master controller moves upward, the spreader tilts forward; when it moves downward, the spreader tilts backward; when it moves left, the spreader tilts left; when it moves right, the spreader tilts right; when it returns to the center, the spreader stops tilting (maximum 5° in each direction). Press and hold the spreader left rotation button, and the spreader rotates counterclockwise; release it, and the spreader stops rotating (maximum 5° in each direction). Press and hold the spreader right rotation button, and the spreader rotates clockwise; release it, and the spreader stops rotating (maximum 5° in each direction).

[0089] Guide plate: Simulate the guide plate motion state through the guide plate buttons. Press the guide plate fully up button, and the guide plate will move fully up; press the guide plate fully down button, and the guide plate will move fully down.

[0090] Dual-lifting and dual-spreader control motion state: Press the sea-side spreader selection button, and the spreader-related mechanisms will act on the sea-side spreader; press the land-side spreader selection button, and the spreader-related mechanisms will act on the land-side spreader; press the all spreaders selection button, and the spreader-related mechanisms will act on all spreaders; press the spreader zeroing button, and the selected spreader will return to the default state.

[0091] Spreader middle lock setting: Control through the spreader middle lock button. Press the 20-foot spreader button, and the middle lock of the selected spreader will rise, and the spreader will be set to the 20-foot state; press the 40-foot spreader button, and the spreader will be set to the 40-foot state; press the 45-foot spreader button, and the middle lock of the selected spreader will rise, and the spreader will be set to the 45-foot state; press the middle lock up / down button, and the spreader will be set to the 40-foot state and switch between middle lock up and down.

[0092] Dual-lifting spreader upper frame control master controller: When the spreader upper frame master controller moves upward, the two lifting upper frames move leftward in a staggered manner; when it moves downward, the two lifting upper frames move rightward in a staggered manner; when it moves left, the two lifting upper frames form a left "eight" shape; when it moves right, the two lifting upper frames form a right "eight" shape; when it returns to the center, the lifting upper frames stop all mechanical actions.

[0093] Based on the working condition parameters of the lifting frame and hydraulic cylinders of the dual-lifting and dual-spreader device in the above embodiments, model the firmware of the dual-lifting and dual-spreader device to obtain the firmware elements of the dual-lifting and dual-spreader device, including:

[0094] Simulate the 6-degree-of-freedom movement of the hydraulic cylinders of the dual-lifting and dual-spreader device;

[0095] Simulate the closing and separation, left and right displacement, front and back displacement, and up and down displacement of the lifting frame of the double-lifting and double-spreader device.

[0096] As can be seen from the above, the embodiment of the present invention simulates the overall double-lifting and double-spreader system. On the first aspect, it simulates and models the container fixtures. On the second aspect, it simulates the motion conditions. On the third aspect, it simulates the double-lifting and double-spreader device itself.

[0097] The double-lifting and double-spreader quay crane is different from the traditional ordinary single-lifting and single-spreader. The two upper lifting frames are connected by two hydraulic cylinders, and each cylinder has six degrees of freedom in all directions.

[0098] Figure 3 It is the front view of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 4 It is the side view of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 5 It is the top view of the double-lifting and double-spreader device provided by the embodiment of the present invention. As shown in Figure 3 、 4 、5, the double-lifting and double-spreader device needs to simulate the six-degree-of-freedom hydraulic cylinders between the upper lifting frames.

[0099] Figure 6 It is the closing schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 7 It is the separation schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 8 It is the left and right displacement schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 9 It is the front and back displacement schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention. Figure 10 It is the up and down displacement schematic diagram of the double-lifting and double-spreader device provided by the embodiment of the present invention. As shown in Figures 6 - 10 As shown in the content of, the embodiment of the present invention simulates and realizes the closing and separation, left and right displacement, front and back displacement, and up and down displacement of the two upper lifting frames.

[0100] Based on the above embodiments, the simulation and training subjects of the double-lifting and double-spreader constructed based on the container fixture simulation and motion simulation include:

[0101] Based on the size of the container, the distance between the two containers in the double-spreader, the height of the two containers in the double-spreader, and the inclination of the two containers in the double-spreader, construct multiple simulation and training subjects for loading and unloading ships.

[0102] Based on the above embodiments, the multiple simulation and training subjects for loading and unloading ships constructed include:

[0103] For different container sizes, multiple training subjects such as the distance between two containers being greater than the preset value, the distance between two containers being less than the preset value, the heights of two containers being inconsistent, the offset of two containers, and the front-back misalignment of two containers are respectively simulated during the ship loading and unloading processes.

[0104] Specifically, according to the two processes of ship loading and unloading, the embodiments of the present invention respectively set 25 ship loading and unloading subjects. The difficulty of each subject increases, training users to use the double-lifting double spreader operation to complete the ship loading operation or unloading operation of the target container.

[0105] The training process is as follows:

[0106] The trainer selects a training subject. After entering the training simulation scenario, the training scenario is loaded, and the operation container is positioned at the designated position according to the requirements of the training subject, and the positioning data is recorded throughout the process.

[0107] Figure 11 It is a schematic diagram of the operation trajectory of the double-lifting double spreader for ship loading training provided by the embodiments of the present invention. As Figure 11 shown, the blue container position is the initial position of the operation container where the trainer starts training, and the gray container position is the target container position where the operation container is to be placed.

[0108] The embodiments of the present invention will sequentially describe the training subjects with increasing difficulty in the container loading training.

[0109] 1. Single 20-foot ship loading training with an overly large distance between double container trucks

[0110] The training subject is ship loading training. A container truck with an overly large distance is set. The trainee needs to lift the container loaded on the container truck with an overly large distance and load it onto the ship at the target container position.

[0111] 2. Single 20-foot ship loading training with an overly small distance between double container trucks

[0112] The training subject is ship loading training. A container truck with an overly small distance is set. The trainee needs to lift the container loaded on the container truck with an overly large distance and load it onto the ship at the target container position.

[0113] 3. Single 20-foot ship loading training with inconsistent heights of double container trucks

[0114] Figure 12 It is a schematic diagram of single 20-foot ship loading training with inconsistent heights of double container trucks provided by the embodiments of the present invention. As Figure 12 shown, the training subject is ship loading training. A container truck with inconsistent vehicle heights is set. The trainee needs to lift the container loaded on the container truck with inconsistent heights and load it onto the ship at the target container position.

[0115] 4. Single 20-foot ship loading training with offset of double container trucks

[0116] Figure 13This is a schematic diagram of the training for loading a single 20-foot container onto a ship with double container trucks offset, as follows Figure 13 As shown, the training subject is ship loading training. A container truck with a certain angular offset of the vehicle body is set up, and the trainee needs to lift and load the container on the container truck with a certain angular offset of the vehicle body onto the target container position on the ship.

[0117] 5. Training for loading a single 20-foot container onto a ship with double container trucks misaligned front and back

[0118] Figure 14 This is a schematic diagram of the training for loading a single 20-foot container onto a ship with double container trucks misaligned front and back, as follows Figure 14 As shown, the training subject is ship loading training. A container truck with an inconsistent front-to-back distance of the vehicle body is set up, and the trainee needs to lift and load the container on the container truck with an inconsistent front-to-back distance of the vehicle body onto the target container position on the ship.

[0119] It can be understood that the larger the size of the container, the greater the training difficulty in turn. The size of the container will be adjusted accordingly in the ship loading training to increase the difficulty. For the simulation graphic examples, please refer to the aforementioned pictures, which will not be elaborated in the embodiments of the present invention.

[0120] 6. Training for loading a single 40-foot container onto a ship with double container trucks having too large a spacing

[0121] The training subject is ship loading training. A container truck with too large a spacing is set up, and the trainee needs to lift and load the container on the container truck with too large a spacing onto the target container position on the ship.

[0122] 7. Training for loading a single 40-foot container onto a ship with double container trucks having too small a spacing

[0123] The training subject is ship loading training. A container truck with too small a spacing is set up, and the trainee needs to lift and load the container on the container truck with too large a spacing onto the target container position on the ship.

[0124] 8. Training for loading a single 40-foot container onto a ship with double container trucks having inconsistent heights

[0125] The training subject is ship loading training. A container truck with inconsistent heights of the vehicle body is set up, and the trainee needs to lift and load the container on the container truck with inconsistent heights onto the target container position on the ship.

[0126] 9. Training for loading a single 40-foot container onto a ship with double container trucks offset

[0127] The training subject is ship loading training. A container truck with a certain angular offset of the vehicle body is set up, and the trainee needs to lift and load the container on the container truck with a certain angular offset of the vehicle body onto the target container position on the ship.

[0128] 10. Training for loading a single 40-foot container onto a ship with double container trucks misaligned front and back

[0129] The training subject is ship loading training. Container-carrying trucks with inconsistent front and rear distances of the vehicle body are set up, and the trainee needs to lift and load the containers loaded on the trucks with inconsistent front and rear distances of the vehicle body onto the target container positions on the ship.

[0130] 11. Ship loading training for a single 45-foot container with an excessive distance between two container-carrying trucks

[0131] The training subject is ship loading training. Container-carrying trucks with an excessive distance between them are set up, and the trainee needs to lift and load the containers loaded on the trucks with an excessive distance between them onto the target container positions on the ship.

[0132] 12. Ship loading training for a single 45-foot container with a too small distance between two container-carrying trucks

[0133] The training subject is ship loading training. Container-carrying trucks with a too small distance between them are set up, and the trainee needs to lift and load the containers loaded on the trucks with an excessive distance between them onto the target container positions on the ship.

[0134] 13. Ship loading training for a single 45-foot container with different heights of two container-carrying trucks

[0135] The training subject is ship loading training. Container-carrying trucks with different heights of the vehicle body are set up, and the trainee needs to lift and load the containers loaded on the trucks with different heights onto the target container positions on the ship.

[0136] 14. Ship loading training for a single 45-foot container with two container-carrying trucks offset

[0137] The training subject is ship loading training. Container-carrying trucks with a certain angular offset of the vehicle body are set up, and the trainee needs to lift and load the containers loaded on the trucks with a certain angular offset onto the target container positions on the ship.

[0138] 15. Ship loading training for a single 45-foot container with two container-carrying trucks misaligned front and rear

[0139] The training subject is ship loading training. Container-carrying trucks with inconsistent front and rear distances of the vehicle body are set up, and the trainee needs to lift and load the containers loaded on the trucks with inconsistent front and rear distances of the vehicle body onto the target container positions on the ship.

[0140] 16. Ship loading training for a mixed load of two 20-foot and one 40-foot containers with an excessive distance between two container-carrying trucks

[0141] It can be understood that in addition to the single-subject container ship loading training, the embodiments of the present invention also provide combined training of different sizes. This is determined by the characteristics of the spreader of the double-lifting double-spreader, and this type of simulation training is not required for a single-lifting single-spreader.

[0142] Figure 15 It is a schematic diagram of the ship loading training for a mixed load of two 20-foot and one 40-foot containers with an excessive distance between two container-carrying trucks provided by the embodiments of the present invention. As Figure 15 shown, the training subject is ship loading training. Container-carrying trucks with an excessive distance between them are set up, and the trainee needs to lift and load the containers loaded on the trucks with an excessive distance between them onto the target container positions on the ship.

[0143] For the ship loading training diagrams with similar combined dimensions, reference can be made to Figure 15 as shown. The embodiments of the present invention will not be elaborated herein.

[0144] 17. Ship loading training for double container trucks with too small a spacing between them, involving a mixture of double 20-foot and single 40-foot containers

[0145] The training subject is ship loading training. Container-carrying container trucks with too small a spacing are set up. The trainees need to lift and load the containers on the container trucks with too large a spacing onto the target container positions on the ship.

[0146] 18. Ship loading training for double container trucks with different heights, involving a mixture of double 20-foot and single 40-foot containers

[0147] The training subject is ship loading training. Container-carrying container trucks with different vehicle heights are set up. The trainees need to lift and load the containers on the container trucks with different heights onto the target container positions on the ship.

[0148] 19. Ship loading training for double container trucks with offset, involving a mixture of double 20-foot and single 40-foot containers

[0149] The training subject is ship loading training. Container-carrying container trucks with a certain angular offset of the vehicle body are set up. The trainees need to lift and load the containers on the container trucks with a certain angular offset of the vehicle body onto the target container positions on the ship.

[0150] 20. Ship loading training for double container trucks with front-to-back misalignment, involving a mixture of double 20-foot and single 40-foot containers

[0151] The training subject is ship loading training. Container-carrying container trucks with different front-to-back distances of the vehicle body are set up. The trainees need to lift and load the containers on the container trucks with different front-to-back distances of the vehicle body onto the target container positions on the ship.

[0152] 21. Ship loading training for double container trucks with too large a spacing between them, involving a mixture of single 20-foot and single 40-foot containers

[0153] The training subject is ship loading training. Container-carrying container trucks with too large a spacing are set up. The trainees need to lift and load the containers on the container trucks with too large a spacing onto the target container positions on the ship.

[0154] 22. Ship loading training for double container trucks with too small a spacing between them, involving a mixture of single 20-foot and single 40-foot containers

[0155] The training subject is ship loading training. Container-carrying container trucks with too small a spacing are set up. The trainees need to lift and load the containers on the container trucks with too large a spacing onto the target container positions on the ship.

[0156] 23. Ship loading training for double container trucks with different heights, involving a mixture of single 20-foot and single 40-foot containers

[0157] The training subject is ship loading training. Container-carrying container trucks with different vehicle heights are set up. The trainees need to lift and load the containers on the container trucks with different heights onto the target container positions on the ship.

[0158] 24. Double container truck offset single 20-foot and single 40-foot mixed ship loading training

[0159] The training subject is ship loading training. Set a container truck with a certain angle offset of the vehicle body. The trainee needs to lift and load the container loaded on the container truck with a certain angle offset of the vehicle body onto the target container position on the ship.

[0160] 25. Double container truck front and rear dislocation single 20-foot and single 40-foot mixed ship loading training

[0161] The training subject is ship loading training. Set a container truck with inconsistent front and rear distances of the vehicle body. The trainee needs to lift and load the container loaded on the container truck with inconsistent front and rear distances of the vehicle body onto the target container position on the ship.

[0162] Correspondingly, the embodiment of the present invention also provides 25 training subjects for ship unloading. The figure Figure 16 is a schematic diagram of the operating trajectory of the double lifting and double spreader for ship unloading training provided by the embodiment of the present invention. As Figure 16 shown, the blue container position is the initial position of the operation container where the trainer starts training, and the gray container position: the target container position where the operation container is to be placed.

[0163] The schematic diagram of ship unloading is opposite to the ship loading process. The embodiment of the present invention does not give examples one by one here. The specific dynamic process can refer to the content of the above embodiment.

[0164] 26. Double container truck large spacing single 20-foot ship unloading training

[0165] The training subject is ship unloading training. Set an empty container truck with too large a spacing. The trainee needs to lift the target operation container on the ship and place it on the empty container truck with too large a spacing.

[0166] 27. Double container truck small spacing single 20-foot ship unloading training

[0167] The training subject is ship unloading training. Set an empty container truck with too small a spacing. The trainee needs to lift the target operation container on the ship and place it on the empty container truck with too small a spacing.

[0168] 28. Double container truck different heights single 20-foot ship unloading training

[0169] The training subject is ship unloading training. Set an empty container truck with inconsistent vehicle body heights. The trainee needs to lift the target operation container on the ship and place it on the empty container truck with inconsistent vehicle body heights.

[0170] 29. Double container truck offset single 20-foot ship unloading training

[0171] The training subject is ship unloading training. An empty container truck with a certain offset angle of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with a certain offset angle of the vehicle body.

[0172] 30. Unloading training for a single 20-foot container with double container trucks misaligned front and back

[0173] The training subject is ship unloading training. An empty container truck with a certain misalignment distance between the front and back of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the one with a certain misalignment distance between the front and back of the vehicle body.

[0174] 31. Unloading training for a single 40-foot container with double container trucks having too large a spacing

[0175] The training subject is ship unloading training. An empty container truck with too large a spacing is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with too large a spacing.

[0176] 32. Unloading training for a single 40-foot container with double container trucks having too small a spacing

[0177] The training subject is ship unloading training. An empty container truck with too small a spacing is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with too small a spacing.

[0178] 33. Unloading training for a single 40-foot container with double container trucks having inconsistent heights

[0179] The training subject is ship unloading training. An empty container truck with inconsistent vehicle body heights is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with inconsistent vehicle body heights.

[0180] 34. Loading and unloading training for a single 40-foot container with double container trucks offset

[0181] The training subject is ship unloading training. An empty container truck with a certain offset angle of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with a certain offset angle of the vehicle body.

[0182] 35. Unloading training for a single 40-foot container with double container trucks misaligned front and back

[0183] The training subject is ship unloading training. An empty container truck with a certain misalignment distance between the front and back of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the one with a certain misalignment distance between the front and back of the vehicle body.

[0184] 36. Unloading training for a single 45-foot container with double container trucks having too large a spacing

[0185] The training subject is ship unloading training. An empty container truck with too large a spacing is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with too large a spacing.

[0186] 37. Unloading Training with Two Empty Container Trucks Having Too Small a Spacing for Single 45-foot Containers

[0187] The training subject is unloading training. Empty container trucks with too small a spacing are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with too small a spacing.

[0188] 38. Unloading Training with Two Empty Container Trucks Having Different Heights for Single 45-foot Containers

[0189] The training subject is unloading training. Empty container trucks with different body heights are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with different body heights.

[0190] 39. Unloading Training with Two Empty Container Trucks Having a Deviation for Single 45-foot Containers

[0191] The training subject is unloading training. Empty container trucks with a certain deviation angle of the body are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with a certain deviation angle of the body.

[0192] 40. Unloading Training with Two Empty Container Trucks Having a Front-to-back Dislocation for Single 45-foot Containers

[0193] The training subject is unloading training. Empty container trucks with a certain front-to-back dislocation distance of the body are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with a certain front-to-back dislocation distance of the body.

[0194] 41. Unloading Training with Two Empty Container Trucks Having Too Large a Spacing for Mixed 20-foot and Single 40-foot Containers

[0195] The training subject is unloading training. Empty container trucks with too large a spacing are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with too large a spacing.

[0196] 42. Unloading Training with Two Empty Container Trucks Having Too Small a Spacing for Mixed 20-foot and Single 40-foot Containers

[0197] The training subject is unloading training. Empty container trucks with too small a spacing are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with too small a spacing.

[0198] 43. Unloading Training with Two Empty Container Trucks Having Different Heights for Mixed 20-foot and Single 40-foot Containers

[0199] The training subject is unloading training. Empty container trucks with different body heights are set up, and the trainees need to lift the target operation containers on the ship and place them on the empty container trucks with different body heights.

[0200] 44. Unloading Training with Two Empty Container Trucks Having a Deviation for Mixed 20-foot and Single 40-foot Containers

[0201] The training subject is ship unloading training. An empty container truck with a certain offset angle of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with a certain offset angle of the vehicle body.

[0202] 45. Double container truck front and rear dislocation, double 20-foot and single 40-foot mixed ship unloading training

[0203] The training subject is ship unloading training. An empty container truck with a certain dislocation distance between the front and the rear of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the one with a certain dislocation distance between the front and the rear of the vehicle body.

[0204] 46. Double container truck with too large spacing, single 20-foot and single 40-foot mixed ship unloading training

[0205] The training subject is ship unloading training. An empty container truck with too large spacing is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with too large spacing.

[0206] 47. Double container truck with too small spacing, single 20-foot and single 40-foot mixed ship unloading training

[0207] The training subject is ship unloading training. An empty container truck with too small spacing is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with too small spacing.

[0208] 48. Double container truck with inconsistent heights, single 20-foot and single 40-foot mixed ship unloading training

[0209] The training subject is ship unloading training. An empty container truck with inconsistent vehicle body heights is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with inconsistent vehicle body heights.

[0210] 49. Double container truck offset, single 20-foot and single 40-foot mixed ship unloading training

[0211] The training subject is ship unloading training. An empty container truck with a certain offset angle of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the empty container truck with a certain offset angle of the vehicle body.

[0212] 50. Double container truck front and rear dislocation, single 20-foot and single 40-foot mixed ship loading training

[0213] The training subject is ship unloading training. An empty container truck with a certain dislocation distance between the front and the rear of the vehicle body is set up, and the trainee needs to lift the target operation container on the ship and place it on the one with a certain dislocation distance between the front and the rear of the vehicle body.

[0214] Based on the above embodiments, the method further includes:

[0215] Evaluate the performance of the trainee in the simulated training from multiple preset dimensions, where the multiple dimensions include: the number of containers in the operation, the container hoisting and dropping efficiency, the number of container collisions, the number of times of excessive weight when the container lands, the neatness of container stacking, and the container movement trajectory.

[0216] As can be seen from the content of the above embodiments, the embodiments of the present invention simulate multiple training subjects for trainees to train, and the trainees need to effectively evaluate their training content during the training process. Therefore, the embodiments of the present invention provide a corresponding multi-dimensional performance evaluation method to assess the trainees.

[0217] Based on the above embodiments, the evaluation of the performance of the trainee in the simulated training from multiple preset dimensions includes:

[0218] According to the process of the trainee's simulated training, obtain the scoring values of each dimension;

[0219] Based on the weight coefficients pre-allocated for each dimension and the scoring values of each dimension, calculate the final score of the trainee's simulated training through weighted calculation.

[0220] Specifically, the embodiments of the present invention will assess the training subjects completed by the trainees from 6 dimensions, including:

[0221] (1) Evaluation of the number of containers in operation. The basis for the evaluation of the number of containers in operation is:

[0222] 1. Number of Moves (evaluated by the total number of loaded and unloaded containers); 2. Total training time (the total time spent to complete the training); 3. Score per Move (the score obtained for each Move) formula: "Score per Move = 100 / Move reference value"; 4. Move reference value (the number of Moves required to reach the full score of the Move unit); 5. Total training time reference (the specified time to complete the training); 6. Points deducted per second for exceeding the reference (the number of points to be deducted per second when the total training time exceeds the total training time reference); 7. Weight (the weight of the unit score of the evaluation of the number of containers in operation in the total score); 8. Unit score (with a full score of 100 points) formula (Unit score = Number of Moves * Score per Move - [(Training time - Total training time) * Points deducted per second for exceeding the reference]); 9. Total score (Score = Unit score * Weight)

[0223] (2) Container hoisting and dropping efficiency. The basis for the evaluation of the container hoisting and dropping efficiency is:

[0224] 1. Move number (total number of loaded and unloaded containers); 2. Number of times of container landing (total number of container landing operations during training); 3. Total training time (total training time); 4. Counterattack reference value (number of counterattack operations completed when the container landing unit score is 0); 5. Counterattack score (score deducted for each counterattack) Formula: "Counterattack score = 100 / Counterattack reference value"; 6. Weight (weight of the container landing efficiency evaluation unit score in the total score); 7. Unit score (full score is 100 points) Formula (Unit score = 100 - [(Number of times of container landing - Move number * 2) * Counterattack score]); 8. Score (Score = Unit score * Weight)

[0225] (3) Number of container collisions. The assessment basis for the number of container collisions is as follows:

[0226] 1. Number of minor collisions (number of minor collisions during training); 2. Number of serious collisions (number of serious collisions during training); 3. Move number (total number of loaded and unloaded containers); 4. Total training time (total training time); 5. Minor collision reference (number of minor collisions when the minor collision item cannot score); 6. Serious collision reference (number of serious collisions when the serious collision item cannot score); 7. Minor collision score (score deducted for each minor collision) Formula: Minor collision score = 40 / Minor collision reference value; 8. Serious collision score (score deducted for each serious collision) Formula: Serious collision score = 60 / Serious collision reference value; 9. Weight (weight of the number of collisions evaluation unit score in the total score); 10. Unit score (full score is 100 points) Formula: Unit score = 100 - Number of minor collisions * Minor collision score - Number of serious collisions * Serious collision score; 11. Total score (Score = Unit score * Weight)

[0227] (4) Number of times of excessive container landing. The assessment basis for the number of times of excessive container landing is as follows:

[0228] 1. Number of minor overloading on the container (the number of minor overloading on the container during training); 2. Number of severe overloading on the container (the number of severe overloading on the container during training); 3. Number of Moves (total number of loading and unloading containers); 4. Total training time (total training time); 5. Minor overloading reference (number of minor overloading on the container when the minor overloading item does not score); 6. Severe overloading reference (number of severe overloading on the container when the severe overloading item does not score); 7. Minor overloading score (points deducted for each minor overloading on the container) Formula: Minor overloading score = 40 / Minor overloading reference value; 8. Severe overloading score (points deducted for each severe overloading on the container) Formula: Severe overloading score = 60 / Severe overloading reference value; 9. Weight (weight of the overloading on the container assessment unit score in the total score); 10. Unit score (full score is 100 points) Formula: Unit score = 100 - Number of minor overloading on the container * Minor overloading score - Number of severe overloading on the container * Severe overloading score; 11. Total score (Score = Unit score * Weight)

[0229] (5) Stacking neatness of containers. The assessment basis for the stacking neatness of containers is as follows:

[0230] 1. Number of untidy container positions (number of untidy container positions during training); 2. Untidy container position reference (number of untidy container positions when the unit score is 0); 3. Untidy container position score (points deducted for each untidy container position) Formula: Untidy container position score = 100 / Untidy container position reference; 4. Weight (weight of the stacking neatness of containers unit score in the total score); 5. Unit score (full score is 100 points) Formula: Unit score = 100 - Untidy container position score * Number of untidy container positions; 6. Score (Score = Unit score * Weight)

[0231] (6) Movement trajectory of containers. The assessment basis for the movement trajectory of containers is as follows:

[0232] 1. Number of times exceeding the trajectory (number of times exceeding the specified trajectory line during training); 2. Exceeding trajectory reference (number of times exceeding the trajectory when the unit score is 0); 3. Single - time score for exceeding the trajectory (points deducted for each time exceeding the trajectory) Formula: Single - time score for exceeding the trajectory = 100 / Number of times exceeding the trajectory reference; 4. Weight (proportion of the movement trajectory unit score in the total score); 5. Unit score (full score is 100 points) Formula: Unit score = 100 - Single - time score for exceeding the trajectory * Number of times exceeding the trajectory; 6. Total score (Score = Unit score * Weight)

[0233] After separately calculating and obtaining the assessment scores for the above six dimensions, different weight coefficients are assigned to the assessments of each dimension, and then they are weighted and summed to obtain the final score of the training personnel for the training of this subject. If the final score is greater than the preset threshold, it is determined that the training of this subject by the training personnel passes; if it is less than the preset threshold, it is determined that the training of this subject by the training personnel fails and needs to be reassessed.

[0234] Figure 17 This is the structural diagram of a simulation training system for a remotely controlled quay crane with double hoists and double spreaders provided by an embodiment of the present invention. As Figure 17 shown, a simulation training system for a remotely controlled quay crane with double hoists and double spreaders includes a system simulation module and a simulation training module, where:

[0235] The system simulation module is used to obtain the working condition parameters when the remotely controlled quay crane with double hoists and double spreaders actually operates, and perform container fixture simulation and motion simulation based on the working condition parameters;

[0236] The simulation training module is used to construct a simulation training subject for the double hoists and double spreaders based on the content of the container fixture simulation and the motion simulation, so as to allow the training personnel to select at least one of the training subjects for simulation training.

[0237] It can be understood that a simulation training system for a remotely controlled quay crane provided by the present invention corresponds to the simulation training methods for a remotely controlled quay crane provided in the foregoing embodiments. The relevant technical features of the simulation training system for a remotely controlled quay crane can refer to the relevant technical features of the simulation training methods for a remotely controlled quay crane, which will not be elaborated here.

[0238] Please refer to Figure 18 , Figure 18 This is the schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 18 shown, an embodiment of the present invention provides an electronic device 1800, including a memory 1810, a processor 1820, and a computer program 1811 stored in the memory 1810 and executable on the processor 1820. When the processor 1820 executes the computer program 1811, the following steps are implemented:

[0239] Obtain the working condition parameters when the remotely controlled quay crane with double hoists and double spreaders actually operates, and perform container fixture simulation and motion simulation based on the working condition parameters;

[0240] Based on the content of the container fixture simulation and the motion simulation, construct a simulation training subject for the double hoists and double spreaders, so as to allow the training personnel to select at least one of the training subjects for simulation training.

[0241] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0242] Obtain the working condition parameters of the remote-controlled quay crane with double hoists and double spreaders during actual operation, and perform container firmware simulation and motion simulation based on the working condition parameters;

[0243] Based on the content of the container firmware simulation and the motion simulation, construct a simulation training subject for the double hoists and double spreaders, so that trainers can select at least one of the training subjects for simulation training.

[0244] It should be noted that in the above embodiments, the descriptions of each embodiment have their own emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0245] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0246] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure One one process or multiple processes and / or blocks Figure One one block or multiple blocks.

[0247] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure One one process or multiple processes and / or blocks Figure One one block or multiple blocks.

[0248] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, causing a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one flow Figure One one or more flows and / or boxes Figure One or steps for implementing the functions specified in one box or more boxes.

[0249] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to cover the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0250] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A simulation training method for a remote-controlled quay crane with double hoists and double spreaders, characterized in that, Including: Obtain the working condition parameters of the double-lifting and double-spreader of the remote-controlled quay crane during actual operation, and perform container firmware simulation and motion simulation based on the working condition parameters; Based on the content of the container firmware simulation and motion simulation, construct simulation training subjects for the double-lifting and double-spreader for trainers to select at least one of the training subjects for simulation training.

2. The simulation training method for a remotely controlled quay crane with double hoists and double spreaders according to claim 1, wherein The performing container firmware simulation and motion simulation based on the working condition parameters includes: Based on the working condition parameters of the size, details, and material of the container, model the container firmware to obtain various types of container firmware elements; Based on the working condition parameters of the lifting frame and hydraulic cylinder of the double-lifting and double-spreader device, model the firmware of the double-lifting and double-spreader device to obtain the firmware elements of the double-lifting and double-spreader device; Based on the motion parameters of the double-lifting and double-spreader device, model the motion state of the double-lifting and double-spreader device to obtain the dynamic elements of the double-lifting and double-spreader device.

3. The simulation training method for a remotely controlled quay crane with double hoisting and double spreaders according to claim 2, characterized in that, The modeling the firmware of the double-lifting and double-spreader device based on the working condition parameters of the lifting frame and hydraulic cylinder of the double-lifting and double-spreader device to obtain the firmware elements of the double-lifting and double-spreader device includes: Simulate the 6 degrees of freedom of motion of the hydraulic cylinder of the double-lifting and double-spreader device; Simulate the closing and separation, left and right misalignment, front and back misalignment, and up and down misalignment of the lifting frame of the double-lifting and double-spreader device.

4. The simulation training method for a remotely controlled quay crane with double hoisting and double spreaders according to claim 1, characterized in that, The constructing simulation training subjects for the double-lifting and double-spreader based on the content of the container firmware simulation and motion simulation includes: Based on the size of the container, the distance between the two containers in the double-spreader, the height of the two containers in the double-spreader, and the inclination of the two containers in the double-spreader, construct multiple simulation training subjects for loading and unloading ships.

5. The simulation training method for a remotely controlled quay crane with double hoists and double spreaders according to claim 4, characterized in that, The constructing multiple simulation training subjects for loading and unloading ships includes: For different container sizes, respectively simulate multiple training subjects in the loading and unloading process where the distance between the two containers is greater than the preset value, the distance between the two containers is less than the preset value, the heights of the two containers are inconsistent, there is an offset between the two containers, and the two containers are misaligned front and back.

6. The simulation training method for a remotely controlled quay crane with double hoisting and double spreaders according to claim 1, characterized in that, The method further includes: Evaluate the performance of the trainer in the simulation training from a preset number of dimensions, the multiple dimensions including: the number of containers handled, the container lifting and dropping efficiency, the number of container collisions, the number of times of excessive weight on the container when landing, the neatness of container stacking, and the container motion trajectory.

7. The simulation training method of a remotely controlled quay crane with double hoisting and double spreaders according to claim 6, characterized in that, The evaluating the performance of the trainer in the simulation training from a preset number of dimensions includes: According to the process of the trainer in the simulation training, obtain the scoring values for each dimension; Based on the weight coefficients pre-allocated for each dimension and the scoring values for each dimension, calculate the final score of the trainer in the simulation training by weighted calculation.

8. A simulation training system for a remote-controlled quay crane with double hoisting and double spreaders, characterized in that, Including: A system simulation module for obtaining the working condition parameters of the double-lifting and double-spreader of the remote-controlled quay crane during actual operation, and performing container firmware simulation and motion simulation based on the working condition parameters; The simulation training module is used to construct simulation training subjects for double-lifting and double-spreader based on the content of the container firmware simulation and the motion simulation, so that trainers can select at least one of the training subjects for simulation training.

9. An electronic device, characterized in that, It includes a memory and a processor. When the processor executes the computer management program stored in the memory, it implements the steps of the simulation training method for the remote-controlled quay crane with double-lifting and double-spreader according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer management program is stored thereon. When the computer management program is executed by the processor, it implements the steps of the simulation training method for the remote-controlled quay crane with double-lifting and double-spreader according to any one of claims 1-7.

Images