A simulation training method and system for remotely controlling a shore-based crane with double hoists

Abstract

The application provides a simulation training method and system for a remote-controlled shore crane with double-lifting double-spreaders, which comprises the following steps: obtaining working condition parameters of the remote-controlled shore crane with double-lifting double-spreaders in actual operation, and performing container fixture simulation and motion simulation based on the working condition parameters; and based on the content of the container fixture simulation and the motion simulation, constructing simulation training subjects for the double-lifting double-spreaders, so that the trainees can select at least one of the training subjects for simulation training. The simulation training method and system for the remote-controlled shore crane with double-lifting double-spreaders, the electronic device and the storage medium provided by the application first realize simulation of the remote-controlled shore crane with double-lifting double-spreaders, and according to various scenes encountered in practice, the simulation is decomposed into the form of subject training, which helps the user to more clearly understand the mastering situation and the ability level in the training.

Description

Technical Field

[0001] This invention relates to the field of scene simulation technology, and more specifically, to a simulation training method, system, electronic device, and storage medium for remotely controlled quay cranes with dual lifting and dual lifting devices. Background Technology

[0002] With the continuous growth of global trade, port cargo throughput is constantly increasing, leading to higher demands for port operational efficiency and automation. Automated terminals, through advanced technology and control systems, have achieved automated operations in cargo loading, unloading, transportation, and storage, significantly improving port operational efficiency and competitiveness. Remote-controlled quay cranes, as an important component of port automation, enable operators to remotely control the cranes from a control room to perform container loading and unloading operations, improving operational safety and comfort while reducing labor costs.

[0003] Traditional quay cranes are typically equipped with a single-lift, single-spreader system, which can only load and unload one container at a time. To improve loading and unloading efficiency, dual-lift, dual-spreader technology has emerged. The dual-lift, dual-spreader system allows the quay crane to lift two containers simultaneously, significantly increasing loading and unloading speed.

[0004] Existing simulation technologies are often designed for single-lifting, single-spreader systems, where personnel perform single-lifting, single-spreader operations according to pre-programmed training content. However, due to the differences in operational characteristics between double-lifting, double-spreader systems and single-lifting, single-spreader systems, it is necessary to establish a new simulation training system specifically for double-lifting, double-spreader scenarios. Summary of the Invention

[0005] This invention addresses the technical problems existing in the prior art by providing a simulation training method and system for remotely controlled quay cranes with dual lifting and dual spreaders, in order to assist trainees in completing simulation training based on the characteristics of dual lifting and dual spreaders.

[0006] According to a first aspect of the present invention, a simulation training method for a remotely controlled quay crane with dual lifting and dual spreader is provided, comprising:

[0007] Obtain the operating parameters of the remote-controlled quay crane during actual operation of the dual lifting and dual spreader, and perform container firmware simulation and motion simulation based on the operating parameters;

[0008] Based on the container firmware simulation and motion simulation content, a simulation training program with dual lifting and dual spreaders is constructed, allowing trainees to select at least one of the training programs for simulation training.

[0009] Furthermore, the container firmware simulation and motion simulation based on the operating parameters include:

[0010] Based on the container's dimensions, details, material, and operating parameters, the container firmware is modeled to obtain various types of container firmware elements.

[0011] Based on the operating parameters of the lifting frame and hydraulic cylinder of the double lifting double spreader device, the firmware of the double lifting double spreader device is modeled to obtain the firmware elements of the double lifting double spreader device;

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

[0013] Furthermore, based on the operating parameters of the lifting frame and hydraulic cylinders of the dual-lifting dual-spreading device, the firmware of the dual-lifting dual-spreading device is modeled to obtain the firmware elements of the dual-lifting dual-spreading device, including:

[0014] Simulate the six degrees of freedom of motion of the hydraulic cylinders in the dual-lifting, dual-spreading device;

[0015] Simulates the closing and separating, left and right movement, front and back movement, and up and down movement of the lifting frame of a dual-lifting, dual-spreading device.

[0016] Furthermore, the simulation training program for dual-lifting, dual-spreader systems, based on the container firmware simulation and motion simulation content, includes:

[0017] Based on the dimensions of the containers, the spacing between the two containers in the dual spreader, the height of the two containers in the dual spreader, and the tilt of the two containers in the dual spreader, multiple simulation training subjects for loading and unloading are constructed.

[0018] Furthermore, the multiple simulation training subjects for loading and unloading include:

[0019] For different container sizes, simulations were conducted to simulate multiple training scenarios during loading and unloading, including situations where the distance between two containers is greater than a preset value, the distance between two containers is less than a preset value, the heights of two containers are inconsistent, there is an offset between two containers, and the two containers are misaligned.

[0020] Furthermore, the method also includes:

[0021] The performance of the trainees in the simulated training is evaluated from multiple preset dimensions, including: the number of containers in the operation, the efficiency of container lifting, the number of container collisions, the number of times the containers are overloaded, the neatness of container stacking, and the trajectory of container movement.

[0022] Furthermore, the evaluation of the trainees' performance in simulated training from multiple preset dimensions includes:

[0023] Based on the simulated training process conducted by the trainees, score values ​​for each dimension are obtained;

[0024] Based on the pre-assigned weight coefficients for each dimension and the score values ​​for each dimension, the final score of the trainee in the simulation training is calculated using a weighted average.

[0025] According to a second aspect of the present invention, a simulation training system for remotely controlled quay cranes with dual lifting and dual spreader configurations is provided, comprising:

[0026] The system simulation module is used to obtain the operating condition parameters of the remote-controlled quay crane during actual operation of the dual lifting and dual spreader, and to perform container firmware simulation and motion simulation based on the operating condition parameters.

[0027] The simulation training module is used to construct simulation training subjects for dual lifting and dual spreaders based on the content of container firmware simulation and motion simulation, so that trainees can choose at least one of the training subjects for simulation training.

[0028] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of the above-described simulation training method for remotely controlled quay cranes with dual lifting and dual spreaders.

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

[0030] This invention provides a simulation training method, system, electronic equipment, and storage medium for remote-controlled quay cranes with dual lifting and dual spreaders. It is the first to realize the simulation of remote-controlled quay cranes with dual lifting and dual spreaders. Furthermore, it breaks down various scenarios encountered in reality into subject training formats to help users more clearly understand their mastery and ability level in the training. Attached Figure Description

[0031] Figure 1 A flowchart of a simulation training method for a remote-controlled quay crane provided by the present invention;

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

[0033] Figure 3 This is a front view of the dual-lifting, dual-sling device provided in an embodiment of the present invention;

[0034] Figure 4 This is a side view of the double-lifting double-spreader device provided in an embodiment of the present invention;

[0035] Figure 5 This is a top view of the double-lifting double-spreader device provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the closing of the double-lifting double-sling device provided in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the separation of the dual-lifting dual-sling device provided in an embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of the left-right misalignment of the double-lifting double-spreader device provided in an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram of the forward and backward movement of the double-lifting double-spreading device provided in an embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of the vertical movement of the double-lifting double-sling device provided in an embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram of the operating trajectory of the double-lifting double-spreader for ship loading training provided in an embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of a training exercise for loading a single 20-foot truck onto a ship with inconsistent heights, provided by an embodiment of the present invention.

[0043] Figure 13 This is a schematic diagram of a dual-carriage truck offset single 20-foot loading training provided in an embodiment of the present invention;

[0044] Figure 14 This is a schematic diagram of a training exercise involving a single 20-foot loading vessel with a staggered arrangement of two container trucks, provided in an embodiment of the present invention.

[0045] Figure 15 This is a schematic diagram of a training exercise involving mixed loading of two 20-foot and one 40-foot trucks with excessive spacing between them, provided by an embodiment of the present invention.

[0046] Figure 16 This is a schematic diagram of the operating trajectory of the dual-lifting dual-spreader system for unloading training provided in an embodiment of the present invention;

[0047] Figure 17 This is a structural diagram of a simulation training system for a remote-controlled quay crane with dual lifting and dual spreaders, provided in an embodiment of the present invention.

[0048] Figure 18 A schematic diagram of an embodiment of the electronic device provided in this invention. Detailed Implementation

[0049] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0050] Figure 1 A flowchart of a simulation training method for a remote-controlled quay crane provided by the present invention is shown below. Figure 1 The methods include:

[0051] 101. Obtain the operating parameters of the remote-controlled quay crane during actual operation of the dual-lifting dual-spreader system, and perform container firmware simulation and motion simulation based on the operating parameters;

[0052] 102. Based on the content of the container firmware simulation and motion simulation, construct a simulation training subject for dual lifting dual spreaders, so that trainees can choose at least one of the training subjects for simulation training.

[0053] It should be noted that the embodiments of the present invention are aimed at training simulation of a double-lifting double-spreader system. Since the double-lifting double-spreader system and the single-spreader system have some coordination and differences in transmission connection, the embodiments of the present invention need to simulate the container coordination and motion relationship of the double-lifting double-spreader system in order to provide support for subsequent training.

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

[0055] Furthermore, in step 102, according to the system firmware elements and dynamic elements simulated in step 101, this embodiment of the invention calls multiple subjects designed to be available for training personnel to complete. The composition of the subjects is mainly determined by the size, spacing, height differences, etc. of the containers, thereby helping trainees to select one or more subjects for training.

[0056] This invention provides a simulation training method for remote-controlled quay cranes with dual lifting and dual spreaders. It is the first to realize the simulation of remote-controlled quay cranes with dual lifting and dual spreaders. Furthermore, it breaks down various scenarios encountered in reality into subject training forms to help users more clearly understand their mastery and ability level in the training.

[0057] Based on the above embodiments, the container firmware simulation and motion simulation based on the operating parameters include:

[0058] Based on the container's dimensions, details, material, and operating parameters, the container firmware is modeled to obtain various types of container firmware elements.

[0059] Based on the operating parameters of the lifting frame and hydraulic cylinder of the double lifting double spreader device, the firmware of the double lifting double spreader device is modeled to obtain the firmware elements of the double lifting double spreader device;

[0060] Based on the motion parameters of the double-lifting double-spreader device, the motion state of the double-lifting double-spreader device is modeled to obtain the dynamic elements of the double-lifting double-spreader device.

[0061] It should be noted that the double-lifting, double-spreader quay crane is a unique type of port handling equipment, significantly different from the traditional single-lifting, single-spreader quay crane in terms of structure, function, and application scenarios. The double-lifting, double-spreader quay crane comprises two independent lifting units, each equipped with an independent winch drive system. The two spreaders can handle two containers simultaneously, resulting in high efficiency and suitability for large ports or high-throughput requirements.

[0062] In response to this characteristic, the present invention first simulates the overall system of the double-lifting double-spreader quay crane model. The overall system simulation can mainly include three aspects of simulation content. The first aspect is to simulate and model the container firmware.

[0063] Figure 2 This is a schematic diagram of the original container model provided in an embodiment of the present invention. There are generally three types of containers commonly used on quay cranes: 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); and 45-foot container (length: 13.716 meters, width: 2.438 meters, height: 2.995 meters).

[0064] The embodiments of the present invention model the dimensions of these three types of containers 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 cube's scale (X / Y / Z) according to the container's dimensions.

[0069] (2) Set specific dimensions

[0070] Enter Edit Mode and select all vertices.

[0071] Enter precise dimensions using the Transform panel:

[0072] For a 20-foot container: length = 6.058m, width = 2.438m, height = 2.591m.

[0073] For a 40-foot container: length = 12.192m, width = 2.438m, height = 2.591m.

[0074] For a 45-foot container: length = 13.716m, width = 2.438m, height = 2.995m.

[0075] (3) Add details

[0076] Corner fittings: Add metal corner fittings to the four corners of the container, using the Bevel or Boolean tools to cut out the shapes.

[0077] Door frame: Create a rectangular door frame at one end of the container, adjusting the thickness and proportions.

[0078] Ventilation holes: Add an array of small holes to the side wall using Array Modifier.

[0079] Surface texture: Simulates the surface of a steel plate, using the Subdivision Surface Modifier to smooth the model.

[0080] (4) Materials and textures

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

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

[0083] Environment Mapping: Import HDRI environment maps to enhance realism.

[0084] Secondly, embodiments of the present invention require simulation of the motion conditions of a double-lifting, double-spreader quay crane model, and its motion mechanism generally needs to include:

[0085] The small car is simulated by the handle buttons. Moving the handle forward controls the car to move forward, and moving the handle backward controls the car to move backward. The maximum speed is 3m / s. The car master handle has 5 gears, with the highest gear being the maximum speed.

[0086] The crane's movement is simulated by using the handle buttons. The maximum speed of the crane is 0.75 m / s. The crane master control has 5 gears, with the highest gear being the maximum speed. Moving the handle to the left controls the crane to move to the left; moving the handle to the right controls the crane to move to the right.

[0087] Lifting is simulated by using the handle button. The maximum lifting speed is 3m / s for no-load lifting and 1.5m / s for loading lifting. The master control has 5 gears, with the maximum speed being the highest gear.

[0088] The spreader's movement is simulated by the spreader master command. Pressing the center lock extension button extends the center lock spacing; pressing the center lock retraction button shortens the center lock spacing. When the spreader master command is upward, the spreader tilts forward; when it is downward, the spreader tilts backward; when it is left, the spreader tilts to the left; when it is right, the spreader tilts to the right; when it returns to center, the spreader stops tilting (maximum 5° in each direction). Pressing the spreader left rotation button rotates the spreader counter-clockwise; releasing it stops rotation (maximum 5° in each direction). Pressing the spreader right rotation button rotates the spreader clockwise; releasing it stops rotation (maximum 5° in each direction).

[0089] The guide plate's movement is simulated by pressing the guide plate button. Pressing the "Guide Plate Full Up" button raises the guide plate fully; pressing the "Guide Plate Full Down" button lowers the guide plate fully.

[0090] The dual-lifting, dual-spreader control motion state is as follows: Press the seaside spreader selection button, and the relevant mechanism of the spreader will execute the action of the seaside spreader; press the landside spreader selection button, and the relevant mechanism of the spreader will execute the action of the landside spreader; press the all spreader selection button, and the relevant mechanism of the spreader will execute the action of all spreaders; press the spreader zeroing button, and the selected spreader will be zeroed to the default state.

[0091] The spreader lock setting is controlled by the spreader lock button. Pressing the 20-foot spreader button raises the selected spreader lock, setting the spreader to the 20-foot state; pressing the 40-foot spreader button sets the spreader to the 40-foot state; pressing the 45-foot spreader button raises the selected spreader lock, setting the spreader to the 45-foot state; pressing the spreader lock raise / lower button sets the spreader to the 40-foot state and toggles between raising and lowering the spreader lock.

[0092] When the master control command for the double hoisting scaffold is activated, the two hoisting scaffolds shift to the left when the master command is activated upwards; when the master command is activated downwards, the two hoisting scaffolds shift to the right when the master command is activated to the left; when the master command is activated to the right, the two hoisting scaffolds shift to the right when the master command is activated to the right; and when the master command is activated back to center, all mechanical movements of the hoisting scaffolds cease.

[0093] Based on the above embodiments, the firmware of the dual-lifting dual-spreader device is modeled based on the operating parameters of the lifting frame and hydraulic cylinders, resulting in firmware elements of the dual-lifting dual-spreader device, including:

[0094] Simulate the six degrees of freedom of motion of the hydraulic cylinders in the dual-lifting, dual-spreading device;

[0095] Simulates the closing and separating, left and right movement, front and back movement, and up and down movement of the lifting frame of a dual-lifting, dual-spreading device.

[0096] As can be seen from the above, the embodiments of the present invention simulate the overall double lifting double spreader system. The first aspect is to simulate and model the container firmware, the second aspect is to simulate the motion conditions, and the third aspect is to simulate the body of the double lifting double spreader device.

[0097] The double-lift, double-spreader quay crane differs from the traditional single-lift, single-spreader crane. The two lifting frames are connected by two hydraulic cylinders, each with six degrees of freedom.

[0098] Figure 3 This is a front view of the double-lifting, double-spreader device provided in an embodiment of the present invention. Figure 4 This is a side view of the double-lifting, double-spreader device provided in an embodiment of the present invention. Figure 5 This is a top view of the double-lifting, double-spreader device provided in an embodiment of the present invention, as shown below. Figure 3 , 4 As shown in Figure 5, the double-lifting double-spreader device needs to simulate the six-degree-of-freedom hydraulic cylinders between the lifting frames.

[0099] Figure 6 This is a schematic diagram of the closing of the double-lifting, double-sling device provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the separation of the dual-lifting, dual-sling device provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the left-right offset movement of the double-lifting double-spreader device provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of the forward and backward staggering of the double-lifting double-spreader device provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of the vertical movement of the double-lifting double-spreader device provided in an embodiment of the present invention, as shown below. Figure 6-10 As shown in the content, the embodiments of the present invention simulate the closing and separating, left and right movement, front and back movement, and up and down movement of two lifting frames.

[0100] Based on the above embodiments, the simulation training subjects for dual-lifting dual-spreader systems, constructed based on the container firmware simulation and motion simulation content, include:

[0101] Based on the dimensions of the containers, the spacing between the two containers in the dual spreader, the height of the two containers in the dual spreader, and the tilt of the two containers in the dual spreader, multiple simulation training subjects for loading and unloading are constructed.

[0102] Based on the above embodiments, the construction of multiple simulation training subjects for loading and unloading includes:

[0103] For different container sizes, simulations were conducted to simulate multiple training scenarios during loading and unloading, including situations where the distance between two containers is greater than a preset value, the distance between two containers is less than a preset value, the heights of two containers are inconsistent, there is an offset between two containers, and the two containers are misaligned.

[0104] Specifically, based on the two processes of loading and unloading, this embodiment of the invention sets up 25 loading and unloading tasks. The difficulty of each task increases progressively, training users to use dual lifting and dual spreader operations to complete the loading or unloading of the target container.

[0105] The training process is as follows:

[0106] Trainees select a training subject, enter the training simulation scenario, load the training scenario, place the work box in the designated position according to the requirements of the training subject, and record the placement data throughout the process.

[0107] Figure 11 This is a schematic diagram of the operating trajectory of the double-lifting double-spreader for ship loading training provided in an embodiment of the present invention, as shown below. Figure 11 As shown, the blue box position is the initial position of the work box where the trainee starts training, and the gray box position is the target box position where the work box should be placed.

[0108] The embodiments of the present invention describe in turn the training subjects with increasing difficulty in the packing training.

[0109] 1. Excessive spacing between two container trucks during single-20-foot loading training.

[0110] The training subject is ship loading training, which involves setting up container trucks with excessively large spacing. Trainees are required to lift and load the containers loaded on the trucks onto the ship to the target container location.

[0111] 2. Insufficient spacing between dual trucks during single-20-foot loading training.

[0112] The training subject is ship loading training, which involves setting up container trucks with too small a spacing and having to lift and load the containers loaded on the trucks with too large a spacing onto the target container location.

[0113] 3. Training on loading 20-foot trucks onto a ship with inconsistent heights between the two trucks.

[0114] Figure 12 This is a schematic diagram of a training exercise involving loading two container trucks of different heights onto a single 20-foot ship, provided in an embodiment of the present invention. Figure 12 As shown, the training subject is ship loading training, which involves setting up container trucks with different heights. Trainees need to lift and load the containers loaded on the trucks with different heights onto the ship and place them at the target container location.

[0115] 4. Dual-unit truck offset single 20-foot loading training

[0116] Figure 13This is a schematic diagram of a dual-truck offset single 20-foot loading training exercise provided in an embodiment of the present invention, as shown below. Figure 13 As shown, the training subject is ship loading training. A container truck with a certain angle offset is set up, and the trainees need to lift and load the container loaded on the truck to the target container position.

[0117] 5. Training on loading 20-foot trucks onto a ship with staggered front and rear positions.

[0118] Figure 14 This is a schematic diagram of a training exercise involving a single 20-foot loading vessel with a staggered arrangement of two container trucks, as provided in an embodiment of the present invention. Figure 14 As shown, the training subject is ship loading training. Container trucks with inconsistent front-to-rear distances are set up, and trainees need to lift and load the containers loaded on these trucks onto the ship to the target container location.

[0119] It is understandable that the larger the size of the container, the greater the training difficulty. Ship loading training will adjust the size of the container accordingly to increase the difficulty. For simulation graphic examples, please refer to the aforementioned pictures. The embodiments of the present invention will not be described in detail here.

[0120] 6. Excessive spacing between two container trucks during single-40-foot loading training.

[0121] The training subject is ship loading training, which involves setting up container trucks with excessively large spacing. Trainees are required to lift and load the containers loaded on the trucks onto the ship to the target container location.

[0122] 7. Training on loading 40-foot trucks onto a single vessel with insufficient spacing between the two trucks.

[0123] The training subject is ship loading training, which involves setting up container trucks with too small a spacing and having to lift and load the containers loaded on the trucks with too large a spacing onto the target container location.

[0124] 8. Training on loading two container trucks of different heights onto a single 40-foot vessel.

[0125] The training subject is ship loading training, which involves setting up container trucks with different heights. Trainees need to lift and load the containers loaded on the trucks with different heights onto the ship and place them at the target location.

[0126] 9. Dual-unit truck offset single 40-foot loading training

[0127] The training subject is ship loading training, which involves setting up a container truck with a certain angle offset. Trainees need to lift and load the container loaded on the truck to the target container location.

[0128] 10. Training on loading 40-foot ships with staggered front and rear positions of dual container trucks.

[0129] The training subject is ship loading training, which involves setting up container trucks with inconsistent front-to-rear distances. Trainees need to lift and load the containers loaded on the trucks with inconsistent front-to-rear distances onto the ship and place them at the target container location.

[0130] 11. Excessive spacing between two container trucks during single-45-foot loading training.

[0131] The training subject is ship loading training, which involves setting up container trucks with excessively large spacing. Trainees are required to lift and load the containers loaded on the trucks onto the ship to the target container location.

[0132] 12. Training on loading 45-foot trucks onto a single vessel with insufficient spacing between the two trucks.

[0133] The training subject is ship loading training, which involves setting up container trucks with too small a spacing and having to lift and load the containers loaded on the trucks with too large a spacing onto the target container location.

[0134] 13. Training on loading two container trucks of different heights onto a single 45-foot vessel.

[0135] The training subject is ship loading training, which involves setting up container trucks with different heights. Trainees need to lift and load the containers loaded on the trucks with different heights onto the ship and place them at the target location.

[0136] 14. Dual-unit truck offset single 45-foot loading training

[0137] The training subject is ship loading training, which involves setting up a container truck with a certain angle offset. Trainees need to lift and load the container loaded on the truck to the target container location.

[0138] 15. Training on loading a single 45-foot ship with staggered front and rear positions of two container trucks.

[0139] The training subject is ship loading training, which involves setting up container trucks with inconsistent front-to-rear distances. Trainees need to lift and load the containers loaded on the trucks with inconsistent front-to-rear distances onto the ship and place them at the target container location.

[0140] 16. Training involving mixed loading of two 20-foot and one 40-foot trucks with excessive spacing between them.

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

[0142] Figure 15 This is a schematic diagram of a training exercise involving mixed loading of two 20-foot and one 40-foot trucks with excessive spacing between them, provided by an embodiment of the present invention. Figure 15 As shown, the training subject is ship loading training. Container trucks with excessively large spacing are set up, and trainees need to lift and load the containers loaded on the trucks onto the ship to the target container location.

[0143] Similar loading training diagrams with combined dimensions can be referenced. Figure 15 As shown, the embodiments of the present invention will not be described in detail here.

[0144] 17. Training involving mixed loading of two 20-foot and one 40-foot trucks with insufficient spacing between them.

[0145] The training subject is ship loading training, which involves setting up container trucks with too small a spacing and having to lift and load the containers loaded on the trucks with too large a spacing onto the target container location.

[0146] 18. Training on loading mixed 20-foot and 40-foot trucks of different heights onto a ship.

[0147] The training subject is ship loading training, which involves setting up container trucks with different heights. Trainees need to lift and load the containers loaded on the trucks with different heights onto the ship and place them at the target location.

[0148] 19. Dual-truck offset loading training with dual 20-foot and single 40-foot trucks

[0149] The training subject is ship loading training, which involves setting up a container truck with a certain angle offset. Trainees need to lift and load the container loaded on the truck to the target container location.

[0150] 20. Training on loading two 20-foot and one 40-foot trucks onto a ship with staggered front and rear positions.

[0151] The training subject is ship loading training, which involves setting up container trucks with inconsistent front-to-rear distances. Trainees need to lift and load the containers loaded on the trucks with inconsistent front-to-rear distances onto the ship and place them at the target container location.

[0152] 21. Training involving mixed loading of single 20-foot and single 40-foot trucks with excessive spacing between two trucks.

[0153] The training subject is ship loading training, which involves setting up container trucks with excessively large spacing. Trainees are required to lift and load the containers loaded on the trucks onto the ship to the target container location.

[0154] 22. Training on mixed loading of single 20-foot and single 40-foot trucks with insufficient spacing between two trucks.

[0155] The training subject is ship loading training, which involves setting up container trucks with too small a spacing and having to lift and load the containers loaded on the trucks with too large a spacing onto the target container location.

[0156] 23. Training on loading mixed 20-foot and 40-foot trucks of different heights onto ships.

[0157] The training subject is ship loading training, which involves setting up container trucks with different heights. Trainees need to lift and load the containers loaded on the trucks with different heights onto the ship and place them at the target location.

[0158] 24. Dual-unit truck offset training for mixed loading of single 20-foot and single 40-foot trucks.

[0159] The training subject is ship loading training, which involves setting up a container truck with a certain angle offset. Trainees need to lift and load the container loaded on the truck to the target container location.

[0160] 25. Training on loading mixed 20-foot and 40-foot single-unit trucks with staggered front and rear positions.

[0161] The training subject is ship loading training, which involves setting up container trucks with inconsistent front-to-rear distances. Trainees need to lift and load the containers loaded on the trucks with inconsistent front-to-rear distances onto the ship and place them at the target container location.

[0162] Correspondingly, this embodiment of the invention also provides 25 training subjects for unloading ships, as shown in the figure. Figure 16 This is a schematic diagram of the operating trajectory of the dual-lifting, dual-spreader system for unloading training provided in this embodiment of the invention, as shown below. Figure 16 As shown, the blue box position is the initial position of the work box where the trainee starts training, and the gray box position is the target box position where the work box should be placed.

[0163] The diagram of unloading is the opposite of the loading process. The embodiments of the present invention will not be illustrated one by one here. For the specific dynamic process, please refer to the content of the above embodiments.

[0164] 26. Excessive spacing between two container trucks during unloading training on a single 20-foot vessel.

[0165] The training exercise is unloading training, which involves setting up empty container trucks with excessive spacing. Trainees are required to lift and place the target container from the ship onto the empty container trucks with excessive spacing.

[0166] 27. Training on unloading ships with a single 20-foot truck with insufficient spacing between two trucks.

[0167] The training subject is unloading training, which involves setting up empty container trucks with too small a spacing. Trainees need to lift and place the target container from the ship onto the empty container trucks with too small a spacing.

[0168] 28. Training on unloading a single 20-foot ship with inconsistent height between two container trucks.

[0169] The training subject is unloading training, which involves setting up empty container trucks with different vehicle heights. Trainees need to lift and place the target container from the ship onto the empty container trucks with different vehicle heights.

[0170] 29. Dual-unit truck offset single 20-foot unloading training

[0171] The training subject is unloading training, which involves setting up an empty container truck with a certain offset angle. Trainees need to lift and place the target container from the ship onto the empty container truck with a certain offset angle.

[0172] 30. Training on unloading a single 20-foot vessel with staggered front and rear positions of two container trucks.

[0173] The training subject is unloading training, which involves setting up an empty container truck with a certain offset distance between the front and rear of the truck body. Trainees need to lift and place the target container from the ship onto the truck body with a certain offset distance between the front and rear of the truck body.

[0174] 31. Excessive spacing between two container trucks during unloading training on a single 40-foot vessel.

[0175] The training exercise is unloading training, which involves setting up empty container trucks with excessive spacing. Trainees are required to lift and place the target container from the ship onto the empty container trucks with excessive spacing.

[0176] 32. Training on unloading a single 40-foot vessel with insufficient spacing between two container trucks.

[0177] The training subject is unloading training, which involves setting up empty container trucks with too small a spacing. Trainees need to lift and place the target container from the ship onto the empty container trucks with too small a spacing.

[0178] 33. Training on unloading a single 40-foot ship with inconsistent height between two container trucks.

[0179] The training subject is unloading training, which involves setting up empty container trucks with different vehicle heights. Trainees need to lift and place the target container from the ship onto the empty container trucks with different vehicle heights.

[0180] 34. Dual-unit truck offset single 40-foot loading and unloading training

[0181] The training subject is unloading training, which involves setting up an empty container truck with a certain offset angle. Trainees need to lift and place the target container from the ship onto the empty container truck with a certain offset angle.

[0182] 35. Training on unloading a single 40-foot vessel with staggered front and rear positions of two container trucks.

[0183] The training subject is unloading training, which involves setting up an empty container truck with a certain offset distance between the front and rear of the truck body. Trainees need to lift and place the target container from the ship onto the truck body with a certain offset distance between the front and rear of the truck body.

[0184] 36. Excessive spacing between two container trucks during unloading training on a single 45-foot vessel.

[0185] The training exercise is unloading training, which involves setting up empty container trucks with excessive spacing. Trainees are required to lift and place the target container from the ship onto the empty container trucks with excessive spacing.

[0186] 37. Training on unloading a single 45-foot vessel with insufficient spacing between two container trucks.

[0187] The training subject is unloading training, which involves setting up empty container trucks with too small a spacing. Trainees need to lift and place the target container from the ship onto the empty container trucks with too small a spacing.

[0188] 38. Training on unloading a single 45-foot ship with inconsistent height between two container trucks.

[0189] The training subject is unloading training, which involves setting up empty container trucks with different vehicle heights. Trainees need to lift and place the target container from the ship onto the empty container trucks with different vehicle heights.

[0190] 39. Dual-unit truck offset single 45-foot unloading training

[0191] The training subject is unloading training, which involves setting up an empty container truck with a certain offset angle. Trainees need to lift and place the target container from the ship onto the empty container truck with a certain offset angle.

[0192] 40. Training on unloading a single 45-foot vessel with staggered front and rear positions of two container trucks.

[0193] The training subject is unloading training, which involves setting up an empty container truck with a certain offset distance between the front and rear of the truck body. Trainees need to lift and place the target container from the ship onto the truck body with a certain offset distance between the front and rear of the truck body.

[0194] 41. Excessive spacing between two container trucks (20-foot and 40-foot trucks) during mixed unloading training.

[0195] The training exercise is unloading training, which involves setting up empty container trucks with excessive spacing. Trainees are required to lift and place the target container from the ship onto the empty container trucks with excessive spacing.

[0196] 42. Training on unloading ships with mixed 20-foot and 40-foot trucks with insufficient spacing between the two trucks.

[0197] The training subject is unloading training, which involves setting up empty container trucks with too small a spacing. Trainees need to lift and place the target container from the ship onto the empty container trucks with too small a spacing.

[0198] 43. Training on unloading mixed 20-foot and 40-foot trucks with inconsistent heights

[0199] The training subject is unloading training, which involves setting up empty container trucks with different vehicle heights. Trainees need to lift and place the target container from the ship onto the empty container trucks with different vehicle heights.

[0200] 44. Training on mixed unloading of two-unit trucks with offset configurations of 20-foot and 40-foot sides.

[0201] The training subject is unloading training, which involves setting up an empty container truck with a certain offset angle. Trainees need to lift and place the target container from the ship onto the empty container truck with a certain offset angle.

[0202] 45. Training on unloading ships with staggered arrangement of two 20-foot and one 40-foot trucks.

[0203] The training subject is unloading training, which involves setting up an empty container truck with a certain offset distance between the front and rear of the truck body. Trainees need to lift and place the target container from the ship onto the truck body with a certain offset distance between the front and rear of the truck body.

[0204] 46. ​​Training on unloading ships with excessive spacing between two container trucks (20-foot and 40-foot single trucks).

[0205] The training exercise is unloading training, which involves setting up empty container trucks with excessive spacing. Trainees are required to lift and place the target container from the ship onto the empty container trucks with excessive spacing.

[0206] 47. Training on unloading ships with mixed 20-foot and 40-foot trucks with insufficient spacing between the two trucks.

[0207] The training subject is unloading training, which involves setting up empty container trucks with too small a spacing. Trainees need to lift and place the target container from the ship onto the empty container trucks with too small a spacing.

[0208] 48. Training on unloading mixed 20-foot and 40-foot trucks with inconsistent heights

[0209] The training subject is unloading training, which involves setting up empty container trucks with different vehicle heights. Trainees need to lift and place the target container from the ship onto the empty container trucks with different vehicle heights.

[0210] 49. Dual-unit truck offset unloading training with single 20-foot and single 40-foot offsets

[0211] The training subject is unloading training, which involves setting up an empty container truck with a certain offset angle. Trainees need to lift and place the target container from the ship onto the empty container truck with a certain offset angle.

[0212] 50. Training on loading mixed 20-foot and 40-foot single-unit trucks with staggered front and rear positions.

[0213] The training subject is unloading training, which involves setting up an empty container truck with a certain offset distance between the front and rear of the truck body. Trainees need to lift and place the target container from the ship onto the truck body with a certain offset distance between the front and rear of the truck body.

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

[0215] The performance of the trainees in the simulated training is evaluated from multiple preset dimensions, including: the number of containers in the operation, the efficiency of container lifting, the number of container collisions, the number of times the containers are overloaded, the neatness of container stacking, and the trajectory of container movement.

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

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

[0218] Based on the simulated training process conducted by the trainees, score values ​​for each dimension are obtained;

[0219] Based on the pre-assigned weight coefficients for each dimension and the score values ​​for each dimension, the final score of the trainee in the simulation training is calculated using a weighted average.

[0220] Specifically, this embodiment of the invention will assess the training subjects completed by trainees from six dimensions, including:

[0221] (1) Evaluation of work box quantity. The evaluation criteria for work box quantity are as follows:

[0222] 1. Number of Moves (evaluated by the total number of boxes loaded and unloaded); 2. Total Training Time (total time spent completing the training); 3. Score per Move (score awarded for each move) Formula: "Score per Move = 100 / Move Reference Value"; 4. Move Reference Value (number of moves required to achieve the maximum score for a Move unit); 5. Reference Total Training Time (specified time to complete the training); 6. Deduction per Second for Exceeding the Reference (points deducted per second when the total training time exceeds the reference); 7. Weight (weight of the work box quantity assessment unit score in the total score); 8. Unit Score (maximum score of 100 points) Formula: (Unit Score = Number of Moves * Score per Move - [(Training Time - Total Training Time) * Deduction per Second for Exceeding the Reference]); 9. Total Score (Score = Unit Score * Weight)

[0223] (2) Container lifting efficiency. The evaluation criteria for container lifting efficiency are as follows:

[0224] 1. Move Count (Total number of boxes loaded / unloaded); 2. Number of Box Landings (Total number of box landing operations during training); 3. Total Training Time (Total training time); 4. Counterattack Reference Value (Number of counterattack operations completed when the box landing unit score is 0); 5. Counterattack Score (Points deducted for each counterattack) Formula: "Counterattack Score = 100 / Counterattack Reference Value"; 6. Weight (Weight of the box landing efficiency assessment unit score in the total score); 7. Unit Score (Maximum score is 100 points) Formula: (Unit Score = 100 – [(Number of Box Landings – Move Count * 2) * Counterattack Score]); 8. Total Score (Score = Unit Score * Weight)

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

[0226] 1. Minor Collision Count (Number of minor collisions during training); 2. Major Collision Count (Number of major collisions during training); 3. Move Count (Total number of boxes loaded / unloaded); 4. Total Training Time (Total training time); 5. Minor Collision Reference (Number of minor collisions when no points are awarded for minor collisions); 6. Major Collision Reference (Number of major collisions when no points are awarded for major collisions); 7. Minor Collision Score (Points deducted for each minor collision) Formula: Minor Collision Score = 40 / Minor Collision Reference Value; 8. Major Collision Score (Points deducted for the first major collision) Formula: Major Collision Score = 60 / Major Collision Reference Value; 9. Weight (Weight of the collision count assessment unit score in the total score); 10. Unit Score (Maximum score is 100 points) Formula: Unit Score = 100 – Minor Collision Count * Minor Collision Score – Major Collision Count * Major Collision Score; 11. Total Score (Score = Unit Score * Weight)

[0227] (4) Number of times the container is overloaded upon contact with the container. The assessment criteria for the number of times the container is overloaded upon contact with the container are as follows:

[0228] 1. Number of Minor Overloading Incidents (Number of minor overloading incidents during training); 2. Number of Severe Overloading Incidents (Number of severe overloading incidents during training); 3. Move Count (Total number of boxes loaded and unloaded); 4. Total Training Time (Total training time); 5. Minor Overloading Reference (Number of minor overloading incidents when no points are awarded for the minor overloading incident); 6. Severe Overloading Reference (Number of severe overloading incidents when no points are awarded for the severe overloading incident); 7. Minor Overloading Score (Points deducted for each minor overloading incident) Formulas for determining the number of instances of excessive weight: 8. Score for minor overweight impact = 40 / Reference value for minor overweight impact; 9. Score for severe overweight impact (points deducted for the first severe overweight impact) = 60 / Reference value for severe overweight impact; 10. Weight (weight of the unit score in the number of overweight impacts in the total score); 11. Unit score (maximum 100 points) = 100 – Number of minor overweight impacts * Score for minor overweight impacts – Number of severe overweight impacts * Score for severe overweight impacts; 12. Total score (Score = Unit score * Weight).

[0229] (5) Container stacking neatness. The assessment criteria for container stacking neatness are as follows:

[0230] 1. Number of disorderly container positions (the number of disorderly container positions stacked during training); 2. Reference for disorderly container positions (the number of disorderly container positions when the unit score is 0); 3. Score for disorderly container positions (the score deducted for each disorderly container position) Formula: Disorderly container position score = 100 / Reference for disorderly container positions; 4. Weight (the weight of the unit score for neat container stacking in the total score); 5. Unit score (maximum score of 100 points) Formula: Unit score = 100 – Disorderly container position score * Number of disorderly container positions; 6. Score (Score = Unit score * Weight)

[0231] (6) Container movement trajectory. The evaluation criteria for container movement trajectory are as follows:

[0232] 1. Number of times the trajectory is exceeded (the number of times the specified trajectory is exceeded during training); 2. Number of times the trajectory reference is exceeded (the number of times the trajectory is exceeded when the unit score is 0); 3. Score for each instance of exceeding the trajectory (the score deducted for each instance of exceeding the trajectory) Formula: Score for each instance of exceeding the trajectory = 100 / Number of instances of exceeding the trajectory reference; 4. Weight (the proportion of the running trajectory unit score in the total score); 5. Unit score (maximum score of 100 points) Formula: Unit score = 100 – Score for each instance of exceeding the trajectory * Number of times the trajectory is exceeded; 6. Total score (Score = Unit score * Weight)

[0233] After calculating the assessment scores for the above six dimensions, different weight coefficients are assigned to each dimension. Then, the weighted sums are calculated to obtain the trainee's final score for the subject training. If the final score is greater than the preset threshold, the trainee is deemed to have passed the subject training assessment. If the score is less than the preset threshold, the trainee is deemed to have failed the subject training assessment and needs to be reassessed.

[0234] Figure 17 This is a structural diagram of a simulation training system for a remote-controlled quay crane with dual lifting and dual spreader provided in an embodiment of the present invention, as shown below. Figure 17 As shown, a simulation training system for a remote-controlled quay crane with dual lifting and dual spreaders includes a system simulation module and a simulation training module, wherein:

[0235] The system simulation module is used to obtain the operating condition parameters of the remote-controlled quay crane during actual operation of the dual lifting and dual spreader, and to perform container firmware simulation and motion simulation based on the operating condition parameters.

[0236] The simulation training module is used to construct simulation training subjects for dual lifting and dual spreaders based on the content of container firmware simulation and motion simulation, so that trainees can choose at least one of the training subjects for simulation training.

[0237] It is understood that the remote-controlled quay crane simulation training system provided by the present invention corresponds to the remote-controlled quay crane simulation training method provided in the foregoing embodiments. The relevant technical features of the remote-controlled quay crane simulation training system can be referred to the relevant technical features of the remote-controlled quay crane simulation training method, and will not be repeated here.

[0238] Please see Figure 18 , Figure 18 This is a schematic diagram illustrating an embodiment of the electronic device provided in this invention. For example... Figure 18 As shown, this embodiment of the 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, it performs the following steps:

[0239] Obtain the operating parameters of the remote-controlled quay crane during actual operation of the dual lifting and dual spreader, and perform container firmware simulation and motion simulation based on the operating parameters;

[0240] Based on the container firmware simulation and motion simulation content, a simulation training program with dual lifting and dual spreaders is constructed, allowing trainees to select at least one of the training programs for simulation training.

[0241] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the following steps:

[0242] Obtain the operating parameters of the remote-controlled quay crane during actual operation of the dual lifting and dual spreader, and perform container firmware simulation and motion simulation based on the operating parameters;

[0243] Based on the container firmware simulation and motion simulation content, a simulation training program with dual lifting and dual spreaders is constructed, allowing trainees to select at least one of the training programs for simulation training.

[0244] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0245] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0247] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0248] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0249] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0250] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A simulation training method for remotely controlling a shore-based crane with two hoists and two spreaders, characterized in that, The method comprises the following steps: acquiring working condition parameters of a remote-controlled shore crane with double-lift double-spreaders in actual operation, and performing container fixture simulation and motion simulation based on the working condition parameters; the container fixture simulation and motion simulation based on the working condition parameters comprise: modeling the fixture of the double-lift double-spreaders device based on the working condition parameters of the lifting frame and the hydraulic cylinder of the double-lift double-spreaders device, to obtain fixture elements of the double-lift double-spreaders device; the modeling of the fixture of the double-lift double-spreaders device based on the working condition parameters of the lifting frame and the hydraulic cylinder of the double-lift double-spreaders device comprises: simulating the motion freedom of the hydraulic cylinder of the double-lift double-spreaders device in six directions; simulating the folding and separation, left-right displacement, front-back displacement and up-down displacement of the lifting frame of the double-lift double-spreaders device; based on the content of the container fixture simulation and motion simulation, a simulation training subject of the double-lift double-spreaders is constructed, so that a trainer selects at least one of the training subjects for simulation training; the construction of the simulation training subject of the double-lift double-spreaders based on the content of the container fixture simulation and motion simulation comprises: based on the size of the container, the distance between the two containers in the double-spreaders, the height of the two containers in the double-spreaders, the inclination of the two containers in the double-spreaders, a plurality of simulation training subjects for loading and unloading are constructed; the construction of the plurality of simulation training subjects for loading and unloading comprises: for different sizes of containers, a plurality of training subjects for loading and unloading are simulated, in which the distance between the two containers is greater than a preset value, the distance between the two containers is less than a preset value, the height of the two containers is inconsistent, there is an offset between the two containers, and the two containers are front-back misaligned.

2. The simulation training method for remotely controlling a shore-based crane with two hoists and two spreaders according to claim 1, characterized in that, the container fixture simulation and motion simulation based on the working condition parameters comprise: modeling the fixture of the container based on the size, details and material of the container, to obtain fixture elements of various types of containers; modeling the motion state of the double-lift double-spreaders device based on the motion parameters of the double-lift double-spreaders device, to obtain dynamic elements of the double-lift double-spreaders device.

3. The simulation training method for remotely controlling a shore-based crane with two hoists and two spreaders according to claim 1, characterized in that, The method further comprises: evaluating the performance of the trainer in the simulation training from a plurality of preset dimensions, the plurality of dimensions comprising: the number of containers in the operation, the container lifting efficiency, the number of container collisions, the number of times the container is overloaded when landing, the container stacking neatness and the container motion trajectory.

4. The simulation training method for remotely controlling a shore-based crane with two hoists and two spreaders according to claim 3, characterized in that, the evaluation of the performance of the trainer in the simulation training from the plurality of preset dimensions comprises: obtaining the score value of each dimension according to the process of the simulation training of the trainer; based on the weight coefficient pre-allocated for each dimension and the score value of each dimension, the final performance of the trainer in the simulation training is calculated by weighting.

5. A simulation training system for remotely controlling a twin-lift twin- spread shore-based crane, the system comprising: a simulation training system according to any one of claims 1 to 4; and a remote control station configured to communicate with the simulation training system. The system comprises: a system simulation module, configured to acquire working condition parameters of a remote-controlled shore crane with double-lift double-spreaders in actual operation, and perform container fixture simulation and motion simulation based on the working condition parameters; The simulation training module is configured to construct simulation training subjects of the double-lifting double-slewing device based on the content of the container firmware simulation and the motion simulation, so that the training personnel can select at least one of the training subjects for simulation training. The system simulation module is specifically configured to model the firmware of the double-lifting double-slewing device based on the working condition parameters of the lifting frame and the hydraulic cylinder of the double-lifting double-slewing device, to obtain firmware elements of the double-lifting double-slewing device. The system simulation module is specifically configured to simulate the 6-directional motion freedom of the hydraulic cylinder of the double-lifting double-slewing device, and simulate the folding and separating, left-right shifting, front-back shifting, and up-down shifting of the lifting frame of the double-lifting double-slewing device. The simulation training module is specifically configured to construct multiple simulation training subjects of loading and unloading based on the size of the container, the distance between the two containers in the double-slewing device, the height of the two containers in the double-slewing device, and the inclination of the two containers in the double-slewing device. The simulation training module is specifically configured to simulate multiple training subjects of the loading and unloading process, including the distance between the two containers being greater than a preset value, the distance between the two containers being less than a preset value, the height of the two containers being inconsistent, the two containers having an offset, and the two containers being front-back misaligned, for different sizes of the container.

6. An electronic device, comprising: A computer program product is provided, which includes a memory and a processor, and the processor is configured to execute a computer management program stored in the memory to implement the steps of the simulation training method of the double-lifting double-slewing device of the remote-controlled shore-based crane according to any one of claims 1-4.

7. A computer readable storage medium characterized in that, A computer program product is provided, which includes a memory and a processor, and the processor is configured to execute a computer management program stored in the memory to implement the steps of the simulation training method of the double-lifting double-slewing device of the remote-controlled shore-based crane according to any one of claims 1-4.

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