Ship hatch rapid positioning detection system and method based on image recognition technology

Abstract

The invention discloses a ship hatch rapid positioning detection system and method based on an image recognition technology, and the system comprises an image recognition unit which comprises a high-definition camera disposed in the middle of a cantilever crane, an image processing server disposed in a PLC room, and a wharf positioning reference point and a PLC control unit which are disposed on the ground. Comprising a PLC module and a switch which are installed in a PLC room, and the PLC module receives ship hatch position and size data detected by an image recognition unit and outputs alignment information between the grab bucket ship unloader and an operation hatch; the cart driving unit comprises a cart frequency converter installed in an electrical room, a cart motor installed on a grab ship unloader trolley and a cart absolute value encoder. According to the system and the method, a large amount of time needed by the bulk cargo wharf for detecting the position and the size of the hatch of the operation ship is saved, and the overall operation efficiency of the bulk cargo wharf is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grab ship unloader control, and in particular to a ship hatch rapid positioning detection system and method based on image recognition technology. Background Art

[0002] Grab ship unloaders, as essential ship unloading equipment at bulk material terminals, have seen increasing demand for intelligent and digital capabilities in recent years. Currently, intelligent grab ship unloaders typically use a laser scanner coupled with a mobile grab ship unloader trolley to locate and detect ship hatches. As the grab ship unloader moves from the bow to the stern, it acquires laser point cloud data of the entire ship. The point cloud data server processes this data to determine the location and dimensions of each hatch. This method of locating and identifying ship hatches through laser scanning is relatively accurate, but it takes a long time, necessitating a rapid and accurate solution for ship hatch location and identification. Summary of the Invention

[0003] In view of the problems existing in the prior art, the present invention discloses a ship hatch rapid positioning detection system based on image recognition technology, which specifically includes:

[0004] The image recognition unit includes a high-definition camera installed in the middle of the boom, an image processing server installed in the PLC room, and dock positioning reference points arranged on the ground. The high-definition camera collects images of the upper surface of the ship. The image processing server performs algorithm processing on the sampled upper surface images of the ship to detect the position and size of each hatch of the ship. The dock positioning reference points are used to assist in the position information of each hatch of the ship.

[0005] A PLC control unit, comprising a PLC module and a switch installed in a PLC room, wherein the PLC module receives the position and size data of the ship hatch detected by the image recognition unit and outputs alignment information between the grab ship unloader and the operating hatch;

[0006] The trolley drive unit includes a trolley inverter installed in the electrical room, a trolley motor installed on the grab ship unloader trolley, and a trolley absolute encoder. The trolley inverter receives control instructions from the PLC control unit, controls the normal operation of the trolley motor, and aligns the operating hatch of the grab ship unloader.

[0007] Furthermore, the high-definition camera uses the TCP / IP protocol to transmit the collected image data of the upper surface of the ship to the image processing server.

[0008] Furthermore, the image processing server transmits the acquired position data and dimension data of each hatch of the ship to the PLC module via the switch in the PLC control unit using the TCP / IP protocol.

[0009] Furthermore, the dock positioning reference point adopts a lamp pole of a certain height, with a red aviation obstruction light installed on the top, which is continuously lit and arranged at a certain interval on the sea side of the dock belt corridor.

[0010] Furthermore, after the PLC module obtains the position data and size data of each hatch of the ship, it performs cabin shifting scheduling control according to the scheduling instructions of the superior terminal management and control system. The scheduling control instructions are transmitted to the trolley inverter via the switch in the form of Profinet protocol, and then drive the trolley motor to realize the cabin shifting and positioning of the grab ship unloader.

[0011] Furthermore, the trolley absolute encoder detects the position of the trolley in real time, and transmits the detection data to the PLC module via the switch in the form of Profinet protocol, which is used to determine whether the grab ship unloader has completed the alignment.

[0012] A ship hatch rapid positioning detection system and detection method based on image recognition technology, comprising:

[0013] S1: After the ship docks, the ship's hatch is located and detected based on image recognition technology;

[0014] S2: The PLC module controls the high-definition camera in the image recognition unit to take pictures and samples of the upper surface of the ship;

[0015] S3: The image processing server calculates the ship's parameter data based on the captured image data of the ship's upper surface and the image data of the dock positioning reference point, including the length, bow position value, and position value information in front of the ship's bridge:

[0016] L 船 =(S 基准点A -S 基准点B )×P 船舶头尾 / P 交点AB ;

[0017] Among them L 船 is the length of the ship, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船舶头尾 is the pixel value of the middle point between the bow and the front of the ship’s bridge, P 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline;

[0018] S 船头 =S 基准点A +(S 基准点A -S基准点B )×P 船头至交点A / P 交点AB ;

[0019] Among them S 船头 is the bow position value, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船头至交点A P is the pixel value between the image intersection point A from the bow to the dock positioning reference point A along the trolley running direction to the ship's center line, 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline;

[0020] S 驾驶楼 =S 基准点B +(S 基准点B -S 基准点A )×P 驾驶楼至交点B / P 交点AB ;

[0021] Among them S 船头 is the position value in front of the ship's bridge, S 基准点B is the actual position value of the dock positioning reference point B, S 基准点B is the actual position value of the dock positioning reference point B, P 驾驶楼至交点B P is the pixel value between the middle point in front of the bridge and the dock positioning reference point B along the direction of the trolley's movement to the image intersection point B of the ship's middle line. 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline;

[0022] S4: The image processing server calculates the hatch position and hatch size based on the image data of the upper surface of the ship and the calculated ship parameter data. Specifically, the image processing server determines that the operating ship has n cabins based on the characteristic points of the hatch image, and numbers the hatches in the order of 1, 2...n from the bow to the bridge.

[0023] L x =(S 基准点A -S 基准点B )×P x舱口前后 / P 交点AB ;

[0024] Among them L x is the hatch length, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点Bis the actual position value of the dock positioning reference point B, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline;

[0025] W x =W 船舶 ×P x舱口中心左右 / P x舱船舶左右 ;

[0026] Where W x is the hatch width, W 船舶 is the ship width, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P x舱口中心左右 is the pixel value between the center points of the sea and land sides of the x hatch, P x舱船舶左右 The pixel value between the centerline of the x hatch on the sea and land sides and the intersection of the sea and land sides of the ship;

[0027] S x =S 基准点A -(S 基准点A -S 基准点B )×P x舱至交点A / P 交点AB ;

[0028] Among them S x is the position value of the center point of the x-hatch trolley direction, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P x舱至交点A P is the pixel value between the center point of the x hatch trolley direction and the dock positioning reference point A along the trolley running direction to the image intersection point A of the ship's middle line, 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline;

[0029] S5: The PLC module drives the grab ship unloader to shift and align the cabin according to the ship unloading scheduling task order. The control method of the grab ship unloader trolley shifting and aligning the cabin is as follows:

[0030] The grab ship unloader performs the unloading task according to the unloading scheduling work order. When the work order shows that the current hatch number to be operated is x, the corresponding hatch center position S detected by the image recognition unit is x The position value of the hatch for cabin transfer

[0031] The trolley mechanism running speed is given by V 大车=(2×a×(S 实际 -S x )) 0.5 ;

[0032] Where a is the acceleration of the trolley mechanism, S 实际 is the actual position value of the vehicle;

[0033] S6: When the cabin transfer and alignment are completed, the ship hatch rapid positioning detection system based on image recognition technology completes the detection and the unloading operation begins.

[0034] Due to the adoption of the above-mentioned technical solution, the present invention provides a system and method for rapid positioning and detection of ship hatches based on image recognition technology, wherein the system is based on image recognition technology, quickly samples images of the ship surface after the ship is berthed, and quickly locates the size and position of each hatch on the ship through algorithm analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a structural diagram of the ship hatch rapid positioning detection system based on image recognition technology of the present invention

[0037] Figure 2 This is the system layout diagram of the ship hatch rapid positioning detection system based on image recognition technology of the present invention

[0038] Figure 3 The wiring diagram of the image recognition unit in the present invention is

[0039] Figure 4 The wiring diagram of the PLC control unit in the present invention is

[0040] Figure 5 The wiring diagram of the trolley drive unit in the present invention

[0041] Figure 6 This is an illustration of the sampling image data of the ship's upper surface in the present invention.

[0042] Figure 7 This is the control flow chart of the ship hatch rapid positioning detection system based on image recognition technology in the present invention DETAILED DESCRIPTION

[0043] To make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention:

[0044] like Figure 1 The system shown is a ship hatch rapid positioning detection system based on image recognition technology, comprising: an image recognition unit, a PLC control unit and a trolley drive unit.

[0045] The image recognition unit consists of a high-definition camera mounted in the middle of the boom, an image processing server installed in the PLC room, and a dock positioning reference point located on the ground. The high-definition camera samples images of the ship's upper surface. The image processing server processes these images through an algorithm to detect the position and dimensions of each hatch, transmitting the detection results to the PLC control unit. The dock positioning reference point is a light pole topped with a red aviation obstruction light, which assists in the calculation of the position detection of each hatch. The PLC control unit consists of a PLC module and a switch installed in the PLC room. The PLC module receives the hatch position and dimension data detected by the image recognition unit and controls the gantry drive unit to achieve precise alignment between the grab ship unloader and the working hatch. The gantry drive unit consists of a gantry inverter installed in the electrical room and a gantry motor mounted on the grab ship unloader trolley. The gantry inverter receives control commands from the PLC control unit to control the gantry motor, achieving precise alignment of the grab ship unloader with the working hatch.

[0046] Example:

[0047] The specific control method of the ship hatch rapid positioning detection system based on image recognition technology is as follows:

[0048] Step 1: Before the ship berths, the grab ship unloader stops at the ship's hatch in the bow direction to quickly identify and detect the position and wait for the ship to berth;

[0049] Step 2: After the ship docks, the ship hatch rapid positioning detection system based on image recognition technology is activated;

[0050] Step 3: The PLC module in the PLC control unit U2 controls the high-definition camera in the image recognition unit U1 to take pictures and samples of the upper surface of the ship;

[0051] Step 4: The image processing server calculates the length of the ship, the position of the bow, and the position in front of the ship's bridge based on the image data of the ship's upper surface and the image data of the dock positioning reference point. Figure 6 The diagram of the sampling image data on the ship's upper surface explains the specific calculation method:

[0052] L船 =(S 基准点A -S 基准点B )×P 船舶头尾 / P 交点AB ;

[0053] Among them L 船 is the length of the ship, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船舶头尾 is the pixel value of the middle point between the bow and the front of the ship’s bridge, P 交点AB It is the pixel value between the image intersection point A from the dock positioning reference point A along the trolley running direction to the ship's center line and the image intersection point B from the dock positioning reference point B along the trolley running direction to the ship's center line.

[0054] S 船头 =S 基准点A +(S 基准点A -S 基准点B )×P 船头至交点A / P 交点AB ;

[0055] Among them S 船头 is the bow position value, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船头至交点A P is the pixel value between the image intersection point A from the bow to the dock positioning reference point A along the trolley running direction to the ship's center line, 交点AB It is the pixel value between the image intersection point A from the dock positioning reference point A along the trolley running direction to the ship's center line and the image intersection point B from the dock positioning reference point B along the trolley running direction to the ship's center line.

[0056] S 驾驶楼 =S 基准点B +(S 基准点B -S 基准点A )×P 驾驶楼至交点B / P 交点AB ;

[0057] Among them S 船头 is the position value in front of the ship's bridge, S 基准点B is the actual position value of the dock positioning reference point B, S 基准点B is the actual position value of the dock positioning reference point B, P 驾驶楼至交点B P is the pixel value between the middle point in front of the bridge and the dock positioning reference point B along the direction of the trolley's movement to the image intersection point B of the ship's middle line. 交点ABIt is the pixel value between the image intersection point A from the dock positioning reference point A along the trolley running direction to the ship's center line and the image intersection point B from the dock positioning reference point B along the trolley running direction to the ship's center line.

[0058] Step 5: The image processing server calculates the hatch position and hatch size based on the image data of the ship's upper surface and the calculated ship length and other data. Figure 6 The diagram of the sampling image data on the ship's upper surface explains the specific calculation method:

[0059] The image processing server determines that the operating vessel has n cabins based on the characteristic points of the hatch image, and numbers the hatches in the order of 1, 2, ..., n from the bow to the bridge.

[0060] L x =(S 基准点A -S 基准点B )×P x舱口前后 / P 交点AB ;

[0061] Among them L x is the hatch length, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P 交点AB It is the pixel value between the image intersection point A from the dock positioning reference point A along the trolley running direction to the ship's center line and the image intersection point B from the dock positioning reference point B along the trolley running direction to the ship's center line.

[0062] W x =W 船舶 ×P x舱口中心左右 / P x舱船舶左右 ;

[0063] Where W x is the hatch width, W 船舶 is the ship width, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P x舱口中心左右 is the pixel value between the center points of the sea and land sides of the x hatch, P x舱船舶左右 It is the pixel value between the center line of the land and sea sides of the x hatch and the intersection of the ship's edge on the land and sea sides.

[0064] S x =S 基准点A -(S 基准点A -S 基准点B )×P x舱至交点A / P 交点AB ;

[0065] Among them S x is the position value of the center point of the x-hatch trolley direction, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P x舱至交点A P is the pixel value between the center point of the x hatch trolley direction and the dock positioning reference point A along the trolley running direction to the image intersection point A of the ship's middle line, 交点AB It is the pixel value between the image intersection point A from the dock positioning reference point A along the trolley running direction to the ship's center line and the image intersection point B from the dock positioning reference point B along the trolley running direction to the ship's center line.

[0066] Step 6: The PLC module drives the grab ship unloader to shift and align the cabin according to the ship unloading scheduling task order. The control method of the grab ship unloader trolley shifting and aligning the cabin is as follows:

[0067] The grab ship unloader performs the unloading task according to the unloading scheduling work order. When the work order shows that the current hatch number to be operated is x, the corresponding hatch center position S detected by the image recognition unit is x It is the position value of the hatch for cabin transfer.

[0068] The trolley mechanism running speed is given by V 大车 =(2×a×(S 实际 -S x )) 0.5 ;

[0069] Where a is the acceleration of the trolley mechanism, S 实际 The actual position value of the vehicle.

[0070] Step 7: The cabin transfer and alignment are completed, the ship hatch rapid positioning detection system based on image recognition technology has completed the detection, and the unloading operation begins.

[0071] Example

[0072] Taking an 1800t / h grab ship unloader and a 50,000t bulk carrier as examples, the control process of the ship hatch rapid positioning detection system based on image recognition technology is explained. Figure 7As shown: before the ship berths, the grab ship unloader stops at the ship hatch rapid identification and detection position in the bow direction and waits for the ship to berth; after the ship berths, the ship hatch rapid positioning and detection system function based on image recognition technology is activated; first, the PLC module in the PLC control unit U2 controls the high-definition camera in the image recognition unit U1 to shoot and sample the upper surface of the ship; then, the image processing server calculates the length of the ship based on the captured image data of the upper surface of the ship and the image data of the dock positioning reference point; then, the image processing server calculates the hatch position and hatch size based on the captured image data of the upper surface of the ship and the calculated ship length data; after completing the above calculations, the PLC module drives the grab ship unloader to realize cabin shifting and alignment according to the ship unloading scheduling task work order; when the cabin shifting and alignment is completed, the ship hatch rapid positioning and detection system based on image recognition technology completes the detection and starts the ship unloading operation.

[0073] This invention discloses a system and method for rapid hatch positioning and detection based on image recognition technology. Both the system and method significantly reduce the time required for bulk material terminals to detect the position and dimensions of operating vessel hatches, thereby improving the overall operational efficiency of bulk material terminals. The development of this system significantly enhances the market competitiveness of grab ship unloaders. Furthermore, a single system for rapid hatch positioning and detection based on image recognition technology reduces operational costs, resulting in increased output.

[0074] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A ship hatch rapid positioning detection system based on image recognition technology, characterized in that include: The image recognition unit includes a high-definition camera installed in the middle of the boom, an image processing server installed in the PLC room, and dock positioning reference points arranged on the ground. The high-definition camera collects images of the upper surface of the ship. The image processing server performs algorithm processing on the sampled upper surface images of the ship to detect the position and size of each hatch of the ship. The dock positioning reference points are used to assist in the position information of each hatch of the ship. A PLC control unit, comprising a PLC module and a switch installed in a PLC room, wherein the PLC module receives the position and size data of the ship hatch detected by the image recognition unit and outputs alignment information between the grab ship unloader and the operating hatch; The trolley drive unit includes a trolley inverter installed in the electrical room, a trolley motor installed on the grab ship unloader trolley, and a trolley absolute encoder. The trolley inverter receives control instructions from the PLC control unit, controls the normal operation of the trolley motor, and aligns the operating hatch of the grab ship unloader.

2. The ship hatch rapid positioning and detection system based on image recognition technology according to claim 1 is characterized by: The high-definition camera uses the TCP / IP protocol to transmit the collected image data of the upper surface of the ship to the image processing server.

3. The ship hatch rapid positioning and detection system based on image recognition technology according to claim 1 is characterized by: The image processing server acquires the position data and size data of each hatch of the ship and transmits it to the PLC module via the switch in the PLC control unit using the TCP / IP protocol.

4. The ship hatch rapid positioning and detection system based on image recognition technology according to claim 1, characterized in that: The terminal positioning reference point adopts a lamp pole of a certain height, with a red aviation obstruction light installed on the top, which is continuously lit and arranged at a certain interval on the sea side of the belt corridor of the terminal surface.

5. The ship hatch rapid positioning and detection system based on image recognition technology according to claim 1 is characterized in that: After obtaining the position and size data of each hatch of the ship, the PLC module performs cabin shifting scheduling control according to the scheduling instructions of the superior terminal management and control system. The scheduling control instructions are transmitted to the trolley inverter via the switch in the form of Profinet protocol, and then drive the trolley motor to realize the cabin shifting and positioning of the grab bucket unloader.

6. The ship hatch rapid positioning and detection system based on image recognition technology according to claim 1, characterized in that: The trolley absolute value encoder detects the position of the trolley in real time and transmits the detection data to the PLC module via the switch in the form of Profinet protocol to determine whether the grab ship unloader has completed the alignment.

7. A control method for a ship hatch rapid positioning detection system based on image recognition technology, using the ship hatch rapid positioning detection system according to any one of claims 1 to 6, characterized in that include: S1: After the ship docks, the ship's hatch is located and detected based on image recognition technology; S2: The PLC module controls the high-definition camera in the image recognition unit to take pictures and samples of the upper surface of the ship; S3: The image processing server calculates the ship's parameter data based on the captured image data of the ship's upper surface and the image data of the dock positioning reference point, including the length, bow position value, and position value information in front of the ship's bridge: L 船 =(S 基准点A -S 基准点B )×P 船舶头尾 / P 交点AB ; Among them L 船 is the length of the ship, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船舶头尾 is the pixel value of the middle point between the bow and the front of the ship’s bridge, P 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline; S 船头 =S 基准点A +(S 基准点A -S 基准点B )×P 船头至交点A / P 交点AB ; Among them S 船头 is the bow position value, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P 船头至交点A P is the pixel value between the image intersection point A from the bow to the dock positioning reference point A along the trolley running direction to the ship's center line, 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline; S 驾驶楼 =S 基准点B +(S 基准点B -S 基准点A )×P 驾驶楼至交点B / P 交点AB ; Among them S 船头 is the position value in front of the ship's bridge, S 基准点B is the actual position value of the dock positioning reference point B, S 基准点B is the actual position value of the dock positioning reference point B, P 驾驶楼至交点B P is the pixel value between the middle point in front of the bridge and the dock positioning reference point B along the direction of the trolley's movement to the image intersection point B of the ship's middle line. 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline; S4: The image processing server calculates the hatch position and hatch size based on the image data of the upper surface of the ship and the calculated ship parameter data. Specifically, the image processing server determines that the operating ship has n cabins based on the characteristic points of the hatch image, and numbers the hatches in the order of 1, 2...n from the bow to the bridge. L x =(S 基准点A -S 基准点B )×P x舱口前后 / P 交点AB ; Among them L x is the hatch length, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P 交点AB The pixel value between the image intersection point A from the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B from the dock positioning reference point B along the trolley's running direction to the ship's centerline; W x =W 船舶 ×P x舱口中心左右 / P x舱船舶左右 ; Where W x is the hatch width, W 船舶 is the ship width, P x舱口前后 is the pixel value between the center points of the front and back edges of the x hatch, P x舱口中心左右 is the pixel value between the center points of the sea and land sides of the x hatch, P x舱船舶左右 The pixel value between the centerline of the x hatch on the sea and land sides and the intersection of the sea and land sides of the ship; S x =S 基准点A -(S 基准点A -S 基准点B )×P x舱至交点A / P 交点AB ; Among them S x is the position value of the center point of the x-hatch trolley direction, S 基准点A is the actual position value of the dock positioning reference point A, S 基准点B is the actual position value of the dock positioning reference point B, P x舱至交点A P is the pixel value between the center point of the x hatch trolley direction and the dock positioning reference point A along the trolley running direction to the image intersection point A of the ship's middle line, 交点AB The pixel value between the image intersection point A of the dock positioning reference point A along the trolley's running direction to the ship's centerline and the image intersection point B of the dock positioning reference point B along the trolley's running direction to the ship's centerline; S5: The PLC module drives the grab ship unloader to shift and align the cabin according to the ship unloading scheduling task order. The control method of the grab ship unloader trolley shifting and aligning the cabin is as follows: The grab ship unloader performs the unloading task according to the unloading scheduling work order. When the work order shows that the current hatch number to be operated is x, the corresponding hatch center position S detected by the image recognition unit is x The position value of the hatch for cabin transfer The trolley mechanism running speed is given by V 大车 =(2×a×(S 实际 -S x )) 0.5 ; Where a is the acceleration of the trolley mechanism, S 实际 is the actual position value of the vehicle; S6: When the cabin transfer and alignment are completed, the ship hatch rapid positioning detection system based on image recognition technology completes the detection and the unloading operation begins.

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