Station planning-based ship unloader multi-machine collaborative operation method and system

Abstract

The invention discloses a ship unloader multi-machine collaborative operation method and system based on station planning, and relates to the technical field of operation collaboration.The ship unloader multi-machine collaborative operation method comprises the steps that a potential energy distribution field of the cabin material surface is constructed in real time through a three-dimensional laser scanning technology, and the material grabbing difficulty is quantized into a potential energy value; establishing a mathematical model between the efficiency difference and the potential energy demand by monitoring the multi-machine operation efficiency in real time; when cooperative unbalance is detected, an optimal compensation station is automatically calculated, a cart displacement instruction is generated, low-efficiency equipment is driven to move to a higher potential energy area for operation, self-balancing of system rhythm is achieved through dynamic optimization of physical stations, the overall efficiency of multi-machine cooperative operation is effectively improved, and the system is suitable for large-scale popularization and application. The problems that in the prior art, when multiple ship unloaders work cooperatively, due to uneven material distribution, single-machine takt asynchronization is caused, and the systematic efficiency is reduced are solved.

Description

Technical Field

[0001] This invention relates to the field of collaborative operation technology, and in particular to a method and system for multi-machine collaborative operation of ship unloaders based on station planning. Background Technology

[0002] With the continuous improvement of port automation, bulk cargo terminals are placing higher demands on the efficiency and collaborative control capabilities of ship unloaders. During multi-machine collaborative operations, uneven material distribution within the ship's hold, differences in material properties, and varying mechanical response characteristics can easily lead to asynchronous operation cycles for each unloader, resulting in suboptimal overall system efficiency. Traditional collaborative operation methods primarily rely on fixed station assignments or manual experience-based scheduling, which struggles to respond in real-time to dynamic changes in material handling difficulty and cannot quantitatively assess the impact of material distribution on operational efficiency.

[0003] In existing technologies, the common approach is to evenly allocate the work area or plan the path based on a fixed time sequence. This does not fully consider the coupling relationship between the material surface morphology and the gripping efficiency. As a result, inefficient equipment continues to work in areas that are difficult to grip, while efficient equipment waits after completing its assigned tasks in advance, causing systemic congestion and a decline in overall work efficiency. Summary of the Invention

[0004] This application provides a method and system for multi-machine collaborative operation of ship unloaders based on station planning. It solves the problems of asynchronous single-machine cycle time and systemic efficiency reduction caused by uneven material distribution when multiple ship unloaders are operating collaboratively in the prior art. It realizes adaptive station planning and load balancing based on material status during multi-machine collaborative operation.

[0005] This application provides a method for multi-machine collaborative operation of ship unloaders based on station location planning. This method is applied to a multi-machine collaborative operation system for ship unloaders based on station location planning, and includes: Collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders; The three-dimensional point cloud data of the material surface is mapped onto a preset two-dimensional horizontal projection grid, and the material grabbing potential energy value in each grid cell is calculated to construct a material pile potential energy field that can characterize the material distribution state in the compartment at the current moment. Based on real-time operation parameters, the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window is calculated in parallel, and it is determined whether the dynamic efficiency difference exceeds the preset collaborative imbalance threshold. When the dynamic efficiency difference exceeds the collaborative imbalance threshold, the current position of the main trolley of the less efficient ship unloader is used as the reference point to search for the target grid cell in the potential energy field of the material pile. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. Displacement compensation commands for the trolley traveling mechanism are generated based on the physical coordinates of the target mesh cells. The displacement compensation command is sent to the programmable logic controller of the inefficient ship unloader, driving the trolley traveling mechanism to move to the new target station and complete the load rebalancing.

[0006] Furthermore, the step of mapping the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid and calculating the material grasping potential energy value within each grid cell includes: Point cloud height data of material surfaces inside the ship's hold were obtained by using lidar scanning. The bottom plane of the ship's hold is divided into For each rectangular grid cell, the mean height and standard deviation of the point cloud height falling into each grid cell are statistically analyzed. Calculate the potential energy of material grasping using the formula. Material grasping potential energy value of each grid cell The material grasping potential energy value is used to reflect how easily the material can be grasped; The formula for calculating the potential energy of material grasping is: , in, This represents the average height of the point cloud within this grid cell; This refers to the maximum permissible stacking height in the ship's hold; This represents the standard deviation of the point cloud height within the grid, used to reflect the flatness of the material. This is the constant of the entry angle when the grab bucket of the unloader closes; and These are the preset height weighting coefficient and flatness weighting coefficient, respectively; and These are the row and column indices of a two-dimensional horizontally projected grid.

[0007] Furthermore, the step of calculating the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters includes: Extracting the past two adjacent ship unloaders The cumulative unloading weight within minutes and the corresponding number of operation cycles; Obtain the average operating cycle of the two ship unloaders in a single cycle; The normalized dynamic efficiency difference is obtained by measuring the deviation ratio of the theoretical grasping capabilities of the two machines per unit time.

[0008] Furthermore, when the dynamic efficiency difference exceeds the cooperative imbalance threshold, the process of retrieving target grid cells in the stockpile potential energy field, using the current trolley position of the less efficient ship unloader as a reference point, includes: Determine the grid coordinates corresponding to the current position of the inefficient ship unloader. and its current material grasping potential energy value ; The minimum potential energy increase required to level off the efficiency gap is calculated using the potential energy demand increment formula. ; The formula for the increase in potential energy demand is: ,in, This represents the dynamic efficiency difference. This represents the current telescopic length of the unloader boom. The rated speed for the large vehicle to run; is the potential energy conversion coefficient.

[0009] Furthermore, the step of retrieving the target grid cell in the potential energy field of the material pile also includes: The grid coordinates corresponding to the current position of the inefficient ship unloader. Centered on the maximum allowable single movement distance of the unloading machine's trolley. Within a search domain with a radius of , traverse and search all candidate mesh cells; Filter out the first one that meets the conditions Material grasping potential energy value of each grid cell The candidate grid set, To capture the current potential energy value of the material, This represents the minimum potential energy increase. In the candidate grid set, select distance The grid cell with the closest Euclidean distance is used as the target grid cell. .

[0010] Furthermore, the step of generating displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target mesh cells includes: Calculate the projected distance between the center coordinates of the target mesh cell and the current position coordinates of the trolley along the trolley track. ; The speed pulse sequence is generated and sent to the frequency converter using the trolley displacement control function; The trolley displacement control function includes the following constraints: , And it must meet the following conditions: ; in, for The vehicle speed command at any given moment; and These are the preset starting acceleration and braking deceleration of the main vehicle motor, respectively; This refers to the cruising speed of the large vehicle. According to The time points calculated in reverse.

[0011] Furthermore, the step of sending the displacement compensation command to the programmable logic controller of the inefficient ship unloader to drive the trolley traveling mechanism to move to the new target work station includes: After receiving the displacement compensation command, the programmable logic controller first checks whether the target station is outside the safe collision avoidance distance of the adjacent ship unloader. If the distance is within a safe distance, the displacement compensation command is truncated and moved to the safe boundary. If the vehicle is outside a safe distance, the brakes of the trolley are released and a speed pulse sequence is executed.

[0012] This application provides a multi-machine collaborative operation system for ship unloaders based on station planning, which is used to realize a multi-machine collaborative operation method for ship unloaders based on station planning. The system includes: a data acquisition module, a potential energy field construction module, an efficiency difference calculation module, a target grid retrieval module, a displacement command generation module, and a station driving module. The data acquisition module is used to collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders. The potential energy field construction module is used to map the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid, calculate the material grabbing potential energy value in each grid cell, and construct a material pile potential energy field that can characterize the material distribution state in the cabin at the current moment. The efficiency difference calculation module is used to calculate the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters, and to determine whether the dynamic efficiency difference exceeds a preset collaborative imbalance threshold. The target grid retrieval module is used to retrieve target grid cells in the potential energy field of the material pile when the dynamic efficiency difference exceeds the collaborative imbalance threshold, taking the current trolley position of the less efficient ship unloader as the reference point. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. The displacement command generation module is used to generate displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target grid cell. The station drive module is used to send displacement compensation commands to the programmable logic controller of the inefficient ship unloader, drive the trolley traveling mechanism to move to the new target station, and complete the load rebalancing.

[0013] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: The multi-machine collaborative operation method for ship unloaders based on station planning provided in this application collects three-dimensional point cloud data of the material surface in the target ship hold and real-time operating parameters of multiple ship unloaders; maps the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid, calculates the material grabbing potential energy value in each grid cell, and constructs a stockpile potential energy field representing the current material distribution state in the hold; according to the real-time operating parameters, the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window is calculated in parallel, and it is determined whether it exceeds the collaborative imbalance threshold; when the dynamic efficiency difference exceeds the threshold, the current trolley position of the less efficient ship unloader is used as the reference point, and a target grid cell that meets the potential energy increment requirement is searched in the stockpile potential energy field; displacement compensation commands for the trolley traveling mechanism are generated according to the physical coordinates of the target grid cell, driving the equipment to move to a new target operating station and completing load rebalancing.

[0014] In this process, by constructing a discrete material pile potential energy field, the difficulty of grasping materials, which is difficult to quantify, is transformed into a calculable potential energy value, solving the problem that the machine cannot automatically identify where the material is easy to grasp. Furthermore, by establishing a mapping relationship between efficiency difference and potential energy requirement, the minimum potential energy increase required is calculated inversely based on the inertia of the robotic arm and the current efficiency gap. This allows for the determination of the station adjustment amount based on the efficiency difference, avoiding mechanical waste caused by simple task redistribution. Even further, by converting virtual coordinates into specific pulse control signals for the trolley's traveling mechanism and integrating a safety collision avoidance mechanism, adaptive rebalancing of the load is achieved by changing the target station position, while ensuring operational safety, thus improving the overall efficiency and stability of multi-machine collaborative operations. Attached Figure Description

[0015] Figure 1 A flowchart of a multi-machine collaborative operation method for ship unloaders based on station planning provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of a multi-machine collaborative operation system for ship unloaders based on station planning, provided in an embodiment of this application. Detailed Implementation

[0016] This application provides a method and system for multi-machine collaborative operation of ship unloaders based on station planning. It solves the problems of asynchronous single-machine cycle and systemic efficiency decline caused by uneven material distribution when multiple ship unloaders are operating collaboratively in the prior art. By constructing a potential energy field of the material pile, establishing a mapping between efficiency and potential energy, and dynamically adjusting the target station, it realizes adaptive station planning and load balancing based on the material state during multi-machine collaborative operation.

[0017] In related technologies, multi-unloader collaborative operations mainly employ fixed station division or time-series-based path planning, failing to consider the dynamic impact of material distribution on operational efficiency. When materials within the hold are unevenly distributed, caking, or have varying surface roughness, the actual operational efficiency of unloaders at different stations will differ significantly. Traditional methods lack effective efficiency monitoring and compensation mechanisms, leading to efficient equipment waiting for inefficient equipment and a decline in overall system efficiency. Station adjustments based on manual experience are slow to respond and difficult to quantify precisely, failing to meet the efficiency optimization requirements of automated terminals.

[0018] Based on the aforementioned technical issues, this application provides a multi-machine collaborative operation method for ship unloaders based on station planning. This method uses three-dimensional laser scanning technology to construct the potential energy distribution field on the surface of the material in the ship's hold in real time, quantifying the difficulty of material grabbing into a potential energy value. By monitoring the efficiency of multi-machine operation in real time, a mathematical model is established between efficiency difference and potential energy demand. When a collaborative imbalance is detected, the optimal compensation station position is automatically calculated and a trolley displacement command is generated to drive inefficient equipment to move to a higher potential energy area for operation. Through dynamic optimization of physical station positions, the system cycle time is self-balanced, effectively improving the overall efficiency of multi-machine collaborative operation.

[0019] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0020] like Figure 1 As shown, this application provides a method for multi-machine collaborative operation of ship unloaders based on station planning. This method is applied to a multi-machine collaborative operation system of ship unloaders based on station planning, and includes: Collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders; The three-dimensional point cloud data of the material surface is mapped onto a preset two-dimensional horizontal projection grid, and the material grabbing potential energy value in each grid cell is calculated to construct a material pile potential energy field that can characterize the material distribution state in the compartment at the current moment. Based on real-time operation parameters, the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window is calculated in parallel, and it is determined whether the dynamic efficiency difference exceeds the preset collaborative imbalance threshold. When the dynamic efficiency difference exceeds the collaborative imbalance threshold, the current position of the main trolley of the less efficient ship unloader is used as the reference point to search for the target grid cell in the potential energy field of the material pile. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. Displacement compensation commands for the trolley traveling mechanism are generated based on the physical coordinates of the target mesh cells. The displacement compensation command is sent to the programmable logic controller of the inefficient ship unloader, driving the trolley traveling mechanism to move to the new target station and complete the load rebalancing.

[0021] In this embodiment, the three-dimensional point cloud data of the material surface inside the target ship's hold is collected by dynamically scanning and stitching the data during the empty return phase after each grab and closure of the ship unloader using a two-dimensional lidar mounted on the gantry as the trolley moves.

[0022] After load rebalancing is completed, the following is also included: After the ship unloader reaches the new target work station and completes the preset work cycle, the efficiency monitoring step is triggered again. If the dynamic efficiency difference is still higher than the collaborative imbalance threshold, it is determined that the material in the area is caking, triggering an audible and visual alarm and requiring manual intervention.

[0023] Furthermore, the step of mapping the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid and calculating the material grasping potential energy value within each grid cell includes: Point cloud height data of material surfaces inside the ship's hold were obtained by using lidar scanning. The bottom plane of the ship's hold is divided into For each rectangular grid cell, the mean height and standard deviation of the point cloud height falling into each grid cell are statistically analyzed. Calculate the potential energy of material grasping using the formula. Material grasping potential energy value of each grid cell The material grasping potential energy value is used to reflect how easily the material can be grasped; The formula for calculating the potential energy of material grasping is: , in, The average height of the point cloud within this grid cell represents the material fullness; the higher the height, the greater the potential energy. This refers to the maximum permissible stacking height in the ship's hold; The standard deviation of the point cloud height within the grid is used to reflect the flatness of the material and characterize the roughness and breakage of the material surface. The larger the standard deviation, the more disordered the material is and the greater the gripping resistance. The angle constant at which the grab bucket of the ship unloader closes reflects the sensitivity of the mechanical structure to ground unevenness; and These are the preset height weighting coefficient and flatness weighting coefficient, obtained through regression analysis of full bucket rate and height and flatness in historical operation data; and These are the row and column indices of a two-dimensional horizontally projected grid. Indicates the row number of the grid. The column number represents the grid and is used to uniquely identify the location of each grid cell. For example, a grid cell... This corresponds to a rectangular area on the bottom plane of the ship's hold.

[0024] In this embodiment, the cut-in angle constant varies depending on the grab design. The method of obtaining it is as follows: directly obtain the theoretical angle between the toothed plate and the horizontal plane when the grab is closed from the grab mechanical design drawings; or through on-site calibration: perform multiple grab closure tests on a flat material surface, use an angle sensor to measure the actual angle between the grab teeth and the material when they are in contact, and take the average value as the cut-in angle constant.

[0025] The methods for obtaining the height weighting coefficient and the flatness weighting coefficient include: Record the average height of the corresponding grid cell for each capture. Standard deviation of height and the actual weight grasped in this grab. ; Based on actual gripping weight As the dependent variable, with and Using the independent variable, perform a forced multiple linear regression that passes through the origin: The obtained temporary calculation coefficients and Used to calculate weights and ; The regression coefficients were normalized. , .

[0026] Furthermore, the step of calculating the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters includes: Extracting the past two adjacent ship unloaders Cumulative unloading weight within minutes , and the corresponding number of job cycles , ; Obtain the average operating cycle of the two ship unloaders. , ; Obtain the normalized dynamic efficiency difference The specific method for obtaining this information is the deviation ratio of the theoretical grasping capabilities of the two machines per unit time.

[0027] In this embodiment, the theoretical grabbing capacity is the maximum operating capacity of the ship unloader under ideal conditions. It is obtained by multiplying the rated grab capacity of the ship unloader by the maximum theoretical number of cycles per unit time. The number of cycles is based on the movement speed of the mechanism.

[0028] Deviation ratio and normalization calculation: The dynamic efficiency of the two ship unloaders is obtained as follows: , ,in, For unloading weight, For time windows.

[0029] Normalized dynamic efficiency difference .

[0030] Furthermore, when the dynamic efficiency difference exceeds the cooperative imbalance threshold, the process of retrieving target grid cells in the stockpile potential energy field, using the current trolley position of the less efficient ship unloader as a reference point, includes: Determine the grid coordinates corresponding to the current position of the inefficient ship unloader. and its current material grasping potential energy value ; The minimum potential energy increase required to level off the efficiency gap is calculated using the potential energy demand increment formula. ; The formula for the increase in potential energy demand is: ; in, This represents the dynamic efficiency difference. This represents the current telescopic length of the unloader boom. The rated speed for the trolley operation. This is used to illustrate the working inertia under the current robotic arm span. The longer the arm span and the slower the speed, the higher the demand for material potential energy. In other words, it is necessary to grab materials that are better to compensate for the slowness of the machine. The potential energy conversion coefficient is determined by comparing the ratio of historical full-capacity to potential energy value.

[0031] In this embodiment, the potential energy conversion coefficient The acquisition steps are as follows: Record the material grabbing potential energy value of the target station when the ship unloader is operating stably at the grid coordinates (i,j) corresponding to different target stations. and its corresponding average actual operating efficiency Unit: tons / hour; Perform forced linear regression analysis through the origin: Take the coefficients obtained from regression analysis The value of is used as the potential energy conversion coefficient. The average actual operating efficiency is calculated by dividing the total unloading weight by the total time during which the ship unloader operates continuously at a specific station (i,j) for a certain period of time.

[0032] Furthermore, the step of retrieving the target grid cell in the potential energy field of the material pile also includes: The grid coordinates corresponding to the current position of the inefficient ship unloader. Centered on the maximum allowable single movement distance of the unloading machine's trolley. Within a search domain with a radius of , traverse and search all candidate mesh cells; Filter out the first one that meets the conditions Material grasping potential energy value of each grid cell The candidate grid set, To capture the current potential energy value of the material, This represents the minimum potential energy increase. In the candidate grid set, select distance The grid cell with the closest Euclidean distance is used as the target grid cell. .

[0033] Furthermore, the step of generating displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target mesh cells includes: Calculate the projected distance between the center coordinates of the target mesh cell and the current position coordinates of the trolley along the trolley track. ; The speed pulse sequence is generated and sent to the frequency converter using the trolley displacement control function; The trolley displacement control function includes the following constraints: , And it must meet the following conditions: ; in, for The vehicle speed command at any given moment; and These are the preset starting acceleration and braking deceleration of the main vehicle motor, respectively; This refers to the cruising speed of the large vehicle. According to The time points are calculated in reverse. By executing the calculated station positioning plan, operation delays caused by sudden stops and shaking can be avoided.

[0034] In this embodiment, acceleration and deceleration Methods of obtaining the rated acceleration and deceleration: Refer to the motor performance parameter table provided by the ship unloader manufacturer to directly obtain the rated acceleration and deceleration; or conduct on-site testing: Control the trolley to run unloaded, accelerate from a standstill to the rated speed, and record the time. ,calculate Similarly, the braking deceleration can be obtained. The test was conducted multiple times, and the average value was taken.

[0035] Furthermore, the step of sending the displacement compensation command to the programmable logic controller of the inefficient ship unloader to drive the trolley traveling mechanism to move to the new target work station includes: After receiving the displacement compensation command, the programmable logic controller first checks whether the target station is outside the safe collision avoidance distance of the adjacent ship unloader. If the distance is within a safe distance, the displacement compensation command is truncated and moved to the safe boundary. If the vehicle is outside a safe distance, the brakes of the trolley are released and a speed pulse sequence is executed.

[0036] like Figure 2 As shown, this application provides a multi-machine collaborative operation system for ship unloaders based on station planning, which is used to implement the multi-machine collaborative operation method for ship unloaders based on station planning. The system includes: a data acquisition module, a potential energy field construction module, an efficiency difference calculation module, a target grid retrieval module, a displacement command generation module, and a station driving module. The data acquisition module is used to collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders. The potential energy field construction module is used to map the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid, calculate the material grabbing potential energy value in each grid cell, and construct a material pile potential energy field that can characterize the material distribution state in the cabin at the current moment. The efficiency difference calculation module is used to calculate the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters, and to determine whether the dynamic efficiency difference exceeds a preset collaborative imbalance threshold. The target grid retrieval module is used to retrieve target grid cells in the potential energy field of the material pile when the dynamic efficiency difference exceeds the collaborative imbalance threshold, taking the current trolley position of the less efficient ship unloader as the reference point. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. The displacement command generation module is used to generate displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target grid cell. The station drive module is used to send displacement compensation commands to the programmable logic controller of the inefficient ship unloader, drive the trolley traveling mechanism to move to the new target station, and complete the load rebalancing.

[0037] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0038] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0039] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0040] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0041] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0042] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for multi-machine collaborative operation of ship unloaders based on station planning, characterized in that, Includes the following steps: Collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders; The three-dimensional point cloud data of the material surface is mapped onto a preset two-dimensional horizontal projection grid, and the material grabbing potential energy value in each grid cell is calculated to construct a material pile potential energy field that can characterize the material distribution state in the compartment at the current moment. Based on real-time operation parameters, the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window is calculated in parallel, and it is determined whether the dynamic efficiency difference exceeds the preset collaborative imbalance threshold. When the dynamic efficiency difference exceeds the collaborative imbalance threshold, the current position of the main trolley of the less efficient ship unloader is used as the reference point to search for the target grid cell in the potential energy field of the material pile. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. Displacement compensation commands for the trolley traveling mechanism are generated based on the physical coordinates of the target mesh cells. The displacement compensation command is sent to the programmable logic controller of the inefficient ship unloader, driving the trolley traveling mechanism to move to the new target station and complete the load rebalancing.

2. The multi-machine collaborative operation method for ship unloaders based on station planning as described in claim 1, characterized in that, The step of mapping the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid and calculating the material grasping potential energy value within each grid cell includes: Point cloud height data of material surfaces inside the ship's hold were obtained by using lidar scanning. The bottom plane of the ship's hold is divided into For each rectangular grid cell, the mean height and standard deviation of the point cloud height falling into each grid cell are statistically analyzed. Calculate the potential energy of material grasping using the formula. Material grasping potential energy value of each grid cell The material grasping potential energy value is used to reflect the ease with which the material can be grasped; The formula for calculating the potential energy of material grasping is: ， in, This represents the average height of the point cloud within this grid cell; This refers to the maximum permissible stacking height in the ship's hold; This represents the standard deviation of the point cloud height within the grid, used to reflect the flatness of the material. This is the constant of the entry angle when the grab bucket of the unloader closes; and These are the preset height weighting coefficient and flatness weighting coefficient, respectively; and These are the row and column indices of a two-dimensional horizontally projected grid.

3. The multi-machine collaborative operation method for ship unloaders based on station planning as described in claim 1, characterized in that, The step of calculating the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters includes: Extracting the past two adjacent ship unloaders The cumulative unloading weight within minutes and the corresponding number of operation cycles; Obtain the average operating cycle of the two ship unloaders in a single cycle; The normalized dynamic efficiency difference is obtained by measuring the deviation ratio of the theoretical grasping capabilities of the two machines per unit time.

4. The multi-machine collaborative operation method for ship unloaders based on station planning as described in claim 1, characterized in that, When the dynamic efficiency difference exceeds the cooperative imbalance threshold, the target grid cell is retrieved in the potential energy field of the stockpile, using the current trolley position of the less efficient ship unloader as the reference point. This includes: Determine the grid coordinates corresponding to the current position of the inefficient ship unloader. and its current material grasping potential energy value ; The minimum potential energy increase required to level off the efficiency gap is calculated using the potential energy increment formula. ; The formula for the increase in potential energy demand is: ,in, This represents the dynamic efficiency difference. This represents the current telescopic length of the unloader boom. The rated speed for the large vehicle to run; is the potential energy conversion coefficient.

5. The multi-machine collaborative operation method for ship unloaders based on station planning as described in claim 1, characterized in that, The process of retrieving target grid cells in the potential energy field of the stockpile further includes: The grid coordinates corresponding to the current position of the inefficient ship unloader. Centered on the maximum allowable single movement distance of the unloading machine's trolley. Within a search domain with a radius of , traverse and search all candidate mesh cells; Filter out the first one that meets the conditions Material grasping potential energy value of each grid cell The candidate grid set, To capture the current potential energy value of the material, This represents the minimum potential energy increase. In the candidate grid set, select distance The grid cell with the closest Euclidean distance is used as the target grid cell. .

6. The multi-machine collaborative operation method for ship unloaders based on station planning as described in claim 1, characterized in that, The step of generating displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target mesh cells includes: Calculate the projected distance between the center coordinates of the target mesh cell and the current position coordinates of the trolley along the trolley track. ; The speed pulse sequence is generated and sent to the frequency converter using the trolley displacement control function; The trolley displacement control function includes the following constraints: ， And it must meet the following conditions: ; in, for The vehicle speed command at any given moment; and These are the preset starting acceleration and braking deceleration of the main vehicle motor, respectively; This refers to the cruising speed of the large vehicle. According to The time points calculated in reverse.

7. The method for multi-machine collaborative operation of ship unloaders based on station planning as described in claim 1, characterized in that, The step of sending displacement compensation commands to the programmable logic controller (PLC) of the inefficient ship unloader to drive the trolley traveling mechanism to move to the new target work station includes: After receiving the displacement compensation command, the programmable logic controller first checks whether the target station is outside the safe collision avoidance distance of the adjacent ship unloader. If the distance is within a safe distance, the displacement compensation command is truncated and moved to the safe boundary. If the vehicle is outside a safe distance, the brakes of the trolley are released and a speed pulse sequence is executed.

8. A multi-machine collaborative operation system for ship unloaders based on station planning, used to implement the multi-machine collaborative operation method for ship unloaders based on station planning as described in any one of claims 1-7, characterized in that, include: Data acquisition module, potential energy field construction module, efficiency difference calculation module, target grid retrieval module, displacement command generation module, and station driving module; The data acquisition module is used to collect three-dimensional point cloud data of the material surface inside the target ship's hold and real-time operating parameters of multiple ship unloaders. The potential energy field construction module is used to map the three-dimensional point cloud data of the material surface onto a preset two-dimensional horizontal projection grid, calculate the material grabbing potential energy value in each grid cell, and construct a material pile potential energy field that can characterize the material distribution state in the cabin at the current moment. The efficiency difference calculation module is used to calculate the dynamic efficiency difference between two adjacent ship unloaders within a preset sliding time window based on real-time operation parameters, and to determine whether the dynamic efficiency difference exceeds a preset collaborative imbalance threshold. The target grid retrieval module is used to retrieve target grid cells in the potential energy field of the material pile when the dynamic efficiency difference exceeds the collaborative imbalance threshold, taking the current trolley position of the less efficient ship unloader as the reference point. The material grabbing potential energy value of the target grid cell must meet the potential energy increment requirement required to eliminate the dynamic efficiency difference. The displacement command generation module is used to generate displacement compensation commands for the trolley traveling mechanism based on the physical coordinates of the target grid cell. The station drive module is used to send displacement compensation commands to the programmable logic controller of the inefficient ship unloader, drive the trolley traveling mechanism to move to the new target station, and complete the load rebalancing.

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