Method, device and storage medium for controlling coordinated operation of ship unloaders and de-stackers

Abstract

Embodiments of the present application disclose a control method and device for coordinated operation of a ship unloader and a stripping machine, and a storage medium. The method comprises: in the case that the ship unloader completes a work task in a first work area and the stripping machine does not complete a work task in a second work area where the stripping machine is located, planning a new work area for the ship unloader, determining a target path from a current position of the ship unloader to the new work area, controlling the ship unloader to move along the target path, determining dynamic safety domains of the ship unloader and the stripping machine, if it is judged that the dynamic safety domains of the ship unloader and the stripping machine do not satisfy a safety constraint condition, adjusting the target path based on path length and a minimum safety distance, controlling the ship unloader to move based on the path after adjustment and adjusting a movement state of the ship unloader during movement. Thus, work efficiency can be improved, collision can be effectively avoided during area switching, and safety risks can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of collaborative control of ship unloaders and cargo cleaners, and particularly relates to a ship unloader and cargo cleaner collaborative operation control method, device and storage medium. BACKGROUND

[0002] In the daily operation of the current port, bulk cargo unloading operation is a crucial link, which is mainly completed by the cooperation of ship unloaders and cargo cleaners. Ship unloaders, as the main equipment for bulk cargo unloading, commonly include bridge-type grab ship unloaders, chain-bucket ship unloaders, and screw ship unloaders. Cargo cleaners are responsible for cleaning the residual bulk cargo at the bottom and corners of the ship cabin in the later stage of ship unloading. Common cargo cleaners include intelligent tracked ship cabin cargo cleaners, etc.

[0003] In the traditional operation process, the ship unloader first unloads most of the bulk cargo in the ship cabin. When the remaining amount of bulk cargo in the ship cabin reaches a certain level and the grabbing efficiency of the ship unloader decreases, the cargo cleaner starts the cabin operation. The cargo cleaner concentrates the residual bulk cargo at the bottom of the ship cabin and transports it to a position convenient for the ship unloader to grab, and the ship unloader then performs secondary grabbing until the ship cabin is completely cleaned. During the operation process, the ship unloader and the cargo cleaner often have inconsistent operation task progress, and need to be replaced. During the replacement process, the ship unloader and the cargo cleaner are prone to collision, causing safety risks. SUMMARY

[0004] The embodiments of the present application relate to a control method, device and storage medium for the collaborative operation of a ship unloader and a cargo cleaner, which can improve operation efficiency, effectively avoid collision during the replacement process, and effectively reduce safety risks.

[0005] In a first aspect, the embodiments of the present application provide a control method for the collaborative operation of a ship unloader and a cargo cleaner, comprising:

[0006] In the case where the ship unloader completes the operation task of the first operation area and the cargo cleaner does not complete the operation task in the second operation area where it is located, a new operation area is planned for the ship unloader, the target path of the current position of the ship unloader to the new operation area is determined, and the ship unloader is controlled to move along the target path;

[0007] The ship unloader is controlled to move along the target path, the dynamic safety domain of the ship unloader and the cargo cleaner is determined, if it is judged that the dynamic safety domain of the ship unloader and the cargo cleaner does not satisfy the safety constraint condition, the target path is adjusted based on the path length and the minimum safety distance, the ship unloader is controlled to move based on the adjusted path, and the movement state of the ship unloader is adjusted during the movement.

[0008] In a second aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the method provided by the embodiment of the present application when executing the computer program.

[0009] In a third aspect, an embodiment of the present application provides a computer readable storage medium, storing a computer program, and the computer program, when executed in a computer, causes the computer to execute the method provided by the embodiment of the present application.

[0010] The technical scheme provided by the embodiment of the present application, in the case that the ship unloader completes the work task of the first work area and the stripping machine does not complete the work task in the second work area where the stripping machine is located, a new work area is planned for the ship unloader, and a target path from the current position of the ship unloader to the new work area is determined. The ship unloader is controlled to move along the target path. If it is judged that the dynamic safety domain between the ship unloader and the stripping machine does not satisfy the safety constraint condition, the target path is adjusted by the path length and the minimum safety distance. The ship unloader is controlled to move based on the adjusted path and adjust the movement state of the ship unloader during the movement. That is, during the area changing process of the ship unloader, whether the safety constraint condition is satisfied is verified based on the dynamic safety domain of the ship unloader and the stripping machine. In the case that the safety constraint condition is not satisfied, the path is adjusted by considering the path length and the minimum safety distance. During the area changing process, the movement state is adjusted during the movement along the adjusted path. The collision can be effectively avoided, and the safety risk can be effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 A control method flow chart of the ship unloader and the stripping machine cooperative work provided by the embodiment of the present application is shown in the figure.

[0012] Figure 2 A flow chart for work space modeling is shown in the figure.

[0013] Figure 3 A constraint relationship diagram for the initial work area allocation is shown in the figure.

[0014] Figure 4 A structure block diagram of the control device of the ship unloader and the stripping machine cooperative work provided by the embodiment of the present application is shown in the figure.

[0015] Figure 5 A structure diagram of the electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0016] The present application will be further described in detail by the accompanying drawings and specific embodiments.

[0017] Figure 1The application provides a control method flowchart for collaborative work of an unloader and a stripping machine.

[0018] As shown in the method provided by the application, the method comprises the following steps: Figure 1

[0019] S110: In the case that the unloader completes the work task of the first work area and the stripping machine does not complete the work task in the corresponding second work area, a new work area is planned for the unloader, a target path from the current position of the unloader to the new work area is determined, and the unloader is controlled to move along the target path.

[0020] In this embodiment, before S110 is performed, work space modeling and initial work area allocation can also be included. As shown in the work space modeling, Figure 2 The work space modeling can be specifically as follows: the work space modeling can rely on accurate reconstruction and efficient area division of a three-dimensional space of a ship cabin. The 3D point cloud data of the ship cabin acquired by a laser radar or a structured light scanning device can be received first, and the point cloud data presents the spatial discrete features of the material surface loaded in the cabin. Through a DBSCAN point cloud segmentation algorithm based on density clustering, the point cloud data is processed to identify the boundary form and spatial distribution features of the material accumulation. After the segmentation is completed, the entire work space can be divided into a plurality of non-overlapping regular work areas according to the structural size of the cabin body and the work capacity of the equipment, and the boundary of each work area is formed by a polygon envelope surface fitted from the point cloud clustering result. The equipment can include the stripping machine and the unloader; each work area can be further converted into a two-dimensional projection coordinate set, which is defined as an ordered point set and is used to represent the position and boundary contour of the work area in the map model. At the same time, the point cloud density and normal vector change can be statistically analyzed to avoid dividing the work area across the terrain with a sharp change in elevation, so as to ensure that the unloader and the stripping machine have a stable work space in the work area. In addition, a spatial connectivity graph can be introduced to topologically model the passing path between all work areas and construct a reachability matrix between work areas to provide structured support for subsequent steps. The work space modeling can not only ensure the accuracy and rationality of the work area division, but also provide high-quality spatial basic data for subsequent steps.

[0021] ​In the initial work area allocation can be specifically: the work amount difference in the preset range, and the non-adjacent work area is respectively as the initial work area of the ship unloader and the stripping machine. Specifically, on the basis of completing the work space modeling, in order to ensure that the ship unloader and the stripping machine have physical isolation work area in the initial work period, so as to avoid path overlap and space interference, the coordinate set of the work area boundary can be read first, and the work adjacency graph is constructed according to the space connectivity between work areas, and the adjacent relationship between each work area is defined. According to the current position or the preset starting position of the ship unloader and the stripping machine, a heuristic allocation algorithm based on graph search is adopted to allocate the initial work area for the ship unloader and the stripping machine. In the allocation process, the work amount estimation value of the work area is evaluated, and the non-adjacent work area with the work amount difference within the preset range (for example, the work amount is the same) is preferentially selected as the initial allocation target, so as to realize the balance of the collaborative work efficiency. The non-adjacent work area satisfies the following conditions:

[0022] The distance between the center points of the two non-adjacent work areas is greater than or equal to the average value of the minimum circumscribed circle diameters of the two work areas.

[0023] Specifically, in order to keep enough space isolation between the initial work areas of the ship unloader and the stripping machine, the initial work area is allocated as a non-adjacent work area, so as to avoid work conflict and equipment interference. The control system can calculate the minimum circumscribed circle of each work area based on the independent work areas obtained by dividing the ship cabin, and obtain the corresponding diameter from the minimum circumscribed circle, which is used as a measurement standard of the space range of the work area. For two work areas A and B, the control system calculates the distance between the center points of the two work areas , and compares the distance with the average value of the minimum circumscribed circle diameters of the two work areas. The specific constraint condition is expressed as:

[0024] ;

[0025] Wherein, represents the Euclidean distance between the center points of the work area A and the work area B, and are the diameters of the minimum circumscribed circles of the work area A and the work area B respectively. The condition ensures that there is at least half of the diameter and space interval between the two work areas, so that the ship unloader and the stripping machine have enough buffer zone when working, preventing their working range from overlapping or boundary conflict. The realization of the constraint condition can ensure the safety of the initial work of the equipment, and provide a stable space foundation for the subsequent steps, reducing the complexity and safety risk of collaborative scheduling caused by adjacent work areas. Through the geometric distance limitation in the constraint condition, the reasonable division of the work space and the scientific layout of the equipment distribution are realized, which can improve the overall work efficiency and safety guarantee level.

[0026] After initial work area allocation, the shortest path from the current position of the ship unloader and tank cleaning machine to the corresponding target work area can be calculated using the A* algorithm. Optionally, the shortest path from the current position of the ship unloader and tank cleaning machine to the center point of the corresponding target work area can also be calculated. In shortest path planning, constraints are set to ensure that the spatial trajectories of any two paths maintain a minimum safe distance, preventing overlap or intersection, thereby achieving spatially decoupled initial equipment deployment. Figure 3 As shown, if the path of device i is denoted as curve L... i The coordinate set of the work area is R. i The work areas that meet the allocation conditions must satisfy the following constraints:

[0027] ;

[0028] The equipment includes a ship unloader and a tank cleaning machine. As can be seen from the constraints described above, the operating areas of the ship unloader and the tank cleaning machine do not overlap; that is, their operating areas are non-adjacent. In this embodiment, an initial reachability function can be constructed by combining equipment dimensions, operating range, and the internal structural form of the ship's hold to exclude physically restricted operating areas. Therefore, by allocating non-adjacent operating areas to the ship unloader and the tank cleaning machine, constraints are set in the shortest path planning to ensure that the spatial trajectories of any two paths maintain a minimum safe distance, preventing overlap or intersection. This ensures the physical isolation and reasonable scheduling of the initial operating areas, providing a clear initial state for the execution of subsequent steps.

[0029] In this embodiment, after the initial work area is allocated, the ship unloader and the tank cleaning machine arrive at the corresponding initial work area to perform their work tasks. The first work area and the second work area can be the initial work areas for the ship unloader and the tank cleaning machine, respectively, or they can be neither the initial work areas for the ship unloader and the tank cleaning machine, respectively. Therefore, steps S110-S120 are applicable regardless of whether the first work area and the second work area are the initial work areas for the ship unloader and the tank cleaning machine, or whether they are not corresponding initial work areas. Specifically, if the first work area and the second work area correspond to the initial work areas for the ship unloader and the tank cleaning machine, respectively, then the first work area and the second work area are non-adjacent work areas. Thus, by allocating the initial work areas as non-adjacent work areas, spatial isolation between the initial work areas can be ensured, allowing the ship unloader and the tank cleaning machine to have physically separated operating spaces in the early stages of operation. Compared to the traditional unplanned work area allocation method, this avoids the risk of overlapping operations from the source, reduces equipment avoidance and waiting caused by overlapping work areas, and indirectly improves the continuity and efficiency of collaborative operations.

[0030] In the embodiment, after the control system monitors that the ship unloader completes the task of the first work area, the control system immediately detects the work state of the work area (the second work area) where the ship unloader is located. The control system determines whether the conditions for cooperative area switching are met by combining the work progress of the ship unloader. If the ship unloader does not complete the task in the second work area, that is, the ship unloader is still executing, the ship unloader can be cooperatively switched, that is, a new work area is planned for the ship unloader. Specifically, the new work area for the ship unloader can be calculated by calculating the path cost of all remaining unassigned or completed work areas. Specifically, the path cost function can comprehensively consider the current position of the ship unloader, the position of the new work area, the accessibility of the work area, the movement direction of the ship unloader, and the interference degree of the existing path planning. A complete path is generated for each unassigned work area, and the new work area with the lowest total cost is selected as the new work area by using a weighted cost function.

[0031] In the embodiment, after the new work area is determined, the target path from the current position of the ship unloader to the new work area is determined. The target path is a continuous and derivable B-spline path constructed based on the current position of the ship unloader as the starting point and the geometric center of the new work area as the ending point. After the ship unloader completes the task of the first work area and the new work area is determined, the control system immediately constructs a continuous and derivable B-spline path with the current position as the starting point and the geometric center of the new work area as the ending point. The control nodes in the B-spline path can reflect the actual trajectory turning and avoidance requirements, and ensure that the path has good smoothness and local adjustment ability in space. After the target path is determined, the ship unloader is controlled to move along the target path.

[0032] S120: Determine the dynamic safety domain of the ship unloader and the ship unloader. If the dynamic safety domain of the ship unloader and the ship unloader does not meet the safety constraint condition, the target path is adjusted based on the path length and the minimum safety distance. The ship unloader is controlled to move based on the adjusted path and adjust the movement state of the ship unloader during the movement.

[0033] In the embodiment, the dynamic safety domains of the ship unloader and the stripping machine are determined, and if it is judged that the safety constraint condition between the dynamic safety domains of the ship unloader and the stripping machine is not met, the target path is adjusted based on the path length and the minimum safety distance, the ship unloader is controlled to move based on the adjusted path and the movement state of the ship unloader is adjusted during the movement. In the current control period, the dynamic safety domains of the ship unloader and the stripping machine are determined, and if it is judged that the safety constraint condition between the dynamic safety domains of the ship unloader and the stripping machine is not met, the target path is adjusted based on the path length and the minimum safety distance, the ship unloader is controlled to move based on the adjusted path and the movement state of the ship unloader is adjusted during the movement. The next control period is taken as the current control period, the adjusted path is taken as the target path, and the step of determining the dynamic safety domains of the ship unloader and the stripping machine is returned until the ship unloader reaches the new work area. Alternatively, in the current control period, the dynamic safety domains of the ship unloader and the stripping machine are determined, and if it is judged that the safety constraint condition between the dynamic safety domains of the ship unloader and the stripping machine is not met, in the next control period, the target path is adjusted based on the path length and the minimum safety distance, the ship unloader is controlled to move based on the adjusted path and the movement state of the ship unloader is adjusted during the movement. The next control period is taken as the current control period, the adjusted path is taken as the target path, and the step of determining the dynamic safety domains of the ship unloader and the stripping machine is returned until the ship unloader reaches the new work area. In the movement of the ship unloader, whether the dynamic safety domains of the ship unloader and the stripping machine meet the safety constraint condition is judged, and if not, the path adjustment and the movement state adjustment of the ship unloader can be performed in one control period. Alternatively, in the current period, whether the dynamic safety domains of the ship unloader and the stripping machine meet the safety constraint condition is judged, and if not, the path adjustment and the movement state adjustment of the ship unloader are performed in one control period.

[0034] In the embodiment, after the target path is determined, the ship unloader is controlled to move along the target path, and during the movement, whether the safety constraint condition between the dynamic safety domains of the ship unloader and the stripping machine is met is judged, so as to judge whether the collision risk occurs. If the safety constraint condition is met, the ship unloader is controlled to continue moving along the target path. If the safety constraint condition between the dynamic safety domains of the ship unloader and the stripping machine is not met, the ship unloader can be brought into the deceleration avoidance mode, the target path is adjusted based on the path length and the minimum safety distance, the ship unloader is controlled to move based on the adjusted path, and the movement state (speed) of the ship unloader is adjusted during the movement, so as to realize the non-contact collaborative passing. When the ship unloader has completely passed through the work influence range of the stripping machine, the ship unloader is controlled to return to the rated safe running speed, and finally reaches the new work area to perform the work task.

[0035] In the embodiment, optionally, the corresponding judgment that the dynamic safety domains of the ship unloader and the stripping machine do not satisfy the safety constraint condition includes that the dynamic safety domains of the ship unloader and the stripping machine overlap or the spatial distance between the dynamic safety domains of the ship unloader and the stripping machine is less than a preset distance.

[0036] Specifically, the dynamic safety domain is determined based on a dynamic safety domain radius. Specifically, the dynamic safety domain can be a circular region based on the dynamic safety domain radius.

[0037] The dynamic safety domain radius is determined based on the following formula:

[0038]

[0039] wherein, is the dynamic safety domain radius, is a direction weight coefficient; is a current speed vector module; is a basic safety radius of the equipment in a stationary state; wherein the equipment includes the ship unloader and the stripping machine. Wherein, is used to adjust the influence of the equipment movement direction on the expansion of the safety domain, and the above formula dynamically reflects the requirement of the equipment for avoidance space in the case of high speed or large direction change. Thus, the dynamic safety domain radius is determined by the above formula, so as to determine the dynamic safety domain, which can ensure that the ship unloader and the stripping machine do not enter the dangerous contact area of each other during movement, can realize the rapid connection of task completion and path idle, can improve the overall operation efficiency and space utilization, and can guarantee the operation safety and stability during collaborative operation.

[0040] In the embodiment, optionally, in the case where the speed of the equipment is greater than a preset speed, the dynamic safety radius in the speed direction is increased by a preset proportion; in the case where the turning angle of the equipment is greater than a preset angle, a target angle is obtained based on the turning angle and the preset angle, and the dynamic safety radius corresponding to the target angle is increased by the preset proportion. Wherein, the preset speed can be 2 m / s, The reference safety radius can be 0.8, in the case that the speed of the device is greater than 2 m / s, the reference safety radius can be increased by 20% along the current speed direction to form an elliptical safety domain with forward stretching characteristics, so as to cover the path range that can be reached. The preset angle can be 45°, in the case that the steering angle of the device is greater than 45°, the target angle is obtained by increasing the preset angle on the basis of the steering angle, and the dynamic safety radius corresponding to the target angle is increased by the preset proportion, the angle of the sector buffer area corresponding to the target angle is set to θ+15°, wherein θ is the steering angle, the coverage range is adjusted in real time with the change of the steering angle of the device, and the effect is to consider the influence of inertial deviation and device turning trajectory expansion on the working space. The geometric shape of the dynamic safety domain can be constructed by a bounding box collision detection algorithm to form a three-dimensional convex hull model, and the device coordinates and directions are projected into the map system in real time for visual display, and the control system can judge the spatial relationship between the devices in a graphical manner at each control period.

[0041] In the embodiment, whether the dynamic safety domains of the ship unloader and the stripping machine overlap can be judged by judging the relationship between the spatial distance between the ship unloader and the stripping machine grab and the sum of the dynamic safety domain radii of the two. If the spatial distance between the ship unloader and the stripping machine grab is less than or equal to the sum of the dynamic safety domain radii of the two, it is judged that the dynamic safety domains of the ship unloader and the stripping machine overlap, and if the spatial distance between the ship unloader and the stripping machine grab is greater than the sum of the dynamic safety domain radii of the two, it is judged that the dynamic safety domains of the ship unloader and the stripping machine do not overlap. Therefore, whether the safety constraint condition is met can be verified by calculating the spatial distance between the ship unloader and the stripping machine grab in real time, which is specifically represented by the formula as follows:

[0042]

[0043] wherein, is the three-dimensional coordinate of the stripping machine grab, is the three-dimensional coordinate of the ship unloader grab, and are the dynamic safety domain radii of the stripping machine and the ship unloader in the corresponding control period, respectively.

[0044] The control system can calculate the spatial distance between the ship unloader and the stripping machine grab in real time by using the calculation method of the Euclidean distance, and the specific formula is as follows:

[0045]

[0046] wherein, Euclidean norm of a vector. Specifically, the control system collects the three-dimensional coordinate data of the ship unloader grab and the stripping machine grab in real time through high-precision GPS modules and inertial navigation devices installed on the two devices, and synchronously records the speed size and motion direction vector of each, updates the state information of the two devices at a fixed control period, and adopts a calculation method of Euclidean distance to calculate the spatial distance between the two devices in real time for judging the relative position relationship of the two devices.

[0047] In this embodiment, the spatial distance between the dynamic safety domains of the ship unloader and the stripping machine can be understood as the spatial distance between the boundaries of the dynamic safety domains of the ship unloader and the stripping machine. If the spatial distance is less than the preset distance, path adjustment is performed. The preset distance can be 1.5 meters. In the case that the spatial distance between the dynamic safety domains of the ship unloader and the stripping machine is less than 1.5 meters, path adjustment can be performed, or an emergency speed adjustment strategy can be performed first, and then path adjustment can be performed.

[0048] In this embodiment, the target path can be adjusted based on the path length and the minimum safety distance, including: identifying a potential conflict area in the target path based on the trajectory of the dynamic safety domain of the stripping machine, inserting an avoidance key point in the potential conflict area; adjusting the target path based on the avoidance key point, the path length and the minimum safety distance; wherein the potential conflict area is an area where the target path overlaps with the trajectory of the dynamic safety domain of the stripping machine.

[0049] Specifically, if the dynamic safety domains of the stripping machine and the ship unloader do not satisfy the safety constraint condition, the target path is adjusted. Optionally, the target path is adjusted based on the path length and the minimum safety distance, including:

[0050] The path is adjusted based on the following objective function:

[0051] ;

[0052] wherein P is a set of all avoidance key point coordinates; represents the path length; represents the nearest distance from the avoidance key point to the boundary of the dynamic safety domain of the stripping machine; is the minimum safety distance; and are weight coefficients corresponding to the items, respectively, which adjust the attention degree to the path length and safety avoidance.

[0053] Specifically, the control system can adjust the avoidance key points in the target path, and the path is adjusted by the iterator based on the above target function, considering the path length and the minimum safety distance. In the optimization process, when the closest distance between the avoidance key point and the boundary of the dynamic safety domain of the ship unloader is greater than , the control system only optimizes the path length to maintain the shortest trajectory. When the avoidance key point approaches or enters the boundary of the dynamic safety domain of the ship unloader, the penalty term is activated, which significantly increases the gradient value in this direction, driving the avoidance key point to adjust away from this direction, thereby avoiding potential collision without sacrificing overall operating efficiency. The optimization process performs gradient iteration in each control cycle and is real-time linked with the change of the dynamic safety domain, and the path after adjustment generated has both obstacle avoidance ability and meets the stability requirement of the operating trajectory, further improving the autonomous coordination ability in the dynamic exchange process of the operating area and the safety robustness of path execution.

[0054] In the embodiment, optionally, the motion state of the ship unloader is adjusted, including identifying a potential conflict area in the target path based on the trajectory of the dynamic safety domain of the ship unloader, inserting an avoidance key point in the potential conflict area, and adjusting the motion state of the ship unloader based on the avoidance key point.

[0055] Specifically, the adjustment of the motion state of the ship unloader based on the avoidance key point includes:

[0056] The speed of the ship unloader at the avoidance key point is optimized based on the following formula:

[0057] ;

[0058] wherein, is a target function of the speed optimization at the avoidance key point; is a constraint condition; is the instantaneous speed at the i-th avoidance key point in the target path; is the rated safe operating speed of the ship unloader, represents the shrinkage rate of the dynamic safety domain with time, which does not have a sudden change in the process of the ship unloader changing the operating area to ensure stability; and n is the number of avoidance key points. Thus, through the target function of the speed optimization at the avoidance key point and the constraint condition, the actual speed of the ship unloader can be made as close as possible to the rated safe operating speed, while the shrinkage rate of the dynamic safety domain of the ship unloader is constrained not to exceed the control threshold. Through the optimization of the speed at the avoidance key point, the ship unloader can move at the optimal speed without invading the safety space of the ship unloader, and smoothly enter the new operating area.

[0059] Thus, by controlling the movement of the ship unloader along the target path, determining the dynamic safety domain through the speed of the ship unloader and the ship cleaner, if it is judged that the dynamic safety domain of the ship unloader and the ship cleaner does not meet the safety constraint condition, the target path is adjusted and the movement state of the ship unloader is adjusted, that is, the influence of the speed on the dynamic safety domain is considered, the safety constraint condition is judged through the dynamic safety domain, the potential collision risk can be judged according to the actual situation of the ship unloader and the ship cleaner, through the path adjustment and the ship unloader speed adjustment, the overlapping risk of the path and the operation area in the collaborative operation process can be effectively solved, the collision in the area changing process can be effectively avoided, the safety risk can be effectively reduced, and the continuity, safety and high efficiency of the collaborative operation process are realized.

[0060] In the present embodiment, the ship unloader successfully arrives at the new operation area, and the control system can immediately perform the reset operation of the operation area state. The operation first updates the state marks of each operation area, marks the operation area where the ship unloader and the ship cleaner are currently located as "allocated" state, and adjusts other areas to completed or to be allocated state according to the operation progress, so as to ensure that the correspondence between the equipment and the operation area accurately reflects the current operation state, and thus the operation area state reset not only reflects the current operation state, but also lays a foundation for the allocation of the operation area in the next stage.

[0061] After the state of the operation area is reset, the control system can control to start a new round of ship cabin 3D scanning, and use the laser radar or the structured light sensor to perform high-precision three-dimensional reconstruction on the inside of the ship cabin to obtain the latest point cloud data. After the new scanning data is processed by the point cloud segmentation algorithm, the division of the operation area is dynamically updated, and the changes of the inside environment of the ship cabin in the operation process, such as residual material accumulation, equipment shielding and the like, are captured in time. The division update of the operation area ensures the perception accuracy and adaptability of the control system in the dynamic environment, and improves the rationality and effectiveness of the subsequent operation area allocation and path planning.

[0062] In the traditional operation process, the ship unloader first carries out the unloading of most of the bulk cargo in the ship cabin. When the remaining amount of bulk cargo in the ship cabin reaches a certain degree and the grabbing efficiency of the ship unloader is reduced, the ship unloader starts the operation of the cabin cleaning machine. The cabin cleaning machine operates at the bottom of the ship cabin, concentrates and transports the remaining bulk cargo to a position convenient for the ship unloader to grab, and then the ship unloader carries out secondary grabbing until the ship cabin is cleaned. The operation mode of the traditional ship unloader and the cabin cleaning machine has obvious efficiency bottleneck. Due to the lack of scientific planning of the operation area of the ship unloader and the cabin cleaning machine, the operation area often overlaps. When the operation area of the two overlaps, the ship unloader grab bucket needs to wait for the cabin cleaning machine to avoid or the cabin cleaning machine needs to pause operation while waiting for the ship unloader grab bucket to complete the action, which greatly increases the idle time of the equipment and leads to low overall operation efficiency. From the safety point of view, the traditional operation mode also has risks. The overlapping of the operation area and the uncertainty of manual operation increase the risk of collision between the ship unloader grab bucket and the cabin cleaning machine. Once a collision occurs, not only will it cause serious damage to the equipment, resulting in high repair costs and long downtime for repair, but also it may pose a threat to the personal safety of the operator and cause serious safety accidents. The initial operation area allocated to the ship unloader and the cabin cleaning machine in the embodiments of the present application is a non-adjacent operation area, which can avoid the risk of overlapping operation areas from the source, reduce the waiting time caused by the overlapping of operation areas, and improve the operation efficiency. The embodiments of the present application allocate a new operation area to the ship unloader and plan a target path to the new operation area when it is monitored that the ship unloader has completed the operation task in the first operation area and the cabin cleaning machine has not completed the operation task in the second operation area. During the movement along the target path, whether the safety constraint condition between the dynamic safety domain of the cabin cleaning machine and the ship unloader is met is judged. If the safety constraint condition is not met, the path is adjusted and the movement state of the ship unloader is adjusted, which can reduce the collision risk in the region changing process. The embodiments of the present application realize the dynamic adjustment of the safety distance during the movement of the equipment by combining three-dimensional convex hull collision detection and B-spline path planning through path adjustment, which can expand the avoidance space in advance according to the movement state of the equipment, directly reduce the collision risk caused by the overlapping of operation areas, and improve the safety.

[0063] The technical solution provided in this application, when it is detected that the ship unloader has completed its work in the first work area, but the cleaning machine has not completed its work in the second work area, plans a new work area for the ship unloader and determines the target path from the current position of the ship unloader to the new work area. By controlling the ship unloader to move along the target path, if it is determined that the dynamic safety domains of the ship unloader and the cleaning machine do not meet the safety constraints, the target path is adjusted by the path length and the minimum safety distance. The ship unloader is controlled to move based on the adjusted path and its movement state is adjusted during the movement. That is, during the area change process, the dynamic safety domains of the ship unloader and the cleaning machine are considered, and the safety constraints are verified based on the dynamic safety domains. If they are not met, the path is adjusted by considering the two factors of path length and minimum safety distance, and the movement state is adjusted during the adjustment movement. During the area change process, collisions can be effectively avoided and safety risks can be effectively reduced.

[0064] Figure 4 A structural block diagram of a control device for the coordinated operation of a ship unloader and a tank cleaning machine, provided in an embodiment of this application, is shown below. Figure 4 As shown, it includes:

[0065] The path determination module 510 is used to plan a new working area for the ship unloader and determine the target path from the current position of the ship unloader to the new working area when it is detected that the ship unloader has completed the working task in the first working area and the cleaning machine has not completed the working task in the second working area.

[0066] The adjustment module 520 is used to control the ship unloader to move along the target path. In each control cycle, it determines the dynamic safety domain of the ship unloader and the cleaning machine. If it is determined that the dynamic safety domain of the ship unloader and the cleaning machine does not meet the safety constraint conditions, it adjusts the motion state of the ship unloader and adjusts the target path based on the path length and the minimum safety distance, and controls the ship unloader to move based on the adjusted path.

[0067] like Figure 5 As shown in the figure, this application provides an electronic device, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0068] Memory 113 is used to store computer programs;

[0069] In one embodiment of this application, when the processor 111 executes a program stored in the memory 113, it implements the method provided in any of the foregoing method embodiments, including:

[0070] In a case that the ship unloader is monitored to complete a work task of a first work area, and the ship unloader is in a second work area and does not complete a work task, a new work area is planned for the ship unloader, and a target path from a current position of the ship unloader to the new work area is determined;

[0071] The ship unloader is controlled to move along the target path, and in each control period, dynamic safety domains of the ship unloader and the ship unloader are determined, if it is judged that the dynamic safety domains of the ship unloader and the ship unloader do not satisfy a safety constraint condition, a motion state of the ship unloader is adjusted, and the target path is adjusted based on a path length and a minimum safety distance, and the ship unloader is controlled to move based on the adjusted path.

[0072] The embodiment of the application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize steps of the method provided by any one of the foregoing method embodiments.

[0073] The apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0074] Through the description of the foregoing embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a general hardware platform, and of course can also be realized by hardware. Based on such understanding, the foregoing technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0075] The foregoing embodiments are merely examples for clearly illustrating the application, and are not intended to limit the application. Based on the foregoing description, those skilled in the art can make other different forms of changes or modifications. Here, all the embodiments are not required to be exhausted, and the obvious changes or modifications derived therefrom are still within the protection scope of the application.

Claims

1. A control method for the coordinated operation of a ship unloader and a tank cleaning machine, characterized in that, include: If the ship unloader completes its work in the first work area and the cleaning machine has not completed its work in the second work area, a new work area is planned for the ship unloader, and the target path from the ship unloader's current position to the new work area is determined, and the ship unloader is controlled to move along the target path. The dynamic safety domains of the ship unloader and the tank cleaning machine are determined. If it is determined that the dynamic safety domains of the ship unloader and the tank cleaning machine do not meet the safety constraints, the target path is adjusted based on the path length and the minimum safety distance. The ship unloader is controlled to move based on the adjusted path and the ship unloader is controlled to move along the target path. The dynamic security domain is determined based on the dynamic security domain radius; The radius of the dynamic security domain is determined based on the following formula: ； in, The radius of the dynamic security domain. This refers to the directional weighting coefficient; The magnitude of the current velocity vector; This is the basic safety radius for the equipment when it is stationary. For control of the cycle; wherein, the equipment includes the ship unloader and the tank cleaning machine; Wherein, when the speed of the device is greater than the preset speed, the dynamic safety radius along the speed direction is increased by a preset ratio; If the steering angle of the device is greater than a preset angle, the preset angle is added to the steering angle to obtain the target angle, and the dynamic safety radius corresponding to the target angle is increased by the preset ratio.

2. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 1, characterized in that, Determine the dynamic safety domains of the ship unloader and the tank cleaning machine. If it is determined that the dynamic safety domains of the ship unloader and the tank cleaning machine do not meet the safety constraints, adjust the target path based on the path length and the minimum safe distance, control the ship unloader to move based on the adjusted path, and adjust the motion state of the ship unloader during the movement, including: Within the current control cycle, the dynamic safety domains of the ship unloader and the cleaning machine are determined. If it is determined that the dynamic safety domains of the ship unloader and the cleaning machine do not meet the safety constraints, the target path is adjusted based on the path length and minimum safety distance. The ship unloader is controlled to move based on the adjusted path, and its movement state is adjusted during the movement. The next control cycle is taken as the current control cycle, the adjusted path is taken as the target path, and the process returns to the step of determining the dynamic safety domains of the ship unloader and the cleaning machine until the ship unloader reaches the new working area; or, In the current control cycle, the dynamic safety domains of the ship unloader and the cleaning machine are determined. If it is determined that the dynamic safety domains of the ship unloader and the cleaning machine do not meet the safety constraints, in the next control cycle, the target path is adjusted based on the path length and the minimum safe distance. The ship unloader is controlled to move based on the adjusted path and the movement state of the ship unloader is adjusted during the movement. The next control cycle is taken as the current control cycle, the adjusted path is taken as the target path, and the process of determining the dynamic safety domains of the ship unloader and the cleaning machine is returned until the ship unloader reaches the new working area.

3. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 1 or 2, characterized in that, Determining the target path from the current position of the ship unloader to the new work area includes: A continuous and differentiable B-spline path is constructed based on the current position of the ship unloader as the starting point and the geometric centroid of the new working area as the ending point, which serves as the target path. Accordingly, determining that the dynamic safety domains of the ship unloader and the tank cleaning machine do not meet the safety constraints includes: The dynamic safety domains of the ship unloader and the tank cleaning machine overlap, or the spatial distance between the dynamic safety domains of the ship unloader and the tank cleaning machine is less than a preset distance.

4. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 1, characterized in that, The adjustment of the target path based on path length and minimum safe distance includes: Based on the trajectory identification of the dynamic safety domain of the cleaning machine, potential conflict areas in the target path are identified, and avoidance key points are inserted in the potential conflict areas. The target path is adjusted based on the avoidance key points, path length, and minimum safety distance; wherein, the potential conflict area is the area where the target path overlaps with the trajectory of the dynamic safety domain of the clearing machine.

5. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 4, characterized in that, The adjustment of the target path based on the avoidance key points, path length, and minimum safe distance includes: Path adjustment is based on the following objective function: ； Where P is the set of coordinates of all avoidance key points; Indicates the path length; This indicates the shortest distance from the critical point of avoidance to the dynamic safety domain boundary of the cleaning machine; This refers to the minimum safe distance; and These are the weight coefficients for the corresponding items.

6. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 4, characterized in that, Adjusting the motion state of the ship unloader includes: The speed of the ship unloader at the critical avoidance point is optimized based on the following formula: ； in, The objective function for optimizing the velocity at the key avoidance point; These are constraints; The instantaneous velocity at the i-th avoidance critical point in the target path; The rated safe operating speed of the ship unloader. The shrinkage rate of the dynamic safety domain over time is represented by n; n is the number of avoidance key points.

7. The control method for coordinated operation of ship unloader and tank cleaning machine according to claim 1, characterized in that, Also includes: The work areas with different workloads within a preset range and which are not adjacent are respectively used as the initial work areas of the ship unloader and the tank cleaning machine. If the first working area and the second working area correspond to the initial working areas of the ship unloader and the tank cleaning machine, respectively, then the first working area and the second working area are non-adjacent working areas. The non-adjacent work areas meet the following conditions: The distance between the center points of two non-adjacent work areas is greater than or equal to the average of the minimum circumcircle diameters of the two work areas.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements a control method for the coordinated operation of the unloading machine and the cleaning machine as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed in a computer, causes the computer to perform the control method for the coordinated operation of the unloading machine and the cleaning machine as described in any one of claims 1-7.

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