Shore crane operation control method and device, storage medium and program product

Abstract

The invention discloses a quay crane operation control method and device, a storage medium and a program product, and relates to the technical field of control. According to the first wind direction angle and a first wind load threshold value allowed to bear by a current lifting appliance system, the first wind speed and the first wind direction angle of the wind direction relative to a lifting appliance main shaft are obtained; and determining a target wind speed threshold value, and performing quay crane operation control according to the first wind speed and the target wind speed threshold value. The target wind speed threshold value is obtained by reversely deducing according to the actual wind direction angle and the actual wind load threshold value, so that the actual wind load does not exceed the safety limit value as long as the current wind speed does not exceed the target wind speed threshold value corresponding to the direction in any wind direction. Therefore, the target wind speed threshold value is dynamically adjusted along with the wind direction angle, so that shore bridge operation control is matched with dynamic characteristics (such as directivity) of a wind field, and the technical problem that operation safety and operation efficiency are difficult to consider at the same time can be solved.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a quay crane operation control method, equipment, storage medium, and program product. Background Technology

[0002] Quay cranes (shore container cranes) are the core loading and unloading equipment at the forefront of port terminals, undertaking the task of transferring containers between ships and storage yards. Since quay cranes usually operate in near-shore areas, they are exposed to complex and ever-changing near-shore turbulent wind fields for a long time. Under high wind speed or gust conditions, the spreader system is prone to vibration.

[0003] Currently, quay crane operations are typically controlled based on a single wind speed threshold. However, this approach fails to fully reflect the dynamic characteristics of the wind field, making it difficult to balance operational safety and efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a quay crane operation control method, equipment, storage medium, and program product, which aims to solve the technical problem of balancing operational safety and operational efficiency.

[0005] To achieve the above objectives, this application proposes a method for controlling quay crane operations, the method comprising: Obtain the first wind speed and the first wind direction angle relative to the main axis of the spreader; The target wind speed threshold is determined based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand. Based on the first wind speed and the target wind speed threshold, the quay crane operation is controlled.

[0006] In one embodiment, the step of determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand includes: Based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand, the target wind speed threshold is determined by a preset wind load evaluation model. The preset wind load evaluation model is used to characterize the correlation between the wind speed threshold, the wind direction angle and the wind load threshold of the lifting system.

[0007] In one embodiment, the step of determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand, through a preset wind load evaluation model, includes: Based on the reference wind direction angle and the corresponding benchmark wind speed threshold, the benchmark wind load value is output through the preset wind load evaluation model. Based on the first wind direction angle and the reference wind load value, the preset wind load evaluation model outputs the target wind speed threshold that can generate an equivalent wind load to the first wind load threshold under the first wind direction angle.

[0008] In one embodiment, the reference wind direction angle includes the wind direction angle corresponding to when the wind direction is perpendicular to the main shaft of the lifting device.

[0009] In one embodiment, before the step of obtaining the first wind speed and the first wind direction angle, the method further includes: Obtain the second wind speed, the second wind direction angle relative to the main axis of the spreader, and the second wind load threshold that different spreader systems can withstand; The windward area of ​​the spreader is determined based on the second wind direction angle, wherein the windward area of ​​the spreader is used to characterize the wind load borne by the spreader system; The preset wind load assessment model is obtained by fitting the second wind speed, the second wind direction angle, the windward area of ​​the hoist, and the second wind load threshold.

[0010] In one embodiment, the step of determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand includes: Based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand, the target wind speed threshold is output through a preset operation optimization model; The preset operation optimization model is obtained by training the preset model to be trained based on wind speed training samples, wind direction training samples, wind load threshold training samples obtained during the historical operation of the quay crane, and preset optimization objectives. The preset optimization objectives include that the maximum wind load of the spreader system is less than the wind load in the wind load threshold training samples, and the quay crane operation time is greater than the preset time threshold.

[0011] In one embodiment, the step of controlling the quay crane operation based on the first wind speed and the target wind speed threshold includes: Determine whether the first wind speed is within the target wind speed threshold range; When the first wind speed is within the target wind speed threshold range, the quay crane operation continues; When the first wind speed is not within the target wind speed threshold range, the quay crane operation shall be stopped.

[0012] In addition, to achieve the above objectives, this application also proposes a quay crane operation control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the quay crane operation control method described above.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the quay crane operation control method described above.

[0014] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the quay crane operation control method described above.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: This application obtains a first wind speed and a first wind direction angle relative to the main axis of the spreader. Based on the first wind direction angle and a first wind load threshold that the current spreader system can withstand, a target wind speed threshold is determined. The quay crane operation is then controlled based on the first wind speed and the target wind speed threshold. It is understood that since the target wind speed threshold is derived by working backward from the actual wind direction angle and the actual wind load threshold, it ensures that under any wind direction, as long as the current wind speed does not exceed the target wind speed threshold corresponding to that direction, the actual wind load will not exceed the safety limit. Therefore, the target wind speed threshold is dynamically adjusted with the wind direction angle, matching the quay crane operation control to the dynamic characteristics of the wind field (e.g., directionality), overcoming the deficiency that a single threshold cannot reflect the complexity of the wind field. This achieves the technical effect of balancing operational safety and efficiency. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating an embodiment of the quay crane operation control method of this application. Figure 2 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the quay crane operation control method in the embodiments of this application.

[0019] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or quay crane operation control device capable of performing the above functions. The following description uses a quay crane operation control device as an example to illustrate this embodiment and the subsequent embodiments.

[0023] Based on this, the embodiments of this application provide a method for controlling the operation of a quay crane, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the quay crane operation control method of this application.

[0024] In this embodiment, the quay crane operation control method includes steps S10 to S30: Step S10: Obtain the first wind speed and the first wind direction angle relative to the main axis of the spreader; Step S20: Determine the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand; Step S30: Control the operation of the quay crane based on the first wind speed and the target wind speed threshold.

[0025] It should be noted that quay cranes, as the core loading and unloading equipment at the forefront of port terminals, are responsible for the transfer of containers between ships and storage yards. Because quay crane operations are typically located in nearshore areas, they are constantly exposed to complex and variable nearshore turbulent wind fields. Under high wind speeds or gusts, the spreader system is prone to oscillation. Currently, quay crane operation control is usually based on a single wind speed threshold. However, this method cannot fully reflect the dynamic characteristics of the wind field, making it difficult to balance operational safety and efficiency.

[0026] This embodiment aims to dynamically calculate the wind speed threshold by combining wind speed, wind direction, and the wind load threshold that the lifting equipment system can withstand, so as to match the quay crane operation control with the dynamic characteristics of the wind field (e.g., directionality), overcoming the deficiency that a single threshold cannot reflect the complexity of the wind field. This balances operational safety and efficiency.

[0027] It should be noted that the spreader system is the core actuator of the quay crane used for grabbing, lifting, and transporting containers. The spreader system directly bears wind loads and affects the overall operational stability of the crane. The spreader system includes a spreader main shaft, telescopic beam, twistlock mechanism, guide plate, and upper frame structure connected to the lifting wire rope.

[0028] Specifically, wind speed and direction can be obtained using wind speed and direction sensors installed on the quay crane. These sensors can be positioned near the main shaft of the spreader, at the end of the front beam, or in other locations that effectively reflect the wind conditions acting on the spreader area.

[0029] In this embodiment, the first wind speed refers to the instantaneous wind speed currently acting on the main shaft of the spreader; the first wind direction angle is the angle between the current wind direction and the direction of the main shaft of the spreader. Since the spreader system has a large windward area and is suspended at a high altitude, it is prone to swaying or twisting after being subjected to wind loads. In this embodiment, the first wind direction angle relative to the main shaft of the spreader is obtained. The first wind direction angle can more realistically reflect the influence of wind on the dynamic behavior of the spreader.

[0030] It should be noted that the spreader system may include attitude sensors (such as gyroscopes or magnetometers), which can output the azimuth angle of the spreader's main axis relative to the geographic coordinate system or the coordinate system of the quay crane body in real time. Based on this azimuth angle, the relative angle between the current wind direction and the spreader's main axis, i.e., the first wind direction angle, can be calculated.

[0031] Specifically, wind speed and direction data measured in real time can be converted into standard 4-20mA current signals using wind speed and direction sensors, and then connected to the analog input module of a programmable logic controller (PLC). In the PLC program, based on the factory-calibrated proportional coefficients of the wind speed and direction sensors (e.g., 4-20 mA for wind speed 0-60 m / s, 4-20 mA for wind direction 0-360°), the analog signals are linearly converted into actual physical values: wind speed is measured in meters per second (m / s); wind direction is measured in degrees (°). The wind direction unit uses a geographic coordinate system, where 0° represents wind blowing from due north, and rotating clockwise, 90° represents due east, 180° represents due south, and 270° represents due west, forming a complete 0°-360° azimuth system.

[0032] Furthermore, assuming the front end of the spreader spindle of the current quay crane points due north, the direction angle of the spreader spindle is 0°. Under this premise, the angle between the wind direction and the spreader spindle (i.e., the first wind direction angle θ) can be directly determined by the wind direction value output by the wind speed and wind direction sensor. That is, the wind direction value output by the wind speed and wind direction sensor is the first wind direction angle θ.

[0033] For example, if the wind speed and direction sensor measures the wind direction as α (unit: °, 0≤α<360), then since the main shaft of the hoist is oriented at 0°, the first wind direction angle is: θ=α.

[0034] When the wind speed and direction sensor measures the wind direction α = 0° and θ = 0°, it means that the wind is blowing along the main axis of the hoist. When the wind speed and direction sensor measures the wind direction α = 90° and θ = 90°, it indicates that the wind is acting perpendicularly on the side of the lifting device.

[0035] It should be noted that when the main shaft of the spreader rotates (i.e., no longer faces north), the direction angle β of the main shaft of the spreader relative to true north can be obtained through the spreader rotation encoder; at this time, the relative angle between the wind direction and the main shaft of the spreader should be corrected based on this direction angle β to obtain the first wind direction angle θ.

[0036] Furthermore, in this embodiment, the target wind speed threshold is determined based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand. Here, wind load is the resultant force formed by the pressure or suction exerted by airflow on an object exposed in its path. The first wind load threshold that the current lifting system can withstand is the maximum wind load that the lifting system can safely withstand, which is pre-calibrated based on experimental data, or the maximum wind load that the lifting system can safely withstand, which is determined based on the current working conditions and operational requirements.

[0037] The current operating conditions include the current load status of the spreader (e.g., no load, half load, full load), the height of the spreader (e.g., the higher the lifting height, the smaller the allowable wind load), and the stability margin of the quay crane structure. The operating requirements include port safety operating procedures or technical specifications provided by the equipment manufacturer.

[0038] In one feasible implementation, the specific method for determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand can be as follows: by conducting wind tunnel tests, CFD simulations, or theoretical calculations, a mapping relationship between the wind direction angle, wind load threshold, and wind speed threshold is established in advance and stored in a table; then, the target wind speed threshold can be obtained by looking up the table based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand.

[0039] Because the target wind speed threshold is no longer a fixed value, but a dynamically adjusted safety boundary based on wind direction and the wind load threshold that the spreading system can withstand, it ensures that regardless of wind direction, as long as the actual wind speed does not exceed the target wind speed threshold corresponding to that direction, the wind load on the spreading system will not exceed the first wind load threshold. Therefore, by controlling the quay crane operation based on the first wind speed and the target wind speed threshold, it is possible to limit wind speed according to actual needs in complex wind fields, avoiding overly conservative operations or overlooked risks caused by traditional single wind speed thresholds, thus balancing operational safety and efficiency.

[0040] Specifically, the implementation method for controlling the quay crane operation based on the first wind speed and the target wind speed threshold can be: Determine whether the first wind speed is within the target wind speed threshold range; if the first wind speed is within the target wind speed threshold range, continue the quay crane operation; if the first wind speed is not within the target wind speed threshold range, stop the quay crane operation.

[0041] It is understood that this embodiment compares the first wind speed obtained in real time with the dynamically determined target wind speed threshold, and executes the corresponding operation control strategy based on the comparison result to ensure that the lifting system operates within the wind load safety limit.

[0042] Specifically, it is determined whether the first wind speed is within the target wind speed threshold range. If the first wind speed is within the target wind speed threshold range, the current wind conditions are determined to be within a safe operating range, and the quay crane is allowed to continue normal loading and unloading operations. If the first wind speed is not within the target wind speed threshold range, it is determined that there is a risk of wind load exceeding the limit, triggering a safety protection mechanism and stopping the quay crane operation.

[0043] To further improve operational continuity and safety, a recovery threshold can be set to avoid frequent start-ups and shutdowns caused by wind speed fluctuations around the threshold.

[0044] In this embodiment, the control of quay crane operations no longer relies on a fixed wind speed threshold, but dynamically adjusts the wind speed threshold based on real-time wind direction and the stress characteristics of the spreader. For example, higher wind speeds are allowed under downwind conditions, while speed limits are issued in advance under crosswind conditions, thereby maximizing the operating window and improving port loading and unloading efficiency without sacrificing safety.

[0045] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Furthermore, the specific implementation method for determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand can also be: Based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand, the target wind speed threshold is determined by a preset wind load evaluation model. The preset wind load evaluation model is used to characterize the correlation between the wind speed threshold, the wind direction angle and the wind load threshold of the lifting system.

[0046] To improve the efficiency of quay crane operation control, a preset wind load assessment model can be constructed in advance. This preset wind load assessment model is used to characterize the correlation between wind speed threshold, wind direction angle and wind load threshold of the lifting system. Based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand, the target wind speed threshold can be quickly and accurately determined through the preset wind load assessment model.

[0047] Specifically, the method for constructing a preset wind load assessment model can be as follows: place a scaled-down model of the quay crane spreader in a wind tunnel laboratory, measure the actual wind load under different wind direction angles, obtain discrete datasets, establish the correlation between wind speed threshold, wind direction angle and wind load threshold of the spreader system through fitting or interpolation methods, and back-calculate the maximum allowable wind speed under each wind direction angle to form a high-precision preset wind load assessment model.

[0048] For example, typical wind direction angle ranges and corresponding target wind speed thresholds can be: Under headwind / tailwind conditions, when the first wind direction angle is in the range of θ<30° or θ>150°, and the first wind load threshold that the current lifting system can withstand is 6000 N, the wind blows along the main axis of the lifting device, and the lifting device has high wind resistance stability. The target wind speed threshold calculated by the preset wind load assessment model can be 18 m / s (higher than the conventional limit) to reduce unnecessary downtime caused by conservative control and improve work efficiency.

[0049] Under crosswind conditions, when the wind direction angle is in the range of 60° < θ < 120°, and the first wind load threshold that the current spreading system can withstand is 6000 N, the wind acts vertically or nearly vertically on the side of the spreading system, generating a large lateral force and overturning moment, resulting in poor wind resistance stability. The target wind speed threshold calculated by the preset wind load assessment model can be 12 m / s (lower than the conventional limit) to enhance the overturning safety margin and prevent the spreading system from swinging significantly or going out of control.

[0050] In the transition zone, when the wind direction angle is in the range of 30°≤θ≤60° or 120°≤θ≤150°, and the first wind load threshold that the current lifting system can withstand is 6000 N, the target wind speed threshold calculated by the preset wind load evaluation model can be 15 m / s, so as to achieve a smooth transition and avoid control jumps.

[0051] Specifically, before the steps of obtaining the first wind speed and the first wind direction angle, the following may also be performed: Obtain the second wind speed, the second wind direction angle relative to the main axis of the spreader, and the second wind load threshold that different spreader systems can withstand; determine the windward area of ​​the spreader based on the second wind direction angle, wherein the windward area of ​​the spreader is used to characterize the wind load borne by the spreader system; and fit the preset wind load evaluation model based on the second wind speed, the second wind direction angle, the windward area of ​​the spreader, and the second wind load threshold.

[0052] It should be noted that the second wind speed refers to the instantaneous wind speed acting on the main shaft of the spreader under historical operating conditions; the second wind direction angle is the angle between the wind direction and the direction of the main shaft of the spreader under historical operating conditions. The second wind load threshold refers to the different wind load thresholds that different spreader systems can withstand under historical operating conditions.

[0053] In order to accurately assess the force exerted by wind speed on the spreader under different wind direction angles, this embodiment determines the windward area of ​​the spreader based on the second wind direction angle; the windward area of ​​the spreader is the projected area of ​​the spreader under different wind directions. This projected area can accurately reflect the force exerted by different wind speeds on the spreader, that is, accurately reflect the wind load borne by the spreader system.

[0054] Specifically, the method for determining the windward area of ​​the spreader based on the second wind direction angle can be as follows: simplify the main shaft of the spreader into a regular geometric shape (e.g., a cuboid), and calculate the windward area of ​​the spreader using trigonometric functions based on the structural dimensions of the main shaft and the second wind direction angle.

[0055] Specifically, the windward area of ​​the spreader can be determined based on the components of wind speed perpendicular to the spreader's main axis and the components of wind speed along the spreader's main axis. The specific calculation formula can be: ; in, The projected area along the longitudinal direction (along the main axis of the spreader) of the spreader. These are the projected areas in the width direction of the lifting device (vertical direction of the lifting device's main axis).

[0056] Alternatively, the windward area of ​​the spreader can be determined solely based on the component of the wind speed in the vertical direction of the spreader's main axis, thereby reducing the amount of calculation while ensuring the accuracy of the calculation.

[0057] Further, based on the second wind speed, the second wind direction angle, the windward area of ​​the lifting device, and the second wind load threshold, the preset wind load evaluation model is fitted. Specifically, the implementation method for fitting the preset wind load evaluation model based on the second wind speed, the second wind direction angle, the windward area of ​​the lifting device, and the second wind load threshold can be: fitting the preset wind load evaluation model based on the second wind speed, the second wind direction angle, the windward area of ​​the lifting device, the second wind load threshold, air density, and drag coefficient. It can be understood that adding air density and drag coefficient can make the model more closely match the actual aerodynamic characteristics of the lifting device.

[0058] Specifically, the preset wind load assessment model can be expressed as: ; in, Where ρ is the wind load and ρ is the air density. Where θ is the drag coefficient and θ is the wind direction angle. For wind speed, The area of ​​the lifting device facing the wind.

[0059] Specifically, the implementation method of determining the target wind speed threshold based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand through a preset wind load evaluation model can also be as follows: based on the reference wind direction angle and the reference wind speed threshold corresponding to the reference wind direction angle, outputting a reference wind load value through the preset wind load evaluation model; based on the first wind direction angle and the reference wind load value, outputting a target wind speed threshold that can generate an equivalent wind load to the first wind load threshold under the first wind direction angle through the preset wind load evaluation model.

[0060] In this embodiment, a reference wind direction angle is selected, and a corresponding benchmark wind speed threshold is set. Specifically, the benchmark wind speed threshold can be determined based on equipment safety specifications, historical operating experience, or port operating procedures. Since the preset wind load assessment model is used to characterize the correlation between the wind speed threshold, the wind direction angle, and the wind load threshold of the spreader system, the corresponding benchmark wind load value can be calculated by inputting the reference wind direction angle and the benchmark wind speed threshold into the preset wind load assessment model.

[0061] Specifically, the formula for calculating the baseline wind load value can be expressed as: ; in, The baseline wind load value, As the baseline wind speed threshold, For reference wind direction angle.

[0062] Furthermore, based on the first wind direction angle and the reference wind load value, the preset wind load evaluation model will output a target wind speed threshold that can generate an equivalent wind load to the first wind load threshold at the first wind direction angle; that is, the reference wind load value will be used as an equivalent representative of the first wind load threshold that the current lifting system can withstand, and based on the first wind direction angle and the equivalent wind load, the preset wind load evaluation model will output a target wind speed threshold that can generate an equivalent wind load to the first wind load threshold at the first wind direction angle.

[0063] Specifically, the calculation process of using the reference wind load value as an equivalent representative of the first wind load threshold that the current lifting system can withstand can be expressed as follows: ; make That is, to achieve equivalent conversion; Therefore, the target wind speed threshold that can generate an equivalent wind load to the first wind load threshold under the first wind direction angle can be obtained. : .

[0064] It should be noted that the reference wind direction angle includes the wind direction angle corresponding to when the wind direction is perpendicular to the main shaft of the lifting device, for example, =90°. Under this condition, the effective windward area of ​​the spreader is the largest, and the wind load it receives is the most severe. Using this reference wind direction angle as a reference point can ensure that the benchmark wind load value is representative and that the target wind speed thresholds for other wind directions derived from it meet the safety constraints across the entire wind direction range.

[0065] In one feasible implementation, other high-risk wind angles can also be determined as a reference based on the prevailing wind direction at the port or historical accident data, for example... =70°.

[0066] In this embodiment, the equivalent wind load benchmark under the current operating condition is calibrated using known reference quantities (reference wind direction angle and reference wind speed threshold). Then, using the equivalent wind load benchmark as an anchor point, the target wind speed threshold under any wind direction angle is deduced. This method can achieve wind direction adaptive adjustment of the wind speed threshold without relying on the absolute calibration of environmental or structural parameters such as air density and drag coefficient. Instead, it achieves wind direction adaptive adjustment of the wind speed threshold through the principle of relative equivalence, exhibiting good robustness and field adaptability.

[0067] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description, and will not be repeated hereafter. On this basis, the target wind speed threshold is output through a preset operation optimization model based on the first wind direction angle and the first wind load threshold that the current lifting system can withstand.

[0068] It should be noted that the preset operation optimization model is obtained by training the preset model to be trained based on wind speed training samples, wind direction angle training samples, wind load threshold training samples obtained during the historical operation of the quay crane, and preset optimization objectives. The preset optimization objectives include that the maximum wind load of the spreader system is less than the wind load in the wind load threshold training samples, and the quay crane operation time is greater than the preset time threshold.

[0069] Specifically, it can be obtained by training a preset model based on wind speed training samples, wind direction angle training samples, wind load threshold training samples, and corresponding quay crane operation status labels acquired during the historical operation of the quay crane, with a preset optimization objective as the training target. The quay crane operation status labels include whether the crane is stopped, operation duration, and number of operator interventions.

[0070] The preset optimization objectives include that the maximum wind load on the spreader system is less than the wind load in the wind load threshold training sample, and the quay crane operation time is greater than the preset time threshold. That is, during the training process, there are safety constraints: under any wind conditions, the actual wind load on the spreader system should be less than the limit in the corresponding wind load threshold training sample, and efficiency maximization objectives: under the premise of satisfying the above safety constraints, maximize the effective operation time of the quay crane, so that the operation time is greater than the preset time threshold (for example, the continuous operation time of a single operation is ≥30 minutes, etc.), thereby reducing the frequency of unnecessary downtime and waiting time.

[0071] The preset model to be trained can be a reinforcement learning model, a constrained regression model, a multi-objective optimization model, etc. By solving the constrained optimization problem on a large amount of historical data, the preset operation optimization model finally trained can output a target wind speed threshold that balances safety and operation efficiency based on the real-time input first wind direction angle and first wind load threshold.

[0072] In addition, a safety-efficiency dual-objective optimization function can be constructed based on nearly one year of historical operation data of a quay crane at an automated terminal in Shanghai Port: ; Where a∈[0,1] are weight coefficients used to adjust the relative priority of safety and efficiency. Since the two objectives are inherently conflicting (improving efficiency may increase risk, and vice versa), a single optimal solution does not exist. Therefore, the non-dominated sorting genetic algorithm (NSGA-II) can be used to solve the Pareto front to obtain a set of non-dominated solutions that achieve the optimal balance between safety and efficiency.

[0073] Through simulation verification under historical wind field scenarios (including different seasons, tide levels, and ship berthing positions), the solution that meets the acceptable risk level (i.e., R≤1.0, no over-limit events) specified in ISO 23814:2022 "Cranes - Guidelines for wind load assessment" is selected from the Pareto front as the target wind speed threshold.

[0074] It is understood that this embodiment, by automatically learning the specific wind field characteristics of the port (such as gust patterns and turbulence intensity) and integrating operator experience with equipment response behavior, is suitable for highly automated terminals or near-shore ports with complex and changeable weather conditions.

[0075] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the quay crane operation control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0076] This application provides a quay crane operation control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the quay crane operation control method in the above embodiment 1.

[0077] The following is for reference. Figure 2 The diagram illustrates a structural schematic of a quay crane operation control device suitable for implementing embodiments of this application. The quay crane operation control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, tablets, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PMPs (Portable Media Players), vehicle-mounted terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital televisions and desktop computers. Figure 2 The illustrated quay crane operation control device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0078] like Figure 2 As shown, the quay crane operation control equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the quay crane operation control equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the quay crane operation control equipment to communicate wirelessly or wiredly with other equipment to exchange data. Although the figure shows quay crane operation control equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0079] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0080] The quay crane operation control device provided in this application, employing the quay crane operation control method in the above embodiments, can solve the technical problem of difficulty in balancing operational safety and operational efficiency. Compared with the prior art, the beneficial effects of the quay crane operation control device provided in this application are the same as those of the quay crane operation control method provided in the above embodiments, and other technical features of the quay crane operation control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0081] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0082] 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.

[0083] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the quay crane operation control method in the above embodiments.

[0084] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0085] The aforementioned computer-readable storage medium may be included in the quay crane operation control equipment; or it may exist independently and not be assembled into the quay crane operation control equipment.

[0086] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the quay crane operation control device, cause the quay crane operation control device to perform the aforementioned quay crane operation control method.

[0087] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0088] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0089] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0090] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-described quay crane operation control method, which can solve the technical problem of difficulty in balancing operation safety and operation efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the quay crane operation control method provided in the above embodiments, and will not be repeated here.

[0091] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the quay crane operation control method described above.

[0092] The computer program product provided in this application can solve the technical problem of balancing operational safety and operational efficiency. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the quay crane operation control method provided in the above embodiments, and will not be repeated here.

[0093] The above descriptions are merely some embodiments of this application and do not limit the scope of protection of this application. Any equivalent structural transformations made based on the technical concept of this application and the content of this specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application. All actions involving the acquisition of signals, information, or data in this application are performed in accordance with the relevant data protection laws and policies of the country where the application is located and with authorization from the owner of the corresponding device.

Claims

1. A quay crane operation control method, characterized by, The shore crane operation control method comprises: obtaining a first wind speed and a first wind direction angle of a wind direction relative to a main shaft of a spreader; determining a target wind speed threshold according to the first wind direction angle and a first wind load threshold allowed to be borne by a current spreader system; controlling shore crane operation according to the first wind speed and the target wind speed threshold.

2. The shore crane operation control method of claim 1, wherein, The step of determining the target wind speed threshold according to the first wind direction angle and the first wind load threshold allowed to be borne by the current spreader system comprises: determining the target wind speed threshold according to the first wind direction angle and the first wind load threshold allowed to be borne by the current spreader system through a preset wind load evaluation model, wherein the preset wind load evaluation model is used to represent a correlation between a wind speed threshold, a wind direction angle and a wind load threshold of the spreader system.

3. The shore crane operation control method according to claim 2, characterized in that, The step of determining the target wind speed threshold according to the first wind direction angle and the first wind load threshold allowed to be borne by the current spreader system through the preset wind load evaluation model comprises: outputting a reference wind load value through the preset wind load evaluation model according to a reference wind direction angle and a reference wind speed threshold corresponding to the reference wind direction angle; outputting a target wind speed threshold that can generate a wind load equivalent to the first wind load threshold at the first wind direction angle through the preset wind load evaluation model according to the first wind direction angle and the reference wind load value.

4. The shore crane operation control method according to claim 3, characterized in that, The reference wind direction angle comprises a wind direction angle corresponding to a case that the wind direction is perpendicular to the main shaft of the spreader.

5. The shore crane operation control method of claim 2 wherein, The step of obtaining the first wind speed and the first wind direction angle further comprises: obtaining a second wind speed, a second wind direction angle of a wind direction relative to the main shaft of the spreader and a second wind load threshold allowed to be borne by a different spreader system; determining a spreader windward area according to the second wind direction angle, wherein the spreader windward area is used to represent a wind load borne by the spreader system; fitting the preset wind load evaluation model according to the second wind speed, the second wind direction angle, the spreader windward area and the second wind load threshold.

6. The shore crane operation control method of claim 1 wherein, The step of determining the target wind speed threshold according to the first wind direction angle and the first wind load threshold allowed to be borne by the current spreader system comprises: outputting the target wind speed threshold through a preset operation optimization model according to the first wind direction angle and the first wind load threshold allowed to be borne by the current spreader system; wherein the preset operation optimization model is obtained by training a preset to-be-trained model based on wind speed training samples, wind direction training samples, wind load threshold training samples and a preset optimization target during historical operation of the shore crane, and the preset optimization target comprises that a maximum wind load of the spreader system is less than a wind load in the wind load threshold training samples and a shore crane operation time is greater than a preset time threshold.

7. The shore crane operation control method of claim 1 wherein, The step of controlling shore crane operation according to the first wind speed and the target wind speed threshold comprises: determining whether the first wind speed is within the target wind speed threshold range; continuing shore crane operation when the first wind speed is within the target wind speed threshold range; stopping shore crane operation when the first wind speed is not within the target wind speed threshold range.

8. A shore crane operation control device characterized by comprising: The shore crane operation control device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the shore crane operation control method according to any one of claims 1 to 7.

9. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the shore crane operation control method according to any one of claims 1 to 7.

10. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the shore crane operation control method according to any one of claims 1 to 7.

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