Intelligent ship unloading operation method and device, storage medium and electronic equipment

Abstract

The invention relates to an intelligent ship unloading operation method and device, a storage medium and electronic equipment, and the method comprises the steps that scanning task parameters for a ship to be unloaded are acquired, and the scanning task parameters comprise the ship scanning direction and the number of scanning hatch openings; according to the ship sweeping direction and the number of the scanned hatches, all the hatches of the ship to be unloaded are scanned through the laser radar, an overall three-dimensional mathematical model of the ship to be unloaded is obtained, and the overall three-dimensional mathematical model comprises three-dimensional mathematical models of a cabin and materials in the cabin; according to the overall three-dimensional mathematical model, a target material grabbing position and a corresponding material grabbing sequence are determined from the stacking positions of the materials in the cabins, and the influence of the target material grabbing position on the overall gravity center shift of the ship to be unloaded before and after material grabbing is minimum; and according to the target material grabbing positions and the corresponding material grabbing sequence, a grab bucket in the ship unloader is controlled to carry out ship unloading operation on the to-be-unloaded ship. The ship unloading method has the effect of improving the safety in the ship unloading operation process.

Description

Technical Field

[0001] This application relates to the field of ship unloading technology, specifically to an intelligent ship unloading method, apparatus, storage medium, and electronic equipment. Background Technology

[0002] Ship unloading operations refer to the entire process of unloading materials from a ship into the unloading hopper located near the land side of the ship unloader, and then releasing the material from the hopper. During this process, the grab bucket trolley of the ship unloader grabs materials from the ship's hold, moves them, and unloads them into the unloader's own unloading hopper. The materials are mainly bulk cargoes such as coal and ore. Ship unloaders are specialized machines used for unloading ships at docks. During operation, the grab bucket grabs materials from the ship's hold and lifts them out of the hold. Then, the grab bucket trolley moves away from the main beam towards the land side, ultimately completing the unloading. It features high production efficiency and adaptability to various bulk cargoes, and is widely used in unloading bulk cargoes such as coal and ore. With the increase in port throughput and technological advancements, automated ship unloading is gradually becoming the mainstream trend. Automated ship unloading technology not only improves work efficiency and reduces labor costs but also reduces safety accidents caused by human factors.

[0003] Currently, automated unloading operations typically employ the following method: using laser scanning to identify the ship's hatches, then controlling a grab trolley to move above the hatches and descend to grab the materials, extracting them to the corresponding unloading area to complete the automated unloading operation. Under this method, as the unloading time progresses, the amount of material reduced in the ship is significant, and the load in a certain area of ​​the ship is significantly reduced, which may cause a change in the ship's overall center of gravity and affect the ship's balance, resulting in poor safety during the unloading process. Summary of the Invention

[0004] To improve safety during ship unloading operations, this application provides an intelligent ship unloading method, apparatus, storage medium, and electronic device.

[0005] The first aspect of this application provides an intelligent unloading operation method, specifically including: Obtain scanning task parameters for the vessel to be unloaded, including the scanning direction and the number of hatches to be scanned; Based on the scanning direction and the number of hatches to be scanned, the hatches of the vessel to be unloaded are scanned by a lidar to obtain an overall three-dimensional mathematical model of the vessel to be unloaded. The overall three-dimensional mathematical model includes a three-dimensional mathematical model of the ship's hold and the materials inside the hold. Based on the overall three-dimensional mathematical model, the target material grabbing position and the corresponding material grabbing sequence are determined from the stacking positions of the materials in each of the holds. The target material grabbing position has the least impact on the overall center of gravity shift of the vessel to be unloaded before and after material grabbing. According to the target material grabbing positions and the corresponding material grabbing sequence, the grab buckets in the unloader are controlled to perform unloading operations on the ships to be unloaded.

[0006] By adopting the above technical solution, after obtaining the scanning task parameters, the unloading machine can accurately determine the overall three-dimensional mathematical model of the vessel to be unloaded using lidar. Then, based on the overall three-dimensional mathematical model, the impact of unloading materials from each hold individually on the overall center of gravity shift of the vessel is simulated and analyzed. This determines the target grabbing position and the corresponding grabbing sequence, thus determining the target grabbing position for each grab. Finally, according to the grabbing sequence, the grabbing machine controls the grabbing bucket to grab and unload materials at the corresponding target grabbing positions. This minimizes the impact of grabbing materials at each target grabbing position on the overall center of gravity shift and the balance of the vessel, thereby improving the safety of the unloading operation.

[0007] Optionally, determining the target material grabbing position and the corresponding material grabbing sequence from the stacking positions of the materials in each of the three-dimensional mathematical models specifically includes: Based on the overall three-dimensional mathematical model, the first center of gravity of the vessel to be unloaded is determined, and individual cargo materials are removed from the overall three-dimensional mathematical model to obtain a simulated model after unloading. Based on the simulated unloading model, the second center of gravity of the vessel to be unloaded after unloading is determined, and the offset between the second center of gravity and the first center of gravity is calculated. Select the smallest offset from all the said center of gravity offsets, and determine the stacking position of the material in the cabin corresponding to the smallest offset as the target material grabbing position; The simulated unloading model corresponding to the material in the hold at the target material grabbing position is determined as the overall three-dimensional mathematical model. The step of determining the first center of gravity of the ship to be unloaded based on the overall three-dimensional mathematical model is repeated until all the stacking positions of the material in the hold are traversed and the grabbing order of each target material grabbing position is determined. The earlier the target material grabbing position is determined, the earlier the corresponding grabbing order is.

[0008] By adopting the above technical solution, the material in the hold corresponding to the minimum offset, that is, the single material in the hold deleted from the model after the simulated unloading corresponding to the minimum offset, is stacked in the position of the grab bucket as the target grab position. Grabbing the material at the target grab position has the least impact on the overall balance of the ship to be unloaded, and the unloading operation is safer.

[0009] Optionally, based on the target grabbing positions and corresponding grabbing sequences, the grabs in the unloader are controlled to perform unloading operations on the vessels to be unloaded, specifically including: Based on the individual target grab position and the corresponding unloading position, at least one unloading movement path corresponding to the grab bucket in the unloader is determined; The number of first occurrences of spillage accidents at historical spillage locations in a single unloading movement path is counted. Based on the order of the first occurrences from largest to smallest, the historical spillage location with the highest number is selected from each of the historical spillage locations to determine the location prone to spillage. The historical spillage location is the location where material spillage has occurred during the movement of the grab bucket grabbing the material. Determine the weight range of historical spilled material at each of the easily spilled locations, and count the second occurrence number of each weight range. Select the weight range with the second occurrence number in descending order to determine the easily spilled weight range of the corresponding easily spilled location. Calculate the first weight of each of the locations prone to spillage and the second weight of each of the corresponding weight intervals prone to spillage. The first weight is the ratio of the first occurrence of each location prone to spillage to the sum of the first occurrences of all locations prone to spillage. The second weight is the ratio of the second occurrence of a single weight interval corresponding to a location prone to spillage to the sum of the second occurrences of all weight intervals prone to spillage. Based on the first weight and the corresponding second weight of each unloading movement path, the final movement path of the corresponding target material grabbing position is determined from each unloading movement path; Based on the final movement path and the corresponding material grabbing sequence, the grab bucket in the unloader is controlled to unload the material in the hold at the corresponding target material grabbing position.

[0010] By adopting the above technical solution, the greater the frequency of the first occurrence, the more likely the corresponding historical spill location is to experience a material spillage accident, thus identifying the spillage-prone location; the greater the frequency of the second occurrence, the more likely the weight of the material spilled at the spillage-prone location is to fall within the corresponding weight range, thus identifying the spillage-prone weight range. Finally, by combining the first weight and the corresponding second weights of a single unloading movement path, the probability of material spillage during the unloading process of the grab bucket through the corresponding unloading movement path is analyzed, thereby determining the safer final movement path for unloading and improving the safety of subsequent unloading operations.

[0011] Optionally, determining the final movement path of the corresponding target material grabbing position from each of the unloading movement paths based on the first weight and the corresponding second weights specifically includes: Calculate the first product of the first weight of a single unloading movement path and the first product of each corresponding second weight, and sum them to obtain the sum of the corresponding first products; Select the smallest sum of first products from the sums of the first products, and determine the unloading movement path to which the smallest sum of first products belongs as the final movement path of the corresponding target material grabbing position.

[0012] By adopting the above technical solution, the larger the sum of the first products, the greater the possibility of material spillage during the material grabbing process of the grab bucket along the corresponding unloading movement path. Finally, the smallest sum of the first products is selected from the sums of the first products, and the unloading movement path corresponding to the smallest sum of the first products, that is, the grab bucket movement path with the least risk of spillage, is determined as the final movement path of the corresponding target material grabbing position, thereby ensuring the safety of the grab bucket in the process of grabbing materials.

[0013] Optionally, the step of controlling the grab bucket in the unloader to unload the material in the hold at the corresponding target grab position according to the final moving path and the corresponding grabbing sequence specifically includes: Each spillage weight interval corresponding to each spillage location in the final moving path is determined as an interval set, and the intersection of the spillage weight intervals between each interval set is calculated. Each spillage weight interval that has a common intersection and the number of intersections exceeds a preset threshold is determined as the target interval. The location where the target interval is located in the final movement path of each weight interval prone to spillage is determined as the target spillage location, and the second product of the first weight of each target spillage location and the second weight of the corresponding target interval is calculated. Summing each of the second products yields the sum of the second products of the final movement path; If the sum of the second product is less than the preset product sum threshold, then the common intersection interval between the corresponding target intervals is determined as the final weight interval, and the maximum value in the final weight interval is determined as the target grab amount of the material in the cabin at the corresponding target grab position. Based on the final moving path and the corresponding target grab quantity and grab sequence, the grab bucket in the unloader is controlled to unload the material in the hold at the corresponding target grab position.

[0014] By adopting the above technical solution, if the sum of the second products is less than the product sum threshold, it indicates that the sum of the second products is small. When the weight of the material grabbed by the grab bucket is within the corresponding target range, the overall probability of spillage at locations prone to spillage during the final movement path is relatively small. Finally, based on the common intersection range between the various target ranges, i.e., the final weight range, the target grab capacity of the grab bucket is determined. This ensures that with this target grab capacity, the probability of material spillage during unloading is low, resulting in higher safety.

[0015] Optionally, the method further includes: Each location prone to spillage in the final movement path is identified as a key spillage location, the target material-grabbing location corresponding to the final movement path is identified as a key material-grabbing location, and the historical personnel distribution area within a preset distance range of all key spillage locations is determined. Count the number of times people have been distributed in each of the historical personnel distribution areas. Based on the order of the number of distributions from largest to smallest, select the third historical personnel distribution area from each of the historical personnel distribution areas and determine it as the area where people are easily distributed. Determine the historical time period of the distribution of people in each of the easily distributed personnel areas, count the frequency of occurrence of each historical time period, and select the fourth historical time period from each historical time period in descending order of frequency of occurrence to determine the easily distributed time period of the corresponding easily distributed personnel area; Calculate the third weight for each of the easily distributed personnel regions and the fourth weight for each of the corresponding easily distributed time periods. The third weight is the ratio of the distribution frequency of each easily distributed personnel region to the sum of the distribution frequencies of all easily distributed personnel regions. The fourth weight is the ratio of the occurrence frequency of a single easily distributed time period corresponding to an easily distributed personnel region to the sum of the occurrence frequencies of all corresponding easily distributed time periods. The unloading time period of the materials in the hold at the key material grabbing location is determined. Based on the unloading time period, the third weight, and the corresponding fourth weights, the unloading safety of the final movement path is verified. The unloading time period is from the start time to the end time of unloading the materials in the hold at the key material grabbing location.

[0016] By employing the above technical solution, the greater the frequency of distribution, the more likely personnel are to appear in the corresponding historical personnel distribution area, thus identifying easily distributed personnel areas; the greater the frequency of occurrence, the more likely a single easily distributed personnel area is to have personnel distribution in the corresponding historical time period, thus identifying easily distributed time periods. Finally, by combining the unloading time period, the third weight, and the corresponding fourth weights, the occurrence of personnel in each easily distributed personnel area during the unloading time period is analyzed, thereby verifying the unloading safety of the final movement path and improving the safety of the unloading process.

[0017] Optionally, the verification of the unloading safety of the final movement path based on the unloading time period, the third weight, and the corresponding fourth weights specifically includes: The easily distributed time periods within the unloading period are identified as key distribution periods. The easily distributed personnel areas in each of the corresponding easily distributed time periods that contain the key distribution periods are identified as key distribution areas. The third weight of each key distribution area and the third product of the fourth weight of at least one corresponding key distribution period are calculated and summed to obtain the sum of the third products. The sums of the third products are summed to obtain the final product sum. If the final product sum is less than a preset product sum threshold, the unloading safety verification of the final movement path is determined to be passed. If the sum of the final products is not less than a preset product sum threshold, then the unloading safety verification of the final movement path is determined to be unsuccessful, and a personnel detection warning is set for each of the key distribution areas during the unloading period. The personnel detection warning is a danger warning issued when personnel appear in the key distribution area.

[0018] By employing the above technical solution, the larger the sum of the third products, the greater the likelihood of personnel appearing in the corresponding key distribution area during the unloading period at this key material-grabbing location. Next, the sums of each third product are summed to obtain the final product sum. The larger the final product sum, the greater the likelihood of material spillage posing a hazard to personnel during the unloading period at this key material-grabbing location. Further, if this final product sum is less than a preset product sum threshold, it indicates a lower likelihood of material spillage posing a hazard to personnel during the unloading period at this key material-grabbing location. This further verifies that the unloading safety of this final movement path is high, and the verification passes. Conversely, if the final product sum is not less than the product sum threshold, the unloading safety verification fails. Therefore, during the unloading period, personnel warnings are set for each key distribution area to reduce the hazard to personnel when unloading through this final movement path.

[0019] A second aspect of this application provides an intelligent unloading operation device, specifically comprising: The information acquisition module is used to acquire scanning task parameters for the vessel to be unloaded, including the scanning direction and the number of hatches to be scanned. The model building module is used to scan each hatch of the vessel to be unloaded using a lidar according to the scanning direction and the number of hatches to be scanned, so as to obtain an overall three-dimensional mathematical model of the vessel to be unloaded. The overall three-dimensional mathematical model includes a three-dimensional mathematical model of the ship's hold and the materials inside the hold. The material grabbing determination module is used to determine the target material grabbing position and the corresponding material grabbing sequence from the stacking positions of the materials in each of the three-dimensional mathematical models. The target material grabbing position has the least impact on the overall center of gravity shift of the ship to be unloaded before and after material grabbing. The unloading operation module is used to control the grab buckets in the unloading machine to perform unloading operations on the ships to be unloaded according to the target grab positions and the corresponding grab sequence.

[0020] By adopting the above technical solution, the information acquisition module obtains the scanning task parameters, and the model building module scans each hatch of the vessel to be unloaded using lidar to obtain an overall three-dimensional mathematical model of the vessel. Next, the material grabbing determination module determines the target material grabbing position and the corresponding grabbing sequence from each stacking location. Finally, the unloading operation module controls the grab bucket to perform the unloading operation on the vessel.

[0021] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when loaded and executed by a processor, performs the steps of the method described in any one of the first aspects.

[0022] A fourth aspect of this application provides an electronic device, specifically comprising: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, the processor being configured to load and execute the computer program stored in the memory to cause the electronic device to perform the method as described in any one of the first aspects.

[0023] In summary, this application includes at least one of the following beneficial technical effects: After obtaining the scanning task parameters, the unloading machine can accurately determine the overall three-dimensional mathematical model of the vessel to be unloaded using lidar. Then, based on the overall three-dimensional mathematical model, the impact of unloading each hold's material individually on the overall center of gravity shift of the vessel is simulated and analyzed. This determines the target grabbing position and the corresponding grabbing sequence, thereby determining the target grabbing position for each grab. Finally, according to the grabbing sequence, the grab is controlled to grab and unload material at the corresponding target grabbing position. This minimizes the impact of grabbing at each target grabbing position on the overall center of gravity shift of the vessel and the balance of the vessel, thus improving the safety of the unloading operation. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating an intelligent unloading operation method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating another intelligent unloading operation method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an intelligent ship unloading device provided in an embodiment of this application; Figure 4 This is a schematic diagram of another intelligent ship unloading device provided in the embodiments of this application.

[0025] Explanation of reference numerals in the attached diagram: 11. Information acquisition module; 12. Model building module; 13. Material handling determination module; 14. Unloading operation module; 15. Safety verification module. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0027] In the description of the embodiments in this application, words such as "illustrative," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "illustrative," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of words such as "illustrative," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0028] In the description of the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, B existing alone, or A and B existing simultaneously. Furthermore, unless otherwise stated, the term "multiple" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0029] See Figure 1 This application discloses a flowchart of an intelligent ship unloading operation method, which can be implemented using a computer program or run on an intelligent ship unloading device based on the von Neumann architecture. The computer program can be integrated into an application or run as a standalone utility application, specifically including: S101: Obtain the scanning task parameters for the vessel to be unloaded. The scanning task parameters include the scanning direction and the number of hatches to be scanned.

[0030] Specifically, in this embodiment, the vessel to be unloaded is a vessel loaded with materials and docked in a port. The loaded materials can be bulk cargo, such as coal, ore, and grain. In other embodiments, they can also be containerized materials. The vessel to be unloaded has multiple holds, each containing multiple stockpiles of different types of materials. In other embodiments, the vessel may have only one hold for loading cargo. The scanning task parameters include the scanning direction and the number of hatches to be scanned. The scanning direction is the direction in which the lidar scans the hull of the vessel to be unloaded; exemplarily, the scanning direction can be from bow to stern. The number of hatches to be scanned refers to the number of hatches in the vessel to be unloaded that the lidar needs to scan and identify. For example, if the vessel to be unloaded has four holds loaded with materials, then four hatches will be scanned. It should be noted that the lidar is located at the bottom of the unloading machine's main beam, and the number of lidars can be three. In other embodiments, the number of lidars can also be other reasonable numbers. Among them, two lidars are high-precision 3D modeling lidars used to scan target objects for 3D modeling, and one lidar is a high-precision 3D verification lidar used for accurate detection and verification of target objects in 3D space. Furthermore, this application discloses an intelligent ship unloading operation method in which the executing entity can be a ship unloader, and the ship unloader is connected to a terminal via a wireless network. The terminal can be a smartphone or a personal computer.

[0031] Furthermore, one feasible method for obtaining scanning task parameters for a vessel to be unloaded is to receive the scanning task parameters sent by a terminal. For example, a feasible implementation scenario is as follows: when a vessel arrives at the port, port management personnel send an initiation command for the unloading operation and the scanning task parameters to the unloader via a terminal. Upon receiving the scanning task parameters, the unloader begins the automated unloading operation of the vessel.

[0032] S102: Based on the scanning direction and the number of hatches scanned, the LiDAR is used to scan each hatch of the vessel to be unloaded, thereby obtaining the overall three-dimensional mathematical model of the vessel.

[0033] Specifically, the overall three-dimensional mathematical model includes the three-dimensional mathematical models of the ship's hold and the materials inside. Using a high-precision 3D modeling radar, based on the scanning direction and the number of hatches, the hull is scanned, and simultaneously, each hatch of the vessel to be unloaded is scanned and identified. This allows for the scanning of the hold and the materials inside, resulting in the overall three-dimensional mathematical model of the vessel to be unloaded.

[0034] S103: Based on the overall three-dimensional mathematical model, determine the target material grabbing position and the corresponding material grabbing sequence from the stacking positions of materials in each hold. The target material grabbing position has the least impact on the overall center of gravity shift of the ship to be unloaded before and after material grabbing.

[0035] Specifically, after the overall three-dimensional mathematical model of the vessel to be unloaded is determined, it is necessary to determine the reasonable positions for subsequent grabbing of materials by the grab bucket from the stacking positions of the materials in each hold of the ship. This involves identifying the target grabbing positions and the corresponding grabbing sequence, minimizing the impact on the overall center of gravity shift of the vessel before and after grabbing at these positions. This ensures minimal impact on the balance of the vessel during grabbing and unloading, thus improving the safety of the unloading operation. In this embodiment, a feasible method is to import the overall three-dimensional mathematical model into a preset three-dimensional modeling and analysis software, simultaneously inputting the material data of the vessel's structure, as well as the weight data and position information of the materials in each stacking position. Furthermore, the software's analysis function is used to determine the model's volume, mass distribution, and other information, thereby determining the first center of gravity of the vessel to be unloaded, i.e., its position in the overall three-dimensional mathematical model. The three-dimensional modeling and analysis software can be SolidWorks software. In other embodiments, CATIA software can also be used, as this is existing technology and will not be elaborated further. Furthermore, by using 3D modeling and analysis software to delete the 3D models of individual cargo holds from the overall 3D mathematical model, the corresponding simulated post-unloading models are obtained. This process is repeated, deleting only individual cargo holds each time, until all cargo holds have been processed, ultimately resulting in multiple simulated post-unloading models.

[0036] Furthermore, similarly, based on the simulated post-unloading model, the second center of gravity of the vessel after unloading is determined, i.e., the position of the center of gravity after unloading the corresponding individual hold material. For a single simulated post-unloading model, the offset of the center of gravity between its corresponding second center of gravity and the first center of gravity is calculated, and the minimum offset is selected from all the offsets. The hold material corresponding to the minimum offset, i.e., the single hold material deleted from the simulated post-unloading model corresponding to the minimum offset, is stacked at its target grab position for the grab bucket. Grabbing the material at the target grab position minimizes the impact on the overall balance of the vessel to be unloaded, resulting in a safer unloading operation.

[0037] Furthermore, the simulated unloading model corresponding to the material in the hold at this target grabbing position—that is, the three-dimensional mathematical model of the ship to be unloaded after the material in this hold is unloaded—is redefined as a whole three-dimensional mathematical model. Then, the step of determining the first center of gravity of the ship to be unloaded based on the whole three-dimensional mathematical model is repeated, and the next target grabbing position with the least impact on the center of gravity shift is redefined. This process is repeated until all the stacking positions of the material in the holds have been traversed. At the same time, the grabbing order of each target grabbing position is also determined according to the determination order of the corresponding target grabbing positions. The earlier the target grabbing position is determined, the earlier the corresponding grabbing order is. It should be noted that the grabbing order refers to the order in which the material in the corresponding target grabbing position is grabbed.

[0038] S104: Based on the target grab position and the corresponding grab sequence, control the grab bucket in the unloader to perform unloading operations on the ship to be unloaded.

[0039] Specifically, after determining the target material grabbing positions and corresponding grabbing sequence within the hold of the vessel to be unloaded, the grab trolley in the unloader is moved from the land side to the ship side on the cantilever, positioning itself above the target material grabbing position. The grab bucket is then lowered to the target position, and its opening and closing action is controlled by a motor to grab the material. Finally, the grab trolley moves from the ship side to the land side on the cantilever, moving the material to the corresponding discharge position via the grab bucket. In this embodiment, the discharge position can be the unloading hopper of the unloader. After the grab bucket grabs the material into the unloading hopper, the hopper opens to discharge the material. In other embodiments, the discharge position can also be the conveyor belt of the unloader. It should be noted that the amount of material grabbed each time is sent to the unloader by port management personnel via a terminal in the form of an instruction.

[0040] See Figure 2 This application discloses a flowchart of another intelligent ship unloading operation method, which can be implemented using a computer program or run on an intelligent ship unloading device based on the von Neumann architecture. The computer program can be integrated into an application or run as a standalone utility application, specifically including: S201: Obtain the scanning task parameters for the vessel to be unloaded. The scanning task parameters include the scanning direction and the number of hatches to be scanned.

[0041] S202: Based on the scanning direction and the number of hatches scanned, the LiDAR is used to scan each hatch of the vessel to be unloaded, thereby obtaining the overall three-dimensional mathematical model of the vessel.

[0042] S203: Based on the overall three-dimensional mathematical model, determine the target material grabbing position and the corresponding material grabbing sequence from the stacking positions of materials in each hold. The target material grabbing position has the least impact on the overall center of gravity shift of the vessel to be unloaded before and after material grabbing.

[0043] For details, please refer to steps S101-S104, which will not be repeated here.

[0044] S204: Based on the single target grab position and the corresponding unloading position, determine at least one unloading movement path corresponding to the grab bucket in the unloader.

[0045] S205: Count the number of times the first occurrence of spillage accidents occurs at historical spillage locations in a single unloading movement path, and select the historical spillage location with the highest number of first occurrences from all historical spillage locations in descending order to determine the spillage location.

[0046] S206: Determine the weight range of historical spilled material at each prone spill location, and count the second occurrence number of each weight range. Select the weight range with the second occurrence number in descending order to determine the prone spill weight range of the corresponding prone spill location.

[0047] Specifically, the three-dimensional coordinates of the target material grabbing position in the overall three-dimensional mathematical model are converted into its real-world position information through coordinate transformation. Furthermore, in this embodiment, the material release position is the conveyor belt in the unloader. The position information of the material release position is determined based on a GPS module preset at the location of the conveyor belt. Finally, based on both position information, at least one unloading movement path for the grab bucket from the target material grabbing position to the material release position is determined.

[0048] Furthermore, based on the historical records of material spillage incidents, each historical spillage location is obtained, and these locations are filtered out from individual unloading movement paths. The frequency of the first occurrence of a spillage incident at each historical spillage location is then counted; the higher the frequency, the more likely the historical spillage location is to experience a material spillage incident. Following the order of the first occurrence frequency from largest to smallest, the historical spillage locations with the highest preset frequency are selected as prone to spillage locations—that is, locations where the material grabbed by the grab bucket is likely to spill. Historical spillage locations are those where material spillage has occurred during the grab bucket's material movement. The historical records include, but are not limited to, information such as the location of the spillage and the weight of the spilled object.

[0049] Furthermore, based on the aforementioned historical records, the weight range of historically spilled material at each prone spill location is determined. The second occurrence frequency of each weight range is counted; the higher the second occurrence frequency, the more likely the weight of the spilled material at the prone spill location is to fall within the corresponding weight range. Then, according to the order of the second occurrence frequency from largest to smallest, the weight range with the second preset number is selected from each weight range to determine the prone spill weight range for the corresponding prone spill location, i.e., the weight range of the material that is prone to spillage.

[0050] S207: Calculate the first weight of each location prone to spillage and the second weight of each corresponding weight range prone to spillage.

[0051] S208: Based on the first weight and the corresponding second weight of each unloading movement path, determine the final movement path of the target material grabbing position from each unloading movement path.

[0052] Specifically, the first weight of each spill-prone location and the second weight of each corresponding spill-prone weight interval are calculated. The first weight is the ratio of the first occurrence frequency of each spill-prone location to the sum of the first occurrence frequencies of all spill-prone locations. The second weight is the ratio of the second occurrence frequency of a single spill-prone weight interval corresponding to a spill-prone location to the sum of the second occurrence frequencies of all corresponding spill-prone weight intervals. Next, the final movement path of the corresponding target material-grabbing location is determined from each unloading movement path. A feasible method is to calculate the first product of the first weight of a single unloading movement path and the first product of each corresponding second weight, and sum them to obtain the sum of the first products of the corresponding unloading movement paths. The larger the sum of the first products, the greater the possibility of material spillage during the grabbing process of the grab bucket through the corresponding unloading movement path. Finally, the smallest sum of the first products is selected from the sums of the first products. The unloading movement path corresponding to the smallest sum of the first products, i.e., the grab bucket movement path with the lowest spillage risk, is determined as the final movement path of the corresponding target material-grabbing location, thereby ensuring the safety of the grab bucket in the material-grabbing process.

[0053] S209: Based on the final movement path and the corresponding material grabbing sequence, control the grab bucket in the unloader to unload the material in the hold at the corresponding target material grabbing position.

[0054] Specifically, after the final movement path is determined, each spillage-prone weight interval corresponding to each spillage-prone location within the final movement path is defined as a set of intervals. The intersection of these spillage-prone weight intervals is calculated between each pair of intervals. The spillage-prone weight intervals that share a common intersection and whose number of intersections exceeds a preset threshold are defined as target intervals. All target intervals share a common intersection. Further, the spillage-prone locations within each spillage-prone weight interval that fall within the target intervals are defined as target spillage locations. The second product of the first weight of each target spillage location and the second weight of the corresponding target interval is calculated. These second products are then summed to obtain the sum of the second products corresponding to this final movement path. The larger the sum of the second products, the greater the overall probability of spillage occurring at more spillage-prone locations within the corresponding target interval in the final movement path.

[0055] Finally, the sum of the second products is compared with a preset product sum threshold. If it is less than the product sum threshold, it indicates that the sum of the second products is small. When the weight of the material grabbed by the grab bucket is within the target range, the overall probability of spillage at locations prone to spillage during the final movement path is relatively low. Therefore, the common intersection of the corresponding target ranges is determined as the final weight range. When the weight of the material grabbed by the grab bucket is within this final weight range, the probability of material spillage during the final movement path is relatively low. In this embodiment, the maximum value in this final weight range is determined as the target grab amount of material in the hold at the corresponding target grab position, that is, the weight grabbed by the grab bucket each time. Finally, based on this final movement path and the corresponding target grab amount and grab sequence, the grab bucket is controlled to grab and unload the material at the corresponding target grab position.

[0056] In other embodiments, after step S208, the method further includes: for a single target material-grabbing position, after its final movement path is determined, each location prone to spillage along the final movement path is identified as a key spillage location, and the target material-grabbing position corresponding to the final movement path is identified as a key material-grabbing location. Historical personnel distribution areas within a preset distance range of each key spillage location are determined using historical monitoring videos from preset cameras. The preset distance range is the maximum distance range at which material spillage affects personnel. Further, the number of times personnel have been distributed in each historical personnel distribution area is counted. The higher the number of distributions, the more likely the corresponding historical personnel distribution area is to have personnel distribution. Following the order of distribution frequency from largest to smallest, the third-highest historical personnel distribution area is selected and identified as a region prone to personnel distribution, i.e., an area where personnel distribution is relatively likely to occur.

[0057] Furthermore, from historical surveillance videos covering a single easily distributed area, time periods with personnel distribution are identified, i.e., historical time periods. The frequency of occurrence in each historical time period is counted; the higher the frequency, the more likely the single easily distributed area is to have personnel distribution in the corresponding historical time period. Then, in descending order of frequency, the fourth historical time period is selected from each historical time period to determine the easily distributed time period for the corresponding easily distributed area, i.e., the time period when personnel are likely to be distributed. Next, the third weight of each easily distributed area and the fourth weight of each corresponding easily distributed time period are calculated. The third weight is the ratio of the distribution frequency of each easily distributed area to the sum of the distribution frequencies of all easily distributed areas, and the fourth weight is the ratio of the occurrence frequency of a single easily distributed time period corresponding to an easily distributed area to the sum of the occurrence frequencies of all corresponding easily distributed time periods.

[0058] Furthermore, the weight of the material in the hold at the key grabbing location is divided by the amount grabbed by the grab bucket each time to obtain the corresponding unloading time. This time, combined with the start time of grabbing at this key grabbing location, determines the corresponding unloading period, i.e., the unloading start time to the unloading end time of the material in the hold at this key grabbing location. For example, if the material being unloaded for the first time is material stored at a key grabbing location, then the start time of grabbing at the key grabbing location is the current time. Further, easily distributed periods within the unloading period are identified as key distribution periods. Then, areas with easily distributed personnel within these key distribution periods are identified as key distribution areas. The third weight of each key distribution area and the third product of the fourth weight of at least one corresponding key distribution period are calculated and summed to obtain the sum of the corresponding third products. The larger the sum of the third products, the greater the probability of personnel appearing in the corresponding key distribution area within the unloading period of this key grabbing location. Next, the sums of each third product are summed to obtain the final sum of products. The larger the final sum of products, the greater the possibility of material spillage posing a hazard to personnel during the unloading period at this key material handling location. If this final sum of products is less than a preset product sum threshold, it indicates that the possibility of material spillage posing a hazard to personnel during the unloading period at this key material handling location is relatively small. Therefore, the unloading safety of this final movement path is verified again, and the verification passes. Conversely, if the final sum of products is not less than the product sum threshold, the unloading safety verification fails. In this case, a personnel alert is set for each key distribution area during the unloading period; that is, a danger warning is issued when personnel are present in the key distribution area.

[0059] In one embodiment, if the overall unloading operation of the vessel to be unloaded needs to be completed ahead of schedule, the grabbing amount of the grab bucket each time is set to the maximum grabbing amount (maximum grabbing weight) that the grab bucket can grab, thereby improving the material grabbing efficiency and meeting the operation completion time requirements. The locations prone to spillage within each corresponding weight range containing this maximum grabbing amount are identified as important spilling locations, and the weight ranges prone to spillage containing the maximum grabbing amount are identified as important weight ranges. For a single unloading movement path, the product of the first weight of each important spilling location and the second weight of the corresponding important weight range is calculated and summed to obtain the corresponding sum of products. The larger the sum of products, the greater the probability of spillage when grabbing material with the maximum grabbing amount on the corresponding unloading movement path. Finally, the minimum sum of products is selected from all the sums of products, and the unloading movement path corresponding to the minimum sum of products is determined as the final movement path.

[0060] The implementation principle of the intelligent unloading operation method in this application embodiment is as follows: After obtaining the scanning task parameters, the unloading machine can accurately determine the overall three-dimensional mathematical model of the ship to be unloaded using lidar. Then, based on the overall three-dimensional mathematical model, the impact of unloading each hold's material individually on the overall center of gravity shift of the ship is simulated and analyzed. This determines the target material grabbing position and the corresponding grabbing sequence, thus determining the target material grabbing position for each grab. Finally, according to the grabbing sequence, the grab is controlled to grab and unload material at the corresponding target grabbing position. This minimizes the impact of grabbing at each target grabbing position on the overall center of gravity shift and the balance of the ship, thereby improving the safety of the unloading operation.

[0061] The following are embodiments of the apparatus of this application, which can be used to execute the embodiments of the method of this application. For details not disclosed in the embodiments of the apparatus of this application, please refer to the embodiments of the method of this application.

[0062] Please see Figure 3 This is a schematic diagram of the intelligent ship unloading operation device provided in an embodiment of this application. This device can be implemented as all or part of the overall device through software, hardware, or a combination of both. The device includes an information acquisition module 11, a model building module 12, a material handling determination module 13, and a ship unloading operation module 14.

[0063] The information acquisition module 11 is used to acquire the scanning task parameters for the vessel to be unloaded. The scanning task parameters include the scanning direction and the number of hatches to be scanned. Model building module 12 is used to scan each hatch of the ship to be unloaded by laser radar according to the ship sweeping direction and the number of hatches scanned, and obtain the overall three-dimensional mathematical model of the ship to be unloaded. The overall three-dimensional mathematical model includes the three-dimensional mathematical model of the ship's hold and the materials inside the hold. The material grabbing determination module 13 is used to determine the target material grabbing position and the corresponding material grabbing sequence from the stacking position of materials in each hold based on the overall three-dimensional mathematical model. The target material grabbing position has the least impact on the overall center of gravity shift of the ship to be unloaded before and after material grabbing. The unloading operation module 14 is used to control the grab buckets in the unloading machine to perform unloading operations on the ships to be unloaded according to the target grab positions and corresponding grab sequences.

[0064] Optional, the material handling determination module 13 is specifically used for: Based on the overall three-dimensional mathematical model, the first center of gravity of the ship to be unloaded is determined, and individual cargo in the hold is removed from the overall three-dimensional mathematical model to obtain a simulated model after unloading. Based on the simulated unloading model, the second center of gravity of the vessel after unloading is determined, and the offset between the second center of gravity and the first center of gravity is calculated. Select the smallest offset from all the center of gravity offsets, and determine the stacking position of the material in the compartment corresponding to the smallest offset as the target material grabbing position; The simulated unloading model corresponding to the material in the hold at the target material grabbing position is determined as the overall three-dimensional mathematical model. The step of determining the first center of gravity of the ship to be unloaded based on the overall three-dimensional mathematical model is repeated until the stacking position of all materials in the hold is traversed and the grabbing order of each target material grabbing position is determined. The earlier the target material grabbing position is determined, the earlier the corresponding grabbing order is.

[0065] Optional, unloading operation module 14, specifically used for: Based on the individual target grab position and the corresponding unloading position, determine at least one unloading movement path corresponding to the grab bucket in the ship unloader; The number of times the first occurrence of spillage accidents is counted at each historical spillage location in a single unloading movement path. Based on the order of the first occurrence count from largest to smallest, the historical spillage location with the highest number is selected as the location prone to spillage. The historical spillage location is the location where material has spilled during the movement of the grab bucket to grab material. Determine the weight range of historical spilled material at each prone spill location, and count the number of times the second occurrence of each weight range occurs. Select the weight range with the second occurrence number in descending order to determine the prone spill weight range of the corresponding prone spill location. Calculate the first weight of each spill-prone location and the second weight of each corresponding spill-prone weight interval. The first weight is the ratio of the first occurrence of each spill-prone location to the sum of the first occurrences of all spill-prone locations. The second weight is the ratio of the second occurrence of a single spill-prone weight interval corresponding to a spill-prone location to the sum of the second occurrences of all spill-prone weight intervals. Based on the first weight and the corresponding second weights of each unloading movement path, determine the final movement path of the target material grabbing position from each unloading movement path; Based on the final movement path and the corresponding material grabbing sequence, the grab buckets in the unloader are controlled to unload the materials in the hold at the corresponding target material grabbing position.

[0066] Optional, unloading operation module 14, specifically used for: Calculate the first product of the first weight of a single unloading movement path and the first product of each corresponding second weight, and sum them to obtain the sum of the first products. Select the smallest sum of the first products from the sums of the first products, and determine the unloading movement path to which the smallest sum of the first products belongs as the final movement path of the corresponding target material grabbing position.

[0067] Optional, unloading operation module 14, specifically used for: Each spillage weight interval corresponding to each spillage location in the final movement path is determined as an interval set, and the intersection of the spillage weight intervals between each interval set is calculated. Each spillage weight interval that has a common intersection and the number of intersections exceeds a preset threshold is determined as the target interval. The location where the final movement path of the target interval exists in each of the corresponding easily spilled weight intervals is determined as the target spill location, and the second product of the first weight of each target spill location and the second weight of the corresponding target interval is calculated. Summing each of the second products yields the sum of the second products of the final movement path; If the sum of the second products is less than the preset product sum threshold, the common intersection interval between the corresponding target intervals is determined as the final weight interval, and the maximum value in the final weight interval is determined as the target grab amount of the material in the cabin at the corresponding target grab position. Based on the final movement path and the corresponding target grab quantity and grab sequence, the grab bucket in the unloader is controlled to unload the material in the hold at the corresponding target grab position.

[0068] Optional, such as Figure 4 As shown, the device also includes a security verification module 15, specifically used for: Each location prone to spillage in the final movement path is identified as a key spillage location, the target material-grabbing location corresponding to the final movement path is identified as a key material-grabbing location, and the historical personnel distribution area within a preset distance range of all key spillage locations is determined. Count the number of times people have been distributed in each historical personnel distribution area. Select the third historical personnel distribution area from each historical personnel distribution area according to the number of distributions in descending order and determine it as the area where people are easily distributed. Determine the historical time periods of the distribution of people in each easily distributed area, count the frequency of occurrence of each historical time period, and select the fourth historical time period from each historical time period in descending order of frequency to determine the easily distributed time period of the corresponding easily distributed area. Calculate the third weight for each easily distributed personnel region and the fourth weight for each corresponding easily distributed time period. The third weight is the ratio of the distribution frequency of each easily distributed personnel region to the sum of the distribution frequencies of all easily distributed personnel regions. The fourth weight is the ratio of the occurrence frequency of a single easily distributed time period corresponding to an easily distributed personnel region to the sum of the occurrence frequencies of all corresponding easily distributed time periods. The unloading time period for materials in the hold at the key material grabbing location is determined. Based on the unloading time period, the third weight, and the corresponding fourth weights, the unloading safety of the final movement path is verified. The unloading time period is from the start time to the end time of unloading materials in the hold at the key material grabbing location.

[0069] Optional, security verification module 15, specifically used for: The easily distributed time periods during the unloading period are identified as key distribution time periods. The areas of easily distributed personnel in each of the corresponding easily distributed time periods that contain key distribution time periods are identified as key distribution areas. The third weight of each key distribution area and the third product of the fourth weight of at least one corresponding key distribution time period are calculated and summed to obtain the sum of the third products. The sums of the third products are summed to obtain the final product sum. If the final product sum is less than the preset product sum threshold, the unloading safety verification of the final movement path is confirmed to be passed. If the final sum of products is not less than the preset product sum threshold, the unloading safety check of the final movement path is determined to be unsuccessful, and personnel detection warnings are set for each key distribution area during the unloading period. The personnel detection warning is a danger warning issued when personnel appear in the key distribution area.

[0070] It should be noted that the intelligent unloading device provided in the above embodiments is only illustrated by the division of the above functional modules when performing the intelligent unloading method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the intelligent unloading device and the intelligent unloading method embodiment provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be repeated here.

[0071] This application also discloses a computer-readable storage medium, which stores a computer program, wherein when the computer program is executed by a processor, it employs an intelligent unloading operation method as described in the above embodiments.

[0072] The computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or certain middleware. The computer-readable medium includes any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the computer-readable medium includes, but is not limited to, the above-mentioned components.

[0073] The above-described intelligent unloading operation method is stored in the computer-readable storage medium and loaded and executed on the processor to facilitate the storage and application of the method.

[0074] This application also discloses an electronic device in which a computer program is stored in a computer-readable storage medium. When the computer program is loaded and executed by a processor, the above-mentioned intelligent unloading operation method is adopted.

[0075] The electronic device can be a desktop computer, a laptop computer, or a cloud server, and includes, but is not limited to, a processor and a memory. For example, the electronic device may also include input / output devices, network access devices, and buses.

[0076] The processor can be a central processing unit (CPU). Of course, depending on the actual use, it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it.

[0077] The memory can be an internal storage unit of an electronic device, such as a hard disk or RAM, or an external storage device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), or flash memory card (FC) equipped on the electronic device. Furthermore, the memory can be a combination of an internal storage unit and an external storage device. The memory is used to store computer programs and other programs and data required by the electronic device. The memory can also be used to temporarily store data that has been output or will be output. This application does not limit this.

[0078] In this electronic device, the intelligent unloading operation method of the above embodiment is stored in the memory of the electronic device and loaded and executed on the processor of the electronic device for convenient use.

[0079] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A smart unloading operation method, characterized in that, Applied to ship unloaders, the method includes: Obtain scanning task parameters for the vessel to be unloaded, including the scanning direction and the number of hatches to be scanned; Based on the scanning direction and the number of hatches scanned, the hatches of the vessel to be unloaded are scanned by a lidar to obtain an overall three-dimensional mathematical model of the vessel to be unloaded. The overall three-dimensional mathematical model includes a three-dimensional mathematical model of the ship's hold and the materials inside the hold. Based on the overall three-dimensional mathematical model, the target material grabbing position and the corresponding material grabbing sequence are determined from the stacking positions of the materials in each of the holds. The target material grabbing position has the least impact on the overall center of gravity shift of the vessel to be unloaded before and after material grabbing. According to the target material grabbing positions and the corresponding material grabbing sequence, the grab buckets in the unloader are controlled to perform unloading operations on the ships to be unloaded.

2. The intelligent unloading operation method according to claim 1, characterized in that, The step of determining the target material grabbing position and the corresponding material grabbing sequence from the stacking positions of the materials in each of the compartments based on the overall three-dimensional mathematical model specifically includes: Based on the overall three-dimensional mathematical model, the first center of gravity of the vessel to be unloaded is determined, and individual cargo materials are removed from the overall three-dimensional mathematical model to obtain a simulated model after unloading. Based on the simulated unloading model, the second center of gravity of the vessel to be unloaded after unloading is determined, and the offset between the second center of gravity and the first center of gravity is calculated. Select the smallest offset from all the said center of gravity offsets, and determine the stacking position of the material in the cabin corresponding to the smallest offset as the target material grabbing position; The simulated unloading model corresponding to the material in the hold at the target material grabbing position is determined as the overall three-dimensional mathematical model. The step of determining the first center of gravity of the ship to be unloaded based on the overall three-dimensional mathematical model is repeated until all the stacking positions of the material in the hold are traversed and the grabbing order of each target material grabbing position is determined. The earlier the target material grabbing position is determined, the earlier the corresponding grabbing order is.

3. The intelligent unloading operation method according to claim 1, characterized in that, The step of controlling the grab buckets in the unloader to perform unloading operations on the vessel to be unloaded according to the target grab positions and corresponding grab sequences specifically includes: Based on the individual target grab position and the corresponding unloading position, at least one unloading movement path corresponding to the grab bucket in the unloader is determined; The number of first occurrences of spillage accidents at historical spillage locations in a single unloading movement path is counted. Based on the order of the first occurrences from largest to smallest, the historical spillage location with the highest number is selected from each of the historical spillage locations to determine the location prone to spillage. The historical spillage location is the location where material spillage has occurred during the movement of the grab bucket grabbing the material. Determine the weight range of historical spilled material at each of the easily spilled locations, and count the second occurrence number of each weight range. Select the weight range with the second occurrence number in descending order to determine the easily spilled weight range of the corresponding easily spilled location. Calculate the first weight of each of the locations prone to spillage and the second weight of each of the corresponding weight intervals prone to spillage. The first weight is the ratio of the first occurrence of each location prone to spillage to the sum of the first occurrences of all locations prone to spillage. The second weight is the ratio of the second occurrence of a single weight interval corresponding to a location prone to spillage to the sum of the second occurrences of all weight intervals prone to spillage. Based on the first weight and the corresponding second weight of each unloading movement path, the final movement path of the corresponding target material grabbing position is determined from each unloading movement path; Based on the final movement path and the corresponding material grabbing sequence, the grab bucket in the unloader is controlled to unload the material in the hold at the corresponding target material grabbing position.

4. The intelligent unloading operation method according to claim 3, characterized in that, The step of determining the final movement path of the corresponding target material grabbing position from each of the unloading movement paths based on the first weight and the corresponding second weights specifically includes: Calculate the first product of the first weight of a single unloading movement path and the first product of each corresponding second weight, and sum them to obtain the sum of the corresponding first products; Select the smallest sum of first products from the sums of the first products, and determine the unloading movement path to which the smallest sum of first products belongs as the final movement path of the corresponding target material grabbing position.

5. The intelligent unloading operation method according to claim 4, characterized in that, The step of controlling the grab buckets in the unloader to unload the material in the hold at the corresponding target grab position according to the final moving path and the corresponding grab sequence specifically includes: Each spillage weight interval corresponding to each spillage location in the final moving path is determined as an interval set, and the intersection of the spillage weight intervals between each interval set is calculated. Each spillage weight interval that has a common intersection and the number of intersections exceeds a preset threshold is determined as the target interval. The location where the target interval is located in the final movement path of each weight interval prone to spillage is determined as the target spillage location, and the second product of the first weight of each target spillage location and the second weight of the corresponding target interval is calculated. Summing each of the second products yields the sum of the second products of the final movement path; If the sum of the second product is less than the preset product sum threshold, then the common intersection interval between the corresponding target intervals is determined as the final weight interval, and the maximum value in the final weight interval is determined as the target grab amount of the material in the cabin at the corresponding target grab position. Based on the final moving path and the corresponding target grab quantity and grab sequence, the grab bucket in the unloader is controlled to unload the material in the hold at the corresponding target grab position.

6. The intelligent unloading operation method according to claim 3, characterized in that, The method further includes: Each location prone to spillage in the final movement path is identified as a key spillage location, the target material-grabbing location corresponding to the final movement path is identified as a key material-grabbing location, and the historical personnel distribution area within a preset distance range of all key spillage locations is determined. Count the number of times people have been distributed in each of the historical personnel distribution areas. Based on the order of the number of distributions from largest to smallest, select the third historical personnel distribution area from each of the historical personnel distribution areas and determine it as the area where people are easily distributed. Determine the historical time period of the distribution of people in each of the easily distributed personnel areas, count the frequency of occurrence of each historical time period, and select the fourth historical time period from each historical time period in descending order of frequency of occurrence to determine the easily distributed time period of the corresponding easily distributed personnel area; Calculate the third weight for each of the easily distributed personnel regions and the fourth weight for each of the corresponding easily distributed time periods. The third weight is the ratio of the distribution frequency of each easily distributed personnel region to the sum of the distribution frequencies of all easily distributed personnel regions. The fourth weight is the ratio of the occurrence frequency of a single easily distributed time period corresponding to an easily distributed personnel region to the sum of the occurrence frequencies of all corresponding easily distributed time periods. The unloading time period of the materials in the hold at the key material grabbing location is determined. Based on the unloading time period, the third weight, and the corresponding fourth weights, the unloading safety of the final movement path is verified. The unloading time period is from the start time to the end time of unloading the materials in the hold at the key material grabbing location.

7. The intelligent unloading operation method according to claim 6, characterized in that, The verification of unloading safety of the final movement path based on the unloading time period, the third weight, and the corresponding fourth weights specifically includes: The easily distributed time periods within the unloading period are identified as key distribution periods. The easily distributed personnel areas in each of the corresponding easily distributed time periods that contain the key distribution periods are identified as key distribution areas. The third weight of each key distribution area and the third product of the fourth weight of at least one corresponding key distribution period are calculated and summed to obtain the sum of the third products. The sums of the third products are summed to obtain the final product sum. If the final product sum is less than a preset product sum threshold, the unloading safety verification of the final movement path is determined to be passed. If the sum of the final products is not less than a preset product sum threshold, then the unloading safety verification of the final movement path is determined to be unsuccessful, and a personnel detection warning is set for each of the key distribution areas during the unloading period. The personnel detection warning is a danger warning issued when personnel appear in the key distribution area.

8. An intelligent ship unloading operation device, characterized in that, include: The information acquisition module (11) is used to acquire scanning task parameters for the vessel to be unloaded, including the scanning direction and the number of hatches to be scanned. The model building module (12) is used to scan each hatch of the ship to be unloaded by laser radar according to the scanning direction and the number of scanned hatches to obtain the overall three-dimensional mathematical model of the ship to be unloaded. The overall three-dimensional mathematical model includes the three-dimensional mathematical model of the ship's hold and the materials inside the hold. The material grabbing determination module (13) is used to determine the target material grabbing position and the corresponding material grabbing sequence from the stacking position of each of the materials in the hold according to the overall three-dimensional mathematical model. The target material grabbing position has the least impact on the overall center of gravity shift of the ship to be unloaded before and after material grabbing. The unloading operation module (14) is used to control the grab bucket in the unloading machine to perform unloading operations on the ship to be unloaded according to the target grab position and the corresponding grab sequence.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it employs the method described in any one of claims 1-7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor loads and executes the computer program, it employs the method described in any one of claims 1-7.

Images