Loading and unloading operation control method of double-trolley quay crane, terminal and storage medium

Abstract

The invention belongs to the technical field of wharf control, and particularly relates to a loading and unloading operation control method for a double-trolley quay crane, a terminal and a storage medium, and the method comprises the steps: extracting the position information of a ship unloading box from a received ship unloading operation instruction, and extracting the position information of a ship loading box from a received ship loading operation instruction; the shellfish position information comprises shellfish position numbers, shellfish position column numbers and shellfish position layer numbers; the ship unloading operation instructions of the same bay position number and the same bay position column are ranked from high to low according to the bay position layer numbers and the layer height, and a ship unloading queue is generated; sorting the shipping operation instructions of the same bay position number and the same bay position column from low to high according to bay position layer numbers and layer heights, and generating a shipping queue; through the strategy of unloading and loading at the same time, the main trolley and the portal frame trolley can carry out ship unloading and ship loading operation at the same time, the situation that in a traditional mode, half of no-load operation exists in each operation circulation quay crane is avoided, and therefore the utilization rate and the operation efficiency of the quay crane are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of dock control technology, specifically relating to a loading and unloading operation control method, terminal and storage medium for a dual-trolley quay crane. Background Technology

[0002] In the field of automated container terminals, with the continued growth of global trade, the operational efficiency of container terminals has become a key factor restricting the overall operational capacity of ports. The loading and unloading operation mode of dual quay cranes equipped with transfer platforms is widely used in modern automated container terminals due to its high efficiency and flexibility. However, traditional operating methods still have significant bottlenecks in improving loading and unloading efficiency.

[0003] Traditional dual-trolley quay cranes operate by simultaneously performing only one type of operation: unloading or loading. During unloading, the main trolley retrieves containers from the ship and transfers them to the transshipment platform, where the gantry trolley then moves them to the horizontal transport equipment. During loading, the gantry trolley moves containers from the horizontal transport equipment to the transshipment platform, where the main trolley then moves them back to the ship. This operation results in half of the quay crane's workload being idle during each cycle, leading to underutilization of the equipment. In certain scenarios, this can cause either the main trolley or the gantry trolley to stop operating, wasting valuable terminal resources. Summary of the Invention

[0004] In view of the shortcomings of existing technologies, the traditional loading and unloading operation mode of dual-trolley quay cranes, in which the main trolley and the gantry trolley only perform one type of operation at a time, unloading or loading, resulting in half of the quay crane running unloaded in each operation cycle and the underutilization of the quay crane equipment, this invention provides a loading and unloading operation control method, terminal and storage medium for dual-trolley quay cranes to solve the above-mentioned technical problems.

[0005] In a first aspect, the present invention provides a loading and unloading operation control method for a dual-trolley quay crane, comprising: Step S1: Extract the bay position information of the unloading container from the received unloading operation instruction, and extract the bay position information of the loading container from the received loading operation instruction; the bay position information includes bay position number, bay position column number and bay position layer number; Step S2: Sort the unloading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from high to low to generate an unloading queue, with one unloading queue for each bay position column; Sort the loading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from low to high to generate a loading queue, with one loading queue for each bay position column. Step S3: Match and merge the unloading queues and loading queues with the same bay number according to the preset unloading and loading strategy to generate an unloading and loading operation instruction queue. Step S4: According to the generated unloading and loading operation instruction queue, control the main trolley to perform the unloading operation of the unloading container on the ship and the loading operation of the loading container on the double transfer platform; at the same time, follow and control the gantry trolley to perform the transfer of the unloading container on the double transfer platform to the horizontal transport equipment and the transfer of the loading container on the horizontal transport equipment to the double transfer platform; the double transfer platform includes the sea-side transfer platform and the land-side transfer platform. Step S5: During operation, the main trolley and the gantry trolley determine each other's task status and position information in real time and execute the pre-stored active avoidance logic to avoid operational conflicts on the same transfer platform.

[0006] Further improvements to this technical solution include the following before step S3: Obtain the pre-stored corresponding column number arrangement rules based on the column number; Sort the extracted Baye column corresponding to the Baye column number according to the Baye column number arrangement rules; Assign the highest priority to the unloading queue corresponding to one of the shell columns at the start and end positions of the shell column sorting; assign the second highest priority to the unloading queue corresponding to the shell column adjacent to the highest priority unloading queue; and reduce the priority of the unloading queues corresponding to the remaining shell columns in order of shell column sorting. Assign the highest priority to the loading queue corresponding to the highest priority unloading queue, assign the second highest priority to the loading queue corresponding to the adjacent queue of the highest priority queue, and reduce the priority of the loading queues corresponding to the remaining queues according to the queue order.

[0007] Further improvements to this technical solution include a pre-defined unloading and loading strategy, which includes: The main trolley prioritizes the highest priority unloading queue. After the highest priority unloading queue is completed, the main trolley grabs the loading container corresponding to the first loading operation instruction in the highest priority loading queue placed by the gantry trolley from the dual transfer platform and transfers it to the corresponding bay position of the highest priority unloading queue. After the main trolley places the container corresponding to the first loading operation instruction in the highest priority loading queue, it grabs the unloading container corresponding to the first unloading operation instruction in the second priority unloading queue and transfers it to the dual transfer platform. After the transfer is completed, it grabs the container corresponding to the second loading operation instruction in the highest priority loading queue in the dual transfer platform and places it on the gantry trolley, and transfers it to the bay position corresponding to the highest priority unloading queue. Then, the main trolley performs unloading and loading operations sequentially according to the priority of the unloading queue and the loading queue until the unloading and loading tasks are completed. Only after the bay position corresponding to the loading queue has been completely unloaded can a new loading queue be started.

[0008] Further improvements to this technical solution include step S4, which includes: Step S41: After the main trolley grabs the unloading container according to the unloading and loading operation command queue, it monitors the occupancy status of the two transfer platforms in real time. If the target transshipment platform is available, place the unloaded containers on the sea-side or land-side transshipment platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupation time is ≤X seconds, where X is 15 to 30 seconds, then wait until the gantry trolley releases the transfer platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupancy time is greater than X seconds, and the horizontal transport equipment is idle, then the unloading container will be directly transported to the idle horizontal transport equipment and the unloading and loading operation instruction queue will be updated. Step S42: After the main trolley completes the unloading operation, immediately perform the loading inspection: Check if there is a shipping container on the current transfer platform that matches the target container position. If so, grab the shipping container and load it onto the ship. If no matching container is found, check the inventory of another transshipment platform in real time. If the inventory of another transshipment platform contains a container that matches the target container, trigger the gantry trolley cross-platform transfer operation. The transfer time T2 = path length / trolley speed + turning time. If no matching container is available on either platform, suspend the main trolley loading operation and prioritize the subsequent unloading operation.

[0009] Further improvements to this technical solution include that the bay location information in step S1 also includes a bay location type identifier, which is used to distinguish between refrigerated bay locations, dangerous goods bay locations, or ordinary bay locations; when extracting the bay location information of the loading container from the received loading operation instruction, the bay location type identifier is extracted simultaneously and matched and verified with the loading container attributes.

[0010] Further improvements to this technical solution include, before generating the unloading queue and loading queue in step S2, verifying the validity of the extracted bay berth number; if the bay berth number exceeds the preset maximum number of bay berths for a ship, then marking the operation instruction as an abnormal instruction and triggering an early warning.

[0011] Further improvements to this technical solution include step S5, which includes: Step S51: Obtain the real-time position information of the main trolley and the gantry trolley through the laser rangefinder installed on the quay crane; obtain the real-time speed information of the main trolley and the gantry trolley through the laser speed radar installed on the quay crane; Step S52: Determine whether the working paths of the two trolleys overlap; if so, proceed to step S43. Step S53: Calculate the remaining path length to the target location based on the acquired real-time location information; Step S54: Calculate the estimated time difference Δt between the two vehicles reaching the target position based on the remaining path length and real-time speed information; Step S55: If Δt≤5 seconds and the main trolley is performing the unloading task, the gantry trolley avoidance rule is triggered: the gantry trolley pauses its current path and generates an arc-shaped detour path; the radius R of the arc-shaped detour path = container width + 1m; Step S56: The gantry trolley moves along the detour path to the preset safe waiting area, and the operation progress of the main trolley is monitored simultaneously. Step S57: After the main trolley completes the transfer platform operation, the gantry trolley receives the recovery command and recalculates the optimal path: If the original task is still valid, continue execution according to the updated path; If the original task times out, the newly added emergency instruction will be executed first. Step S58: After the main trolley releases the transfer platform, it sends a warehouse release signal to trigger the synchronous update of the gantry trolley warehouse status.

[0012] A further improvement to this technical solution is that step S5 also includes: when the target transfer platform of the main trolley and the gantry is detected to be the same transfer platform, the gantry trolley suspends operation and switches to another transfer platform.

[0013] In a second aspect, the present invention provides a terminal, comprising: Processor, memory, among which, This memory is used to store computer programs. The processor is used to retrieve and run the computer program from memory, causing the terminal to perform the terminal method described above.

[0014] Thirdly, the present invention provides a computer storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described in the above aspects.

[0015] The beneficial effects of this invention are as follows: Improving operational efficiency: By employing a simultaneous unloading and loading strategy, the main trolley and gantry trolley can perform unloading and loading operations simultaneously, avoiding the situation where half of the quay crane operates empty during each operational cycle, as is common in traditional methods. This significantly improves the utilization rate and operational efficiency of the quay crane. The generation and sorting of unloading and loading queues make operations more orderly, reduce waiting time, and further enhance operational efficiency.

[0016] Optimized resource utilization: By pre-setting a simultaneous unloading and loading strategy and prioritization settings, the optimal utilization of quay crane resources is ensured, avoiding resource waste. The design of dual transfer platforms (sea-side transfer platform and land-side transfer platform) allows the main trolley and gantry trolley to operate more flexibly, improving the utilization rate of the transfer platforms.

[0017] Enhanced operational safety: During operation, the main trolley and the gantry trolley determine each other's task status and position information in real time and execute pre-stored active avoidance logic, effectively preventing operational conflicts and improving operational safety. Real-time position and speed information of the trolleys is obtained through laser rangefinders and laser speed radar, providing accurate data support for the avoidance logic.

[0018] Enhancing operational reliability: Verification of the layer number ensures the accuracy of operational instructions, preventing operational failures or safety incidents due to incorrect instructions. Real-time monitoring of the transfer platform's occupancy status and the horizontal transport equipment's idle status during operations allows for adjustments to operational strategies based on actual conditions, further improving operational reliability.

[0019] Adapting to Special Operational Needs: The introduction of bay type identifiers enables the system to distinguish between refrigerated bays, dangerous goods bays, and general bays, thus accommodating the loading and unloading requirements of different types of containers. During operations, the system matches and verifies the attributes of the loaded containers with the bay type identifiers, ensuring that special operational needs are met. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention 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.

[0021] Figure 1 This is a schematic flowchart illustrating a method according to an embodiment of the present invention.

[0022] Figure 2 This is a diagram showing the position of the ship at position 13.

[0023] Figure 3 This is the loading and unloading sequence number diagram for bay 13.

[0024] Figure 4 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0027] Figure 1 This is a schematic flowchart illustrating a loading and unloading operation control method for a dual-trolley quay crane provided by the present invention. The order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0028] like Figure 1 As shown, the method includes: Step S1: Extract the bay position information of the unloading container from the received unloading operation instruction, and extract the bay position information of the loading container from the received loading operation instruction; the bay position information includes bay position number, bay position column number and bay position layer number; Step S2: Sort the unloading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from high to low to generate an unloading queue, with one unloading queue for each bay position column; Sort the loading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from low to high to generate a loading queue, with one loading queue for each bay position column. Step S3: Match and merge the unloading queues and loading queues with the same bay number according to the preset unloading and loading strategy to generate an unloading and loading operation instruction queue. Step S4: According to the generated unloading and loading operation instruction queue, control the main trolley to perform the unloading operation of the unloading container on the ship and the loading operation of the loading container on the double transfer platform; at the same time, follow and control the gantry trolley to perform the transfer of the unloading container on the double transfer platform to the horizontal transport equipment and the transfer of the loading container on the horizontal transport equipment to the double transfer platform; the double transfer platform includes the sea-side transfer platform and the land-side transfer platform. Step S5: During operation, the main trolley and the gantry trolley determine each other's task status and position information in real time and execute the pre-stored active avoidance logic to avoid operational conflicts on the same transfer platform.

[0029] To facilitate understanding of the present invention, the following description further illustrates the loading and unloading operation control method for the double trolley quay crane provided by the present invention, based on the principle of the method and the process of controlling the loading and unloading operation of the double trolley quay crane in the embodiments.

[0030] The quay crane control system first receives unloading and loading instructions from the terminal scheduling system. These instructions contain detailed information about the containers, such as their number, dimensions, weight, and their specific location on the ship.

[0031] The system extracts the bay location information of the unloaded containers from the received unloading operation instructions, including the bay number, bay column number, and bay layer number. Similarly, it extracts the bay location information of the loaded containers from the loading operation instructions. For example, an unloading operation instruction might contain information that a container is located in bay 13 (bay number 13), column 10 (bay column number 10), and layer 92 (bay layer number 92) of the ship. By parsing these instructions, the system can accurately determine the specific location of each container on the ship.

[0032] Furthermore, the bay location information in step S1 also includes a bay location type identifier, which is used to distinguish between refrigerated bay locations, dangerous goods bay locations, and general bay locations. When extracting the bay location information of the loading container from the received loading operation instruction, the bay location type identifier is extracted simultaneously and matched with the loading container attributes for verification. If the bay location type identifier in the instruction is marked as 2 (2 indicates dangerous goods), the system verifies whether the loading container attributes match the dangerous goods transportation qualification. If they do not match, the instruction is frozen and an alarm is issued. The introduction of the bay location type identifier enables the system to distinguish between refrigerated bay locations, dangerous goods bay locations, and general bay locations, thereby adapting to the loading and unloading needs of different types of containers. Matching and verifying the loading container attributes with the bay location type identifier during the operation ensures that special operational requirements are met.

[0033] Furthermore, before generating the unloading and loading queues in step S2, the following steps are also included: validating the extracted bay berth layer number. If the bay berth layer number exceeds the preset maximum number of bay berth layers for a vessel, the operation instruction is marked as an abnormal instruction and an early warning is triggered. The step number is checked to see if it exceeds the preset threshold (e.g., the maximum number of bay berth layers for a vessel is 90). If the bay berth layer number is detected as 95, which is greater than 90, the instruction is marked as abnormal, an audible and visual alarm is triggered, and the execution of the relevant queue is suspended. Validating the bay berth layer number ensures the accuracy of the operation instructions and avoids operation failures or safety accidents caused by incorrect operation instructions. During the operation, the occupancy status of the transfer platform and the idle status of the horizontal transport equipment are monitored in real time, and the operation strategy is adjusted according to the actual situation, improving the reliability of the operation.

[0034] Additionally, step S3 is preceded by: Obtain the pre-stored corresponding column number arrangement rules based on the column number; Sort the extracted Baye column corresponding to the Baye column number according to the Baye column number arrangement rules; Assign the highest priority to the unloading queue corresponding to one of the shell columns at the start and end positions of the shell column sorting; assign the second highest priority to the unloading queue corresponding to the shell column adjacent to the highest priority unloading queue; and reduce the priority of the unloading queues corresponding to the remaining shell columns in order of shell column sorting. Assign the highest priority to the loading queue corresponding to the highest priority unloading queue, assign the second highest priority to the loading queue corresponding to the adjacent queue of the highest priority queue, and reduce the priority of the loading queues corresponding to the remaining queues according to the queue order.

[0035] Specifically, the pre-defined unloading and loading strategy includes: The main trolley prioritizes the highest priority unloading queue. After the highest priority unloading queue is completed, the main trolley grabs the loading container corresponding to the first loading operation instruction in the highest priority loading queue placed by the gantry trolley from the dual transfer platform and transfers it to the corresponding bay position of the highest priority unloading queue. After the main trolley places the container corresponding to the first loading operation instruction in the highest priority loading queue, it grabs the unloading container corresponding to the first unloading operation instruction in the second priority unloading queue and transfers it to the dual transfer platform. After the transfer is completed, it grabs the container corresponding to the second loading operation instruction in the highest priority loading queue in the dual transfer platform and places it on the gantry trolley, and transfers it to the bay position corresponding to the highest priority unloading queue. Then, the main trolley performs unloading and loading operations sequentially according to the priority of the unloading queue and the loading queue until the unloading and loading tasks are completed. Only after the bay position corresponding to the loading queue has been completely unloaded can a new loading queue be started.

[0036] For example, based on the arrangement rules of the column numbers obtained from column number 13, we get the following: Figure 2 The ship bay position diagram shown corresponds to bay position columns numbered 10, 08, 06, 04, 02, 00, 01, 03, 05, 07, 09; bay position column number 10 can be assigned the highest priority. If the quay crane control system receives unloading operation instructions from the terminal scheduling system as shown in Table 1 and loading operation instructions as shown in Table 2 (both sorted according to the receiving time).

[0037] Table 1: Ship Unloading Operation Instructions

[0038] Table 2: Loading Operation Instructions

[0039] According to the aforementioned preset simultaneous unloading and loading strategy, the unloading queue and loading queue are matched and merged to obtain the simultaneous unloading and loading operation instruction queue list as shown in Table 3. The main trolley and gantry trolley execute the generated simultaneous unloading and loading operation instruction queue. After the main trolley executes the simultaneous unloading and loading operation instruction queue, the loading and unloading sequence number of bay 13 is as follows: Figure 3 As shown.

[0040] Table 3: List of Teams Instructed for Simultaneous Unloading and Loading Operations

[0041] This invention employs a simultaneous unloading and loading strategy, allowing the main trolley and gantry trolley to perform unloading and loading operations simultaneously. This avoids the traditional method where half of the quay crane operates empty during each work cycle, significantly improving quay crane utilization and operational efficiency. The generation and sequencing of unloading and loading queues make operations more orderly, reducing waiting time and further enhancing efficiency. Furthermore, the preset simultaneous unloading and loading strategy and priority settings ensure optimal utilization of quay crane resources, preventing waste. The design of dual transfer platforms (sea-side and land-side transfer platforms) allows the main trolley and gantry trolley to operate more flexibly, improving platform utilization.

[0042] Then, step S4 includes: Step S41: After the main trolley grabs the unloading container according to the unloading and loading operation command queue, it monitors the occupancy status of the two transfer platforms in real time. If the target transshipment platform is available, place the unloaded containers on the sea-side or land-side transshipment platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupation time is ≤X seconds, where X is 15 to 30 seconds, then wait until the gantry trolley releases the transfer platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupancy time is greater than X seconds, and the horizontal transport equipment is idle, then the unloading container will be directly transported to the idle horizontal transport equipment and the unloading and loading operation instruction queue will be updated. Step S42: After the main trolley completes the unloading operation, immediately perform the loading inspection: Check if there is a shipping container on the current transfer platform that matches the target container position. If so, grab the shipping container and load it onto the ship. If no matching container is found, check the inventory of another transshipment platform in real time. If the inventory of another transshipment platform contains a container that matches the target container, trigger the gantry trolley cross-platform transfer operation. The transfer time T2 = path length / trolley speed + turning time. If no matching container is available on either platform, suspend the main trolley loading operation and prioritize the subsequent unloading operation.

[0043] After the main trolley (MC) grabs the unloading container (e.g., command unloading 1), it monitors the target platform's occupancy status in real time. Scenario 1, Target platform available: Prioritize placement on seaside transit platform P1.

[0044] When the seaside transfer platform P1 is idle, the MC places the unloading container on P1, triggering the gantry trolley GC to transfer the container to the horizontal transport equipment AGV.

[0045] Scenario 2: The target platform is occupied by the gantry cart GC. Sub-case 2.1: Remaining occupancy time ≤ 20 seconds: The gantry trolley GC operates on the seaside transfer platform P1 with 18 seconds remaining → the main trolley MC pauses its movement and places the container after 18 seconds of countdown.

[0046] Sub-case 2.2: Remaining occupancy time > 20 seconds and AGV idle: GC occupies P1 for 35 seconds remaining, AGV (number AGV03) is idle → MC directly places the unloading container into AGV03 → Update queue: the original instruction "unload 1 and place into P1" is changed to "unload 1 and place into AGV03".

[0047] Anomaly Handling: If the target relay platform fails, the MC will automatically switch to another relay platform and trigger the system alarm log.

[0048] After MC completes the unloading operation (e.g., after command unloading 1 is executed), immediately scan the transfer platform: Scenario 1: The current transshipment platform has matching shipping containers: If the target bay is 10, then if there is a container at target position 131082 (matching column 10) in P1, then MC will grab container 131082 and load it into the 10th bay of bay 13 on the ship.

[0049] Scenario 2: The current transit platform has no matching boxes, while another platform does: P1 has no target container at column 10, while P2 has a target container at position 131084 (matching column 10) → triggering GC cross-platform allocation: Allocation route: P2→P1 (path length = 15m); The transfer time is T2 = 15 / 3 + 2 = 7 seconds → GC completes the transfer within 7 seconds → MC grabs container 131084 and loads it onto the ship.

[0050] Scenario 3: No matchmaking boxes on either platform: If neither P1 nor P2 has a target container corresponding to column 10, the MC loading operation will be paused, and the next unloading instruction (such as unloading 2) will be executed first.

[0051] Additionally, step S5 includes: Step S51: Obtain the real-time position information of the main trolley and the gantry trolley through the laser rangefinder installed on the quay crane; obtain the real-time speed information of the main trolley and the gantry trolley through the laser speed radar installed on the quay crane; Step S52: Determine whether the working paths of the two trolleys overlap; if so, proceed to step S43. Step S53: Calculate the remaining path length to the target location based on the acquired real-time location information; Step S54: Calculate the estimated time difference Δt between the two vehicles reaching the target position based on the remaining path length and real-time speed information; Step S55: If Δt≤5 seconds and the main trolley is performing the unloading task, the gantry trolley avoidance rule is triggered: the gantry trolley pauses its current path and generates an arc-shaped detour path; the radius R of the arc-shaped detour path = container width + 1m; Step S56: The gantry trolley moves along the detour path to the preset safe waiting area, and the operation progress of the main trolley is monitored simultaneously. Step S57: After the main trolley completes the transfer platform operation, the gantry trolley receives the recovery command and recalculates the optimal path: If the original task is still valid, continue execution according to the updated path; If the original task times out, the newly added emergency instruction will be executed first. Step S58: After the main trolley releases the transfer platform, it sends a warehouse release signal to trigger the synchronous update of the gantry trolley warehouse status.

[0052] The model of the laser rangefinder is LDM301 high-precision laser rangefinder with a sampling frequency of 100Hz.

[0053] Installation location: both ends of the quay crane crossbeam, vertically covering the tracks of the main trolley and the gantry trolley.

[0054] Data output: Real-time output of the car's coordinates , The coordinate system has its origin at the seaside end of the quaybridge. .

[0055] Model of laser speed measuring radar: DLS-200 Doppler speed measuring radar, measurement range 0-10m / s, error ±0.05m / s.

[0056] Installation angle: 45° downwards, aligned with the trolley track, to ensure that the Doppler frequency shift effectively captures the direction of motion.

[0057] This invention uses laser ranging and speed measuring devices to acquire the position and speed information of the main trolley and the gantry trolley in real time. The system can accurately determine whether the working paths of the two trolleys overlap and trigger avoidance rules before a potential collision risk occurs, thereby significantly improving operational safety and reducing the occurrence of equipment collision accidents. Based on real-time position and speed information, the system can accurately calculate the estimated time difference between the two trolleys reaching the target position, thus triggering the gantry trolley's avoidance rules when the main trolley is performing unloading tasks and the time difference is small. This intelligent path planning not only avoids unnecessary waiting but also ensures the smooth progress of the operation process, improving overall operational efficiency. During the avoidance process, the gantry trolley can generate an arc-shaped detour path and move along this path to a safe waiting area. This flexible path planning capability allows the equipment to better adapt to complex working environments, ensuring smooth operation. Through real-time monitoring and calculation, the system can automatically trigger avoidance rules and recalculate the path, realizing intelligent management of operations. This automated management not only reduces the need for manual intervention but also improves the accuracy and consistency of operations. After releasing the transfer platform, the main trolley sends a storage release signal, triggering a synchronous update of the storage status on the gantry trolley. This synchronous update of storage status ensures operational coordination between the main trolley and the gantry trolley, avoiding operational conflicts or delays caused by inconsistent storage status.

[0058] Furthermore, step S5 also includes: when it is detected that the target transfer platform of the main trolley and the gantry is the same transfer platform, the gantry trolley suspends operation and switches to another transfer platform, thereby avoiding potential conflicts and safety hazards.

[0059] Figure 4 This is a schematic diagram of the structure of a terminal 400 provided in an embodiment of the present invention. The terminal 400 can be used to execute the loading and unloading operation control method of the dual-trolley quay crane provided in the embodiment of the present invention.

[0060] The terminal 400 may include a processor 410, a memory 420, and a communication module 430. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figure does not constitute a limitation of the present invention. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0061] The memory 420 can be used to store the execution instructions of the processor 410. The memory 420 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 420 are executed by the processor 410, the terminal 400 is able to perform some or all of the steps in the above method embodiments.

[0062] The processor 410 serves as the control center of the storage terminal, connecting various parts of the electronic terminal via various interfaces and lines. It executes software programs and / or modules stored in the memory 420, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 410 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0063] The communication module 430 is used to establish a communication channel, enabling the storage terminal to communicate with other terminals. It receives user data sent by other terminals or sends user data to other terminals.

[0064] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps provided in the embodiments of the present invention. The storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0065] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or other media capable of storing program code. It includes several instructions to cause a computer terminal (which may be a personal computer, server, or a second terminal, network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0066] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0067] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be covered within the protection scope of the present invention.

Claims

1. A method for controlling loading and unloading operations of a double-trolley quay crane, characterized in that, include: Step S1: Extract the bay position information of the unloading container from the received unloading operation instruction, and extract the bay position information of the loading container from the received loading operation instruction; the bay position information includes bay position number, bay position column number and bay position layer number; Step S2: Sort the unloading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from high to low to generate an unloading queue, with one unloading queue for each bay position column; Sort the loading operation instructions with the same bay position number and the same bay position column according to the bay position layer number from low to high to generate a loading queue, with one loading queue for each bay position column. Step S3: Match and merge the unloading queues and loading queues with the same bay number according to the preset unloading and loading strategy to generate an unloading and loading operation instruction queue. Step S4: According to the generated unloading and loading operation instruction queue, control the main trolley to perform the unloading operation of the unloading container on the ship and the loading operation of the loading container on the double transfer platform; at the same time, follow and control the gantry trolley to perform the transfer of the unloading container on the double transfer platform to the horizontal transport equipment and the transfer of the loading container on the horizontal transport equipment to the double transfer platform; the double transfer platform includes the sea-side transfer platform and the land-side transfer platform. Step S5: During operation, the main trolley and the gantry trolley determine each other's task status and position information in real time and execute the pre-stored active avoidance logic to avoid operational conflicts on the same transfer platform.

2. The loading and unloading operation control method for a double-trolley quay crane according to claim 1, characterized in that, Step S3 is preceded by: Obtain the pre-stored corresponding column number arrangement rules based on the column number; Sort the extracted Baye column corresponding to the Baye column number according to the Baye column number arrangement rules; Assign the highest priority to the unloading queue corresponding to one of the shell columns at the start and end positions of the shell column sorting; assign the second highest priority to the unloading queue corresponding to the shell column adjacent to the highest priority unloading queue; and reduce the priority of the unloading queues corresponding to the remaining shell columns in order of shell column sorting. Assign the highest priority to the loading queue corresponding to the highest priority unloading queue, assign the second highest priority to the loading queue corresponding to the adjacent queue of the highest priority queue, and reduce the priority of the loading queues corresponding to the remaining queues according to the queue order.

3. The loading and unloading operation control method for a double-trolley quay crane according to claim 2, characterized in that, The preset unloading and loading strategies include: The main trolley prioritizes the highest priority unloading queue. After the highest priority unloading queue is completed, the main trolley grabs the loading container corresponding to the first loading operation instruction in the highest priority loading queue placed by the gantry trolley from the dual transfer platform and transfers it to the corresponding bay position of the highest priority unloading queue. After the main trolley places the container corresponding to the first loading operation instruction in the highest priority loading queue, it grabs the unloading container corresponding to the first unloading operation instruction in the second priority unloading queue and transfers it to the dual transfer platform. After the transfer is completed, it grabs the container corresponding to the second loading operation instruction in the highest priority loading queue in the dual transfer platform and places it on the gantry trolley, and transfers it to the bay position corresponding to the highest priority unloading queue. Then, the main trolley performs unloading and loading operations sequentially according to the priority of the unloading queue and the loading queue until the unloading and loading tasks are completed. Only after the bay position corresponding to the loading queue has been completely unloaded can a new loading queue be started.

4. The loading and unloading operation control method for a double-trolley quay crane according to claim 2, characterized in that, Step S4 includes: Step S41: After the main trolley grabs the unloading container according to the unloading and loading operation command queue, it monitors the occupancy status of the two transfer platforms in real time. If the target transshipment platform is available, place the unloaded containers on the sea-side or land-side transshipment platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupation time is ≤X seconds, where X is 15 to 30 seconds, then wait until the gantry trolley releases the transfer platform; If the target transfer platform is occupied by the gantry trolley and the remaining occupancy time is greater than X seconds, and the horizontal transport equipment is idle, then the unloading container will be directly transported to the idle horizontal transport equipment and the unloading and loading operation instruction queue will be updated. Step S42: After the main trolley completes the unloading operation, immediately perform the loading inspection: Check if there is a shipping container on the current transfer platform that matches the target container position. If so, grab the shipping container and load it onto the ship. If no matching container is found, check the inventory of another transshipment platform in real time. If the inventory of another transshipment platform contains a container that matches the target container, trigger the gantry trolley cross-platform transfer operation. The transfer time T2 = path length / trolley speed + turning time. If no matching container is available on either platform, suspend the main trolley loading operation and prioritize the subsequent unloading operation.

5. The loading and unloading operation control method for a double-trolley quay crane according to claim 1, characterized in that, In step S1, the bay location information also includes a bay location type identifier, which is used to distinguish between refrigerated bay locations, dangerous goods bay locations, or ordinary bay locations. When extracting the bay location information of the loading container from the received loading operation instruction, the bay location type identifier is extracted simultaneously and matched and verified with the loading container attributes.

6. The loading and unloading operation control method for a double-trolley quay crane according to claim 1, characterized in that, Before generating the unloading queue and loading queue in step S2, the following steps are also included: validating the extracted bay berth number. If the bay berth number exceeds the preset maximum number of bay berths for a ship, the operation instruction is marked as an abnormal instruction and an early warning is triggered.

7. The loading and unloading operation control method for a double-trolley quay crane according to claim 1, characterized in that, Step S5 includes: Step S51: Obtain the real-time position information of the main trolley and the gantry trolley through the laser rangefinder installed on the quay crane; obtain the real-time speed information of the main trolley and the gantry trolley through the laser speed radar installed on the quay crane; Step S52: Determine whether the working paths of the two trolleys overlap; if so, proceed to step S43. Step S53: Calculate the remaining path length to the target location based on the acquired real-time location information; Step S54: Calculate the estimated time difference Δt between the two vehicles reaching the target position based on the remaining path length and real-time speed information; Step S55: If Δt≤5 seconds and the main trolley is performing the unloading task, the gantry trolley avoidance rule is triggered: the gantry trolley pauses its current path and generates an arc-shaped detour path; the radius R of the arc-shaped detour path = container width + 1m; Step S56: The gantry trolley moves along the detour path to the preset safe waiting area, and the operation progress of the main trolley is monitored simultaneously. Step S57: After the main trolley completes the transfer platform operation, the gantry trolley receives the recovery command and recalculates the optimal path: If the original task is still valid, continue execution according to the updated path; If the original task times out, the newly added emergency instruction will be executed first. Step S58: After the main trolley releases the transfer platform, it sends a warehouse release signal to trigger the synchronous update of the gantry trolley warehouse status.

8. The loading and unloading operation control method for a double-trolley quay crane according to claim 7, characterized in that, Step S5 also includes: when it is detected that the target transfer platform of the main trolley and the gantry is the same transfer platform, the gantry trolley suspends operation and switches to another transfer platform.

9. A terminal, characterized in that, include: processor; Memory used to store the processor's execution instructions; The processor is configured to perform the method according to any one of claims 1-8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-8.

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