CN116238928A - Ship unloading method and device for ship unloader, storage medium and equipment - Google Patents
Ship unloading method and device for ship unloader, storage medium and equipment Download PDFInfo
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- CN116238928A CN116238928A CN202310234304.3A CN202310234304A CN116238928A CN 116238928 A CN116238928 A CN 116238928A CN 202310234304 A CN202310234304 A CN 202310234304A CN 116238928 A CN116238928 A CN 116238928A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The present disclosure relates to a ship unloading method, device, storage medium and apparatus for a ship unloader, the method comprising: generating a ship unloading schedule according to preset ship unloading plan information; aiming at the ship to be unloaded indicated by the ship unloading schedule, scanning the ship to be unloaded through a scanning assembly on the ship unloading machine to obtain scanning data, wherein the scanning assembly comprises a millimeter wave radar and a laser radar; carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin; and according to the unloading sequence of each cabin to be unloaded indicated by the unloading schedule, carrying out unloading operation on the materials to be unloaded in each cabin to be unloaded according to the three-dimensional model of the cabin to be unloaded.
Description
Technical Field
The present disclosure relates to the field of ship unloaders, and in particular, to a ship unloading method, apparatus, storage medium, and device for a ship unloader.
Background
The ship unloading operation of the current wharf generally adopts a method of manually operating a handle in a control room or realizing on-site operation of the ship unloader through wireless remote control operation and the like, so that the operation efficiency and the safety of the ship unloading are completely dependent on the proficiency and the fatigue degree of a driver.
Disclosure of Invention
The invention aims to provide a ship unloading method, a ship unloading device, a storage medium and equipment for a ship unloader, so as to solve the technical problems.
To achieve the above object, in a first aspect, the present disclosure provides a ship unloading method for a ship unloader, comprising:
generating a ship unloading schedule according to preset ship unloading plan information;
aiming at the ship to be unloaded indicated by the ship unloading schedule, scanning the ship to be unloaded through a scanning assembly on the ship unloading machine to obtain scanning data, wherein the scanning assembly comprises a millimeter wave radar and a laser radar;
carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin;
and according to the unloading sequence of each cabin to be unloaded indicated by the unloading schedule, carrying out unloading operation on the materials to be unloaded in each cabin to be unloaded according to the three-dimensional model of the cabin to be unloaded.
Optionally, before the unloading sequence of each cabin to be unloaded according to the unloading schedule indicates, for each cabin to be unloaded, according to the three-dimensional model of the cabin to be unloaded, the unloading operation is performed on the material to be unloaded in the cabin to be unloaded, the unloading operation further includes:
and carrying out gridding treatment on the three-dimensional model of each ship cabin to be unloaded to generate a grid model of each ship cabin to be unloaded, wherein the grid model comprises parallel grid lines and vertical grid lines, the parallel grid lines are parallel to the track direction of the ship unloader, and the vertical grid lines are perpendicular to the track direction of the ship unloader.
Optionally, the unloading operation for the material to be unloaded in the cabin to be unloaded according to the three-dimensional model of the cabin to be unloaded includes:
determining a discharge starting point of each material discharge layer in the materials to be discharged according to the grid model of the ship cabin to be discharged;
and controlling the ship unloader to begin unloading from the unloading starting point according to a preset ship unloading strategy.
Optionally, the determining, according to the grid model of the cabin to be unloaded, an unloading starting point of each unloading layer in the materials to be unloaded includes:
determining, for any one of the ship unloader hoppers, a linear distance from each grid vertex of the ship unloader to each grid vertex in the grid model, wherein the grid vertices characterize intersections of the parallel grid lines and the vertical grid lines;
and determining the grid vertex with the shortest straight line distance as the discharge starting point of the discharge layer.
Optionally, the controlling the ship unloader to begin unloading from the unloading starting point according to a preset ship unloading strategy includes:
starting from the unloading starting point, unloading along a preset first direction, and detecting whether the ship unloader reaches the boundary position of the material to be unloaded or not in real time in the unloading process;
when the ship unloader discharges and reaches the boundary position of the material to be discharged, controlling the ship unloader to rotationally discharge along a second direction;
and when the ship unloader discharges again to reach the discharge starting point, controlling the ship unloader to stop discharging at the discharge layer, and determining the discharge starting point of the next discharge layer according to the grid model.
Optionally, the ship unloading method for the ship unloader further comprises:
and applying the three-dimensional model of each cabin to be unloaded to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatch of each cabin to be unloaded and the three-dimensional position coordinates of the material boundary points in each cabin to be unloaded.
Optionally, the ship unloading schedule comprises:
the name and total load of the ship to be unloaded;
the name, the number, the load and the unloading sequence of each cabin to be unloaded on the ship to be unloaded.
In a second aspect, the present disclosure provides a ship unloader for a ship unloader, comprising:
the scheduling module is used for generating a ship unloading schedule according to preset ship unloading plan information;
the scanning module is used for scanning the ship to be unloaded according to the ship unloading schedule, and scanning data are obtained through a scanning assembly on the ship unloading machine, wherein the scanning assembly comprises a millimeter wave radar and a laser radar;
the model module is used for carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin;
and the control module is used for carrying out unloading operation on the materials to be unloaded in each ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded aiming at each ship cabin to be unloaded according to the unloading sequence of each ship cabin to be unloaded indicated by the ship unloading schedule.
In a third aspect, the present disclosure provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of the first aspect.
According to the technical scheme, the ship to be unloaded is determined according to the ship unloading plan information, the ship to be unloaded is scanned through the scanning assembly on the ship unloading machine, scanning data are obtained, three-dimensional modeling processing is carried out according to the scanning data, a three-dimensional model is obtained, and then the ship unloading machine is controlled according to the three-dimensional model to carry out unloading operation on materials to be unloaded in the ship cabin to be unloaded according to the unloading sequence in the ship unloading plan information. According to the method, the ship unloader can accurately position the ship cabin to be unloaded through three-dimensional modeling, and can automatically unload according to the preset unloading sequence, so that potential safety hazards existing in manual selection of the unloading path can be greatly reduced, and meanwhile, the operation efficiency of the ship unloader can be improved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 illustrates a flow chart of a ship unloading method for a ship unloader according to an exemplary embodiment;
FIG. 2 shows a flowchart of a specific implementation of step S140 in an exemplary embodiment;
FIG. 3 shows a flow chart of a specific implementation of step S141 in an exemplary embodiment;
FIG. 4 shows a flowchart of a specific implementation of step S142 in an exemplary embodiment;
FIG. 5 illustrates a schematic view of a ship unloader for a ship unloader, according to an exemplary embodiment;
fig. 6 is a block diagram of an electronic device, according to an example embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
At present, the full-automatic operation of the ship unloader is not provided with a path planning or the path planning is unreasonable, an operator often sets a discharging route, the ship unloader discharges according to the set route, or the operator determines the order of cabins to be discharged and then sequentially discharges the cabins according to the order, the discharging mode does not consider that the working efficiency can be improved through the path planning, and a reasonable and efficient path planning mode is not provided.
In order to solve the problems described above, embodiments of the present disclosure provide a ship unloading method, apparatus, storage medium, and device for a ship unloader. The ship unloader can accurately position the ship cabin to be unloaded through three-dimensional modeling, and can automatically unload according to a preset unloading sequence, so that potential safety hazards existing in manual selection of an unloading path can be greatly reduced, and meanwhile, the operation efficiency of the ship unloader can be improved.
Fig. 1 shows a flowchart of a ship unloading method for a ship unloader according to an exemplary embodiment, referring to fig. 1, the method includes:
s110, generating a ship unloading schedule according to preset ship unloading plan information.
In one possible embodiment, the ship unloading schedule may include: the name and total load of the vessel to be unloaded; name, number, loading and unloading sequence of each ship cabin to be unloaded on the ship to be unloaded. The discharging sequence may be, for example, sequentially discharging from left to right.
Here, the ship unloading schedule may further include: and the unloading sequence of the ship to be unloaded. And controlling the ship unloader to sequentially move to each ship to be unloaded for unloading according to the unloading sequence of the ship to be unloaded.
Here, the preset ship unloading plan information may include ship unloading information in a ship unloading schedule, and other ship unloading information.
S120, aiming at the ship to be unloaded indicated by the ship unloading schedule, the ship to be unloaded is scanned through a scanning assembly on the ship unloading machine, scanning data are obtained, and the scanning assembly comprises a millimeter wave radar and a laser radar.
Here, the acquired scan data may include, but is not limited to, boundary information, height and volume of a cabin in a ship to be unloaded, boundary information and height of a hatch, and boundary information, height and volume of material in a cabin.
Wherein the boundary information may be, but is not limited to, coordinates corresponding to boundary points of the stockpiles in the hold. Further, the scan data may be, but is not limited to being, acquired by a scan component. A scanning assembly may be, but is not limited to, comprised of one millimeter wave radar and one lidar, or may be comprised of multiple millimeter wave radars and one lidar. Millimeter wave radar and laser radar can be installed on the cantilever crane of ship unloader, and wherein laser radar can be installed in the position that is close to the hopper relatively on the cantilever crane, because the cantilever crane height of ship unloader is relatively fixed, laser radar installs in this position and can realize obtaining scan data through rotatory, and millimeter wave radar can be installed in any position on laser radar's the mounting bracket.
It should be noted that, the arm support of a ship unloader can be provided with one scanning assembly, but not limited to, and a plurality of scanning assemblies can be provided.
S130, carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin.
In some embodiments, after the scan data is obtained by the millimeter wave radar and the lidar, the scan data is modeled with a time when the ship unloader is not operational, generating a three-dimensional model.
In the actual operation process, the control system can select a corresponding unloading area in the three-dimensional model according to the actual production requirement, the unloading area should be within the boundary range of an actual to-be-unloaded pile to generate a target unloading area, and for each unloading layer in the target unloading area, the unloading starting point and the unloading stopping point of the layer need to be selected first to generate the unloading starting point coordinate and the unloading stopping point coordinate, wherein the unloading starting point and the unloading stopping point are located at the same height.
And S140, according to the unloading sequence of each ship cabin to be unloaded indicated by the ship unloading schedule, carrying out unloading operation on the materials to be unloaded in each ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded.
After the three-dimensional modeling is completed, the control system controls the ship unloader to sequentially unload each ship to be unloaded according to the unloading sequence of the ship to be unloaded in the ship unloading schedule, and for any ship to be unloaded, the control system controls the ship unloader to sequentially unload each ship to be unloaded in the ship according to the unloading sequence of the ship to be unloaded in the ship unloading schedule.
In specific implementation, before the step S140, the ship unloading method further includes: and carrying out gridding treatment on the three-dimensional model of each ship cabin to be unloaded to generate a grid model of each ship cabin to be unloaded, wherein the grid model comprises parallel grid lines and vertical grid lines, the parallel grid lines are parallel to the track direction of the ship unloader, and the vertical grid lines are perpendicular to the track direction of the ship unloader.
The three-dimensional model of each cabin to be unloaded is subjected to gridding treatment, so that the unloading starting point, the unloading stopping point and each unloading turning point of the ship unloader can be accurately positioned.
Here, the three-dimensional model of each ship to be unloaded can be subjected to gridding treatment, so that the grid model of each ship to be unloaded is generated, and the position of each ship to be unloaded can be accurately positioned according to the grid model.
According to the scheme, the ship to be unloaded is determined according to the ship unloading plan information, the ship to be unloaded is scanned through the scanning assembly on the ship unloading machine, scanning data are obtained, three-dimensional modeling processing is carried out according to the scanning data, a three-dimensional model is obtained, and then the ship unloading machine is controlled according to the three-dimensional model to unload materials to be unloaded in the ship cabin to be unloaded according to the unloading sequence in the ship unloading plan information. According to the method, the ship unloader can accurately position the ship cabin to be unloaded through three-dimensional modeling, and can automatically unload according to the preset unloading sequence, so that potential safety hazards existing in manual selection of the unloading path can be greatly reduced, and meanwhile, the operation efficiency of the ship unloader can be improved.
Fig. 2 is a flowchart illustrating a specific implementation of step S140 in an exemplary embodiment, referring to fig. 2, the method includes:
s141, determining the unloading starting point of each unloading layer in the materials to be unloaded according to the grid model of the cabin to be unloaded.
Wherein the material to be unloaded refers to the material piled in the cabin to be unloaded. In the unloading process of the ship unloader, the unloading starting point of each unloading layer in the materials to be unloaded is firstly required to be determined, so that the hopper of the ship unloader can accurately complete stacking with the materials to be unloaded.
S142, controlling the ship unloader to begin unloading from the unloading starting point according to a preset ship unloading strategy.
For any unloading layer, after determining an unloading starting point, the control system starts unloading according to a preset unloading strategy.
The ship unloading strategy can comprise an initial unloading direction of the ship unloader and a rotary unloading angle of the ship unloader.
The initial discharge direction may for example be left to right, and the angle of the rotary discharge may for example be 90 °.
In the scheme, the unloading starting point of the ship unloader can be determined through the grid model, the ship unloader can be accurately positioned to be unloaded, the ship unloader is controlled to begin to unload according to the unloading starting point through the preset ship unloading strategy, so that the unloading path of the ship unloader can be reasonably planned in advance, the potential safety hazard existing in manually selecting the unloading path can be greatly reduced, and meanwhile, the operation efficiency of the ship unloader can be improved.
Fig. 3 is a flowchart illustrating a specific implementation of step S141 in an exemplary embodiment, referring to fig. 3, the method includes:
s1411, for any unloading layer, determining a straight line distance between a hopper of the ship unloader and each grid vertex of the unloading layer in the grid model, wherein the grid vertices represent intersections of the parallel grid lines and the perpendicular grid lines.
Illustratively, the linear distance of the hopper of the ship unloader from each grid vertex of the ship unloader in the grid model can be calculated using the following formula:
wherein A (x 1 ,y 1 ,z 1 ) Characterizing the coordinates of the hopper of the ship unloader, B (x 2 ,y 2 ,z 2 ) Characterizing coordinates of any mesh vertex of the discharge layer in the mesh model.
It should be noted that the coordinates of the hopper of the ship unloader can also be obtained by scanning according to the scanning assembly.
In another possible embodiment, a euclidean distance formula may also be used to calculate the linear distance between the hopper of the ship unloader and each grid vertex of the ship unloader in the grid model.
And S1412, determining the grid vertex with the shortest straight line distance as the discharge starting point of the discharge layer.
And when the straight line distance between the hopper of the ship unloader and a certain grid vertex of the unloading layer in the grid model is determined to be shortest, taking the grid vertex as an unloading starting point.
In the scheme, the optimal unloading starting point can be determined by calculating the shortest linear distance between the hopper of the ship unloader and each grid vertex of the unloading layer in the grid model, so that potential safety hazards existing in manually selecting the unloading starting point can be greatly reduced, and the running efficiency of the ship unloader can be improved.
Fig. 4 is a flowchart showing a specific implementation of step S142 in an exemplary embodiment, where the process shown in fig. 4 is a process of unloading from an unloading start point of any unloading layer according to a preset ship unloading strategy. The ship unloading strategy can comprise an initial unloading direction of the ship unloader and a rotary unloading angle of the ship unloader. Referring to fig. 4, the method includes:
s1421, starting from a discharge starting point, discharging along a preset first direction, and detecting whether the ship unloader reaches the boundary position of the material to be discharged in real time in the discharging process.
The initial unloading direction in the ship unloading strategy is a preset first direction. For example, the first direction indicates the direction of the parallel grid lines corresponding to the discharge start point.
Illustratively, after determining the discharge initiation point, the control system controls the ship unloader to move the discharge from the discharge initiation point to a boundary point on the parallel grid line where it is located.
S1422, controlling the ship unloader to rotate in a second direction for unloading when the ship unloader is unloaded to reach the boundary position of the material to be unloaded.
Wherein the second direction may be determined based on the current direction of discharge and the angle of the rotary discharge in the ship unloading strategy. For example, the angle of the rotary unloading is 90 degrees, the rotary unloading is rotated by 90 degrees based on the current unloading direction so as to determine the second direction, and then the ship unloader is controlled to unload in the second direction.
Illustratively, the ship unloader starts from a discharge start point, discharges along the direction of a parallel grid line where the discharge start point is located (i.e. a first direction), when the ship unloader reaches a first boundary position of the material to be discharged, the ship unloader is controlled to rotate 90 ° to a vertical grid line of the grid vertex corresponding to the first boundary position, and is controlled to move in the direction of the vertical grid line (i.e. a second direction), when the ship unloader reaches a next boundary position of the material to be discharged, the ship unloader is controlled to rotate again in the same rotation direction to the parallel grid line of the grid vertex corresponding to the next boundary position, and is controlled to move in the direction of the parallel grid line (i.e. a new second direction), and the steps are repeated until the ship unloader reaches the discharge start point again.
S1423, when the ship unloader discharges again to reach the discharge starting point, controlling the ship unloader to stop discharging at the discharge layer, and determining the discharge starting point of the next discharge layer according to the grid model.
And (3) performing rotary unloading according to the method in the step S1422, and controlling the ship unloader to stop unloading when the ship unloader reaches an unloading starting point again by the control system, wherein the unloading of the layer is completed, the unloading of the next layer is performed, and the unloading of each layer is controlled to be performed according to the methods in the steps S1421-S1423.
In the foregoing embodiment, the three-dimensional model of each cabin to be unloaded may be applied to the three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatch of each cabin to be unloaded and the three-dimensional position coordinates of the boundary point of the material in each cabin to be unloaded, so that the hatch position of each cabin to be unloaded may be accurately positioned according to the three-dimensional position coordinates of the hatch of each cabin to be unloaded, so as to control the ship unloader to accurately reach each hatch, and the boundary of the material to be unloaded may be accurately positioned according to the three-dimensional position coordinates of the boundary point of the material in each cabin to be unloaded, so as to control the ship unloader to accurately complete rotary unloading.
Fig. 5 shows a schematic view of a ship unloader for a ship unloader according to an exemplary embodiment. As shown in fig. 5, the ship unloader 500 for the ship unloader includes:
the scheduling module 501 is configured to generate a ship unloading schedule according to preset ship unloading plan information.
The scanning module 502 is configured to scan, for a ship to be unloaded indicated by the ship unloading schedule, the ship to be unloaded through a scanning assembly on the ship unloader, so as to obtain scanning data, where the scanning assembly includes a millimeter wave radar and a laser radar.
And the model module 503 is configured to perform three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scan data, so as to obtain a three-dimensional model of each cabin to be unloaded, where the three-dimensional model includes positioning information of a hatch and boundary positioning information of materials in the cabin.
And the control module 504 is configured to perform, for each ship cabin to be unloaded, unloading operations on materials to be unloaded in the ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded according to the unloading sequence of each ship cabin to be unloaded indicated by the ship unloading schedule.
Optionally, the model module 503 is further configured to perform gridding processing on the three-dimensional model of each ship cabin to be unloaded, and generate a grid model of each ship cabin to be unloaded, where the grid model includes parallel grid lines and perpendicular grid lines, and the parallel grid lines are parallel to the track direction of the ship unloader, and the perpendicular grid lines are perpendicular to the track direction of the ship unloader.
Optionally, the control module 504 is further configured to determine a discharge start point of each discharge layer in the material to be discharged according to the grid model of the cabin to be discharged, and is configured to control the ship unloader to start discharging from the discharge start point according to a preset ship unloading strategy.
Optionally, the control module 504 is further configured to determine, for any one of the unloading layers, a straight line distance between a hopper of the ship unloader and each grid vertex of the unloading layer in the grid model, wherein the grid vertices characterize an intersection point of the parallel grid lines and the perpendicular grid lines, and determine a grid vertex with a shortest straight line distance as an unloading starting point of the unloading layer.
Optionally, the control module 504 is further configured to start unloading from an unloading start point in a preset first direction, detect, in real time, whether the ship unloader reaches a boundary position of the material to be unloaded during unloading, control the ship unloader to swing in a second direction for unloading when the ship unloader is unloading to reach the boundary position of the material to be unloaded, and control the ship unloader to stop unloading at the unloading layer when the ship unloader is unloading again to reach the unloading start point, and determine an unloading start point of a next unloading layer according to the grid model.
Optionally, the model module 503 is further configured to apply the three-dimensional model of each cabin to be unloaded to a three-dimensional coordinate system, so as to obtain a three-dimensional position coordinate of the hatch of each cabin to be unloaded and a three-dimensional position coordinate of the boundary point of the material in each cabin to be unloaded.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Fig. 6 is a block diagram of an electronic device, according to an example embodiment. For example, the electronic device 600 may be provided as a server. Referring to fig. 6, an electronic device 600 includes a processor 601, which may be one or more in number, and a memory 602 for storing a computer program executable by the processor 601. The computer program stored in memory 602 may include one or more modules each corresponding to a set of instructions. Further, the processor 601 may be configured to execute the computer program to perform the ship unloading method for a ship unloader as described above.
In addition, the electronic device 600 may further include a power component 603 and a communication component 604, the power component 603 may be configured to perform power management of the electronic device 600, and the communication component 604 may be configured to enable communication of the electronic device 600, e.g., wired or wireless communication. In addition, the electronic device 600 may also include an input/output (I/O) interface 605. The electronic device 600 may operate based on an operating system stored in the memory 602.
In another exemplary embodiment, a computer readable storage medium is also provided comprising program instructions which, when executed by a processor, implement the steps of the above-described ship unloading method for a ship unloader. For example, the non-transitory computer readable storage medium may be the memory 602 including program instructions described above that are executable by the processor 601 of the electronic device 600 to perform the ship unloading method for a ship unloader described above.
In another exemplary embodiment, a computer program product is also provided, which computer program product comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned ship unloading method for a ship unloader when being executed by the programmable apparatus.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. A ship unloading method for a ship unloader, comprising:
generating a ship unloading schedule according to preset ship unloading plan information;
aiming at the ship to be unloaded indicated by the ship unloading schedule, scanning the ship to be unloaded through a scanning assembly on the ship unloading machine to obtain scanning data, wherein the scanning assembly comprises a millimeter wave radar and a laser radar;
carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin;
and according to the unloading sequence of each cabin to be unloaded indicated by the unloading schedule, carrying out unloading operation on the materials to be unloaded in each cabin to be unloaded according to the three-dimensional model of the cabin to be unloaded.
2. The ship unloading method for a ship unloader according to claim 1, wherein before the unloading sequence of each ship cabin to be unloaded indicated according to the ship unloading schedule, for each ship cabin to be unloaded, the unloading operation of the material to be unloaded in the ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded, further comprises:
and carrying out gridding treatment on the three-dimensional model of each ship cabin to be unloaded to generate a grid model of each ship cabin to be unloaded, wherein the grid model comprises parallel grid lines and vertical grid lines, the parallel grid lines are parallel to the track direction of the ship unloader, and the vertical grid lines are perpendicular to the track direction of the ship unloader.
3. The ship unloading method for a ship unloader according to claim 2, wherein the unloading operation of the material to be unloaded in the ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded comprises:
determining a discharge starting point of each material discharge layer in the materials to be discharged according to the grid model of the ship cabin to be discharged;
and controlling the ship unloader to begin unloading from the unloading starting point according to a preset ship unloading strategy.
4. A ship unloading method for a ship unloader according to claim 3, wherein the determining the unloading start point of each unloading layer in the materials to be unloaded according to the grid model of the ship cabin to be unloaded comprises:
determining, for any one of the ship unloader hoppers, a linear distance from each grid vertex of the ship unloader to each grid vertex in the grid model, wherein the grid vertices characterize intersections of the parallel grid lines and the vertical grid lines;
and determining the grid vertex with the shortest straight line distance as the discharge starting point of the discharge layer.
5. A ship unloading method for a ship unloader according to claim 3, wherein the controlling the ship unloader to start unloading from the unloading start point according to a preset ship unloading strategy comprises:
starting from the unloading starting point, unloading along a preset first direction, and detecting whether the ship unloader reaches the boundary position of the material to be unloaded or not in real time in the unloading process;
when the ship unloader discharges and reaches the boundary position of the material to be discharged, controlling the ship unloader to rotationally discharge along a second direction;
and when the ship unloader discharges again to reach the discharge starting point, controlling the ship unloader to stop discharging at the discharge layer, and determining the discharge starting point of the next discharge layer according to the grid model.
6. The ship unloading method for a ship unloader according to claim 1, further comprising:
and applying the three-dimensional model of each cabin to be unloaded to a three-dimensional coordinate system to obtain the three-dimensional position coordinates of the hatch of each cabin to be unloaded and the three-dimensional position coordinates of the material boundary points in each cabin to be unloaded.
7. The ship unloading method for a ship unloader according to claim 1, wherein the ship unloading schedule comprises:
the name and total load of the ship to be unloaded;
the name, the number, the load and the unloading sequence of each cabin to be unloaded on the ship to be unloaded.
8. A ship unloader for a ship unloader, comprising:
the scheduling module is used for generating a ship unloading schedule according to preset ship unloading plan information;
the scanning module is used for scanning the ship to be unloaded according to the ship unloading schedule, and scanning data are obtained through a scanning assembly on the ship unloading machine, wherein the scanning assembly comprises a millimeter wave radar and a laser radar;
the model module is used for carrying out three-dimensional modeling on each cabin to be unloaded on the ship to be unloaded according to the scanning data to obtain a three-dimensional model of each cabin to be unloaded, wherein the three-dimensional model comprises positioning information of a hatch and boundary positioning information of materials in the cabin;
and the control module is used for carrying out unloading operation on the materials to be unloaded in each ship cabin to be unloaded according to the three-dimensional model of the ship cabin to be unloaded aiming at each ship cabin to be unloaded according to the unloading sequence of each ship cabin to be unloaded indicated by the ship unloading schedule.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1-7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310234304.3A CN116238928A (en) | 2023-03-10 | 2023-03-10 | Ship unloading method and device for ship unloader, storage medium and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310234304.3A CN116238928A (en) | 2023-03-10 | 2023-03-10 | Ship unloading method and device for ship unloader, storage medium and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116238928A true CN116238928A (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310234304.3A Pending CN116238928A (en) | 2023-03-10 | 2023-03-10 | Ship unloading method and device for ship unloader, storage medium and equipment |
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| Country | Link |
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| CN (1) | CN116238928A (en) |
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- 2023-03-10 CN CN202310234304.3A patent/CN116238928A/en active Pending
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