CN118289151A - Container ship system and loading and unloading method thereof - Google Patents

Abstract

The invention provides a container ship system and a loading and unloading method thereof, relating to the technical field of ship transportation, wherein the container ship system comprises a ship body, an auxiliary positioning device and a lifting appliance device, the ship body is provided with a plurality of transportation positions, and a plurality of containers are stacked in each transportation position; the auxiliary positioning device is arranged on each transverse baffle piece and comprises a driving assembly and a positioning assembly; the lifting device comprises a lifting device body, a cross beam and a guide piece, and moves into a corresponding transportation position along a corresponding guide surface under the action of the guide piece; when the lifting device lifts the target container, the guide piece of the lifting device can be quickly moved into the corresponding transportation position under the action of the guide opening, the positioning is more accurate, the lifting precision is high, the whole positioning and lifting process does not need to manually participate in the position adjustment, the automation degree is high, the dependence on operators is reduced, and the lifting device is safe and reliable.

Description

Container ship system and loading and unloading method thereof

Technical Field

The invention relates to the technical field of ship transportation, in particular to a container ship system and a loading and unloading method thereof.

Background

The container terminal is a hub for realizing sea and land logistics transportation, along with the enlargement of ships, the loading and unloading efficiency of the port is urgently required to be improved continuously, and at present, no matter the traditional container terminal or the automatic container terminal at home and abroad, the problems that the ship swings along with sea waves and a lifting appliance enters a cabin can not be solved, and the shore bridge needs manual auxiliary positioning operation when loading and unloading containers from the ship.

The defects of high labor cost, low loading and unloading efficiency, low safety coefficient and large influence by the environment exist in manual operation, the requirement on the operation experience of operators is high, how to realize safe, automatic and efficient ship cabin entering of a lifting appliance, how to get rid of manual participation, how to overcome full automation and unmanned of loading and unloading containers of a quay bridge by an economically feasible scheme, and the problem of efficiency improvement of most ports is always plagued.

The application number is: 202011610547.5, entitled a guiding device and a file of container spreaders comprising the guiding device, an improved spreader is proposed, but in this file, the vessel and container loading and unloading scheme is not improved, in the actual working process, only guiding and positioning along the length direction of the container can be achieved, and the whole loading and unloading process of the container is not involved, so that the intelligent improvement of the vessel system and loading and unloading of the container cannot be achieved.

Disclosure of Invention

The invention provides a container ship system and a loading and unloading method thereof, which are used for solving the problems that in the loading and unloading process of a container ship in the prior art, a lifting appliance for lifting the container is difficult to position in the process of entering a cabin due to the fact that a ship body swings along with sea waves, and the loading and unloading efficiency of the container ship is low.

The present invention provides a container ship system comprising: the ship comprises a ship body, wherein a plurality of transverse baffle members are arranged along a first direction in a scattered manner, a transportation bin is formed between every two adjacent transverse baffle members, a plurality of longitudinal baffle members are respectively arranged on two sides of each transportation bin along a second direction perpendicular to the first direction, a transportation position is formed between every two adjacent longitudinal baffle members, and a plurality of containers are stacked in each transportation position;

the auxiliary positioning device is arranged on each transverse baffle piece and comprises a driving assembly and a positioning assembly, and the driving assembly is used for driving the positioning assembly to move between transportation positions;

The lifting device is movably arranged above the ship body and comprises a lifting device body, a cross beam arranged at two ends of the lifting device body and guide pieces arranged at two ends of the cross beam, and the lifting device moves to the corresponding transportation position along a first guide surface of the corresponding positioning component under the action of the guide pieces.

Preferably, the driving assembly comprises a driving motor, a transmission shaft, a transmission gear and a transmission chain, wherein the driving motor is fixed on the transverse baffle members, two ends of each transverse baffle member are respectively and rotatably connected with one transmission shaft, an output shaft of the driving motor is connected with one transmission shaft, the transmission shaft is fixedly provided with the transmission gear, and the transmission chain is in fit connection with the transmission gears at two ends; the transmission chain comprises a first chain section and a second chain section, and a group of positioning assemblies are respectively connected to the first chain section and the second chain section.

Preferably, the positioning assembly comprises a connecting part and two first positioning parts arranged on the connecting part, a first guiding surface is formed on one side, close to each other, of each first positioning part, a guiding opening gradually shrinking along the feeding direction is formed on each first guiding surface, and the connecting part is detachably connected with the transmission chain.

Preferably, the transmission chain comprises a plurality of chain links, an adsorption part is connected to the outer side of each chain link, an electromagnetic part is arranged on one side, close to the transmission chain, of the connecting part, and the electromagnetic part is used for being connected with the adsorption part.

Preferably, the lateral baffle member is formed with a moving groove extending along the second direction, and the rolling part is rotatably connected to the moving groove; the bottom of the connecting part extends into the moving groove, and the bottom of the connecting part is in contact connection with the rolling part;

A supporting vertical part is formed on one side of each moving groove, which is close to the transport bin, and a connecting notch extending along the second direction is formed on the supporting vertical part, and the connecting part is connected with the first positioning part through a middle part; the middle part penetrates through the connecting notch, and the first positioning part and the connecting part are respectively positioned at two sides of the supporting vertical part.

Preferably, two ends of the cross beam are provided with downward extending convex parts, and the lower surfaces of the convex parts are provided with lifting parts;

The guide piece comprises a turning rod of which a guide driving part is connected with the guide driving part and a turning plate connected with the tail end of the turning rod, a positioning cambered surface is formed on the turning plate, and the lifting appliance device moves to a corresponding transportation position along the first guide surface under the action of the positioning cambered surface;

The bottom of crossbeam is provided with the bin, and the bin is used for storing the upset board, hoist device moves down the in-process, direction drive portion drives the upset board is opened, hoist device removes to after in the transportation position, direction drive portion drives the upset board is closed, the upset board rotates to in the bin, hoist portion will the container lifts by crane.

Preferably, the scanning device is used for scanning the ship body and acquiring the outline of the ship body and the position of each transportation position;

The crane is connected with the lifting device and used for controlling the lifting device to lift;

and the control system is in signal connection with the scanning equipment, the crane, the driving motor and the guiding driving part.

The invention also provides a container ship loading and unloading method which is applied to the container ship system and comprises the following steps:

s1, scanning the outline of a ship body through scanning equipment, acquiring the position of each transportation position, and transmitting scanning information to a control system;

S2, the control system determines a transport position for loading or unloading the target container based on the scanning information;

S3, the control system controls the positioning assembly to move to a transport position for loading or unloading the target container;

S4, when unloading is needed, the control system controls the lifting appliance device to be in an open state, and the lifting appliance device is controlled to move to the position according to the positioning of the auxiliary positioning device: a target lifting position of the transport position taken out of the target container;

when loading is needed, the control system controls the crane to work, so that the lifting appliance device for clamping the target container moves to: a target container lowering position of a transport position in which the target container is loaded;

s5, when unloading is needed, the control system controls the lifting appliance device to be closed, and then the target container is grabbed;

When loading is required, the control system controls the lifting appliance device to be opened.

Compared with the prior art, the invention has the following beneficial effects: the hoist body carries out the connection support with the crossbeam at both ends, four guides set up respectively on the both ends of two crossbeams, four guides correspond respectively and carry four location portions on the position, the guide removes to corresponding transportation position along corresponding guide surface to hoist body and crossbeam in, help hoist device remove to corresponding transportation position in, the location is more accurate, the hoist and mount precision is high, whole location and hoist and mount process do not need artifical the participation adjustment position, degree of automation is high, reduce to operating personnel dependence degree, safe and reliable.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a container ship system according to the present invention;

FIG. 2 is a top view of the structure of FIG. 1;

FIG. 3 is an enlarged schematic view at A in FIG. 2;

FIG. 4 is a schematic illustration of the attachment of the positioning assembly to the hull of a ship;

FIG. 5 is an enlarged schematic view of the structure at B in FIG. 4;

FIG. 6 is a schematic diagram of a drive assembly configuration;

FIG. 7 is a schematic diagram of the connection of the drive assembly to the positioning assembly;

FIG. 8 is a schematic diagram of one of the positioning assembly structures;

FIG. 9 is a second schematic view of a positioning assembly;

FIG. 10 is a schematic view of the location of the positioning assembly on the transverse barrier;

FIG. 11 is one of the schematic structural views of the spreader apparatus;

FIG. 12 is a second schematic view of a spreader apparatus;

FIG. 13 is an enlarged schematic view at C in FIG. 12;

FIG. 14 is a schematic front view of a guide;

fig. 15 is a flow chart of a method of loading and unloading a container ship.

Reference numerals:

100. A hull; 101. a transportation bin; 110. a transverse barrier; 111. a moving groove; 112. a connecting notch; 120. a longitudinal barrier; 200. a positioning assembly; 210. a connection part; 211. an electromagnetic section; 220. an intermediate portion; 230. a first positioning portion; 231. a first guide surface; 240. a second positioning portion; 241. a second guide surface; 300. a drive assembly; 310. a transmission shaft; 320. a transmission gear; 330. a drive chain; 340. an adsorption unit; 400. a rolling part; 500. a lifting appliance device; 510. a hanger body; 520. a cross beam; 521. a storage tank; 522. a convex portion; 523. a hoisting part; 600. a guide member; 610. a guide driving part; 620. turning over the rod; 630. a turnover plate; 640. a detection unit; 650. a linkage; 651. a first link; 652. and a second link.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between the embodiments may be combined with each other, but it is necessary to base that a person skilled in the art can implement the combination of technical solutions, when the combination of technical solutions contradicts or cannot be implemented, should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present invention.

The invention provides the following examples

Embodiment 1, an embodiment of the present invention provides a container ship system, as shown in fig. 1,2 and 3, including: a hull 100 for loading containers, a spreader device 500 for hoisting containers, and an auxiliary positioning device for assisting in positioning the spreader device 500.

The direction from the bow to the stern of the hull 100 is defined as a first direction, the width direction of the hull 100 perpendicular to the first direction in the horizontal plane is defined as a second direction, and the depth direction along the cabin in the hull 100 is defined as a third direction.

The hull 100 is provided with a plurality of transverse barriers 110 dispersed along the first direction, the bottoms of the transverse barriers 110 extending to the bottom of the cabin, and the transportation tanks 101 are formed between adjacent transverse barriers 110, that is, from the bow to the stern, the hull 100 is partitioned into a plurality of transportation tanks 101 by the transverse barriers 110.

The two sides of the transverse barrier 110 are vertical surfaces respectively, the two sides of each transport bin 101 are provided with a plurality of longitudinal barriers 120 along the third direction, a transport position is formed between the adjacent longitudinal barriers 120, and a plurality of containers are stacked along the third direction in each transport position.

One side of the transportation compartment 101 at the stern and the bow is an end surface of the hull 100, and longitudinal barriers 120 are also arranged at intervals on the end surface of the hull 100.

Two different transverse blocking pieces 110 are respectively arranged on two sides of the same transportation bin 101 or one of the two transverse blocking pieces is an end face of the ship body 100, and it is guaranteed that the longitudinal blocking pieces 120 on two sides of the same transportation bin 101 are in one-to-one correspondence, and four corners of each transportation position are positioned through two opposite groups of longitudinal blocking pieces 120.

Referring to fig. 2 to 7, a set of auxiliary positioning devices are provided on each of the lateral barriers 110, respectively, and the auxiliary positioning devices include a driving assembly 300 and a positioning assembly 200, and the positioning assembly 200 is moved to a target transport position by the driving assembly 300.

The driving assembly 300 comprises a driving motor, a driving shaft 310, a driving gear 320 and a driving chain 330, wherein the driving motor is fixed on the transverse baffle members 110, two ends of each transverse baffle member 110 are respectively and rotatably connected with one driving shaft 310, the driving shaft 310 is perpendicular to the arrangement, an output shaft of the driving motor is connected with one driving shaft 310, the driving gear 320 is fixed on the driving shaft 310, and the driving chain 330 is matched and connected with the driving gears 320 at two ends; the driving gear 320 rotates in the horizontal direction under the driving of the driving motor and the driving shaft 310, and drives the driving chain 330 to move.

The drive chain 330 includes a first strand and a second strand, the first strand and the second strand being located on either side of a center line of the two drive gears 320, respectively, the first strand and the second strand corresponding to adjacent bins 101.

The first chain segment and the second chain segment are respectively connected with a group of positioning assemblies 200, the positioning assemblies 200 comprise a connecting part 210 and two positioning parts which are oppositely arranged on the connecting part 210, and the connecting part 210 is connected with the first chain segment or the second chain segment.

And guide surfaces are formed on the positioning parts, and guide openings which taper along the feeding direction are formed on the two guide surfaces.

Referring to fig. 1 to 8, each positioning assembly 200 includes a first positioning portion 230 and a second positioning portion 240, the first positioning portion 230 having a first guide surface 231 formed thereon, the second positioning portion 240 having a second guide surface 241 formed thereon, and a guide opening formed between the first guide surface 231 and the second guide surface 241. The positioning assembly 200 may be fixedly connected to the first strand of chain and the second strand of chain, such that after the driving assembly 300 is opened, the first strand of chain and the second strand of chain are both moved, and the positioning assembly 200 corresponding to the first strand of chain and the second strand of chain are both moved.

In some embodiments of the present application, the positioning assemblies 200 on the first and second chain segments are detachably connected, and when the spreader device 500 is moved into the conveying bin on the corresponding side, the positioning assembly 200 corresponding to the position of the conveying bin is connected to the driving chain 330, and the positioning assembly 200 on the other side is separated from the driving chain 330 and does not move with the driving chain 330.

Specifically, the transmission chain 330 includes a plurality of links, and an adsorption portion 340 is connected to an outer side of each link, and the connection portion 210 is detachably connected to the adsorption portion 340.

The electromagnetic portion 211 is formed on one side of the connection portion 210 near the transmission chain 330, and the connection portion 210 is connected to the suction portion 340 in a state where the electromagnetic portion 211 is powered on, and the connection portion 210 is separated from the suction portion 340 in a state where the electromagnetic portion 211 is powered off.

When the spreader device 500 lifts a container in a target transport bin, the electromagnetic parts 211 on the transmission chains 330 corresponding to both sides of the target transport bin are powered on, adsorbed on the adsorption parts 340, and move to the target transport position along with the transmission chains 330.

Referring to fig. 1 and 10, in some embodiments of the present application, in order to make the movement of the positioning assembly 200 smooth, a moving groove 111 extending along the second direction is formed on the upper surface of the lateral barrier 110, a rolling part 400 is rotatably connected in the moving groove 111, and the bottom of the connecting part 210 extends into the moving groove 111 to be in contact with the rolling part 400.

The bottom of the positioning assembly 200 contacts with the rolling part 400 along with the movement of the transmission chain 330, and moves along the rolling part 400, so that friction between the positioning assembly 200 and the transverse barrier 110 is reduced under the action of the rolling part 400, and resistance of the transmission chain 330 is reduced.

Each of the moving grooves 111 is formed with a supporting stand portion on one side thereof adjacent to the transportation compartment 101, a connection notch 112 extending along the second direction is formed in the supporting stand portion, the connection portion 210 and the positioning portion are connected by an intermediate portion 220, and in the connected state, the intermediate portion 220 penetrates the connection notch 112, and the positioning portion and the connection portion 210 are respectively located on both sides of the supporting stand portion.

During the movement of the positioning assembly 200 along with the transmission chain 330, the middle portion 220 moves along the connection notch 112, and the connection notch 112 plays a role in limiting and connecting the whole positioning assembly 200, so that the positioning assembly 200 is movably connected to the transverse barrier 110.

After the positioning assemblies 200 at both sides of the target delivery bin are moved to the corresponding target delivery positions, both ends of the spreader apparatus 500 may be guided, and the spreader apparatus 500 may be guided between the longitudinal rails 120. A cover plate is connected over the two support uprights of the same transverse barrier 110 for capping the drive assembly.

Referring to fig. 11-13, the spreader device 500 includes a spreader body 510, a beam 520 and guide members 600, the beam 520 is disposed at two ends of the spreader body 510, two ends of the beam 520 are respectively provided with one guide member 600, four guide members 600 located at corners of the spreader device 500 respectively correspond to four positioning portions on the transport positions, and the spreader device 500 moves into the corresponding transport positions along the corresponding guide surfaces under the action of the guide members 600.

The guide 600 includes a guide driving part 610, a turnover rod 620 connected with the guide driving part 610, and a turnover plate 630 connected with the end of the turnover rod 620, wherein a positioning arc surface is formed on the turnover plate 630, and the lifting device 500 moves into a corresponding transportation position along the guide surface under the action of the positioning arc surface. The cross member 520 has protrusions 522 extending downward at both ends, and the lower surface of the protrusions 522 has a lifting portion 523 formed thereon, the lifting portion 523 being for lifting the container. The bottom of the cross member 520 is provided with a storage groove 521 for storing the flipping plate 630.

Before the lifting device 500 enters the guide opening or the transport position, the guide 600 is in an opened state, that is, the guide driving part 610 drives the turning rod 620 to rotate outwards, and is clamped on the protruding part 522.

The lifting device 500 moves into the transport position under the action of the positioning cambered surface.

After the spreader device 500 moves into the transport position, the guide driving part 610 drives the overturning plate 630 to be closed inwards, the overturning plate 630 rotates into the storage tank 521, the lifting part 523 of the protruding part 522 is exposed, and the container is lifted by the lifting part 523.

In other embodiments of the present application, referring to fig. 14 and 15, in order to improve the stability of the guide 600 during the opening and closing processes, a link group 650 is further provided between the flipping lever 620 and the cross member 520, the link group 650 includes a first link 651 and a second link 652, the first link 651 and the second link 652 are hinged, the other end of the first link 651 is hinged to the bottom of the cross member 520, and the other end of the second link 652 is hinged to the flipping lever 620.

The linkage 650 provides auxiliary support to the guide 600 during the opening and closing of the guide 600, improving stability during the opening and closing of the guide 600.

In addition, the container ship system further comprises a scanning device for scanning the hull 100 for obtaining the profile of the hull 100 and the position of each transport position, a crane connected to the spreader apparatus 500 for controlling the lifting of the spreader apparatus 500, and a control system.

The working principle and beneficial effects of the technical scheme are as follows: from the bow to the stern, the ship body 100 is divided into a plurality of transport bins 101 by the transverse baffle members 110, two different transverse baffle members 110 are respectively arranged at two sides of the same transport bin 101 or one of the two sides of the same transport bin 101 is an end surface of the ship body 100, it is guaranteed that the longitudinal baffle members 120 at two sides of the same transport bin 101 are in one-to-one correspondence, four corners of each transport position are positioned through two opposite groups of longitudinal baffle members 120, two sides of each transport bin 110 are respectively vertical elevation, a plurality of longitudinal baffle members 120 are arranged at two sides of each transport bin 101 along a third direction, a transport position is formed between the adjacent longitudinal baffle members 120, a plurality of containers are conveniently stacked along the third direction in each transport position, an auxiliary positioning device is used for assisting in positioning the target transport position, and the positioning assembly 200 moves to the target transport position under the action of the driving assembly 300 to help the positioning assembly 200 to reach the position above the containers;

The spreader body 510 carries out the connection support with the crossbeam 520 at both ends, four guides 600 set up respectively on the both ends of two crossbeams 520, four guides 600 correspond respectively and carry four location portions on the position, the guide 600 is to spreader body 510 and crossbeam 520 along corresponding guide surface remove to corresponding transportation position in, help spreader device 500 remove to corresponding transportation position in, the location is more accurate, the hoist and mount precision is high, whole location and hoist and mount process do not need artifical the participation adjustment position, degree of automation is high, reduce the degree of dependence on operating personnel, safe and reliable.

The positioning assembly 200 moves to a target transportation position under the action of the driving assembly 300, the driving motor drives the transmission gears 320 to rotate through the transmission shafts 310, the transmission gears 320 drive the transmission chains 330 to move on the two transmission gears 320 while rotating, the first chain section and the second chain section are respectively positioned at two sides of the central connecting line of the two transmission gears 320, the first chain section and the second chain section correspond to adjacent transportation bins 101, the connecting parts 210 are detachably connected with the adsorption parts 340, separation or combination of the connecting parts 210 and the adsorption parts 340 above the transportation bins 101 is facilitated, and the transmission chains 330 drive the positioning parts to connect and move through the connecting parts 210, so that the position control between the guide openings formed by the two guide surfaces and the transportation bins 101 is facilitated.

The connecting portion 210 is detachably connected with the adsorption portion 340, so that the connection portion 210 and the adsorption portion 340 are conveniently separated or combined above the transportation bin 101, and the transmission chain 330 drives the positioning portion to connect and move through the connecting portion 210, so that position control between the guide opening formed by the two guide surfaces and the transportation bin 101 is facilitated.

The plurality of links facilitates the flexibility of the transmission chain 330, the connection portion 210 is connected to the adsorption portion 340 in a state where the electromagnetic portion 211 is powered on, and the connection portion 210 is separated from the adsorption portion 340 in a state where the electromagnetic portion 211 is powered off.

The bottom of the connecting part 210 contacts with the rolling part 400 in the moving groove 111 to convert sliding friction into rolling friction, so that friction between the positioning assembly 200 and the transverse barrier 110 is reduced, resistance of the transmission chain 330 is reduced, the connecting notch 112 plays a role in limiting and connecting the whole positioning assembly 200, and the positioning assembly 200 is movably connected to the transverse barrier 110;

the connection part 210 is fixed outside the driving chain 330 to move synchronously with the driving chain 330, the intermediate part 220 connects the connection part 210 with the first positioning part 230, and the first positioning part 230 and the supporting stand part move along with the connection part 210.

After the guide 600 and the positioning portion are positioned, the lifting portion 523 is used for lifting the container, and before the lifting device 500 enters the guide opening or the transportation position, the guide 600 is in an open state, and the guide 600 is clamped on the protruding portion 522;

the guide driving part 610 drives the overturning rod 620, the overturning rod 620 overturns to drive the overturning plate 630 to rotate, and the whole lifting appliance device 500 moves to a preset position above the transportation position under the guide of the locating cambered surface;

The storage tank 521 at the bottom of the cross beam 520 protects the overturning plate 630, the guide driving part 610 drives the overturning plate 630 to open, after the lifting device 500 reaches a preset position above the transportation position, the lifting device 500 does not need to be guided, the guide driving part 610 drives the overturning rod 620, the overturning rod 620 drives the overturning plate 630 to retract into the storage tank 521, and the lifting part transfers the container at the bottom.

After the guide 600 and the positioning portion are positioned, the lifting portion 523 is used for lifting the container, and before the lifting device 500 enters the guide opening or the transportation position, the guide 600 is in an open state, and the guide 600 is clamped on the protruding portion 522;

the guide driving part 610 drives the overturning rod 620, the overturning rod 620 overturns to drive the overturning plate 630 to rotate, and the whole lifting appliance device 500 moves to a preset position above the transportation position under the guide of the locating cambered surface;

The storage tank 521 at the bottom of the cross beam 520 protects the overturning plate 630, the guide driving part 610 drives the overturning plate 630 to open, after the lifting device 500 reaches a preset position above the transportation position, the lifting device 500 does not need to be guided, the guide driving part 610 drives the overturning rod 620, the overturning rod 620 drives the overturning plate 630 to retract into the storage tank 521, and the lifting part transfers the container at the bottom.

Embodiment 2, on the basis of embodiment 1, further includes:

A scanning device for scanning the hull 100 for acquiring the profile of the hull 100 and the position of each of the transportation locations;

a crane connected to the hoist device 500 for controlling the hoist device 500 to be lifted;

a control system in signal connection with the scanning device, the crane, the driving motor, and the guide driving part 610;

The working principle and beneficial effects of the technical scheme are as follows: the scanning device scans each position of the ship body 100, and after acquiring the outline of the ship body 100 and the position of each transportation position, information is transmitted to the control system, and the control system controls the position of the lifting device 500 by controlling the crane, so that the lifting device 500 can lift the container at the preset position of the ship body 100.

Embodiment 3, on the basis of embodiment 2, further includes:

The container information acquisition module is used for acquiring the contour information of each type of container;

the container hoisting track acquisition module is used for acquiring a primary hoisting track of the container based on the position information of a target transportation position corresponding to the container and the profile information of the container, determining the position information of collision risk points of the container in the primary hoisting track and marking the collision risk points through the marking module;

the container position detection module is used for detecting the position of the container in the hoisting test process;

the timing module is used for timing each hoisting test process;

The sub-track dividing module is used for dividing the primary hoisting track of the container and determining a target sub-track section, wherein the target sub-track section is a sub-track section of the primary hoisting track of the container, which has collision risk;

The collision detection module is used for detecting position information between collision risk points and corresponding collision risk surfaces in the target sub-track sections in the hoisting test process;

The hoisting test module is used for carrying out hoisting test on the container along the primary hoisting track at the rated moving speed by utilizing the crane and the hoisting device 500, calculating the risk coefficient of each target sub-track section based on the first calculation module after passing through the target sub-track section, and carrying out early warning by the early warning module when the risk coefficient of the target sub-track section is greater than or equal to the corresponding risk coefficient threshold value to determine that the corresponding target sub-track section is the early warning target sub-track; when the early warning module does not early warn, taking a target sub-track in the initial hoisting track as a final track of a target sub-track section;

The hoisting test module further obtains a plurality of adjusted hoisting tracks of the early warning target sub-track section to respectively carry out an adjusted hoisting test, calculates an evaluation coefficient of the adjusted hoisting track based on the second calculation module, determines that the adjusted hoisting track with the evaluation coefficient being larger than a first preset value and the evaluation coefficient being the largest is a final track of the early warning target sub-track section, and continues to carry out the hoisting test of the next sub-track section;

The optimal hoisting track determining module is used for determining an optimal hoisting track according to the final hoisting track determined by the hoisting test, and hoisting the rest containers in the current transportation position according to the optimal hoisting track.

The first calculation module calculates based on:

；

the risk coefficient of the ith target sub-track segment; the total number of collision risk positions for the ith target sub-track segment; The total number of collision risk points for the j-th collision risk position of the i-th target sub-track segment; the minimum distance between the s-th collision risk point of the j-th collision risk position of the i-th target sub-track section and the corresponding collision risk surface is set; In order to avoid considering the environment, the maximum offset distance between the jth collision risk point of the jth collision risk position of the ith target sub-track section and the corresponding collision risk surface direction of the history of the wind speed hoisting device is not considered; In the historical data, the maximum offset distance between the jth collision risk point of the jth collision risk position of the ith target sub-track section along the ith target sub-track section and the corresponding collision risk surface direction of the container with the same weight as the current container under the ambient wind speed; the maximum offset distance between the s-th collision risk point of the j-th collision risk position of the ith target sub-track section along the ith target sub-track section and the corresponding collision risk surface direction is set for the container in the hoisting test process; Is that A corresponding target value; A collision influence weight (the value is greater than or equal to 0 and less than 1) of a j-th collision risk position of a s-th collision risk point of the i-th target sub-track section;

the second calculation module calculates based on:

；

The evaluation coefficient of the lifting track after the h adjustment of the ith target sub-track section is the evaluation coefficient of the lifting track after the h adjustment of the ith target sub-track section; the risk coefficient of the lifting track after the h adjustment of the ith target sub-track section, The motion time of the hoisting track after the h adjustment of the ith target sub-track section is the motion time of the hoisting track;、 the time evaluation weight and the risk state evaluation weight are respectively (the values are more than 0 and less than 1).

The working principle and beneficial effects of the technical scheme are as follows: 1. each transport position is provided with a plurality of containers of the same type (the same size and the same material), and the placement positions of the containers after being taken out of the transport positions are set to be the same area, so that the containers in the same transport position can be considered to adopt the similar or the same lifting track;

Acquiring a primary hoisting track of the container based on the position information of a target transportation position corresponding to the container and the profile information of the container, determining the position information of collision risk points of the container in the primary hoisting track, and marking the collision risk points through a marking module so as to adjust the hoisting track after risk assessment and ensure hoisting stability;

Due to environmental influence or the difference of the current component connection states in the ship system, the preliminary hoisting track may need to be adjusted, so that the hoisting stability is ensured;

determining sub-track sections (target sub-track sections) with collision risks in the preliminary hoisting track, carrying out hoisting test on the container along the preliminary hoisting track by using a crane and a hoisting device 500 at rated moving speed, calculating a risk coefficient of each target sub-track section based on a first calculation module after the container passes through the target sub-track sections, and carrying out early warning by using an early warning module when the risk coefficient of each target sub-track section is greater than or equal to a corresponding risk coefficient threshold value, so as to determine that the corresponding target sub-track section is an early warning target sub-track;

When the early warning module does not early warn, taking a target sub-track in the initial hoisting track as a final track of a target sub-track section; the method comprises the steps of obtaining a plurality of adjusted hoisting tracks of an early warning target sub-track section, respectively carrying out an adjusted hoisting test, and determining that the adjusted hoisting track with the evaluation coefficient larger than a first preset value and the largest evaluation coefficient is the final track of the early warning target sub-track section; therefore, the target sub-track section is ensured to select a proper final track, the final hoisting track determined by the hoisting test is used for determining an optimal hoisting track, and the rest containers in the current transportation position are hoisted by the optimal hoisting track, so that the hoisting reliability is ensured.

Embodiment 4, on the basis of embodiment 2 or 3, further includes:

The regional marking module is used for sequentially and hierarchically marking a plurality of transportation cabins 101 in the ship body 100 and transportation positions in each transportation cabin 101;

the target detection module is used for detecting the position of the target container in real time;

the lifting appliance detection module is used for detecting the real-time position and the motion trail of the lifting appliance device 500 in real time;

The whole construction module is used for constructing marking distribution diagrams of the transportation warehouse 101 and the transportation position based on a coordinate system and marking the real-time position and the movement track of the lifting appliance device 500;

the first acquisition module is used for acquiring a real-time air pressure value and a real-time wind speed value of the position where the lifting appliance device 500 is positioned;

The second acquisition module is used for acquiring the central air pressure value of the ship body 100 and the peripheral air pressure value of the ship body 100;

The third acquisition module is used for acquiring the real-time wind direction angle of the position of the lifting appliance device 500 and the real-time forward movement angle of the lifting appliance device 500;

the fourth acquisition module is used for acquiring the maximum wind speed radius and the distance between the lifting appliance device 500 and the center of the ship body 100 in real time;

a fifth acquisition module for acquiring the real-time moving speed of the spreader device 500;

The third calculation module is used for calculating the wind power state parameters of the position of the lifting appliance device 500 based on the first acquisition module, the second acquisition module, the fourth acquisition module;

The fourth calculation module is used for calculating the speed coefficient of the lifting appliance device based on the third calculation module and the fifth acquisition module;

And the early warning module is used for carrying out early warning when the speed coefficient of the lifting appliance device is not in the preset speed coefficient range.

The working principle and beneficial effects of the technical scheme are as follows: the regional marking module is used for recording a plurality of transport bins 101 in the ship body 100 and transport positions in each transport bin 101, sequentially marking in a grading manner, partitioning each region in the ship body 100, and conveniently positioning behaviors in the region;

the target detection module is used for detecting the moving position of the target container when the target container is lifted in real time, and connecting the detected positions into a line to draw a moving track;

The lifting appliance detection module is used for detecting the position of the lifting appliance device 500 in real time when the lifting appliance device is empty and lifts the target container, and connecting the detected positions into a line to draw a moving track;

The integral construction module is used for constructing a marking distribution diagram of the transport bin 101 and the transport position based on a coordinate system, marking the real-time position and the movement track of the lifting appliance device 500 on the distribution diagram, and conveniently determining the positioning of the lifting appliance device 500 in the area on the ship body 100;

The first acquisition module is used for collecting a real-time air pressure value and a real-time wind speed value of the position where the lifting appliance device 500 is located, the second acquisition module is used for collecting a central air pressure value of the ship body 100 and a peripheral air pressure value of the ship body 100, the third acquisition module is used for collecting a real-time wind speed angle of the position where the lifting appliance device 500 is located and a real-time advancing movement angle of the lifting appliance device 500, and the fourth acquisition module is used for acquiring a maximum wind speed radius and a distance between the lifting appliance device 500 and the center of the ship body 100 in real time; the fifth acquisition module is used for acquiring the real-time moving speed of the lifting appliance device 500; the third calculation module is used for calculating the wind power state parameters of the position of the lifting appliance device 500 based on the first acquisition module, the second acquisition module, the fourth acquisition module; the fourth calculation module is used for calculating the speed coefficient of the lifting appliance device based on the third calculation module and the fifth acquisition module, transmitting detected data to the control system in real time for storage and calculation, and the early warning module is used for early warning when the calculated speed coefficient of the lifting appliance device is not in the preset speed coefficient range.

Embodiment 5, based on embodiment 4, the third calculation module calculates based on the following formula:

；

For the air pressure value of the position of the spreader device 500 acquired by the first acquisition module, The central air pressure value of the ship body acquired by the second acquisition module,The air pressure value of the periphery of the ship body acquired by the second acquisition module,For the maximum wind speed radius acquired by the fourth acquisition module,Is arranged on the first lifting applianceThe distance between the center of the lifting appliance device of each detection point and the center of the ship body,Is arranged on the first lifting applianceWind power state parameters of the detection points; is natural logarithm; Log of Is used as a bottom of the container,Logarithm of (2);

The spreader device speed coefficient is calculated based on the following formula:

；

is arranged on the first lifting appliance The velocity coefficients of the individual detection points,The lifting appliance device acquired by the fifth acquisition module is arranged at the fifth positionThe real-time moving speed of the individual detection points,For the current set movement speed of the spreader arrangement,The lifting appliance device acquired for the first acquisition module is arranged at the first positionThe real-time wind speed values of the individual detection points,The lifting appliance device acquired by the third acquisition module is arranged at the third positionThe real-time wind direction of each detection point is relative to the earth dimension,The lifting appliance device acquired by the third acquisition module is arranged at the third positionThe angle between the real-time forward movement of each detection point and the earth dimension; e is a natural constant; cos is cosine;

Preferably, when And (3) withOr (b)When the difference value is larger than a preset threshold value, the lifting appliance device is greatly influenced by external factors, the operation stability of the lifting appliance device does not reach the standard, and at the moment, the second early warning module can be controlled to early warn, and the operation of the lifting appliance device must be stopped;

When (when) And (3) withOr (b)When the difference value is smaller than the preset threshold value, the lifting appliance device is little influenced by external factors, the operation stability of the lifting appliance device reaches the standard, and the lifting appliance device continues to operate.

The working principle and beneficial effects of the technical scheme are as follows: the third calculation module calculates the wind power state parameters of the lifting appliance device at the detection points, then calculates the speed coefficient of the lifting appliance device 500 according to the wind power state parameters of the detection points, so as to observe the stability of the speed coefficient of the lifting appliance device 500 at different positions, the speed coefficient of the lifting appliance device 500 at the current rear position is larger than the preset threshold value, the lifting appliance device 500 is greatly influenced by external factors, the running stability of the lifting appliance device 500 does not reach the standard, the running of the lifting appliance device 500 must be stopped, the speed coefficient of the lifting appliance device 500 at the current rear position is smaller than the preset threshold value, the influence of the external factors on the lifting appliance device 500 is small, the running stability of the lifting appliance device 500 reaches the standard, and the lifting appliance device 500 continues to run.

The early warning module is used for carrying out early warning when the calculated speed coefficient of the lifting appliance device is not in the preset speed coefficient range, reminding the lifting to stop overhauling or waiting for the wind power to influence the working again in a small time, and guaranteeing the movement stability of the lifting appliance device.

Embodiment 6, on the basis of any one of embodiments 2-5, further comprising:

The force sensor is arranged in the contact area of the first guide surface 231 surface lifting device 500, and each force measuring layer is internally provided with a force sensor;

The positioning component stress test module is used for controlling the lowering or pulling-up speed of the lifting appliance device 500 in the positioning component 200 to be a rated speed for carrying out positioning component stress test;

the resultant force determining module is used for determining the resultant force direction and the resultant force magnitude of the lifting device 500 on the positioning assembly 200 according to the detection value of the force sensor;

The vibration detection module is used for detecting vibration information of the positioning assembly 200 in the stress test module of the positioning assembly;

a fifth calculation module for calculating the allowable speed of each altitude point based on the resultant force determination module;

；

the allowable speed of the s-th altitude point; a resultant force magnitude for an s-th altitude point determined based on the resultant force module; an included angle between the resultant force direction of the s-th height point determined by the resultant force determining module and the lifting direction of the lifting appliance device 500; sin is sinusoidal; Maximum allowable impact force of the resultant force direction to the positioning assembly 200 for the s-th altitude point determined based on the resultant force determination module; is the elastic deformation coefficient of the positioning assembly 200; is the elastic deformation coefficient of the container; Is the absorption force attenuation coefficient of magnetic attraction; 、 the first adjusting weight and the second adjusting weight are respectively (the values are more than 0 and less than 1); Is a unit time;

；

H is the total number of vibration information, The average detection value of the mth vibration information in the test process of the stress test module of the positioning assembly is obtained; The standard deviation of the mth vibration information in the test process of the stress test module of the positioning assembly is obtained; the maximum value of the mth vibration information in the test process of the stress test module of the positioning assembly is obtained; The maximum allowable value corresponding to the mth vibration information of the positioning assembly is obtained; Is that Corresponding impact force adjustment coefficients (obtained based on a preset corresponding function or table);

The determining module is used for determining the minimum allowable speed as the target speed of the lifting device, and the control device controls the lifting speed of the lifting device at the transportation position to be the target speed.

The beneficial effects of the technical scheme are as follows: the stress state of the surface hanger device 500 and the container contact area of the first guide surface 231 may be changed due to environmental influence or a difference in the current connection state of components in the ship system; therefore, the lifting speed of the lifting device at the transportation position needs to be adjusted according to the stress state, so that the impact on the positioning assembly 200 is reduced, and the long-time reliable operation of the positioning assembly 200 is ensured.

Embodiment 7, a container ship loading and unloading method applied to the container ship system as described above, as shown in fig. 4, includes the steps of:

S1, scanning the outline of a ship body 100 through scanning equipment, acquiring the position of each transportation position, and transmitting scanning information to a control system;

S2, the control system determines a transport position for loading or unloading the target container based on the scanning information;

s3, the control system controls the positioning assembly 200 to move to a transport position for loading or unloading the target container;

S4, when unloading is needed, the control system controls the lifting appliance device 500 to be in an open state, and the lifting appliance device 500 is controlled to move to the following state according to the positioning of the auxiliary positioning device: a target lifting position of the transport position taken out of the target container;

When loading is required, the control system controls the crane to operate so that the spreader apparatus 500 gripping the target container moves to: a target container lowering position of a transport position in which the target container is loaded;

S5, when unloading is needed, the control system controls the lifting appliance device 500 to be closed, and then the target container is grabbed;

When loading is required, the control system controls the spreader apparatus 500 to be opened.

The working principle and beneficial effects of the technical scheme are as follows: for example, each of the transportation tanks 101 is encoded from the bow to the stern of the hull 100, and is encoded into a first transportation tank, a second transportation tank, a third transportation tank, and so on in this order; each of the bins 101 is coded from the first end to the second end, e.g., a first transport position, a second transport position, a third transport position, etc.

Regarding discharge: the control system presets the grabbing sequence in advance, for example, grabbing containers in a first transportation position of a first transportation bin from top to bottom, then grabbing a second transportation position, a third transportation position and the like of the first transportation bin in sequence, and then grabbing the second transportation position in sequence, for example, the first transportation position of a second transportation bin, the second transportation position of the second transportation bin and the like.

During each grabbing, the control system generates a first instruction based on the target lifting position and the current position of the crane, wherein the first instruction comprises controlling the crane to move to a position right above the target lifting position, controlling the driving motor to drive the corresponding positioning assembly 200 to move to a conveying position corresponding to the target lifting position, and controlling the guiding driving part 610 to drive the guiding piece 600 to be in an open state.

Specifically, the control system controls the crane to move the lifting device 500 to a position right above the target grabbing position, the control system controls the driving motor to act, and moves the positioning assemblies 200 corresponding to the two sides of the target transportation bin 101 to the two sides of the target transportation position, and the guiding driving part 610 drives the overturning plate 630 to be in an open state.

After the first instruction is completed, the control system generates a second instruction according to the distance between the crane and the target lifting position, and the second instruction comprises controlling the crane to drive the lifting appliance device 500 to move downwards until the guide piece 600 completely enters the guide opening.

Specifically, a distance detection device is provided on the lifting device 500, the distance detection device is a device such as a laser range finder, and is used for detecting the position of the lifting device 500 from the hull 100, the distance detection device is connected with a control system through signals, and when the distance detection device detects that the distance between the lifting device and the hull 100 is within a preset distance range, the control system controls the crane to decelerate.

After the second instruction is completed, the control system generates a third instruction including closing the guide 600 by the guide driving part 610.

The bottom of the cross beam 520 is provided with a detecting part, a contact is arranged on the detecting part, the overturning plate 630 is contacted with the contact in the closed state of the overturning plate 630, the detecting part is used for displaying the closed position of the guide piece 600, and the control system controls the lifting part 523 to grab the container.

After the third instruction is completed, the control system generates a fourth instruction, and the fourth instruction comprises a grabbing action on the target container. After the fourth instruction is finished, the control system determines the next target lifting position based on a preset database, namely the arrangement number of the containers in each transportation position.

In the actual working process, the container at the topmost layer of the transportation position can be grabbed without the lifting device 500 extending into the cabin, and then the control system can control the guide piece 600 to be in a closed state when the container at the topmost layer is unloaded, the lifting device 500 is directly lowered, and the lifting part 523 is in contact with the container at the top layer for lifting.

When non-top layer container operation is carried out, the control system controls the guide piece 600 on the lifting appliance device 500 to be opened, the guide piece 600 is assisted to be accurately positioned in the conveying position, the overturning plate 630 on the guide piece 600 and the guide surface are matched with each other, the guide area of the lifting appliance device 500 can be increased, under the working condition that the offset between the lifting appliance device 500 and the target conveying position is overlarge, the guide piece 600 on the side with the larger offset is contacted with the corresponding positioning part at first, and under the guiding action of the guide surface on the positioning part, the lifting appliance device 500 is guided to fall into the guide opening, so that the lifting appliance device 500 smoothly enters the target conveying position.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A container ship system, comprising:

The ship comprises a ship body, wherein a plurality of transverse baffle members are arranged along a first direction in a scattered manner, a transportation bin is formed between every two adjacent transverse baffle members, a plurality of longitudinal baffle members are respectively arranged on two sides of each transportation bin along a second direction perpendicular to the first direction, a transportation position is formed between every two adjacent longitudinal baffle members, and a plurality of containers are stacked in each transportation position;

the auxiliary positioning device is arranged on each transverse baffle piece and comprises a driving assembly and a positioning assembly, and the driving assembly is used for driving the positioning assembly to move between transportation positions;

The lifting device is movably arranged above the ship body and comprises a lifting device body, a cross beam arranged at two ends of the lifting device body and guide pieces arranged at two ends of the cross beam, and the lifting device moves to the corresponding transportation position along a first guide surface of the corresponding positioning component under the action of the guide pieces.

2. The container ship system according to claim 1, wherein the driving assembly comprises a driving motor, a transmission shaft, a transmission gear and a transmission chain, the driving motor is fixed on the transverse baffle members, two ends of each transverse baffle member are respectively and rotatably connected with one transmission shaft, an output shaft of the driving motor is connected with one of the transmission shafts, the transmission gear is fixed on the transmission shaft, and the transmission chain is in fit connection with the transmission gears at two ends; the transmission chain comprises a first chain section and a second chain section, and a group of positioning assemblies are respectively connected to the first chain section and the second chain section.

3. The container ship system of claim 2, wherein,

The positioning assembly comprises a connecting part and two first positioning parts arranged on the connecting part, a first guide surface is formed on one side, close to each other, of each first positioning part, a guide opening gradually reducing along the feeding direction is formed on each first guide surface, and the connecting part is detachably connected with the transmission chain.

4. A container ship system according to claim 3, wherein the transmission chain comprises a plurality of links, an adsorption part is connected to the outer side of each link, and an electromagnetic part is arranged on the side of the connecting part, which is close to the transmission chain, and is used for being connected with the adsorption part.

5. A container ship system according to claim 3, wherein the lateral barrier has a moving groove formed thereon extending in the second direction, the moving groove being rotatably connected with a rolling part; the bottom of the connecting part extends into the moving groove, and the bottom of the connecting part is in contact connection with the rolling part;

A supporting vertical part is formed on one side of each moving groove, which is close to the transport bin, and a connecting notch extending along the second direction is formed on the supporting vertical part, and the connecting part is connected with the first positioning part through a middle part; the middle part penetrates through the connecting notch, and the first positioning part and the connecting part are respectively positioned at two sides of the supporting vertical part.

6. A container ship system according to claim 3, wherein both ends of the cross beam are formed with downward extending protrusions, and lower surfaces of the protrusions are formed with lifting parts;

The guide piece comprises a turning rod of which a guide driving part is connected with the guide driving part and a turning plate connected with the tail end of the turning rod, a positioning cambered surface is formed on the turning plate, and the lifting appliance device moves to a corresponding transportation position along the first guide surface under the action of the positioning cambered surface;

The bottom of crossbeam is provided with the bin, and the bin is used for storing the upset board, hoist device moves down the in-process, direction drive portion drives the upset board is opened, hoist device removes to after in the transportation position, direction drive portion drives the upset board is closed, the upset board rotates to in the bin, hoist portion will the container lifts by crane.

7. The container ship system of claim 1, further comprising:

The scanning equipment is used for scanning the ship body and acquiring the outline of the ship body and the position of each transportation position;

The crane is connected with the lifting device and used for controlling the lifting device to lift;

and the control system is in signal connection with the scanning equipment, the crane, the driving motor and the guiding driving part.

8. The container ship system of claim 7, wherein each shipping location houses a plurality of containers of the same type, the container ship system further comprising:

The container information acquisition module is used for acquiring the contour information of each type of container;

the container hoisting track acquisition module is used for acquiring a primary hoisting track of the container based on the position information of a target transportation position corresponding to the container and the profile information of the container, determining the position information of collision risk points of the container in the primary hoisting track and marking the collision risk points through the marking module;

the container position detection module is used for detecting the position of the container in the hoisting test process;

the timing module is used for timing each hoisting test process;

The sub-track dividing module is used for dividing the primary hoisting track of the container and determining a target sub-track section, wherein the target sub-track section is a sub-track section of the primary hoisting track of the container, which has collision risk;

The collision detection module is used for detecting position information between collision risk points and corresponding collision risk surfaces in the target sub-track sections in the hoisting test process;

The hoisting test module is used for carrying out hoisting test on the container along the primary hoisting track at the rated moving speed by utilizing the crane and the hoisting device, calculating the risk coefficient of each target sub-track section based on the first calculation module after passing through the target sub-track section, and carrying out early warning by the early warning module when the risk coefficient of the target sub-track section is greater than or equal to the corresponding risk coefficient threshold value to determine that the corresponding target sub-track section is an early warning target sub-track; when the early warning module does not early warn, taking a target sub-track in the initial hoisting track as a final track of a target sub-track section;

The hoisting test module further obtains a plurality of adjusted hoisting tracks of the early warning target sub-track section to respectively carry out an adjusted hoisting test, calculates an evaluation coefficient of the adjusted hoisting track based on the second calculation module, determines that the adjusted hoisting track with the evaluation coefficient being larger than a first preset value and the evaluation coefficient being the largest is a final track of the early warning target sub-track section, and continues to carry out the hoisting test of the next sub-track section;

The optimal hoisting track determining module is used for determining an optimal hoisting track according to the final hoisting track determined by the hoisting test, and hoisting the rest containers in the current transportation position according to the optimal hoisting track.

9. The container ship system of claim 7, further comprising,

The regional marking module is used for sequentially marking a plurality of transportation bins in the ship body and transportation positions in each transportation bin in a grading manner;

the target container detection module is used for detecting the position of the target container in real time; the target container is a container which is hoisted at present;

the lifting appliance detection module is used for detecting the real-time position and the motion trail of the lifting appliance device in real time;

The whole construction module is used for constructing a marking distribution diagram of the transportation bin and the transportation position based on a coordinate system and marking the real-time position and the movement track of the lifting appliance device;

the first acquisition module is used for acquiring a real-time air pressure value and a real-time wind speed value of the position where the lifting appliance device is positioned;

The second acquisition module is used for acquiring the central air pressure value of the ship body and the peripheral air pressure value of the ship body;

The third acquisition module is used for acquiring the real-time wind direction angle of the position of the lifting appliance device and the real-time advancing movement angle of the lifting appliance device;

the fourth acquisition module is used for acquiring the maximum wind speed radius and the distance between the center of the lifting appliance device and the center of the ship body in real time;

the fifth acquisition module is used for acquiring the real-time moving speed of the lifting appliance device;

The third calculation module is used for calculating wind power state parameters of the position of the lifting appliance device based on the first acquisition module, the second acquisition module, the fourth acquisition module and the position of the lifting appliance device;

The fourth calculation module is used for calculating the speed coefficient of the lifting appliance device based on the third calculation module and the fifth acquisition module;

And the early warning module is used for carrying out early warning when the speed coefficient of the lifting appliance device is not in the preset speed coefficient range.

10. Container vessel loading and unloading method applied to a container vessel system according to any of claims 1-9, characterized in that the loading and unloading method comprises the steps of:

s1, scanning the outline of a ship body through scanning equipment, acquiring the position of each transportation position, and transmitting scanning information to a control system;

S2, the control system determines a transport position for loading or unloading the target container based on the scanning information;

S3, the control system controls the positioning assembly to move to a transport position for loading or unloading the target container;

S4, when unloading is needed, the control system controls the lifting appliance device to be in an open state, and the lifting appliance device is controlled to move to the position according to the positioning of the auxiliary positioning device: a target lifting position of the transport position taken out of the target container;

when loading is needed, the control system controls the crane to work, so that the lifting appliance device for clamping the target container moves to: a target container lowering position of a transport position in which the target container is loaded;

s5, when unloading is needed, the control system controls the lifting appliance device to be closed, and then the target container is grabbed;

When loading is required, the control system controls the lifting appliance device to be opened.