A system for managing shipping containers and twist lock connectors is described. The system includes multiple stations. Each station includes a container platform and a pallet station. The container platform is able to accommodate various container sizes and/or multiple containers at one time. The container platform includes connector changers, handlers, and gantries that are able to automatically engage connectors with a container and disengage connectors from a container. The station includes a shuttle able to transfer connectors between the platform handlers and pallet station handlers and gantries. The pallet station includes a pallet with multiple receptacles for storing connectors. The pallet station and/or the container platform may include one or more magazines and/or one or more conveyors.

A system for managing shipping containers and twist lock connectors is described. The system includes multiple stations. Each station includes a container platform and a pallet station. The container platform is able to accommodate various container sizes and/or multiple containers at one time. The container platform includes connector changers, handlers, and gantries that are able to automatically engage connectors with a container and disengage connectors from a container. The station includes a shuttle able to transfer connectors between the platform handlers and pallet station handlers and gantries. The pallet station includes a pallet with multiple receptacles for storing connectors. The pallet station and/or the container platform may include one or more magazines and/or one or more conveyors.

The present invention provides an automatic container landing device based on an expert system and a control method therefor. The device comprises at least four groups of cameras and at least six groups of single-point laser devices, wherein the at least four groups of cameras and four groups of single-point laser devices in the at least six groups of single-point laser devices are arranged at four spreader corners of a spreader fixing support; two groups of single-point laser devices in the at least six groups of single-point laser devices are respectively arranged on the outer sides of two short edges of the spreader fixing support; the front end of the spreader fixing support is lower than the rear end of the spreader fixing support; and the first group of cameras and the second group of cameras in the at least four groups of cameras, as well as the first group of laser devices and the second group of laser devices, and the third group of cameras and the fourth group of cameras, as well as the third group of laser devices and the fourth group of laser devices, are arranged at the front end and the rear end of the spreader fixing support respectively. According to the automatic container landing device based on the expert system, manual container landing experience is integrated into various sensors, a spreader is controlled by means of sensing signals, low-point and high-point container landing of a container is conducted, automatic dynamic container landing of the container is achieved, high-precision measurement is achieved with the cooperation of the cameras and the single-point laser devices, and therefore, the precision and efficiency of the container landing operation are improved.

The present invention provides an automatic container landing device based on an expert system and a control method therefor. The device comprises at least four groups of cameras and at least six groups of single-point laser devices, wherein the at least four groups of cameras and four groups of single-point laser devices in the at least six groups of single-point laser devices are arranged at four spreader corners of a spreader fixing support; two groups of single-point laser devices in the at least six groups of single-point laser devices are respectively arranged on the outer sides of two short edges of the spreader fixing support; the front end of the spreader fixing support is lower than the rear end of the spreader fixing support; and the first group of cameras and the second group of cameras in the at least four groups of cameras, as well as the first group of laser devices and the second group of laser devices, and the third group of cameras and the fourth group of cameras, as well as the third group of laser devices and the fourth group of laser devices, are arranged at the front end and the rear end of the spreader fixing support respectively. According to the automatic container landing device based on the expert system, manual container landing experience is integrated into various sensors, a spreader is controlled by means of sensing signals, low-point and high-point container landing of a container is conducted, automatic dynamic container landing of the container is achieved, high-precision measurement is achieved with the cooperation of the cameras and the single-point laser devices, and therefore, the precision and efficiency of the container landing operation are improved.

The present disclosure provides a ship unloading control system, a ship loading control system and related systems and apparatuses, capable of achieving fully automated ship loading and unloading. The ship unloading control system includes: a scheduling center system configured to generate a ship unloading plan based on ship information and container information of a target ship and shore crane apparatus information, generate a ship berthing task and a ship unloading task based on the ship unloading plan, and transmit the ship berthing task and the ship unloading task to a ship control system of the target ship and a shore crane control system of a target shore crane apparatus, respectively; the ship control system configured to transmit the ship information and the container information to the scheduling center system, control the target ship to move to an operation area corresponding to the target shore crane apparatus in accordance with the received ship berthing task, and transmit a ship in-position notification message to the shore crane control system of the target shore crane apparatus; and the shore crane control system configured to control, upon receiving the ship in-position notification message from the ship control system, the target shore crane apparatus to load a container on the target ship onto a transportation vehicle in accordance with the ship unloading task.

The present disclosure provides a ship unloading control system, a ship loading control system and related systems and apparatuses, capable of achieving fully automated ship loading and unloading. The ship unloading control system includes: a scheduling center system configured to generate a ship unloading plan based on ship information and container information of a target ship and shore crane apparatus information, generate a ship berthing task and a ship unloading task based on the ship unloading plan, and transmit the ship berthing task and the ship unloading task to a ship control system of the target ship and a shore crane control system of a target shore crane apparatus, respectively; the ship control system configured to transmit the ship information and the container information to the scheduling center system, control the target ship to move to an operation area corresponding to the target shore crane apparatus in accordance with the received ship berthing task, and transmit a ship in-position notification message to the shore crane control system of the target shore crane apparatus; and the shore crane control system configured to control, upon receiving the ship in-position notification message from the ship control system, the target shore crane apparatus to load a container on the target ship onto a transportation vehicle in accordance with the ship unloading task.

A construction machine, in particular in the form of a crane such as a revolving tower crane, having a control apparatus for controlling at least one piece of work equipment of the construction machine using a structure data model that includes digital information on a structure to be erected and/or to be worked. A method of controlling such a construction machine with the aid of digital data from such a structure data model. The construction machine has a data exchange module connectable to the master construction site computer for the exchange of digital data with a master construction site computer, with the data exchange module having reading and/or writing means for reading and/or writing access to the master construction site computer. The construction machine carries out at least individual work steps such as the traveling of a construction element in automated manner using digital data from the master construction site computer. A control module that can be positioned at the load suspension means and/or at the construction element to be traveled and that can be configured as a wearable, in particular in the form of gloves having integrated movement control sensors is provided for the fine positioning.

The present invention provides an automatic container loading and unloading apparatus and method. The apparatus comprises: a data acquisition module, used for scanning a container truck panel to obtain laser point cloud data; a data preprocessing module, used for segmenting a laser point cloud on a surface of the container truck panel from the laser point cloud data; a key point extraction module, used for performing edge extraction on the laser point cloud on the surface of the container truck panel to obtain discrete points on edges of the keel of the container truck panel; and a straight line fitting module, used for performing random sample consensus straight line fitting on the discrete points on the edges of the keel of the container truck panel to obtain spatial straight lines of the edges of the keel of the truck panel. The automatic container loading and unloading apparatus and method provided by the present invention using spatial straight lines on the edges of the keel of the container truck panel for computing processing, thereby achieving stronger robustness and higher accuracy, so that a container is loaded onto the container truck panel with higher precision and lower calculation amount.

Disclosed is an automatic hoisting and transporting method for a tower crane, the method including: building a three-dimensional grid model for a construction site, and generating a grid node set; generating an obstacle node set and a feasible area node set; obtaining coordinates of an initial node and an end node; planning a hoisting and transporting path from the initial node to the end node, and generating corresponding operating parameters; controlling the tower crane to transport an object according to the operating parameters, and calculating a swing range of the hoisted and transported object and a swing arm at a current position; determining whether a collision may occur; and predicting whether the tower crane may be overturned. The method realizes automatic hoisting and transporting of the tower crane. The object does not collide with an obstacle during hoisting and transporting, thereby ensuring safe operation of the tower crane.

Disclosed is an automatic hoisting and transporting method for a tower crane, the method including: building a three-dimensional grid model for a construction site, and generating a grid node set; generating an obstacle node set and a feasible area node set; obtaining coordinates of an initial node and an end node; planning a hoisting and transporting path from the initial node to the end node, and generating corresponding operating parameters; controlling the tower crane to transport an object according to the operating parameters, and calculating a swing range of the hoisted and transported object and a swing arm at a current position; determining whether a collision may occur; and predicting whether the tower crane may be overturned. The method realizes automatic hoisting and transporting of the tower crane. The object does not collide with an obstacle during hoisting and transporting, thereby ensuring safe operation of the tower crane.