CN108792666B - Driving method, device, medium, equipment and system of electric differential ship unloader - Google Patents
Driving method, device, medium, equipment and system of electric differential ship unloader Download PDFInfo
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- CN108792666B CN108792666B CN201810627946.9A CN201810627946A CN108792666B CN 108792666 B CN108792666 B CN 108792666B CN 201810627946 A CN201810627946 A CN 201810627946A CN 108792666 B CN108792666 B CN 108792666B
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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
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
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Abstract
The invention discloses a driving method of an electric differential ship unloader, which comprises the following steps: acquiring position parameters of a land side unloading area and a cabin material grabbing area; planning a speed curve from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, so that the grab bucket avoids the grab bucket and a trolley mechanism at the edge of the unloading and material grabbing area; acquiring the actual positions of the grab bucket and the trolley mechanism; calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism; acquiring the swing length of the grab bucket; calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket; and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to the driving mechanism. The invention can plan the grab bucket path in advance according to the barrier to realize the semi-automatic operation of the ship unloader, and the anti-shaking of the grab bucket ensures the reliability and the safety of the semi-automatic operation. The invention also discloses a driving device, a medium, equipment and a system of the electric differential ship unloader.
Description
Technical Field
The invention relates to the field of electric differential ship unloaders, in particular to a driving method, a driving device, a driving medium, driving equipment and a driving system of an electric differential ship unloader.
Background
The electric differential ship unloader is a loading and unloading device widely applied to the front edge of a wharf, when the electric differential ship unloader works, a grab bucket grabs goods in a ship cabin on the sea side, the grab bucket moves to the position above an unloading area on the land side under the traction of a trolley mechanism, the grab bucket is opened to release the goods to the unloading area, and then the goods are carried by a belt conveyor or a vehicle. The cyclic reciprocation of the ship unloader on both sides of the sea and land can greatly improve the cargo unloading efficiency.
In the prior art, experienced operators are often required to operate the trolley mechanism and the grab bucket to avoid various obstacles and simultaneously operate according to required working conditions. However, the manual operation is labor-intensive, requires skilled operation skills and concentration of spirit, and is very easy to cause accidents once the operation is not proper, and in addition, the production operation efficiency of the bulk cargo wharf is also limited by the manual operation. Therefore, it is very necessary to develop a semi-automatic operation technology of an electric differential ship unloader, which solves the excessive dependence on the driver and improves the safety of the system operation.
Disclosure of Invention
In order to solve all or part of the problems, the invention provides a driving method, a device, a medium, equipment and a system of an electric differential ship unloader.
The embodiment of the invention discloses a driving method of an electric differential ship unloader, which comprises the following steps:
acquiring position parameters of a land side unloading area and a cabin material grabbing area;
planning a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring the actual positions of the grab bucket and the trolley mechanism;
calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring the swing length of the grab bucket;
calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to a driving mechanism.
The embodiment of the invention also discloses a driving device of the electric differential ship unloader, which comprises:
the position parameter acquisition module is used for acquiring position parameters of a land side unloading area and a cabin material grabbing area;
the trajectory planning module plans a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, and the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
the actual position acquisition module is used for acquiring the actual positions of the grab bucket and the trolley mechanism;
the speed set value calculation module is used for calculating the speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
the swing length acquisition module is used for acquiring the swing length of the grab bucket;
the acceleration given value calculation module is used for calculating the acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and the given value output module outputs the given speed value of the grab bucket, the given speed value and the given acceleration value of the trolley mechanism to the driving mechanism.
An embodiment of the present invention also discloses a nonvolatile storage medium on which a driving program of an electric differential ship unloader is stored, the driving program being executed by a computer to implement a driving method of the electric differential ship unloader, the program including:
a position parameter acquisition instruction is obtained, and position parameters of a land side unloading area and a cabin material grabbing area are obtained;
a trajectory planning instruction, which plans a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring an actual position acquiring instruction, and acquiring actual positions of the grab bucket and the trolley mechanism;
calculating a speed set value command, namely calculating the speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
a swing length obtaining instruction is obtained, and the swing length of the grab bucket is obtained;
an acceleration given value calculation instruction is used for calculating the acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and a given value output instruction is used for outputting the given speed value of the grab bucket, the given speed value and the given acceleration value of the trolley mechanism to a driving mechanism.
The embodiment of the invention also discloses a driving device of the electric differential ship unloader, which comprises:
a memory storing a driving program of the electric differential ship unloader executable by the computer; and
a processor connected to the memory and configured to execute a driver of the electrical differential ship unloader to:
acquiring position parameters of a land side unloading area and a cabin material grabbing area;
planning a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring the actual positions of the grab bucket and the trolley mechanism;
calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring the swing length of the grab bucket;
calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to a driving mechanism.
The embodiment of the invention also discloses a driving system of the electric differential ship unloader, which comprises the driving device of the electric differential ship unloader.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that: the grab bucket path can be planned in advance to realize semi-automatic operation of the ship unloader, and the barrier can be automatically avoided when the ship unloader operates semi-automatically; the grab bucket is prevented from shaking by controlling the trolley mechanism, and the reliability and the safety of semi-automatic operation are further ensured.
Drawings
FIG. 1 is a schematic diagram of a basic construction of an electrical differential ship unloader;
fig. 2 is a schematic structural view of a driving apparatus of an electric differential ship unloader according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a driving method of the electric differential ship unloader according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a grapple travel track according to an embodiment of the present invention.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a basic structure of an electrical differential ship unloader, which includes four completely independent and identical winding drums, i.e., opening and closing winding drums 1 and 2 and lifting winding drums 3 and 4, each of which is driven by a corresponding ac variable frequency motor, a motor connected to the opening and closing winding drum is an opening and closing motor, and a motor connected to the lifting winding drum is a lifting motor; each winding drum winds a steel wire rope, wherein two steel wire ropes forward wind the grab bucket 5 and the trolley mechanism 6 through the pulley at the end part of the front girder, and the other two steel wire ropes backward wind the grab bucket 5 and the trolley mechanism 6 through the pulley at the end part of the rear girder. The electric differential ship unloader integrates the opening/closing of the grab bucket, the lifting/descending of the grab bucket and the transverse movement of the trolley mechanism into a whole, and three groups of actions can be executed independently or compositely, so that different operation working conditions are formed.
Fig. 2 is a schematic structural diagram of a driving apparatus of an electric differential ship unloader according to an embodiment of the present invention, and the driving apparatus 200 includes a position parameter obtaining module 201, a trajectory planning module 202, an actual position obtaining module 203, a speed given value calculating module 204, a pendulum length obtaining module 205, an acceleration given value calculating module 206, and a given value outputting module 207. Fig. 3 is a schematic flow chart of a driving method of an electric differential ship unloader according to an embodiment of the present invention, which includes the steps of:
301, a position parameter acquiring module 201 acquires position parameters of a land side unloading area and a cabin material grabbing area;
step 302, the trajectory planning module 202 plans a speed curve of the grab bucket and the trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, and the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
303, acquiring the actual positions of the grab bucket and the trolley mechanism by the actual position acquisition module 203;
304, the speed setting module 204 calculates the speed setting values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
and 307, the given value output module 207 outputs the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to the driving mechanism.
Fig. 4 is a schematic diagram of the movement track of the grab bucket according to the embodiment of the present invention, the grab bucket 5 is circularly reciprocated between the land-side unloading area (funnel area) 7 and the cabin grabbing area 8, and the movement track of the grab bucket 5 is in a parabolic form due to the combined movement of the trolley mechanism 6 and the grab bucket 5. In order to realize the semi-automatic operation of the electric differential ship unloader, the position parameters of the unloading area 7 and the material grabbing area 8 are required to be obtained in advance to plan the operation track of the grab bucket, such as the position parameters of the centers of the two areas, and in addition, in order to avoid the grab bucket colliding with the edges of the unloading area and the material grabbing area during the operation process, the obtained position parameters also comprise the position parameters of the edges so as to be considered in the path planning. It should be noted that, since the material in the cabin is captured, the height of the cabin in the water will change continuously, and therefore the position parameters need to be obtained in real time.
According to the acquired position parameters and the given acceleration and deceleration time of the grab bucket and the trolley mechanism, the speed curve of the grab bucket and the speed curve of the trolley mechanism which are required for the grab bucket to run according to the planned path can be calculated. The speed curve is obtained by calculation before the grab bucket and the trolley mechanism run, when the grab bucket and the trolley mechanism start to run, the actual positions of the grab bucket and the trolley mechanism need to be obtained in real time, the speed value which the actual position of the grab bucket should reach is calculated from the grab bucket speed curve, the speed value which the actual position of the trolley mechanism should reach is calculated from the trolley mechanism speed curve, and the speed value is used as the speed setting of the actual positions of the grab bucket and the trolley mechanism and is output to the driving mechanism, so that the driving mechanism drives each motor accordingly.
When the dolly mechanism horizontal migration, simple pendulum phenomenon can appear in the grab bucket, and the pendulum length of grab bucket is the length of wire rope between grab bucket and the dolly mechanism, and this makes even path planning has been carried out in advance, also hardly guarantees the grab bucket and does not touch the border in unloading region and grab material region in the operation process. In an embodiment of the invention, the grab anti-sway is performed by controlling the acceleration of the trolley mechanism. Specifically, the swing length of the grab bucket is obtained in real time through an encoder, the swing period is calculated in real time based on the swing length and the simple pendulum principle, and the relation between the inclination angle of the grab bucket and the acceleration of the trolley is obtained, so that the inclination angle of the grab bucket can be controlled within a certain range and kept unchanged by controlling the acceleration of the trolley mechanism. The acceleration given value of the trolley mechanism is also output to the driving mechanism, so that the driving mechanism drives each motor accordingly.
According to the driving method and the driving device, the grab bucket path can be planned in advance to realize semi-automatic operation of the ship unloader, and the barrier can be automatically avoided when the ship unloader operates semi-automatically; the grab bucket is prevented from shaking by controlling the trolley mechanism, and the reliability and the safety of semi-automatic operation are further ensured.
An embodiment of the present invention also discloses a nonvolatile storage medium on which a driving program of an electric differential ship unloader is stored, the driving program of the electric differential ship unloader being executed by a computer to implement a driving method of the electric differential ship unloader, and including:
a position parameter acquisition instruction is obtained, and position parameters of a land side unloading area and a cabin material grabbing area are obtained;
a track planning instruction, wherein a speed curve of the grab bucket and the trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area is planned according to the position parameters, and the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring an actual position instruction, and acquiring actual positions of the grab bucket and the trolley mechanism;
calculating a speed set value command, namely calculating the speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring a swing length instruction to acquire the swing length of the grab bucket;
an acceleration given value calculation instruction is used for calculating the acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and a given value output instruction is used for outputting a given speed value of the grab bucket, a given speed value and a given acceleration value of the trolley mechanism to the driving mechanism.
The embodiment of the invention also discloses a driving device of the electric differential ship unloader, which comprises:
a memory storing a driving program of the electric differential ship unloader executable by the computer; and
a processor connected to the memory and configured to execute a driver of the electrical differential ship unloader to:
acquiring position parameters of a land side unloading area and a cabin material grabbing area;
planning a speed curve of the grab bucket and the trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring the actual positions of the grab bucket and the trolley mechanism;
calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring the swing length of the grab bucket;
calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to the driving mechanism.
A fifth embodiment of the present invention discloses a drive system for an electric differential ship unloader, including any one of the drive devices for an electric differential ship unloader described above.
It is to be noted that in the claims and the description of the present patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (5)
1. A method of driving an electric differential ship unloader, the method comprising:
acquiring position parameters of a land side unloading area and a cabin material grabbing area;
planning a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring the actual positions of the grab bucket and the trolley mechanism;
calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring the swing length of the grab bucket;
calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to a driving mechanism.
2. A drive arrangement for an electric differential ship unloader, the arrangement comprising:
the position parameter acquisition module is used for acquiring position parameters of a land side unloading area and a cabin material grabbing area;
the trajectory planning module plans a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, and the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
the actual position acquisition module is used for acquiring the actual positions of the grab bucket and the trolley mechanism;
the speed set value calculation module is used for calculating the speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
the swing length acquisition module is used for acquiring the swing length of the grab bucket;
the acceleration given value calculation module is used for calculating the acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and the given value output module outputs the given speed value of the grab bucket, the given speed value and the given acceleration value of the trolley mechanism to the driving mechanism.
3. A non-volatile storage medium having stored thereon a driver program for an electrical differential ship unloader, the driver program being executed by a computer to implement a driving method for the electrical differential ship unloader, the program comprising:
a position parameter acquisition instruction is obtained, and position parameters of a land side unloading area and a cabin material grabbing area are obtained;
a trajectory planning instruction, which plans a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring an actual position acquiring instruction, and acquiring actual positions of the grab bucket and the trolley mechanism;
calculating a speed set value command, namely calculating the speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
a swing length obtaining instruction is obtained, and the swing length of the grab bucket is obtained;
an acceleration given value calculation instruction is used for calculating the acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and a given value output instruction is used for outputting the given speed value of the grab bucket, the given speed value and the given acceleration value of the trolley mechanism to a driving mechanism.
4. A drive apparatus for an electric differential ship unloader, comprising:
a memory storing a driving program of the electric differential ship unloader executable by the computer; and
a processor connected to the memory and configured to execute a driver of the electrical differential ship unloader to:
acquiring position parameters of a land side unloading area and a cabin material grabbing area;
planning a speed curve of a grab bucket and a trolley mechanism in the process from the unloading area to the material grabbing area or from the material grabbing area to the unloading area according to the position parameters, wherein the speed curve of the grab bucket and the trolley mechanism enables the grab bucket to avoid the edges of the unloading area and the material grabbing area;
acquiring the actual positions of the grab bucket and the trolley mechanism;
calculating speed set values of the grab bucket and the trolley mechanism according to the speed curves and the actual positions of the grab bucket and the trolley mechanism;
acquiring the swing length of the grab bucket;
calculating an acceleration given value of the trolley mechanism according to the swing length of the grab bucket;
and outputting the given speed value of the grab bucket, the given speed value of the trolley mechanism and the given acceleration value to a driving mechanism.
5. A drive system for an electric differential ship unloader, comprising the drive unit for an electric differential ship unloader of claim 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810627946.9A CN108792666B (en) | 2018-06-19 | 2018-06-19 | Driving method, device, medium, equipment and system of electric differential ship unloader |
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| CN201810627946.9A CN108792666B (en) | 2018-06-19 | 2018-06-19 | Driving method, device, medium, equipment and system of electric differential ship unloader |
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| CN108792666B true CN108792666B (en) | 2020-07-28 |
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| CN113942941A (en) * | 2020-07-16 | 2022-01-18 | 上海宝信软件股份有限公司 | Grab mechanism swing GPS positioning system, method and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6317793A (en) * | 1986-07-11 | 1988-01-25 | 株式会社日立製作所 | Control system of crane |
| US5392935A (en) * | 1992-10-06 | 1995-02-28 | Obayashi Corporation | Control system for cable crane |
| CN201166805Y (en) * | 2007-12-20 | 2008-12-17 | 上海国际港务（集团）股份有限公司 | System for automatically unloading bulk from a ship |
| CN104909273B (en) * | 2015-06-12 | 2016-08-24 | 华电重工股份有限公司 | Grab bucket ship unloader and driving method thereof and device |
| CN104961051B (en) * | 2015-07-06 | 2017-03-01 | 上海昂丰矿机科技有限公司 | It is applied to the grab bucket anti-shake method on grab bucket crane |
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