CN114803573B - Automatic shipping cabin changing method for bulk cargo wharf - Google Patents
Automatic shipping cabin changing method for bulk cargo wharf Download PDFInfo
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- CN114803573B CN114803573B CN202210413986.XA CN202210413986A CN114803573B CN 114803573 B CN114803573 B CN 114803573B CN 202210413986 A CN202210413986 A CN 202210413986A CN 114803573 B CN114803573 B CN 114803573B
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- ship
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- loader
- attitude
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 238000007726 management method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Landscapes
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention discloses an automatic shipment and cabin changing method for a bulk cargo wharf, which belongs to the technical field of automatic control and comprises the following steps: s1: acquiring a ship number through a management and control system, determining a ship shape, determining a cabin position through scanning, and determining a ship attitude through a ship attitude detector; s2: monitoring the ship attitude in real time through a ship attitude detector, and determining a target cabin pair cabin point according to the ship attitude and the ship coordinates; s3: after the cabin alignment point is determined, a moving route of the ship loader moving and the telescopic pitching of the large arm of the ship loader moving is determined according to the current position and the target position, and the position deviation of the current position and the cabin alignment target point is found, so that a moving route of the ship loader is established.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an automatic loading cabin changing method for a bulk cargo wharf.
Background
The global trade integration development has prompted global demand for bulk material transportation. From the perspective of large-scale products, bulk cargoes such as ores, coal, grains and the like are unevenly distributed, and the sea traffic is continuously improved. Along with this development is the constant renewal of bulk cargo vessels, which requires the constant renewal of the control functions of port handling equipment.
In the cabin changing process of a traditional ship loader, the large arm of the ship loader needs to be contracted, then is lifted to the highest position, then moves the ship loader to a target position along a track, finally stretches out of the large arm, and descends to the target position. This process takes approximately 20 minutes, which affects the efficiency of the operation and also results in energy waste. In addition, in the working process of a ship loader driver, due to the severe environment and long-time cargo loading on site, personnel fatigue is extremely easy to cause, and the risk of collision between a ship loader sliding tube and a ship cabin and between the ship cabin cover is easily caused due to the limitation of factors such as visual angles and dust, so that the automatic ship loading and cabin changing can be realized, the working efficiency and the quality can be improved, and the working intensity of workers can be reduced.
Disclosure of Invention
The invention aims to provide an automatic shipping and cabin changing method for a bulk cargo wharf, which aims to solve the problems of realizing automatic shipping and cabin changing, improving the working efficiency and quality and reducing the working intensity of staff in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: an automatic loading and changing method for a bulk cargo terminal, comprising the steps of:
s1: acquiring a ship number through a management and control system, determining a ship shape, determining a cabin position through scanning of a three-dimensional laser scanner, and determining a ship attitude through a ship attitude detector; and determining a target cabin for the ship loader to move according to the ship loading plan.
S2: monitoring the ship attitude in real time through a ship attitude detector, and determining a target cabin pair cabin point according to the ship attitude and the ship coordinates;
s3: after the cabin alignment point is determined, the moving route of the ship loader and the moving route of the telescopic pitching of the large arm of the ship loader are determined according to the current position and the position deviation of the target cabin to the cabin alignment point, and then the moving route of the ship loader is established.
Preferably, the cabin position is determined by modeling the ship through scanning data of a three-dimensional laser scanner arranged on the arm support of the ship loader.
Preferably, five pairs of cabin points are arranged.
Preferably, the five points of the pair of cabin points are respectively the center position o of the cabin, the position of the distance p between the center position o and the inner rod and the outer rod of the cabin opening and the position of the distance q between the center position o and the outer rod of the cabin opening in the front-back direction.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the automatic planning of the cabin changing operation path of the ship loader and ensures the safe and efficient completion of the cabin changing operation of the ship loader.
Drawings
FIG. 1 is a schematic illustration of the pair of cabin points of the present invention;
FIG. 2 is a schematic view of the angle coordinate system of inclination of the ship according to the present invention;
FIG. 3 is a schematic view of the elevation angle of the loader arm of the present invention;
FIG. 4 is a schematic diagram of the displacement of the ship loader of the present invention;
FIG. 5 is a schematic view of the target angle of the pitching of the boom of the ship loader of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without creative efforts, are within the protection scope of the invention.
The invention provides an automatic shipment and cabin changing method for a bulk cargo wharf, which realizes automatic planning of cabin changing operation paths of a shipment machine and ensures safe and efficient completion of shipment and cabin changing operation, and comprises the following steps:
s1: the ship number is acquired through a management and control system, the ship shape is determined, the ship cabin position is determined through scanning, the ship posture is determined through a ship posture detector, the ship cabin position is determined through the scanning data of a three-dimensional laser scanner arranged on a ship loader arm frame, and the ship is modeled to determine the ship cabin position; and determining a target cabin for the movement of the ship loader according to the ship loading plan.
S2: the ship attitude is monitored in real time by a ship attitude detector, and the cabin-aligning points of the target cabin are determined according to the ship attitude and the ship coordinates, wherein the five cabin-aligning points are respectively arranged at the center position o of the ship cabin, the position of the distance p between the center position o and the inner rod and the outer rod of the ship hatch and the position point of the distance q between the center position o and the front and rear directions of the ship cabin opening;
s3: after the cabin alignment point is determined, determining a moving route of the ship loader moving and the telescopic pitching of the big arm of the ship loader according to the current position and the target position, and finding out the position deviation of the current position and the target cabin to the cabin point, so as to establish a moving route of the ship loader.
Examples
Acquiring a ship number through a management and control system, further determining a ship shape, acquiring scanning data of a three-dimensional laser scanner arranged on an arm support of a ship loader, modeling a ship, determining the position of a cabin, and acquiring data of a ship attitude detector to determine the ship attitude;
the cabin changing of the ship loader is to move the ship loader from the current cabin to the target cabin according to a ship loading plan, so that the moving distance between the ship loader and the large arm in the cabin changing process is shortened as much as possible on the premise of ensuring cabin moving safety in order to ensure the shortest cabin changing time;
the ship attitude is monitored in real time, target cabin alignment points are determined according to the ship attitude and ship coordinates, 5 cabin alignment points are arranged, as shown in fig. 1, the center position o of the ship cabin, the position of the distance p between the inner rod and the outer rod of the ship hatch and the position point of the distance q between the inner rod and the outer rod of the ship cabin and the front and rear directions of the ship cabin mouth are set, if the length and the width of the ship cabin are respectively m and n, the diameter of a chute is d, and the anti-collision safety threshold is g, the ship is provided with the following characteristics that
Because the ship is a rigid object, the inclination angles of each position of the ship are consistent, so that the data of the ship attitude detectors are directly collected to determine the opposite cabin points, to determine which point is specifically adopted for opposite cabin, the ship attitudes (inner rod, outer rod, front position and rear position) in four directions of the ship need to be observed, the ship inclination angles take the ship attitude detectors as coordinate origins, the direction vertical to the outer rod of the central axis is the positive direction of the x axis, the direction parallel to the backward direction of the central axis of the ship is the positive direction of the y axis, the vertical direction is the positive direction of the z axis, the xoz plane inclination angle is taken as a roll angle alpha, and the inclination angle of the yoz plane is taken as a pitch angle beta, as shown in fig. 2, wherein alpha is more than or equal to 0 is higher than the inner rod, and beta is more than or equal to 0 is higher than the front after the ship;
observing the deviation of the roll angle and the pitch angle, if the roll angle is not smaller than the pitch angle, namely |alpha| is not smaller than |beta|, positioning the number 4 or the number 5, if alpha is larger than 0 on the basis, positioning the number 5 of the cabin, otherwise, positioning the number 3 or the number 4 of the cabin, if the roll angle is smaller than the pitch angle, namely |alpha| < |beta|, positioning the number 2 of the cabin, otherwise, positioning the number 1 of the cabin, if beta is larger than 0 on the basis;
after the cabin alignment point is determined, determining a moving route of the ship loader moving and the telescopic pitching of the large arm of the ship loader according to the current position and the target position, analyzing a ship model, building the ship model by adopting three-dimensional laser scanner data, finding the position deviation of the current position and the target cabin to the cabin point, and further building a moving route of the ship loader;
in order to ensure the safety of the loading and cabin moving process, the highest point between two cabins is selected as the lowest point of the lifting of the large arm, the ship model takes the origin of the track of the ship loader as the origin of coordinates, the horizontal direction is parallel to the coast direction as the x axis, the horizontal direction is perpendicular to the coast direction as the y axis, the vertical direction is upwards as the z axis, the height of the ship, the hatch and the cabin cover which are most likely to collide between the two cabins is scanned according to the ship model, and the highest height is calculated;
in order to prevent collision between the large arm slide cylinder and the cabin in the cabin changing and moving process of the ship loader, the large arm is lifted firstly when a path is arranged, so that the lowest position of the large arm is higher than the highest position of a ship, and the whole length (fixed part l 1 +telescoping section l 2 ) In the step (1), the height of the pitching supporting point of the large arm of the ship loader is h, the highest position of the ship is e, the length of the chute is f, and the safety threshold is set to be t, so that the lifting angle of the large arm of the ship loader isAs shown in fig. 3;
after the big arm is lifted, the ship loader starts to walk, moves to the target position and receives wind power and wavesThe ship is stopped and at the shore with a certain inclination angle, so that the target point is required to be converted to obtain the position to be moved, the ship course angle is assumed to be theta, and the position coordinate corresponding to the current chute is A (x 1 ，y 1 ，z 1 ) The coordinates of the target position are B (x 2 ，y 2 ，z 2 ) The ship loader moves forward a distance ofAs shown in fig. 4;
after moving to the target position, the ship loader lowers the large arm to the target position, and simultaneously stretches the large arm, so that the whole length of the large arm is y2, the target length of the stretching part is l2=y2-l 1, and the target angle of pitching isThis was successful for the capsule as shown in figure 5.
Although the invention has been described hereinabove with reference to embodiments, various modifications thereof may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the features of the disclosed embodiments may be combined with each other in any manner so long as there is no structural conflict, and the exhaustive description of these combinations is not given in this specification merely for the sake of brevity and resource saving. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed herein, but that the invention will include all technical aspects falling within the scope of the appended claims.
Claims (2)
1. An automatic shipping and cabin changing method for a bulk cargo wharf is characterized by comprising the following steps of: the automatic shipping and cabin changing method for the bulk cargo wharf comprises the following steps:
s1: acquiring a ship number through a management and control system, determining a ship shape, determining a cabin position through scanning of a three-dimensional laser scanner, and determining a ship attitude through a ship attitude detector; determining a target cabin for moving the ship loader according to the ship loading plan;
s2: monitoring the ship attitude in real time through a ship attitude detector, and determining a target cabin pair cabin point according to the ship attitude and the ship coordinates;
s3: after the cabin alignment point is determined, determining a moving route of the ship loader and the telescopic pitching of the big arm of the ship loader according to the current position and the position deviation of the cabin alignment point of the target cabin, and further establishing a moving route of the ship loader;
five cabin-aligning points are arranged, and the five cabin-aligning points are respectively the position points of the distance p between the center o of the cabin and the inner rod and the outer rod of the hatch of the ship and the distance q between the center o of the cabin and the front and rear directions of the hatch of the ship; assuming that the length and width of the cabin are m and n respectively, the diameter of the chute is d, and the anti-collision safety threshold is g, then，/>The method comprises the steps of collecting data of a ship attitude detector to determine a pair cabin point, observing ship attitudes in four directions of an inner rod, an outer rod, a front position and a rear position of a ship, taking the ship attitude detector as a coordinate origin, taking the direction vertical to the outer rod of a central axis as an x-axis positive direction, taking the backward direction parallel to the central axis of the ship as a y-axis positive direction, taking the vertical upward direction as a z-axis positive direction, taking the inclination angle of a xoz plane as a roll angle alpha, taking the inclination angle of a yoz plane as a pitch angle beta, wherein alpha is more than or equal to 0 and is higher than the inner rod of the outer rod, and beta is more than or equal to 0 and is higher than the front position of the ship, observing the deviation of the roll angle and the pitch angle, and determining the pair cabin point.
2. An automatic loading and changing method for bulk container terminals according to claim 1, characterized in that: the cabin position is determined by modeling the ship through scanning data of a three-dimensional laser scanner arranged on the arm support of the ship loader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413986.XA CN114803573B (en) | 2022-04-14 | 2022-04-14 | Automatic shipping cabin changing method for bulk cargo wharf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413986.XA CN114803573B (en) | 2022-04-14 | 2022-04-14 | Automatic shipping cabin changing method for bulk cargo wharf |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114803573A CN114803573A (en) | 2022-07-29 |
| CN114803573B true CN114803573B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210413986.XA Active CN114803573B (en) | 2022-04-14 | 2022-04-14 | Automatic shipping cabin changing method for bulk cargo wharf |
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| CN114803573A (en) | 2022-07-29 |
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