CN115571675A - Unmanned monitoring method, system, medium and equipment for ship unloader - Google Patents
Unmanned monitoring method, system, medium and equipment for ship unloader Download PDFInfo
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- CN115571675A CN115571675A CN202211249561.6A CN202211249561A CN115571675A CN 115571675 A CN115571675 A CN 115571675A CN 202211249561 A CN202211249561 A CN 202211249561A CN 115571675 A CN115571675 A CN 115571675A
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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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/08—Devices for emptying storage spaces as completely as possible
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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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
- 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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Ship Loading And Unloading (AREA)
Abstract
The invention relates to the technical field of intelligent control, and provides an unmanned monitoring method and system for a ship unloader, a computer readable storage medium and electronic equipment, wherein the method comprises the following steps: acquiring material detection information, and acquiring the material depth and the material position in the material bin according to the detection information; acquiring the position of a material taking head of a ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position; and controlling the material taking head to move according to the movement control parameters. By implementing the unmanned monitoring method for the ship unloader, the working efficiency and accuracy of the ship unloader can be improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an unmanned monitoring method and system for a ship unloader, a computer readable storage medium and electronic equipment.
Background
The transportation by cargo ships is an efficient and low-cost transportation mode. The cargo ship can transport various cargoes including coal, grains and other particles or powder. In port, the cargo needs to be picked up by ship unloaders and transported to shore by conveyor belts.
At present, during the process of picking up the goods by the ship unloader, the ship unloader is generally operated manually to control a material head so as to pick up the goods. Wherein, goods uneven distribution needs the staff to carry out the extraction operation according to the goods distribution by oneself in the storehouse of cargo ship.
The current scheme has the advantages of low cargo extraction efficiency and high labor cost. In view of this, there is a need in the art to develop a new unattended monitoring method for ship unloaders.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the invention.
Disclosure of Invention
The invention aims to provide an unmanned monitoring method for a ship unloader, an unmanned monitoring method for the ship unloader, a computer readable storage medium and electronic equipment, so that the ship unloader efficiency is improved and the labor cost is reduced to at least a certain extent.
Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.
According to a first aspect of the present invention, there is provided a ship unloader unattended monitoring method, the method comprising:
acquiring material detection information, and acquiring the depth and position of a material in a material bin according to the detection information;
acquiring the position of a material taking head of a ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position;
and controlling the material taking head to move according to the movement control parameters.
In an exemplary embodiment of the present invention, the step of obtaining the material detection information and obtaining the material depth and the material position in the material bin according to the material detection information includes:
acquiring the laser detection information, and acquiring a first depth and a first position of the material according to the laser detection information;
acquiring the millimeter wave detection information, and acquiring a second depth and a second position of the material according to the millimeter wave detection information;
based on the first depth, the first location, the second depth, and the second location, a depth and a location of the material are determined.
In an exemplary embodiment of the invention, the step of determining the depth and position of the material based on the first depth, the first position, the second depth and the second position comprises:
calculating a first weighting result of the first depth and the first position corresponding to a first preset weight;
calculating a second weighting result of the second depth and the second position corresponding to a second preset weight;
determining a depth and a position of the material based on the first and second weighted results.
In an exemplary embodiment of the invention, the controlling the take-out head to move according to the movement control parameter further includes:
and presetting safety thresholds of the material taking head and the material bin.
In an exemplary embodiment of the invention, the step of controlling the movement of the pick head according to the movement control parameter includes:
and adjusting the movement control parameters based on the safety threshold, and controlling the material taking head to move according to the adjusted movement control parameters.
In an exemplary embodiment of the invention, the step of generating movement control parameters according to the position of the material taking head of the ship unloader, the material depth and the material position comprises:
generating a three-dimensional material model according to the material depth and the material position;
and generating a plane movement control parameter and a longitudinal movement control parameter according to the contour of the three-dimensional material model and the position of the material taking head.
In an exemplary embodiment of the invention, after the step of controlling the movement of the pick head according to the movement control parameter, the method further comprises:
continuously acquiring detection information after preset time, and determining the material depth corresponding to the position of the material taking head;
and generating a longitudinal movement control sub-parameter according to the material depth, and controlling the material taking head to move in the longitudinal direction.
According to a second aspect of the present invention, there is provided an unmanned surveillance system for a ship unloader, the system comprising:
the material detection module is used for acquiring material detection information and obtaining the material depth and the material position in the material bin according to the detection information;
the control parameter module is used for acquiring the position of a material taking head of the ship unloader and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position;
and the movement control module is used for controlling the material taking head to move according to the movement control parameters.
In an exemplary embodiment of the present invention, the material detection module is configured to obtain the laser detection information, and obtain a first depth and a first position of the material according to the laser detection information;
acquiring the millimeter wave detection information, and acquiring a second depth and a second position of the material according to the millimeter wave detection information;
based on the first depth, the first location, the second depth, and the second location, a depth and a location of the material are determined.
In an exemplary embodiment of the present invention, the material detection module is configured to calculate a first weighting result of the first depth and the first position corresponding to a first preset weight;
calculating a second weighting result of the second depth and the second position corresponding to a second preset weight;
determining a depth and a position of the material based on the first and second weighted results.
In an exemplary embodiment of the invention, the apparatus further comprises:
and the safety threshold value module is used for presetting the safety threshold values of the material taking head and the material bin.
In an exemplary embodiment of the invention, the movement control module is configured to adjust the movement control parameter based on the safety threshold, and control the material taking head to move according to the adjusted movement control parameter.
In an exemplary embodiment of the invention, the control parameter module is configured to generate a three-dimensional material model according to the material depth and the material position;
and generating a plane movement control parameter and a longitudinal movement control parameter according to the contour of the three-dimensional material model and the position of the material taking head.
In an exemplary embodiment of the invention, the apparatus further comprises:
a stopping module for controlling the movement of the material taking head according to the movement control parameter,
continuously acquiring detection information after preset time, and determining the material depth corresponding to the position of the material taking head;
and generating a longitudinal movement control sub-parameter according to the material depth, and controlling the material taking head to move in the longitudinal direction.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for unattended monitoring of a ship unloader of the second aspect described above.
According to a fourth aspect of the present invention, there is provided an electronic apparatus comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method for unattended monitoring of a ship unloader according to the second aspect described above via execution of the executable instructions.
As can be seen from the foregoing technical solutions, the ship unloader unattended monitoring method, the ship unloader unattended monitoring system, the computer readable storage medium and the electronic device in the exemplary embodiment of the present invention have at least the following advantages and positive effects:
in the technical scheme provided by some embodiments of the invention, the material depth and the material position in the material bin are obtained according to the detection information by obtaining the material detection information; acquiring the position of a material taking head of the ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position; and controlling the material taking head to move according to the movement control parameters. By implementing the embodiment of the invention, the goods can be accurately obtained by detecting the depth and the position of the materials in the material bin. On the other hand, manual judgment is not needed, so that the efficiency is improved, and the labor cost is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram illustrating a system architecture of an exemplary application environment of a ship unloader unattended monitoring method and apparatus according to an exemplary embodiment of the present invention.
FIG. 2 shows a schematic structural diagram of an electronic device in an exemplary embodiment of the invention;
FIG. 3 illustrates a flow diagram of a ship unloader unattended monitoring method in an exemplary embodiment of the invention;
fig. 4 is a schematic structural view showing an unattended monitoring system of a ship unloader in an exemplary embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The terms "a," "an," "the," and "said" are used in this specification to denote the presence of one or more elements/components/parts/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first" and "second," etc. are used merely as labels, and are not limiting on the number of their objects.
Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
At present, the transportation by cargo ship is a transportation mode with higher cost performance, and the cargo ship usually comprises a material bin for storing goods. Some of these goods are granular or powdery, for example, grain particles including corn, soybean, coal, and the like.
The cargo in the material bin can be extracted by controlling ship unloaders, wherein the ship unloaders comprise a chain bucket ship unloader, a belt-clamping ship unloader, a screw ship unloader, a bucket wheel ship unloader, a pneumatic ship unloader and the like. The cargo can be gripped, for example, by means of a ship unloader with grab buckets, or the cargo can be lifted continuously by means of a screw ship unloader. It should be noted that the cargo in the material bin is not uniform when loaded, the cargo has different heights and undulations, and an operator of the ship unloader needs to determine where the cargo should be taken. In the process, a lot of time and energy are consumed by operators, the accuracy is not high enough, and the efficiency is low.
Fig. 1 is a schematic diagram illustrating a system architecture of an exemplary application environment of a ship unloader unattended monitoring method and apparatus to which an embodiment of the present invention can be applied.
As shown in fig. 1, the system architecture 100 may include one or more of the terminal devices 101, 102, 103. The terminal devices 101, 102, 103 may be various electronic devices having a display screen, including but not limited to desktop computers, portable computers, smart phones, tablet computers, and the like.
FIG. 2 illustrates a schematic block diagram of a computer system suitable for use with a terminal device to implement an embodiment of the invention.
It should be noted that the computer system 200 of the terminal device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiment of the present invention.
As shown in fig. 2, the computer system 200 includes a Central Processing Unit (CPU) 201 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 202 or a program loaded from a storage section 208 into a Random Access Memory (RAM) 203. In the (RAM) 203, various programs and data necessary for system operation are also stored. The (CPU) 201, (ROM) 202, and (RAM) 203 are connected to each other by a bus 204. An input/output (I/O) interface 205 is also connected to bus 204.
The following components are connected to the (I/O) interface 205: an input portion 206 including a keyboard, a mouse, and the like; an output section 207 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 208 including a hard disk and the like; and a communication section 209 including a network interface card such as a LAN card, a modem, or the like. The communication section 209 performs communication processing via a network such as the internet. The driver 210 is also connected to the (I/O) interface 205 as necessary. A removable medium 211 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 210 as necessary, so that a computer program read out therefrom is mounted into the storage section 208 as necessary.
In particular, according to an embodiment of the present invention, the processes described below with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program, when executed by a Central Processing Unit (CPU), performs various functions defined in the methods and apparatus of the present invention.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Referring to fig. 3, fig. 3 schematically shows a flow chart of a ship unloader unattended monitoring method according to an embodiment of the present invention. As shown in fig. 3, the unmanned monitoring method for the ship unloader may include:
s310, material detection information is obtained, and the depth and the position of a material in a material bin are obtained according to the detection information;
s320, acquiring the position of a material taking head of the ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position;
and S330, controlling the material taking head to move according to the movement control parameters.
The method for implementing the terminal dynamic strategy shown in fig. 2 obtains the material depth and the material position in the material bin according to the detection information by obtaining the material detection information; acquiring the position of a material taking head of the ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position; and controlling the material taking head to move according to the movement control parameters. By implementing the embodiment of the invention, the goods can be accurately obtained by detecting the depth and the position of the materials in the material bin. On the other hand, manual judgment is not needed, so that the efficiency is improved, and the labor cost is reduced.
The above steps of the present exemplary embodiment are explained in more detail below.
In step S310, material detection information is obtained, and a material depth and a material position in the material bin are obtained according to the detection information.
In the embodiment of the invention, the material detection information can be acquired in various ways. Can be through the laser radar of high accuracy, can install laser radar on the ship unloaders girder, scan the operation to the goods in the material storehouse before the operation of unloading. In the process, the ship unloader can keep moving, so that the laser radar can completely cover the material bin, the graphic data of the outline of the goods can be obtained, and the material depths of different positions in the material bin can be recorded. In addition, laser radar can be provided with scanning time parameter for control laser radar scans many times, for example can scan again at the time of getting material back default, or scan again after accomplishing once getting material operation.
The material bin can be shot through video monitoring equipment to obtain material images. And acquiring the material depth and the material position in the material bin by an image recognition technology based on machine vision.
In step S320, acquiring a position of a material-taking head of a ship unloader, and generating a movement control parameter according to the position of the material-taking head of the ship unloader, the material depth and the material position;
in the embodiment of the invention, the material taking head can be positioned on a girder of the ship unloader, and a position sensor can be arranged on the material taking head and used for acquiring the position of the material taking head. And generating a movement control parameter according to the position of the material taking head, the material position and the material depth corresponding to the material position. For example, a coordinate system may be provided to represent the material position and the position of the pick head from which the vector is generated.
The movement control parameters can comprise plane movement control parameters and longitudinal movement control parameters, namely the material preparing head is controlled to move on a horizontal plane and move up and down.
In step S330, the material taking head is controlled to move according to the movement control parameter.
In the embodiment of the invention, the movement control parameter can be generated based on a certain rule to control the material preparation head to move so as to extract goods in a specific area. For example, how to extract and obtain can be judged according to the material depth of different material positions, and the extraction can be started from the position with larger material depth, namely higher material stacking position, so that the goods of the material bin are in a more stable state.
The invention also provides an implementation mode of the unmanned monitoring method of the ship unloader. The step of obtaining material detection information, obtaining the material depth and the material position in the material bin according to the material detection information comprises the following steps:
acquiring the laser detection information, and acquiring a first depth and a first position of the material according to the laser detection information;
acquiring the millimeter wave detection information, and acquiring a second depth and a second position of the material according to the millimeter wave detection information;
based on the first depth, the first location, the second depth, and the second location, a depth and a location of the material are determined.
In the embodiment of the invention, the laser detection information acquired by the laser radar and the millimeter wave detection information acquired by the millimeter wave radar device can be used for respectively acquiring the first depth and the first position of the material and the second depth and the second position of the material according to the two detection information. Further, the final result may be determined based on the position and depth of the two detection information according to different weights, respectively.
The invention also provides an implementation mode of the unmanned monitoring method of the ship unloader. The basis according to the mobility control parameter, control get the material head and remove, still include:
and presetting safety thresholds of the material taking head and the material bin.
In the embodiment of the invention, the safety threshold values of the material taking head and the material bin can be preset, so that the collision or friction between the material taking head and the material bin is avoided. Different safety threshold values are set according to the shape of the material bin, for example, when the material bin is a cuboid, the distance between the material taking head and the safety threshold value on the periphery of the material bin and the distance between the material taking head and the safety threshold value on the bottom of the material bin can be set.
And when the mobile control parameters indicate that the material taking head moves to the safe threshold value, the mobile control parameters are adjusted according to the safe threshold value of the preset value to avoid collision.
By implementing the embodiment of the invention, the safety threshold values of the material taking head and the material bin are preset, so that the collision between the material taking head and the material bin and the damage caused by the collision are avoided.
As more goods in the material bin are particles or powder, collapse is easily caused in the loading and unloading process, and the loading condition is changed.
Based on the method, the invention further provides an implementation mode of the ship unloader unattended monitoring method. After the step of controlling the movement of the material taking head according to the movement control parameter, the method further comprises the following steps:
continuously acquiring detection information after preset time, and determining the material depth corresponding to the position of the material taking head;
and generating a longitudinal movement control sub-parameter according to the material depth, and controlling the material taking head to move in the longitudinal direction.
In the embodiment of the invention, after goods are extracted for a certain time, the detection information can be continuously acquired, and the acquired depth of the material bin can be acquired again. And based on new detection information, continuously generating longitudinal movement control sub-parameters, and controlling the material head to continuously move only in the numerical direction without moving on a plane in a short time.
By implementing the embodiment of the invention, the longitudinal movement control sub-parameters are continuously generated according to the material depth after the preset time. When can making the goods be the goods of tiny state, because goods extraction leads to collapsing etc. to change goods original position and degree of depth, under this condition, need not frequently control to get the material head and remove in the plane, but only need continue to control on vertical direction and get the material head and extract the goods. Thereby improving the cargo extraction efficiency and reducing the operation steps.
Further, in this example embodiment, an apparatus for implementing a terminal dynamic policy is also provided. Referring to fig. 4, the apparatus 400 includes:
the material detection module 401 is configured to acquire material detection information, and obtain a material depth and a material position in the material bin according to the detection information;
a control parameter module 402, configured to obtain a position of a material-taking head of a ship unloader, and generate a movement control parameter according to the position of the material-taking head of the ship unloader, the material depth, and the material position;
and a movement control module 403, configured to control the material taking head to move according to the movement control parameter.
In an exemplary embodiment of the present invention, the material detection module is configured to obtain the laser detection information, and obtain a first depth and a first position of the material according to the laser detection information;
acquiring the millimeter wave detection information, and acquiring a second depth and a second position of the material according to the millimeter wave detection information;
based on the first depth, the first location, the second depth, and the second location, a depth and a location of the material are determined.
In an exemplary embodiment of the present invention, the material detection module is configured to calculate a first weighting result of the first depth and the first position corresponding to a first preset weight;
calculating a second weighting result of the second depth and the second position corresponding to a second preset weight;
determining a depth and a position of the material based on the first and second weighted results.
In an exemplary embodiment of the invention, the apparatus further comprises:
and the safety threshold value module is used for presetting the safety threshold values of the material taking head and the material bin.
In an exemplary embodiment of the invention, the movement control module is configured to adjust the movement control parameter based on the safety threshold, and control the material taking head to move according to the adjusted movement control parameter.
In an exemplary embodiment of the invention, the control parameter module is configured to generate a three-dimensional material model according to the material depth and the material position;
and generating a plane movement control parameter and a longitudinal movement control parameter according to the contour of the three-dimensional material model and the position of the material taking head.
In an exemplary embodiment of the invention, the apparatus further comprises:
a stopping module for controlling the movement of the material taking head according to the movement control parameter,
continuously acquiring detection information after preset time, and determining the material depth corresponding to the position of the material taking head;
and generating a longitudinal movement control sub-parameter according to the material depth, and controlling the material taking head to move in the longitudinal direction. The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
Optionally, the present invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (in english: processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An unmanned monitoring method for a ship unloader is characterized by comprising the following steps:
acquiring material detection information, and acquiring the material depth and the material position in the material bin according to the detection information;
acquiring the position of a material taking head of a ship unloader, and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position;
and controlling the material taking head to move according to the movement control parameters.
2. The method according to claim 1, wherein the step of obtaining material detection information and obtaining a material depth and a material position in a material bin according to the material detection information comprises:
acquiring laser detection information, and acquiring a first depth and a first position of a material according to the laser detection information;
acquiring millimeter wave detection information, and acquiring a second depth and a second position of the material according to the millimeter wave detection information;
based on the first depth, the first location, the second depth, and the second location, a depth and a location of the material are determined.
3. The method of claim 2, wherein the step of determining the depth and location of the material based on the first depth, the first location, the second depth, and the second location comprises:
calculating a first weighting result of the first depth and the first position corresponding to a first preset weight;
calculating a second weighting result of the second depth and the second position corresponding to a second preset weight;
determining a depth and a position of the material based on the first and second weighted results.
4. The method of claim 1, wherein said controlling said pick head movement in accordance with said movement control parameter further comprises:
and presetting safety threshold values of the material taking head and the material bin.
5. The method of claim 4, wherein said step of controlling movement of said take-off head based on said movement control parameters comprises:
and adjusting the movement control parameters based on the safety threshold, and controlling the material taking head to move according to the adjusted movement control parameters.
6. The method of claim 1, wherein the step of generating movement control parameters based on the position of the unloader pick head, the material depth, and the material position comprises:
generating a three-dimensional material model according to the material depth and the material position;
and generating a plane movement control parameter and a longitudinal movement control parameter according to the contour of the three-dimensional material model and the position of the material taking head.
7. The method according to claim 6, wherein after the step of controlling the movement of the take-off head according to the movement control parameter, the method further comprises:
continuously acquiring detection information after a preset time, and determining the material depth corresponding to the position of the material taking head;
and generating a longitudinal movement control sub-parameter according to the material depth, and controlling the material taking head to move in the longitudinal direction.
8. An unmanned surveillance system of a ship unloader, the system comprising:
the material detection module is used for acquiring material detection information and obtaining the depth and position of the material in the material bin according to the detection information;
the control parameter module is used for acquiring the position of a material taking head of the ship unloader and generating a movement control parameter according to the position of the material taking head of the ship unloader, the material depth and the material position;
and the movement control module is used for controlling the material taking head to move according to the movement control parameters.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any one of claims 1 to 7 via execution of the executable instructions.
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| CN202211249561.6A CN115571675A (en) | 2022-10-12 | 2022-10-12 | Unmanned monitoring method, system, medium and equipment for ship unloader |
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| CN202211249561.6A CN115571675A (en) | 2022-10-12 | 2022-10-12 | Unmanned monitoring method, system, medium and equipment for ship unloader |
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