CN116177481A - Automatic shipping operation scheduling method - Google Patents
Automatic shipping operation scheduling method Download PDFInfo
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- CN116177481A CN116177481A CN202310164192.9A CN202310164192A CN116177481A CN 116177481 A CN116177481 A CN 116177481A CN 202310164192 A CN202310164192 A CN 202310164192A CN 116177481 A CN116177481 A CN 116177481A
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- blanking
- ship loader
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D9/00—Apparatus or devices for transferring liquids when loading or unloading ships
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Abstract
The invention relates to an automatic ship operation scheduling method, which comprises the following steps: job setting and preparation; self-checking and preheating a ship loader; hatch positioning scanning; scheduling the operation of the ship loader; and (3) carrying out ship loader operation, wherein after each ship loader receives a blanking point operation plan, the ship loader is operated to a specified blanking point through cabin changing and shifting, blanking operation is started, and after all blanking point loading plans are completed, the ship loader finishes the operation and returns to the original position. The method comprehensively considers various conditions to carry out integral scheduling on the shipping operation.
Description
Technical Field
The invention relates to engineering machinery, in particular to an automatic shipping operation scheduling method.
Background
The ship loader is a large bulk cargo machine used when loading ships in bulk cargo wharf. The general ship loader consists of an arm support belt conveyor, a tail car, a running device, a portal frame, a pitching device, a rotating device and the like. Large-scale harbour bulk cargo shipment equipment plays important role in the high-speed, stable, collection effect, the rolling development of some bulk cargo collection and distribution centers in industries such as energy, electric power, metallurgy, harbour and the like especially.
The existing automatic operation is more to adopt traditional control systems such as PLC and the like to carry out single control on a certain mechanical structure such as walking, pitching and the like according to preset instructions, and the full-automatic dispatch control on the whole shipping operation cannot be carried out. The on-site operation ship model size, loading quantity, high and low tide water and other conditions all need manual command and operation.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a dispatching method for full-automatic operation shipment, the whole operation process is completed by a system according to various digital models without personnel intervention, and the digital intelligent technology of the function can completely replace the operation functions which originally need to be completed by people, such as a ship loader driver, a ship loader finger, and the like.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automated shipping job scheduling method comprising:
job setting and preparation: before the operation starts, the planned cargo carrying capacity of each cabin is selected;
self-checking and preheating a ship loader;
hatch positioning scan: scanning an operation berth by using a transverse scanning radar of the ship loader, confirming the relative positions of the hatches of all the ships and the heights of the hatches and the coamings, if the hatches are not found after scanning or the number of the hatches is inconsistent with the parameter setting, manually processing the fault report, otherwise, calculating whether the operation requirement is met or not according to the heights of the hatches and the distances between the hatches and the ship loader, and otherwise, not meeting the operation requirement to perform fault report processing;
scheduling the operation of the ship loader: distributing loading hatches of each ship loader according to the planned loading capacity of each cabin, calculating the number and the positions of blanking points of each cabin according to the length and the positions of each hatch, and calculating the operation plan of each blanking point according to the planned loading capacity of each cabin;
the ship loader works: after each ship loader receives the blanking point operation plan, the ship loader operates to the appointed blanking point through the cabin changing and shifting machine, blanking operation is started, and when all blanking point loading plans are completed, the ship loader finishes the operation and returns to the original position.
Job setting and preparation also includes confirming the following: confirming that the bolts of the movable trolley are released, confirming that the hatch of the cargo ship is opened, preparing for operation, and starting full-flow automatic operation after confirming that input or selection data are correct by operators and all operation conditions are met.
The ship loader self-checking and preheating comprises: the ship loader is started to preheat equipment, all conveying belts are started to operate, whether the operating state of the equipment is normal or not is detected, the lifting of the large pitch to the highest is confirmed, the telescopic arm is retracted, and the lifting of the safety hook at the top of the large pitch is confirmed.
The hatch positioning scan further comprises: according to berth selection ship loader, confirm that the size every single move lifts to the highest, scan ship loader walk to berth initial non-scanning ship loader walk to berth outside, ship loader at uniform velocity travel to berth terminal AI analyzer record radar big dipper encoder data, AI analyzer modeling calculates hatch position and height.
The job scheduling of the ship loader specifically comprises the following steps: and automatically planning the number and the positions of the blanking points according to the coordinate size of the hatch, automatically calculating the blanking points of each bin according to the length of the hatch, automatically calculating the blanking center position according to the number and the length and the width of the hatch, taking the farthest distance as the blanking position if the blanking center position exceeds the farthest distance of the large pitching telescopic arm in the ship width direction, determining the number of the blanking points, then according to the planned cargo carrying capacity of each bin, decomposing and calculating the loading plan of each blanking point of each wheel, and delivering to a ship loader for operation.
The ship loader operation specifically includes: after each ship loader receives a blanking point operation plan, the ship loader operates to a specified blanking point through a cabin changing and shifting machine, blanking operation is started, a transverse radar and a longitudinal radar continuously monitor the relative position of the blanking point in the operation process, when the transverse deviation is met, a telescopic arm is adjusted, when the longitudinal deviation is met, the ship loader performs in-cabin shifting operation, after each blanking point loading plan is completed, the ship loader performs cabin changing and shifting operation, the next loading plan is executed, and when all blanking point loading plans are completed, the ship loader finishes the operation and returns to the original position.
The cabin changing and moving machine comprises:
closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting, and lifting the belt conveyor and/or the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
the large pitching is put to an operation angle of 0-8 degrees, and the small pitching is put on the overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
The intra-cabin transfer machine comprises:
closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
placing the small pitching on an overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
The blanking operation comprises the following steps:
confirming that the large pitch is at a working angle, the telescopic arm is at a designated position, and the small pitch is aligned with the trolley;
sequentially starting a cantilever belt conveyor, an overhead, an inclined bridge, a tunnel or a blanking valve for charging;
calculating the current loading capacity in real time according to the data of the inclined bridge belt scale;
controlling the telescopic arm to reciprocate to realize balanced shipment;
dynamically adjusting a large pitching angle according to the cabin height;
the loading capacity of the wheel reaches the plan, and the cabin changing and the machine moving are carried out or the operation is finished.
Ending the job includes:
closing a discharging valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting, and lifting the belt conveyor and/or the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the mobile trolley moves to a reset position;
the ship loader cart moves to the reset position.
Due to the adoption of the technical scheme, the invention has the following advantages:
the invention comprehensively utilizes the existing sensor and control system of the ship loader system, realizes a set of dispatching method for full-automatic operation shipment, does not need personnel intervention in the whole operation process, and is independently completed by the system according to various digital models. The digital intelligent technology of the function can completely replace the original operation functions which need to be finished by people, such as a ship loader driver, a ship loader finger waving hand and the like.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like parts are designated with like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a schematic illustration of an automated shipping job scheduling method according to an embodiment of the present application;
FIG. 2 is a hatch positioning scan schematic of an automated shipping job scheduling method according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a loader job schedule for an automated shipping job scheduling method according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a pod-change mover for an automated shipping job scheduling method according to an embodiment of the present application;
FIG. 5 is an inboard mobile sketch of an automated shipping job scheduling method according to an embodiment of the present application;
FIG. 6 is a blanking job schematic of an automated shipping job scheduling method according to an embodiment of the present application;
fig. 7 is an end job schematic of an automated shipping job scheduling method according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The informatization and automation degree of the current bulk cargo wharf ore loading system is low, drivers, command hands and central control scheduling personnel are needed during shipping operation, and a large amount of work is needed to be completed manually; all job scheduling needs to be communicated through the mode of interphones and the like through the layer-by-layer links of central control scheduling, job areas, teams, job posts and the like, the efficiency is low, and the job scheduling and control are estimated and measured through naked eyes of people and lack of fine digital management and control. In addition, the field operation environment of the bulk cargo wharf is poor, each operation time is long, a plurality of shifts are needed, and epidemic prevention management work difficulty is high during outer wheel operation.
The invention comprehensively utilizes the existing sensor and control system of the ship loader system, realizes a set of dispatching method for full-automatic operation shipment, does not need personnel intervention in the whole operation process, and is independently completed by the system according to various digital models. The digital intelligent technology of the function can completely replace the original operation functions which need to be finished by people, such as a ship loader driver, a ship loader finger waving hand and the like.
As shown in fig. 1, the automatic shipping operation scheduling method provided by the invention comprises the following steps:
job setting and preparation
Before the operation starts, an operator selects or inputs the following contents through a human-computer interface:
1. ship name and berth number;
2. planning cargo capacity of each compartment;
3. feeding by a new 4-belt conveyor according to the number of the discharge valve;
in addition, the operator confirms the following through interphone or video monitoring:
1. confirming the release of the moving trolley basket bolts;
2. confirming that a cargo ship hatch is opened and preparing for operation;
after confirming that the input or selection data is correct, the operator presses the start key after all the operation conditions are met, and the full-flow automatic operation is performed.
Self-checking and preheating of ship loader
1. Starting the ship loader to preheat equipment, and starting each conveying belt to run;
2. detecting whether the running states of all the devices are normal;
3. confirming that the size of the telescopic boom is lifted to the highest, and retracting the telescopic boom;
4. confirm that the large pitch top safety hook is lifted.
Hatch positioning scan (as shown in figure 2)
The transverse scanning radar of the ship loader is utilized to scan the operation berth, and the relative positions of the ship hatches and the heights of the hatch coamings are confirmed, and the steps are as follows:
1. selecting a ship loader according to berths;
2. confirming that the size is lifted to the highest pitch;
3. the scanning ship loader walks to the berth to start the non-scanning ship loader to walk to the outside of the berth;
4. the ship loader uniformly runs to the berth tail end AI analyzer to record radar/Beidou/encoder data;
ai analyzer modeling calculates hatch position and altitude.
If the hatch is not found after scanning or the number of the hatch is inconsistent with the parameter setting, reporting errors and carrying out manual processing;
according to the height of the hatch coaming and the distance between the hatch and the ship loader, whether the operation requirement is met or not is calculated (the maximum angle of the large pitching operation is 8 degrees and is higher than the hatch coaming).
And (5) performing error reporting processing without meeting the operation conditions.
Ship loader operation dispatch (as shown in figure 3)
1. Distributing a loading hatch of each ship loader according to the planned loading capacity of each cabin;
2. calculating the number and positions of blanking points of each cabin according to the length and the positions of each hatch;
3. and calculating each loading capacity of each blanking point according to the planned loading capacity of each cabin.
And the ship loader operation scheduling logic automatically plans the number and the positions of the blanking points according to the coordinate size of the hatch. The blanking points of each cabin are generally 1-3, and are automatically calculated according to the length of the hatch. And the blanking center position is automatically calculated according to the number and the length and width of the hatch. If the center position exceeds the maximum distance of the large pitch + telescopic arm in the sea-land (ship width) direction, the maximum distance can only be taken as a blanking position.
After the number of the blanking points is determined, according to the planned loading capacity of each cabin, the number of the blanking points is decomposed and calculated into a loading plan of each blanking point of each round, and the loading plan is delivered to 2 ship loaders for operation.
Operation of ship loader
After each ship loader receives the blanking point operation plan, the ship loader is operated to a specified blanking point through cabin changing and shifting, and blanking operation is started. In the operation process, the transverse radar and the longitudinal radar continuously monitor the relative position of the blanking point, and the telescopic arm is adjusted when the transverse (ship width direction) offset is encountered; encountering a longitudinal (long-side) offset will perform an intra-cabin mobile operation.
After the loading plan of each blanking point is completed, the ship loader performs cabin changing and machine moving operation, and executes the next loading plan. And after the loading plans of all blanking points are completed, the ship loader finishes the operation and returns to the original position.
The following is the control logic of changing cabin and moving machine, blanking operation and ending operation:
cabin changing machine (as shown in figure 4)
Closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the retraction of the belt conveyor/the telescopic arm, and lifting the belt conveyor/the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
the large pitching is put to an operation angle of 0-8 degrees, and the small pitching is put on the overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
In-cabin transfer machine (same as the cabin transfer machine, but without operating large pitch) (as shown in FIG. 5)
Closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor/telescoping arm retraction;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
placing the small pitching on an overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
Blanking operation (as shown in figure 6)
Confirming that the large pitch is at a working angle, the telescopic arm is at a designated position, and the small pitch is aligned with the trolley;
sequentially opening cantilever belt conveyors/overhead/inclined bridges/tunnels/blanking valves to charge;
calculating the current loading capacity in real time according to the data of the inclined bridge belt scale;
controlling the telescopic arm to reciprocate to realize balanced shipment;
dynamically adjusting a large pitching angle according to the cabin height;
the loading capacity of the wheel reaches the plan, and the cabin changing and the machine moving are carried out or the operation is finished.
Ending the job (as shown in FIG. 7)
Closing a discharging valve, and emptying the belt conveyor according to the calculated time length;
stopping the retraction of the belt conveyor/the telescopic arm, and lifting the belt conveyor/the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the mobile trolley moves to a reset position;
the ship loader cart moves to the reset position.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automated shipping job scheduling method, comprising:
job setting and preparation: before the operation starts, the planned cargo carrying capacity of each cabin is selected;
self-checking and preheating a ship loader;
hatch positioning scan: scanning an operation berth by using a transverse scanning radar of the ship loader, confirming the relative positions of the hatches of each ship and the heights of the hatch coamings, if the hatches are not found after scanning or the number of the hatches is inconsistent with the parameter setting, manually processing the fault report, otherwise, calculating whether the operation requirement is met or not according to the heights of the hatch coamings and the distances between the hatches and the ship loader, and otherwise, not meeting the operation requirement to perform fault report processing;
scheduling the operation of the ship loader: distributing loading hatches of each ship loader according to the planned loading capacity of each cabin, calculating the number and the positions of blanking points of each cabin according to the length and the positions of each hatch, and calculating the operation plan of each blanking point according to the planned loading capacity of each cabin;
the ship loader works: after each ship loader receives the blanking point operation plan, the ship loader operates to the appointed blanking point through the cabin changing and shifting machine, blanking operation is started, and when all blanking point loading plans are completed, the ship loader finishes the operation and returns to the original position.
2. The automated shipping job scheduling method of claim 1, wherein the job setup and preparation further comprises confirming: confirming that the bolts of the movable trolley are released, confirming that the hatch of the cargo ship is opened, preparing for operation, and starting full-flow automatic operation after confirming that input or selection data are correct by operators and all operation conditions are met.
3. The automated shipping job scheduling method of claim 1, wherein the shipment machine self-test and pre-heat comprises: the ship loader is started to preheat equipment, all conveying belts are started to operate, whether the operating state of the equipment is normal or not is detected, the lifting of the large pitch to the highest is confirmed, the telescopic arm is retracted, and the lifting of the safety hook at the top of the large pitch is confirmed.
4. The automated shipping job scheduling method of claim 1, wherein the hatch positioning scan further comprises: according to berth selection ship loader, confirm that the size every single move lifts to the highest, scan ship loader walk to berth initial non-scanning ship loader walk to berth outside, ship loader at uniform velocity travel to berth terminal AI analyzer record radar big dipper encoder data, AI analyzer modeling calculates hatch position and height.
5. The automated shipping job scheduling method of claim 1, wherein the shipping machine job scheduling specifically comprises: and automatically planning the number and the positions of the blanking points according to the coordinate size of the hatch, automatically calculating the blanking points of each bin according to the length of the hatch, automatically calculating the blanking center position according to the number and the length and the width of the hatch, taking the farthest distance as the blanking position if the blanking center position exceeds the farthest distance of the large pitching telescopic arm in the ship width direction, determining the number of the blanking points, then according to the planned cargo carrying capacity of each bin, decomposing and calculating the loading plan of each blanking point of each wheel, and delivering to a ship loader for operation.
6. The automated shipping job scheduling method of claim 1, wherein the shipment job specifically comprises: after each ship loader receives a blanking point operation plan, the ship loader operates to a specified blanking point through a cabin changing and shifting machine, blanking operation is started, a transverse radar and a longitudinal radar continuously monitor the relative position of the blanking point in the operation process, when the transverse deviation is met, a telescopic arm is adjusted, when the longitudinal deviation is met, the ship loader performs in-cabin shifting operation, after each blanking point loading plan is completed, the ship loader performs cabin changing and shifting operation, the next loading plan is executed, and when all blanking point loading plans are completed, the ship loader finishes the operation and returns to the original position.
7. The automated shipping job scheduling method of claim 6, wherein the cabin change and pickup operation comprises:
closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting, and lifting the belt conveyor and/or the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
the large pitching is put to an operation angle of 0-8 degrees, and the small pitching is put on the overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
8. The automated shipping job scheduling method of claim 6, wherein the in-cabin transfer operation comprises:
closing a blanking valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting;
separating the mobile trolley;
the small pitch is lifted to the highest;
the cart moves to the blanking point position;
placing the small pitching on an overhead track;
the movable trolley and the small pitching alignment rail clamping device are locked and fixed;
the telescopic arm stretches to the blanking point position to prepare for blanking.
9. The automated shipping job scheduling method of claim 1, wherein the blanking job comprises:
confirming that the large pitch is at a working angle, the telescopic arm is at a designated position, and the small pitch is aligned with the trolley;
sequentially starting a cantilever belt conveyor, an overhead, an inclined bridge, a tunnel or a blanking valve for charging;
calculating the current loading capacity in real time according to the data of the inclined bridge belt scale;
controlling the telescopic arm to reciprocate to realize balanced shipment;
dynamically adjusting a large pitching angle according to the cabin height;
the loading capacity of the wheel reaches the plan, and the cabin changing and the machine moving are carried out or the operation is finished.
10. The automated shipping job scheduling method of claim 1, wherein the ending job comprises:
closing a discharging valve, and emptying the belt conveyor according to the calculated time length;
stopping the belt conveyor and/or the telescopic arm from retracting, and lifting the belt conveyor and/or the telescopic arm to the highest elevation;
separating the mobile trolley;
the small pitch is lifted to the highest;
the mobile trolley moves to a reset position;
the ship loader cart moves to the reset position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310164192.9A CN116177481A (en) | 2023-02-24 | 2023-02-24 | Automatic shipping operation scheduling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310164192.9A CN116177481A (en) | 2023-02-24 | 2023-02-24 | Automatic shipping operation scheduling method |
Publications (1)
| Publication Number | Publication Date |
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| CN116177481A true CN116177481A (en) | 2023-05-30 |
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| CN202310164192.9A Pending CN116177481A (en) | 2023-02-24 | 2023-02-24 | Automatic shipping operation scheduling method |
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| CN (1) | CN116177481A (en) |
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- 2023-02-24 CN CN202310164192.9A patent/CN116177481A/en active Pending
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