CN118276491A - Ship unloader and cabin cleaning machine collaborative operation method and system - Google Patents
Ship unloader and cabin cleaning machine collaborative operation method and system Download PDFInfo
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- CN118276491A CN118276491A CN202410395520.0A CN202410395520A CN118276491A CN 118276491 A CN118276491 A CN 118276491A CN 202410395520 A CN202410395520 A CN 202410395520A CN 118276491 A CN118276491 A CN 118276491A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000000463 material Substances 0.000 claims description 9
- 239000013590 bulk material Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims 3
- 230000008569 process Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention discloses a cooperative operation method of a ship unloader and a cabin cleaning machine, which aims to ensure that the ship unloader and the cabin cleaning machine work cooperatively and have higher safety; simultaneously, a ship unloader and clearance machinery collaborative operation system is provided, its technical scheme: a method for cooperatively operating a ship unloader and a cabin cleaning machine comprises the following steps: step 1: presetting a plurality of operation points for a ship unloader, and selecting one of the operation points as a target operation point; step 2: acquiring the current position coordinates of the cabin cleaning machine; step 3: judging whether collision risks exist between the ship unloader and the cabin cleaning machine or not based on the position coordinates of the target operation point and the cabin cleaning machine; if collision risk exists, selecting another operation point as a target operation point, and re-executing the steps 2 and 3; if collision risk does not exist, the ship unloader is operated to a target operation point to operate, and the ship unloader belongs to the technical field of ship unloading.
Description
Technical Field
The invention belongs to the technical field of ship unloading, and particularly relates to a method and a system for cooperative operation of a ship unloader and a cabin cleaning machine.
Background
At present, most of the bulk cargo ship unloading at ports at home and abroad adopts ship unloading equipment operated manually, the operation range of the ship unloading equipment and the movement of each mechanism of the ship unloading equipment are controlled by a driver through an operation desk, and the operation efficiency and the operation safety are completely dependent on the proficiency and the cooperation acquaintance degree of the driver and a commander;
In the cabin cleaning operation stage, the ship unloading equipment and the cabin cleaning machine operate in the same cabin, the cooperation operation is needed by a driver and a command hand, the safety is low, and safety accidents are easy to occur.
Disclosure of Invention
The invention mainly aims to provide a cooperative operation method of a ship unloader and a cabin cleaning machine, which aims to ensure that the ship unloader and the cabin cleaning machine work cooperatively and have higher safety; simultaneously, a collaborative operation system of the ship unloader and the cabin cleaning machine is provided.
According to a first aspect of the invention, there is provided a method of collaborative operation of a ship unloader and a cleaning machine, comprising the steps of:
Step 1: presetting a plurality of operation points for a ship unloader, and selecting one of the operation points as a target operation point;
step 2: acquiring the current position coordinates of the cabin cleaning machine;
step 3: judging whether collision risks exist between the ship unloader and the cabin cleaning machine or not based on the position coordinates of the target operation point and the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and re-executing the steps 2 and 3;
if the collision risk does not exist, the ship unloader is operated to a target operation point to operate.
In the above-mentioned ship unloader and cabin cleaning machinery collaborative operation method, further include step 4: and acquiring motion data and position information of the cabin cleaning machine in real time, judging whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if so, sending an alarm signal to the cabin cleaning machine.
In the above-mentioned ship unloader and cabin cleaning machine collaborative operation method, in step 4, it is identified whether the cabin cleaning machine invades the warning area around the target operation point through the video AI, if yes, an alarm signal is sent to the cabin cleaning machine.
In the above method for collaborative operation of ship unloader and cabin cleaning machine, in step 4, the height of the remaining bulk cargo at the target operation point is detected in real time, and it is determined whether the remaining bulk cargo can allow the ship unloader to continue operation, if the remaining bulk cargo is insufficient, the ship unloader can continue operation, and the ship unloader stops operation.
According to a second aspect of the invention, there is provided a ship unloader and cleaning machine co-operating system for implementing the method of the first aspect, comprising the following modules:
the ship unloading flow control module is as follows: acquiring a plurality of preset operation points, and selecting one of the operation points as a target operation point;
And the cabin cleaning mechanical positioning module is as follows: acquiring position information of the cabin cleaning machine in the cabin to obtain the current position coordinate of the cabin cleaning machine;
the cabin cleaning mechanical wireless communication module comprises: transmitting the current position coordinates of the cabin cleaning machine to a ship unloading flow control module;
The ship unloader automation control module: controlling the action of the ship unloader according to the instruction of the ship unloader flow control module;
the ship unloading flow control module judges whether collision risks exist between the ship unloader and the cabin cleaning machine according to the target operation point and the position coordinates of the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and judging whether collision risk exists between the ship unloader and the cabin cleaning machine again;
If the collision risk does not exist, the ship unloading flow control module sends an instruction to the ship unloading machine automatic control module, so that the ship unloading machine operates to a target operation point for operation.
The ship unloader and the cabin cleaning machine collaborative operation system further comprises a cabin cleaning machine data acquisition module, wherein the cabin cleaning machine data acquisition module acquires motion data of the cabin cleaning machine;
The wireless communication module of the cabin cleaning machine sends the motion data and the position information of the cabin cleaning machine to the ship unloading flow control module, the ship unloading flow control module judges whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if yes, the ship unloading flow control module sends an alarm signal to the cabin cleaning machine.
The collaborative operation system of the ship unloader and the cabin cleaning machine further comprises a video AI identification module, wherein the video AI identification module identifies whether the cabin cleaning machine invades a warning area on the periphery of the target operation point and sends an identification result to the ship unloading flow control module, and if the ship unloading flow control module identifies that the ship unloading machine invades, the ship unloading flow control module sends an alarm signal to the cabin cleaning machine.
The ship unloader and cabin cleaning machine collaborative operation system further comprises a ship unloader data acquisition module, wherein the ship unloader data acquisition module detects the residual bulk material level height of a target operation point and sends data to a ship unloading flow control module;
The ship unloading flow control module judges whether the height of the material level of the residual bulk materials is enough for the ship unloader to continue to operate, and if the height of the material level of the residual bulk materials is not enough for the ship unloader to continue to operate, the ship unloading flow control module sends an instruction to the ship unloader automatic control module to stop the ship unloader from operating.
One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:
According to the invention, whether the ship unloader and the cabin cleaning machine have collision risks or not is judged through the target operation point coordinates of the ship unloader and the position coordinates of the cabin cleaning machine, collision between the ship unloader and the cabin cleaning machine is prevented when the ship unloader enters the cabin, meanwhile, the motion data and the position information of the cabin cleaning machine are collected in real time in the operation process of the ship unloader, the cabin cleaning machine is prevented from invading the warning area around the operation point of the ship unloader, collision between the cabin cleaning machine and the ship unloader in the operation process is prevented, and therefore, the ship unloader and the cabin cleaning machine are operated cooperatively, and the safety is higher.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a flow chart of a method of collaborative operation of a ship unloader and a cleaning machine of the present invention;
fig. 2 is a schematic diagram of the collaborative operation system of the ship unloader and the cleaning machine of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
In the cabin cleaning operation stage, the ship unloading equipment and the cabin cleaning machine operate in the same cabin, the cooperation operation is needed by a driver and a command hand, the safety is low, and safety accidents are easy to occur.
Referring to fig. 1, the invention provides a collaborative operation method of a ship unloader and a cabin cleaning machine, which comprises the steps of judging whether the ship unloader and the cabin cleaning machine have collision risks or not according to target operation point coordinates of the ship unloader and position coordinates of the cabin cleaning machine, preventing the ship unloader from colliding with the cabin cleaning machine when entering the cabin, collecting motion data and position information of the cabin cleaning machine in real time in the operation process of the ship unloader, preventing the cabin cleaning machine from invading a warning area around the operation point of the ship unloader, preventing the cabin cleaning machine from colliding with the ship unloader in the operation process, and enabling the ship unloader and the cabin cleaning machine to work in a collaborative mode, so that the safety is higher.
The method for cooperatively operating the ship unloader and the cabin cleaning machine comprises the following steps:
Step 1: presetting a plurality of operation points for a ship unloader, and selecting one of the operation points as a target operation point;
The ship unloader needs to move the input end into the ship cabin to acquire bulk cargo in the ship cabin for conveying, so that the position of the input end of the ship unloader in the ship cabin is an operation point, and before operation, the operation points can be set according to the structure of the ship cabin and are positions where the input end of the ship unloader is convenient to reach;
step 2: acquiring the current position coordinates of the cabin cleaning machine;
the cabin cleaning machine is provided with positioning detection equipment, and position information of the cabin cleaning machine in a cabin can be acquired in real time through the positioning detection equipment, so that position coordinates of the cabin cleaning machine in the cabin can be obtained;
step 3: judging whether collision risks exist between the ship unloader and the cabin cleaning machine or not based on the position coordinates of the target operation point and the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and re-executing the steps 2 and 3;
If the collision risk does not exist, the ship unloader is operated to a target operation point to operate; so as to prevent the ship unloader from colliding with the cabin cleaning machine when entering the cabin,
Step 4: acquiring motion data and position information of the cabin cleaning machine in real time, judging whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if so, sending an alarm signal to the cabin cleaning machine;
Meanwhile, whether the cabin cleaning machine invades a warning area around the target operation point or not is identified through the video AI, and if yes, an alarm signal is sent to the cabin cleaning machine;
The alarm signal can be light, alarm sound and the like, and can remind a driver of the cabin cleaning machine to pay attention to avoid through sound and light, and can also send alarm information into a cockpit of the cabin cleaning machine to inform that the cabin cleaning machine invades a warning area around a target operation point, so that collision between the cabin cleaning machine and a ship unloader in the operation process is prevented;
Based on this, can prevent to bump with the cabin cleaning machinery when the ship unloader goes into the cabin, simultaneously, in the ship unloader operation in-process, prevent that cabin cleaning machinery from bump with the ship unloader in the operation in-process, let the safety higher when ship unloader and cabin cleaning machinery collaborative operation.
In this embodiment, the cleaning machine is typically a loader, which facilitates stacking bulk grain in the hold.
The movement data of the cabin cleaning machine comprise an ignition state, an emergency stop state, a left and right steering position, a movable arm angle, a bucket angle, a forward gear, a backward gear, a neutral gear, a vehicle speed and the like, and by matching with the position information of the cabin cleaning machine, whether the cabin cleaning machine can invade a warning area around a target operation point can be judged.
In this embodiment, the target working point is used as a working area, the area range of which is associated with the opening size of the grab bucket of the ship unloader, and the guard area around the target working point is the working area of the target working point which is expanded outwards by a preset range, and the preset inverse range is the guard area around the target working point.
In step 4, the level height of the residual bulk cargo at the target operation point is detected in real time, whether the residual bulk cargo can enable the ship unloader to continue operation is judged, and if the residual bulk cargo is insufficient for enabling the ship unloader to continue operation, the ship unloader stops operation; thereby preventing the ship unloader from colliding with the cabin;
specifically, through the 3D laser scanner on the ship unloader, the 3D laser scanner can scan the bulk cargo in the cabin and model and update data in real time, so that the residual bulk cargo level height of the target operation point is detected in real time to obtain the residual bulk cargo level height.
Referring to fig. 2, according to a second aspect of the present invention, there is also provided a collaborative operation system of a ship unloader and a cleaning machine, comprising the following modules:
Ship unloading flow control module 1: acquiring a plurality of preset operation points, and selecting one of the operation points as a target operation point; the ship unloading flow control module 1 is connected with an external production management system or an ERP system, so that an operation work order is obtained, and a plurality of operation points of the ship unloading machine are preset in the operation work order;
and a cabin cleaning mechanical positioning module 2: acquiring the position information of the cabin cleaning machine in the cabin in real time, and further obtaining the position coordinate of the cabin cleaning machine in the cabin;
Cabin cleaning mechanical wireless communication module 3: transmitting the current position coordinates of the cabin cleaning machine to a ship unloading flow control module 1;
Ship unloader automation control module 4: controlling the action of the ship unloader according to the instruction of the ship unloader flow control module 1;
The ship unloading flow control module 1 judges whether collision risks exist between the ship unloader and the cabin cleaning machine according to the target operation points and the position coordinates of the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and judging whether collision risk exists between the ship unloader and the cabin cleaning machine again;
if the collision risk does not exist, the ship unloading flow control module 1 sends an instruction to the ship unloader automatic control module 4 to enable the ship unloader to run to a target operation point for operation; therefore, collision between the ship unloader and the cabin cleaning machine when the ship unloader enters the cabin is prevented.
In the embodiment, the system further comprises a cabin cleaning machine data acquisition module 5, wherein the cabin cleaning machine data acquisition module 5 acquires motion data of the cabin cleaning machine in real time;
in the operation process, the wireless communication module 3 of the cabin cleaning machine sends motion data and position information of the cabin cleaning machine to the ship unloading flow control module 1, the ship unloading flow control module 1 judges whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if yes, the ship unloading flow control module 1 sends an alarm signal to the cabin cleaning machine.
In this embodiment, the ship unloading system further comprises a video AI identification module 6, wherein the video AI identification module 6 is installed on the ship unloading machine, and is used for identifying whether the cabin cleaning machine invades a warning area around a target operation point and sending an identification result to the ship unloading flow control module 1, and if the cabin cleaning machine invades, the ship unloading flow control module 1 sends an alarm signal to the cabin cleaning machine;
The warning signal can be light, alarm sound and the like, and can remind a driver of the cabin cleaning machine to pay attention to avoid through sound and light, and can also send warning information into a cockpit of the cabin cleaning machine to inform that the cabin cleaning machine invades a warning area around a target operation point, so that collision between the cabin cleaning machine and a ship unloader in the operation process is prevented.
In this embodiment, the ship unloader further includes a ship unloader data acquisition module 7, where the ship unloader data acquisition module 7 can detect the level of the remaining bulk cargo at the target operation point in real time, and send the data to the ship unloader flow control module 1, and determine whether the remaining bulk cargo can allow the ship unloader to continue operation, and if the remaining bulk cargo is insufficient, the ship unloader flow control module 1 sends an instruction to the ship unloader automation control module 4 to allow the ship unloader to stop operation; thereby preventing the ship unloader from colliding with the cabin.
Specifically, a 3D laser scanner is arranged on the ship unloader, and the 3D laser scanner can scan and model bulk materials in a cabin and update data in real time, so that the residual bulk material level of a target operation point is detected in real time;
Of course, the ship unloader data acquisition module 7 can also acquire data of other mechanisms of the ship unloader, such as real-time position data of each mechanism, real-time running speed of each mechanism and the like;
Generally, different sensors are arranged on each mechanism to detect data, for example, an absolute value encoder is used for detecting the moving distance of the cart, and a magnetic nail device is used for calibrating the moving distance of the cart; laser radar sensors are arranged on two sides of the arm support of the ship unloader and used for detecting obstacles on two sides of the arm support and carrying out anti-collision protection on the arm support; therefore, the operation condition of the ship unloader can be comprehensively monitored, and the automatic operation of the ship unloader is facilitated.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The cooperative operation method of the ship unloader and the cabin cleaning machine is characterized by comprising the following steps of:
Step 1: presetting a plurality of operation points for a ship unloader, and selecting one of the operation points as a target operation point;
step 2: acquiring the current position coordinates of the cabin cleaning machine;
step 3: judging whether collision risks exist between the ship unloader and the cabin cleaning machine or not based on the position coordinates of the target operation point and the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and re-executing the steps 2 and 3;
if the collision risk does not exist, the ship unloader is operated to a target operation point to operate.
2. The method of collaborative operation of a ship unloader and a cleaning machine according to claim 1, further comprising step 4: and acquiring motion data and position information of the cabin cleaning machine in real time, judging whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if so, sending an alarm signal to the cabin cleaning machine.
3. The method according to claim 2, wherein in step 4, it is identified by video AI whether the cleaning machine invades the warning area around the target working point, and if so, an alarm signal is sent to the cleaning machine.
4. The method according to claim 2, wherein in step 4, the level of the remaining bulk material at the target working point is detected in real time, and it is determined whether the remaining bulk material can be used for continuing the operation of the ship unloader, and if the remaining bulk material is insufficient for continuing the operation of the ship unloader, the ship unloader is stopped.
5. A ship unloader and cleaning machine co-operating system for implementing the method according to any one of claims 1-4, comprising the following modules:
the ship unloading flow control module is as follows: acquiring a plurality of preset operation points, and selecting one of the operation points as a target operation point;
And the cabin cleaning mechanical positioning module is as follows: acquiring position information of the cabin cleaning machine in the cabin to obtain the current position coordinate of the cabin cleaning machine;
the cabin cleaning mechanical wireless communication module comprises: transmitting the current position coordinates of the cabin cleaning machine to a ship unloading flow control module;
The ship unloader automation control module: controlling the action of the ship unloader according to the instruction of the ship unloader flow control module;
the ship unloading flow control module judges whether collision risks exist between the ship unloader and the cabin cleaning machine according to the target operation point and the position coordinates of the cabin cleaning machine;
If collision risk exists, selecting another operation point as a target operation point, and judging whether collision risk exists between the ship unloader and the cabin cleaning machine again;
If the collision risk does not exist, the ship unloading flow control module sends an instruction to the ship unloading machine automatic control module, so that the ship unloading machine operates to a target operation point for operation.
6. The collaborative operation system of a ship unloader and a cleaning machine according to claim 5, further comprising a cleaning machine data acquisition module that acquires movement data of the cleaning machine;
The wireless communication module of the cabin cleaning machine sends the motion data and the position information of the cabin cleaning machine to the ship unloading flow control module, the ship unloading flow control module judges whether the cabin cleaning machine invades a warning area around a target operation point according to the motion data and the position information of the cabin cleaning machine, and if yes, the ship unloading flow control module sends an alarm signal to the cabin cleaning machine.
7. The collaborative work system of a ship unloader and a cleaning machine according to claim 6, further comprising a video AI identification module, wherein the video AI identification module identifies whether the cleaning machine is intruded into a warning area around a target work point and sends the identification result to a ship unloading process control module, and if the intrusion is identified, the ship unloading process control module sends an alarm signal to the cleaning machine.
8. The collaborative operation system of a ship unloader and a cleaning machine according to claim 5, further comprising a ship unloader data acquisition module, wherein the ship unloader data acquisition module detects a remaining bulk material level height of a target operation point and sends data to a ship unloading process control module;
The ship unloading flow control module judges whether the height of the material level of the residual bulk materials is enough for the ship unloader to continue to operate, and if the height of the material level of the residual bulk materials is not enough for the ship unloader to continue to operate, the ship unloading flow control module sends an instruction to the ship unloader automatic control module to stop the ship unloader from operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410395520.0A CN118276491A (en) | 2024-04-02 | 2024-04-02 | Ship unloader and cabin cleaning machine collaborative operation method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410395520.0A CN118276491A (en) | 2024-04-02 | 2024-04-02 | Ship unloader and cabin cleaning machine collaborative operation method and system |
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| CN118276491A true CN118276491A (en) | 2024-07-02 |
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| CN202410395520.0A Pending CN118276491A (en) | 2024-04-02 | 2024-04-02 | Ship unloader and cabin cleaning machine collaborative operation method and system |
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