An intelligent crawler-type cabin cleaning machine and its cleaning method

Abstract

The present invention discloses an intelligent crawler type cabin cleaning machine and its cleaning method, which includes a support frame. A crawler type traveling mechanism is arranged at the base of the support frame. A material scraping mechanism and a pushing shovel mechanism are respectively hinged and connected up and down on one side of the support frame. A rotary drive support seat extends from the base of the support frame on the other side of the support frame. A cloth conveying mechanism lies on the rotary drive support seat through a slewing support turntable seat. An aggregate conveying mechanism is arranged through one side and the other side of the support frame. A hydraulic drive control cabinet is lying and arranged in the middle of the base of the support frame. A hydraulic power source and a PLC controller are arranged in the control cabinet. The hydraulic power source is connected to the crawler type traveling mechanism, the material scraping mechanism, the pushing shovel mechanism, the cloth conveying mechanism and the rotary drive support seat to provide power. The present invention integrates pushing shovel, conveying and cloth feeding. The cloth can rotate around the middle part of the cabin to pile up the scattered materials around the cabin at the stockpiling place, which is safe and improves the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to an intelligent crawler type cabin cleaning machine and a cleaning method therefor. Background Art

[0002] In the unloading of bulk goods at ports, the bulk goods in the cabin are grabbed out by a grab bucket. The grab bucket moves up and down at the cabin opening. Therefore, in the later unloading process, the bulk goods around the bottom of the cabin need to be concentrated in the middle of the cabin for the grab bucket to grab. Thus, in the later stage, it is necessary to lower auxiliary machinery and workers to the bottom of the cabin for operation. Currently, most of the auxiliary machinery used is a forklift. However, since it is bulk goods, using a forklift requires workers to go down in advance to open up a site for the forklift to move. In addition, the process of using a forklift requires moving forward to shovel up, moving backward, and moving forward to pour out, which takes a long time. Due to the poor working environment in the cabin, the driver also needs to pay attention to the operation of the grab bucket above. The labor intensity is high, the efficiency is low, and the safety factor is low. With the application of wireless remote control technology, wireless operation can be completely achieved using wireless remote control technology. To cooperate with wireless operation, a more efficient auxiliary mechanical equipment for improving the cabin cleaning operation process is required. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent crawler type cabin cleaning machine and a cleaning method therefor, which integrates pushing, conveying, and distributing. And the distribution can rotate around the middle of the cabin, and can accumulate the bulk materials around the cabin to the middle of the cabin during forward movement, reducing the labor intensity and improving the cabin cleaning efficiency.

[0004] To achieve the above purpose, the technical solution of the present invention is:

[0005] An intelligent crawler type cabin cleaning machine, comprising a support frame, crawler type traveling mechanisms are respectively arranged on both sides of the base of the support frame. Among them, a material scraping mechanism and a pusher shovel mechanism are respectively hinge-connected up and down on one side of the support frame. On the other side of the support frame opposite to one side of the support frame, a rotary drive support base extends from the base of the support frame. A cloth conveying mechanism lies on the rotary drive support base through a slewing support turntable seat. The rotary drive support base is used to drive the slewing support turntable so that the tail end outlet of the conveyor belt of the cloth conveying mechanism always faces the stockpiling place under the cabin opening. An aggregate conveying mechanism is arranged through one side and the other side of the support frame. The front end of the conveyor belt of the aggregate conveying mechanism is connected to the pusher shovel of the pusher shovel mechanism, and the tail end of the conveyor belt of the aggregate conveying mechanism is placed on the rotary drive support base. A hydraulic drive control cabinet is horizontally arranged in the middle of the base of the support frame. A hydraulic power source and a PLC controller are arranged in the control cabinet. The hydraulic power source is respectively connected to the crawler type traveling mechanism, the material scraping mechanism, the pusher shovel mechanism, the cloth conveying mechanism and the rotary drive support base through hydraulic drive switches to provide power. The output of the PLC controller is respectively connected to control the hydraulic power source and the hydraulic drive switches. An intelligent cleaning controller is connected to the PLC controller. During operation, as the cleaning machine travels, the pusher shovel of the pusher shovel mechanism shovels up the bulk materials and sends them onto the conveyor belt of the aggregate conveying mechanism, or the material scraping roller of the material scraping mechanism scrapes the bulk materials from the pusher shovel of the pusher shovel mechanism onto the conveyor belt of the aggregate conveying mechanism. The bulk materials fall onto the conveyor belt of the cloth conveying mechanism through the conveyor belt of the aggregate conveying mechanism and are conveyed to the stockpiling place under the cabin opening for the unloading grab to grab.

[0006] The further solution is: the material scraping mechanism includes a material scraping arm, the rear end of the material scraping arm is hinge-connected to the upper end of one side of the support frame. A first hydraulic cylinder telescopic arm is connected to the support frame below the upper end hinge connection. The front end of the first hydraulic cylinder telescopic arm is connected to the middle of the material scraping arm to drive the material scraping arm to swing up and down around the hinge connection. The material scraping roller is arranged at the front end of the material scraping arm and is driven to rotate by a first hydraulic motor. The material scraping arm includes a fixed arm and a material scraping telescopic arm. The fixed arm and the material scraping telescopic arm are sleeved. The rear end of the fixed arm is hinge-connected to the upper end of one side of the support frame through a rotating shaft. A second hydraulic cylinder telescopic arm is arranged on the fixed arm. The front end of the second hydraulic cylinder telescopic arm is connected to the material scraping telescopic arm to drive the material scraping telescopic arm to move back and forth.

[0007] The further solution is: the pusher shovel mechanism includes two pusher shovel arms. The tail ends of the two pusher shovel arms are hinge-connected to both sides of the lower end of one side of the support frame. The two pusher shovel arms are respectively on both sides of the conveyor belt of the aggregate conveying mechanism. Third hydraulic cylinder telescopic arms are respectively connected to one side of the support frame above the lower end both sides hinge connection. The front ends of the third hydraulic cylinder telescopic arms are connected to the middle of the pusher shovel arms to drive the pusher shovel arms to swing up and down around the hinge connection. The pusher shovel is arranged at the front ends of the two pusher shovel arms.

[0008] The further scheme is that: the aggregate conveying mechanism comprises a conveyor belt frame, which includes a horizontal section frame and an inclined section frame that are hinged to each other. The horizontal section frame is placed above the hydraulic drive control cabinet, and the front end of the inclined section frame is connected to the pusher of the pusher mechanism and is placed at the lower end or the rear side of the pusher. The rear end of the horizontal section frame is placed above the rotary drive support seat. Upper supporting rollers and lower supporting rollers of the conveyor belt are respectively arranged up and down between the two side plates of the conveyor belt frame. A plurality of upper supporting rollers and lower supporting rollers are arranged at intervals along the length direction of the conveyor belt frame. A rotary drum is arranged at the front end of the inclined section frame, and a driving drum is arranged at the rear end of the horizontal section frame. The conveyor belt is arranged to bypass the rotary drum and the driving drum above the upper supporting rollers and the lower supporting rollers. The driving drum is driven to rotate by a second hydraulic motor, thereby driving the conveyor belt to run.

[0009] The further scheme is that: the cloth conveying mechanism comprises a conveyor frame, which is at least divided into two sections, namely a horizontal frame section and an inclined frame section. The horizontal frame section and the inclined frame section are hinged to each other. The horizontal frame section lies on the rotary drive support seat through a rotary support turntable seat. A fourth hydraulic cylinder telescopic arm is arranged on the side wall of the horizontal frame section. The front end of the fourth hydraulic cylinder telescopic arm is connected to the inclined frame section to drive the inclined frame section to swing around the hinge connection and change the inclination angle of the inclined frame section. Upper supporting rollers and lower supporting rollers of the conveyor are respectively arranged up and down between the two side plates of the conveyor frame. A plurality of upper supporting rollers and lower supporting rollers are arranged at intervals along the length direction of the conveyor frame. A rotary drum is arranged at the front end of the horizontal frame section, and a driving drum is arranged at the rear end of the inclined frame section. The conveyor is arranged to bypass the rotary drum and the driving drum above the upper supporting rollers and the lower supporting rollers. The driving drum is driven to rotate by a third hydraulic motor, thereby driving the conveyor to run. The inclined frame section is divided into a first inclined frame section and a second inclined frame section which are arranged front and back. The first inclined frame section and the second inclined frame section are hinged to each other. The first inclined frame section is hinged to the horizontal frame section. Fifth hydraulic cylinder telescopic arms are respectively arranged on the two side plates of the first inclined frame section. The front ends of the fifth hydraulic cylinder telescopic arms are connected to the second inclined frame section to drive the second inclined frame section to rotate around the hinge connection, which is used to fold the inclined frame section in the non-working state.

[0010] The further scheme is that: the crawler-type traveling mechanism comprises toothed rollers fixed at the front and rear ends of the support frame base. A traveling crawler is arranged around the toothed rollers at the front and rear ends. The crawler meshes with the toothed rollers. One of the toothed rollers is a driving toothed roller driven by a fourth hydraulic motor. A plurality of crawler supporting wheels are arranged between the toothed rollers at the front and rear ends.

[0011] The solution is further that: the intelligent hold cleaning controller includes a plurality of lidars and a control server connected thereto. The plurality of lidars are respectively arranged around and on the top of the support frame. The lidars arranged around the support frame are used to detect the state of the bulk materials around, and the lidars arranged on the top are used for mapping positioning and tracking and identifying the hatch of the cargo hold. The control server is used to establish a point cloud map of the cargo hold according to the signals of the lidars, and issue control instructions to the PLC controller according to the state of the bulk materials to achieve intelligent hold cleaning.

[0012] The solution is further that: the intelligent controller further includes a GNSS+IMU integrated navigation device, and the GNSS+IMU integrated navigation device is arranged on the top of the support frame for supplementing the positioning of the lidar.

[0013] An intelligent hold cleaning method for a crawler type hold cleaning machine is an intelligent hold cleaning method based on the intelligent crawler type hold cleaning machine. Lidars are respectively arranged around and on the top of the support frame. Among them, the method includes:

[0014] The first step: establish a point cloud map of the cargo hold, position the hold wall and the hatch of the cargo hold, position the current position of the hold cleaning machine in the cargo hold, and plan the operation path according to the signals of the arranged lidars obtained;

[0015] The second step: rotate the cloth conveying mechanism, and according to the position of the hatch of the cargo hold, make the outlet end of the tail end of the conveyor belt of the cloth conveying mechanism face the material piling place under the hatch of the cargo hold;

[0016] The third step: determine the quantity of bulk materials on the working surface in front of the hold cleaning machine, and determine whether the conditions for the pushing and shoveling operation are met. When the operation conditions are met, start the pushing and shoveling mechanism to perform the shoveling action, shovel the bulk materials to the cloth conveying mechanism, and transport them to the material piling place at the hatch of the cargo hold through the conveyor belt of the cloth conveying mechanism. When the quantity of ore materials on the working surface does not meet the conditions for continuing the pushing and shoveling operation, stop shoveling, determine the next path point according to the planned operation path, start the crawler type walking mechanism to walk to the next path point, and return to the second step until all the operation paths are completed.

[0017] The solution is further that: while starting the pushing and shoveling mechanism to perform the shoveling action, start the raking mechanism to rake. The raking mechanism cooperates to shovel the bulk materials to the cloth conveying mechanism; and after all the operation paths are completed, determine whether there is bulk material scaling according to the obtained hold wall information. If there is, start the raking mechanism, and use the raking roller of the raking mechanism to remove the scaling.

[0018] The beneficial effects of the present invention are: the equipment integrates pushing and shoveling, conveying, and cloth spreading, and the cloth can rotate around the middle of the cargo hold, and can stack the bulk materials around the cargo hold to the middle material piling place of the cargo hold without backing and turning during the forward propulsion process, reducing the labor intensity, being safe and improving the hold cleaning efficiency.

[0019] stacked to the middle material piling place of the cargo hold, reducing the labor intensity, being safe and improving the hold cleaning efficiency.

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of the hold cleaner;

[0022] Figure 2 It is a schematic diagram of the side structure of the support frame of the hold cleaner;

[0023] Figure 3 It is a schematic plan view of the base of the support frame of the hold cleaner, Figure 2 the top view of;

[0024] Figure 4 It is a schematic diagram of the planar unfolded structure of the aggregate conveying mechanism of the hold cleaner;

[0025] Figure 5 It is a schematic diagram of the planar unfolded structure of the pusher mechanism of the hold cleaner, Figure 1 the view from direction A of the pusher mechanism of the machine;

[0026] Figure 6 It is a schematic diagram of the planar unfolded structure of the cloth conveying mechanism of the hold cleaner;

[0027] Figure 7 It is a schematic view of the hold cleaner seen from the side of the cloth conveying mechanism;

[0028] Figure 8 It is a schematic diagram of the retracted state of the cloth conveying mechanism of the hold cleaner;

[0029] Figure 9 It is a schematic diagram of the structure of the rotary drive support seat of the hold cleaner, Figure 7 the enlarged view of part B of;

[0030] Figure 10 It is a schematic diagram of the hydraulic power control logic of the hold cleaner. Specific Embodiments

[0031] Embodiment 1:

[0032] An intelligent crawler hold cleaner is a fully hydraulic hold cleaning device, such as Figures 1 to 10As shown in the figure, the hold cleaning machine includes a support frame 1, which is a rectangular frame composed of welded steel beams, including a top rectangular frame 101, a base rectangular frame 102, and front and rear side rectangular frames 103 and 104. Crawler-type traveling mechanisms 2 are respectively arranged on both sides of the support frame base. A material scraping mechanism 3 and a pusher mechanism 4 are respectively hinged and connected above and below one side of the support frame. A platform 105 extends from the support frame base on the other side of the support frame opposite to one side of the support frame. A rotary drive support base 5 is arranged on the platform 105. A cloth conveying mechanism 6 lies horizontally on the rotary drive support base 5 through a slewing support turntable 601. The rotary drive support base 5 is used to drive the slewing support turntable 601 to rotate so that the tail end outlet of the conveyor belt of the cloth conveying mechanism 6 always faces the stockpiling place under the hold opening. An aggregate conveying mechanism 7 penetrates through one side and the other side of the support frame. The front end of the conveyor belt of the aggregate conveying mechanism 7 is connected to the pusher 401 of the pusher mechanism 4. The tail end of the conveyor belt of the aggregate conveying mechanism 7 is vertically above the rotary drive support base 5 arranged on the platform 105 extending from the support frame base. A feeding hopper 8 is arranged corresponding to the front end of the conveyor belt of the cloth conveying mechanism 6 at the tail end of the conveyor belt. A hydraulic drive control cabinet 9 lies horizontally in the middle of the support frame base, as Figure 10As shown in the figure, a hydraulic power source 901 and a PLC controller 902 are provided in the control cabinet. The hydraulic power source is respectively connected to the crawler-type traveling mechanism, the material scraping mechanism, the push shovel mechanism, and the cloth conveying mechanism through hydraulic drive switches 903 to provide power. The outputs of the PLC controller 902 are respectively connected to control the hydraulic power source 901 and the hydraulic drive switches 903 (directional valve switches) to control the actions of the hydraulic motors and the telescopic arms of the hydraulic cylinders in each mechanism according to instructions. An intelligent hold cleaning controller is connected to the PLC controller 902; the intelligent hold cleaning controller includes a plurality of lidars 904 and a control server 905 connected thereto. The plurality of lidars are respectively arranged around and on the top of the support frame (in this embodiment, there are 6 lidars, one on each of the four sides and 2 on the top, not shown in the figure). The lidars arranged around the support frame are in the middle of the four sides of the support frame and are used to detect the state of the scattered materials around. The lidars arranged on the top are used for map building and positioning and tracking and identifying the hold hatch. The control server is used to establish a point cloud map of the hold according to the signals of the lidars and issue control instructions to the PLC controller according to the state of the scattered materials to achieve intelligent hold cleaning; a GNSS+IMU combined navigation device 906 is also installed on the top. The GNSS+IMU combined navigation device has been widely used in autonomous vehicle navigation and is a known technology. The GNSS+IMU combined navigation device is arranged on the top of the support frame for supplementing the positioning of the lidars; during operation, as the hold cleaning machine moves, the push shovel of the push shovel mechanism shovels up the scattered materials and sends them onto the conveyor belt of the aggregate conveying mechanism, or the scraping roller 301 of the material scraping mechanism scrapes the scattered materials from the push shovel of the push shovel mechanism onto the conveyor belt of the aggregate conveying mechanism. The scattered materials fall onto the conveyor belt of the cloth conveying mechanism through the conveyor belt of the aggregate conveying mechanism and are transported to the middle stacking area of the hold for the unloading grab to grab.

[0033] Among them: The material scraping mechanism 3 includes a scraping arm 302. The scraping arm 302 can be two or one. Two scraping arms will be separately arranged on both sides of the support frame. The rear end of the scraping arm is hinged to the upper end of one side of the support frame 1 through a rotating shaft 303. Below the upper hinge connection, a first hydraulic cylinder telescopic arm 10 is connected and arranged on one side of the support frame. The front end of the first hydraulic cylinder telescopic arm 10 is connected to the middle of the scraping arm 302 to drive the scraping arm 3 to swing up and down around the hinge connection. The scraping arm 302 includes a fixed arm 302-1 and a scraping telescopic arm 302-2. The fixed arm 302-1 and the scraping telescopic arm 302-2 are sleeved. The rear end of the fixed arm 302-1 is hinged to the upper end of one side of the support frame 1 through a rotating shaft 303. On the fixed arm 302-1, a second hydraulic cylinder telescopic arm 11 is arranged. The front end of the second hydraulic cylinder telescopic arm 11 is connected to the scraping telescopic arm 302-2 to drive the scraping telescopic arm 302-2 to move back and forth. The scraping roller 301 is arranged at the front end of the scraping arm 302 and is driven by a first hydraulic motor 12 to rotate. Of course, scraping teeth (not shown in the figure) are arranged around the scraping roller 301.

[0034] In the embodiment: as Figure 1 and Figure 5 shown, the pusher mechanism 4 includes two pusher arms 402. The tails of the two pusher arms are hingedly connected to both sides of the lower end of one side of the support frame through a pin 403. The two pusher arms are respectively on both sides of the conveyor belt and the side plate of the aggregate conveying mechanism 7. On one side of the support frame above the pin 403 hingedly connected to both sides of the lower end, a third hydraulic cylinder telescopic arm 13 is respectively connected and arranged. The front end of the third hydraulic cylinder telescopic arm 13 is connected to the middle of the pusher arm 402 to drive the pusher arm to swing up and down around the hinge connection. The pusher 401 is arranged at the front end of the pusher arm 402. The shape of the pusher 401 is like that of a forklift shovel. As Figure 5 shown, a dispersion rib plate 404 is arranged in the middle of the pusher 401. A connecting rod 405 is arranged between the two pusher arms. The front end of the conveyor belt of the aggregate conveying mechanism is arranged at the lower end of the connecting rod 405.

[0035] In the embodiment: as Figure 1 and Figure 4 shown, the aggregate conveying mechanism 7 includes a conveyor belt frame, and the conveyor belt frame includes a horizontal section frame 701 and an inclined section frame 702 that are hingedly connected to each other. The horizontal section frame is placed on the hydraulic drive control cabinet 9. The front end of the inclined section frame 702 is connected to the pusher 401 of the pusher mechanism 4 and is placed at the lower end or the rear side of the pusher 401. The tail end of the horizontal section frame is placed on the rotary drive support base 5 and is perpendicular to the rotary drive support base 5. An upper idler 703 and a lower idler 704 of the conveyor belt are respectively arranged up and down between the two side plates of the conveyor belt frame. A plurality of upper idlers 703 and lower idlers 704 are arranged at intervals along the length direction of the conveyor belt frame. A rotary drum 705 is arranged at the front end of the inclined section frame. A drive drum 706 is arranged at the tail end of the horizontal section frame. The conveyor belt is arranged to bypass the rotary drum and the drive drum on the upper sides of the upper idler and the lower idler. Among them, a tensioning device is also arranged between the two lower idlers 704. The second hydraulic motor 14 drives the drive drum to rotate, thereby driving the conveyor belt to run.

[0036] In the embodiment: as Figure 1 and Figure 6As shown, the fabric conveying mechanism 6 includes a conveyor belt frame, which is at least divided into two sections, namely a horizontal frame section 602 and an inclined frame section 603. The horizontal frame section and the inclined frame section are hinged to each other. The horizontal frame section lies horizontally on the rotary drive support base 5 through the rotary support turntable 601. A fourth hydraulic cylinder telescopic arm 15 is provided on the side wall of the horizontal frame section. The front end of the fourth hydraulic cylinder telescopic arm 15 is connected to the inclined frame section 603 to drive the inclined frame section 603 to swing around the hinge connection to change the inclination angle of the inclined frame section 603. Above and below between the two side plates of the conveyor belt frame, an upper idler 604 and a lower idler 605 of the conveyor belt are respectively arranged. A plurality of upper idlers 604 and lower idlers 605 are arranged at intervals along the length direction of the conveyor belt frame. The upper idlers 604 are divided into two and are respectively inclined inward (to prevent deviation) and arranged on the two side plates of the conveyor belt frame. A rotary drum 606 is provided at the front end of the horizontal frame section, and a drive drum 607 is provided at the tail end of the inclined frame section. The conveyor belt is arranged to bypass the rotary drum 606 and the drive drum 607 above the upper idler and the lower idler. The drive drum 607 is driven to rotate by the third hydraulic motor 16, thereby driving the conveyor belt to run.

[0037] Considering that the inclined frame section 603 can be retracted when not working, the inclined frame section 603 is divided into a first inclined frame section 603-1 and a second inclined frame section 603-2 arranged front and back. The first inclined frame section 603-1 and the second inclined frame section 603-2 are hinged by a pin. The first inclined frame section 603-1 is hinged to the horizontal frame section 602. A fifth hydraulic cylinder telescopic arm 17 is provided on the first inclined frame section 603-1. The front end of the fifth hydraulic cylinder telescopic arm 17 is connected to the second inclined frame section 603-2 to drive the second inclined frame section 603-2 to rotate around the rotating shaft 608 of the hinge connection. In the embodiment, the rotational connection adopts a connecting rod 609 and a rope 610 to be connected to the front end of the fifth hydraulic cylinder telescopic arm 17. The rotation of the second inclined frame section 603-2 is realized by tightening and loosening the rope through the fifth hydraulic cylinder telescopic arm 17. As Figure 8 shown, it is used to fold the inclined frame section in the non-working state.

[0038] In the embodiment: As Figure 1 and Figure 2 as well as Figure 8 shown, the crawler-type traveling mechanism 2 includes toothed rollers 201 fixed at the front and rear ends of the support frame base. A traveling crawler 202 is arranged around the toothed rollers at the front and rear ends. The crawler meshes with the toothed rollers. One of the toothed rollers is a driving toothed roller driven by the fourth hydraulic motor 18. Among them: There are two sets of crawler-type traveling mechanisms 2, and the two sets of crawler-type traveling mechanisms 2 are respectively arranged on the lower sides of the left and right ends of the support frame base. The fourth hydraulic motors 18 of the crawler-type traveling mechanisms 2 on both sides are independently controlled to facilitate steering control. A plurality of crawler support wheels 203 are arranged between the toothed rollers at the front and rear ends.

[0039] In the embodiment: As Figure 9 shown, a gear ring turntable 501 driven to rotate by a fifth hydraulic motor 19 (a hydraulic motor with a speed reducer) is arranged in the rotary drive support base 5. The lower end of the slewing support turntable 601 of the cloth conveying mechanism is fixedly connected to a rotating shaft 502 arranged in the rotary drive support base 5 and lies on a bearing seat 503 in the gear ring turntable 501 through a rotating shaft seat 502. The gear ring turntable 501 is connected to the slewing support turntable 601 through a connecting column 504. The fifth hydraulic motor 19 drives the gear ring turntable 501 to rotate, so that the tail end outlet end of the conveyor belt of the cloth conveying mechanism always faces the bunker at the cabin opening, realizing pile discharging in a fixed area.

[0040] In the embodiment, the width of the conveyor belt used is 1.8 m to 2 m, and the width of the transmission belt is 1 m to 1.1 m.

[0041] Embodiment 2:

[0042] An intelligent hold cleaning method for a crawler-type hold cleaner is an intelligent hold cleaning method based on the intelligent hold cleaner described in Embodiment 1. Therefore, the content of Embodiment 1 is applicable to this embodiment. Lidar is arranged around and on the top of the support frame, and a GNSS+IMU integrated navigation device 906 is also installed on the top. The GNSS+IMU integrated navigation device is arranged on the top of the support frame for supplementing the positioning of the lidar. The method includes:

[0043] The first step: Establish a point cloud map of the hold, locate the hold wall and the hold opening, locate the position of the cleaner in the current hold, and plan the operation path according to the lidar signals obtained and arranged.

[0044] The second step: Rotate the cloth conveying mechanism, and according to the position of the hold opening, make the tail end outlet end of the conveyor belt of the cloth conveying mechanism face the bunker under the hold opening.

[0045] The third step: Determine the quantity of bulk materials on the working surface in front of the cleaner, and determine whether the bulldozing operation conditions are met. When the operation conditions are met, start the bulldozing mechanism to perform the shoveling action, shovel the bulk materials to the cloth conveying mechanism, and transport them to the bunker at the hold opening through the conveyor belt of the cloth conveying mechanism. When the quantity of ore materials on the working surface does not meet the continuous bulldozing operation conditions, stop shoveling, determine the next path point according to the planned operation path, start the crawler-type traveling mechanism to travel to the next path point, and return to the second step until all the operation paths are completed.

[0046] Among them: The 3D point cloud of the cabin is collected using lidar to create a map of the cabin; the data on the inner wall of the cabin is collected in real time, and the lidar data is analyzed. After obtaining the position information of the accumulated material to be cleaned, the position information of the accumulated material is converted into the intelligent cabin cleaning mechanical coordinate system. Based on the coordinate information, the operation process of the intelligent cabin cleaning machine is set. It is already a well-known technology that the terrain and landform inside the cabin can be known through lidar signals. One lidar is arranged at the front, rear, left, and right of the vehicle body to detect the state of the scattered materials around the intelligent cabin cleaning equipment, and two radars are installed on the roof for map building positioning and tracking and identifying the cabin entrance respectively. A combined navigation device is installed on the top of the vehicle body to supplement the lidar positioning. The control instruction of the intelligent cabin cleaning equipment is sent from the MDC to the actuator PLC controller through the OPC_UA communication module to control the actuator to act.

[0047] The control process uses an operation behavior tree to control the entire operation process. The operation behavior tree uses four types of nodes, namely sequential nodes, parallel nodes, selection nodes, and action nodes; the action nodes decompose the operation steps of the intelligent cabin cleaning machine into state initialization nodes, accumulated material detection nodes, path planning nodes, positioning nodes, cleaning nodes, and evaluation nodes; the selection nodes are used to judge whether each action node is executed in place, and the sequential nodes and parallel nodes control the overall execution process direction of the intelligent cabin cleaning machine. All nodes use a blackboard for data communication.

[0048] The hardware part of the control unit uses Huawei MDC as the main control platform, performs data operations and interactions based on the ROS operating system, and communicates between the robotic arm joint controller and the main control platform through OPC_UA. After the MDC issues the end position instruction of the robotic arm, the inverse kinematics calculation by MoveIt of ROS obtains the joint angles of the robotic arm (the scraping roller support arm of the material scraping mechanism, the scraping push of the pusher mechanism, the segmented frame of the aggregate conveying mechanism, the segmented conveyor belt frame of the arm cloth conveyor), and then the MDC platform communicates with the controller of each joint through OPC_UA to control the movement of the robotic arm to the cleaning position and execute the cleaning task; a remote client is used for remote control through UDP communication.

[0049] After the intelligent hold cleaning equipment starts operation, system initialization is performed. First, the intelligent control system in the MDC loads the point cloud map built by the lidar; the positioning module is started, and the positioning module analyzes the environmental information returned by the lidar to locate the position of the intelligent hold cleaning equipment in the current hold; the path planning module is started, and the path planning module plans an initial operation path for the intelligent hold cleaning equipment. The initial operation path is set as a "return" shaped path; the perception module is started, and the lidar detects the ore material environment, hold wall and hold opening around the intelligent hold cleaning equipment; according to the position of the hold opening detected by the lidar, the MDC issues a control instruction to the three-stage conveyor belt controller of the cloth conveying mechanism to control the deflection of the tail position of the three-stage conveyor belt to the hold opening; then the MDC issues an instruction to control the movement of the first, second, and third-stage conveyor belts of the cloth conveying mechanism, and the belt conveyor driving the conveyor belt is continuously driven by the motor; for the control of the pushing and shoveling mechanism, first, the lidar detects the amount of ore material on the operation surface in front of the intelligent hold cleaning equipment, and the decision-making module in the MDC calculates whether the ore material on the operation surface meets the conditions for the pushing and shoveling operation. When the operation conditions are met, the MDC controls the pushing and shoveling mechanism to continuously perform the shoveling action by issuing a shoveling control instruction, moves the ore material to the conveyor belt (cloth conveying mechanism), and then transports it to the hold opening through the conveyor belt. When the amount of ore material on the operation surface does not meet the conditions for continuing the pushing and shoveling operation, the MDC issues a stop shoveling instruction, and then calculates the next path point of the intelligent hold cleaning equipment according to the planned path of the path planning module. After the next path point is determined, the MDC issues a travel instruction to the walking mechanism controller of the intelligent hold cleaning equipment to control the intelligent hold cleaning equipment to move to the next target point, and then starts the control process of the material raking mechanism. The control process of its material raking mechanism: The MDC first analyzes the ore material data detected by the lidar to determine the material raking operation point, and then issues a material raking instruction to the material raking mechanism to control the material raking robotic arm to move from the standby position to the material raking point to perform the material raking operation. During the material raking operation, the material raking execution mechanism will continuously move the ore material to the pushing and shoveling operation surface of the intelligent hold cleaning equipment and fill the pushing and shoveling operation surface. When the lidar detects that the pushing and shoveling operation surface is full or there is no ore material to be raked on the material raking operation surface, the MDC issues a stop material raking instruction to control the material raking robotic arm to return to the robotic arm standby point.

[0050] Among them, while starting the pushing and shoveling mechanism to perform the shoveling action, the material raking mechanism is started to rake the material, and the material raking mechanism cooperates to shovel the bulk material to the cloth conveying mechanism; and after walking through the entire operation path, it is determined whether there is bulk material scaling according to the obtained hold wall information. If it exists, when the intelligent hold cleaning equipment runs to the position 90°±10° to the left of the scaling, the material raking mechanism is started, and the scaling is removed by the material raking roller of the material raking mechanism.

[0051] The above-mentioned intelligent crawler-type cabin cleaning machine and its cleaning method embodiment integrate pushing, conveying, and cloth feeding, and the cloth feeding can rotate around the material stacking area at the cabin opening. It can stack the scattered materials around the cabin to the material stacking area at the cabin opening without reversing and turning during the forward propulsion process, reducing the labor intensity and improving the cleaning efficiency.

Claims

1. An intelligent cleaning method for a crawler-type cabin cleaning machine for ship holds, including an intelligent crawler-type cabin cleaning machine. The cleaning machine includes a support frame, and crawler-type traveling mechanisms are respectively arranged on both sides of the base of the support frame. It is characterized in that, On one side of the support frame, a material scraping mechanism and a pushing shovel mechanism are respectively hinged up and down. On the other side of the support frame opposite to one side of the support frame, a rotary drive support base extends from the support frame base. A cloth conveying mechanism lies on the rotary drive support base through a slewing support turntable seat. The rotary drive support base is used to drive the slewing support turntable so that the tail end outlet of the conveyor belt of the cloth conveying mechanism always faces the material stacking place under the cabin opening. An aggregate conveying mechanism is arranged through one side and the other side of the support frame. The front end of the conveyor belt of the aggregate conveying mechanism is connected to the pushing shovel of the pushing shovel mechanism. The tail end of the conveyor belt of the aggregate conveying mechanism is placed on the rotary drive support base. A hydraulic drive control cabinet is horizontally placed in the middle of the support frame base. A hydraulic power source and a PLC controller are arranged in the control cabinet. The hydraulic power source is respectively connected to the crawler-type traveling mechanism, the material scraping mechanism, the pushing shovel mechanism, the cloth conveying mechanism and the rotary drive support base through hydraulic drive switches to provide power. The output of the PLC controller is respectively connected to control the hydraulic power source and the hydraulic drive switches. An intelligent cabin cleaning controller is connected to the PLC controller. During operation, as the cabin cleaner travels, the pushing shovel of the pushing shovel mechanism shovels up the bulk materials and sends them onto the conveyor belt of the aggregate conveying mechanism, or the material scraping roller of the material scraping mechanism scrapes the bulk materials from the pushing shovel of the pushing shovel mechanism onto the conveyor belt of the aggregate conveying mechanism. The bulk materials fall onto the conveyor belt of the cloth conveying mechanism through the conveyor belt of the aggregate conveying mechanism and are conveyed to the material stacking place under the cabin opening for the unloading grab to grab; The cloth conveying mechanism includes a conveyor belt frame, which is at least divided into two sections, namely a horizontal frame section and an inclined frame section. The horizontal frame section and the inclined frame section are hinged to each other. The horizontal frame section lies on the rotary drive support base through a slewing support turntable seat. A fourth hydraulic cylinder telescopic arm is arranged on the side wall of the horizontal frame section. The front end of the fourth hydraulic cylinder telescopic arm is connected to the inclined frame section to drive the inclined frame section to swing around the hinge connection to change the inclination angle of the inclined frame section. An upper supporting roller and a lower supporting roller of the conveyor belt are respectively arranged up and down between the two side plates of the conveyor belt frame. A plurality of upper supporting rollers and lower supporting rollers are arranged at intervals along the length direction of the conveyor belt frame. A rotary drum is arranged at the front end of the horizontal frame section. A driving drum is arranged at the tail end of the inclined frame section. The conveyor belt is arranged to bypass the rotary drum and the driving drum above the upper supporting roller and the lower supporting roller. The driving drum is driven by a third hydraulic motor to rotate, thereby driving the conveyor belt to run. The inclined frame section is divided into a first inclined frame section and a second inclined frame section arranged front and back. The first inclined frame section and the second inclined frame section are hinged to each other. The first inclined frame section is hinged to the horizontal frame section. Fifth hydraulic cylinder telescopic arms are respectively arranged on the two side plates of the first inclined frame section. The front ends of the fifth hydraulic cylinder telescopic arms are connected to the second inclined frame section to drive the second inclined frame section to rotate around the hinge connection, which is used to fold the inclined frame section in the non-working state; The intelligent hold cleaning controller includes multiple lidar sensors and a control server connected thereto. The multiple lidar sensors are respectively arranged around and on the top of the support frame. The lidar sensors arranged around the support frame are used to detect the state of the bulk materials around, and the lidar sensors arranged on the top are used for mapping and positioning and tracking and identifying the hatch of the cargo hold. The control server is used to establish a point cloud map of the cargo hold according to the signals of the lidar sensors, and issue control instructions to the PLC controller according to the state of the bulk materials to achieve intelligent hold cleaning; The intelligent hold cleaning method includes: Step 1: Establish a point cloud map of the cargo hold based on the lidar sensor signals obtained, locate the hold wall and the hatch of the cargo hold, locate the position of the cleaning machine in the current cargo hold, and plan the operation path; Step 2: Rotate the cloth conveying mechanism, and according to the position of the hatch of the cargo hold, make the outlet end of the tail end of the conveyor belt of the cloth conveying mechanism face the stockpiling area under the hatch of the cargo hold; Step 3: Determine the quantity of the bulk materials on the working surface in front of the cleaning machine, and determine whether the conditions for the pushing operation are met. When the operation conditions are met, start the pushing mechanism to perform the shoveling action, shovel the bulk materials onto the cloth conveying mechanism, and transport them to the stockpiling area at the hatch of the cargo hold through the conveyor belt of the cloth conveying mechanism. When the quantity of the ore materials on the working surface does not meet the conditions for continuous pushing operation, stop shoveling, determine the next path point according to the planned operation path, start the crawler walking mechanism to walk to the next path point, and return to Step 2 until all the operation paths are completed.

2. The intelligent hold cleaning method according to claim 1, wherein, While starting the pushing mechanism to perform the shoveling action, start the raking mechanism to rake the materials. The raking mechanism cooperates to shovel the bulk materials onto the cloth conveying mechanism; and after all the operation paths are completed, determine whether there is bulk material scaling according to the obtained information of the hold wall. If there is, start the raking mechanism, and use the raking roller of the raking mechanism to remove the scaling.

3. The intelligent cabin cleaning method according to claim 1, wherein, The raking mechanism includes a raking arm. The rear end of the raking arm is hinged to the upper end of one side of the support frame. A first hydraulic cylinder telescopic arm is connected to the support frame below the upper hinge connection. The front end of the first hydraulic cylinder telescopic arm is connected to the middle of the raking arm to drive the raking arm to swing up and down around the hinge connection. The raking roller is arranged at the front end of the raking arm and is driven by a first hydraulic motor to rotate. The raking arm includes a fixed arm and a raking telescopic arm. The fixed arm and the raking telescopic arm are sleeved. The rear end of the fixed arm is hinged to the upper end of one side of the support frame through a rotating shaft. A second hydraulic cylinder telescopic arm is arranged on the fixed arm. The front end of the second hydraulic cylinder telescopic arm is connected to the raking telescopic arm to drive the raking telescopic arm to move back and forth.

4. The intelligent hold cleaning method according to claim 1, wherein, The pushing mechanism includes two pushing arms. The rear ends of the two pushing arms are hinged to both sides of the lower end of one side of the support frame. The two pushing arms are respectively on both sides of the conveyor belt of the aggregate conveying mechanism. On one side of the support frame above the hinge connection at both lower ends, a third hydraulic cylinder telescopic arm is respectively connected. The front end of the third hydraulic cylinder telescopic arm is connected to the middle of the pushing arm to drive the pushing arm to swing up and down around the hinge connection. The pusher is arranged at the front ends of the two pushing arms.

5. The intelligent hold cleaning method according to claim 1, wherein, The aggregate conveying mechanism includes a conveyor belt frame, which consists of a horizontal section frame and an inclined section frame that are hinged to each other. The horizontal section frame is placed on top of the hydraulic drive control cabinet. The front end of the inclined section frame is connected to the pusher of the pusher mechanism and is placed at the lower end or the rear side of the pusher. The tail end of the horizontal section frame is placed on the rotating drive support base. Upper idlers and lower idlers of the conveyor belt are respectively arranged up and down between the two side plates of the conveyor belt frame. A plurality of upper idlers and lower idlers are arranged at intervals along the length direction of the conveyor belt frame. A turning drum is arranged at the front end of the inclined section frame, and a driving drum is arranged at the tail end of the horizontal section frame. The conveyor belt is arranged to bypass the turning drum and the driving drum on the upper sides of the upper idlers and the lower idlers. The driving drum is driven by a second hydraulic motor to rotate, thereby driving the conveyor belt to run.

6. The intelligent hold cleaning method according to claim 1, wherein, The crawler-type traveling mechanism includes toothed rollers fixed at the front and rear ends of the support frame base. A traveling crawler is arranged around the toothed rollers at the front and rear ends, and the crawler meshes with the toothed rollers. One of the toothed rollers is a driving toothed roller driven by a fourth hydraulic motor. A plurality of crawler support wheels are arranged between the toothed rollers at the front and rear ends.

7. The intelligent cabin cleaning method according to claim 1, wherein, The intelligent bin cleaning controller further includes a GNSS+IMU integrated navigation device, which is arranged on the top of the support frame for supplementing the positioning of the lidar.

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