An unattended ship-to-ground spiral unloading machine ship type database construction method

Abstract

The application relates to an unattended spiral ship unloader ship type database construction method. The method solves the problem of low efficiency and poor precision in establishing a ship unloader database in the prior art. The method comprises the following steps: S1, setting a plurality of marking points on the ship unloader, and installing a Beidou pose positioning system at the marking points; S2, scanning ship type data; S3, visually correcting the scanning data; and S4, importing a database building system and generating a ship type database. The method has the advantages that the efficiency of constructing the ship unloader database is improved, and the data precision is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship unloader equipment, in particular to a ship type database construction method of an unattended screw ship unloader. BACKGROUND

[0002] The ship unloader is an important large-scale bulk cargo unloading tool in the production of the enterprise port, has the functions of grab lifting and opening and closing, trolley walking, front girder tilting and whole machine walking along the track, and occupies a very important position in daily actual production. The failure of the ship unloader will affect the original function and may cause serious accidents, resulting in economic losses. Therefore, it is necessary to monitor, analyze and predict the failure of the ship unloader system to ensure the safe and stable operation of the ship unloader, early warning, reduce economic losses caused by sudden failure and avoid the occurrence of major accidents such as personnel injury. The failure trend prediction method as a short-time prediction method mainly includes the failure prediction method based on mechanism model and data-driven. The working environment of the ship unloader is relatively poor, and the equipment is easily affected by uncertain factors such as load and working condition change. The running process state presents dynamic and real-time change characteristics. Therefore, the method is not suitable for the actual working condition of the ship unloader, and it is difficult to achieve effective failure prediction effect. In addition, when establishing the ship type database of the ship unloader, manual measurement is usually required, which is not only low in efficiency, but also lacks data precision, affecting the judgment of obstacles by the ship type database of the ship unloader.

[0003] In order to solve the problems existing in the prior art, people have carried out long-term exploration and put forward various kinds of solutions. For example, the Chinese patent document discloses a bridge type grab ship unloader failure prediction model method based on improved association rules [CN201810545101.5], which includes taking the feature parameters of the bridge type grab ship unloader state monitoring as the model input, sampling to obtain the associated internal feature information and fault category of the ship unloader as the model output; the original monitoring data is preprocessed; the clustering algorithm is selected to discretize the data into nonlinear clustering intervals according to the attribute value domain; the interest degree association rule algorithm is improved and the association rule group capable of representing the running state of the ship unloader is obtained; the state monitoring data association rule directivity feature constraint function model is constructed; the data set is input to predict by using the trained model; the historical failure data of the ship unloader is used for the ship unloader failure prediction model, the prediction result is compared with the historical failure, and the prediction result is analyzed.

[0004] The above scheme solves the problems of low calculation precision and poor practicability of the ship unloader failure trend prediction method in the prior art to some extent, but the scheme still has many deficiencies, for example: when establishing the ship type database of the ship unloader, manual measurement is usually required, which is not only low in efficiency, but also lacks data precision, affecting the judgment of obstacles by the ship type database of the ship unloader. SUMMARY

[0005] The present application aims at the above-mentioned problems, and provides a kind of unattended spiral ship unloader ship type database construction method with reasonable design and high efficiency.

[0006] To achieve the above object, the present application adopts the following technical scheme: a kind of unattended spiral ship unloader ship type database construction method, the method includes the following steps:

[0007] S1, a plurality of marking points are set on the ship unloader, and a Beidou pose positioning system is installed at the marking points;

[0008] S2, a scanning device scans ship type data;

[0009] S3, the scanning data is visually corrected;

[0010] S4, a database building system is imported to generate a ship type database.

[0011] In the above-mentioned unattended spiral ship unloader ship type database construction method, in step 1, the marking points are set on the deck, in the cabin and the circumferential outer wall of the ship unloader, and a marking point coordinate system parallel to the wharf coordinate system is generated at the marking points. In this way, the overall ship type data can be obtained by comprehensive scanning of the inside and outside of the ship type, which is conducive to improving the accuracy of constructing the ship type database.

[0012] In the above-mentioned unattended spiral ship unloader ship type database construction method, step S2 specifically includes the following steps:

[0013] S21, the scanning device scans the ship unloader deck data to extract the ship deck surface data;

[0014] S22, the scanning device scans the ship unloader cabin data to extract the cabin position coordinates in the marking point coordinate system;

[0015] S23, the scanning device scans the ship unloader outer wall data to extract the outer wall contour size and shape of the ship unloader.

[0016] In the above-mentioned unattended spiral ship unloader ship type database construction method, step 3 specifically includes the following steps:

[0017] S31, the extracted data is classified into deck data, cabin data and overall data of the ship unloader;

[0018] S32, the classified data is uploaded to a computer, and the computer extracts the electronic version of the ship unloader design drawing to compare and visually correct the data.

[0019] S33, the visual correction of the ship type data is compared and judged, if the scanning is correct, it is added to the database building system, if the scanning is incorrect, the scanning error point is re-scanned.

[0020] In the above-mentioned unmanned spiral ship unloader ship type database construction method, the extracted data is size data, coordinate point data and graphic data, and the scanned size and graphic are corrected according to the electronic design drawing during visual correction. The size and coordinate point data are convenient for determining the distance, and the graphic data is convenient for building the ship type database and improving the construction accuracy.

[0021] In the above-mentioned unmanned spiral ship unloader ship type database construction method, step S4 is specifically divided into the following steps:

[0022] S41, the corrected scanning data is imported into the database building system;

[0023] S42, the database building system sets parameters for the ship unloader model according to the scanned ship type data;

[0024] S43, the ship unloader model with set parameters builds the ship unloader database and generates the ship unloader parameter library.

[0025] In the above-mentioned unmanned spiral ship unloader ship type database construction method, the data obtained by scanning the ship type is point cloud data, and during visual correction, the specific shape of the ship unloader is confirmed according to the point cloud and the electronic design drawing, and the hatch position is determined, and the specific size is obtained according to the proportion. The point cloud data can show the convex, concave parts and hatch and component positions of each area of the ship type, which is beneficial to database establishment and determination of ship type component position and size.

[0026] In the above-mentioned unmanned spiral ship unloader ship type database construction method, the ship type data is added in an offline manner, the scanning data after visual correction is uploaded through the interface provided by the database building system, the database building system generates a scanning file after receiving the data, and imports the point cloud and coordinate points of the ship type data through the scanning file.

[0027] In the above-mentioned unmanned spiral ship unloader ship type database construction method, the ship unloader database built by the database building system is adjusted in parameters according to the increase and decrease of equipment on the ship unloader, the ship unloader database with adjusted parameters covers the original ship unloader database, and the original ship unloader database is backed up in the storage module.

[0028] In the unmanned spiral ship unloader ship type database construction method, the coordinate system is a three-dimensional space coordinate, and the inside of the cabin is the same coordinate system, the outer wall of the ship unloader is the same coordinate system, and the deck of the ship unloader is the same coordinate system, and the scanning range of different coordinate systems is different. By setting the coordinate system, the overall framework and internal details are determined, and the coordinate points in the coordinate system are scanned one by one, which effectively prevents omission and has high scanning density.

[0029] Compared with the prior art, the advantages of the present application are that the design is reasonable, the method is simple, a plurality of coordinate points are arranged on each area of the ship unloader, a coordinate system is formed by the coordinate points arranged in the local area, the point cloud diagram and size data of the local structure of the ship unloader are determined by scanning the coordinate system, and the overall ship type scanning data of the ship unloader is formed by combining each local area. The scanning data is compared and corrected with the electronic design drawing of the ship unloader, and then imported into the database building system. The database building system builds the ship unloader database and generates the ship unloader parameter library by using the scanning ship type data, effectively avoiding the problems of low efficiency and poor precision of manual measurement, and the building method is simple, easy to operate and convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a method step diagram of the present application;

[0031] Figure 2 is a flow chart of the present application;

[0032] Figure 3 is a method operation diagram in the present application;

[0033] Figure 4 is a scanning device distribution diagram in the same plane in the present application;

[0034] Figure 5 is a scanning device front view in the present application;

[0035] Figure 6 is a scanning device sectional view in the present application.

[0036] In the figure, the scanning device 1, the detachable fixed base 11, the rotating connecting rod 12, the scanner loading bin 13, the rotating drive motor 14, the positioning cavity 15, the scanner 16, and the transparent protective glass 17. DETAILED DESCRIPTION

[0037] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0038] As Figures 1-6 shown, an unmanned spiral ship unloader ship type database construction method, the method comprises the following steps:

[0039] S1, set a plurality of mark points on the ship unloader, and install a Beidou pose positioning system at the mark points; the Beidou pose positioning system can determine the pose of the dynamic ship unloader, and provide accurate pose information of the ship unloader for scanning.

[0040] S2, the scanning device 1 scans ship type data; the ship type data includes data of a clamp plate, a ship cabin and an outer wall of the ship unloader, there are at least five scanning devices 1 in the same plane, the scanning device 1 is a rotating scanning device, and the scanning device 1 is divided into three fan-shaped scanning areas with an angle of 120 degrees.

[0041] S3, visual correction is performed on the scanning data; the correction comparison diagram is an electronic design drawing of the ship unloader.

[0042] S4, a database building system is imported to generate a ship type database.

[0043] In step 1, the mark points are arranged on the deck, in the ship cabin and on the circumferential outer wall of the ship unloader, and a mark point coordinate system parallel to the wharf coordinate system is generated at the mark points,

[0044] In step S2, the following steps are included:

[0045] S21, the scanning device 1 scans deck data of the ship unloader to extract ship deck surface data;

[0046] S22, the scanning device 1 scans data in the cabin of the ship unloader to extract cabin position coordinates in the mark point coordinate system;

[0047] S23, the scanning device 1 scans outer wall data of the ship unloader to extract the outer wall contour size and shape of the ship unloader.

[0048] Further, step 3 includes the following steps:

[0049] S31, the extracted data is classified into deck data, cabin data and overall data of the ship unloader;

[0050] S32, the classified data is uploaded to a computer, the computer extracts an electronic design drawing of the ship unloader, and compares the electronic design drawing with the data to perform visual correction on the data.

[0051] S33, the visual correction of the ship type data is compared and judged, if the scanning is correct, the data is added to the database building system, and if the scanning is incorrect, the incorrect scanning points are re-scanned.

[0052] As can be seen, the extracted data is size data, coordinate point data and graphic data, and the visual correction is performed according to the electronic design drawing to correct the scanning size and graphics.

[0053] In detail, step S4 includes the following steps:

[0054] S41, import the corrected scanning data into a database building system;

[0055] S42, the database building system sets parameters of the ship unloader model according to the scanned ship type data;

[0056] S43, the ship unloader model with the set parameters is built into a ship unloader database and a ship unloader parameter library is generated.

[0057] Preferably, the data obtained by scanning the ship type is point cloud data, and when visual correction is performed, the specific shape of the ship unloader is confirmed and the hatch position is determined according to the point cloud and the electronic design drawing, and the specific size is obtained according to the proportion. For the data model establishment in the ship cabin, since the scanning is performed on the sea side, land side, front side, rear side and bottom side of the cabin respectively, grid information of different angles is output, therefore, the data establishment in the cabin is performed through the point cloud of different angles, thereby improving the accuracy of the database establishment.

[0058] Specifically, the ship type data is added in an offline manner, the scanning data after visual correction is uploaded through the interface provided by the database building system, the database building system generates a scanning file after receiving the data, and imports the point cloud data and coordinate data according to the scanning file.

[0059] Further, the ship unloader database built by the database building system is adjusted in parameters according to the increase or decrease of equipment on the ship unloader, the ship unloader database after the parameter adjustment covers the original ship unloader database, and the original ship unloader database is backed up in the storage module. The backed up data can be restored as needed to avoid accidental deletion.

[0060] More specifically, the coordinate system is a three-dimensional space coordinate, the inside of the ship cabin is the same coordinate system, the outer wall of the ship unloader is the same coordinate system, and the deck of the ship unloader is the same coordinate system, and the scanning ranges of different coordinate systems are different; the scanning device 1 comprises a detachable fixed base 11, a scanner loading bin 13 is connected to the detachable fixed base 11 through a rotating connecting rod 12, a rotating drive motor 14 connected with the rotating connecting rod 12 is arranged in the detachable fixed base 11, a plurality of positioning cavities 15 are arranged in the scanner loading bin 13, one scanner 16 is arranged in each of the positioning cavities 15, and transparent protective glasses 17 corresponding to the scanners 16 are arranged on the circumferential surface of the scanner loading bin 13. The three-dimensional space coordinate can construct the ship cabin and the deck as a whole, and can realize combination after constructing in different regions, thereby effectively improving the construction efficiency of the database; the rotating connecting rod 12 is a hollow structure for wiring of the scanner 16, and the upper end of the scanner loading bin 13 is a conical structure to avoid damage caused by pressure due to accumulation of impurities, and the conical structure is a heat dissipation cavity on the inner circumferential surface for heat dissipation of the scanner 16.

[0061] In summary, the principle of the embodiment is that a plurality of coordinate points are arranged on each area of the ship unloader, a coordinate system is formed by the coordinate points arranged locally, the local structure point cloud and size data of the ship unloader are determined by scanning the coordinate system, the overall ship type scanning data of the ship unloader is formed by combining each local part, the scanned data is imported into the database building system after being corrected by visual comparison with the electronic design drawing of the ship unloader, the database building system builds the database of the ship unloader and generates the parameter library of the ship unloader by using the ship type data obtained by scanning.

[0062] In the scanning process, the Beidou pose positioning system is used to determine the pose of the dynamic ship unloader, so as to provide accurate pose information of the ship unloader for scanning and improve the accuracy of the scanned data.

[0063] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

[0064] Although the terms such as scanning device 1, detachable fixed base 11, rotating connecting rod 12, scanner loading bin 13, rotating drive motor 14, positioning cavity 15, scanner 16, and transparent protective glass 17 are used more frequently herein, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present application; any interpretation of them as any kind of additional limitation is contrary to the spirit of the present application.

Claims

1. A method for constructing a ship type database for an unattended screw unloader, characterized in that, This method includes the following steps: S1. Several marker points are set on the ship unloader, and a Beidou position and orientation positioning system is installed at the marker points. The marker points are set on the deck, inside the ship's hold, and on the outer wall of the ship unloader. A marker point coordinate system parallel to the dock coordinate system is generated on the marker points. The coordinate system is a three-dimensional spatial coordinate system. The inner side of the ship's hold is the same coordinate system, the outer wall of the ship unloader is the same coordinate system, and the deck of the ship unloader is the same coordinate system. The scanning range of different coordinate systems is different. The coordinate points set in the coordinate system are used to perform a comprehensive scan one by one. S2, Scanning equipment (1) Scans ship type data; S3. Visualize and correct the scanned data; S4. Import the database, build the system, and generate a ship type database; Step 3 specifically includes the following steps: S31. Classify the extracted data into deck data, ship compartment data, and overall data of the unloader. S32. Upload the categorized data to the computer. The computer will extract the electronic design drawings of the ship unloader and make visual corrections to the data by comparing them with the electronic design drawings. S33. Compare and judge the ship type data that has been visually corrected. If the scan is correct, add it to the database system. If the scan is incorrect, rescan the points where the scan was incorrect. The extracted data includes dimensional data, coordinate point data, and graphic data. During visualization correction, the scanned dimensions and graphics are corrected based on the electronic design drawings. The ship type data is added offline. The scanned data after visualization correction is uploaded through the interface provided by the database building system. After receiving the data, the database building system generates a scan file and imports the point cloud map and coordinate points through the scan file.

2. The method for constructing a ship type database for an unattended screw unloader according to claim 1, characterized in that, Step S2 is specifically divided into the following steps: S21. Scanning equipment (1) Scans the unloader deck data and extracts the ship type deck surface data; S22. Scanning equipment (1) Scans the data inside the unloading machine compartment and extracts the coordinates of the ship compartment position under the coordinate system of the marked point; S23. Scanning equipment (1) Scans the data of the outer wall of the unloader and extracts the outer wall contour size and shape of the unloader.

3. The method for constructing a ship type database for an unattended screw unloader according to claim 1, characterized in that, Step S4 is specifically divided into the following steps: S41. Import the corrected scan data into the database to build the system; S42. The database construction system sets parameters for the unloader model based on the scanned ship type data; S43. The unloader model with the parameters set is built into an unloader database and a unloader parameter library is generated.

4. The method for constructing a ship type database for an unattended screw unloader according to claim 1, characterized in that, The data obtained from the ship type scan is point cloud data. When making visualization corrections, the specific shape of the unloader is confirmed and the hatch position is determined based on the point cloud map and electronic design drawings. The specific dimensions are then derived according to the scale.

5. The method for constructing a ship type database for an unattended screw unloader according to claim 4, characterized in that, After the database building system is completed, the unloader database will have its parameters adjusted according to the addition or removal of equipment on the unloader. The adjusted unloader database will overwrite the original unloader database, and the original unloader database will be backed up in the storage module.

6. The method for constructing a ship type database for an unattended screw unloader according to claim 1, characterized in that, The scanning device (1) includes a detachable fixed base (11), and a scanner (16) loading chamber (13) is connected to the detachable fixed base (11) via a rotating connecting rod (12). The detachable fixed base (11) is provided with a rotating drive motor (14) connected to the rotating connecting rod (12), and the scanner (16) loading chamber (13) is provided with several positioning cavities (15). Each positioning cavity (15) is provided with a scanner (16), and the scanner (16) loading chamber (13) is provided with transparent protective glass (17) corresponding to the scanner (16) in the circumferential direction.

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