A method and device for controlling the operation of a ship unloader

Abstract

The present invention provides a method and device for controlling the operation of a ship unloader. The method for controlling the operation of the ship unloader includes: obtaining the current height of the acquisition device; controlling the acquisition device to collect the distances between the acquisition device and each acquisition point on the material surface of the material to be excavated by adjusting the rotation angle of the acquisition device in the vertical direction; calculating the material height of each acquisition point based on the current height, the distances between the acquisition device and each acquisition point, and the corresponding rotation angles; dividing the operation areas on the material surface based on the material heights of each acquisition point, and determining the operation sequence corresponding to each operation area; controlling the excavation device to sequentially excavate the materials in each operation area according to the operation sequence. By using the material height to divide the operation areas and performing area-based operations on the material to be excavated, it effectively avoids the situation where the surrounding materials collapse towards the unloading center or the chain bucket is not fully filled due to inappropriate material taking positions, thereby effectively improving the working efficiency during the operation process and ensuring the continuity of the operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of ship unloaders, and particularly to a method and device for controlling the operation of a ship unloader. Background Art

[0002] As an execution device for loading and unloading bulk materials, improving the working efficiency of a ship unloader is an urgent need for current development. Among them, a continuous ship unloader has a hopper chain composed of a plurality of hoppers connected in sequence. Compared with the traditional grab ship unloader, the continuous ship unloader can perform continuous ship unloading operations with relatively high operation efficiency.

[0003] Currently, the unloading of ship unloaders is mostly carried out by manually moving to the unloading position. However, the method relying on manual judgment often cannot accurately divide the appropriate material taking position. If continuous unloading is carried out at the same ship unloading position, when the material height at the unloading place is too low, the surrounding materials will collapse towards the center of the unloading place, which may overly bury the material taking head and cause damage to the mechanism, affecting the working efficiency. Moreover, due to the inappropriate material taking position, the chain bucket may not be filled, resulting in low overall efficiency of the whole machine and affecting the use of the ship unloader. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method and device for controlling the operation of a ship unloader to overcome the problem of low overall efficiency of the whole machine caused by the inability to accurately divide the appropriate material taking position in the prior art.

[0005] According to a first aspect, an embodiment of the present invention provides a method for controlling the operation of a ship unloader. The ship unloader includes: a collection device and a digging device. The collection device is used to collect the distance between it and the surface of the material to be dug. The method includes:

[0006] Obtain the current height of the collection device;

[0007] By adjusting the rotation angle of the collection device in the vertical direction, control the collection device to collect the distances between it and each collection point on the surface of the material to be dug;

[0008] Based on the current height, the distances between the collection device and each collection point, and the corresponding rotation angles, calculate the material height of each collection point;

[0009] Based on the material height of each collection point, divide the working area of the material surface and determine the working sequence corresponding to each working area;

[0010] Control the digging device to dig the materials in each working area in sequence according to the working sequence.

[0011] Optionally, the material height of each collection point is calculated by the following formula:

[0012] A = d - a * cosα,

[0013] where A represents the material height at the current collection point, d represents the current height of the collection device, a represents the distance between the collection device and the current collection point, and α represents the rotation angle of the collection device in the vertical direction.

[0014] Optionally, the division of the operation area on the material surface based on the material height of each collection point includes:

[0015] Obtain a first collection point with the highest material height on the current material surface;

[0016] Determine a collection point set based on the height difference between the material height of the first collection point and the material heights of other collection points around it;

[0017] Determine the operation area according to the positions of the collection points in the collection point set;

[0018] Exclude the operation area on the current material surface and return to the step of obtaining the first collection point with the highest material height on the current material surface.

[0019] Optionally, the determination of the collection point set based on the height difference between the material height of the first collection point and the material heights of other collection points around it includes:

[0020] Successively determine whether the height difference between the material height of each collection point adjacent to the first collection point and the material height of the first collection point is greater than a preset height threshold;

[0021] Add the first collection point and the collection points with height differences not greater than the preset height threshold to the collection point set;

[0022] Successively determine whether the height difference between the material height of other collection points adjacent to each collection point in the collection point set and the material height of the first collection point is greater than the preset height threshold, and return to the step of adding the collection points with height differences not greater than the preset height threshold to the collection point set.

[0023] Optionally, the determination of the operation sequence corresponding to each operation area includes:

[0024] Determine the division sequence of each operation area as the operation sequence of each operation area.

[0025] Optionally, after controlling the digging device to dig the materials in each operation area in sequence according to the operation sequence, the method further includes:

[0026] Adjust the heights of the collection device and the digging device and return to the step of obtaining the current height of the collection device until the digging of the material to be dug is completed.

[0027] Optionally, obtaining the current height of the acquisition device includes:

[0028] Obtaining the initial height of the acquisition device;

[0029] Performing movement control on the acquisition device and collecting its displacement in the vertical direction;

[0030] Calculating the current height of the acquisition device based on the initial height and the displacement.

[0031] According to a second aspect, an embodiment of the present invention provides a ship unloader operation control device, including:

[0032] An acquisition module, configured to obtain the current height of the acquisition device;

[0033] A first processing module, configured to control the acquisition device to collect the distances from the acquisition device to each acquisition point on the material surface of the material to be excavated by adjusting the rotation angle of the acquisition device in the vertical direction;

[0034] A second processing module, configured to calculate the material height of each acquisition point based on the current height, the distances from the acquisition device to each acquisition point, and the corresponding rotation angles;

[0035] A third processing module, configured to divide the operation area of the material surface based on the material height of each acquisition point and determine the operation sequence corresponding to each operation area;

[0036] A fourth processing module, configured to control the excavation device to sequentially excavate the materials in each operation area according to the operation sequence.

[0037] According to a third aspect, an embodiment of the present invention provides a ship unloader, including:

[0038] An acquisition device, adapted to collect the distance from the acquisition device to the material surface of the material to be excavated;

[0039] An excavation device, adapted to excavate materials;

[0040] A controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the ship unloader operation control method described in the first aspect and any one of its optional embodiments.

[0041] According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the ship unloader operation control described in the first aspect, or any one of its optional embodiments.

[0042] The technical solution of the present invention has the following advantages:

[0043] The ship unloader operation control method and device provided by the embodiments of the present invention divide the operation area of the material surface based on the heights of the collection points on the material surface of the material to be excavated, and sequentially excavate the materials in each operation area according to the formulated operation sequence, realizing the zoned operation of the material to be excavated. Among them, the method principle of using the material height to divide the operation area is simple and easy to implement, conforms to the actual situation of the continuous undulation of the material pile surface, and sequentially excavates the materials in each operation area according to the sequence, which can effectively avoid the problem that the surrounding materials will collapse towards the center of the unloading place due to inappropriate material taking positions or the situation where the chain bucket is not fully filled, thereby effectively improving the working efficiency of the operation process, ensuring the continuity of the operation process, and being conducive to the popularization of the use of ship unloaders. Description of the Drawings

[0044] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a flowchart of a ship unloader operation control method according to an embodiment of the present invention;

[0046] Figure 2 It is a schematic structural diagram of a ship unloader during the working process according to an embodiment of the present invention;

[0047] Figure 3 It is a schematic structural diagram of a ship unloader in the shutdown position according to an embodiment of the present invention;

[0048] Figure 4 It is a schematic structural diagram of a ship unloader in the position where the girder is raised according to an embodiment of the present invention;

[0049] Figure 5 It is a schematic structural diagram of a ship unloader in the position where the girder is lowered according to an embodiment of the present invention;

[0050] Figure 6 It is a schematic structural diagram of a ship unloader operation control device according to an embodiment of the present invention;

[0051] Figure 7 It is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed Embodiments

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] As an execution device for loading and unloading bulk materials, improving the working efficiency of the ship unloader is an urgent requirement for current development. Among them, the continuous ship unloader has a hopper chain composed of multiple hoppers connected in sequence. Compared with the traditional grab ship unloader, the continuous ship unloader can perform continuous ship unloading operations and has a higher operation efficiency.

[0057] At present, the unloading of ship unloaders is mostly carried out by manually moving to the unloading position and then unloading. However, the method relying on manual judgment often cannot accurately divide the appropriate material taking position. If continuous unloading is carried out at the same ship unloading position, when the material height at the unloading place is too low, the surrounding materials will collapse towards the center of the unloading place, which may over-bury the material taking head and cause damage to the mechanism, affecting the working efficiency. Moreover, due to the inappropriate material taking position, the chain bucket may not be filled, resulting in low overall efficiency of the machine and affecting the use of the ship unloader.

[0058] Based on the above problems, an embodiment of the present invention provides a ship unloader, which includes: a collection device, a digging device and a controller. The collection device is used to collect the distance between it and the surface of the material to be excavated, and the digging device is used to dig the material.

[0059] Optionally, as shown in Figure 2 - Figure 5 As shown, the frame body 10 of the ship unloader is connected to the wharf foundation 40 through the portal legs 11. Optionally, rails are provided on the wharf foundation 40, and the portal legs 11 can move along the rails to drive the frame body 10 to move along the rails. The frame body 10 further includes a main beam 12. The main beam 12 includes a boom 601 extending outside the portal legs 11. A traveling trolley 13 that can move back and forth along the extension direction of the boom 601 is provided on the boom 601. A chain bucket boom 104 is connected to the traveling trolley 13. The boom 601 can drive the chain bucket boom 104 to move above the cabin 20 to unload the material 30 in the cabin 20. The traveling trolley 13 drives the chain bucket boom 104 to move along the boom 601 by moving along the boom 601. Among them, the material 30 is stacked in the cabin 20 to form a continuously surfaced material pile. The material 30 can be coal, or can also be grains such as corn and wheat, or other substances that can be dug by the ship unloader.

[0060] Optionally, the collection device can be a scanner, and the scanner can be fixed on the boom 601 of the ship unloader; the digging device is the chain bucket boom 104, and the chain bucket boom 104 is used to dig the material 30 in the cabin 20.

[0061] An embodiment of the present invention also provides a ship unloader operation control method. As shown in Figure 1 As shown, the ship unloader operation control method specifically includes the following steps:

[0062] Step S101: Obtain the current height of the collection device.

[0063] Among them, the current height of the collection device refers to the vertical distance from the collection device to the reference plane. Among them, the reference plane is a plane used as a reference, and can be the sea level or the upper surface of the wharf foundation 40.

[0064] Step S102: By adjusting the rotation angle of the collection device in the vertical direction, control the collection device to collect the distances from it to each collection point on the surface of the material to be excavated.

[0065] It should be noted that the material to be mined is usually stacked to form a material pile, and the material pile usually collapses around to form a material surface with continuously changing height. Among them, the acquisition device can be a laser scanner. The acquisition device emits laser to measure the distance. The acquisition device can rotate around the connection point with the boom 601 to change the angle between the emitted laser and the vertical direction, so as to measure the distance from it to each acquisition point on the material surface. Among them, the distance between the acquisition device and the acquisition point refers to the length of the connection line between the acquisition device and the acquisition point.

[0066] Step S103: Calculate the material height of each acquisition point based on the current height, the distance between the acquisition device and each acquisition point, and the corresponding rotation angle.

[0067] Among them, the material height of each acquisition point refers to the vertical distance between the material at the acquisition point and the reference plane.

[0068] Step S104: Divide the working area of the material surface based on the material height of each acquisition point, and determine the working sequence corresponding to each working area.

[0069] Among them, the working sequence can be determined in the order from high to low. Digging the higher material first can avoid the material at the surrounding higher places collapsing towards the unloading place and burying the material taking device when digging the lower material, which is beneficial to protecting the mechanism and convenient for operation.

[0070] Step S105: Control the digging device to dig the materials in each working area in sequence according to the working sequence.

[0071] Exemplarily, when the digging device digs the materials in a working area, it travels along a "ji"-shaped route, which can ensure the continuity of the operation, sequentially dig out all the materials in the working area, and can ensure the working efficiency. The present invention is not limited thereto. First, move the boom 601 to a suitable height in the vertical direction, and realize the "ji"-shaped route travel of the chain bucket boom 104 by moving the running trolley 13 along the boom 601 and moving the main frame 10 along the track on the dock foundation 40. During one travel process, the material taking depth of the chain bucket boom 104 remains unchanged. The specific material taking depth is determined according to the actual working conditions, ensuring within the load-bearing capacity of the material taking device and ensuring the efficiency and safety during the material taking process.

[0072] By performing the above steps, the ship unloader operation control method provided by the embodiments of the present invention divides the operation area of the material surface based on the heights of the collection points on the material surface of the material to be excavated, and sequentially excavates the materials in each operation area according to the formulated operation sequence, realizing the zoned operation of the material to be excavated. Among them, the method principle of using the material height to divide the operation area is simple and easy to implement, conforms to the actual situation of the continuous undulation of the material pile surface, and excavates the materials in each operation area in sequence, which can effectively avoid the problem that the surrounding materials will collapse towards the center of the unloading place due to inappropriate material taking positions or the situation that the chain bucket is not fully loaded, thereby effectively improving the working efficiency of the operation process, ensuring the continuity of the operation process, and being conducive to the popularization of the use of ship unloaders.

[0073] Specifically, in one embodiment, the material height of each collection point is calculated by the following formula:

[0074] A = d - a * cosα,

[0075] where A represents the material height of the current collection point, d represents the current height of the collection device, a represents the distance between the collection device and the current collection point, and α represents the rotation angle of the collection device in the vertical direction.

[0076] It should be noted that when the collection device is in the initial position, the emission direction of its laser is vertically downward. Therefore, the rotation angle of the collection device in the vertical direction is the angle between the collection device and the vertical direction. The parameters in the above calculation formula are easy to obtain and the formula calculation is simple and convenient to use.

[0077] Specifically, in one embodiment, the division of the operation area on the material surface based on the material heights of the collection points in step S104 above includes the following steps:

[0078] Step S201: Obtain the first collection point with the highest material height on the current material surface.

[0079] Step S202: Determine the collection point set based on the height difference between the first collection point and the material heights of other surrounding collection points.

[0080] It should be noted that there must be a highest point on the surface of the material pile. The surrounding other collection points have height differences due to their different heights from it. Taking the highest point as a reference, the collection points with height differences meeting the requirements are included in the collection point set. Determining the collection point set based on the height difference has high reliability and is easy to implement.

[0081] Step S203: Determine the operation area according to the positions of the collection points in the collection point set.

[0082] Among them, each collection point in the collection point set is divided into the same operation area, and the materials at the locations of the collection points in the same collection point set are suitable for being dug in one operation.

[0083] Step S204: Remove the operation area on the surface of the current material, and return to the above-mentioned step S201.

[0084] It should be noted that the removed operation area is an already divided operation area. After removing this operation area, the operation area on the surface of the materials in the remaining material area is re-divided, and the above steps are repeated to divide the operation areas of all the materials to be excavated in sequence until the division of the operation areas of all the materials to be excavated is completed. The above steps are clear in regulations, reasonable in order and easy to implement.

[0085] Specifically, in one embodiment, the above step S202 includes the following steps:

[0086] Step S301: Sequentially determine whether the height difference between the material heights of the collection points adjacent to the first collection point and the material height of the first collection point is greater than a preset height threshold.

[0087] Among them, the preset height threshold is a determined value, which can be determined according to the actual working ability of the digging device. Exemplarily, when the material taking device is a chain bucket arm, the chain bucket arm loads materials through a bucket, and the preset height is not greater than the maximum material taking depth when the bucket takes materials. The present invention is not limited thereto. It should be noted that since the materials to be excavated are continuous, the sequential determination of the height difference between the material heights of the collection points adjacent to the first collection point and the material height of the first collection point can be understood as taking the first collection point as the center and sequentially judging the adjacent collection points around it, which can ensure the continuity of the judgment process and avoid missing or repeatedly judging one or more collection points.

[0088] Step S302: Add the first collection point and the collection points with height differences not greater than the preset height threshold to the collection point set.

[0089] Step S303: Sequentially determine whether the height difference between the material heights of the other collection points adjacent to the collection points in the collection point set and the material height of the first collection point is greater than the preset height threshold, and return to the above step S302.

[0090] It should be noted that after adding the collection points with a height difference not greater than the preset height threshold to the collection point set, it is then determined whether the height difference between the material height of other collection points adjacent to each collection point in the collection point set and the material height of the first collection point is greater than the preset height threshold. This realizes judging whether each collection point can be added to the collection point set centered on the first collection point in the order of radiating outwards in sequence. The regulations are clear, the continuity is good, and it is easy to implement. If the height difference between the collection point and the first collection point is not greater than the preset height threshold, then the collection point can be classified into the same working area as the first collection point. If the height difference between the collection point and the first collection point is greater than the preset height threshold, then the collection point cannot be classified into the same working area as the first collection point, and the judgment of the collection points adjacent to this collection point is stopped. It can be understood that the collection points added to the collection point set are the collection points adjacent to the first collection point or the collection points adjacent to each collection point already in the collection point set. If a collection point is not adjacent to the first collection point or each collection point already in the collection point set, even if the height difference between this collection point and the first collection point is greater than the preset height threshold, it cannot be added to the collection point set.

[0091] Specifically, in one embodiment, determining the operation sequence corresponding to each working area in the above step S104 includes the following steps:

[0092] Step S401: Determine the division sequence of each working area as the operation sequence of each working area.

[0093] Exemplarily, when there is only one peak in the material to be excavated, the area including the peak is the first working area. After excavating the material in the first working area, it is necessary to lower the height of the excavating device to excavate the material at a lower position. Therefore, only one working area needs to be divided; when there are two or more peaks in the material to be excavated, first divide the area including the highest peak as the first working area. After removing the collection points in the first working area, the second working area, the third working area,... are divided in sequence as needed. Then the operation sequence is to operate on the first working area, the second working area, the third working area,... in sequence. It can be understood that since the working areas are divided in the order of decreasing height, when operating, it is also carried out in the order of decreasing height, which can effectively avoid the situation that the surrounding materials collapse towards the excavation center due to excavating the materials at a lower position first, thus ensuring the continuity of the operation and reducing the possibility of damage to the material taking device, which is beneficial to extending the life of the material taking device.

[0094] Specifically, in one embodiment, after the above step S105, the ship unloader operation control method further includes:

[0095] Step S106: Adjust the heights of the collection device and the digging device, and return to the step of obtaining the current height of the collection device until the excavation of the material to be excavated is completed.

[0096] It should be noted that the collection device and the digging device are installed on the boom 601 of the ship unloader. When unloading materials, the boom 601 will first be adjusted to an appropriate height from the materials and then fixed. By executing the above steps S101 to S105, the material to be excavated is dug. The material taking device digs the materials on the first material taking layer through displacement in the horizontal plane; after the material taking device has dug all the materials on the first material taking layer, the height of the boom 601 is lowered, and the collection device and the digging device are adjusted in height along with the boom 601, and the above steps S101 to S105 are executed again to enable the material taking device to dig the materials on the second material taking layer at a lower position, and so on. By repeating the above steps until the excavation of the material to be excavated is completed. By excavating the material to be excavated layer by layer from top to bottom, the sequence is reasonable, the operation is convenient, and the operation efficiency is effectively improved.

[0097] Specifically, in one embodiment, the above step S101 includes the following steps:

[0098] Step S501: Obtain the initial height of the collection device.

[0099] Step S502: Control the movement of the collection device and collect its displacement in the vertical direction.

[0100] Exemplarily, when unloading materials, the boom 601 will first be adjusted to an appropriate height from the materials and then fixed. During the excavation of the materials on the first material taking layer, the distance from the collection device to the reference plane is also fixed, which is the initial height of the collection device; after the material taking device has dug all the materials on the first material taking layer, the height of the boom 601 is lowered to enable the material taking device to dig the materials on the second material taking layer at a lower position. At this time, the height of the collection device decreases as the boom 601 is lowered.

[0101] Step S503: Calculate the current height of the collection device based on the initial height and the displacement.

[0102] Specifically, in the above step S503, the current height of the collection device is calculated by the following formula:

[0103] d = c + b,

[0104] where d represents the current height of the collection device, c represents the initial height of the collection device, and b represents the displacement of the collection device in the vertical direction. At this time, the calculation formula for the material height at each collection point can be expressed as:

[0105] A' = c + b - a * cosα,

[0106] Wherein, A' represents the material height of the current acquisition point, a represents the distance between the acquisition device and the current acquisition point, and α represents the rotation angle of the acquisition device in the vertical direction.

[0107] Next, the ship unloader operation control method provided by the embodiments of the present invention will be described in detail in combination with specific application examples.

[0108] As Figure 2 - Figure 5 shown, the ship unloader operation control method of the embodiments of the present invention is executed by the ship unloader, and the specific working process is as follows:

[0109] The initial state of the ship unloader is that the running trolley 13 is in the stop position, and the boom 601 is lowered to the horizontal state;

[0110] After receiving the ship unloading task, the ship unloader first drives the frame body 10 to move along the track through the trolley running mechanism, moves the ship unloader to completely pass through the entire task area, collects the data of each acquisition point on the surface of the material to be excavated through the scanning device installed on the boom 601, and sends it to the backend control system for analysis. Based on the current height, the distance between the acquisition device and each acquisition point, and the corresponding rotation angle, the material height of each acquisition point is calculated;

[0111] After obtaining the material height of each acquisition point in the cabin, the material in the cabin is divided into multiple operation areas in a strategy from high to low. The height of each operation area is the material taking depth for the safe operation of the material taking head. Then, through the cooperation of the chain bucket running mechanism, the trolley running mechanism, the chain bucket swing mechanism, the chain bucket lifting mechanism, and the trolley running mechanism, the material in the current operation area on each layer in the cabin is excavated from top to bottom. The excavation path of each operation area is in a zigzag shape. After each layer of the operation area is completed, the boom 601 is adjusted to a state suitable for the height of the next operation area through the girder lifting device, and the above operations are repeated until the entire operation task is completed.

[0112] It should be noted that when the ship unloader performs the ship unloading operation, through the chain bucket boom weight detection system, the weight change of the chain bucket boom can be detected in real time and compared with the corresponding data in the reference test database in the control system to judge whether the height of the chain bucket boom is reasonable. If the detected value is not within the reasonable range, it means that the height of the chain bucket boom is relatively high at this time and the material cannot be taken at the maximum efficiency. The chain bucket lifting mechanism can automatically perform fine adjustment downward until the detected value is within the reasonable range.

[0113] The embodiments of the present invention also provide a ship unloader operation control device, as Figure 6 shown, the ship unloader operation control device includes:

[0114] An acquisition module 101, configured to acquire the current height of the acquisition device.

[0115] The first processing module 102 is configured to control the acquisition device to acquire the distances between the acquisition device and each acquisition point on the material surface of the material to be excavated by adjusting the rotation angle of the acquisition device in the vertical direction.

[0116] The second processing module 103 is configured to calculate the material height of each acquisition point based on the current height, the distances between the acquisition device and each acquisition point, and the corresponding rotation angles.

[0117] The third processing module 104 is configured to divide the operation areas of the material surface based on the material heights of each acquisition point, and determine the operation sequence corresponding to each operation area.

[0118] The fourth processing module 105 is configured to control the excavation device to excavate the materials in each operation area in sequence according to the operation sequence.

[0119] The ship unloader operation control device provided by the embodiment of the present invention is used to execute the ship unloader operation control method provided by the above embodiment. The implementation manner and principle are the same. For detailed content, refer to the relevant description of the above method embodiment, and will not be elaborated here.

[0120] Through the collaborative cooperation of the above-mentioned various components, the ship unloader operation control device provided by the embodiment of the present invention divides the operation areas of the material surface based on the heights of each acquisition point on the material surface of the material to be excavated, and excavates the materials in each operation area in sequence according to the formulated operation sequence, so as to realize the zoned operation of the material to be excavated. Among them, the method and principle of using the material height to divide the operation area are simple and easy to implement, which conforms to the actual situation of the continuous undulation of the material pile surface. And excavating the materials in each operation area in sequence can effectively avoid the problem that the surrounding materials will collapse towards the center of the unloading place or the situation that the chain bucket is not fully loaded due to inappropriate material taking positions, thereby effectively improving the working efficiency of the operation process, ensuring the continuity of the operation process, and being beneficial to the popularization of the use of ship unloaders.

[0121] Figure 7 A controller according to an embodiment of the present invention is shown, as Figure 7 shown. The controller includes: a processor 901 and a memory 902. Among them, the processor 901 and the memory 902 can be connected through a bus or other means. Figure 7 Taking the connection through the bus as an example.

[0122] The processor 901 may be a Central Processing Unit (CPU). The processor 901 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., or a combination of the above types of chips.

[0123] As a non-transitory computer-readable storage medium, the memory 902 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above method embodiments. The processor 901 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 902, that is, implements the methods in the above method embodiments.

[0124] The memory 902 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor 901, etc. In addition, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 902 may optionally include a memory remotely set relative to the processor 901, and these remote memories can be connected to the processor 901 through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0125] One or more modules are stored in the memory 902 and, when executed by the processor 901, implement the methods in the above method embodiments.

[0126] For specific details of the above electronic device, reference can be made to the corresponding relevant descriptions and effects in the above method embodiments for understanding, and details are not described herein again.

[0127] Those skilled in the art can understand that to implement all or part of the processes in the above-described embodiment methods, it can be completed by instructing relevant hardware through a computer program. The implemented program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0128] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for controlling the operation of a ship unloader, characterized in that, the ship unloader includes: a collection device and a digging device, the collection device is used to collect the distance between it and the material surface of the material to be dug, and the method includes: obtaining the current height of the collection device; by adjusting the rotation angle of the collection device in the vertical direction, controlling the collection device to collect the distances between it and each collection point on the material surface of the material to be dug; based on the current height, the distances between the collection device and each collection point, and the corresponding rotation angles, calculating the material height of each collection point; dividing the operation area of the material surface based on the material height of each collection point, and determining the operation sequence corresponding to each operation area; controlling the digging device to dig the materials in each operation area in sequence according to the operation sequence; calculating the material height of each collection point through the following formula: A = d - a * cosα, wherein, A represents the material height of the current collection point, d represents the current height of the collection device, a represents the distance between the collection device and the current collection point, and α represents the rotation angle of the collection device in the vertical direction.

2. The method according to claim 1, characterized in that, the dividing the operation area of the material surface based on the material height of each collection point includes: obtaining the first collection point with the highest material height on the current material surface; determining a collection point set based on the height difference between the material height of the first collection point and the material heights of other surrounding collection points; determining the operation area according to the positions of the collection points in the collection point set; removing the operation area on the current material surface, and returning to the step of obtaining the first collection point with the highest material height on the current material surface.

3. The method according to claim 2, characterized in that, the determining a collection point set based on the height difference between the material height of the first collection point and the material heights of other surrounding collection points includes: sequentially judging whether the height difference between the material height of each collection point adjacent to the first collection point and the material height of the first collection point is greater than a preset height threshold; adding the first collection point and the collection points with height differences not greater than the preset height threshold to the collection point set; sequentially judging whether the height difference between the material height of each other collection point adjacent to the collection points in the collection point set and the material height of the first collection point is greater than the preset height threshold, and returning to the step of adding the collection points with height differences not greater than the preset height threshold to the collection point set.

4. The method according to claim 2, characterized in that, the determining the operation sequence corresponding to each operation area includes: determining the division sequence of each operation area as the operation sequence of each operation area.

5. The method according to claim 1, characterized in that, after controlling the digging device to dig the materials in each operation area in sequence according to the operation sequence, the method further includes: adjusting the heights of the collection device and the digging device, and returning to the step of obtaining the current height of the collection device until the digging of the material to be dug is completed.

6. The method according to claim 1, characterized in that, the obtaining the current height of the collection device includes: Obtain the initial height of the acquisition device; Perform movement control on the acquisition device and collect its displacement in the vertical direction; Calculate the current height of the acquisition device based on the initial height and the displacement.

7. A ship unloader operation control device, characterized in that, comprising: an acquisition module for obtaining the current height of the acquisition device; a first processing module for controlling the acquisition device to collect the distances from the acquisition device to each acquisition point on the material surface of the material to be excavated by adjusting the rotation angle of the acquisition device in the vertical direction; a second processing module for calculating the material height of each acquisition point based on the current height, the distances from the acquisition device to each acquisition point, and the corresponding rotation angles; calculating the material height of each acquisition point through the following formula: A = d - a * cosα, where A represents the material height of the current acquisition point, d represents the current height of the acquisition device, a represents the distance from the acquisition device to the current acquisition point, and α represents the rotation angle of the acquisition device in the vertical direction; a third processing module for dividing the working area of the material surface based on the material height of each acquisition point and determining the working sequence corresponding to each working area; a fourth processing module for controlling the excavation device to excavate the materials in each working area in sequence according to the working sequence.

8. A ship unloader, characterized in that, comprising: an acquisition device adapted to collect the distance from the acquisition device to the material surface of the material to be excavated; an excavation device adapted to excavate materials; a controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

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