A spiral ship unloader cabin anti-collision method

Abstract

The application provides a spiral ship unloader cabin anti-collision method, which is based on a detection system and is arranged on the ship unloader to detect the walking distance L1, the rotation angle alpha, the horizontal arm inclination angle beta and the vertical arm inclination angle gamma. The method comprises the following steps: S1, selecting three points in the cabin by the feeding head of the ship unloader; S2, calculating the coordinates of the three points respectively; S3, determining the limit space coordinate range in the cabin by the coordinates of the three points; and S4, making the feeding head of the ship unloader move in the limit space coordinate range during the unloading process. The spiral ship unloader cabin anti-collision method selects three points in the cabin, calculates the three-point coordinates by the ship unloader posture, obtains the limit space coordinate range, determines the movable space of the feeding head, prevents the feeding head from colliding with the inner wall of the cabin during the unloading process and causing losses, and the number of sensors required is smaller compared with directly installing distance measuring sensors on the vertical arm and the horizontal arm of the ship unloader.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of port equipment, in particular to a ship cabin anti-collision method of a screw ship unloader. BACKGROUND

[0002] The mechanical structure of the screw ship unloader mainly consists of a walking device, a rotating device, a horizontal screw device, a vertical screw device, a feeding device and the like, and various running track ship cabin discharging is realized through walking, rotating, horizontal arm and vertical arm amplitude variation of the equipment. In the discharging process, the feeding head of the ship unloader is easy to collide with the wharf and the ship cabin, causing damage to the equipment, affecting normal discharging operation, and increasing the equipment maintenance cost.

[0003] In the prior art, there is a scheme of adopting a mechanical structure to cooperate with a distance measuring sensor for anti-collision, such as the "ship loader discharging chute with anti-collision device" with the authorization announcement number CN203767681U, which realizes the anti-collision function through the mechanical structure cooperating with multiple ultrasonic range finders. There is also a scheme of installing a plurality of distance detection devices on both sides of the horizontal arm and the vertical arm, and automatically stopping when the set safety distance is detected. However, the above scheme has the following problems: 1) a large number of distance measuring sensors are installed, which are expensive; 2) the installation position is complex, and the adjustment is difficult, especially the sensors on both sides of the vertical arm, which are difficult to maintain later; 3) the harsh natural environment conditions on site have a certain influence on various types of distance measuring sensors, reducing the stability of the anti-collision system and the adaptability. SUMMARY

[0004] Therefore, the present application provides a ship cabin anti-collision method of a screw ship unloader, which limits the movement of the feeding head of the ship unloader within the range to avoid collision between the feeding head of the ship unloader and the ship cabin.

[0005] The technical scheme of the present application is as follows: The present application provides a ship cabin anti-collision method of a screw ship unloader, which is realized based on a detection system. The detection system is arranged on the ship unloader and is used for detecting the walking distance L1, the rotating angle α, the horizontal arm inclination angle β and the vertical arm inclination angle γ of the ship unloader. The method comprises the following steps:

[0006] S1, taking three points in the ship cabin by the feeding head of the ship unloader;

[0007] S2, calculating the coordinates of the three points respectively;

[0008] S3, determining the limit space coordinate range in the ship cabin through the coordinates of the three points;

[0009] S4, making the feeding head of the ship unloader move within the limit space coordinate range during the discharging process.

[0010] On the basis of the above technical scheme, preferably, the walking direction of the ship unloader is the y axis, the x axis is perpendicular to the walking direction of the ship unloader in the horizontal plane, and the z axis is perpendicular to the horizontal plane, wherein the reference origin of the x axis and the y axis is the rotation center of the ship unloader, and the reference origin of the z axis is the ground of the wharf.

[0011] Further preferably, before step S1, the fixed length L2 of the horizontal arm and the fixed length L3 of the vertical arm are measured.

[0012] Further preferably, the three-point coordinates of the feeding head of the ship unloader are (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3), the allowable running limit value of the x axis of the feeding head of the ship unloader is max(x1, x2, x3)-min(x1, x2, x3), the allowable running limit value of the y axis of the feeding head of the ship unloader is max(y1, y2, y3)-min(y1, y2, y3), and the limit space coordinate range in step S3 is composed of the allowable running limit values of the x and y axes.

[0013] On the basis of the above technical scheme, preferably, the detection system comprises a rotation encoder, the rotation encoder is installed on the ship unloader, and is used to detect the rotation angle a of the ship unloader, the rotation angle a of the ship unloader is N1*360 / N0, wherein N0 is the total pulse number emitted by the rotation encoder when rotating one circle, and N1 is the pulse number emitted by the rotation encoder when rotating from the initial position to the current angle.

[0014] On the basis of the above technical scheme, preferably, the detection system comprises a walking encoder, the walking encoder is installed on the ship unloader, and is used to detect the walking distance L1 of the ship unloader, the walking distance L1 of the ship unloader is N3*π*D / N2, wherein N2 is the total pulse number emitted by the walking encoder when rotating one circle, N3 is the pulse number emitted by the walking encoder when rotating from the initial position to the current angle, and D is the radius of the walking wheel of the ship unloader.

[0015] On the basis of the above technical scheme, preferably, the detection system comprises a horizontal arm inclination sensor and a vertical arm inclination sensor, the horizontal arm inclination sensor and the vertical arm inclination sensor are both installed on the ship unloader, the horizontal arm inclination sensor is used to detect the up-down pitch angle b of the ship unloader, and the vertical arm inclination sensor is used to detect the front-rear pitch angle g of the ship unloader.

[0016] Further preferably, in step S2, the x, y and z axis coordinates of the taken point are respectively x=(L2*cos b+L3*sin g)*cos a, y=L1-(L2*cos b+L3*sin g)*sin a, and Z=L0+L2*sin b-L3*cos g.

[0017] Further preferably, before the step S1, the distance L4 between the reference origin of the x-axis and the edge of the wharf is measured, and when the z-axis coordinate of the ship unloader feeding head is less than 0, the x-axis coordinate value of the ship unloader feeding head is greater than L4.

[0018] On the basis of the above technical solution, preferably, in the step S4, the x, y and z axis coordinates of the ship unloader feeding head are calculated in real time, and when the ship unloader feeding head reaches the edge of the limit space coordinate range, the ship unloader is stopped and an alarm signal is sent.

[0019] The ship cabin anti-collision method of the ship unloader has the following beneficial effects compared with the prior art:

[0020] (1) By taking three points in the ship cabin and calculating the coordinates of the three points through the ship loader posture, the limit space coordinate range is obtained, and the movable space of the feeding head is determined to prevent the feeding head from colliding with the inner wall of the ship cabin during unloading, thereby causing loss. At the same time, compared with directly installing a distance measuring sensor on the vertical arm and the horizontal arm of the ship loader, fewer sensors are required, and the cost performance is higher.

[0021] (2) The posture position of the ship loader is detected by setting the rotary encoder, the walking encoder, the horizontal arm inclination sensor and the vertical arm inclination sensor. Compared with the traditional distance measuring sensor, since the objects to be detected are different, and the encoder and the angle sensor will not be affected by dirt, the stability of the entire anti-collision system is greatly improved, and no maintenance is required during the later operation.

[0022] (3) By measuring the distance between the reference origin and the most edge of the wharf, real-time judgment is performed to prevent the feeding head from colliding with the wharf when it is below the wharf surface, thereby further protecting the normal operation of the ship unloader and reducing the maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0024] Fig. 1 It is a flowchart of the ship cabin anti-collision method of the ship unloader of the present application.

[0025] Fig. 2 It is a ship loader point taking diagram of the ship cabin anti-collision method of the ship unloader of the present application.

[0026] Fig. 3 It is a three-point distribution example diagram of the ship cabin anti-collision method of the ship unloader of the present application. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figs. 1-3 As shown, the anti-collision method for the ship hull of the spiral unloader of the present invention is based on a detection system. The mechanical structure of the spiral unloader mainly consists of a traveling device, a slewing device, a horizontal spiral device, a vertical spiral device, and a feeding device. The traveling device allows the unloader to move along a specific track on the dock corridor. The slewing device is set on the traveling device, allowing the main working part of the unloader to rotate horizontally on the traveling device. The horizontal spiral device is set on the slewing device for horizontal material transfer. It is hinged to the slewing device and can perform up-and-down pitching movements on the slewing device. The vertical spiral device is set on the horizontal spiral device for vertical unloading operations and transfers the unloaded material into the horizontal spiral device. The vertical spiral device can rotate towards or away from the slewing device on the horizontal spiral device. The fixed length of the horizontal arm of the horizontal spiral device is L2, the fixed length of the vertical arm of the vertical spiral device is L3, and the distance from the ground to the hinge point between the horizontal arm of the horizontal spiral device and the slewing device is L0.

[0029] The detection system is installed on the ship unloader and is used to detect the ship unloader's travel distance L1, rotation angle α, horizontal arm tilt angle β, and vertical arm tilt angle γ. The ship unloader's travel direction is the y-axis, the horizontal plane perpendicular to the ship unloader's travel direction is the x-axis, and the horizontal plane perpendicular to the z-axis is the z-axis. The reference origin of the x-axis and y-axis is the ship unloader's rotation center, and the reference origin of the z-axis is the dock ground. The horizontal arm has a fixed length L2, the vertical arm has a fixed length L3, and the horizontal arm hinge point is L0 from the ground. The method includes steps S1-S4.

[0030] Step S1: The unloader feed head randomly selects three points inside the ship's hold.

[0031] After the unloader moves to the side of the ship's hold, the feed head puts the material into the hold. Three points are selected inside the hold. During the selection process, the three points should be as close as possible to different sides of the hold, and the three points should not be selected on the same horizontal plane. This will maximize the space available for movement inside the hold, thereby maximizing the unloading of materials inside the hold and reducing the time required for subsequent manual cleaning.

[0032] Step S2: Calculate the coordinates of the three points respectively.

[0033] In this step, the x, y, z axis coordinates of the taken point are respectively x=(L2*cosβ+L3*sinγ)*cosα, y=L1-(L2*cosβ+L3*sinγ)*sinα, Z=L0+L2sinβ-L3*cosγ, wherein L2, L3 and L0 are all known fixed values, the walking distance L1, the rotation angle α, the horizontal arm inclination angle β and the vertical arm inclination angle γ are the values to be detected, and are all detected by the detection system.

[0034] In the detection system, a rotation encoder, a walking encoder, a horizontal arm inclination sensor and a vertical arm inclination sensor are arranged, the rotation encoder is installed on the ship unloader and is used for detecting the ship unloader rotation angle α, the ship unloader rotation angle α=N1*360 / N0, wherein N0 is the total pulse number emitted by the rotation encoder when rotating one circle, and N1 is the pulse number emitted by the rotation encoder when rotating from the initial position to the current angle.

[0035] The walking encoder is installed on the ship unloader and is used for detecting the ship unloader walking distance L1, the ship unloader walking distance L1=N3*π*D / N2, wherein N2 is the total pulse number emitted by the walking encoder when rotating one circle, N3 is the pulse number emitted by the walking encoder when rotating from the initial position to the current angle, and D is the ship unloader walking wheel radius.

[0036] The horizontal arm inclination sensor and the vertical arm inclination sensor are both installed on the ship unloader, the horizontal arm inclination sensor is used for detecting the ship unloader up-down inclination angle β, and the vertical arm inclination sensor is used for detecting the ship unloader front-back inclination angle γ.

[0037] In a certain ship loader, the fixed length of horizontal arm L2=18m, the fixed length of vertical arm L3=16m, the distance of horizontal arm hinge point from the ground L0=12m, the radius of walking wheel D=0.55m, the total number of pulses emitted by the rotation encoder and walking encoder when rotating one circle is the same, and both are 8192, then α=N1*360 / 8192, L1=N2*π*D / 8192, which are substituted into the above x, y axis coordinate calculation formula, then the final spatial coordinate value function of the feeding head is x=(18*cosβ+16*sinγ)*cos(N1*360 / 8192), y=N2*π*0.55 / 8192-(18*cosβ+16*sinγ)*sin(N1*360 / 8192), Z=12+18sinβ-16*cosγ, at a certain time, N1=683 (rotation angle α=30°), N2=47411 (walking distance L1=10m), horizontal arm inclination angle β=0°, vertical arm inclination angle γ=-30°, substituting the numerical values into the formula can obtain x=(18*cos0°+16*sin(-30°))*cos30°=8.66m, y=10-(18*cos0°+16*sin(-30°))*sin30=5m, z=12+18*sin0°-16*cos(-30°)=-1.85m, thus the final spatial coordinate value of the feeding head of the ship loader at this time is obtained, and the three-point coordinate calculation in the cabin and the position of the feeding head in the movement process can be performed.

[0038] Step S3: Determine the limit spatial coordinate range in the cabin through the coordinates of the three points.

[0039] Suppose the three-point coordinates of the ship unloader feeding head are (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3), then the allowable running limit value of the x-axis of the ship unloader feeding head is max(x1, x2, x3)-min(x1, x2, x3), that is, the allowable running range of the x-axis of the ship unloader feeding head is between the maximum x-axis value and the minimum x-axis value in the three points, the allowable running limit value of the y-axis of the ship unloader feeding head is max(y1, y2, y3)-min(y1, y2, y3), that is, the allowable running range of the y-axis of the ship unloader feeding head is between the maximum y-axis value and the minimum y-axis value in the three points, and the allowable running limit values of the x-axis and y-axis form the limit spatial coordinate range in this step.

[0040] Step S4: In the unloading process, the ship unloader feeding head always moves within the limit spatial coordinate range.

[0041] When the feeding head is below the plane of the ship cabin, the x, y axis spatial coordinate values of the feeding head during operation should not be lower than the minimum values and not higher than the maximum values, and the z axis spatial coordinate value should not be lower than the minimum value. If the values are lower than the minimum values or higher than the maximum values, a collision with the ship cabin will occur.

[0042] On the ship unloader, a PLC control system is arranged, which performs spatial vector coordinate calculation at all times during the unloading process to obtain the real-time position of the feeding head. When the vector calculation result intersects with the boundary of the limit spatial coordinate range, the PLC control system stops the operation of the ship unloader in the relevant direction, the operation of the operator is invalid, and an alarm signal is sent, so that the feeding head of the ship unloader is always controlled within the limit spatial coordinate range. After the ship unloader is stopped, the feeding head can be controlled to enter the limit spatial coordinate range, and the alarm signal is stopped after the feeding head enters the limit spatial coordinate range.

[0043] In the embodiment, before step S1, the distance L4 between the x axis reference origin and the wharf edge also needs to be measured. According to the coordinate position of the feeding head of the ship unloader at a certain time, the z axis coordinate of the feeding head is negative, that is, the feeding head is below the wharf face, and the y axis coordinate of the feeding head is 5 m. If the distance L4 between the reference origin and the most edge of the wharf is greater than 5 m, a collision with the wharf will not occur. If the distance L4 between the reference origin and the most edge of the wharf is less than 5 m, a collision with the wharf will occur. According to the above determination basis, when the feeding head is below the wharf face, the y axis coordinate value should not be lower than the distance between the reference origin and the most edge of the wharf (a safety threshold value is set according to the actual situation). When it is detected that the safety threshold value is exceeded, the ship unloader is automatically stopped in the direction, and the operation of the operator is invalid, so that the purpose of collision protection is achieved. This determination is performed when the ship unloader is started, and is not affected by whether unloading operation is performed.

[0044] It should be noted that before the unloading process, the worker will obtain the depth data of the ship cabin, and there will be related height marks on the vertical spiral arm. In this way, the operator will approximately know the depth of the inserted material, that is, the z axis data, so that the bottom of the ship cabin will not be easily collided, and the ship unloader does not need to completely unload the material in the ship cabin. There will be residual material for manual cleaning.

[0045] The above only describes the preferred embodiments of the present application and should not be used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method of protecting a ship's hold of a screw ship unloader against collisions, characterized in that Based on the detection system implementation, the detection system is arranged on the ship unloader for detecting the ship unloader walking distance L1, the rotation angle α, the horizontal arm inclination angle β and the vertical arm inclination angle γ, the ship unloader walking direction is the y axis, the horizontal plane is perpendicular to the ship unloader walking direction, that is, the x axis, and the vertical plane is the z axis, wherein the reference origin of the x axis and the y axis is the rotation center of the ship unloader, and the reference origin of the z axis is the wharf ground, and the method comprises the following steps: S1. Taking three points in the ship cabin by the ship unloader feeding head; S2. Calculating the coordinates of the three points respectively; S3. Determining the limit space coordinate range in the ship cabin through the coordinates of the three points; S4. In the discharging process, the ship unloader feeding head always moves within the limit space coordinate range; The three point coordinates of the ship unloader feeding head are (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3), the allowable running limit value of the x axis of the ship unloader feeding head is max(x1, x2, x3)-min(x1, x2, x3), and the allowable running limit value of the y axis of the ship unloader feeding head is max(y1, y2, y3)-min(y1, y2, y3), and the limit space coordinate range in step S3 is composed of the allowable running limit values of the x and y axes; Before step S1, the fixed length L2 of the horizontal arm, the fixed length L3 of the vertical arm and the distance L0 of the horizontal arm hinge point from the ground are measured, and in step S2, the x, y and z axis coordinates of the taken points are respectively x=(L2*cosβ+L3*sinγ)*cosα, y=L1-(L2*cosβ+L3*sinγ)*sinα and Z=L0+L2sinβ-L3*cosγ; Before step S1, the distance L4 between the x axis reference origin and the wharf edge is also measured, and when the z axis coordinate of the ship unloader feeding head is less than 0, the x axis coordinate value of the ship unloader feeding head is greater than L4.

2. The ship impact avoidance method for a ship unloader as claimed in claim 1, wherein, The detection system comprises a rotation encoder installed on the ship unloader for detecting the ship unloader rotation angle α, and the ship unloader rotation angle α=N1*360 / N0, wherein N0 is the total number of pulses emitted by the rotation encoder when rotating one circle, and N1 is the number of pulses emitted by the rotation encoder when rotating from the initial position to the current angle.

3. The ship impact avoidance method for a ship unloader as claimed in claim 1, wherein, The detection system comprises a walking encoder installed on the ship unloader for detecting the ship unloader walking distance L1, and the ship unloader walking distance L1=N3*π*D / N2, wherein N2 is the total number of pulses emitted by the walking encoder when rotating one circle, N3 is the number of pulses emitted by the walking encoder when rotating from the initial position to the current angle, and D is the radius of the ship unloader walking wheel.

4. The ship impact avoidance method for a ship unloader as claimed in claim 1, wherein The detection system comprises a horizontal arm inclination angle sensor and a vertical arm inclination angle sensor, both of which are installed on the ship unloader, the horizontal arm inclination angle sensor is used for detecting the up-down pitch angle β of the ship unloader, and the vertical arm inclination angle sensor is used for detecting the front-back pitch angle γ of the ship unloader.

5. The ship impact avoidance method for a ship unloader as claimed in claim 1, wherein, In step S4, the x, y, z axis coordinates of the ship unloader feeding head are calculated in real time, and when the ship unloader feeding head reaches the edge of the extreme space coordinate range, the ship unloader stops and an alarm signal is sent out.

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