A method and device for detecting the posture and center of gravity of an arm support

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By monitoring the attitude and center of gravity parameters of the boom in real time, and determining whether the difference between them and the benchmark value is within the threshold range, the problem of attitude and center of gravity deviation during boom lifting and lowering is solved, thereby improving the safety and reliability of the ship unloader.

CN116946751BActive Publication Date: 2026-06-16HUADIAN LANCO TECH CO LTD

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Patent Information

Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner: HUADIAN LANCO TECH CO LTD
Filing Date: 2022-04-20
Publication Date: 2026-06-16

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Abstract

The present application relates to the technical field of ship unloading machine control method, and particularly relates to a boom posture and gravity center detection method and detection device. The boom posture and gravity center detection method provided by the present application judges whether the difference between the current posture parameter of the boom and the reference posture parameter is within the first threshold range, and if not, the boom is switched from the running state to the non-running state. Alternatively, the difference between the current gravity center parameter of the boom and the reference gravity center parameter is judged whether it is within the second threshold range, and if not, the boom is switched from the running state to the non-running state. Thus, the safety of the suspension lifting work is ensured, the whole machine overturning and structural deformation accidents are prevented, the safety and reliability of the gantry ship unloading machine are improved, the problem of ship unloading machine overturning or structural deformation during lifting the suspension is solved, automatic detection and alarm are realized, and the difficulty of manual observation is reduced.

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Description

Technical Field

[0001] This invention relates to the technical field of ship unloader control methods, specifically to a method and device for detecting boom posture and center of gravity. Background Technology

[0002] Ship unloaders are equipment used for loading and unloading large quantities of bulk materials. For example... Figure 1 As shown, traditional chain bucket unloaders primarily employ a gantry-type structure, with the chain boom fixed at the front end of the boom. Movement of the chain boom is achieved through boom rotation and pitch. However, this boom structure results in significant stress on the front boom, negatively impacting the overall machine's structural integrity. Furthermore, adjusting the chain boom position requires the coordinated operation of the slewing mechanism, pitching mechanism, and chain boom lifting mechanism, making adjustments cumbersome and reducing overall unloading efficiency. This is particularly true when making significant adjustments along the ship's depth, requiring the pitching mechanism and chain boom lifting mechanism to work together, severely hindering unloading efficiency. The improved gantry-lift chain bucket unloader utilizes a gantry-type design, different from traditional chain bucket unloaders. This design incorporates a boom lifting system to achieve overall boom lifting, facilitating wide-range adjustment of the chain boom height. This significantly improves overall loading and unloading efficiency while effectively enhancing the safety of the chain bucket unloader in extreme weather conditions.

[0003] However, research has found that when a gantry-type chain bucket unloader needs to raise its boom, changes in external conditions, such as wind load, wire rope telescoping modulus, and variations in the position and load of other mechanisms, can easily cause deviations in the boom's posture and center of gravity from the baseline calibration values during the lifting process. During subsequent lifting, this deviation will be further amplified, and the deviations in posture and center of gravity will interact, causing the deviation trend to intensify, posing a risk of the entire machine overturning or structural deformation. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the posture and center of gravity of the boom during the lifting process are prone to deviate from the reference calibration value, thereby providing a boom posture and center of gravity detection method to avoid the situation where the posture and center of gravity of the boom during the lifting process deviate from the reference calibration value.

[0005] To address the aforementioned technical problems, this invention provides a method for detecting the posture and center of gravity of a boom, wherein the boom is adapted to perform vertical lifting and lowering movements relative to the gantry, and the method includes:

[0006] Obtain the working status of the boom;

[0007] When the boom is in operation, the current attitude parameters and current center of gravity parameters of the boom are obtained;

[0008] Determine whether the difference between the current attitude parameters of the boom and the reference attitude parameters is within the first threshold range. If not, switch the boom from the running state to the non-running state.

[0009] Alternatively, determine whether the difference between the current center of gravity parameter of the boom and the reference center of gravity parameter is within the second threshold range. If not, switch the boom from the running state to the non-running state.

[0010] Optionally, the current attitude parameters include: the current longitudinal tilt angle or the current lateral tilt angle;

[0011] The step of determining whether the difference between the current attitude parameters of the boom and the reference attitude parameters is within a first threshold range, and if not, switching the boom from the running state to the non-running state, includes:

[0012] If the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds the third threshold range, the boom will be switched from the running state to the non-running state.

[0013] Alternatively, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds the fourth threshold range, the boom will be switched from the running state to the non-running state.

[0014] Optionally, the current attitude parameters include: the boom vertical displacement value, and the method further includes:

[0015] To obtain the change in length of the wire rope;

[0016] The target displacement value of the boom is determined based on the change in the length of the wire rope;

[0017] Compare the vertical displacement value of the boom with the target displacement value of the boom;

[0018] If the difference between the vertical displacement value of the boom and the target displacement value of the boom exceeds the fifth threshold range, the boom will be switched from the running state to the non-running state.

[0019] Optionally, the boom includes a first boom and a second boom arranged parallel to each other in the horizontal direction.

[0020] A crossbeam is provided at the top of the gantry, and the first boom and the second boom are respectively connected to the crossbeam via two steel wire ropes;

[0021] The method further includes:

[0022] The length changes of all wire ropes are obtained. If the difference between the length change of any wire rope and the length changes of the other wire ropes exceeds the sixth threshold range, the boom is switched from the running state to the non-running state.

[0023] Optionally, the boom includes a first boom and a second boom arranged parallel to each other in the horizontal direction.

[0024] A crossbeam is provided at the top of the gantry, and the first boom and the second boom are respectively connected to the crossbeam via two steel wire ropes;

[0025] The step of determining whether the difference between the current center of gravity parameter and the reference center of gravity parameter of the boom is within a second threshold range, and if not, switching the boom from the operating state to the non-operating state, includes:

[0026] Obtain the stress load values for all wire ropes;

[0027] The current center of gravity parameters are determined based on the stress load values of all wire ropes.

[0028] If the difference between the current center of gravity parameter and the reference center of gravity parameter exceeds the seventh threshold range, the boom will be switched from the running state to the non-running state.

[0029] Optionally, along the length direction, the gantry includes at least two sets of legs, and each set of legs has two legs symmetrically arranged along the width direction;

[0030] At least two horizontal distance measuring instruments are installed on one of the door legs along the width direction, the distance measuring instruments being adapted to measure the distance between the two door legs along the width direction; the method further includes:

[0031] Obtain the distance between the two door legs along the width direction;

[0032] If the difference between the spacing value and the reference spacing value exceeds the eighth threshold range, the boom will be switched from the running state to the non-running state.

[0033] On the other hand, the boom posture and center of gravity detection device provided by the present invention is suitable for lifting and lowering relative to the gantry in a vertical direction. The boom posture and center of gravity detection device includes:

[0034] The acquisition module is used to acquire the working status of the boom;

[0035] The acquisition module is also used to acquire the current attitude parameters and current center of gravity parameters of the boom when the boom is in operation.

[0036] The judgment module is used to determine whether the difference between the current attitude parameters of the boom and the reference attitude parameters is within the first threshold range. If not, the boom is switched from the running state to the non-running state.

[0037] The judgment module is also used to determine whether the difference between the current center of gravity parameter of the boom and the reference center of gravity parameter is within the second threshold range. If not, the boom is switched from the running state to the non-running state.

[0038] Optionally, the judgment module is specifically used to switch the boom from the running state to the non-running state if the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds a third threshold range; or, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds a fourth threshold range, switch the boom from the running state to the non-running state.

[0039] On the other hand, the present invention provides an electronic device, including a processor and a memory, wherein the processor is configured to execute a boom attitude and center of gravity detection program stored in the memory to implement the boom attitude and center of gravity detection method described above.

[0040] On the other hand, the present invention provides a storage medium storing one or more programs, which can be executed by one or more processors to implement the boom posture and center of gravity detection method described above.

[0041] The technical solution of this invention has the following advantages:

[0042] 1. The boom posture and center of gravity detection method provided by the present invention determines whether the difference between the current posture parameters of the boom and the reference posture parameters is within a first threshold range. If not, the boom is switched from the running state to the non-running state; or, it determines whether the difference between the current center of gravity parameters of the boom and the reference center of gravity parameters is within a second threshold range. If not, the boom is switched from the running state to the non-running state. This ensures the safety of the suspension lifting operation, prevents the overturning of the entire machine and structural deformation accidents, improves the safety and reliability of the gantry ship unloader, solves the problem of the danger of overturning or structural deformation of the ship unloader when raising and lowering the suspension, realizes automatic detection and alarm, and reduces the difficulty of manual observation. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of a chain bucket unloader in the existing technology;

[0045] Figure 2This is a schematic diagram of the ship unloader of the present invention;

[0046] Figure 3 This is a schematic diagram of the boom lifting system of the present invention;

[0047] Figure 4 for Figure 2 A schematic diagram of the B-direction;

[0048] Figure 5 This is a flowchart of the boom posture and center of gravity detection method of the present invention;

[0049] Figure 6 This is a schematic diagram of the hardware structure of the electronic device of the present invention.

[0050] Explanation of reference numerals in the attached figures:

[0051] 11. Gantry; 13. Traveling trolley; 14. Crossbeam; 20. Ship hold; 30. Material; 40. Dock foundation; 100. Material handling device;

[0052] 600. Boom lifting system; 6. Boom; 61. First boom; 62. Second boom; 602. Traction mechanism; 603. Pulley assembly; 6031. First pulley; 6032. Second pulley; 6033. Third pulley; 604. Transmission component; 607. Energy-saving structure; 6071. Counterweight; 6072. Energy-saving rope;

[0053] 5. Horizontal sensor; 8. Vertical rangefinder; 10. Horizontal rangefinder. Detailed Implementation

[0054] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0058] Example 1

[0059] Combination Figures 2-4 As shown, this embodiment discloses a ship unloader, including a gantry 11, a boom 6, and a material handling device 100, the material handling device 100 being connected to the boom 6; it also includes a boom lifting system 600, the boom lifting system 600 including a traction mechanism 602, a pulley assembly 603, a transmission component 604, and an energy-saving structure 607, the traction mechanism 602 being disposed on the boom 6; the pulley assembly 603 including a first pulley 6031, the first pulley 6031 being connected to the top of the gantry 11; one end of the transmission component 604 being connected to the traction mechanism 602, and the other end bypassing the first pulley 6031 and being connected to the boom 6; the boom 6 is adapted to rise or fall along the gantry 11 under the control of the traction mechanism 602 and the transmission component 604; the energy-saving structure 607 is connected to the boom 6 for balancing the weight of the boom 6.

[0060] The boom lifting system 600 enables the overall lifting of the boom 6, allowing for convenient adjustment of the height of the boom 6 and the material handling device 100 over a wide range, greatly improving overall loading and unloading efficiency and effectively enhancing the safety of the unloader in extreme weather conditions. One end of the transmission component 604 is connected to the boom 6, and the other end, after passing over the first pulley 6031, connects to the traction mechanism 602 mounted on the boom 6. The first pulley 6031 is located at the top of the gantry 11, creating a height difference that facilitates control of the boom 6's lifting and lowering. The energy-saving structure 607 balances the effective weight of the boom 6 during lifting, effectively reducing the installed capacity of the motor in the traction mechanism 602, lowering the energy consumption of the boom 6's lifting and lowering, and achieving energy savings.

[0061] Preferably, the transmission component 604 can be a steel wire rope.

[0062] In this embodiment, the pulley assembly 603 further includes a second pulley 6032, which is connected to the boom 6. One end of the transmission member 604 is connected to the traction mechanism 602, and the other end passes around the second pulley 6032 and the first pulley 6031 before connecting to the boom 6. The second pulley 6032 reduces the pressure on the transmission member 604, making the lifting and lowering of the boom 6 more convenient. In a specific embodiment, the boom 6 has an upwardly extending protrusion, and the second pulley 6032 is disposed on the protrusion, reducing the length of the transmission member 604.

[0063] In this embodiment, both the pulley assembly 603 and the transmission component 604 have multiple sets, with each gantry 11 matched with one set of pulley assemblies 603. The traction mechanism 602 may have one set, with one set of traction mechanisms 602 simultaneously controlling the pulley assemblies 603 near four gantry 11s; alternatively, the traction mechanism 602 may have two sets, with one set of traction mechanisms 602 simultaneously controlling the pulley assemblies 603 near two gantry 11s.

[0064] In a specific implementation, when the unloader is working, if the material handling device 100 trolley needs to operate in the deep hold or needs to be raised or lowered significantly in the direction of ship depth due to changes in water level, the boom lifting system 600 is used to raise or lower the material handling device 100, the running trolley 13 and the boom 6 together as a whole.

[0065] In this embodiment, the pulley assembly 603 further includes a third pulley 6033, which is connected to the top of the gantry 11. The energy-saving structure 607 includes a counterweight 6071 and an energy-saving rope 6072. One end of the energy-saving rope 6072 is connected to the boom 6, and the other end passes around the third pulley 6033 and is connected to the counterweight 6071.

[0066] When the boom 6 rises under the control of the boom lifting system 600, the counterweight 6071 descends. The counterweight 6071 balances the effective weight of the boom 6 during lifting, effectively reducing the installed capacity of the motor in the traction mechanism 602, lowering the energy consumption of the boom 6 during lifting, and achieving energy saving. When the boom 6 descends under the control of the boom lifting system 600, the counterweight 6071 rises, balancing the effective weight of the boom 6 during descent, slowing down the descent speed of the boom 6, effectively reducing the installed capacity of the motor in the traction mechanism 602, lowering the energy consumption of the boom 6 during descent, and achieving energy saving. In a preferred embodiment, the weight of the counterweight 6071 is close to the total weight of the boom 6 when unloaded. Through the mutual cancellation relationship between the counterweight 6071 and the boom 6, the effective weight of the boom 6 during lifting is reduced.

[0067] In this embodiment, a crossbeam 14 is connected to the top of the gantry 11. The first pulley 6031 is connected to the bottom of the crossbeam 14. There are two third pulleys 6033, which are respectively connected to the two ends of the top of the crossbeam 14. The third pulley 6033 near the counterweight 6071 extends from the crossbeam 14 to the side of the gantry 11. The third pulley 6033 near the counterweight 6071 extends to the side of the gantry 11. The counterweight 6071, which passes around the third pulley 6033, can hang on the side of the gantry 11 under the action of gravity, and there is a gap between it and the gantry 11 to avoid the counterweight 6071 sticking to the gantry 11, rubbing against the gantry 11 and generating noise or damaging the gantry 11.

[0068] In a preferred embodiment, the first pulley 6031 and the third pulley 6033 are staggered in the vertical direction to prevent the transmission component 604 from rubbing or tangling with the energy-saving rope 6072.

[0069] Preferably, the unloader is mounted on the wharf foundation 40 and extends to the sea side via the boom 6. Preferably, the material handling device 100 is adapted to extend into the hold 20 to facilitate the retrieval of material 30.

[0070] Example 2

[0071] Combination Figure 5 As shown, the boom posture and center of gravity detection method provided in this embodiment allows the boom 6 to move vertically relative to the gantry 11. The method includes:

[0072] Obtain the working status of the boom 6;

[0073] When the boom 6 is in operation, the current attitude parameters and current center of gravity parameters of the boom 6 are obtained;

[0074] Determine whether the difference between the current attitude parameters of the boom 6 and the reference attitude parameters is within the first threshold range. If not, switch the boom 6 from the running state to the non-running state.

[0075] Alternatively, determine whether the difference between the current center of gravity parameter of the boom 6 and the reference center of gravity parameter is within the second threshold range. If not, switch the boom 6 from the running state to the non-running state.

[0076] The boom 6 includes a first boom 61 and a second boom 62 arranged parallel to each other in the horizontal direction.

[0077] Preferably, the current attitude parameters of the boom 6 may specifically include at least one of the following: current longitudinal tilt angle, current lateral tilt angle, and boom vertical displacement value.

[0078] By determining whether the difference between the current attitude parameters of the boom 6 and the reference attitude parameters is within the first threshold range, it can be determined whether the attitude of the boom 6 meets the safety requirements. If not, the boom 6 is switched from the running state to the non-running state, so that the boom stops working.

[0079] By determining whether the difference between the current center of gravity parameter of the boom 6 and the reference center of gravity parameter is within the second threshold range, it can be determined whether the posture of the boom 6 meets the safety requirements. If not, the boom 6 is switched from the running state to the non-running state, so that the boom stops working.

[0080] The boom posture and center of gravity detection method provided in this embodiment determines whether the difference between the current posture parameters of the boom 6 and the reference posture parameters is within a first threshold range. If not, the boom 6 is switched from the running state to the non-running state. Alternatively, it determines whether the difference between the current center of gravity parameters of the boom 6 and the reference center of gravity parameters is within a second threshold range. If not, the boom 6 is switched from the running state to the non-running state. This ensures the safety of the suspension lifting operation, prevents the overturning of the entire machine and structural deformation accidents, improves the safety and reliability of the gantry ship unloader, solves the problem of the danger of overturning or structural deformation of the ship unloader when raising and lowering the suspension, realizes automatic detection and alarm, and reduces the difficulty of manual observation.

[0081] The boom posture and center of gravity detection method provided in this embodiment monitors the posture and position of the ship unloader's suspension in real time, and monitors the stress state of each component used to lift the suspension. When the suspension is moving up and down, it determines whether the suspension posture remains horizontal and whether the suspension center of gravity remains within the allowable safe range. When all the operating parameters of the suspension meet the requirements, the suspension continues to lift and lower. When the suspension cannot maintain a horizontal posture in all directions or the center of gravity exceeds the structurally allowable safe range, the lifting or lowering action of the suspension is stopped. The control system adjusts one or more lifting points of the suspension to bring the suspension posture and center of gravity back to the allowable range before the lifting and lowering can continue. This detection method can prevent the center of gravity of the suspension from deviating from the safe allowable range when the ship unloader is performing suspension lifting operations, ensuring the safety and stability of the ship unloader.

[0082] Specifically, the current attitude parameters include: the current longitudinal tilt angle or the current lateral tilt angle, wherein the current longitudinal tilt angle refers to the angle between the extension line of the boom 6 along the length direction and the horizontal plane, and the current lateral tilt angle refers to the angle between the extension line of the boom 6 along the width direction and the horizontal plane.

[0083] The step of determining whether the difference between the current attitude parameters of the boom 6 and the reference attitude parameters is within a first threshold range, and if not, switching the boom 6 from the running state to the non-running state, includes:

[0084] If the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds the third threshold range, the boom 6 will be switched from the running state to the non-running state.

[0085] Alternatively, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds the fourth threshold range, the boom 6 will be switched from the running state to the non-running state.

[0086] Preferably, the current longitudinal tilt angle or the current lateral tilt angle can be measured by a horizontal sensor 5 installed on the boom 6, with one horizontal sensor 5 installed on each of the first boom 61 and the second boom 62.

[0087] The third threshold range is an angle range value, used to characterize the safe range of the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle. The fourth threshold range is an angle range value, used to characterize the safe range of the difference between the current lateral tilt angle and the preset lateral tilt angle.

[0088] If any value in the longitudinal or lateral direction exceeds the threshold range, it is determined that the boom posture is deformed, and the boom lifting system stops working.

[0089] Specifically, the current attitude parameters include: the boom vertical displacement value, and the method further includes:

[0090] To obtain the change in length of the wire rope;

[0091] The target displacement value of the boom is determined based on the change in the length of the wire rope;

[0092] Compare the vertical displacement value of the boom with the target displacement value of the boom;

[0093] If the difference between the vertical displacement value of the boom and the target displacement value of the boom exceeds the fifth threshold range, the boom 6 will be switched from the running state to the non-running state.

[0094] Preferably, the vertical displacement value of the boom can be measured by a vertical distance measuring instrument 8. One vertical distance measuring instrument 8 is installed near each of the four suspension points of the gate leg and the crossbeam 14. The vertical distance measuring instrument 8 shines downward from the crossbeam 14 to determine the distance between the first boom 61 and the second boom 62 and the crossbeam 14.

[0095] Preferably, the vertical rangefinder 8 can be a laser rangefinder.

[0096] Preferably, the change in the length of the wire rope can be obtained from the data of the encoder on the traction mechanism. The change in the length of the wire rope can be calculated and converted into a target displacement value of the boom within the controller. The target displacement value of the boom is determined based on the data output by the encoder. By comparing the vertical displacement value of the boom with the target displacement value of the boom, and obtaining the difference between the vertical displacement value of the boom and the target displacement value of the boom, it is determined whether the data exceeds the allowable deviation range. If it exceeds the allowable deviation range, it is determined that the boom movement is unbalanced, and the lifting mechanism of the boom is controlled to stop working.

[0097] The fifth threshold range is a length range value used to characterize the safe range of the difference between the boom vertical displacement value and the boom target displacement value.

[0098] Specifically, the boom 6 includes a first boom 61 and a second boom 62 arranged in parallel along the horizontal direction, and a crossbeam 14 is provided on the top of the gantry 11. The first boom 61 and the second boom 62 are respectively connected to the crossbeam 14 via two steel wire ropes.

[0099] The method further includes:

[0100] The length changes of all wire ropes are obtained. If the difference between the length change of any wire rope and the length change of the other wire ropes exceeds the sixth threshold range, the boom 6 is switched from the running state to the non-running state.

[0101] In this embodiment, the number of wire ropes is four. By acquiring the length changes of all four wire ropes, if the difference between the length change of any one wire rope and the length changes of the other wire ropes exceeds a sixth threshold range, the boom 6 is switched from the operating state to the non-operating state. The sixth threshold range refers to length values, used to characterize the safe range of the difference between the length changes of any one wire rope and the length changes of the other wire ropes.

[0102] Preferably, the length change of the wire rope can be obtained by sampling pulse data in real time from the encoder, calculating the rope length when the rope is pulled out or pulled back, obtaining the rope length from the meter counter, obtaining the current number of rotations of the drum from the coil counter, and then calculating the rope length in combination with the diameter of the drum.

[0103] As a variation, the number of rotations of all drums can also be obtained. If the difference between the number of rotations of any drum and the number of rotations of other drums exceeds a preset threshold range, the boom 6 is switched from the running state to the non-running state.

[0104] Specifically, the boom 6 includes a first boom 61 and a second boom 62 arranged in parallel along the horizontal direction, and a crossbeam 14 is provided on the top of the gantry 11. The first boom 61 and the second boom 62 are respectively connected to the crossbeam 14 via two steel wire ropes.

[0105] The step of determining whether the difference between the current center of gravity parameter and the reference center of gravity parameter of the boom 6 is within the second threshold range, and if not, switching the boom 6 from the operating state to the non-operating state, includes:

[0106] Obtain the stress load values for all wire ropes;

[0107] The current center of gravity parameters are determined based on the stress load values of all wire ropes.

[0108] If the difference between the current center of gravity parameter and the reference center of gravity parameter exceeds the seventh threshold range, the boom 6 will be switched from the running state to the non-running state.

[0109] Preferably, the load value of the wire rope can be obtained by the load sensor 7, which is installed on the second pulley 6032 or on the wire rope.

[0110] In this embodiment, there are 4 steel wire ropes. The force load values of all 4 steel wire ropes are obtained, and the current center of gravity parameter is determined based on the force load values of all 4 steel wire ropes. The center of gravity parameter can be the position of the projection of the center of gravity of the boom along the vertical direction.

[0111] If the difference between the current center of gravity parameter and the reference center of gravity parameter exceeds the seventh threshold range, the boom 6 will be switched from the operating state to the non-operating state. The seventh threshold range can be defined as the safe range of the projection of the boom's center of gravity along the vertical direction.

[0112] As a variation, the controller acquires the load values at the stress points in real time from the force sensors, and compares each load value with the corresponding reference load value of the sensor at the recorded reference position. If the deviation between the force load data acquired from any one or more sensors and the reference value data exceeds the allowable range, the system determines that the suspension center of gravity has exceeded the safe range, and the lifting mechanism stops working.

[0113] Specifically, along the length direction, the gantry 11 includes at least two sets of gantry legs, and each set of gantry legs has two legs symmetrically arranged along the width direction;

[0114] At least two horizontal rangefinders 10 are provided on one of the door legs along the width direction, the rangefinders being adapted to measure the distance between the two door legs along the width direction; the method further includes:

[0115] Obtain the distance between the two door legs along the width direction;

[0116] If the difference between the spacing value and the reference spacing value exceeds the eighth threshold range, the boom 6 will be switched from the running state to the non-running state.

[0117] Furthermore, at least two horizontal rangefinders 10 are spaced apart along the height direction, combined with Figure 4 As shown, in one implementation, three horizontal rangefinders 10 are arranged from top to bottom on one of the door legs. The three horizontal rangefinders 10 are evenly distributed in the vertical direction within the suspension lifting range. The three horizontal rangefinders 10 illuminate the other door leg to obtain the distance between the two door legs at different heights. When the data exceeds the allowable deviation range, the system determines that the door leg is bent and the lifting mechanism stops working.

[0118] Preferably, the signals from each sensor in this embodiment are transmitted via wired or wireless means.

[0119] The boom attitude and center of gravity detection method provided in this embodiment, through sampling and analysis of sensor data, determines whether the longitudinal and transverse tilt angles of the suspension have changed beyond the acceptable range, whether the difference between the distance values between the suspension and the reference points of each gantry column has changed beyond the acceptable range, whether the number of rotations of the suspension lifting mechanism and the rope length and rope difference have changed beyond the acceptable range, and whether the force values at each stress point of the suspension lifting mechanism have changed beyond the acceptable range. This determines whether the suspension attitude and center of gravity remain within acceptable limits, thereby ensuring the safety of the suspension lifting operation and preventing accidents such as overturning and structural deformation. This improves the safety and reliability of the gantry ship unloader.

[0120] Example 3

[0121] This embodiment provides a boom posture and center of gravity detection device. The boom 6 is adapted to move vertically relative to the gantry 11. The boom posture and center of gravity detection device includes:

[0122] The acquisition module is used to acquire the working status of the boom 6;

[0123] The acquisition module is also used to acquire the current attitude parameters and current center of gravity parameters of the boom 6 when the boom 6 is in operation.

[0124] The judgment module is used to determine whether the difference between the current attitude parameters of the boom 6 and the reference attitude parameters is within the first threshold range. If not, the boom 6 is switched from the running state to the non-running state.

[0125] The judgment module is also used to determine whether the difference between the current center of gravity parameter of the boom 6 and the reference center of gravity parameter is within the second threshold range. If not, the boom 6 is switched from the running state to the non-running state.

[0126] Specifically, the judgment module is used to switch the boom 6 from the running state to the non-running state if the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds a third threshold range; or, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds a fourth threshold range, switch the boom 6 from the running state to the non-running state.

[0127] This embodiment also provides an electronic device, including a processor and a memory, wherein the processor is used to execute a boom attitude and center of gravity detection program stored in the memory to implement the boom attitude and center of gravity detection method.

[0128] Figure 6 The illustrated electronic device 400 includes at least one processor 401, a memory 402, at least one network interface 404, and other user interfaces 403. The various components in the electronic device 400 are coupled together via a bus system 405. It is understood that the bus system 405 is used to implement communication between these components. In addition to a data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 6 The general designated all buses as Bus System 405.

[0129] The user interface 403 may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0130] It is understood that the memory 402 in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 402 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0131] In some implementations, memory 402 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 4021 and application program 4022.

[0132] The operating system 4021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 4022 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 4022.

[0133] In this embodiment of the invention, by calling the program or instructions stored in the memory 402, specifically the program or instructions stored in the application program 4022, the processor 401 executes the method steps provided in this embodiment.

[0134] The methods disclosed in the above embodiments of the present invention can be applied to processor 401, or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 401 or by instructions in the form of software. The processor 401 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 402. Processor 401 reads the information in memory 402 and, in conjunction with its hardware, completes the steps of the above method.

[0135] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0136] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0137] This embodiment also provides a storage medium that stores one or more programs, which can be executed by one or more processors to implement the boom posture and center of gravity detection method.

[0138] This invention also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; the memory may also include combinations of the above types of memory.

[0139] The above method can be implemented when one or more programs in the storage medium can be executed by one or more processors.

[0140] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0141] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0142] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for detecting the boom posture and center of gravity of a ship unloader, characterized in that, The ship unloader includes a gantry (11), a boom (6) and a boom lifting system (600), the boom lifting system (600) including a traction mechanism (602) and a transmission component (604), the boom (6) being adapted to rise or fall vertically along the gantry (11) under the control of the traction mechanism (602) and the transmission component (604); The method includes: Obtain the working status of the boom (6); When the boom (6) is in operation, the current attitude parameters and current center of gravity parameters of the boom (6) are obtained; Determine whether the difference between the current attitude parameters of the boom (6) and the reference attitude parameters is within the first threshold range. If not, switch the boom (6) from the running state to the non-running state. Alternatively, determine whether the difference between the current center of gravity parameter of the boom (6) and the reference center of gravity parameter is within the second threshold range. If not, switch the boom (6) from the running state to the non-running state. The current attitude parameters include: boom vertical displacement value. The method further includes: obtaining the change in the length of the wire rope; determining the target displacement value of the boom based on the change in the length of the wire rope; comparing the boom vertical displacement value with the boom target displacement value; if the difference between the boom vertical displacement value and the boom target displacement value exceeds the fifth threshold range, then the boom (6) is switched from the running state to the non-running state.

2. The method for detecting the boom posture and center of gravity of a ship unloader according to claim 1, characterized in that, The current attitude parameters include: the current longitudinal tilt angle or the current lateral tilt angle; The step of determining whether the difference between the current attitude parameters of the boom (6) and the reference attitude parameters is within a first threshold range, and if not, switching the boom (6) from the running state to the non-running state, includes: If the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds the third threshold range, the boom (6) will be switched from the running state to the non-running state. Alternatively, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds the fourth threshold range, the boom (6) will be switched from the running state to the non-running state.

3. The method for detecting the boom posture and center of gravity of a ship unloader according to claim 1, characterized in that, The boom (6) includes a first boom (61) and a second boom (62) arranged parallel to each other in the horizontal direction. The top of the gantry (11) is provided with a crossbeam (14), and the first boom (61) and the second boom (62) are respectively connected to the crossbeam (14) via two steel wire ropes; The method further includes: Obtain the length changes of all wire ropes. If the difference between the length changes of any wire rope and the length changes of other wire ropes exceeds the sixth threshold range, switch the boom (6) from the running state to the non-running state.

4. The method for detecting the boom posture and center of gravity of a ship unloader according to claim 1, characterized in that, The boom (6) includes a first boom (61) and a second boom (62) arranged parallel to each other in the horizontal direction. The top of the gantry (11) is provided with a crossbeam (14), and the first boom (61) and the second boom (62) are respectively connected to the crossbeam (14) via two steel wire ropes; The step of determining whether the difference between the current center of gravity parameter and the reference center of gravity parameter of the boom (6) is within the second threshold range, and if not, switching the boom (6) from the running state to the non-running state, includes: Obtain the stress load values for all wire ropes; The current center of gravity parameters are determined based on the stress load values of all wire ropes. If the difference between the current center of gravity parameter and the reference center of gravity parameter exceeds the seventh threshold range, the boom (6) will be switched from the running state to the non-running state.

5. The method for detecting the boom posture and center of gravity of a ship unloader according to claim 1, characterized in that, Along the length direction, the gantry (11) includes at least two sets of gantry legs, and each set of gantry legs is symmetrically arranged with two legs along the width direction; At least two horizontal distance measuring instruments (10) are provided on one of the door legs along the width direction, the distance measuring instruments being adapted to measure the distance between the two door legs along the width direction; the method further includes: Obtain the distance between the two door legs along the width direction; If the difference between the spacing value and the reference spacing value exceeds the eighth threshold range, the boom (6) will be switched from the running state to the non-running state.

6. A device for detecting the boom posture and center of gravity of a ship unloader, characterized in that, The ship unloader includes a gantry (11), a boom (6) and a boom lifting system (600), the boom lifting system (600) including a traction mechanism (602) and a transmission component (604), the boom (6) being adapted to rise or fall vertically along the gantry (11) under the control of the traction mechanism (602) and the transmission component (604); The boom attitude and center of gravity detection device includes: The acquisition module is used to acquire the working status of the boom (6); The acquisition module is also used to acquire the current attitude parameters and current center of gravity parameters of the boom (6) when the boom (6) is in operation. The judgment module is used to determine whether the difference between the current attitude parameters of the boom (6) and the reference attitude parameters is within the first threshold range. If not, the boom (6) is switched from the running state to the non-running state. The judgment module is also used to determine whether the difference between the current center of gravity parameter and the reference center of gravity parameter of the boom (6) is within the second threshold range. If not, the boom (6) is switched from the running state to the non-running state.

7. The unloader boom attitude and center of gravity detection device according to claim 6, characterized in that, The current attitude parameters include: the current longitudinal tilt angle or the current lateral tilt angle; The judgment module is specifically used to switch the boom (6) from the running state to the non-running state if the difference between the current longitudinal tilt angle and the preset longitudinal tilt angle exceeds the third threshold range; or, if the difference between the current lateral tilt angle and the preset lateral tilt angle exceeds the fourth threshold range, switch the boom (6) from the running state to the non-running state.

8. An electronic device, characterized in that, include: A processor and a memory, the processor being configured to execute a boom attitude and center of gravity detection program stored in the memory to implement the boom attitude and center of gravity detection method for a ship unloader as described in any one of claims 1-5.

9. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the boom posture and center of gravity detection method of the unloader as described in any one of claims 1-5.