A kind of cargo cleaning machine and cargo cleaning operation system

Abstract

The application relates to the technical field of cleaning, and particularly provides a cleaning machine and a cleaning operation system. The cleaning machine comprises a vehicle body integrated with a running chassis, an information acquisition device for acquiring environmental information, a processor for receiving remote control information, a driving assembly in communication connection with the processor, and at least two working tools; the driving assembly comprises running power for driving the vehicle body to move and operation power for driving the working tools to operate, so that the processor starts the corresponding power device to control the operation of the cleaning machine according to the remote control instruction. The cleaning machine provided by the application integrates at least two sets of working tools, can be used to perform targeted cleaning operation, is flexible to use, has high applicability, and can avoid personnel entering the cabin for cleaning. Meanwhile, the vehicle body can receive remote control instructions, and can be remotely controlled by personnel to move and perform cleaning operation, so that personnel do not need to enter the cabin to drive, the work efficiency is improved, the work safety is improved, and the degree of manual participation is reduced.

Description

Technical Field

[0001] This application relates to the field of tank cleaning technology, specifically to a tank cleaning machine and a tank cleaning operation system. Background Technology

[0002] A hold cleaning machine is a specialized machine used during the unloading of dry bulk cargo from the hold and corners of the ship where the grab bucket cannot reach the cargo. It gathers the remaining cargo that is stuck in these areas towards the bottom of the hold for further unloading. The entire process of a hold cleaning machine requires manual intervention in some stages. For example, when the machine is operating inside the hold, a driver is needed; and when certain corners cannot be cleaned due to limitations of the cleaning attachments, personnel must enter the hold to clean them. These factors result in low efficiency during the hold cleaning operation, and the need for personnel to enter and exit the hold not only consumes a significant amount of manpower but also poses safety risks. Summary of the Invention

[0003] In view of this, the embodiments of this application aim to provide a cabin cleaning machine and cabin cleaning operation system, which reduces the degree of manual intervention, reduces personnel entering the cabin for operation, protects personnel safety, and improves operation efficiency, so as to at least solve the above-mentioned problems in the prior art to a certain extent.

[0004] This application provides a cabin cleaning machine, including a vehicle body with an integrated chassis, and the vehicle body is also equipped with an information collection device for collecting environmental information, a processor for receiving remote control information, a drive component that is communicatively connected to the processor, and at least two working attachments;

[0005] The drive assembly includes driving power for moving the vehicle body and working power for operating the work attachments, so that the processor can start the corresponding power unit to control the cleaning machine operation according to the remote control command.

[0006] In one possible implementation, a remote control is also included, which is equipped with a control command input component and a command output module that communicates wirelessly with the processor.

[0007] In one possible implementation, the vehicle body is further provided with:

[0008] A lifting module is used to connect to the lifting head of a crane. One of the lifting module and the lifting head has a locking component, and the other has a locking component that engages with the locking component and a locking force that drives the locking component to move to engage or disengage the locking component.

[0009] The guide module guides the lifting head to align with the lifting module, so that the lifting head can automatically dock with the lifting module under guidance.

[0010] In one possible implementation, the guide module is provided with a guide channel pointing towards the lifting module, and the cross-section of the guide channel gradually decreases along the direction that gradually approaches the lifting module;

[0011] And / or, the lifting module is provided with the locking component and the locking power, wherein the locking component is a gripper that can be opened and closed;

[0012] And / or, the lifting module further includes an inlet cylinder connected to the guide module, the cross-section of the inlet cylinder gradually narrows along the direction close to the locking member, and the narrow end of the inlet cylinder is opposite to the position on the locking member that accommodates the member to be locked;

[0013] And / or, a detection module is also provided for detecting whether the lifting module is docked;

[0014] And / or, the guide module is provided with a receiving surface for holding the lifting head, so that the lifting head can be placed on the guide module.

[0015] In one possible implementation, the at least two working attachments include:

[0016] The main attachment is connected to the vehicle body via the main boom and is hinged to the main boom so that it can swing in the height direction;

[0017] A secondary attachment is connected to a secondary boom, which is detachably mounted on the vehicle body via a second mounting base;

[0018] The main boom and / or the auxiliary boom have multiple boom sections that are hinged together in sequence.

[0019] In one possible implementation, the vehicle body includes a first frame and a second frame, the first frame and the second frame being hinged together, and the main attachment and the sub-attachment being respectively disposed on the first frame and the second frame;

[0020] And / or, the sub-attachment is hinged to the end of the sub-boom to be able to swing about the first direction, and the sub-boom is also provided with an attachment power source for driving the sub-attachment to rotate;

[0021] And / or, the sub-attachment includes a base connected to the sub-boom, a first attachment integrated on the base and telescopically mounted, and a second attachment rotatably mounted;

[0022] And / or, the secondary boom is rotatably connected to the vehicle body so as to be able to swing in a second or third direction.

[0023] This application also provides a tank cleaning operation system, including:

[0024] The tank cleaning machine is the tank cleaning machine described in any of the preceding items;

[0025] The remote control room has a control console and a display device. The control console is configured to receive environmental information collected by the information acquisition device and display the environmental information on the display device, as well as to receive control commands input by the operator and issue control commands to the processor, so that the operator can issue control commands based on the information displayed on the display device to control the cleaning machine operation.

[0026] In one possible implementation, the information acquisition device of the cleaning machine includes a 360-degree surround view component and / or an in-cabin 3D map construction component. The 360-degree surround view component includes multiple cameras arranged circumferentially on the cleaning machine, and the in-cabin 3D map construction component includes 3D sensing sensors installed on the cleaning machine, so that the display device can display the in-cabin environment and / or an in-cabin 3D simulation map.

[0027] In one possible implementation, an attitude sensing component is also included, the attitude sensing component comprising:

[0028] An attitude sensor, installed on the cleaning machine, is used to detect the vehicle's body attitude;

[0029] The attitude sensing platform includes a seat for a sensing personnel to sit on and an adjustment power for adjusting the attitude of the seat. The central control system in the remote control room is communicatively connected to the adjustment power and the attitude sensor to synchronously adjust the attitude of the seat according to the attitude of the vehicle body, so that the sensing personnel can perceive the attitude of the vehicle body through the seat.

[0030] In one possible implementation, a safety warning component is also provided, which includes a detector and a warning device that are both communicatively connected to the central control system in the remote control room. The detector is configured to detect whether there is an object within the safe distance of the cleaning machine.

[0031] The cleaning machine provided in this application integrates at least two sets of working attachments, enabling targeted cleaning operations. It is flexible in use, highly applicable, and can avoid personnel entering the cabin for cleaning. At the same time, the vehicle body can receive remote control commands, allowing personnel to remotely control its position movement and cleaning operations without the need for personnel to enter the cabin to drive. This not only improves work efficiency but also enhances work safety, reduces the degree of manual intervention, minimizes the chance of personnel entering the cabin for operations, and protects personnel safety. Attached Figure Description

[0032] Figure 1 The diagram shown is a schematic representation of the overall structure of the tank cleaning machine in an embodiment of this application.

[0033] Figure 2The diagram shown is a schematic representation of the overall structure of the lifting module and the guiding module in an embodiment of this application.

[0034] Figure 3 The diagram shown is an exploded view of the lifting module and the guiding module in an embodiment of this application.

[0035] Figure 4 The diagram shown is a structural schematic of the first support in an embodiment of this application;

[0036] Figure 5 The diagram shown is a structural schematic of the second bracket in an embodiment of this application;

[0037] Figure 6 The diagram shown is a structural schematic of the second vehicle frame in an embodiment of this application.

[0038] Figure 1-6 middle:

[0039] 1. Vehicle body; 11. First frame; 12. Second frame; 121. Lifting and mounting section; 122. Boom mounting section; 3. Main attachments; 4. Sub-attachments; 5. Main boom; 6. Sub-boom; 7. Guide module; 8. Lifting module; 81. Gripper; 82. Support cylinder; 83. Guide cylinder; 9. First bracket; 91. First fixed seat; 92. Support column; 10. Second bracket; 101. Second fixed seat; 102. Column; 103. Flange; 20. Lifting head. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Please refer to the attached document. Figure 1-6This application provides a cargo cleaning machine, including a vehicle body 1 with an integrated chassis (a chassis with wheels) for easy movement. The vehicle body 1 also includes an environmental information collection device, a processor for receiving remote control commands, and a drive assembly communicatively connected to the processor. It also has at least two working attachments for cargo cleaning. The drive assembly includes a driving force for moving the vehicle body 1 and a working force for operating the working attachments. The processor receives remote control commands and activates the corresponding power unit to perform the corresponding operation. The remote control commands are issued by the operator; for example, a remote control room can be set up, equipped with a control panel and a display device. The control panel has a central control system and control components such as joysticks and buttons. The central control system is configured to receive environmental information collected by the information collection device and display the received environmental information on the display device, as well as receive control commands input by the operator through the control components and issue control commands to the processor of the cargo cleaning machine. In this way, the operator in the remote control room can see the actual environment where the cleaning machine is located based on the information displayed on the display device, which is equivalent to being there. The operator can issue control commands through the control panel based on the information displayed on the display device. The processor of the cleaning machine receives the remote control commands and automatically starts the corresponding power to complete the command actions, such as moving forward, backward, turning left, raising and lowering the working attachments, etc., to achieve cleaning.

[0042] The cleaning machine provided in this application can provide environmental information, allowing a remote operator to feel as if they are actually there. The operator can then issue remote control commands based on this information, and the cleaning machine, upon receiving the commands, will perform the corresponding operations to clean the cabin. With this setup, the cleaning machine can perform cleaning operations remotely without requiring personnel to enter the cabin for operation. This not only avoids the potential dangers of personnel entering the cabin and protects personnel safety, but also improves operating comfort.

[0043] Meanwhile, the cleaning machine provided in this application is equipped with at least two working attachments. These attachments can be of different specifications and types, suitable for cleaning different locations within the cargo hold. For example, a large bucket can be used for cleaning cargo in flat, open areas, while a scraper can be used for cleaning cargo adhering to the cargo walls or corners. This multi-purpose machine allows for flexible switching and reduces the likelihood of personnel entering the cargo hold for auxiliary cleaning. It also improves the comprehensiveness, flexibility, and efficiency of the cleaning operation.

[0044] As can be seen, the tank cleaning machine provided in this application integrates at least two sets of working attachments, which can be used for multiple purposes and can be flexibly switched. It is suitable for loading, unloading, and collection of bulk cargo, and is especially suitable for bottom material cleaning operations when unloading bulk cargo from cargo ships. It can also be remotely operated, reducing the chance of personnel entering and leaving the tank, reducing the intensity of personnel work, and improving work efficiency and operational safety.

[0045] Information acquisition devices can be instruments such as cameras, lidar, and millimeter-wave radar. For example, the information acquisition device includes a 360-degree surround-view component and / or an in-cabin 3D map building component. The 360-degree surround-view component includes multiple cameras arranged circumferentially on the cleaning machine, so that the working environment around the cleaning machine in 360 degrees can be displayed on the display device in the remote control room, avoiding blind spots for remote operators and preventing accidents such as collisions. The in-cabin 3D map building component includes 3D sensing sensors such as lidar or millimeter-wave radar installed on the cleaning machine, so that a 3D simulation map of the environment in which the cleaning machine is located can be built and displayed on the display device, which can compensate for the shortcomings of the cameras not being able to show the physical buildings within the field of view and not being able to let the operators know the distance to the cleaning machine.

[0046] In some embodiments, the cleaning machine is also equipped with a remote control, such as a handheld remote control for the operator. The remote control has input components for control commands, such as forward, backward, and turning buttons for moving the cleaning machine, and operation buttons for extending, digging, or scraping attachments. The remote control also has a command output module for wireless communication with the cleaning machine's processor to transmit control commands to the cleaning machine and remotely control its operation. With this configuration, the operator does not need to drive the cleaning machine but can remotely control it from within a visible environment, such as inside the hatch or outside the hatch, based on visual observation. This can be used for equipment relocation and close-range visual remote control operations. This provides an additional remote control operation method. In situations where the display device in the external control room malfunctions or the working environment cannot be fully displayed, the remote control can be used to command the cleaning machine, improving usability and comprehensiveness, and solving the problem of incomplete cleaning due to poor visibility in the driver's cab or external control room. Combining remote control operation from an external control room, the tank cleaning machine of this application has two remote control operation modes, which can be selected according to specific needs and operating environment, making it both flexible and comprehensive. In some embodiments, the tank cleaning machine can also retain a driver's cab, thus integrating three operation modes.

[0047] When the cleaning machine enters or leaves the cargo ship, it needs to be moved by hoisting. That is, it is generally moved to or from the cargo ship by hoisting. When using a crane to move the cleaning machine, not only does the operator need to move the crane boom, but other personnel usually need to hook the hook to the cleaning machine, which is inefficient and risky. Therefore, in some embodiments of this application, the cleaning machine is also equipped with a hoisting module 8 and a guiding module 7. The hoisting module 8 can be located at the top of the vehicle body 1 and is used to connect to the hoisting head 20 of the crane. Simultaneously, one of the hoisting module 8 and the hoisting head 20 has a locking component, and the other has a locking component that engages with the locking component and a locking force that drives the locking component to move to lock or release the locking component. Thus, as long as the hoisting head 20 is aligned with the hoisting module 8, and the locking component is aligned, the hoisting head 20 and the hoisting module 8 can be automatically connected under the drive of the locking force. The guide module 7 guides the movement of the lifting head 20, enabling it to automatically align with the lifting module 8. Thus, guided by the guide module 7, the lifting head 20 automatically docks with the lifting module 8, eliminating the need for manual hooking and connection by personnel. This also reduces the difficulty for the crane operator in manipulating the boom for docking, shortens docking time, and improves docking efficiency.

[0048] In some embodiments, the lifting module 8 is equipped with a locking component and a locking power source, while the lifting head 20 is equipped with a component to be locked. For example, the locking component is a gripper 81 that can be opened and closed, and the locking power source is a power device such as a motor or cylinder that drives the gripper 81 to open and close. In this way, when the lifting head 20 is aligned with the gripper 81 under the guidance of the guide module 7, the gripper 81 can automatically grip the lifting head 20.

[0049] The guide module 7 can be a mechanical component or an electronic device. For example, in some embodiments, the guide module 7 is provided with a guide channel pointing towards the lifting module 8. The cross-section of the guide channel gradually decreases as it approaches the lifting module 8; for example, the guide channel is conical or funnel-shaped. It is positioned above the lifting module 8, with the larger end facilitating the insertion of the lifting head 20, and the smaller end aligned with the lifting module 8, for example, aligned with the gripper 81. Thus, by simply inserting the lifting head 20 into the guide channel, it can be accurately aligned with and connected to the lifting module 8.

[0050] Alternatively, the guidance module 7 can be a signaling device such as a signal light that can emit guiding signals to provide clear position guidance for the crane operator, so that the lifting head 20 can be aligned with the lifting module 8.

[0051] Alternatively, the guidance module 7 can also be an identification device or a data acquisition device capable of collecting target location information, such as a camera, scanner, lidar, or millimeter-wave radar. In this embodiment, the guidance module 7 is communicatively connected to the crane's control system, feeding back the collected target location information to the crane's cab. The operator, guided by this information, manipulates the boom to move, causing the lifting head 20 to move to the lifting module 8.

[0052] like Figure 2 and Figure 3 As shown, in some embodiments, the guide module 7 is conical, including multiple ribs arranged circumferentially and forming a conical shape, an annular top ring connected to the top of each rib, and an annular connecting plate connected to the bottom of each rib.

[0053] The lifting module 8 may also include an inlet cylinder 83 connected to the guide module 7, with the cross-section of the inlet cylinder 83 gradually decreasing towards the locking component. In this way, the inlet cylinder 83 can be precisely aligned with the position on the locking component where the lifting head 20 is to be locked, thus guiding the lifting head 20 to be locked in with great precision. Figure 3 As shown, the lifting module 8 includes a base plate and a support cylinder 82. The gripper 81 and locking mechanism are mounted on the base plate and located within the support cylinder 82. The guide module 7 is connected above the support cylinder 82, and its annular connecting plate is connected to the top plate of the support cylinder 82. A conical guide cylinder 83 is also provided inside the support cylinder 82. The guide cylinder 83 is connected to the top plate, with a flared upper end and a narrow lower end. The narrow lower end is opposite to the central area of ​​the gripper 81, where the locking component accommodates the component to be locked.

[0054] like Figure 3 As shown, the locking component on the lifting head 20 can be a central rod for gripping by the jaws 81. The central rod may also have a fitting groove for the jaws of the jaws 81 to engage. For example, multiple ribs may be connected circumferentially on the central rod, with the gap between adjacent ribs forming the fitting groove. This allows the jaws 81 to grip the lifting head 20 more firmly.

[0055] Of course, the lifting module 8 can also be in other structural forms. For example, the lifting module 8 includes a groove for the locking component of the lifting head 20 to be inserted, and a locking rod that can extend to or rotate to the groove opening to prevent the locking component from falling out. In this way, the locking rod will lock the locking component in the groove, and the connection between the cleaning machine and the lifting machine can also be realized.

[0056] The lifting module 8 can be installed at the top of the vehicle body 1 and connected to the vehicle body 1 via the first bracket 9. The first bracket 9 and the vehicle body 1 can be detachably connected.

[0057] In some embodiments, the cleaning machine is also equipped with a detection module for detecting whether the lifting module 8 and the lifting head 20 are docked. For example, the lifting module 8 is equipped with a proximity switch and / or an image acquisition device. The detection area of ​​the proximity switch can be set at the clamping area of ​​the gripper 81 to detect whether the locking component of the lifting head 20, such as the middle rod, has entered the area. The image acquisition device is used to detect whether the gripper 81 has closed and whether the lifting head 20 has been clamped. The proximity switch and the image acquisition device can be communicatively connected to the control system of the crane to feed back the detection signal to the crane operator. Alternatively, the cleaning machine is also equipped with a signal indication device. The proximity switch, the image acquisition device, and the signal indication device are all communicatively connected to the processor of the cleaning machine. When the proximity switch and the image acquisition device feed back a docking completion signal, the signal indication device issues a visually clear and conspicuous indication signal, such as a horn or flashing light, so that the crane operator can easily and visually understand the situation.

[0058] Remotely controlling the cargo cleaning machine and automatically docking it with the crane can reduce the likelihood of operators entering the cargo hold. Furthermore, the cargo cleaning machine is equipped with at least two working attachments for flexible application, further reducing the need for operators to enter the cargo hold for auxiliary cargo cleaning. Specifically, in some embodiments, the at least two working attachments on the cargo cleaning machine may include a main attachment 3 and a secondary attachment 4. The main attachment 3 is connected to the vehicle body 1 via a main boom 5 and hinged to the end of the main boom 5, allowing it to swing up and down in the vertical direction. The secondary attachment 4 is connected to the vehicle body 1 via a secondary boom 6. The main boom 5 and / or the secondary boom 6 have multiple sequentially hinged boom sections, meaning the main boom 5 and / or the secondary boom 6 can extend and retract in the length or width direction of the vehicle body 1. Both the main boom 5 and the secondary boom 6 can be similar to the booms on excavators or loaders, having multiple sequentially hinged boom sections, the rotation of which allows the attachments at the boom ends to extend and retract. In this way, the main boom 5 and / or the auxiliary boom 6 can be folded back to reduce space occupation and facilitate transportation, or extended to operate in high or distant areas. At the same time, because the boom section can rotate, the auxiliary attachment 4 can move up and down in the vertical direction to perform operations.

[0059] For example, such as Figure 1 As shown, the main attachment 3 can be a bucket, which can extend and retract along the length of the vehicle body 1 via the main boom 5. Simultaneously, the main attachment 3 is hinged to the main boom 5 and can swing up and down in the height direction for digging. The secondary attachment 4 can be a scraper and / or a sweeping disc, etc. The secondary attachment 4 is mounted on the vehicle body 1 via the secondary boom 6 and can extend and retract relative to the vehicle body 1. The secondary attachment 4 can also be hinged to the secondary boom 6 and can swing or rotate relative to the secondary boom 6, for example, swinging up and down in the height direction or swinging horizontally.

[0060] The auxiliary attachment 4 can integrate at least two different types of working attachments, such as a scraper and a cleaning disc, and can also integrate a third attachment, such as the air outlet of an air blowing device. The auxiliary attachment 4 includes a base, which is connected to the auxiliary boom 6, and the first, second, and third attachments are all integrated on the base. When the first attachment is a scraper, it is telescopically mounted on the base and can extend and retract relative to the auxiliary boom 6, allowing for more flexible scraping and cleaning of cargo adhering to the bulkhead or corners. When the second attachment is a cleaning disc, it is rotatably mounted on the base and can rotate relative to the auxiliary boom 6, allowing for cleaning of the bulkhead.

[0061] The secondary boom 6 can also be rotatably connected to the vehicle body 1, and can rotate around the height direction, that is, the vertical direction, to expand the working range of the secondary attachment 4.

[0062] The vehicle body 1 of the cleaning machine includes a first frame 11 and a second frame 12. The first frame 11 and the second frame 12 can be arranged along the length direction of the vehicle body 1 and are hinged together. The hinge axis is set along the height direction, so the first frame 11 and the second frame 12 can swing relative to each other in the horizontal direction, which facilitates the operation of the attachments. The main attachment 3 and the auxiliary attachment 4 can be respectively set on the first frame 11 and the second frame 12, so that they can swing with the frame and expand the working range. For example, the main attachment 3 is set at the first end of the length direction of the vehicle body 1, and the auxiliary attachment 4 is set at the second end of the length direction of the vehicle body 1. Of course, the main attachment 3 and the auxiliary attachment 4 can also be set at the same end of the vehicle body 1, arranged along the height direction or the width direction. Alternatively, one can be set at one end of the length direction of the vehicle body 1, such as at the front, and the boom of the other is connected to the middle area of ​​the vehicle body 1.

[0063] The secondary boom 6 is mounted on the vehicle body 1 via the second bracket 10 and can be detachably connected to the vehicle body 1, for example, the secondary boom 6 is detachably connected to the second bracket 10, and / or the second bracket 10 is detachably connected to the vehicle body 1.

[0064] When the vehicle body 1 includes a first frame 11 and a second frame 12, the first frame 11 may be located in the front area, and the second frame 12 may be the main chassis body. The first bracket 9 of the lifting module 8 and the second bracket 10 of the auxiliary boom 6 can both be connected to the second frame 12. For example, as... Figure 6 As shown, the second frame 12 includes a frame body, a lifting and mounting part 121 and a boom mounting part 122. The lifting and mounting part 121 is used to fix the first bracket 9, and the boom mounting part 122 is used to fix the second bracket 10.

[0065] The first support 9 includes a first fixed base 91 and support columns 92 supporting the first fixed base 91. There can be two, three, or four support columns 92, arranged circumferentially along the first fixed base 91. The bottom ends of each support column 92 are connected to the lifting and mounting section 121. The lifting and mounting section 121 includes a support base plate connected to the support columns 92, and the number of support base plates can be the same as the number of support columns 92. Through the support columns 92, the first fixed base 91 is stably laid on the vehicle body 1, and the lifting module 8 is connected to the first fixed base 91.

[0066] The second support 10 includes a second fixed base 101 and columns 102. There can be two, three, or four columns 102 arranged circumferentially along the second fixed base 101 to stably support it. A connecting flange 103 or coupling may be provided on the second fixed base 101 to connect the sub-boom 6. The boom mounting section 122 includes a mounting plate in the shape of a block or plate. The bottom end of the column 102 is fixed to the mounting plate.

[0067] In summary, the hull cleaning machine integrates at least two sets of working attachments, enabling it to perform multiple functions and switch flexibly. It is suitable for loading, unloading, and collecting bulk cargo, and is especially suitable for hull cleaning operations when unloading bulk cargo from cargo ships. Furthermore, it can be remotely operated via a remote control room or remote controller. When entering or leaving the hull, it can automatically dock with the crane, reducing the likelihood of personnel entering or leaving the hull, alleviating the workload of personnel, and improving work efficiency and operational safety.

[0068] This application also provides a tank cleaning operation system, which includes a tank cleaning machine as described in any of the above embodiments, and a remote control room. The remote control room, as described in one of the above embodiments, has a control console and a display device. The control console is configured to receive environmental information collected by an information acquisition device and display the environmental information on the display device, and to receive control commands input by the operator and issue control commands to a processor, so that the operator can control the tank cleaning machine to operate based on the information displayed on the display device. Thus, the tank cleaning operation system allows for remote control of the tank cleaning machine for tank cleaning operations.

[0069] In some embodiments, the cleaning system is also equipped with an attitude sensing component, allowing operators in the remote control room to sense the attitude of the vehicle body 1 and adjust it in real time. The attitude sensing component includes an attitude sensor and an attitude sensing platform. The attitude sensor is mounted on the cleaning machine and is used to detect the vehicle body 1's attitude, such as a horizontal sensor that senses the horizontal attitude of the vehicle body 1, or an attitude sensor that senses the three-dimensional attitude of the vehicle body 1.

[0070] The attitude sensing platform includes a seat for the sensing personnel and an adjustment mechanism to adjust the seat's posture. The central control system in the remote control room communicates with the adjustment mechanism and the attitude sensor to synchronously adjust the seat's posture according to the vehicle body's (1) posture, allowing the sensing personnel to perceive the vehicle body's (1) posture through the seat. The sensing personnel can perceive the vehicle body's (1) posture in real time through the seat, experiencing it firsthand and gaining a more intuitive and profound understanding of its posture, making it easier to adjust the vehicle body's (1) posture in a timely manner and maintain its balance. The adjustment mechanism can include multiple sets, such as three sets of hydraulic cylinders, arranged circumferentially to support the seat, forming three support points. Each support point has two opposing hydraulic cylinders, meaning each set of hydraulic cylinders includes two opposing cylinders arranged in a V-shape, forming the left and right legs, both hinged to the seat. Thus, the seat, supported by six hydraulic cylinders divided into three sets, each set arranged in a V-shape, can accurately simulate the angle and posture of the vehicle body (1).

[0071] In some embodiments, a safety warning component is also provided, comprising a detector and a warning device, both of which are communicatively connected to the central control system in the remote control room. The detector is mounted on the vehicle body 1 of the cleaning machine and is configured to sense the presence of objects within a safe distance of the cleaning machine, detecting in real time whether foreign objects suddenly appear around the cleaning machine. When the central control system receives an abnormal signal from the detector, it triggers the warning device to issue a signal, providing timely warning and preventing collisions between the cleaning machine and objects in the surrounding environment. For example, the detector can be a lidar or millimeter-wave radar, which can be mounted on the top of the cleaning machine's vehicle body 1. It can detect the distance between the cleaning machine's roof and the cargo ship's hold roof, door edges, etc., preventing collisions, and can also detect the unloading machine's grab bucket falling from above the cleaning machine, preventing accidental collisions. Of course, the detector can also be mounted in other locations on the cleaning machine, such as the front of the vehicle or one side of the vehicle body 1. Alternatively, multiple detectors can be installed, distributed at different locations on the cleaning machine to monitor different aspects of the cleaning machine.

[0072] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0073] The components and devices described in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the accompanying drawings. As those skilled in the art will recognize, these components and devices can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the words “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0074] It should also be noted that in the apparatus and equipment of this application, the components can be disassembled and / or reassembled. These disassemblies and / or reassemblies should be considered as equivalent solutions of this application.

[0075] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0076] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0077] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tank cleaning machine, characterized in that, It includes a vehicle body with an integrated driving chassis, and the vehicle body is also equipped with an information collection device for collecting environmental information, a processor for receiving remote control information, a drive component that is communicatively connected to the processor, and at least two working attachments; The drive assembly includes driving power for moving the vehicle body and working power for operating the working attachments, so that the processor can start the corresponding power unit to control the cleaning machine operation according to the remote control command; The vehicle body includes a first frame and a second frame, which are arranged along the length of the vehicle body and hinged together so that they can swing relative to each other in the horizontal direction. The first frame is located in the front area of ​​the vehicle, the second frame is the main body of the chassis, the main attachment is connected to the first frame through the main boom and located at one end of the vehicle body length direction, the auxiliary attachment is connected to the second frame through the auxiliary boom and located at the other end of the vehicle body length direction, and the auxiliary boom is detachably connected to the second frame through the second bracket; The first frame and the second frame each have wheels for driving; The second frame includes a frame body, a lifting and mounting part, and a boom mounting part. The lifting and mounting part is used to fix the first bracket, and the boom mounting part is used to fix the second bracket. The first bracket includes a first fixed seat and a support column supporting the first fixed seat. The bottom end of each support column is connected to the lifting and mounting part. The lifting and mounting part includes a support base plate connected to the support column. The lifting module is connected to the first fixed seat. The second support includes a second fixed base and a column. The second fixed base is provided with a connecting flange or coupling to connect the sub-boom.

2. The tank cleaning machine as described in claim 1, characterized in that, It also includes a remote control, which is equipped with a control command input component and a command output module that communicates wirelessly with the processor.

3. The tank cleaning machine as described in claim 1, characterized in that, The vehicle body is also equipped with: The lifting module is used to connect to the lifting head of the crane. One of the lifting module and the lifting head has a locking component, and the other has a locking component that engages with the locking component and a locking force that drives the locking component to move to engage or disengage the locking component. The guide module guides the lifting head to align with the lifting module, so that the lifting head can automatically dock with the lifting module under guidance.

4. The tank cleaning machine as described in claim 3, characterized in that, The guide module is provided with a guide channel pointing to the lifting module, and the cross-section of the guide channel gradually decreases as it gets closer to the lifting module; And / or, the lifting module is provided with the locking component and the locking power, wherein the locking component is a gripper that can be opened and closed; And / or, the lifting module further includes an inlet cylinder connected to the guide module, the cross-section of the inlet cylinder gradually narrows along the direction close to the locking member, and the narrow end of the inlet cylinder is opposite to the position on the locking member that accommodates the member to be locked; And / or, a detection module is also provided for detecting whether the lifting module is docked; And / or, the guide module is provided with a receiving surface for holding the lifting head, so that the lifting head can be placed on the guide module.

5. The tank cleaning machine as described in claim 1, characterized in that, The main boom and / or the auxiliary boom have multiple boom sections that are hinged sequentially. And / or, the sub-attachment is hinged to the end of the sub-boom to be able to swing about a first direction, and the sub-boom is also provided with an attachment power source for driving the sub-attachment to rotate; And / or, the sub-attachment includes a base connected to the sub-boom, a first attachment integrated on the base and telescopically mounted, and a second attachment rotatably mounted; And / or, the secondary boom is rotatably connected to the vehicle body so as to be able to swing in a second or third direction.

6. A tank cleaning operation system, characterized in that, include: The tank cleaning machine is the tank cleaning machine as described in any one of claims 1-5; The remote control room has a control console and a display device. The control console is configured to receive environmental information collected by the information acquisition device and display the environmental information on the display device, as well as to receive control commands input by the operator and issue control commands to the processor, so that the operator can issue control commands based on the information displayed on the display device to control the cleaning machine operation.

7. The tank cleaning system as described in claim 6, characterized in that, The information acquisition device of the cleaning machine includes a 360-degree surround view component and / or an in-cabin 3D map construction component. The 360-degree surround view component includes multiple cameras arranged circumferentially on the cleaning machine. The in-cabin 3D map construction component includes 3D sensing sensors installed on the cleaning machine, so that the display device can display the in-cabin environment and / or an in-cabin 3D simulation map.

8. The tank cleaning operation system as described in claim 6, characterized in that, It also includes an attitude-aware component, which includes: An attitude sensor, installed on the cleaning machine, is used to detect the vehicle's body attitude; The attitude sensing platform includes a seat for a sensing personnel to sit on and an adjustment power for adjusting the attitude of the seat. The central control system in the remote control room is communicatively connected to the adjustment power and the attitude sensor to synchronously adjust the attitude of the seat according to the attitude of the vehicle body, so that the sensing personnel can perceive the attitude of the vehicle body through the seat.

9. The tank cleaning operation system as described in claim 6, characterized in that, It is also equipped with a safety warning component, which includes a detector and a warning device that are both connected to the central control system in the remote control room. The detector is configured to detect whether there is an object within the safe distance of the cleaning machine.

Images