Material attribute-based grasping exchange strategy method and system

Abstract

The application provides a material attribute-based grabbing change strategy method and system, which comprises analyzing scanned point cloud data to obtain target coordinates; selecting a strategy and issuing a motion instruction; and driving a grab bucket device to move according to the motion instruction. Under the requirement of intelligent operation of the current unmanned ship unloading system, in order to ensure the rationality of grabbing and maximize the efficiency of grabbing, the optimal grabbing sequence is realized by using the three-dimensional height change and the material attribute through the multi-sensor information fusion technology, the balance of the ship body is ensured, and the situation that the material on the side is too steep to be finally cleaned is avoided by the sea-land side material taking method, so that the unmanned grabbing efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of grab control, and more specifically, to a grab-and-exchange strategy method and system based on material properties. Background Technology

[0002] Currently, most grab bucket ship unloaders are operated manually, with a low degree of automation. Due to manual operation, there are issues such as unreasonable grabbing methods and uneven material handling, which can lead to ship imbalance.

[0003] Patent document CN110182622A discloses an automatic material handling method for an unmanned chain bucket continuous ship unloader, comprising the following steps: acquiring point cloud coordinate data of the material pile surface; acquiring real-time position data of the hatch boundary; forming a point cloud coordinate model of the material pile; performing layered processing on the point cloud coordinate model of the material pile to obtain a planar material handling area; comparing the characteristics of a standard material pile area to determine the material handling process and executing the automatic material handling task in this area; after completing the material handling task in this area, providing feedback on the completion status and requesting the next material handling operation area to the scanning system; the scanning system then sends the next material handling operation area to the continuous ship unloader control system. This invention solves the deviation caused by the ship's floating movement on the scanning of the material pile inside the hatch by simultaneously scanning and monitoring the material pile inside the hatch, obtaining an accurate point cloud coordinate model of the material pile; generating the optimal material handling process based on the boundary dimensions of the operation area, thereby completing the fully automatic material handling control of the continuous ship unloader, avoiding the operation of a single mechanism to complete the material handling operation, and reducing operation and maintenance costs.

[0004] However, patent document CN110182622A does not dynamically adjust the material feeding head path in real time based on the characteristics and distribution of the material properties. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a material grabbing and exchange strategy method and system based on material properties.

[0006] A material handling and exchange strategy method based on material properties provided by the present invention includes:

[0007] 3D processing steps: Receive and parse the scanning data from the laser scanner (which is a 3D scanning device) including the ship's cabin, establish a coordinate system, and generate the 3D coordinate information of the measured object; among them, analyze and process the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab center.

[0008] Logical processing steps: Select a strategy and issue action instructions;

[0009] Processing steps: Drive the grab bucket device to move according to the action command.

[0010] Preferably, in the three-dimensional processing step:

[0011] After scanning the ship's hold and material targets using a 3D scanning device, the point cloud feature values ​​of the ship's hold and materials are obtained as point cloud data.

[0012] By analyzing and processing the point cloud data using a pre-established 3D model containing the ship's cabin, the sea and land side boundaries, upstream and downstream boundaries of the hatch, and the highest point of the material pile are identified.

[0013] Preferably, in the logic processing step:

[0014] The material collection strategy is to first collect materials from the sea side, then materials from the land side, and then materials between the sea side and the land side, to ensure that each layer of material is collected evenly.

[0015] The automatic zone-changing strategy is as follows: when the change in the height of the material pile scanned by the 3D scanning equipment is less than the set threshold for the change in the pushing height, a zone-changing material retrieval is triggered. Based on the recommended optimal grab point obtained from the 3D processing analysis, the ship unloader is moved. When moving the ship unloader, the position of the ship unloader and the adjacent ship unloader, as well as the relationship between the ship unloader and the bow and stern of the ship, are judged in real time to achieve the purpose of safe zone changing.

[0016] Preferably, in the logic processing step:

[0017] A standard mathematical model is established using the land and sea side boundaries, the highest point of the material pile, and the length and width of the grab bucket. Parameters are calculated to ensure material is retrieved in the order of the material retrieval points planned according to the material retrieval strategy.

[0018] The automatic zone switching strategy automatically determines the volume of material grabbed by the grab bucket. When the volume grabbed is less than half of the grab bucket's capacity for three consecutive times, the zone switching is automatically triggered.

[0019] Preferably, the material handling head path is dynamically adjusted in real time based on the characteristics and distribution of the material properties.

[0020] A material handling and exchange strategy system based on material properties according to the present invention includes:

[0021] 3D processing module: Receives and parses scan data from the laser scanner, which is a 3D scanning device, including the ship's cabin, establishes a coordinate system, and generates 3D coordinate information of the measured object; among them, it analyzes and processes the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab center.

[0022] Logic processing module: Selects strategies and issues action commands;

[0023] Execution processing module: Drives the grab bucket device to move according to the action command.

[0024] Preferably, in the three-dimensional processing module:

[0025] After scanning the ship's hold and material targets using a 3D scanning device, the point cloud feature values ​​of the ship's hold and materials are obtained as point cloud data.

[0026] By analyzing and processing the point cloud data using a pre-established 3D model containing the ship's cabin, the sea and land side boundaries, upstream and downstream boundaries of the hatch, and the highest point of the material pile are identified.

[0027] Preferably, in the logic processing module:

[0028] The material collection strategy is to first collect materials from the sea side, then materials from the land side, and then materials between the sea side and the land side, to ensure that each layer of material is collected evenly.

[0029] The automatic zone-changing strategy is as follows: when the change in the height of the material pile scanned by the 3D scanning equipment is less than the set threshold for the change in the pushing height, a zone-changing material retrieval is triggered. Based on the recommended optimal grab point obtained from the 3D processing analysis, the ship unloader is moved. When moving the ship unloader, the position of the ship unloader and the adjacent ship unloader, as well as the relationship between the ship unloader and the bow and stern of the ship, are judged in real time to achieve the purpose of safe zone changing.

[0030] Preferably, in the logic processing module:

[0031] A standard mathematical model is established using the land and sea side boundaries, the highest point of the material pile, and the length and width of the grab bucket. Parameters are calculated to ensure material is retrieved in the order of the material retrieval points planned according to the material retrieval strategy.

[0032] The automatic zone switching strategy automatically determines the volume of material grabbed by the grab bucket. When the volume grabbed is less than half of the grab bucket's capacity for three consecutive times, the zone switching is automatically triggered.

[0033] Preferably, the material handling head path is dynamically adjusted in real time based on the characteristics and distribution of the material properties.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This invention dynamically adjusts the material picking head path in real time based on the characteristics and distribution of material properties.

[0036] 2. This invention enables unmanned material handling by ship unloaders. By controlling the movement trajectory of the gripping device and the relevant properties of the material, the gripping strategy is dynamically adjusted.

[0037] 3. This invention enables unmanned, safe, and efficient material handling. Attached Figure Description

[0038] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of one process step of the present invention.

[0040] Figure 2 This is a schematic diagram showing the positional relationship between the ship's hold, materials, and grab bucket according to the present invention.

[0041] Figure 3 This is a schematic diagram of another process step of the present invention. Detailed Implementation

[0042] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0043] To meet the requirements of intelligent operation in current unmanned ship unloading systems and ensure the rationality and efficiency of grasping, this invention provides a material grasping and exchange strategy method based on material properties. By using multi-sensor information fusion technology and utilizing three-dimensional height changes and material properties, the optimal grasping sequence is achieved, ensuring the balance of the ship. At the same time, by using the sea-land side material retrieval method, it avoids the situation where only grasping the material in the middle of the ship leads to excessively large material slopes on the sides, requiring troublesome final clearing, thus improving the grasping efficiency of unmanned systems.

[0044] A material handling and exchange strategy method based on material properties provided by the present invention includes:

[0045] 3D processing steps: Receive and parse the scanning data of the laser scanner (as a 3D scanning device) of the ship's cabin and grab bucket, establish a coordinate system, and generate the 3D coordinate information of the measured object; analyze and process the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab bucket center.

[0046] Logical processing steps: Select and execute the strategy;

[0047] The material collection strategy is to first collect materials from the sea side, then materials from the land side, and then materials between the sea side and the land side, to ensure that each layer of material is collected evenly.

[0048] The automatic zone-changing strategy is as follows: when the height of the material pile scanned by the 3D scanning equipment does not change much (less than the set threshold for the change of pushing height), it indicates that the volume of material grabbed by the grab bucket is not large and the operation efficiency is low, triggering a zone-changing material retrieval. Based on the optimal grab point recommended by the 3D processing analysis, the ship unloader is moved. When moving the ship unloader, the position of the ship unloader and the adjacent ship unloader, as well as the relationship between the ship unloader and the bow and stern of the ship, are judged in real time to achieve the purpose of safe zone changing.

[0049] Execution Processing Steps: The main function is to execute the action commands obtained from the logical processing steps. The logical processing steps issue action commands in real time based on the 3D processing steps, and the execution processing steps drive the grab bucket equipment to move according to the action commands.

[0050] The present invention will now be described in more detail.

[0051] In the three-dimensional processing step: after scanning the ship's hold and material targets using a three-dimensional scanning device, the point cloud feature values ​​of the ship's hold and materials are obtained as point cloud data; the point cloud data is analyzed and processed using a pre-established three-dimensional model containing the ship's hold to identify the sea-land side boundary, upstream and downstream boundary of the hatch, and the highest point of the material pile.

[0052] In the logical processing steps: a standard mathematical model is established based on the land-sea side boundary, the highest point of the material pile, and the length and width of the grab bucket. Parameter calculations are performed to ensure material is retrieved according to the planned retrieval point sequence, resolving the issue of insufficient material retrieval due to the steep slope at the edges caused by starting retrieval from the middle of the hold. An automatic zone-switching strategy automatically determines the volume of material grabbed by the grab bucket. When the volume grabbed three consecutive times is less than half the grab bucket's capacity, a zone-switching is automatically triggered. This eliminates the need for manual intervention in zone switching, improving operational efficiency. Furthermore, it resolves the collision issue when two machines are automatically operating in one hold, improving the efficiency of dual-machine operations.

[0053] This invention also provides a material-attribute-based material grabbing and exchange strategy system. Those skilled in the art can implement the material-attribute-based material grabbing and exchange strategy system by executing the steps of the method described above. That is, the method described above can be understood as a preferred embodiment of the material-attribute-based material grabbing and exchange strategy system. Specifically, according to the material-attribute-based material grabbing and exchange strategy system provided by this invention, it includes:

[0054] The 3D processing module receives and parses scan data from a laser scanner (a 3D scanning device) including the ship's cabin, establishes a coordinate system, and generates 3D coordinate information of the measured object. Specifically, it analyzes and processes the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab bucket center. Within this module, after scanning the ship's cabin and material targets using a 3D scanning device, it acquires the point cloud feature values ​​of the cabin and materials as point cloud data. Using a pre-established 3D model including the ship's cabin, it analyzes and processes the point cloud data to identify the landside and seaside boundaries of the hatches, the upstream and downstream boundaries, and the highest point of the material pile.

[0055] Logic processing module: Selects a strategy and issues action commands; within the logic processing module:

[0056] The material handling strategy is as follows: first, handle the material from the seaside; then, handle the material from the landside; finally, handle the material between the seaside and landside, ensuring uniform material handling at each layer. The automatic zone-changing strategy triggers a zone-changing process when the change in the material pile height scanned by the 3D scanning equipment is less than a set threshold for the change in the pushing height. Based on the optimal grab point recommended by the 3D processing analysis, the unloader is moved. During the movement of the unloader, the positions of the unloader and adjacent unloaders, as well as its relationship to the bow and stern of the ship, are determined in real time to achieve safe zone-changing. Furthermore, a standard mathematical model is established using the seaside and landside boundaries, the highest point of the material pile, and the length and width of the grab bucket. Parameter calculations are performed to ensure material handling follows the planned grab point sequence. The automatic zone-changing strategy automatically determines the volume of material grabbed by the grab bucket; if the volume grabbed is less than half the grab bucket's capacity for three consecutive times, a zone-changing process is automatically triggered.

[0057] Execution processing module: Drives the grab bucket device to move according to the action command.

[0058] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0059] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A material acquisition and exchange strategy method based on material properties, characterized in that, include: 3D processing steps: Receive and parse the scanning data from the laser scanner (which is a 3D scanning device) including the ship's cabin, establish a coordinate system, and generate the 3D coordinate information of the measured object; among them, analyze and process the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab center. Logical processing steps: Select a strategy and issue action instructions; Execution steps: Drive the grab bucket device to move according to the action command; In the three-dimensional processing steps: After scanning the ship's hold and material targets using a 3D scanning device, the point cloud feature values ​​of the ship's hold and materials are obtained as point cloud data. By analyzing and processing the point cloud data using a pre-established 3D model containing the ship's cabin, the sea and land side boundaries, upstream and downstream boundaries of the hatch, and the highest point of the material pile are identified. In the logical processing steps: The material collection strategy is to first collect materials from the sea side, then materials from the land side, and then materials between the sea side and the land side, to ensure that each layer of material is collected evenly. The automatic zone-changing strategy is as follows: when the change in the height of the material pile scanned by the 3D scanning equipment is less than the set threshold for the change in the pushing height, a zone-changing material retrieval is triggered. Based on the recommended optimal grab point obtained from the 3D processing analysis, the ship unloader is moved. When moving the ship unloader, the position of the ship unloader and the adjacent ship unloader, as well as the relationship between the ship unloader and the bow and stern of the ship, are judged in real time to achieve the purpose of safe zone changing. In the logical processing steps: A standard mathematical model is established using the land and sea side boundaries, the highest point of the material pile, and the length and width of the grab bucket. Parameters are calculated to ensure material is retrieved in the order of the material retrieval points planned according to the material retrieval strategy. The automatic zone switching strategy automatically determines the volume of material grabbed by the grab bucket. When the volume grabbed is less than half of the grab bucket's capacity for three consecutive times, the zone switching is automatically triggered.

2. The material handling and exchange strategy method based on material properties according to claim 1, characterized in that, The material handling head path is dynamically adjusted in real time based on the characteristics and distribution of the material properties.

3. A material handling and exchange strategy system based on material attributes, characterized in that, include: 3D processing module: Receives and parses scan data from the laser scanner, which is a 3D scanning device, including the ship's cabin, establishes a coordinate system, and generates 3D coordinate information of the measured object; among them, it analyzes and processes the scanned point cloud data to obtain the coordinates of the landside cabin, the seaside cabin, the upstream cabin, the downstream cabin, and the grab center. Logic processing module: Selects strategies and issues action commands; Execution processing module: Drives the grab bucket device to move according to the action command; In the three-dimensional processing module: After scanning the ship's hold and material targets using a 3D scanning device, the point cloud feature values ​​of the ship's hold and materials are obtained as point cloud data. By analyzing and processing the point cloud data using a pre-established 3D model containing the ship's cabin, the sea and land side boundaries, upstream and downstream boundaries of the hatch, and the highest point of the material pile are identified. In the logic processing module: The material collection strategy is to first collect materials from the sea side, then materials from the land side, and then materials between the sea side and the land side, to ensure that each layer of material is collected evenly. The automatic zone-changing strategy is as follows: when the change in the height of the material pile scanned by the 3D scanning equipment is less than the set threshold for the change in the pushing height, a zone-changing material retrieval is triggered. Based on the recommended optimal grab point obtained from the 3D processing analysis, the ship unloader is moved. When moving the ship unloader, the position of the ship unloader and the adjacent ship unloader, as well as the relationship between the ship unloader and the bow and stern of the ship, are judged in real time to achieve the purpose of safe zone changing. In the logic processing module: A standard mathematical model is established using the land and sea side boundaries, the highest point of the material pile, and the length and width of the grab bucket. Parameters are calculated to ensure material is retrieved in the order of the material retrieval points planned according to the material retrieval strategy. The automatic zone switching strategy automatically determines the volume of material grabbed by the grab bucket. When the volume grabbed is less than half of the grab bucket's capacity for three consecutive times, the zone switching is automatically triggered.

4. The material handling and exchange strategy system based on material properties according to claim 3, characterized in that, The material handling head path is dynamically adjusted in real time based on the characteristics and distribution of the material properties.

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