Anti-bottom-touching Detection and Control Method for Embedded Continuous Ship Unloader

Abstract

The present invention discloses a bottom-touching prevention detection control system for an embedded continuous ship unloader. The bottom-touching prevention detection control system for the embedded continuous ship unloader includes a detection device, a detection support column, a horizontal swing arm and a horizontal swing arm support. The detection device is fixedly installed on both sides of the lower end of the detection support column. The upper end of the detection support column is movably connected to one end of the horizontal swing arm. A swing oil cylinder is rotatably installed at one end of the horizontal swing arm. One end of the swing oil cylinder is rotatably connected to the horizontal swing arm, and the other end of the swing oil cylinder is rotatably connected to the detection support column. The end of the horizontal swing arm far from the detection support column is rotatably connected to the horizontal swing arm support. A luffing oil cylinder is rotatably installed on the horizontal swing arm support, and the luffing oil cylinder is also rotatably connected to the horizontal swing arm; it has the advantages of reducing energy consumption, simple energy-saving and emission-reduction design, and reasonable structure.

Description

Technical Field

[0001] The present invention relates to the technical field of ship unloaders, and in particular to a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader. Background Art

[0002] As a kind of new environmental protection ship unloader, the embedded continuous ship unloader has been well promoted and developed abroad in recent years, and has also been widely used and promoted in various domestic grain loading and unloading terminals.

[0003] Since the embedded type is used at docks, and the operation object is the ship docked at the dock. Due to the influence of wind and waves on the hull height, especially at the operation terminal, the hull rises and falls with the wind and waves. It is easy to cause collisions between the embedded suction nozzle and the ship bottom, resulting in damage to the ship bottom or the embedded type. The traditional solution generally uses personnel supervision and the operation method of the driver to avoid risks. Due to the responsibility of personnel and the accuracy of judgment, accidents are likely to occur, resulting in losses.

[0004] In addition, for the traditional embedded depth of the embedded ship unloader and the descent of the embedded type during the ship unloading process, the operator operates the handle to control the hydraulic luffing cylinder and the embedded swing cylinder to achieve the descent, ensuring the continuity of the ship unloader operation. However, due to the long ship unloading time and the long-term operation of the operator, the driving of the luffing and swinging always consumes energy, which is not conducive to energy conservation and environmental protection.

[0005] Therefore, a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader is provided to solve the above problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that for the existing embedded continuous ship unloader, the operation object is the ship docked at the dock. Due to the influence of wind and waves on the hull height, especially at the operation terminal, the hull rises and falls with the wind and waves. It is easy to cause collisions between the embedded suction nozzle and the ship bottom, resulting in damage to the ship bottom or the embedded type. In addition, due to the long ship unloading time and the long-term operation of the operator, the driving of the luffing and swinging always consumes energy, which is not conducive to energy conservation and environmental protection. Therefore, a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader is provided. The anti-bottom-touching detection system of the embedded continuous ship unloader includes:

[0007] Detection device, detection support column, horizontal swing arm and horizontal swing arm support. The detection device is fixedly installed on both sides of the lower end of the detection support column. The upper end of the detection support column is movably connected to one end of the horizontal swing arm. One end of the horizontal swing arm is rotatably installed with a swing oil cylinder. One end of the swing oil cylinder is rotatably connected to the horizontal swing arm, and the other end of the swing oil cylinder is rotatably connected to the detection support column. The end of the horizontal swing arm away from the detection support column is rotatably connected to the horizontal swing arm support. A luffing oil cylinder is rotatably installed on the horizontal swing arm support, and the luffing oil cylinder is also rotatably connected to the horizontal swing arm;

[0008] A PLC controller is also installed on the horizontal swing arm support. The PLC controller is simultaneously connected to a self-locking and free control valve group, an oil cylinder free state control valve group and a reversing valve group. The self-locking and free control valve group is simultaneously connected to the PLC controller and the luffing oil cylinder. The reversing valve group is simultaneously connected to the self-locking and free control valve group, the PLC controller, the swing oil cylinder and the luffing oil cylinder. The oil cylinder free state control valve group is simultaneously connected to the PLC controller and the self-locking and free control valve group.

[0009] Further, the detection device includes: a detection head, a front-end structure of the detection head, a detection housing, a first spring, a second spring, a spring stop, a displacement transfer rod and a distance measuring sensor. The detection housing is fixed on the detection support column through a fixing mechanism. A distance measuring sensor is fixedly installed on the top wall inside the detection housing. The displacement transfer rod and the spring stop are sequentially arranged below the distance measuring sensor. The spring stop is fixedly connected to the inner wall of the detection housing. The displacement transfer rod passes through the spring stop and moves up and down along the detection housing. The second spring is sleeved on the displacement transfer rod. The upper end of the second spring is fixedly connected to the spring stop, and the lower end of the second spring is fixedly connected to the lower end of the displacement transfer rod. The lower surface of the lower end of the displacement transfer rod is fixedly connected to the upper end of the first spring. The lower end of the first spring is fixedly connected to the front-end structure of the detection head. The lower end of the front-end structure of the detection head is fixedly connected to the detection head.

[0010] Further, the displacement transfer rod includes a distance feedback surface, a transfer rod body and a fixing surface. The upper end of the transfer rod body is fixedly connected to the lower surface of the distance feedback surface. The lower end of the transfer rod body is fixedly connected to the upper surface of the fixing surface. The transfer rod body passes through the spring stop.

[0011] Further, the upper end of the first spring is fixedly connected to the lower surface of the fixing surface, and the lower end of the first spring is fixedly connected to the upper end surface of the front-end structure of the detection head.

[0012] On the other hand, the present application also provides a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader, which is used for the anti-bottom-touching control system of the embedded continuous ship unloader described in any one of the above, and includes:

[0013] Set preset moving distances H1, H2, and H3;

[0014] Obtain the moving distance H detected by the ranging sensor;

[0015] If H is less than or equal to H1, enter the normal locking operation process;

[0016] If H is greater than H1 and less than or equal to H2, enter the low-energy consumption automatic operation process;

[0017] If H is greater than H2 and less than H3, enter the safety distance pre-judgment return self-locking operation process;

[0018] If H is equal to H3, enter the process of avoiding hull collision.

[0019] Further, the normal locking operation process includes:

[0020] Generate a luffing cylinder locking command and a swing cylinder locking command;

[0021] Send the luffing cylinder locking command and the swing cylinder locking command to the PLC controller, and control the luffing cylinder and the swing cylinder to be in a self-locking state through the PLC controller, the self-locking and free control valve group, and the reversing valve group.

[0022] Further, the low-energy consumption automatic operation process includes:

[0023] Generate a luffing cylinder free command and a swing cylinder free command;

[0024] Send the luffing cylinder free command and the swing cylinder free command to the PLC controller, and control the luffing cylinder and the swing cylinder to be in a free working state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

[0025] Further, the safety distance pre-judgment return self-locking operation process includes:

[0026] Generate a PLC alarm command, a luffing cylinder locking command, and a swing cylinder locking command;

[0027] Send the PLC alarm command, the luffing cylinder locking command, and the swing cylinder locking command to the PLC controller. After receiving the alarm command through the PLC controller, execute the alarm command; control the luffing cylinder and the swing cylinder to be in a self-locking state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

[0028] Furthermore, the process of avoiding ship hull collision includes:

[0029] Generating a semi-free command for the luffing cylinder and a semi-automatic command for the swing cylinder;

[0030] Sending the semi-free command for the luffing cylinder and the semi-automatic command for the swing cylinder to the PLC controller. Receiving the semi-free command for the luffing cylinder and the semi-automatic command for the swing cylinder through the PLC controller, and controlling the luffing cylinder and the swing cylinder to be in a semi-free state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

[0031] Implementing the present invention has the following beneficial effects:

[0032] The present invention has a simple design and a reasonable structure. Most detections adopt model devices, which are suitable for the working conditions of the embedded ship unloader. At the same time, it can effectively protect the ship hull and the ship unloader body. When the ship unloader enters the free state, the main pump station of the ship unloader can be in a standby state, and the ship unloader mechanism descends freely for operation, reducing energy consumption, saving energy and reducing emissions. The present invention measures and judges the distance through the designed detection limit, and through the relevant hydraulic system, judges whether the buried depth is within the normal discharging depth, and confirms whether the functions of the cylinder and the horizontal arm to descend freely are realized. At the discharging terminal, the free function is judged to stop through the sensing distance. When the limit limit touches the bottom, the reverse lifting action or trend of the luffing cylinder is realized to avoid the hard collision between the embedded part and the ship bottom. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 is a mechanical structure diagram of the present invention;

[0034] FIG. 2 is a mechanical structure diagram of the detection device of the present invention;

[0035] Figure 3 is a flowchart of the normal locking operation process of the present invention;

[0036] Figure 4 is a flowchart of the low-energy consumption automatic operation process of the present invention;

[0037] Figure 5 is a flowchart of the safety distance pre-judgment and return self-locking operation process of the present invention;

[0038] Figure 6 is a flowchart of the process of avoiding ship hull collision of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment

[0041] Referring to the accompanying drawings of the specification, this embodiment provides a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader. The anti-bottom-touching detection system of the embedded continuous ship unloader includes:

[0042] A detection device, a detection support column, a horizontal swing arm, and a horizontal swing arm support. The detection device is fixedly installed on both sides of the lower end of the detection support column. The upper end of the detection support column is movably connected to one end of the horizontal swing arm. A swing oil cylinder 2 is rotatably installed at one end of the horizontal swing arm. One end of the swing oil cylinder 2 is rotatably connected to the horizontal swing arm, and the other end of the swing oil cylinder 2 is rotatably connected to the detection support column. The end of the horizontal swing arm away from the detection support column is rotatably connected to the horizontal swing arm support. A luffing oil cylinder 3 is rotatably installed on the horizontal swing arm support, and the luffing oil cylinder 3 is also rotatably connected to the horizontal swing arm;

[0043] A PLC controller 4 is also installed on the horizontal swing arm support. The PLC controller 4 is simultaneously connected to a self-locking and free control valve group 6, an oil cylinder free state control valve group 5, and a reversing valve group 7. The self-locking and free control valve group 6 is simultaneously connected to the PLC controller 4 and the luffing oil cylinder 3. The reversing valve group 7 is simultaneously connected to the self-locking and free control valve group 6, the PLC controller 4, the swing oil cylinder 2, and the luffing oil cylinder 3. The oil cylinder free state control valve group 5 is simultaneously connected to the PLC controller 4 and the self-locking and free control valve group 6.

[0044] The detection device includes: a detection head 1, a detection head front-end structure 1.1, a detection housing 1.2, a first spring 1.3, a second spring 1.4, a spring stop 1.5, a displacement transfer rod 1.6, and a distance measuring sensor 1.7. The detection housing 1.2 is fixed to the detection support column through a fixing mechanism. A distance measuring sensor is fixedly installed on the top wall inside the detection housing. The displacement transfer rod 1.6 and the spring stop 1.5 are sequentially arranged below the distance measuring sensor 1.7. The spring stop is fixedly connected to the inner wall of the detection housing. The displacement transfer rod passes through the spring stop and moves up and down along the detection housing. The second spring is sleeved on the displacement transfer rod. The upper end of the second spring is fixedly connected to the spring stop, and the lower end of the second spring is fixedly connected to the lower end of the displacement transfer rod. The lower surface of the lower end of the displacement transfer rod is fixedly connected to the upper end of the first spring. The lower end of the first spring is fixedly connected to the detection head front-end structure. The lower end of the detection head front-end structure is fixedly connected to the detection head.

[0045] The displacement transfer rod includes a distance feedback surface, a transfer rod body, and a fixed surface. The upper end of the transfer rod body is fixedly connected to the lower surface of the distance feedback surface, the lower end of the transfer rod body is fixedly connected to the upper surface of the fixed surface, and the transfer rod body passes through the spring stopper.

[0046] The upper end of the first spring is fixedly connected to the lower surface of the fixed surface, and the lower end of the first spring is fixedly connected to the upper end surface of the front-end structure of the detection head.

[0047] During operation, the bottom surface of the discharge (i.e., the bottom surface of the detection support column) enters the material, driving Figure 2 the detection device into the material. The detection surface (i.e., the lower end surface of the detection head) receives the reaction force F1 of the material, and F1 starts to compress the first spring 1.3. The upper end of the first spring 1.3 is connected to the displacement transfer rod 1.6. After the displacement transfer rod 1.6 receives the pressure of the first spring 1.3, it rises, causing the second spring 1.4 to start compressing. The upper end of the second spring 1.4 is restricted by the spring stopper 1.5, and the relevant displacement is only transmitted to the distance measuring sensor 1.7 through the displacement transfer rod 1.6. The change value of the displacement is recorded and fed back by the distance measuring sensor 1.7.

[0048] On the other hand, this embodiment also provides a method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader, which is used for the anti-bottom-touching control system of the embedded continuous ship unloader as described in any one of the above, and includes:

[0049] Setting preset moving distances H1, H2, and H3;

[0050] Obtaining the moving distance H detected by the distance measuring sensor;

[0051] If H is less than or equal to H1, then enter the normal locking operation process;

[0052] If H is greater than H1 and H is less than or equal to H2, then enter the low-energy consumption automatic operation process;

[0053] If H is greater than H2 and H is less than H3, then enter the safety distance pre-judgment and return self-locking operation process;

[0054] If H is equal to H3, then enter the process of avoiding ship hull collision.

[0055] The normal locking operation process includes:

[0056] Generating a luffing cylinder locking command and a swing cylinder locking command;

[0057] Sending the luffing cylinder locking command and the swing cylinder locking command to the PLC controller, and controlling the luffing cylinder and the swing cylinder to be in a self-locking state through the PLC controller, the self-locking and free control valve group, and the reversing valve group.

[0058] The low-energy consumption automatic operation process includes:

[0059] Generate the luffing cylinder free command and the swing cylinder free command;

[0060] Send the luffing cylinder free command and the swing cylinder free command to the PLC controller. Control the luffing cylinder and the swing cylinder to be in the free working state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group and the reversing valve group. Specifically, control the hydraulic valve group through the PLC. When the solenoid valve is energized, the pilot oil circuit enters the hydraulic valve group. Control the hydraulic control check valve of the control valve group to open the hydraulic control check valve, realizing the oil fluid intercommunication between the large and small cavities of the cylinder. At this time, the luffing cylinder and the horizontal boom cylinder can achieve the free descent working condition. At this time, the hydraulic main engine system is in the standby state, and the system power consumption is extremely low. The operator does not need to frequently operate the handle to adjust the discharging operation condition. The boom and the horizontal boom slowly descend under the interaction of the material reaction force and their own weights. To avoid the overspeed descent working condition, a speed control valve for speed control is designed on the hydraulic system. Pressure monitoring devices are designed on both cavities of the cylinder. When the PLC receives that the pressure value of the pressure sensor is lost or instantaneously reduced, the PLC gives an instruction to cut off the solenoid valve of the valve group. The solenoid valve quickly resets under the action of the spring force, quickly cutting off the pilot oil circuit. The hydraulic control check valve of the valve group quickly closes, and the free state of the cylinder is eliminated, returning to the self-locking state of the cylinder, thus avoiding safety accidents caused by stall.

[0061] The safety distance pre-judgment and return to self-locking operation process includes:

[0062] Generate the PLC alarm command, the luffing cylinder locking command and the swing cylinder locking command;

[0063] Send the PLC alarm command, the luffing cylinder locking command and the swing cylinder locking command to the PLC controller. After receiving the alarm command through the PLC controller, execute the alarm command. Control the luffing cylinder and the swing cylinder to be in the self-locking state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group and the reversing valve group. Specifically, when H2 is less than H and H is less than H3, it indicates that the discharging is inserted too deep, or there are working conditions such as material caking that may cause collisions. At this time, give a signal through the PLC to control the hydraulic valve group, the solenoid valve loses power, cuts off the pilot oil circuit, and the cylinder returns to the self-locking state; and remains at the current position. At this time, the PLC issues an alarm signal to remind the operator to judge and operate carefully.

[0064] The process of avoiding ship collision includes:

[0065] Generate the luffing cylinder semi-free command and the swing cylinder semi-automatic command;

[0066] Send the luffing cylinder semi-free command and the swing cylinder semi-automatic command to the PLC controller. Receive the luffing cylinder semi-free command and the swing cylinder semi-automatic command through the PLC controller. Control the luffing cylinder and the swing cylinder to be in the semi-free state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group and the reversing valve group. Specifically, control the hydraulic valve group through the PLC. When the solenoid valve is energized, the hydraulic oil enters the large cavity of the cylinder. When the solenoid valve is energized, at this time, the output flow and pressure of the hydraulic pump enter the cylinder. Since the solenoid valve is energized at this time, the pilot-operated check valve is opened under the control of the pilot oil, and the cylinder shows a differential connection phenomenon. However, due to the difference in the area of the large and small cavities of the oil rod itself, according to the formula F = P * A, it is obtained that the force on the large cavity is greater than that on the small cavity. Therefore, the cylinder shows a semi-free state and has an upward lifting trend and power. Therefore, even if there is a collision with the bottom of the ship, since the cylinder is equivalent to a flexible body and has an upward lifting force, the unloading mechanism can follow the upward movement of the bottom of the ship during the collision and rise accordingly. Therefore, it is possible to protect the hull and the unloading mechanism.

[0067] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "center", "both ends", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0068] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "set", "connected", "fixed", "swiveling connection", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the internal communication of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting and controlling the anti-bottom-touching of an embedded continuous ship unloader, characterized in that For the use of the anti-bottom-touch detection and control system of an embedded continuous ship unloader, the anti-bottom-touch detection and control system of the embedded continuous ship unloader includes: a detection device, a detection support column, a horizontal swing arm and a horizontal swing arm support. The detection device is fixedly installed on both sides of the lower end of the detection support column. The upper end of the detection support column is movably connected to one end of the horizontal swing arm. A swing oil cylinder is rotatably installed at one end of the horizontal swing arm. One end of the swing oil cylinder is rotatably connected to the horizontal swing arm, and the other end of the swing oil cylinder is rotatably connected to the detection support column. The end of the horizontal swing arm away from the detection support column is rotatably connected to the horizontal swing arm support. A luffing oil cylinder is rotatably installed on the horizontal swing arm support, and the luffing oil cylinder is also rotatably connected to the horizontal swing arm; A PLC controller is also installed on the horizontal swing arm support. The PLC controller is electrically connected to a self-locking and free control valve group, an oil cylinder free state control valve group and a reversing valve at the same time. The self-locking and free control valve group is connected to the PLC controller and the luffing oil cylinder at the same time. The reversing valve group is connected to the self-locking and free control valve group, the PLC controller, the swing oil cylinder and the luffing oil cylinder at the same time. The oil cylinder free state control valve group is connected to the PLC controller and the self-locking and free control valve group at the same time; The anti-bottom-touch detection and control method of the embedded continuous ship unloader, the specific control process includes: Set preset moving distances H1, H2 and H3; Obtain the moving distance H detected by the ranging sensor; If H is less than or equal to H1, enter the normal locking operation process; If H is greater than H1 and H is less than or equal to H2, enter the low-energy consumption automatic operation process; If H is greater than H2 and H is less than H3, enter the safety distance pre-judgment and return to the self-locking operation process; If H is equal to H3, enter the process of avoiding ship hull collision.

2. The anti-bottom-touching detection and control method for the embedded continuous ship unloader according to claim 1, characterized in that, The detection device includes: a detection head, a front structure of the detection head, a detection housing, a first spring, a second spring, a spring stop, a displacement transfer rod and a ranging sensor. The detection housing is fixed on the detection support column through a fixing mechanism. A ranging sensor is fixedly installed on the top wall inside the detection housing. The displacement transfer rod and the spring stop are sequentially arranged below the ranging sensor. The spring stop is fixedly connected to the inner wall of the detection housing. The displacement transfer rod passes through the spring stop and moves up and down along the detection housing. The second spring is sleeved on the displacement transfer rod. The upper end of the second spring is fixedly connected to the spring stop, and the lower end of the second spring is fixedly connected to the lower end of the displacement transfer rod. The lower surface of the lower end of the displacement transfer rod is fixedly connected to the upper end of the first spring. The lower end of the first spring is fixedly connected to the front structure of the detection head. The lower end of the front structure of the detection head is fixedly connected to the detection head.

3. The anti-bottom-touching detection and control method for the embedded continuous ship unloader according to claim 2, characterized in that, The displacement transfer rod includes a distance feedback surface, a transfer rod body and a fixing surface. The upper end of the transfer rod body is fixedly connected to the lower surface of the distance feedback surface. The lower end of the transfer rod body is fixedly connected to the upper surface of the fixing surface. The transfer rod body passes through the spring stop.

4. The anti-bottom-touching detection and control method for the embedded continuous ship unloader according to claim 3, characterized in that, The upper end of the first spring is fixedly connected to the lower surface of the fixed surface, and the lower end of the first spring is fixedly connected to the upper end surface of the front-end structure of the detection head.

5. The anti-bottom-touching detection and control method of the embedded continuous ship unloader according to claim 4, wherein The normal locking operation process includes: Generating a luffing cylinder locking command and a swing cylinder locking command; Sending the luffing cylinder locking command and the swing cylinder locking command to the PLC controller, and controlling the luffing cylinder and the swing cylinder to be in a self-locking state through the PLC controller, the self-locking and free control valve group, and the reversing valve group.

6. The anti-bottom-touching detection and control method of the embedded continuous ship unloader according to claim 5, characterized in that, The low-energy consumption automatic operation process includes: Generating a luffing cylinder free command and a swing cylinder free command; Sending the luffing cylinder free command and the swing cylinder free command to the PLC controller, and controlling the luffing cylinder and the swing cylinder to be in a free working state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

7. The anti-bottom-touching detection and control method for the embedded continuous ship unloader according to claim 6, characterized in that The safety distance pre-judgment and return to self-locking operation process includes: Generating a PLC alarm command, a luffing cylinder locking command, and a swing cylinder locking command; Sending the PLC alarm command, the luffing cylinder locking command, and the swing cylinder locking command to the PLC controller. After receiving the alarm command through the PLC controller, execute the alarm command; control the luffing cylinder and the swing cylinder to be in a self-locking state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

8. The anti-bottom-touching detection and control method of the embedded continuous ship unloader according to claim 7, characterized in that, The process of avoiding ship hull collision includes: Generating a luffing cylinder semi-free command and a swing cylinder semi-automatic command; Sending the luffing cylinder semi-free command and the swing cylinder semi-automatic command to the PLC controller. Receive the luffing cylinder semi-free command and the swing cylinder semi-automatic command through the PLC controller, and control the luffing cylinder and the swing cylinder to be in a semi-free state through the PLC controller, the self-locking and free control valve group, the cylinder free state control valve group, and the reversing valve group.

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