Method and system for detecting non-standard operation behavior of driver of bridge type grab ship unloader

Abstract

The invention provides a bridge grab ship unloader driver non-standard operation behavior detection method comprising the following steps: S1, obtaining operation data of each mechanism of a ship unloader through a speed detection sensor, a position detection sensor, a current detection sensor, a voltage detection sensor and a vibration detection sensor of each mechanism of the ship unloader, transmitting the obtained operation data to a controller of the ship unloader for operation; s2, the operation data of all the mechanisms of the ship unloader are calculated and compared with basic characteristic data, used for reflecting the non-standard operation behaviors of the driver, of an existing non-standard operation behavior database of the driver, and when the real-time operation data of all the mechanisms of the ship unloader meet the basic characteristic data, the ship unloader is started; and judging that the operation behavior of the driver in the state is a non-standard operation behavior, and sending a warning prompt to the driver. The invention further provides a system for detecting the non-standard operation behaviors of the driver of the bridge type grab ship unloader. According to the invention, the risk of failure damage of the ship unloader and ship equipment caused by misoperation of a driver is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of port equipment operation detection, and in particular to a method and system for detecting irregular operation behavior of a bridge grab ship unloader driver. Background Art

[0002] Bridge grab ship unloaders are generally used for loading and unloading of bulk cargo such as coal and grain at ports. They mainly include grab lifting mechanism, grab opening and closing mechanism, trolley running mechanism, trolley walking mechanism and boom pitching mechanism. In pursuit of operating efficiency, the driver of a bridge grab ship unloader sometimes inevitably has some irregular operating behaviors, such as throwing the bucket, tilting the bucket, grab collision, wire rope hooking, reverse driving and braking of the trolley mechanism, using the grab to press the bucket when the bucket is blocked, and other irregular operating behaviors. Although these behaviors can save time and improve operating efficiency to a certain extent, improper operation can easily lead to equipment damage, failure, and even safety accidents. Usually, each mechanism of a bridge grab ship unloader has safety protection devices for operating limit positions and operating interlocks between mechanisms, as well as current and voltage detection protection for the electrical system. For example, the grab bucket lifting height has safety protection limit switches such as end stop and end emergency stop, there is operation interlock protection between the trolley mechanism and the boom pitch mechanism (the boom pitch mechanism must be in a horizontal position before the trolley mechanism is allowed to run), and the electrical system drives overcurrent and overvoltage protection, etc. However, the control system of the bridge-type grab ship unloader itself lacks the function of detecting the driver's operating behavior, and is unable to identify the driver's rough and irregular operating behavior and issue warnings or take shutdown protection measures.

[0003] At present, the safety and protection of bridge grab ship unloaders mainly rely on the safety limit devices of each mechanism, as well as the current, voltage, torque and other detection protection of the electrical control systems of each mechanism. It mainly protects against operating limit positions and whether the driving capacity is overloaded. The existing electrical control technology lacks the detection of rough operating behaviors during the operation of the equipment, such as sudden acceleration, sudden deceleration, grab bumps, hooks and other dangerous operating behaviors. The existing electrical control technology has not achieved complete detection and identification, and the protection of stable operation of the equipment is not very comprehensive. Summary of the invention

[0004] In view of this, it is necessary to propose a method and system for detecting irregular operating behavior of bridge grab ship unloader drivers in response to the above-mentioned problems, so as to overcome several shortcomings in the above-mentioned background technology and solve the technical problem of how to reduce the risk of failure and damage of ship unloader equipment and ship equipment caused by improper operation of the driver.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention proposes a method for detecting irregular operation behavior of a bridge-type grab ship unloader driver, which is applied to the bridge-type grab ship unloader. The bridge-type grab ship unloader includes a grab lifting mechanism, a grab opening and closing mechanism, a trolley running mechanism and a trolley walking mechanism. The method is characterized in that the detection method includes the following steps:

[0007] Step S1, obtaining the operation data of each mechanism of the bridge grab ship unloader through the speed detection sensor, position detection sensor, current detection sensor, voltage detection sensor and vibration detection sensor of each mechanism of the bridge grab ship unloader, and transmitting the obtained operation data to a controller of the bridge grab ship unloader for calculation; then executing step S2;

[0008] In step S2, the controller compares the operating data of each mechanism of the bridge grab ship unloader with the basic characteristic data of an existing database of irregular operating behaviors of drivers, which is used to reflect irregular operating behaviors of drivers. When the real-time operating data of each mechanism of the bridge grab ship unloader conforms to the basic characteristic data, it is determined that the operating behavior of the driver in this state is irregular operating behavior, and the controller issues a warning to the driver.

[0009] Further, in step S1, the operating data includes first real-time operating speed information, first position information, first current information, first voltage information, first vibration speed information, first vibration acceleration information and first driver operation instruction of the grab lifting mechanism, and the operating data also includes second real-time operating speed information, second position information, second current information, second voltage information, second vibration speed information and second vibration acceleration information of the grab opening and closing mechanism, and the operating data also includes third real-time operating speed information, third position information, third current information, third voltage information, third vibration speed information, third vibration acceleration information and second driver operation instruction of the trolley operating mechanism, and the operating data also includes third driver operation instruction of the truck walking mechanism.

[0010] Furthermore, the basic characteristic data include characteristic data of oblique pulling and crooked hanging behavior, characteristic data of grab bucket hitting the bucket behavior and characteristic data of trolley reverse driving and braking behavior.

[0011] Furthermore, the characteristic data of the oblique and crooked lifting behavior is the first detection data of the bridge grab ship unloader when the trolley walking operation instruction of the bridge grab ship unloader is issued, and the trolley position of the bridge grab ship unloader is on the sea side, and the grab height of the bridge grab ship unloader is lower than the hatch opening corresponding to the bridge grab ship unloader.

[0012] Further, in step S2, when the basic characteristic data includes characteristic data of the oblique pulling and crooked hanging behavior, the process of determining that the driver's operating behavior in this state is an irregular operating behavior according to the characteristic data of the oblique pulling and crooked hanging behavior includes the following steps:

[0013] Step S21, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S22;

[0014] Step S22, comparing and calculating the trolley position data with the characteristic data of the oblique and crooked hanging behavior; then executing step S23;

[0015] Step S23, comparing and calculating the grab bucket height data with the characteristic data of the oblique pulling and crooked hanging behavior; then executing step S24;

[0016] Step S24, comparing and calculating the trolley operation instruction data with the characteristic data of the oblique and crooked hanging behavior; then executing step S25;

[0017] Step S25, judging whether the operation detection data conforms to the characteristic data of the oblique pulling and crooked lifting behavior, if it is judged to be not, repeatedly executing steps S21, S22, S23 and S24 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab ship unloader is the oblique pulling and crooked lifting behavior, and then executing step S26;

[0018] Step S26, issuing a warning to the driver.

[0019] Furthermore, the characteristic data of the grab bucket hitting the bucket behavior is the second detection data of the bridge type grab bucket ship unloader when the trolley position of the bridge type grab bucket ship unloader is in the bucket area, and when the grab bucket lifting mechanism of the bridge type grab bucket ship unloader executes a descending operation instruction, and when the grab bucket descending speed exceeds a first speed threshold, and when the grab bucket height is lower than the bucket grid position.

[0020] Further, in step S2, when the basic characteristic data includes characteristic data of the grab bucket hitting the bucket, the process of determining that the driver's operation behavior in this state is an irregular operation behavior according to the characteristic data of the grab bucket hitting the bucket includes the following steps:

[0021] Step S201, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S202;

[0022] Step S202, compare and calculate the position data of the trolley with the characteristic data of the behavior of the grab bucket hitting the bucket; then execute step S203;

[0023] Step S203, compare and calculate the grab bucket height data with the characteristic data of the grab bucket hitting the bucket; then execute step S204;

[0024] Step S204, compare and calculate the trolley operation instruction data with the characteristic data of the grab bucket hitting the bucket; then execute step S205;

[0025] Step S205, judging whether the operation detection data conforms to the characteristic data of the grab bucket hitting the bucket behavior, if it is judged to be no, repeatedly executing steps S201, S202, S203, and S204 in sequence during the operation of the bridge grab bucket ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab bucket ship unloader is the grab bucket hitting the bucket behavior, and then executing step S206;

[0026] Step S206: issuing a warning to the driver.

[0027] Furthermore, the characteristic data of the reverse driving braking behavior of the trolley is the third detection data of the bridge grab ship unloader when the trolley of the bridge grab ship unloader runs at a speed greater than a second speed threshold and does not decelerate to a stop state and immediately generates a reverse direction running instruction.

[0028] Further, in step S2, when the basic characteristic data includes characteristic data of the reverse driving braking behavior of the vehicle, the process of determining that the operating behavior of the driver in this state is an irregular operating behavior according to the characteristic data of the reverse driving braking behavior of the vehicle includes the following steps:

[0029] Step S2001, obtaining data of the trolley speed and trolley operation instruction of the bridge grab ship unloader; then executing step S2002;

[0030] Step S2002, comparing and calculating the data of the trolley speed and the trolley operation instruction of the bridge grab ship unloader with the characteristic data of the trolley reverse driving braking behavior respectively; then executing step S2003;

[0031] Step S2003, judging whether the operation detection data conforms to the characteristic data of the reverse driving and braking behavior of the trolley, if it is judged to be no, then repeatedly executing steps S2001 and S2002 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, then determining that the operation behavior of the bridge grab ship unloader is the reverse driving and braking behavior of the trolley; then executing step S2004;

[0032] Step S2004: issuing a warning to the driver.

[0033] Furthermore, in step S2, the characteristic data of the oblique pulling and tilting behavior, the characteristic data of the grab bucket hitting the bucket, and the characteristic data of the reverse driving and braking behavior of the trolley are synchronously compared and analyzed respectively through the basic characteristic data.

[0034] The present invention further proposes a bridge grab ship unloader driver irregular operation behavior detection system, which executes the bridge grab ship unloader driver irregular operation behavior detection method as described in any one of the above items, characterized in that the detection system comprises:

[0035] Several speed detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0036] Several position detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0037] Several current detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0038] Several voltage detection sensors are installed on the grab lifting mechanism, grab opening and closing mechanism, and trolley running mechanism of the bridge grab ship unloader;

[0039] Several vibration detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0040] The warning device is located in the cab of the bridge grab ship unloader;

[0041] The driver's operating handle detection device is used to detect the driver's manual operating handle and output the driver's operating instructions;

[0042] The controller is respectively connected to the detection sensors, the warning device and the driver's operating handle detection device for communication.

[0043] The beneficial effects of the present invention are:

[0044] The present invention is based on detecting various data of the equipment operation status of the bridge-type grab ship unloader, including the grab lifting mechanism, the grab opening and closing mechanism, the trolley running mechanism and the trolley walking mechanism, and judging the driver's operation behavior by analyzing the characteristic data, so as to accurately and quickly output alarm prompts according to the driver's irregular operation behavior, thereby avoiding operation behaviors that damage the ship unloader equipment and ship equipment; the present invention greatly reduces or terminates the occurrence of irregular operation behaviors of the driver, avoids the incidents of malfunction and damage of the ship unloader equipment and ship equipment caused by improper operation of the driver, improves the safety and stability of equipment operation, and also provides a safe operation detection solution for the development of remote operation technologies such as intelligent and unmanned bridge-type grab ship unloaders. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0046] Figure 1The present invention is a workflow diagram of a method for detecting irregular operating behavior of a bridge grab ship unloader driver. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] The terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of the features.

[0049] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0050] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0051] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0052] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0053] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0054] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0055] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0056] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0057] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0058] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0059] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0060] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0061] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0062] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0063] Example 1

[0064] like Figure 1 As shown, this embodiment proposes a method for detecting irregular operation behavior of a bridge grab ship unloader driver, which is applied to the bridge grab ship unloader. The bridge grab ship unloader includes a grab lifting mechanism, a grab opening and closing mechanism, a trolley running mechanism and a large vehicle walking mechanism. The detection method includes the following steps:

[0065] Step S1, obtaining the operation data of each mechanism of the bridge grab ship unloader (i.e., grab lifting mechanism, grab opening and closing mechanism, trolley running mechanism and carriage traveling mechanism) through the speed detection sensor, position detection sensor, current detection sensor, voltage detection sensor and vibration detection sensor of each mechanism of the bridge grab ship unloader, and transmitting the obtained operation data to a controller of the bridge grab ship unloader for calculation; then executing step S2;

[0066] In step S2, the controller compares the operating data of each mechanism of the bridge grab ship unloader with the basic characteristic data of an existing database of irregular operating behaviors of drivers, which is used to reflect irregular operating behaviors of drivers. When the real-time operating data of each mechanism of the bridge grab ship unloader conforms to the basic characteristic data, it is determined that the operating behavior of the driver in this state is irregular operating behavior, and the controller issues a warning to the driver.

[0067] Further, in step S1, the operating data includes first real-time operating speed information, first position information, first current information, first voltage information, first vibration speed information, first vibration acceleration information and first driver operation instruction of the grab lifting mechanism, and the operating data also includes second real-time operating speed information, second position information, second current information, second voltage information, second vibration speed information and second vibration acceleration information of the grab opening and closing mechanism, and the operating data also includes third real-time operating speed information, third position information, third current information, third voltage information, third vibration speed information, third vibration acceleration information and second driver operation instruction of the trolley operating mechanism, and the operating data also includes third driver operation instruction of the truck walking mechanism.

[0068] Optimally, the basic characteristic data include characteristic data of oblique pulling and crooked hanging behavior, characteristic data of grab bucket hitting the bucket behavior and characteristic data of trolley reverse driving and braking behavior.

[0069] Optimally, the characteristic data of the oblique and crooked lifting behavior is the first detection data of the bridge grab ship unloader when the trolley walking operation instruction of the bridge grab ship unloader is issued, and the trolley position of the bridge grab ship unloader is on the sea side, and the grab height of the bridge grab ship unloader is lower than the hatch opening corresponding to the bridge grab ship unloader.

[0070] Optimally, in step S2, when the basic characteristic data includes characteristic data of the oblique pulling and crooked hanging behavior, the process of determining that the driver's operating behavior in this state is an irregular operating behavior according to the characteristic data of the oblique pulling and crooked hanging behavior includes the following steps:

[0071] Step S21, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S22;

[0072] Step S22, comparing and calculating the trolley position data with the characteristic data of the oblique and crooked hanging behavior; then executing step S23;

[0073] Step S23, comparing and calculating the grab bucket height data with the characteristic data of the oblique pulling and crooked hanging behavior; then executing step S24;

[0074] Step S24, comparing and calculating the trolley operation instruction data with the characteristic data of the oblique and crooked hanging behavior; then executing step S25;

[0075] Step S25, judging whether the operation detection data conforms to the characteristic data of the oblique pulling and crooked lifting behavior, if it is judged to be not, repeatedly executing steps S21, S22, S23 and S24 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab ship unloader is the oblique pulling and crooked lifting behavior, and then executing step S26;

[0076] Step S26, issuing a warning to the driver; specifically, issuing a warning to the cab of the bridge grab ship unloader to remind the driver to correct the current irregular operating behavior.

[0077] Optimally, the characteristic data of the grab bucket hitting the bucket behavior is the second detection data of the bridge type grab bucket ship unloader when the trolley position of the bridge type grab bucket ship unloader is in the bucket area, and when the grab bucket lifting mechanism of the bridge type grab bucket ship unloader executes a descending operation instruction, and when the grab bucket descending speed exceeds a first speed threshold, and when the grab bucket height is lower than the bucket grid position.

[0078] Further preferably, the first speed threshold is set to 5%.

[0079] Optimally, in step S2, when the basic characteristic data includes characteristic data of the grab bucket hitting the bucket, the process of determining that the driver's operating behavior in this state is an irregular operating behavior according to the characteristic data of the grab bucket hitting the bucket includes the following steps:

[0080] Step S201, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S202;

[0081] Step S202, compare and calculate the position data of the trolley with the characteristic data of the behavior of the grab bucket hitting the bucket; then execute step S203;

[0082] Step S203, compare and calculate the grab bucket height data with the characteristic data of the grab bucket hitting the bucket; then execute step S204;

[0083] Step S204, compare and calculate the trolley operation instruction data with the characteristic data of the grab bucket hitting the bucket; then execute step S205;

[0084] Step S205, judging whether the operation detection data conforms to the characteristic data of the grab bucket hitting the bucket behavior, if it is judged to be no, repeatedly executing steps S201, S202, S203, and S204 in sequence during the operation of the bridge grab bucket ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab bucket ship unloader is the grab bucket hitting the bucket behavior, and then executing step S206;

[0085] Step S206: issuing a warning to the driver.

[0086] Optimally, the characteristic data of the reverse driving braking behavior of the trolley is the third detection data of the bridge grab ship unloader when the trolley of the bridge grab ship unloader runs at a speed greater than a second speed threshold and does not decelerate to a stop state and immediately generates a reverse direction running instruction.

[0087] Optimally, in step S2, when the basic characteristic data includes characteristic data of the reverse driving braking behavior of the vehicle, the process of determining that the driver's operating behavior in this state is an irregular operating behavior according to the characteristic data of the reverse driving braking behavior of the vehicle includes the following steps:

[0088] Step S2001, obtaining data of the trolley speed and trolley operation instruction of the bridge grab ship unloader; then executing step S2002;

[0089] Step S2002, comparing and calculating the data of the trolley speed and the trolley operation instruction of the bridge grab ship unloader with the characteristic data of the trolley reverse driving braking behavior respectively; then executing step S2003;

[0090] Step S2003, judging whether the operation detection data conforms to the characteristic data of the reverse driving and braking behavior of the trolley, if it is judged to be no, then repeatedly executing steps S2001 and S2002 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, then determining that the operation behavior of the bridge grab ship unloader is the reverse driving and braking behavior of the trolley; then executing step S2004;

[0091] Step S2004: issuing a warning to the driver.

[0092] Furthermore, in step S2, the characteristic data of the oblique pulling and tilting behavior, the characteristic data of the grab bucket hitting the bucket, and the characteristic data of the reverse driving and braking behavior of the trolley are synchronously compared and analyzed respectively through the basic characteristic data.

[0093] Further optimized, before step S1, the detection method further includes: S100, the bridge grab ship unloader starts to operate, the irregular operation behavior detection system is automatically activated, and then step S1 is executed.

[0094] The present invention further proposes a bridge grab ship unloader driver irregular operation behavior detection system, which executes the bridge grab ship unloader driver irregular operation behavior detection method as described in any one of the above items, and the detection system comprises:

[0095] Several speed detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0096] Several position detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0097] Several current detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0098] Several voltage detection sensors are installed on the grab lifting mechanism, grab opening and closing mechanism, and trolley running mechanism of the bridge grab ship unloader;

[0099] Several vibration detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader;

[0100] The warning device is located in the cab of the bridge grab ship unloader;

[0101] The driver's operating handle detection device is used to detect the driver's manual operating handle and output the driver's operating instructions;

[0102] The controller is respectively connected to the detection sensors, the warning device and the driver's operating handle detection device for communication.

[0103] Optimally, the controller is an industrial computer or a PLC programmable controller; the warning device is a sound device, a light emitting device or a screen display device.

[0104] Example 2

[0105] Embodiment 2 is an optimized design of any technical solution in Embodiment 1;

[0106] The present invention utilizes a variety of sensors and measuring devices to detect the operating speed, position, current, voltage, vibration speed, vibration acceleration and other data of each mechanism of the bridge-type grab ship unloader in real time, so as to realize real-time detection of the operating status of the ship unloader; a "characteristic data" library of the driver's irregular operating behavior is formed according to experiments or experience summaries, and each irregular operating behavior corresponds to a group of "characteristic data", which provides a discrimination standard for the irregular operating behavior detection; the powerful computing power of the PLC programmable controller of the bridge-type grab ship unloader is utilized to design an algorithm program to realize real-time intelligent detection of the driver's irregular operating behavior; the remote communication function of the PLC programmable controller of the bridge-type grab ship unloader is utilized to send a warning signal triggered by the irregular operating behavior to the cab, and the driver is reminded to terminate the irregular operating behavior through sound and light signals.

[0107] Specifically, the trolley travel instruction is obtained by detecting the operating signal of the main command handle of the trolley travel mechanism.

[0108] Specifically, the basic characteristic data is obtained by manual setting or experimental derivation.

[0109] Specifically, the detection of the "slanting and crooked lifting" operation behavior is further described as follows:

[0110] On a 1250t / h bridge grab ship unloader, the characteristic data of this irregular operating behavior are: the trolley position is at sea level (the data range of this position is 31-60 meters), the grab height is lower than the hatch (the lifting height data of this position is 19.5 meters, with the hopper grid as the reference surface), and at this time there is a trolley travel operation instruction issued (the trolley main command handle is not in the zero position). When the above data are met at the same time, the state is judged to be an irregular operating behavior of "oblique pulling and crooked lifting"; that is, the trolley mechanism position data is in the range of 31-60 meters, the lifting height data is less than 19.5 meters, the trolley mechanism main command handle is not in the zero position, and the operating data of each mechanism when the equipment is running are compared with the above data. When the above data range is met at the same time, the system determines that the driver has an irregular operating behavior of "oblique pulling and crooked lifting" in this state.

[0111] Specifically, the further detection of the "car reverse drive braking" operation behavior is as follows:

[0112] On the 1250t / h bridge grab ship unloader, the characteristic data of this irregular operating behavior is: the trolley immediately generates a reverse direction running command without decelerating to a stop state when running at high speed. When the above operating behavior occurs, it is determined that the behavior is an irregular operating behavior of "trolley reverse drive braking"; that is, when the running speed of the trolley mechanism is not 0 m / s, the trolley owner's command handle issues an opposite direction running command. When the above conditions are met, the system determines that the driver has an irregular operating behavior of "trolley reverse drive braking" in this state.

[0113] Specifically, the characteristic data of irregular operating behaviors are not fixed values ​​and need to be adjusted according to the bridge grab ship unloader model and the on-site environment to improve the detection and recognition rate.

[0114] Specifically, taking the detection of the irregular operation behavior of "grab bucket hitting the hopper" as an example, on a 1250t / h bridge grab ship unloader, the characteristic data of this irregular operation behavior is: the trolley position is in the hopper area (the position data of this area is

[0115] 6.2-28 meters), the grab lifting mechanism has a descending operation command (the lifting main command handle is downward), the grab descent speed exceeds 5% of the rated speed, and the grab height is lower than the bucket grid position (the position data is 19.5 meters). When the above data are met at the same time, the state is determined to be an irregular operation behavior of "grab hitting the bucket"; that is, the trolley mechanism position data is 6.2-28 meters, the lifting main command handle is downward, the lifting and lowering speed is greater than 5%, and the lifting height is less than 19.5 meters. When the equipment is running, the operating data of each mechanism is compared with the above data. When the above data range is met at the same time, the system determines that the driver has an irregular operation behavior of "grab hitting the bucket" in this state; due to the different types of bridge grab ship unloaders, the structural principles of different models of equipment are the same, but the relevant data will be different. For example, the definition of the bucket area: 1250t / h type is 6.2-28 meters, 2500t / h type is 5.0-30 meters, and the specific definition needs to be based on the on-site usage.

[0116] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for detecting irregular operation behavior of a bridge-type grab ship unloader driver, which is applied to the bridge-type grab ship unloader. The bridge-type grab ship unloader includes a grab lifting mechanism, a grab opening and closing mechanism, a trolley running mechanism and a trolley traveling mechanism, and is characterized in that: The detection method comprises the following steps: Step S1, obtaining the operation data of each mechanism of the bridge grab ship unloader through the speed detection sensor, position detection sensor, current detection sensor, voltage detection sensor and vibration detection sensor of each mechanism of the bridge grab ship unloader, and transmitting the obtained operation data to a controller of the bridge grab ship unloader for calculation; then executing step S2; In step S2, the controller compares the operating data of each mechanism of the bridge grab ship unloader with the basic characteristic data of an existing database of irregular operating behaviors of drivers, which is used to reflect irregular operating behaviors of drivers. When the real-time operating data of each mechanism of the bridge grab ship unloader conforms to the basic characteristic data, it is determined that the operating behavior of the driver in this state is irregular operating behavior, and the controller issues a warning to the driver.

2. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 1 is characterized in that: In step S1, the operating data includes the first real-time operating speed information, the first position information, the first current information, the first voltage information, the first vibration speed information, the first vibration acceleration information and the first driver operation instruction of the grab lifting mechanism; the operating data also includes the second real-time operating speed information, the second position information, the second current information, the second voltage information, the second vibration speed information and the second vibration acceleration information of the grab opening and closing mechanism; the operating data also includes the third real-time operating speed information, the third position information, the third current information, the third voltage information, the third vibration speed information, the third vibration acceleration information and the second driver operation instruction of the trolley operating mechanism; the operating data also includes the third driver operation instruction of the truck walking mechanism.

3. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 1, characterized in that: The basic characteristic data include characteristic data of oblique pulling and crooked hanging behavior, characteristic data of grab bucket hitting the bucket behavior and characteristic data of trolley reverse driving and braking behavior.

4. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 3 is characterized in that: The characteristic data of the oblique and crooked lifting behavior is the first detection data of the bridge grab ship unloader when the trolley walking operation instruction of the bridge grab ship unloader is issued, the trolley position of the bridge grab ship unloader is on the sea side, and the grab height of the bridge grab ship unloader is lower than the corresponding hatch opening of the bridge grab ship unloader.

5. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to any one of claims 1 to 4, characterized in that: In step S2, when the basic characteristic data includes characteristic data of the oblique pulling and crooked hanging behavior, the process of determining that the driver's operating behavior in this state is an irregular operating behavior according to the characteristic data of the oblique pulling and crooked hanging behavior includes the following steps: Step S21, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S22; Step S22, comparing and calculating the trolley position data with the characteristic data of the oblique and crooked hanging behavior; then executing step S23; Step S23, comparing and calculating the grab bucket height data with the characteristic data of the oblique pulling and crooked hanging behavior; then executing step S24; Step S24, comparing and calculating the trolley operation instruction data with the characteristic data of the oblique and crooked hanging behavior; then executing step S25; Step S25, judging whether the operation detection data conforms to the characteristic data of the oblique pulling and crooked lifting behavior, if it is judged to be not, repeatedly executing steps S21, S22, S23 and S24 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab ship unloader is the oblique pulling and crooked lifting behavior, and then executing step S26; Step S26, issuing a warning to the driver.

6. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 3, characterized in that: The characteristic data of the grab bucket hitting the bucket behavior is the second detection data of the bridge type grab bucket ship unloader when the trolley position of the bridge type grab bucket ship unloader is in the bucket area, and when the grab bucket lifting mechanism of the bridge type grab bucket ship unloader executes a descending operation instruction, and when the grab bucket descending speed exceeds a first speed threshold, and when the grab bucket height is lower than the bucket grid position.

7. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 1 or 6, characterized in that: In step S2, when the basic characteristic data includes characteristic data of the grab bucket hitting the bucket, the process of determining that the driver's operation behavior in this state is an irregular operation behavior according to the characteristic data of the grab bucket hitting the bucket includes the following steps: Step S201, obtaining the trolley position, grab bucket height, and trolley operation instruction data; then executing step S202; Step S202, compare and calculate the position data of the trolley with the characteristic data of the behavior of the grab bucket hitting the bucket; then execute step S203; Step S203, compare and calculate the grab bucket height data with the characteristic data of the grab bucket hitting the bucket; then execute step S204; Step S204, compare and calculate the trolley operation instruction data with the characteristic data of the grab bucket hitting the bucket; then execute step S205; Step S205, judging whether the operation detection data conforms to the characteristic data of the grab bucket hitting the bucket behavior, if it is judged to be no, repeatedly executing steps S201, S202, S203, and S204 in sequence during the operation of the bridge grab bucket ship unloader, and if it is judged to be yes, judging that the operation behavior of the bridge grab bucket ship unloader is the grab bucket hitting the bucket behavior, and then executing step S206; Step S206: issuing a warning to the driver.

8. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 3, characterized in that: The characteristic data of the reverse driving braking behavior of the trolley is the third detection data of the bridge grab ship unloader when the trolley of the bridge grab ship unloader runs at a speed greater than a second speed threshold and does not decelerate to a stop state and immediately generates a reverse direction running instruction.

9. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 1 or 8, characterized in that: In step S2, when the basic characteristic data includes characteristic data of the reverse driving and braking behavior of the vehicle, the process of determining that the operation behavior of the driver in this state is an irregular operation behavior according to the characteristic data of the reverse driving and braking behavior of the vehicle includes the following steps: Step S2001, obtaining data of the trolley speed and trolley operation instruction of the bridge grab ship unloader; then executing step S2002; Step S2002, comparing and calculating the data of the trolley speed and the trolley operation instruction of the bridge grab ship unloader with the characteristic data of the trolley reverse driving braking behavior respectively; then executing step S2003; Step S2003, judging whether the operation detection data conforms to the characteristic data of the reverse driving and braking behavior of the trolley, if it is judged to be no, then repeatedly executing steps S2001 and S2002 in sequence during the operation of the bridge grab ship unloader, and if it is judged to be yes, then determining that the operation behavior of the bridge grab ship unloader is the reverse driving and braking behavior of the trolley; then executing step S2004; Step S2004: issuing a warning to the driver.

10. The method for detecting irregular operation behavior of a bridge grab ship unloader driver according to claim 3, characterized in that: In step S2, the characteristic data of the oblique pulling and tilting behavior, the characteristic data of the grab bucket hitting the bucket, and the characteristic data of the reverse driving and braking behavior of the trolley are synchronously compared and analyzed respectively through the basic characteristic data.

11. A system for detecting irregular operation behavior of a bridge grab ship unloader driver, which implements the method for detecting irregular operation behavior of a bridge grab ship unloader driver according to any one of claims 1 to 10, characterized in that: The detection system includes: Several speed detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader; Several position detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader; Several current detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader; Several voltage detection sensors are installed on the grab lifting mechanism, grab opening and closing mechanism, and trolley running mechanism of the bridge grab ship unloader; Several vibration detection sensors are installed on the grab bucket lifting mechanism, grab bucket opening and closing mechanism, and trolley running mechanism of the bridge grab bucket ship unloader; The warning device is located in the cab of the bridge grab ship unloader; The driver's operating handle detection device is used to detect the driver's manual operating handle and output the driver's operating instructions; The controller is respectively connected to the detection sensors, the warning device and the driver's operating handle detection device for communication.

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