Intelligent control system and control device for grab bucket of ship unloader

Abstract

The present invention relates to the field of automatic control technology for ship unloaders, and in particular to an intelligent control system and control device for a grab bucket of a ship unloader, comprising: a data acquisition module for acquiring position information, operating speed data and rotation rate data; a data segmentation module for clustering all working processes to obtain clustering clusters, and time segmenting the working cycle to obtain a moving stage and a stationary stage; a speed analysis module for adjusting the operating speed data to obtain an optimal speed according to the range distribution and change of the operating speed data; a rotation analysis module for obtaining an optimal rotation rate according to the range distribution and change of the rotation rate data; and a data control module for controlling the trolley mechanism and the reel of the ship unloader respectively according to the optimal speed and the optimal rotation rate, combined with the position data of the trolley mechanism of the ship unloader during actual operation. The present invention can adaptively acquire relatively accurate operating parameters, so that the working efficiency of the ship unloader is higher.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control of ship unloaders, and in particular to an intelligent control system and a control device for a grab bucket of a ship unloader. Background Art

[0002] With the increase in global port logistics demand, grab ship unloaders are increasingly being used, especially in the unloading of bulk cargoes such as coal and ore. With the development of automation technology, ship unloader grab control systems are increasingly using PLC and advanced sensors to achieve automated control. These systems can automatically adjust the action of the grab according to real-time data to improve unloading efficiency and safety.

[0003] At present, the four-drum grab ship unloader is the mainstream product of the current bridge grab ship unloader. The trolley mechanism and the grab bucket of the grab ship unloader are connected by wire ropes. During the ship unloading operation, the acceleration and deceleration of the trolley mechanism and the lifting and lowering of the load will cause the grab bucket to swing, seriously affecting the operation efficiency. Therefore, how to set the relevant operating parameters of the trolley mechanism and the drum of the grab ship unloader is an important part of automatic control. The existing technology controls the ship unloader through PLC. This method requires the pre-setting of fixed relevant operating parameters, and then adapts to the working process of the ship unloader through system automation. However, the relevant sensor parameters are prone to complex dynamic changes during the working process of the ship unloader. The accuracy of the operating parameter control of this method is difficult to guarantee. Summary of the invention

[0004] In order to solve the technical problem that the existing control method pre-sets fixed operating parameters, resulting in low accuracy of parameter control of the ship unloader during operation, the purpose of the present invention is to provide an intelligent control system and control device for the grab bucket of a ship unloader. The technical solutions adopted are as follows:

[0005] In a first aspect, the present invention provides an intelligent control system for a ship unloader grab bucket, comprising:

[0006] The data acquisition module is used to obtain the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the drum of the ship unloader;

[0007] A data segmentation module, used to cluster all the working processes based on the position information to obtain a plurality of clusters, and to time segment the working cycles according to the distribution of the running speed data in each working cycle of each working process in each cluster, so as to obtain the moving phase and the stationary phase of each working cycle;

[0008] A speed analysis module, used to adjust the running speed data according to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, so as to obtain the optimal speed corresponding to the moving stage in each cluster;

[0009] A rotation analysis module, for obtaining the optimal rotation rate of the corresponding type of reel in the static phase in each cluster according to the range distribution and variation of the rotation rate data in the static phase of each working cycle of each working process in each cluster;

[0010] The data control module is used to control the trolley mechanism and the drum of the ship unloader respectively according to the optimal speed corresponding to the moving phase in each cluster and the optimal rotation rate of the corresponding type of drum in the stationary phase, combined with the trolley mechanism position data of the ship unloader during actual operation.

[0011] Preferably, the working cycle is time segmented according to the distribution of the running speed data in each working cycle of each working process in each cluster to obtain the moving phase and the stationary phase of each working cycle, which specifically includes:

[0012] For any working cycle of any working process in any cluster, the time length when the running speed data at continuous moments is equal to the preset value is obtained, which is determined as the static phase of the working cycle, and the other time lengths in the working cycle except the static phase are taken as the moving phase of the working cycle.

[0013] Preferably, the operation speed data is adjusted according to the range distribution and change of the operation speed data in the moving stage of each working cycle of each working process in each cluster to obtain the optimal speed corresponding to the moving stage in each cluster, specifically including:

[0014] For any moving stage of any working cycle of any working process in any cluster, the stability of the grab bucket swing amplitude in the moving stage is obtained according to the maximum and minimum values ​​of the running speed data in the moving stage and the change of the running speed data;

[0015] The moving stage includes a first stage and a second stage;

[0016] For the first stage, the product of the stability of the grab bucket swing amplitude and the mean of all running speed data in the first stage is taken as the speed characteristic value of the first stage, and the optimal speed corresponding to each cluster in the first stage is determined based on the mean of all first-stage speed characteristic values ​​of all working cycles of all working processes in each cluster; the optimal speed corresponding to each cluster in the second stage is obtained, and the optimal speed corresponding to the moving stage in each cluster includes the optimal speed corresponding to each cluster in the first stage and the optimal speed corresponding to each cluster in the second stage.

[0017] Preferably, the stability of the grab bucket swing amplitude in the moving stage is obtained according to the maximum and minimum values ​​of the running speed data in the moving stage, combined with the change of the running speed data, and specifically includes:

[0018] Determine the first range of the moving stage based on the maximum and minimum values ​​of all the running speed data in the moving stage, and determine the first slope of each running speed data in the moving stage based on the difference between each running speed data and the adjacent running speed data in the moving stage;

[0019] The stability of the grab bucket swing amplitude in the moving phase is determined based on the negative correlation coefficient of the product between the first extreme difference in the moving phase and the mean of the first slopes of all the running speed data.

[0020] Preferably, the optimal rotation rate of the corresponding type of reel in the static phase in each cluster is obtained according to the range distribution and variation of the rotation rate data in the static phase of each working cycle of each working process in each cluster, specifically including:

[0021] For any working cycle of any working process in any cluster, the mean value of the rotation rate data of all the same type of drums of the ship unloader at each moment in the static phase of the working cycle is taken as the rotation rate characteristic value of the same type of drums at each moment in the static phase of the working cycle;

[0022] According to the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the static stage, combined with the change of the rotation rate characteristic values, the rotation speed effectiveness of the same type of reels in the static stage is obtained;

[0023] The stationary stage corresponding to the maximum value of the effective degree of rotation speed of the same type of reels in the stationary stage in all working cycles of all working processes in the cluster is recorded as the characteristic stage, and the mean of the rotation rate characteristic values ​​of all the same type of reels in the characteristic stage is taken as the optimal rotation rate of the corresponding type of reels in the stationary stage in the cluster.

[0024] Preferably, the optimal rotation rate of the corresponding type of reel in the static phase in each cluster is obtained according to the range distribution and variation of the rotation rate data in the static phase of each working cycle of each working process in each cluster, specifically including:

[0025] For any working cycle of any working process in any cluster, the mean value of the rotation rate data of all the same type of drums of the ship unloader at each moment in the static phase of the working cycle is taken as the rotation rate characteristic value of the same type of drums at each moment in the static phase of the working cycle;

[0026] According to the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the static stage, combined with the change of the rotation rate characteristic values, the rotation speed effectiveness of the same type of reels in the static stage is obtained;

[0027] The stationary stage corresponding to the maximum value of the effective degree of rotation speed of the same type of reels in the stationary stage in all working cycles of all working processes in the cluster is recorded as the characteristic stage, and the mean of the rotation rate characteristic values ​​of all the same type of reels in the characteristic stage is taken as the optimal rotation rate of the corresponding type of reels in the stationary stage in the cluster.

[0028] Preferably, the position information includes the distance from the shore between the location of the trolley mechanism of the ship unloader during each working process and the shore.

[0029] Preferably, clustering all work processes based on the location information to obtain a plurality of clusters specifically includes:

[0030] Using the K-means clustering algorithm, all work processes are clustered based on the difference distances between the offshore distances corresponding to different work processes to obtain multiple clusters.

[0031] Preferably, the controlling of the trolley mechanism and the drum of the ship unloader respectively according to the optimal speed corresponding to the moving phase and the optimal rotation rate of the drum of the corresponding type in the stationary phase in each cluster, combined with the position data of the trolley mechanism of the ship unloader during actual operation, specifically includes:

[0032] The actual offshore distance corresponding to the trolley mechanism of the ship unloader during actual operation is obtained, and based on the difference between the actual offshore distance and the offshore distance of the working process of the cluster center corresponding to each cluster cluster, the characteristic cluster cluster corresponding to the actual offshore distance is determined, and the trolley mechanism and drum parameters of the ship unloader during actual operation are respectively set according to the optimal speed and the optimal rotation rate corresponding to the characteristic cluster cluster.

[0033] In a second aspect, the present invention provides an intelligent control device for a ship unloader grab bucket, comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement an intelligent control method for a ship unloader grab bucket, wherein the control method comprises the following steps:

[0034] Obtain the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the drum of the ship unloader;

[0035] Clustering all the working processes based on the position information to obtain a plurality of clusters, time segmenting the working cycle according to the distribution of the running speed data in each working cycle of each working process in each cluster, and obtaining a moving phase and a stationary phase of each working cycle;

[0036] According to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, the running speed data is adjusted to obtain the optimal speed corresponding to the moving stage in each cluster;

[0037] According to the range distribution and variation of the rotation rate data in the static phase of each working cycle of each working process in each cluster, the optimal rotation rate of the corresponding type of reel in the static phase in each cluster is obtained;

[0038] According to the optimal speed corresponding to the moving stage in each cluster and the optimal rotation rate of the corresponding type of reel in the stationary stage, combined with the position data of the trolley mechanism of the ship unloader during actual operation, the trolley mechanism and reel of the ship unloader are controlled respectively.

[0039] The embodiments of the present invention have at least the following beneficial effects:

[0040] The present invention firstly collects data through a data collection module, including the position information of the working process of the trolley mechanism of the ship unloader, which provides a data basis for the subsequent analysis of the working state of the ship unloader for the position of the trolley mechanism, and also includes the running speed data of the trolley mechanism of the ship unloader and the rotation rate data of the drum, which provides a data basis for the subsequent analysis of the stability of the grab bucket when the ship unloader is working at different stages. Then, considering that a complete working cycle of the ship unloader has working attributes at different stages when working, it is necessary to first use a data segmentation module, and analyze and divide the corresponding position information of the working state of the ship unloader into clusters, that is, the same cluster can be approximately characterized as the working state of the ship unloader being relatively close or similar. Further, the speed analysis module is first used to analyze the moving speed of the trolley mechanism in each working cycle of the ship unloader under similar working conditions, and the best choice of the moving speed in the moving stage of the working cycle is adaptively obtained. Then, the rotation analysis module is used to analyze the rotation rate of the drum in each working cycle of the ship unloader under similar working conditions, and the best choice of the rotation rate in the static stage of the working cycle is adaptively obtained. Finally, a comparative analysis was conducted between the actual working process of the ship unloader and the historical operation records. It was possible to adaptively obtain more accurate operating parameters based on the data changes in the actual working process, making the ship unloader more efficient and having better control over the operating parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 This is a system block diagram of an intelligent control system for a ship unloader grab bucket provided by the present invention;

[0043] Figure 2 It is a structural block diagram of the speed analysis module provided by the present invention;

[0044] Figure 3 is a structural block diagram of the rotation analysis module provided by the present invention;

[0045] Figure 4 The present invention provides a flowchart of the steps of an intelligent control method for a ship unloader grab bucket. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of an intelligent control system and control device for a ship unloader grab bucket proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0048] The specific scheme of the intelligent control system and control device of the ship unloader grab bucket provided by the present invention is described in detail below with reference to the accompanying drawings.

[0049] The specific implementation scenario targeted by the embodiment of the present invention is as follows: the present invention mainly analyzes the parameter control of the four-drum grab ship unloader. The four-drum grab ship unloader controls the wire rope to open and close the grab and lift the grab by controlling the rotation of the drum. The rotation rate of the drum directly affects the movement speed and accuracy of the grab, so the rotation rate of the drum needs to be monitored during the working process. During the operation of the ship unloader, after the grab grabs the material, the trolley mechanism will transport the grab and the material horizontally from above the cabin to above the dock unloading point. And during the transportation process, the trolley mechanism needs to run at an appropriate speed to ensure the stability of the grab, and prevent the material from spilling or affecting the work efficiency due to too fast or too slow speed. Based on this, the present invention can ensure the stability of the lateral movement of the grab during transportation, as well as the stability and accuracy of the longitudinal lifting, opening and closing by monitoring the rotation rate of the ship unloader drum and the moving speed of the trolley mechanism, so as to avoid material spilling or equipment damage due to too fast or too slow speed.

[0050] See also Figure 1 , which shows a system block diagram of an intelligent control system for a ship unloader grab provided by an embodiment of the present invention, the system includes: a data acquisition module, a data segmentation module, a speed analysis module, a rotation analysis module, and a data control module.

[0051] The data acquisition module is used to obtain the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the ship unloader drum.

[0052] For the four-drum grab ship unloader, a speed sensor is installed on the drum to monitor the rotation rate of the drum. At the same time, a position sensor is installed on the cab platform of the trolley mechanism of the ship unloader, and the position sensor is used to collect the position coordinates of the trolley mechanism every time the ship unloader works. The acquired sensor data are stored in the terminal database.

[0053] Based on this, various sensor parameters of historical operation records can be obtained in the terminal database, including the position information of the trolley mechanism of the ship unloader in each working process, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the ship unloader drum in each working cycle of each working process.

[0054] It should be noted that the trolley mechanism moves longitudinally on the dock track, which can change the overall position of the ship unloader relative to the ship. Since the ship is long, materials in different cabins and different longitudinal positions in the same cabin need to be unloaded. The trolley mechanism can position the ship unloader to different longitudinal positions of the ship, so that the grab can reach the material piles at various longitudinal positions in the cabin for grabbing.

[0055] It is understandable that one position information corresponding to the trolley mechanism of the ship unloader may correspond to one working process. One working process can be regarded as the process in which the ship unloader needs to load and unload materials at a fixed position, and this process often requires the grab to move multiple times, that is, one working process corresponds to multiple working cycles. Therefore, in this embodiment, the running speed data and the rotation rate data in one working cycle are time series data, and each time of data collection corresponds to one running speed data and one rotation rate data. At the same time, in order to avoid the influence of the dimension on the subsequent data analysis, this embodiment performs standardization after collecting the speed and rotation rate, that is, the running speed data and the rotation rate data are standardized data.

[0056] It should be further explained that in the actual working process of the ship unloader, a complete working cycle is: the grab grabs the material from the closed bucket of the cabin, the grab is lifted, the trolley mechanism runs to the land side, the grab reaches the top of the hopper, the grab opens the bucket to unload, the trolley mechanism runs to the water side, the grab descends and reaches the material surface of the cabin. During each working cycle, the information such as the running speed of the trolley mechanism and the rotation rate of the drum will be recorded. Therefore, by monitoring the parameters such as the running speed of the trolley mechanism and the rotation rate of the drum, the change of the control path of the grab during each working process can be determined.

[0057] In other embodiments, the optimal movement path can be planned according to the acquired data to reduce unnecessary movement and improve work efficiency. A displacement sensor is installed at the fixed point of the wire rope to measure the small displacement of the wire rope to indicate the swing amplitude of the grab bucket. A target position sensor can also be installed on the cab platform of the trolley mechanism of the ship unloader. Its main function is to accurately determine the position that the grab bucket needs to reach. The acquired data is the three-dimensional coordinates of the position to be reached.

[0058] A data segmentation module is used to cluster all work processes based on the position information to obtain multiple clusters, and to time segment the work cycle according to the distribution of the running speed data in each work cycle of each work process in each cluster to obtain the moving phase and the stationary phase of each work cycle.

[0059] Taking into account that in the historical operation records of the ship unloader, there are more data when loading and unloading materials, there may be some work processes corresponding to the trolley mechanism position information is relatively close, and the change trends of various data parameters under multiple work cycles in these work processes may also be relatively close. Therefore, the work processes with similar position information can be divided into the same category through clustering, so as to ensure the accuracy of subsequent data analysis.

[0060] The position information of the trolley mechanism of the ship unloader in each working process also includes the position distance between the trolley mechanism of the ship unloader and the shore calculated based on the position coordinates corresponding to the trolley mechanism of the ship unloader in each working process, which is used to reflect the distance of the trolley mechanism of the ship unloader from the shore in the current working process, that is, the position information includes the distance from the shore between the position of the trolley mechanism of the ship unloader in each working process and the shore. In this embodiment, the Euclidean distance between the position coordinates of the trolley mechanism in each working process and the shore target position is used to characterize the distance from the shore between the two. The shore target position can be a fixed position at the dock or a placement position of the ship unloader on the shore, which is used to measure the distance information of the trolley mechanism of the ship unloader to determine the working status of the current working process.

[0061] Specifically, in this embodiment, one working process corresponds to one offshore distance, and the K-means clustering algorithm is used to cluster all working processes based on the difference distances between the offshore distances corresponding to different working processes to obtain multiple clusters. The value of the number of clusters K of the clustering algorithm can be determined by the silhouette coefficient method. In addition, the process of classification using the clustering algorithm is a well-known technology and will not be introduced in detail here. Each cluster contains multiple working processes, and a cluster represents a data collection of the trolley mechanism positions corresponding to the working process of the ship unloader that are relatively close.

[0062] At the same time, considering that in a complete working cycle, the moving speed of the trolley mechanism of the ship unloader can be approximately regarded as: after the working cycle starts, the trolley mechanism moves to the land side, at which time the trolley mechanism has a certain moving speed. When the trolley mechanism reaches the target position on the land side, the trolley mechanism will stop moving. At this time, the moving speed of the trolley mechanism is 0, and this speed of 0 continues until the grab bucket unloads the goods. Then the trolley mechanism moves to the water side, at which time the trolley mechanism also has a certain moving speed. Based on this, by analyzing the moving state of the trolley mechanism in a complete working cycle, a working cycle can be approximately divided into two parts, namely moving and non-moving.

[0063] Specifically, in this embodiment, any work cycle of any work process in any cluster is taken as an example for explanation, that is, any work cycle of any work process in any cluster is recorded as the target work cycle of the target work process in the target cluster in sequence. For the convenience of description, the target work cycle is taken as an example for data analysis introduction in the following.

[0064] The time length when the running speed data of consecutive moments in the target working cycle is equal to the preset value is obtained and determined as the static phase of the target working cycle, and the other time lengths in the target working cycle except the static phase are taken as the moving phase of the target working cycle. In this embodiment, the preset value is 0.

[0065] It can be understood that the stationary stage represents the time period in which the operating speed data of the trolley mechanism of the ship unloader is continuously 0, that is, the non-moving time period, and in a working cycle, the stationary stage also represents the duration of the trolley mechanism of the ship unloader having run to the target position and needing to perform unloading operations, and thus the stationary stage divides a complete working cycle into two parts. In addition to the stationary stage, the other part is the moving time period, that is, the moving stage includes the first stage and the second stage.

[0066] The moving phase before the static phase in the timing sequence is the first phase, and the moving phase after the static phase in the timing sequence is the second phase. For example, the starting time of the static phase of the target working cycle is , the end time is , at the time To time The running speed data at all times between the two are all 0. The previous one is the first stage corresponding to the target working cycle. This is followed by the second phase corresponding to the target working cycle.

[0067] Based on this, the first stage corresponds to the stage in which the trolley mechanism of the ship unloader moves to the land side after the working cycle starts, and the second stage corresponds to the stage in which the trolley mechanism of the ship unloader moves to the water side after the grab bucket unloads the cargo in the working cycle.

[0068] The speed analysis module is used to adjust the running speed data according to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, so as to obtain the optimal speed corresponding to the moving stage in each cluster.

[0069] During the operation of the ship unloader, after the grab grabs the material, the trolley mechanism will transport the grab and the material horizontally from above the cabin to above the dock unloading point. In addition, during the transportation process, the trolley mechanism needs to run at an appropriate speed to ensure the stability of the grab and prevent the material from spilling or affecting the work efficiency due to too fast or too slow speed. At the same time, considering that the speed change of the trolley mechanism only occurs in the moving stage in each working cycle, the higher the stability of the running speed data of the trolley mechanism in the working cycle, the greater the reference value of the corresponding running speed data in the corresponding scene of the current working cycle, the less the degree of adjustment is needed, and the higher the stability of the grab when running in the corresponding speed range under the same or similar working environment of the working cycle. Based on this, by analyzing the changes in the running speed data in the moving stage of each working cycle, the stability of the running speed data and the degree of adjustment required are quantitatively analyzed, and finally the optimal speed of the corresponding working process under each position information can be determined.

[0070] Specifically, Figure 2 As shown, the speed analysis module includes a stability calculation unit and an optimal speed calculation unit.

[0071] The stability calculation unit is used to obtain the stability of the grab bucket swing amplitude in any moving stage of any working cycle of any working process in any cluster according to the maximum and minimum values ​​of the running speed data in the moving stage and the change of the running speed data.

[0072] More specifically, based on the maximum and minimum values ​​of all running speed data in the moving phase, the first range of the moving phase is determined, and based on the difference between each running speed data in the moving phase and the adjacent running speed data, the first slope of each running speed data in the moving phase is determined.

[0073] It should be noted that the method for calculating the slope is a well-known technology and will not be introduced in detail here. In this embodiment, the value of the slope corresponding to the running speed data at each moment is obtained by the trend of the data difference between the running speed data at each moment and the running speed data at the next adjacent moment over time. If there is no next adjacent moment for the last moment in the moving stage, the first slope of the running speed data at this moment is not calculated.

[0074] Based on the negative correlation coefficient of the product of the first extreme difference in the moving stage and the mean of the first slope of all the running speed data, the stability of the grab bucket swing amplitude in the moving stage is determined. As a specific example, this embodiment takes the first stage as an example for explanation, and the calculation formula for the stability of the grab bucket swing amplitude in the first stage can be expressed as:

[0075]

[0076] in, represents the stability of the grab bucket swing amplitude in the first stage of the rth working cycle during the nth working process in the mth cluster, and They represent the maximum and minimum values ​​of the running speed data at all moments in the first stage of the rth working cycle in the nth working process in the mth cluster, respectively. It represents the mean of all first slopes of the first stage of the rth working cycle in the nth working process in the mth cluster.

[0077] It is the first range corresponding to the first stage, reflecting the data fluctuation range of all operating speed data in the current first stage. The larger the value of the first range, the larger the data fluctuation range, the worse the stability of the corresponding ship unloader operation, that is, the smaller the stability of the grab bucket swing amplitude, that is, the smaller the value of the stability of the corresponding grab bucket swing amplitude.

[0078] The first slope reflects the speed of the change trend of the running speed data in the first stage, and then It reflects the speed of the change trend of the overall data in the first stage. The larger the value, the faster the change trend of the operating speed data in the first stage, the smaller the stability of the corresponding ship unloader operation, and the smaller the value of the stability of the grab bucket swing amplitude.

[0079] The optimal speed calculation unit is used to, for the first stage, take the product of the stability of the grab bucket swing amplitude and the mean of all the running speed data in the first stage as the speed characteristic value of the first stage, and determine the optimal speed corresponding to each cluster in the first stage based on the mean of all the first stage speed characteristic values ​​of all the working cycles of all the working processes in each cluster; obtain the optimal speed corresponding to each cluster in the second stage, wherein the optimal speed corresponding to the moving stage in each cluster includes the optimal speed corresponding to each cluster in the first stage and the optimal speed corresponding to each cluster in the second stage.

[0080] More specifically, this embodiment still takes the first stage as an example for explanation. The greater the value of the stability of the grab bucket swing amplitude in the first stage, the higher the stability of the grab bucket swing amplitude of the ship unloader when the trolley mechanism of the ship unloader operates at the operating speed data in the corresponding time period, which further indicates that the speed of the trolley mechanism movement during the working process has little effect on the swing of the grab bucket. At this time, the data corresponding to the moving speed of the trolley mechanism is more effective and has a higher reference value. Based on this, the stability of the grab bucket swing amplitude can be used to regulate the operating speed data in the moving stage, and the optimal parameter value in the current working environment can be quantitatively obtained.

[0081] As a specific example, the optimal speed corresponding to the mth cluster in the first stage can be expressed as:

[0082]

[0083] in, represents the optimal speed corresponding to the mth cluster in the first stage, N represents the total number of working processes contained in the mth cluster, Indicates the total number of working cycles in each working process, represents the stability of the grab bucket swing amplitude in the first stage of the rth working cycle during the nth working process in the mth cluster, It represents the mean of all running speed data in the first stage of the rth working cycle in the nth working process in the mth cluster.

[0084] is the speed characteristic value of the first stage of the rth working cycle in the nth working process in the mth cluster, reflecting the result of adjusting the running speed data in the first stage by using the stability of the moving speed of the trolley mechanism. The overall representation of the data adjustment results corresponding to all the first stages in the cluster is obtained by averaging. It represents the optimal speed after adjustment, that is, the optimal moving speed corresponding to the first stage of the trolley mechanism in the corresponding category of the current working process.

[0085] The optimal speed corresponding to the cluster in the first stage represents the offshore distance corresponding to the trolley mechanism of the ship unloader. When the ship unloader is within the cluster, the ship unloader performs the unloading task at the current offshore distance. In the first stage of each working cycle, the moving speed of the trolley mechanism of the ship unloader can be set at the optimal speed.

[0086] It should be noted that the optimal speed corresponding to each cluster in the second stage can be obtained according to the same calculation method as the optimal speed corresponding to each cluster in the first stage, and then the optimal speed corresponding to the cluster in the second stage represents the offshore distance corresponding to the trolley mechanism of the ship unloader. When the ship unloader is within the cluster, the ship unloader performs the unloading task at the current offshore distance. In the second stage of each working cycle, the moving speed of the trolley mechanism of the ship unloader can be set at the optimal speed.

[0087] So far, the optimal speed corresponding to the moving stage in each cluster includes the optimal speed corresponding to each cluster in the first stage and the optimal speed corresponding to each cluster in the second stage.

[0088] The rotation analysis module is used to obtain the optimal rotation rate of the corresponding type of reel in the static phase in each cluster according to the range distribution and change of the rotation rate data in the static phase of each working cycle of each working process in each cluster.

[0089] The ship unloader controls the wire rope by controlling the rotation of the drum to open, close, and lift the grab bucket. If the drum rotates too fast, the grab bucket will swing too much, which will affect the efficiency of loading and unloading and the quality of the goods. Similarly, if the drum rotates too slowly, it may not meet the work requirements and affect the work efficiency. Therefore, keeping the drum rotation speed stable during the operation of the ship unloader can effectively make the grab bucket have a certain stability. Based on this, the stability of the drum rotation can be quantitatively characterized by analyzing the speed change performance of each working cycle during each working process, and then the optimal rotation rate with better stability can be determined.

[0090] In this embodiment, if Figure 3 As shown, the rotation analysis module includes a characteristic value calculation unit, a validity calculation unit and an optimal rotation speed calculation unit.

[0091] The characteristic value calculation unit is used to take the average of the rotation rate data of all the same type of drums of the ship unloader at each moment in the static phase of the working cycle as the rotation rate characteristic value of the same type of drums at each moment in the static phase of the working cycle.

[0092] In this embodiment, any working cycle of any working process in any cluster is taken as an example for explanation. Considering that the ship unloader in this embodiment is a four-drum grab ship unloader, including two lifting drums and two closing drums, when the ship unloader is working, the requirements for the rotation rate of the drum are different in different working scenarios. In this embodiment, the rotation conditions of the same type of drums are analyzed together, that is, the two lifting drums are analyzed uniformly at each moment, and the two closing drums are analyzed uniformly.

[0093] Furthermore, during the stationary phase of a working cycle, the average of the rotation rate data of the two lifting drums can be calculated at each moment as the rotation rate characteristic value corresponding to the lifting drum at the corresponding moment. Similarly, the rotation rate characteristic value corresponding to the closing drum at the corresponding moment can be obtained.

[0094] It should be noted that, analogous to the method of obtaining the optimal speed in the first and second stages, the same idea is used to perform characteristic analysis and effectiveness analysis on the rotation speed of each type of reel, so as to finally adaptively determine the optimal choice of reel rotation speed for each type.

[0095] The effectiveness calculation unit is used to obtain the rotation speed effectiveness of the same type of reel in the static stage according to the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reel at all times in the static stage and the change of the rotation rate characteristic value.

[0096] More specifically, for the stationary phase of any working cycle, the second range of the stationary phase is determined based on the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the stationary phase, and the second slope of the rotation rate characteristic value of the same type of reel at each moment in the stationary phase is determined based on the difference between the rotation rate characteristic value of the same type of reel at each moment in the stationary phase and the rotation rate characteristic value of the same type of reel at adjacent moments. It should be noted that the second slope in this embodiment is calculated in the same way as the first slope.

[0097] Based on the negative correlation coefficient of the product of the second extreme difference in the stationary stage and the mean of the second slope of the rotation rate characteristic value of the same type of reel at all times, the rotation speed effectiveness of the same type of reel in the stationary stage is determined. As a specific example, taking the lifting reel as an example, the calculation formula for the rotation speed effectiveness of the same type of reel in the stationary stage can be expressed as:

[0098]

[0099] in, represents the speed effectiveness of the same type of reel in the stationary phase of the rth working cycle in the nth working process in the mth cluster, and They represent the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times corresponding to the hoisting reel in the stationary stage of the rth working cycle in the nth working process in the mth cluster, It represents the mean value of the second slope of the rotation rate characteristic value of the hoisting drum at all times in the stationary phase of the rth working cycle of the nth working process in the mth cluster.

[0100] The second extreme value reflects the fluctuation range of the rotation of the hoisting drum in the static stage. The second slope reflects the speed of the change trend of the rotation rate of the hoisting drum in the static stage. It reflects the speed of the overall change trend of all rotation rates in the static stage. The larger the values ​​of the two, the greater the fluctuation of the speed of the hoisting drum in the static stage, which further indicates that when working at the current speed in the static stage, the stability of the grab of the ship unloader is relatively small, reflecting that the effectiveness of the rotation rate characteristic value corresponding to the current hoisting drum is smaller, that is, The smaller the value of .

[0101] The optimal rotation speed calculation unit is used to record the static stage corresponding to the maximum value of the effective degree of the rotation speed of the same type of reels in the static stage in all working cycles of all working processes in the cluster as the characteristic stage, and take the mean of the rotation rate characteristic values ​​of all the same type of reels in the characteristic stage as the optimal rotation rate of the corresponding type of reels in the static stage in the cluster.

[0102] More specifically, this embodiment takes the hoisting drum as an example for explanation. The rotation speed effectiveness of the hoisting drum in the static phase of the working cycle represents the stability of the grab bucket when the hoisting drum works at the corresponding rotation speed, and also represents the effectiveness of the rotation speed characteristic value corresponding to the hoisting drum in the static phase of the working cycle. When the value of the rotation speed effectiveness is larger, it means that the effectiveness of the corresponding rotation speed characteristic value is larger, and the stability of the ship unloader grab bucket is greater when operating at the rotation speed.

[0103] Furthermore, the speed data of the hoisting drum in all static stages can be screened by the speed effectiveness to determine the best choice, that is, the rotation rate characteristic value corresponding to the maximum effectiveness and stability. It should be noted that one working cycle corresponds to the speed effectiveness of a static stage, and then in each cluster, all working cycles of all working processes are screened to obtain the characteristic stage corresponding to the maximum value of the speed effectiveness. The characteristic stage can be regarded as the time period of the rotation rate with the maximum effectiveness and stability. Finally, the optimal rotation rate of the hoisting drum is comprehensively characterized in the form of the mean.

[0104] It can be understood that the method for obtaining the optimal rotation rate of the closing drum is the same as the method for obtaining the optimal rotation rate of the lifting drum. The optimal rotation rate of the corresponding type of drum in each cluster at the stationary stage represents that when the offshore distance corresponding to the trolley mechanism of the ship unloader is within the cluster, the ship unloader performs the unloading task at the current offshore distance. In the stationary stage of each working cycle, the same type of drum of the ship unloader can operate at the optimal rotation rate.

[0105] The data control module is used to control the trolley mechanism and the drum of the ship unloader respectively according to the optimal speed corresponding to the moving phase in each cluster and the optimal rotation rate of the corresponding type of drum in the stationary phase, combined with the trolley mechanism position data of the ship unloader during actual operation.

[0106] When actually controlling the ship unloader, the trolley mechanism of the ship unloader first needs to travel to a suitable position, that is, it is first necessary to obtain the actual position information of the trolley mechanism of the ship unloader when it is actually working. The actual position information includes the actual offshore distance corresponding to the position where the trolley mechanism of the ship unloader is actually working. The actual offshore distance is obtained in the same way as the offshore distance of the trolley mechanism of the ship unloader in the data acquisition module.

[0107] Furthermore, the actual offshore distance can be compared with the cluster centers of the clustering results in the historical operation records to determine the cluster to which the actual offshore distance may belong, reflecting the corresponding distance category and the same working environment of the trolley mechanism during actual work. Finally, the most optimal ship unloader operating parameters can be adaptively determined for the cluster to which it belongs.

[0108] Specifically, based on the difference between the actual offshore distance and the offshore distance of the working process of the cluster center corresponding to each cluster cluster, the characteristic cluster cluster corresponding to the actual offshore distance is determined. It is understandable that this process is a well-known technology and is only briefly introduced here. The actual offshore distance can be calculated as a difference distance between the offshore distance of the working process of the cluster center corresponding to each cluster cluster, and the cluster cluster corresponding to the minimum value of all difference distances is obtained and recorded as the characteristic cluster cluster, and then the characteristic cluster cluster represents the working environment that is most similar to the actual work.

[0109] Finally, the trolley mechanism and drum parameters of the ship unloader during actual operation are set respectively according to the optimal speed and the optimal rotation rate corresponding to the feature clustering cluster. That is, the trolley mechanism movement speed in the first stage of each working cycle in the actual working process can be set to the optimal speed corresponding to the feature clustering cluster in the first stage, the trolley mechanism movement speed in the second stage of each working cycle in the actual working process can be set to the optimal speed corresponding to the feature clustering cluster in the second stage, and the rotation speed of the same type of drum in the static stage of each working cycle in the actual working process can be set to the optimal rotation rate of the same type of drum corresponding to the feature clustering cluster in the static stage.

[0110] like Figure 4 As shown, an embodiment of the present invention further provides an intelligent control device for a ship unloader grab bucket, comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement an intelligent control method for a ship unloader grab bucket, wherein the control method comprises the following steps:

[0111] S11, obtaining the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the drum of the ship unloader;

[0112] S21, clustering all the working processes based on the position information to obtain a plurality of clusters, and time segmenting the working cycle according to the distribution of the running speed data in each working cycle of each working process in each cluster, to obtain a moving phase and a stationary phase of each working cycle;

[0113] S31, adjusting the running speed data according to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, to obtain the optimal speed corresponding to the moving stage in each cluster;

[0114] S41, obtaining the optimal rotation rate of the corresponding type of reel in the static phase in each cluster according to the range distribution and change of the rotation rate data in the static phase of each working cycle of each working process in each cluster;

[0115] S51, according to the optimal speed corresponding to the moving phase in each cluster and the optimal rotation rate of the corresponding type of reel in the stationary phase, combined with the trolley mechanism position data of the ship unloader during actual operation, the trolley mechanism and the reel of the ship unloader are controlled respectively.

[0116] For further details of the above-mentioned intelligent control method for the grab bucket of a ship unloader, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.

[0117] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0118] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory, a memory, a read-only memory, an electrically programmable, an electrically erasable programmable, a register, a hard disk, a removable disk, or any other form of storage medium known in the art.

[0119] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An intelligent control system for a ship unloader grab bucket, characterized in that: The system includes: The data acquisition module is used to obtain the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the drum of the ship unloader; A data segmentation module, used to cluster all the working processes based on the position information to obtain a plurality of clusters, and to time segment the working cycles according to the distribution of the running speed data in each working cycle of each working process in each cluster, so as to obtain the moving phase and the stationary phase of each working cycle; A speed analysis module, used to adjust the running speed data according to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, so as to obtain the optimal speed corresponding to the moving stage in each cluster; The rotation analysis module is used to obtain the optimal rotation rate of the corresponding type of drum in the static stage in each cluster according to the range distribution and change of the rotation rate data in the static stage of each working cycle of each working process in each cluster, including: for any working cycle of any working process in any cluster, the mean of the rotation rate data of all the same type of drums of the ship unloader at each moment in the static stage of the working cycle is used as the rotation rate characteristic value of the same type of drum at each moment in the static stage of the working cycle; According to the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the static stage, combined with the change of the rotation rate characteristic values, the rotation speed effectiveness of the same type of reels in the static stage is obtained; The stationary stage corresponding to the maximum value of the effective degree of the rotation speed of the same type of reels in the stationary stage in all working cycles of all working processes in the cluster is recorded as the characteristic stage, and the mean of the rotation rate characteristic values ​​of all the same type of reels in the characteristic stage is taken as the optimal rotation rate of the corresponding type of reels in the stationary stage in the cluster; The data control module is used to control the trolley mechanism and the drum of the ship unloader respectively according to the optimal speed corresponding to the moving phase in each cluster and the optimal rotation rate of the corresponding type of drum in the stationary phase, combined with the trolley mechanism position data of the ship unloader during actual operation.

2. The intelligent control system for grab bucket of ship unloader according to claim 1, characterized in that: The working cycle is time segmented according to the distribution of the running speed data in each working cycle of each working process in each cluster to obtain the moving phase and the stationary phase of each working cycle, specifically including: For any working cycle of any working process in any cluster, the time length when the running speed data at continuous moments is equal to the preset value is obtained, which is determined as the static phase of the working cycle, and the other time lengths in the working cycle except the static phase are taken as the moving phase of the working cycle.

3. The intelligent control system for grab bucket of ship unloader according to claim 2 is characterized in that: The operation speed data is adjusted according to the range distribution and change of the operation speed data in the moving stage of each working cycle of each working process in each cluster to obtain the optimal speed corresponding to the moving stage in each cluster, specifically including: For any moving stage of any working cycle of any working process in any cluster, the stability of the grab bucket swing amplitude in the moving stage is obtained according to the maximum and minimum values ​​of the running speed data in the moving stage and the change of the running speed data; The moving stage includes a first stage and a second stage; For the first stage, the product of the stability of the grab bucket swing amplitude and the mean of all running speed data in the first stage is taken as the speed characteristic value of the first stage, and the optimal speed corresponding to each cluster in the first stage is determined based on the mean of all first-stage speed characteristic values ​​of all working cycles of all working processes in each cluster; the optimal speed corresponding to each cluster in the second stage is obtained, and the optimal speed corresponding to the moving stage in each cluster includes the optimal speed corresponding to each cluster in the first stage and the optimal speed corresponding to each cluster in the second stage.

4. The intelligent control system for grab bucket of ship unloader according to claim 3 is characterized in that: The stability of the grab bucket swing amplitude in the moving stage is obtained according to the maximum and minimum values ​​of the running speed data in the moving stage and the change of the running speed data, which specifically includes: Determine the first range of the moving stage based on the maximum and minimum values ​​of all the running speed data in the moving stage, and determine the first slope of each running speed data in the moving stage based on the difference between each running speed data and the adjacent running speed data in the moving stage; The stability of the grab bucket swing amplitude in the moving phase is determined based on the negative correlation coefficient of the product between the first extreme difference in the moving phase and the mean of the first slopes of all the running speed data.

5. The intelligent control system for grab bucket of ship unloader according to claim 1, characterized in that: The maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the static stage are combined with the change of the rotation rate characteristic values ​​to obtain the rotation speed effectiveness of the same type of reels in the static stage, which specifically includes: For a stationary phase of any working cycle, the second range of the stationary phase is determined based on the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the stationary phase, and the second slope of the rotation rate characteristic value of the same type of reel at each moment in the stationary phase is determined based on the difference between the rotation rate characteristic value of the same type of reel at each moment in the stationary phase and the rotation rate characteristic value of the same type of reel at adjacent moments; The rotation speed effectiveness of the same type of reel in the stationary stage is determined based on the negative correlation coefficient of the product of the second extreme difference in the stationary stage and the mean of the second slope of the rotation rate characteristic values ​​of the same type of reel at all times.

6. The intelligent control system for grab bucket of ship unloader according to claim 1, characterized in that: The position information includes the distance from the shore between the location of the trolley mechanism of the ship unloader during each working process and the shore.

7. The intelligent control system for grab bucket of ship unloader according to claim 6, characterized in that: The clustering of all work processes based on the location information to obtain a plurality of clusters specifically includes: Using the K-means clustering algorithm, all work processes are clustered based on the difference distances between the offshore distances corresponding to different work processes to obtain multiple clusters.

8. The intelligent control system for grab bucket of ship unloader according to claim 7, characterized in that: According to the optimal speed corresponding to the moving stage in each cluster and the optimal rotation rate of the corresponding type of reel in the stationary stage, combined with the trolley mechanism position data of the ship unloader during actual operation, the trolley mechanism and the reel of the ship unloader are controlled respectively, specifically including: The actual offshore distance corresponding to the trolley mechanism of the ship unloader during actual operation is obtained, and based on the difference between the actual offshore distance and the offshore distance of the working process of the cluster center corresponding to each cluster cluster, the characteristic cluster cluster corresponding to the actual offshore distance is determined, and the trolley mechanism and drum parameters of the ship unloader during actual operation are respectively set according to the optimal speed and the optimal rotation rate corresponding to the characteristic cluster cluster.

9. An intelligent control device for a ship unloader grab bucket, comprising a memory and a processor, characterized in that: The processor executes the computer program stored in the memory to implement an intelligent control method for a ship unloader grab bucket, the control method comprising the following steps: Obtain the position information of the trolley mechanism of the ship unloader in each working process in the historical operation records, the running speed data of the trolley mechanism of the ship unloader in each working cycle of each working process, and the rotation rate data of the drum of the ship unloader; Clustering all the working processes based on the position information to obtain a plurality of clusters, time segmenting the working cycle according to the distribution of the running speed data in each working cycle of each working process in each cluster, and obtaining a moving phase and a stationary phase of each working cycle; According to the range distribution and change of the running speed data in the moving stage of each working cycle of each working process in each cluster, the running speed data is adjusted to obtain the optimal speed corresponding to the moving stage in each cluster; According to the range distribution and variation of the rotation rate data in the stationary phase of each working cycle of each working process in each cluster, the optimal rotation rate of the corresponding type of drum in the stationary phase in each cluster is obtained, including: for any working cycle of any working process in any cluster, the mean of the rotation rate data of all the same type of drums of the ship unloader at each moment in the stationary phase of the working cycle is used as the rotation rate characteristic value of the same type of drum at each moment in the stationary phase of the working cycle; According to the maximum and minimum values ​​of the rotation rate characteristic values ​​of the same type of reels at all times in the static stage, combined with the change of the rotation rate characteristic values, the rotation speed effectiveness of the same type of reels in the static stage is obtained; The stationary stage corresponding to the maximum value of the effective degree of the rotation speed of the same type of reels in the stationary stage in all working cycles of all working processes in the cluster is recorded as the characteristic stage, and the mean of the rotation rate characteristic values ​​of all the same type of reels in the characteristic stage is taken as the optimal rotation rate of the corresponding type of reels in the stationary stage in the cluster; According to the optimal speed corresponding to the moving stage in each cluster and the optimal rotation rate of the corresponding type of reel in the stationary stage, combined with the position data of the trolley mechanism of the ship unloader during actual operation, the trolley mechanism and reel of the ship unloader are controlled respectively.

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