Safety control system for cross operation of cabin cleaning machine and ship unloader

Abstract

The invention discloses a safety control system for cross operation of a cabin cleaning machine and a ship unloader, which is used for avoiding collision between the cabin cleaning machine and the ship unloader during automatic operation, and comprises a radar anti-collision system, a downward scanning 3D radar arranged at a girder of the ship unloader, downward coverage scanning, detection of the real-time position of the cabin cleaning machine below, an upward pitching 3D radar arranged at the top of the cabin cleaning machine, and detection of the real-time position of the cabin cleaning machine below. Covering scanning is conducted upwards, the real-time position of the grab bucket above is detected, and when the grab bucket and the cabin cleaning machine are within the collision danger threshold value, the machine is stopped in time; according to the plane anti-collision system, an XOY coordinate plane is established in a cabin and gridded, a grab bucket of the ship unloader and the outline of a cabin cleaning machine are projected on the XOY plane, and when the cabin cleaning machine and the grab bucket enter the danger threshold value of the adjacent grid, the height data of the grab bucket are combined, and an alarm is given in time to stop the ship unloader. According to the anti-collision system, collision accidents can be effectively avoided through two anti-collision protection means of the radar anti-collision system and the plane anti-collision system.

Description

Technical Field

[0001] The present invention relates to the technical field of robot movement control, and in particular to a safety control system for the cross operation of a tank cleaning machine and a ship unloader. Background Art

[0002] A tank cleaning machine is a special machine that collects the remaining materials that cannot be grabbed by the grab bucket at the bottom of the hatch for further unloading operations when dry bulk cargo is unloaded by a grab bucket or other tools. In the prior art, in the unloading operation of bulk carriers, the ship unloader and the tank cleaning machine are usually operated independently, and the driver and the commander need to work together. This method has some problems. Since the ship unloader and the tank cleaning machine operate in the same cabin during the operation, there will be safety risks such as collision between the tank cleaning machine and the grab bucket of the ship unloader, which is prone to safety accidents. Summary of the invention

[0003] According to an embodiment of the present invention, a safety control system for cross-operation of a tank cleaning machine and a ship unloader is provided, which is used to avoid collision between the tank cleaning machine and the ship unloader during automatic operation, and includes: Radar anti-collision system: a downward scanning 3D radar is installed on the beam of the ship unloader to cover and scan downward to detect the real-time position of the tank cleaning machine below. An upward 3D radar is installed on the top of the tank cleaning machine to cover and scan upward to detect the real-time position of the grab bucket above. When the grab bucket and the tank cleaning machine are within the collision risk threshold, the machine will be stopped in time. The plane collision avoidance system establishes an XOY coordinate plane in the cabin and grids it. The outlines of the grab bucket of the ship unloader and the tank cleaning machine are projected on the XOY plane. When the tank cleaning machine and the grab bucket enter the danger threshold of the adjacent grid, the height data of the grab bucket is combined to promptly alarm and shut down the machine.

[0004] Furthermore, the front, rear and middle parts of the tank cleaning machine are equipped with anti-collision laser radars, which are used for anti-collision warning and parking for bulkheads and larger obstacles.

[0005] Furthermore, a modeling 3D radar is mounted in the middle of the body of the cabin cleaning machine, and the modeling 3D radar is used for three-dimensional modeling of the cabin environment.

[0006] Furthermore, when the modeling 3D radar fails in modeling, the tank cleaning machine calibrates its own modeling data by means of the 3D model of the cabin provided by the ship unloader through data communication with the intelligent control system of the ship unloader.

[0007] Furthermore, the data communication is to set the various devices of the control network of the tank cleaning machine and the ship unloader to the same control network segment. The system deploys a communication gateway in the ship unloader cabinet as the server end for Modbus TCP communication between the tank cleaning machine and the ship unloader. The gateway opens up a data area as a platform for data interaction between the tank cleaning machine and the ship unloader. The tank cleaning machine and the ship unloader, as clients of Modbus TCP communication, respectively perform data read and write access to the gateway of the server end and share each other's operation and control data.

[0008] Furthermore, a Beidou positioning base station and a Beidou ground-based augmentation system are arranged outside the cabin. The tank cleaning machine is equipped with a Beidou mobile station to calculate the longitude, latitude and altitude of the tank cleaning machine. In combination with the physical size of the tank cleaning machine, the three-dimensional outline of the tank cleaning machine is mapped into the three-dimensional coordinate system of the system. Wearable Beidou locators are provided for the personnel in the cabin, and the outlines of the personnel are also mapped into the three-dimensional coordinate system of the system. The tank cleaning machine receives the position of the grab bucket of the ship unloader in the three-dimensional coordinate system through a gateway communicating with the ship unloader, and then makes a comprehensive anti-collision judgment in combination with the position of the tank cleaning machine itself and the position of the personnel in the three-dimensional coordinate system.

[0009] Furthermore, the operation scope and sequence of the grab bucket and the tank cleaning machine are divided according to the area, the area is divided into a grab bucket area and a tank cleaning area, the grab bucket area is divided into a first area and a second area, the ship unloader grab bucket moves between the first area and the second area to operate, and the tank cleaning machine is used to stack the materials in the tank cleaning area to the first area or the second area.

[0010] Furthermore, when the ship unloader grab is in the first area, the tank cleaning machine accumulates the materials in the tank cleaning area to the second area; when the ship unloader grab is in the second area, the tank cleaning machine accumulates the materials in the tank cleaning area to the first area.

[0011] Furthermore, the tank cleaning machine should follow local trajectory planning when operating automatically in the cabin, including: analyzing the distribution and characteristics of the remaining material pile in the cabin, decomposing the entire tank cleaning operation into multiple single pushing or raking paths, fitting the optimal curve for the single path, combining pushing, raking, shoveling and loading actions, and realizing each action based on the principle of optimal efficiency.

[0012] According to a schematic diagram of a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention, when the tank cleaning machine operates in the cabin, in addition to studying the cabin environment perception system and the navigation obstacle avoidance robot control system based on SLAM, the biggest safety issue is to achieve the anti-collision function with the grab bucket above. The tank cleaning machine must be integrated and coordinated with the existing ship unloader intelligent control system to achieve the functions of interlocking between the personnel in the cabin and the tank cleaning machine, the personnel and the ship unloader grab bucket, and the tank cleaning machine and the grab bucket. This application can effectively avoid collision accidents through two anti-collision protection means: radar anti-collision system and plane anti-collision system.

[0013] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a plane collision avoidance system of a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the area division of a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention; Figure 3 This is a regional division operation sequence diagram of a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention; Figure 4 It is a schematic diagram of data interface communication between a tank cleaning machine and a ship unloader in a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0016] First, combine Figure 1~Figure 4 A safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention is described, which is used to avoid collision between the tank cleaning machine and the ship unloader during automatic operation.

[0017] like Figure 1~Figure 4 As shown, a safety control system for cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention is used to prevent the tank cleaning machine and the ship unloader from colliding during automatic operation, comprising: Radar anti-collision system: a downward scanning 3D radar is installed on the beam of the ship unloader to cover and scan downward to detect the real-time position of the tank cleaning machine below. An upward 3D radar is installed on the top of the tank cleaning machine to cover and scan upward to detect the real-time position of the grab bucket above. When the grab bucket and the tank cleaning machine are within the collision risk threshold, the machine will be stopped in time. The plane collision avoidance system establishes an XOY coordinate plane in the cabin and grids it. The outlines of the grab bucket of the ship unloader and the tank cleaning machine are projected on the XOY plane. When the tank cleaning machine and the grab bucket enter the danger threshold of the adjacent grid, the height data of the grab bucket is combined to promptly alarm and shut down the machine.

[0018] When the tank cleaning machine is operating in the cabin, in addition to studying the cabin environment perception system and the navigation obstacle avoidance robot control system based on SLAM, the biggest safety issue is to achieve the anti-collision function with the grab bucket above. The tank cleaning machine must be integrated and coordinated with the existing ship unloader intelligent control system to achieve the functions of interlocking between the personnel in the cabin and the tank cleaning machine, the personnel and the ship unloader grab bucket, and the tank cleaning machine and the grab bucket. This application can effectively avoid collision accidents through two anti-collision protection means: radar anti-collision system and plane anti-collision system.

[0019] like Figure 1 As shown, the front, rear and middle parts of the tank cleaning machine are equipped with anti-collision laser radars, which are used for anti-collision warning and parking for bulkheads and larger obstacles. The middle part of the tank cleaning machine is equipped with a modeling 3D radar, which is used for three-dimensional modeling of the cabin environment.

[0020] The cabin-clearing machine is equipped with anti-collision laser radars at the front, back and middle of the vehicle body, as well as a modeling 3D radar, to achieve functions such as anti-collision warning against the bulkhead and larger obstacles and parking.

[0021] like Figure 4 As shown, when the modeling 3D radar fails in modeling, the tank cleaning machine calibrates its own modeling data through data communication with the intelligent control system of the ship unloader and with the help of the 3D model of the cabin provided by the ship unloader.

[0022] It is characterized in that the data communication is to set the various devices of the control network of the tank cleaning machine and the ship unloader to the same control network segment. The system deploys a communication gateway in the ship unloader cabinet as the server end for Modbus TCP communication between the tank cleaning machine and the ship unloader. The gateway opens up a data area as a platform for data interaction between the tank cleaning machine and the ship unloader. The tank cleaning machine and the ship unloader, as clients of Modbus TCP communication, respectively perform data read and write access to the gateway of the server end and share each other's operation and control data.

[0023] The tank cleaning machine is equipped with a 3D radar for three-dimensional modeling of the cabin environment, but it must take into account the harsh environment of high dust in the cabin, or the obstruction of the pile of materials, which may cause the modeling to fail, and realize the function of autonomous planning of operations. The tank cleaning machine can calibrate its own modeling data through data communication with the intelligent control system of the ship unloader, with the help of the 3D model of the cabin provided by the ship unloader, greatly improve the reliability of the modeling data, and thus realize autonomous planning of operations.

[0024] like Figure 1As shown, a Beidou positioning base station and a Beidou ground-based augmentation system are arranged outside the cabin, the tank cleaning machine is equipped with a Beidou mobile station, the longitude, latitude and altitude of the tank cleaning machine are solved, and the three-dimensional outline of the tank cleaning machine is mapped into the three-dimensional coordinate system of the system in combination with the physical size of the tank cleaning machine, and wearable Beidou locators are configured for the personnel in the cabin, and the personnel outlines are also mapped into the three-dimensional coordinate system of the system. The tank cleaning machine receives the position of the grab bucket of the ship unloader in the three-dimensional coordinate system through a gateway communicating with the ship unloader, and then makes a comprehensive anti-collision judgment in combination with the position of the tank cleaning machine itself and the position of the personnel in the three-dimensional coordinate system.

[0025] Beidou positioning base stations and Beidou ground-based augmentation systems are configured and installed at appropriate locations on the dock shore to ensure interlocking positioning of personnel in the cabin, cabin cleaning machine and ship unloader grab bucket.

[0026] like Figure 2~Figure 3 As shown, the operation scope and sequence of the grab bucket and the tank cleaning machine are divided by area. The area is divided into a grab bucket area and a tank cleaning area. The grab bucket area is divided into a first area and a second area. The ship unloader grab bucket moves between the first area and the second area to operate. The tank cleaning machine is used to pile up the materials in the tank cleaning area to the first area or the second area.

[0027] When the ship unloader grab is in the first area, the tank cleaning machine accumulates the materials in the tank cleaning area to the second area. When the ship unloader grab is in the second area, the tank cleaning machine accumulates the materials in the tank cleaning area to the first area.

[0028] The tank cleaning machine should follow local trajectory planning when operating automatically in the cabin, including: analyzing the distribution and characteristics of the remaining material pile in the cabin, decomposing the entire tank cleaning operation into multiple single pushing or raking paths, fitting the optimal curve for the single path, combining pushing, raking, shoveling and loading actions, and realizing each action based on the principle of optimal efficiency.

[0029] In order to improve the efficiency of tank cleaning, when the tank cleaning machine and the grab bucket of the ship unloader are working in parallel, on the basis of ensuring safety and collision prevention, the passive waiting time of the tank cleaning machine should be minimized and the mobile operation time of the tank cleaning machine should be increased. Therefore, a clear and reasonable operation process must be designed to enable the grab bucket and the tank cleaning machine to work in coordination and efficiently. When the tank cleaning machine and the grab bucket of the ship unloader are working in parallel in the same cabin, the tank cleaning rules of "operating in different areas, taking materials nearby, and supplying materials at two points" should be followed, and the operation scope and sequence of the grab bucket and the tank cleaning machine should be divided according to the area.

[0030] Above, refer to Figure 1~Figure 4, describes a safety control system for the cross-operation of a tank cleaning machine and a ship unloader according to an embodiment of the present invention. The tank cleaning machine operates in the cabin. In addition to studying the cabin environment perception system and the navigation obstacle avoidance robot control system based on SLAM, the biggest safety issue is to achieve the anti-collision function with the upper grab. The tank cleaning machine must be integrated and coordinated with the existing ship unloader intelligent control system to achieve the functions of interlocking between the personnel in the cabin and the tank cleaning machine, the personnel and the ship unloader grab, and the tank cleaning machine and the grab. This application can effectively avoid collision accidents through two anti-collision protection means: radar anti-collision system and plane anti-collision system.

[0031] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A safety control system for cross-operation of a tank cleaning machine and a ship unloader, used to avoid collision between the tank cleaning machine and the ship unloader during automatic operation, characterized in that: include: Radar anti-collision system: a downward scanning 3D radar is installed on the beam of the ship unloader to cover and scan downward to detect the real-time position of the tank cleaning machine below. An upward 3D radar is installed on the top of the tank cleaning machine to cover and scan upward to detect the real-time position of the grab bucket above. When the grab bucket and the tank cleaning machine are within the collision risk threshold, the machine will be stopped in time. The plane collision avoidance system establishes an XOY coordinate plane in the cabin and grids it. The outlines of the grab bucket of the ship unloader and the tank cleaning machine are projected on the XOY plane. When the tank cleaning machine and the grab bucket enter the danger threshold of the adjacent grid, the height data of the grab bucket is combined to promptly alarm and shut down the machine.

2. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 1, characterized in that: The front, rear and middle parts of the tank cleaning machine are equipped with anti-collision laser radars, which are used for anti-collision warning and parking for the bulkhead and larger obstacles.

3. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 1, characterized in that: The middle part of the body of the cabin cleaning machine is equipped with a modeling 3D radar, and the modeling 3D radar is used for three-dimensional modeling of the cabin environment.

4. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 3, characterized in that: When the modeling 3D radar fails in modeling, the tank cleaning machine calibrates its own modeling data by means of the 3D model of the cabin provided by the ship unloader through data communication with the intelligent control system of the ship unloader.

5. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 4, characterized in that: The data communication is to set the various devices of the control network of the tank cleaning machine and the ship unloader to the same control network segment. The system deploys a communication gateway in the ship unloader cabinet as the server end for Modbus TCP communication between the tank cleaning machine and the ship unloader. The gateway opens up a data area as a platform for data interaction between the tank cleaning machine and the ship unloader. The tank cleaning machine and the ship unloader, as clients of Modbus TCP communication, respectively read and write data to the gateway of the server end and share each other's operation and control data.

6. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 1, characterized in that: A Beidou positioning base station and a Beidou ground-based augmentation system are set up outside the cabin. The tank cleaning machine is equipped with a Beidou mobile station to calculate the longitude, latitude and altitude of the tank cleaning machine. In combination with the physical size of the tank cleaning machine, the three-dimensional outline of the tank cleaning machine is mapped into the three-dimensional coordinate system of the system. Wearable Beidou locators are configured for the personnel in the cabin, and the personnel outlines are also mapped into the three-dimensional coordinate system of the system. The tank cleaning machine receives the position of the ship unloader grab in the three-dimensional coordinate system through a gateway that communicates with the ship unloader, and then makes a comprehensive anti-collision judgment based on the position of the tank cleaning machine itself and the position of the personnel in the three-dimensional coordinate system.

7. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 1, characterized in that: The operation scope and sequence of the grab bucket and the tank cleaning machine are divided by area. The area is divided into a grab bucket area and a tank cleaning area. The grab bucket area is divided into a first area and a second area. The ship unloader grab bucket moves between the first area and the second area to operate. The tank cleaning machine is used to pile up materials in the tank cleaning area to the first area or the second area.

8. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 7, characterized in that: When the ship unloader grab is in the first area, the tank cleaning machine accumulates the materials in the tank cleaning area to the second area. When the ship unloader grab is in the second area, the tank cleaning machine accumulates the materials in the tank cleaning area to the first area.

9. A safety control system for cross-operation of a tank cleaning machine and a ship unloader as claimed in claim 1, characterized in that: The tank cleaning machine should follow local trajectory planning when operating automatically in the cabin, including: analyzing the distribution and characteristics of the remaining material pile in the cabin, decomposing the entire tank cleaning operation into multiple single pushing or raking paths, fitting the optimal curve for the single path, combining pushing, raking, shoveling and loading actions, and realizing each action based on the principle of optimal efficiency.

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