Parcel ship unloader control method, device and system and parcel ship unloader

Abstract

The embodiment of the invention provides a package ship unloader control method, device and system and a package ship unloader. Relates to the field of ship unloaders. The method comprises the steps that firstly, pressure change information of a lifting mechanism in the package ship unloader is obtained; if the pressure change information represents that the lifting mechanism is in an active floating state, height difference information between at least one preset orientation corresponding area of the lifting mechanism and the bottom of a cabin of the ship is obtained; and if the height difference value information is within the preset height threshold value range, the control part controls the ship unloader to unload the ship. The method is used for achieving the effect of improving the ship unloading operation efficiency of the package ship unloader.

Description

Technical Field

[0001] The present application relates to the field of ship unloaders, and in particular to a control method, device, system and a piece-package ship unloader. Background Art

[0002] A ship unloader is a mechanical device used to unload cargo from a ship. It is usually used in ports and docks and can efficiently handle various types of cargo, including bulk cargo (such as coal, ore, grain, etc.) and containerized cargo. Its main function is to transfer cargo from a ship to a dock or other transportation equipment, such as a truck or train.

[0003] In the prior art, the control method for ship unloaders is mainly for bulk material ship unloaders, which obtains the relative distance between the ship hatch and the chain bucket arm in real time, and adjusts the position of the chain bucket arm in real time according to the relative distance, thereby preventing the chain bucket arm from colliding with the ship hatch.

[0004] However, due to the different structures of piecemeal ship unloaders and bulk material ship unloaders, piecemeal ship unloaders are not equipped with a chain bucket system, so this method is not applicable to piecemeal ship unloaders. Currently, for piecemeal ship unloaders, the operator usually manually controls and adjusts the position of the equipment, resulting in low unloading efficiency of the piecemeal ship unloader. Summary of the invention

[0005] The embodiments of the present application provide a piece-package ship unloader control method, device, system and piece-package ship unloader, so as to improve the ship unloading efficiency of the piece-package ship unloader.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a piece package ship unloader, comprising:

[0007] Obtain information on pressure changes in the lifting mechanism of the piece package unloader;

[0008] If the pressure change information indicates that the lifting mechanism is in an active floating state, obtaining height difference information between at least one area corresponding to a preset orientation of the lifting mechanism and the bottom of the cabin of the ship;

[0009] If the height difference information is within the preset height threshold range, the control component package unloader performs the ship unloading operation on the ship.

[0010] In a possible implementation manner, before obtaining the pressure change information of the lifting mechanism in the piece package ship unloader, the method further includes:

[0011] Obtaining the inclination angle information of the lifting mechanism;

[0012] According to the tilt angle information, the pitch angle of the pitch mechanism in the piece package ship unloader is adjusted until the tilt angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism is connected to the lifting mechanism.

[0013] In a possible implementation, the control unit includes a ship unloader that performs a ship unloading operation on the ship, including:

[0014] Get the ship's location information;

[0015] Determine the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism according to the position information;

[0016] According to the lifting height range and the tilt angle range, the control component package unloader performs the ship unloading operation.

[0017] In a possible implementation manner, after determining the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism, the method further includes:

[0018] If the distance between the lifting mechanism and the ship is less than a preset first distance threshold, and / or the distance between the pitching mechanism and the ship is less than a preset second distance threshold, a prompt message is generated;

[0019] Adjust the position of the lifting mechanism and / or the pitching mechanism according to the prompt information.

[0020] In a possible implementation, the method further includes:

[0021] Acquiring electrical parameters of the lifting mechanism and / or hydraulic parameters of the pitching mechanism;

[0022] If the electrical parameter is greater than a preset first parameter threshold, and / or the hydraulic parameter is greater than a preset second parameter threshold, the control component is configured to cause the ship unloader to stop the ship unloading operation.

[0023] In a possible implementation, the control unit includes a ship unloader that performs a ship unloading operation on the ship, including:

[0024] Control the telescopic roller mechanism in the package unloader to transfer the package, and the telescopic roller mechanism is connected to the lifting mechanism;

[0025] When it is detected that the package is transferred to the preset position on the lifting mechanism, the stop device on the package unloader is controlled to be released to transfer the package to the shore docking transportation system.

[0026] In a possible implementation, after obtaining the height difference information between the area corresponding to at least one preset orientation of the lifting mechanism and the bottom of the cabin of the ship, the method further includes:

[0027] If the height difference information is outside the height threshold range, the lifting mechanism is controlled to stop running, and a prompt is given to disconnect the connection between the telescopic roller mechanism and the lifting mechanism, and the control package ship unloader stops the ship unloading operation.

[0028] In a second aspect, an embodiment of the present application provides a control device for a piece package ship unloader, comprising:

[0029] An acquisition module, used to acquire pressure change information of a lifting mechanism of a piece package ship unloader;

[0030] A judgment module, used to judge whether the pressure change information meets the preset pressure threshold requirement, and if the pressure threshold requirement is not met, obtain the height information of the area corresponding to at least one preset orientation of the lifting mechanism and the bottom of the cabin;

[0031] The control module is used to control the ship unloader to perform the ship unloading operation if the height information meets the preset height threshold requirement.

[0032] In a possible implementation manner, before obtaining the pressure change information of the lifting mechanism in the piece package ship unloader, the obtaining module is further used to:

[0033] Obtaining the inclination angle information of the lifting mechanism;

[0034] According to the tilt angle information, the pitch angle of the pitch mechanism in the piece package ship unloader is adjusted until the tilt angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism is connected to the lifting mechanism.

[0035] In a possible implementation manner, the control module is specifically configured to:

[0036] Get the ship's location information;

[0037] Determine the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism according to the position information;

[0038] According to the lifting height range and the tilt angle range, the control component package unloader performs the ship unloading operation.

[0039] In a possible implementation manner, after determining the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism, the judgment module is further used to:

[0040] If the distance between the lifting mechanism and the ship is less than a preset first distance threshold, and / or the distance between the pitching mechanism and the ship is less than a preset second distance threshold, a prompt message is generated;

[0041] Adjust the position of the lifting mechanism and / or the pitching mechanism according to the prompt information.

[0042] In a possible implementation, the acquisition module is further used to:

[0043] Acquiring electrical parameters of the lifting mechanism and / or hydraulic parameters of the pitching mechanism;

[0044] If the electrical parameter is greater than a preset first parameter threshold, and / or the hydraulic parameter is greater than a preset second parameter threshold, the control component is configured to cause the ship unloader to stop the ship unloading operation.

[0045] In a possible implementation manner, the control module is specifically configured to:

[0046] Control the telescopic roller mechanism in the package unloader to transfer the package, and the telescopic roller mechanism is connected to the lifting mechanism;

[0047] When it is detected that the package is transferred to the preset position on the lifting mechanism, the stop device on the package unloader is controlled to be released to transfer the package to the shore docking transportation system.

[0048] In a possible implementation, after obtaining the height difference information between at least one preset orientation corresponding area of ​​the lifting mechanism and the bottom of the cabin of the ship, the control module is further used to:

[0049] If the height difference information is outside the height threshold range, the lifting mechanism is controlled to stop running, and a prompt is given to disconnect the connection between the telescopic roller mechanism and the lifting mechanism, and the control package ship unloader stops the ship unloading operation.

[0050] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0051] Memory stores computer-executable instructions;

[0052] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0053] In a fourth aspect, an embodiment of the present application provides a control system for a piece package unloader, including a sensor and an electronic device;

[0054] A sensor for obtaining information on pressure changes in the lifting mechanism of the package unloader, information on the height between the lifting mechanism and the bottom of the cabin and sensing the preset position of the package on the lifting mechanism;

[0055] An electronic device, used to execute the above first aspect and / or various possible implementations of the first aspect.

[0056] In a fifth aspect, an embodiment of the present application provides a piece package ship unloader, comprising: a lifting mechanism, a pitching mechanism, a telescopic roller mechanism, a stop device, and a piece package ship unloader control system;

[0057] A lifting mechanism, used for lifting the piece package;

[0058] A pitch mechanism, used to provide a pitch angle adjustment function to adjust the pitch of the lifting mechanism;

[0059] A telescopic roller mechanism is used to transport the parts package and transfer the parts package to the lifting mechanism;

[0060] A stop device, used to limit the movement of the package;

[0061] A package unloader control system is used to execute the above first aspect and / or various possible implementation methods of the first aspect.

[0062] The control method, device, system and piece-package ship unloader provided in the embodiments of the present application monitor the pressure changes of the lifting mechanism in the ship unloader. If the pressure change shows that the lifting mechanism is actively floating up, that is, the lifting mechanism is automatically floating up with the ship and is also actively rising, it will further check the height difference between certain preset positions of the lifting mechanism and the bottom of the ship's cabin. If the height difference is within a safe range, the ship unloader is controlled to perform the ship unloading operation. Through real-time monitoring and judgment, it is ensured that the piece-package ship unloader operates within a safe height range to avoid collision or damage to the ship and equipment. At the same time, combined with the pressure change information and the height difference information, it can ensure that the ship unloading operation is only carried out under appropriate conditions, thereby reducing unnecessary downtime and improving the unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0064] Figure 1 A schematic diagram of the structure of a piece package ship unloader provided in an embodiment of the present application;

[0065] Figure 2 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 1 ;

[0066] Figure 3 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 2 ;

[0067] Figure 4 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 3 ;

[0068] Figure 5 A schematic diagram of the structure of a package unloader control device provided in an embodiment of the present application;

[0069] Figure 6 A schematic diagram of the structure of a package unloader control system provided in an embodiment of the present application;

[0070] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0071] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0073] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this document, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0074] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0075] Furthermore, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context indicates otherwise.

[0076] It should be further understood that the terms “comprises” and “includes” indicate the existence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the existence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups.

[0077] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0078] In the prior art, ship unloaders usually prevent collisions by monitoring the relative distance between the hatch opening and the material-retrieving device (such as a chain bucket arm). This method mainly focuses on controlling the grab bucket of the ship unloader to avoid collisions with the hatch opening. However, this method is mainly applicable to conventional ship unloaders, but is not applicable to piece-and-package ship unloaders with different structures. Therefore, at present, piece-and-package ship unloaders rely more on manual operation, that is, the operator manually adjusts the position of the lifting mechanism through the control console. This method has high flexibility, but requires high experience and skills from the operator. In a complex offshore operating environment, if it only relies on the operator to manually judge the status and position of the piece-and-package ship unloader, the piece-and-package ship unloader will be inefficient and insufficiently safe in the ship unloading operation. Therefore, the existing control methods still have no better solution to the problem of low efficiency of piece-and-package ship unloaders.

[0079] In the process of solving the above technical problems, the inventor's technical conception is as follows: first, the unique structure and operation requirements of the piece package ship unloader are identified. Different from the traditional ship unloader, the piece package ship unloader needs to consider different control parameters. For example, the state of the lifting mechanism has a greater impact on the unloading operation. If the monitoring of the pressure change of the lifting mechanism is introduced, the working state of the lifting mechanism can be more directly reflected. The pressure change information can be used to determine whether the lifting mechanism is in an active floating state, ensuring that the control system of the piece package ship unloader can respond in time when the lifting mechanism rises. On this basis, the height difference information between the preset position of the lifting mechanism and the bottom of the ship's cabin is obtained, which can ensure that the lifting mechanism operates within a safe height range. Therefore, under the condition of meeting safety conditions, the piece package ship unloader is automatically controlled to perform unloading operations, reducing manual intervention and improving operating efficiency.

[0080] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0081] Figure 1 This is a schematic diagram of the structure of the piece package ship unloader provided in the embodiment of the present application. Figure 1 As shown, it includes: a lifting mechanism, a pitching mechanism, a telescopic roller mechanism, a stop device and a piece package ship unloader control system. Among them:

[0082] A lifting mechanism, used for lifting the piece package;

[0083] A pitch mechanism, used to provide a pitch angle adjustment function to adjust the pitch of the lifting mechanism;

[0084] A telescopic roller mechanism is used to transport the parts package and transfer the parts package to the lifting mechanism;

[0085] A stop device, used to limit the movement of the package;

[0086] The piece package ship unloader control system is used to execute the piece package ship unloader control method of various possible implementation modes provided in the present application.

[0087] In this embodiment, the lifting mechanism includes a ring hoist, a telescopic frame, and a main frame. Specifically, an anti-collision block is provided at the bottom of the telescopic frame, and a shock absorber is provided between the anti-collision block mechanism and the telescopic frame. When the lifting mechanism is located at the bottom of the cabin, it can adapt to a certain swaying posture of the ship, ensuring that the entire lifting mechanism meets the horizontal requirements, and the package is stable and safe during transportation.

[0088] The telescopic roller mechanism is interconnected with the lifting mechanism. The telescopic function of the telescopic roller mechanism allows the roller to be adjusted between different lengths to adapt to different operating requirements and space constraints. The roller is conducive to smoothly moving the package and reducing friction and the risk of damage.

[0089] The pitching mechanism is connected to the lifting mechanism. The pitching mechanism consists of two parts, including the middle conveyor and the tail conveyor, which are used to provide the pitch angle adjustment function, allowing the lifting mechanism to operate at different angles, so that the piece package unloader can adapt to different cabin heights and piece package positions, ensuring that the lifting mechanism can operate at the appropriate angle to improve efficiency and safety.

[0090] The stop device is used to limit the movement of the parts package, ensuring that the parts package remains in the predetermined position during transportation and lifting, helping to prevent the parts package from accidentally sliding or falling, and improving the safety and stability of the operation.

[0091] Optionally, the piece package ship unloader may further include a supporting mechanism and a traveling drive mechanism, wherein the supporting mechanism is used to support the pitching mechanism so that it can stably change its angle for pitching, and the traveling drive mechanism has autonomous movement capability, so that the piece package ship unloader can move according to working conditions.

[0092] The control system of the piece-pack ship unloader can be a programmable logic controller (PLC), which is installed in the electronic control hydraulic unit of the piece-pack ship unloader and is responsible for receiving information from sensors and performing calculations, planning and decision-making. The control system may include sensors and electronic equipment that can monitor and adjust the operation of each mechanism in real time to achieve safe and efficient ship unloading operations.

[0093] It should be noted that the transmission route of the piece package unloader is: the telescopic roller mechanism transports the piece package from the cabin and transmits it to the lifting mechanism, the lifting mechanism lifts the piece package from the cabin to the position of the pitching mechanism, and the pitching mechanism further transmits it to the shore docking transportation system to complete the unloading operation.

[0094] The piece-package ship unloader provided in the embodiment of the present application can efficiently and safely perform ship unloading operations through the coordinated work of the lifting mechanism, the pitching mechanism, the telescopic roller mechanism, and the stop device. At the same time, the intelligent design of the piece-package ship unloader control system enables the piece-package ship unloader to adapt to different operating environments and requirements, thereby improving the overall operating efficiency.

[0095] Figure 2 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, the method may include:

[0096] S201, obtaining pressure change information of a lifting mechanism in a piece package ship unloader.

[0097] The pressure change information may refer to data on the pressure change experienced by the lifting mechanism acquired through sensors or other detection means, and such information may be used to determine the working state of the lifting mechanism.

[0098] Exemplarily, pressure sensors may be provided at the four corners of the bottom of the telescopic frame of the lifting mechanism and feedback signals to the control system in real time.

[0099] S202: If the pressure change information indicates that the lifting mechanism is in an active floating state, obtain height difference information between at least one area corresponding to a preset orientation of the lifting mechanism and the bottom of the cabin of the ship.

[0100] The active floating state may refer to a tendency of the lifting mechanism to actively rise during operation, such as lifting a load or adjusting a position.

[0101] In this embodiment, when the difference between the pressure sensors exceeds the set value, it indicates that the lifting mechanism is in an active floating state, and the control system instructs to change the operating mode, controls the clutch connecting the telescopic frame of the lifting mechanism and the upper and lower telescopic mechanism of the main frame to engage, and the telescopic frame is driven by the telescopic mechanism to actively telescope up and down.

[0102] Correspondingly, when the difference between the pressure sensors does not exceed the set value, it indicates that the lifting mechanism is in a passive floating state, that is, it automatically floats along with the ship, which means that the lifting mechanism does not lift the load package at this time.

[0103] The preset orientation corresponding area may refer to the parts where the lifting mechanism can directly contact the bottom of the ship's cabin, and the contact status of the lifting mechanism and the ship can be quickly identified through the height difference information between these positions and the bottom of the ship's cabin.

[0104] The height difference information may refer to the height difference between a preset position of the lifting mechanism and the bottom of the cabin of the ship, ensuring that the lifting mechanism operates within a safe range.

[0105] For example, four ranging sensors can be set at the four corners of the bottom of the telescopic frame to measure the distance between the bottom of the telescopic frame and the bottom of the cabin and feed back to the control system. If the height difference information between each distance is within the preset height threshold range, it means that the rocking posture of the ship is suitable for unloading operations.

[0106] S203: If the height difference information is within a preset height threshold range, the control unit controls the ship unloader to perform the ship unloading operation.

[0107] Among them, the height threshold range refers to the height range set by the control system according to the current working environment and safety operation requirements, ensuring that the lifting mechanism works within this range to avoid collision or other dangers.

[0108] In this embodiment, if the height difference is within a preset safety range, the control system will allow the piece package unloader to perform the ship unloading operation, ensuring that the operation is performed under safe conditions and avoiding collision and other potential risks.

[0109] In some embodiments, for example in a complex operating environment, the operating system may also monitor the current operating environment through environmental sensors (such as wind speed and temperature sensors) to adjust the operating strategy in real time to ensure safety and efficiency under different environmental conditions.

[0110] As an example, a distance measuring sensor is provided at the bottom of the telescopic frame of the lifting mechanism, which is used to measure the distance between the bottom of the telescopic frame and the bottom of the cabin when the telescopic frame moves to the bottom of the cabin. The control system controls the downward movement of the telescopic frame to decelerate and stop according to the preset height threshold range. After it stops, the clutch connecting the telescopic frame to the upper and lower telescopic mechanisms of the main frame is automatically released. At this time, the telescopic frame is on the guide rail of the main frame, and its upper and lower directions are in a free state. Then the piece package unloader emits an audible and visual prompt to prompt the operator in the cabin to connect the telescopic roller machine to the bottom of the telescopic frame of the lifting mechanism to carry out the unloading operation.

[0111] The control method for the piece-package ship unloader provided in the embodiment of the present application ensures that the lifting mechanism operates within a safe height range and reduces the risk of collision by real-time monitoring and judging pressure change information and height difference information. At the same time, automated monitoring and judgment reduce manual intervention and improve the efficiency of the unloading operation. Furthermore, intelligent judgment and automatic control are used to improve the operational accuracy and consistency of the piece-package ship unloader.

[0112] Figure 3 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, the control method of the piece package ship unloader is described. Before S201, the method may further include:

[0113] S301, obtaining the inclination angle information of the lifting mechanism.

[0114] The tilt angle information can be used to determine whether the lifting mechanism is currently in a horizontal state.

[0115] In this embodiment, a sensor such as a level meter or other tool can be set on the main frame of the lifting mechanism to measure the inclination angle of the lifting mechanism, display the measurement result, i.e., the inclination angle information, on a digital display screen, and feed back the inclination angle information to the control system in real time.

[0116] S302: According to the tilt angle information, the pitch angle of the pitch mechanism in the piece package ship unloader is adjusted until the tilt angle information indicates that the lifting mechanism is in a horizontal state.

[0117] Wherein, the pitch mechanism and the lifting mechanism are connected to each other.

[0118] In this embodiment, the control system can perform calculations based on the tilt angle information, confirm the angle that the pitch mechanism needs to be adjusted, and output action commands to the hydraulic cylinder of the pitch mechanism to execute, forming a closed-loop control until the main frame reaches the horizontal requirement.

[0119] It can be understood that by performing leveling control on the lifting mechanism, it is possible to ensure that the lifting mechanism works in a suitable operating posture, thereby reducing unnecessary stress and load offset.

[0120] On the basis of S302, in a possible implementation, S203 may be specifically implemented through the following steps:

[0121] First, the position information of the ship is obtained; then, based on the position information, the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism are determined; finally, based on the lifting height range and the tilt angle range, the control component package unloader performs the ship unloading operation.

[0122] In this embodiment, the position information of the ship can be realized by a global positioning system (GPS) or other positioning systems, such as a visual system and a distance measurement system for three-dimensional detection, to provide the precise position of the ship at the dock.

[0123] According to the position information of the ship, the control system calculates the lifting height range of the lifting mechanism by comprehensively considering the influencing factors such as the draft of the ship, the height of the cabin and the working area of ​​the package unloader. Similarly, the control system determines the tilt angle range of the pitch mechanism according to the position and attitude of the ship to ensure that the lifting mechanism can operate at the appropriate angle to avoid unnecessary stress and collision risks.

[0124] It can be understood that according to the calculated lifting height range and tilt angle range, the control system controls the ship unloader to perform the ship unloading operation, ensuring that it operates within a safe and efficient parameter range, thereby achieving the effect of optimizing the ship unloading process.

[0125] Exemplarily, a three-dimensional scan of the ship and the interior of the cabin is performed using a scanner of a visual system, and the scanning information is fed back to the control system. The control system creates a real-time three-dimensional model through coordinate conversion, thereby planning the in-and-out movements of the pitch mechanism and the lifting mechanism.

[0126] At the same time, the control system will limit the angle of the pitch mechanism and the position of the telescopic frame of the lifting mechanism. Specifically, when the piece package unloader is entering or exiting the cabin, the telescopic frame of the lifting mechanism will rise to the upper limit position in the main frame of the lifting mechanism and lock it to prevent it from moving. Then, the hydraulic cylinder of the pitch mechanism will move according to the angle planned by the control system to ensure that the bottom of the lifting mechanism will not collide with the ship's side or objects in the cabin when entering or exiting the cabin.

[0127] It should be noted that when planning the in-and-out actions of the pitching mechanism and the lifting mechanism, the control system will also consider the changes in the draft of the ship's cabin before and after the unloading operation, and make dynamic adjustments and adaptations.

[0128] In some embodiments, the control system can also provide operational recommendations and optimization strategies based on historical data and implementation feedback, thereby further improving the efficiency of the ship unloading operation.

[0129] It can be understood that by combining the position information of the ship, the system can more accurately adjust the lifting and pitching parameters to ensure that the unloader operates under appropriate conditions, improve the adaptability of the piece and package unloader to different ships and operating environments, and dynamically adjust the operating strategy according to real-time information. At the same time, operating within the appropriate parameter range can improve the unloading efficiency and reduce the operating time and energy consumption.

[0130] Furthermore, after determining the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism, the following steps may also be included:

[0131] If the distance between the lifting mechanism and the ship is less than a preset first distance threshold, and / or the distance between the pitching mechanism and the ship is less than a preset second distance threshold, a prompt message is generated; and according to the prompt message, the position of the lifting mechanism and / or the pitching mechanism is adjusted.

[0132] The first distance threshold refers to the minimum safe distance between the lifting mechanism and the ship. When the lifting mechanism approaches the ship, at least this distance must be maintained to avoid collision or other safety risks.

[0133] The second distance threshold refers to the minimum safe distance between the pitching mechanism and the ship, which is similar to the first distance threshold and ensures that the pitching mechanism does not come into contact with the ship during operation.

[0134] In this embodiment, the control system monitors the distance between the lifting mechanism and the ship in real time. If the distance is less than a preset first distance threshold, there may be a collision risk. Similarly, if the distance between the pitching mechanism and the ship is less than a preset second distance threshold, there may also be a collision risk. If any distance is detected to be less than its corresponding threshold, the system generates a prompt message, which can be an alarm, notification or operation suggestion to remind the operator to pay attention to potential risks.

[0135] Specifically, adjusting the position of the lifting mechanism and / or the pitching mechanism may mean that according to the generated prompt information, the control system automatically or semi-automatically (performed by the operator) adjusts the position of the lifting mechanism and / or the pitching mechanism, including increasing the lifting height, changing the pitching angle or moving the position of the piece package unloader to ensure a safe distance.

[0136] It should be noted that the specific parameters of the adjustment can be optimized based on real-time feedback and preset safety policies to ensure the safety and efficiency of the operation.

[0137] As an example, when it is detected that the pitch mechanism and the lifting mechanism are too close to surrounding objects, an audible and visual alarm will be issued and obstacle avoidance actions will be performed autonomously.

[0138] It is understandable that through real-time monitoring and prompt information, the system can timely identify and avoid potential collision risks and improve the safety of operations. On the one hand, the automatic or semi-automatic adjustment mechanism improves the adaptability of the ship unloader to the dynamically changing operating environment; on the other hand, through system prompts and automatic adjustments, it reduces the reliance on operator judgment and reduces the risk of human error.

[0139] In a possible implementation, the method may further include the following steps:

[0140] First, the electrical parameters of the lifting mechanism and / or the hydraulic parameters of the pitching mechanism are obtained; if the electrical parameters are greater than a preset first parameter threshold, and / or the hydraulic parameters are greater than a preset second parameter threshold, the control component package unloader stops the ship unloading operation.

[0141] Among them, the first parameter threshold refers to the preset upper limit value of the electrical parameter of the lifting mechanism (such as current, voltage or power). When the electrical parameter exceeds this threshold, it may indicate that the lifting mechanism is in an overloaded state or there is a risk of electrical failure.

[0142] The second parameter threshold refers to a preset upper limit value of a hydraulic parameter (such as hydraulic pressure or flow) of the pitch mechanism. When the hydraulic parameter exceeds this threshold, it may indicate that the hydraulic system is overloaded or there is a risk of leakage or other failure.

[0143] In this embodiment, the control system monitors the electrical parameters of the lifting mechanism in real time, such as current, voltage or power, which can reflect the load condition and electrical health status of the lifting mechanism. At the same time, the hydraulic parameters of the pitching mechanism, such as hydraulic pressure or flow, are also monitored in real time, which can reflect the working status and load condition of the hydraulic system. If any parameter is detected to exceed its corresponding threshold, the control system immediately controls the package unloader to stop the unloading operation to prevent equipment damage or safety accidents and protect equipment and operators.

[0144] As an example, when the motor current or voltage of the lifting mechanism is too large, shutdown protection is required to prevent overload. At the same time, a throttle valve and a relief valve can be set in the hydraulic system of the pitch mechanism to prevent the hydraulic cylinder of the pitch mechanism from having too high pressure or too large flow, resulting in overload risk.

[0145] It is understood that by real-time monitoring of key parameters, the system can promptly identify potential equipment failure or overload conditions to prevent damage and accidents. By avoiding overload and faulty operation, equipment wear and damage can be reduced, the service life of the equipment can be extended, and operations can be stopped in time to prevent serious failures, thereby reducing maintenance and replacement costs.

[0146] The control method for the piece package unloader provided in the embodiment of the present application ensures that it operates in a horizontal state by monitoring and adjusting the tilt angle of the lifting mechanism, thereby reducing load offset and instability caused by the tilt. Operating in a horizontal state can reduce the stress on the lifting mechanism and the pitch mechanism, and reduce the risk of equipment wear and failure. At the same time, since the load distribution is more uniform and the operation is smoother, the efficiency of lifting and transportation can be improved.

[0147] Figure 4 Schematic diagram of the process of controlling the package unloader provided in the embodiment of the present application Figure 3 .like Figure 4 As shown, in this embodiment Figure 2 Based on the embodiment, S203 is described in detail, which specifically includes the following steps:

[0148] S401, controlling the telescopic roller mechanism in the package unloader to transfer the package.

[0149] The telescopic roller mechanism is connected to the lifting mechanism, and can ensure that the package moves smoothly on the roller to avoid tilting or sliding during the transmission process.

[0150] S402: When it is detected that the package is transferred to the preset position on the lifting mechanism, the stopping device on the package unloader is controlled to be released to transfer the package to the shore docking transportation system.

[0151] In this embodiment, the control system can monitor the position of the package on the lifting mechanism in real time through photoelectric sensors or other detection means. When the package reaches the preset safe position, the system confirms that it is ready for the next step of transmission and controls the stop device to release it. Once the stop device is released, the package is transmitted to the docking transportation system on the shore according to the preset transmission route, completing the last step of the unloading operation.

[0152] Optionally, the telescopic roller mechanism is also provided with a guard plate, and a photoelectric sensor is arranged at a position of the lifting frame of the lifting mechanism near the entrance of the cantilever roller mechanism. When the package reaches this position and is sensed by the sensor, the stop device releases it, and the package is blocked by the guard plate when it is conveyed to its end to prevent it from slipping.

[0153] On the basis of S401, in a possible implementation manner, after S202, the method may further include:

[0154] If the height difference information is outside the height threshold range, the lifting mechanism is controlled to stop running, and a prompt is given to disconnect the connection between the telescopic roller mechanism and the lifting mechanism, and the control package ship unloader stops the ship unloading operation.

[0155] As an example, when the distance measured by the sensor is less than the set value, the telescopic frame is driven by the telescopic mechanism, moves upward to the set stroke position and stops, and so on. When the height difference information measured by the four sensors is greater than the set value, it is considered that the swaying posture of the ship is not suitable for operation, the lifting mechanism automatically stops running, and an audible and visual prompt is issued to automatically or semi-automatically (i.e., the operator in the cabin) uncouple the telescopic roller from the lifting mechanism, and the lifting mechanism is automatically retracted from the cabin, and the piece package unloader is on standby at the shore. The operation will not continue until the control system receives a command from the port to continue the operation.

[0156] It is understandable that if the height difference information exceeds the preset height threshold range, the system immediately controls the lifting mechanism to stop running, prevents the lifting mechanism from continuing to operate at an unsafe height, avoids collision or other risks, and generates a prompt message at the same time, suggesting that the operator disconnect the telescopic roller mechanism from the lifting mechanism to ensure that there is no physical connection between the two mechanisms during adjustment or maintenance, thereby avoiding misoperation or equipment damage, and then controls the package unloader to stop all unloading operations, ensuring that the unloader will not continue to operate before the height difference problem is resolved, thereby protecting the safety of equipment and operators.

[0157] The package unloading machine control provided in the embodiment of the present application ensures that the packages are quickly and smoothly transferred from the ship to the shore through automatic control of the telescopic roller mechanism and the stop device. During the transfer process, the risk of the packages sliding or falling during the transfer process is reduced by real-time monitoring of the package position and the use of the stop device. The automated control process improves the overall efficiency and reliability of the unloading operation.

[0158] Figure 5 This is a schematic diagram of the structure of the control device of the piece package unloading machine provided in the embodiment of the present application. Figure 5 As shown, the control device 50 of the piece package unloader provided in this embodiment includes:

[0159] An acquisition module 501 is used to acquire pressure change information of a lifting mechanism of a piece package ship unloader;

[0160] A judgment module 502 is used to judge whether the pressure change information meets the preset pressure threshold requirement. If the pressure threshold requirement is not met, the height information of the area corresponding to at least one preset orientation of the lifting mechanism and the bottom of the cabin is obtained;

[0161] The control module 503 is used to control the ship unloader to perform the ship unloading operation if the height information meets the preset height threshold requirement.

[0162] In a possible implementation manner, before obtaining the pressure change information of the lifting mechanism in the piece package ship unloader, the obtaining module 501 is further used to:

[0163] Obtaining the inclination angle information of the lifting mechanism;

[0164] According to the tilt angle information, the pitch angle of the pitch mechanism in the piece package ship unloader is adjusted until the tilt angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism is connected to the lifting mechanism.

[0165] In a possible implementation, the control module 503 is specifically configured to:

[0166] Get the ship's location information;

[0167] Determine the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism according to the position information;

[0168] According to the lifting height range and the tilt angle range, the control component package unloader performs the ship unloading operation.

[0169] In a possible implementation manner, after determining the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism, the judgment module 502 is further configured to:

[0170] If the distance between the lifting mechanism and the ship is less than a preset first distance threshold, and / or the distance between the pitching mechanism and the ship is less than a preset second distance threshold, a prompt message is generated;

[0171] Adjust the position of the lifting mechanism and / or the pitching mechanism according to the prompt information.

[0172] In a possible implementation, the acquisition module 501 is further configured to:

[0173] Acquiring electrical parameters of the lifting mechanism and / or hydraulic parameters of the pitching mechanism;

[0174] If the electrical parameter is greater than a preset first parameter threshold, and / or the hydraulic parameter is greater than a preset second parameter threshold, the control component is configured to cause the ship unloader to stop the ship unloading operation.

[0175] In a possible implementation, the control module 503 is specifically configured to:

[0176] Control the telescopic roller mechanism in the package unloader to transfer the package, and the telescopic roller mechanism is connected to the lifting mechanism;

[0177] When it is detected that the package is transferred to the preset position on the lifting mechanism, the stop device on the package unloader is controlled to be released to transfer the package to the shore docking transportation system.

[0178] In a possible implementation manner, after obtaining the height difference information between at least one area corresponding to a preset orientation of the lifting mechanism and the bottom of the cabin of the ship, the control module 503 is further used to:

[0179] If the height difference information is outside the height threshold range, the lifting mechanism is controlled to stop running, and a prompt is given to disconnect the connection between the telescopic roller mechanism and the lifting mechanism, and the control package ship unloader stops the ship unloading operation.

[0180] The package unloader control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0181] Figure 6This is a schematic diagram of the structure of the control system of the piece package unloader provided in the embodiment of the present application. Figure 6 As shown, the package unloader control system 60 provided in this embodiment includes: a sensor 601 and an electronic device 602. Among them:

[0182] Sensor 601, used to obtain pressure change information of the lifting mechanism of the package unloader, height information of at least one preset orientation corresponding area of ​​the lifting mechanism and the bottom of the cabin, and sense the preset position of the package transmitted to the lifting mechanism;

[0183] The electronic device 602 is used to execute the package unloader control method according to various possible implementations described above.

[0184] The package unloader control system provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0185] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 70 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the device 70 further includes a communication component 703. The processor 701, the memory 702 and the communication component 703 are connected via a bus 704.

[0186] In a specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0187] The specific implementation process of the processor 701 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0188] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0189] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0190] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0191] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0192] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0193] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0194] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0195] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0198] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0199] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0200] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for a piece package unloader, characterized in that: include: Obtain information on pressure changes in the lifting mechanism of the piece package unloader; If the pressure change information indicates that the lifting mechanism is in an active floating state, obtaining height difference information between at least one area corresponding to a preset orientation of the lifting mechanism and the bottom of the cabin of the ship; If the height difference information is within a preset height threshold range, the piece package unloader is controlled to perform unloading operations on the ship.

2. The method according to claim 1, characterized in that Before obtaining the pressure change information of the lifting mechanism in the piece package ship unloader, the method further includes: Acquiring the inclination angle information of the lifting mechanism; According to the tilt angle information, the pitch angle of the pitch mechanism in the piece package ship unloader is adjusted until the tilt angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism is connected to the lifting mechanism.

3. The method according to claim 2, characterized in that The controlling the package unloader to perform the unloading operation on the ship comprises: Obtaining the location information of the ship; Determining a lifting height range of the lifting mechanism and a tilt angle range of the pitch mechanism according to the position information; According to the lifting height range and the tilt angle range, the piece package unloader is controlled to perform the unloading operation on the ship.

4. The method according to claim 3, characterized in that After determining the lifting height range of the lifting mechanism and the tilt angle range of the pitch mechanism, the method further includes: If the distance between the lifting mechanism and the ship is less than a preset first distance threshold, and / or the distance between the pitching mechanism and the ship is less than a preset second distance threshold, generating a prompt message; According to the prompt information, the position of the lifting mechanism and / or the pitching mechanism is adjusted.

5. The method according to claim 2, characterized in that: The method further comprises: Acquiring electrical parameters of the lifting mechanism and / or hydraulic parameters of the pitch mechanism; If the electrical parameter is greater than a preset first parameter threshold, and / or the hydraulic parameter is greater than a preset second parameter threshold, the piece package ship unloader is controlled to stop the ship unloading operation.

6. The method according to any one of claims 1 to 5, characterized in that The controlling the package unloader to perform the unloading operation on the ship comprises: Controlling the telescopic roller mechanism in the package unloader to transfer the package, wherein the telescopic roller mechanism is connected to the lifting mechanism; When it is detected that the piece package is transferred to the preset position on the lifting mechanism, the stopping device on the piece package unloader is controlled to be released so as to transfer the piece package to the shore docking transportation system.

7. The method according to claim 6, characterized in that After obtaining the height difference information between at least one preset orientation corresponding area of ​​the lifting mechanism and the bottom of the cabin of the ship, the method further includes: If the height difference information is outside the height threshold range, the lifting mechanism is controlled to stop running, and a prompt is given to disconnect the connection between the telescopic roller mechanism and the lifting mechanism, and the piece package unloader is controlled to stop the unloading operation.

8. A control device for a piece package ship unloader, characterized in that: include: An acquisition module, used for acquiring pressure change information of a lifting mechanism of the piece package ship unloader; A judgment module, used to judge whether the pressure change information meets a preset pressure threshold requirement, and if the pressure threshold requirement is not met, obtain height information of at least one preset orientation corresponding area of ​​the lifting mechanism and the bottom of the cabin; The control module is used to control the piece package ship unloader to perform the ship unloading operation if the height information meets the preset height threshold requirement.

9. A control system for a piece package unloader, characterized in that: Includes sensors and electronics; The sensor is used to obtain the pressure change information of the lifting mechanism of the package unloader, the height information of at least one preset orientation corresponding area of ​​the lifting mechanism and the bottom of the cabin, and sense the preset position of the package on the lifting mechanism; The electronic device is used to execute the method described in any one of claims 1 to 7.

10. A piece package ship unloader, characterized in that: include: Lifting mechanism, pitching mechanism, telescopic roller mechanism, stop device and package unloader control system; The lifting mechanism is used to lift the parts package; The pitch mechanism is used to provide a pitch angle adjustment function to adjust the pitch of the lifting mechanism; The telescopic roller mechanism is used to transport the piece package and transfer the piece package to the lifting mechanism; The stop device is used to limit the movement of the package; The piece package ship unloader control system is used to execute the piece package ship unloader control method described in any one of claims 1 to 7.

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