Method, device and system for controlling a unit load handling device and unit load handling device

Abstract

The embodiment of the application provides a kind of piece package ship unloader control method, device, system and piece package ship unloader.It relates to ship unloader field.The method comprises the following steps: firstly, the pressure change information of the lifting mechanism in piece package ship unloader is obtained;If the pressure change information represents that the lifting mechanism is in the active floating state, then the height difference value information of the region corresponding to at least one preset orientation of the lifting mechanism and the bottom of the ship cabin of the ship is obtained;If the height difference value information is within the preset height threshold range, then the piece package ship unloader is controlled to carry out the ship unloading operation of the ship.The method is used to improve the unloading efficiency of piece 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 piece-package ship unloader. Background Art

[0002] A ship unloader is a mechanical device used to unload cargo from a ship. It is commonly 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 existing technology, the control method for ship unloaders is mainly for bulk material ship unloaders. By obtaining the relative distance between the hatch and the chain bucket arm in real time and adjusting the position of the chain bucket arm in real time according to the relative distance, the chain bucket arm is prevented from colliding with the hatch.

[0004] However, due to the structural differences between piecemeal ship unloaders and bulk material unloaders, piecemeal ship unloaders lack a chain bucket system, making this method unsuitable for them. Currently, piecemeal ship unloaders are typically manually controlled and adjusted by operators, resulting in low unloading efficiency. Summary of the Invention

[0005] The embodiments of the present application provide a control method, device, system and piece-package ship unloader for improving 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 package ship unloader, comprising:

[0007] Obtain pressure change information of the lifting mechanism in 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 an area corresponding to at least one preset orientation of the lifting mechanism and the bottom of the cabin of the ship;

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

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

[0011] Obtaining the tilt 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 and the lifting mechanism are connected to each other.

[0013] In a possible implementation, the method for controlling the ship unloading machine to perform the unloading operation on the ship comprises:

[0014] obtaining position information of the ship;

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

[0016] controlling the ship unloading machine to perform the unloading operation on the ship according to the lifting height range and the tilt angle range.

[0017] In a possible implementation, after the lifting height range of the lifting mechanism and the tilt angle range of the tilt mechanism are determined, the method further comprises:

[0018] generating prompt information if the distance between the lifting mechanism and the ship is less than a preset first distance threshold value and / or the distance between the tilt mechanism and the ship is less than a preset second distance threshold value;

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

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

[0021] obtaining an electrical parameter of the lifting mechanism and / or a hydraulic parameter of the tilt mechanism;

[0022] controlling the ship unloading machine to stop the unloading operation if the electrical parameter is greater than a preset first parameter threshold value and / or the hydraulic parameter is greater than a preset second parameter threshold value.

[0023] In a possible implementation, the method for controlling the ship unloading machine to perform the unloading operation on the ship comprises:

[0024] controlling the telescopic roller mechanism in the ship unloading machine to transport the piece bags, and the telescopic roller mechanism is connected to the lifting mechanism;

[0025] when it is detected that the piece bags are transported to a preset position on the lifting mechanism, controlling the stop device on the ship unloading machine to release, so as to transport the piece bags to the shore-side transfer transport system.

[0026] In a possible implementation, after the height difference value information of the region corresponding to at least one preset orientation of the lifting mechanism and the bottom of the ship cabin is obtained, the method further comprises:

[0027] if the height difference value information is outside the height threshold range, controlling the lifting mechanism to stop running, prompting to disconnect the telescopic roller mechanism and the lifting mechanism, and controlling the ship unloading machine to stop the unloading operation.

[0028] In a second aspect, the embodiments of the present application provide a piece package ship unloading machine control device, comprising:

[0029] an acquisition module configured to acquire pressure change information of a lifting mechanism of the piece package ship unloading machine;

[0030] a judgment module configured to judge whether the pressure change information meets a preset pressure threshold requirement, and if the pressure threshold requirement is not met, acquire height information of a region corresponding to at least one preset orientation of the lifting mechanism and a bottom of a ship cabin;

[0031] a control module configured to control the piece package ship unloading machine to perform ship unloading operation if the height information meets a preset height threshold requirement.

[0032] In a possible implementation, before acquiring the pressure change information of the lifting mechanism of the piece package ship unloading machine, the acquisition module is further configured to:

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

[0034] adjust a pitch angle of a pitch mechanism of the piece package ship unloading machine according to the inclination angle information until the inclination angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism and the lifting mechanism are connected to each other.

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

[0036] acquire position information of the ship;

[0037] determine a lifting height range of the lifting mechanism and an inclination angle range of the pitch mechanism according to the position information;

[0038] control the piece package ship unloading machine to perform ship unloading operation on the ship according to the lifting height range and the inclination angle range.

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

[0040] if a distance between the lifting mechanism and the ship is less than a preset first distance threshold and / or a distance between the pitch mechanism and the ship is less than a preset second distance threshold, generate prompt information;

[0041] adjust a position of the lifting mechanism and / or the pitch mechanism according to the prompt information.

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

[0043] acquire an electrical parameter of the lifting mechanism and / or a hydraulic parameter of the pitch 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 member stops the ship unloading operation of the ship unloader.

[0045] In a possible implementation, the control module is specifically used for:

[0046] The control member controls the bale transmission of the telescopic roller mechanism of the ship unloader, and the telescopic roller mechanism is connected with the lifting mechanism;

[0047] When it is detected that the bale is transmitted to a preset position on the lifting mechanism, the control member releases the stop device on the ship unloader to transmit the bale to the shore connection transportation system.

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

[0049] If the height difference information is outside the height threshold range, the control lifting mechanism stops running, and prompts to disconnect the telescopic roller mechanism and the lifting mechanism, and controls the ship unloader to stop the ship unloading operation.

[0050] In a third aspect, the embodiments of the present application provide an electronic device, comprising: a memory, a processor;

[0051] The memory stores computer execution instructions;

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

[0053] In a fourth aspect, the embodiments of the present application provide a bale ship unloader control system, comprising a sensor and an electronic device;

[0054] The sensor is used to acquire the pressure change information of the lifting mechanism of the bale ship unloader, the height information of the area corresponding to at least one preset position of the lifting mechanism and the bottom of the cabin, and the sensing of the bale transmission to the preset position on the lifting mechanism;

[0055] The electronic device is used to execute the first aspect and / or various possible implementations of the first aspect as described above.

[0056] In a fifth aspect, the embodiments of the present application provide a bale ship unloader, comprising: a lifting mechanism, a pitch mechanism, a telescopic roller mechanism, a stop device and a bale ship unloader control system;

[0057] The lifting mechanism is used to lift the bale;

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

[0059] Telescopic drum mechanism for transporting the piece package and transmitting the piece package to the lifting mechanism;

[0060] Stop device for limiting the movement of the piece package;

[0061] The piece package unloader control system is used to execute the first aspect and / or various possible implementation manners of the first aspect.

[0062] The piece package unloader control method, device, system and piece package unloader provided by the embodiments of the present application monitor the pressure change of the lifting mechanism in the 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 actively rising at the same time, the height difference between the preset position of the lifting mechanism and the bottom of the ship cabin is further checked. If the height difference is within a safe range, the unloader is controlled to perform the unloading operation. Through real-time monitoring and judgment, it is ensured that the piece package unloader operates within a safe height range, avoiding collision or damage to the ship and equipment. At the same time, by combining the pressure change information and the height difference value information, it is ensured that the unloading operation is only performed under appropriate conditions, unnecessary downtime is reduced, and unloading efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0063] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0064] Figure 1 The structural schematic diagram of the piece package unloader provided by the embodiments of the present application;

[0065] Figure 2 The flowchart of the piece package unloader control method provided by the embodiments of the present application Figure 1 ;

[0066] Figure 3 The flowchart of the piece package unloader control method provided by the embodiments of the present application Figure 2 ;

[0067] Figure 4 The flowchart of the piece package unloader control method provided by the embodiments of the present application Figure 3 ;

[0068] Figure 5 The structural schematic diagram of the piece package unloader control device provided by the embodiments of the present application;

[0069] Figure 6 The structural schematic diagram of the piece package unloader control system provided by the embodiments of the present application;

[0070] Figure 7 The structural schematic diagram of the electronic device provided by the embodiments of the present application.

[0071] The present application has been shown and described with reference to the preferred embodiments. Equivalent mechanisms and methods can be used as substitutes for those described and illustrated herein. Numerous changes can be made to the preferred embodiments without departing from the scope of the present application. Accordingly, other embodiments are within the scope of the following claims. DETAILED DESCRIPTION

[0072] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description herein is intended for illustrating the exemplary embodiments and is not intended to limit the scope of the present application. Rather, the description is intended to enable those skilled in the art to implement the exemplary embodiments and methods consistent with the present application as detailed in the following claims.

[0073] The terms "first", "second", "third", "fourth", and the like in the description and in the claims, as used herein, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms in the description and the claims is solely for distinguishing between the similar elements. Further, these terms can be used interchangeably unless otherwise stated.

[0074] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "while" or "in response to determining" or "in response to detecting."

[0075] Also, 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 will be further understood that the terms "comprises" and "comprising", when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, and / or groups but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, and / or groups thereof.

[0077] As used herein, the terms "or" and "and / or" are to be interpreted as inclusive, meaning any one or any combination. Therefore, "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 occur only when a combination of elements, functions, steps or actions is in some way inherently mutually exclusive.

[0078] In the prior art, the ship unloader usually prevents collision by monitoring the relative distance between the ship hatch and the material taking device (such as a chain bucket arm), which mainly focuses on controlling the grab bucket of the ship unloader to avoid collision with the ship hatch. However, this method is mainly applicable to conventional ship unloaders, and is not applicable to piece bag ship unloaders with different structures. Therefore, at present, more reliance is placed on manual operation of the piece bag ship unloader, that is, the operator manually adjusts the position of the lifting mechanism through the console. This method has high flexibility, but requires high experience and skills of the operator. In a complex marine operating environment, if the operator only relies on manual judgment of the state and position of the piece bag ship unloader, the piece bag ship unloader will be inefficient and unsafe in unloading operations. Therefore, the existing control method still has no good solution to the problem of low efficiency of the piece bag ship unloader.

[0079] In solving the above technical problems, the technical idea of the inventor is as follows: First, the unique structure and operation requirements of the piece bag ship unloader are identified. Unlike traditional ship unloaders, the piece bag ship unloader needs to consider different control parameters, such as the influence of the state of the lifting mechanism on unloading operations. 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, and whether the lifting mechanism is in the active floating state can be judged through the pressure change information of the lifting mechanism, to ensure that the piece bag ship unloader control system 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 cabin is obtained, which can ensure that the lifting mechanism operates within a safe height range. Thus, under the condition of meeting the safety requirements, the piece bag ship unloader is automatically controlled to perform unloading operations, reducing manual intervention and improving operation efficiency.

[0080] The technical solutions of the present application and how the technical solutions solve the above technical problems will be 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 described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0081] Figure 1 A structural schematic diagram of a piece bag ship unloader is provided for the embodiments of the present application. As shown in Figure 1 , it includes a lifting mechanism, a pitch mechanism, an extension drum mechanism, a stop device, and a piece bag ship unloader control system. Among them:

[0082] The lifting mechanism is used to lift the piece bag;

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

[0084] The extension drum mechanism is used to transport the piece bag and transmit the piece bag to the lifting mechanism;

[0085] A stop device for limiting the movement of the package;

[0086] The package unloading machine control system is used to execute the package unloading machine control method of various possible embodiments provided in the present application.

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

[0088] The telescopic drum mechanism is connected with the lifting mechanism, and the telescopic function of the telescopic drum mechanism allows the drum to adjust between different lengths to adapt to different operation requirements and space limitations. The drum is beneficial to the stable movement of the package and reduces the risk of friction and damage.

[0089] The pitch mechanism is connected with the lifting mechanism, and the pitch mechanism is composed of two parts, including a middle conveyor and a tail conveyor, for providing the adjustment function of the pitch angle, allowing the lifting mechanism to operate at different angles, so that the package unloading machine can adapt to different cabin heights and package positions, ensuring that the lifting mechanism can operate at the appropriate angle, improving the efficiency and safety.

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

[0091] Optionally, the package unloading machine can also include a supporting mechanism and a walking driving mechanism. The supporting mechanism is used to support the pitch mechanism, so that it can stably change the angle for pitch. The walking driving mechanism has the ability of autonomous movement, so that the package unloading machine can move according to the working condition.

[0092] The package unloading machine control system can be a programmable logic controller (PLC) arranged in the electric hydraulic unit of the package unloading machine, responsible for receiving information from sensors and performing calculations, planning and decision-making. The control system can include sensors and electronic devices, which can monitor and adjust the operation of each mechanism in real time to achieve safe and efficient unloading operations.

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

[0094] The piece package ship unloader provided by the embodiment of the present application can efficiently and safely perform the unloading operation through the cooperative work of the lifting mechanism, the pitching mechanism, the telescopic roller mechanism and the stop device, and the intelligent design of the piece package ship unloader control system can adapt to different operating environments and requirements and improve the overall operation efficiency.

[0095] Figure 2 The flowchart of the piece package ship unloader control method provided by the embodiment of the present application Figure 1 As shown in Figure 2 , the method can include:

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

[0097] The pressure change information can refer to data about the pressure change of the lifting mechanism acquired by a sensor or other detection means, which can be used to judge the working state of the lifting mechanism.

[0098] For example, pressure sensors can be arranged at the bottom of the telescopic frame of the lifting mechanism at four corners and real-time feedback signals can be fed to the control system.

[0099] S202, if the pressure change information indicates that the lifting mechanism is in an active floating state, acquiring height difference information of at least one preset position corresponding area of the lifting mechanism and the bottom of the ship cabin.

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

[0101] In the 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 indicates to change the operation mode, controls the clutch of the telescopic frame of the lifting mechanism and the main frame to engage, and the telescopic frame is driven by the telescopic mechanism to actively 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, i.e. automatically floating with the ship, which indicates that the lifting mechanism does not lift the load piece package at this time.

[0103] The preset orientation corresponding area can refer to the part of the lifting mechanism that can directly contact the bottom of the ship cabin. The height difference information between the preset orientation of the lifting mechanism and the bottom of the ship cabin can quickly identify the contact state of the lifting mechanism and the ship.

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

[0105] For example, four distance measuring sensors can be arranged at the bottom corners of the telescopic frame, respectively, 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 the distances is within the preset height threshold range, it indicates that the rocking posture of the ship can perform unloading operations at this time.

[0106] S203, if the height difference information is within the preset height threshold range, the control system controls the ship unloader to perform unloading operations on the ship.

[0107] The height threshold range refers to the height range set by the control system according to the current operating 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 the preset safe range, the control system will allow the ship unloader to perform unloading operations, ensuring safe operation and avoiding collision and other potential risks.

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

[0110] As an example, the bottom of the telescopic frame of the lifting mechanism is provided with a distance measuring sensor for measuring 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 telescopic frame to slow down and stop according to the preset height threshold range. After it stops, the clutch connecting the telescopic frame and the up-down telescopic mechanism of the main frame is automatically released. At this time, the telescopic frame is on the guide rail of the main frame, and its up-down direction is in a free state. Then the ship unloader sends an audible and visual prompt to prompt the operator inside the cabin to connect the telescopic drum machine to the bottom of the telescopic frame of the lifting mechanism for unloading operations.

[0111] The piece bag ship unloader control method provided by the embodiment of the application can ensure that the lifting mechanism operates within a safe height range, reduce the risk of collision, and improve the operation accuracy and consistency of the piece bag ship unloader through real-time monitoring and judgment of pressure change information and height difference information, automatic monitoring and judgment, and automatic control.

[0112] Figure 3 Flowchart of the piece bag ship unloader control method provided by the embodiment of the application Figure 2 As shown in the flowchart, the embodiment of the application is based on the embodiment of the application and describes the piece bag ship unloader control method. Figure 3 Figure 2 Before S201, the method can further include the following steps:

[0113] S301: Obtain the inclination angle information of the lifting mechanism.

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

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

[0116] S302: Adjust the pitch angle of the pitch mechanism in the piece bag ship unloader according to the inclination angle information until the inclination angle information indicates that the lifting mechanism is in a horizontal state.

[0117] The pitch mechanism is connected to the lifting mechanism.

[0118] In the embodiment, the control system can calculate the angle that needs to be adjusted by the pitch mechanism according to the inclination angle information, output a motion command to the hydraulic cylinder of the pitch mechanism to execute the command, and form a closed-loop control until the main frame reaches the horizontal requirement.

[0119] It can be understood that the leveling control of the lifting mechanism can ensure that the lifting mechanism works in a suitable operating posture and reduce unnecessary stress and load deviation.

[0120] Based on S302, in one possible implementation, the specific implementation of S203 can include the following steps:

[0121] First, obtain the position information of the ship; then, determine the lifting height range of the lifting mechanism and the inclination angle range of the pitch mechanism according to the position information; and finally, control the piece bag ship unloader to perform the ship unloading operation according to the lifting height range and the inclination angle range. ​

[0122] In this embodiment, the position information of the ship can be achieved by a Global Positioning System (GPS) or other positioning systems, such as a vision system and a ranging system for three-dimensional detection, to provide the accurate position of the ship at the wharf.

[0123] According to the position information of the ship, the control system comprehensively considers the factors such as the draft of the ship, the height of the cabin, and the working area of the piece package ship unloader, to calculate the lifting height range of the lifting mechanism. Similarly, the control system determines the tilt angle range of the tilting mechanism according to the position and attitude of the ship, to ensure that the lifting mechanism can operate at a suitable angle, avoiding 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 piece package ship unloader to perform the unloading operation, ensuring that it operates within a safe and efficient parameter range, achieving the effect of optimizing the unloading process.

[0125] For example, the ship and the cabin are scanned by the scanner of the vision system for three-dimensional scanning, 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-cabin and out-cabin actions of the tilting mechanism and the lifting mechanism.

[0126] At the same time, the control system limits the angle of the tilting mechanism and the position of the telescopic frame of the lifting mechanism. Specifically, when the piece package ship unloader is performing the in-cabin and out-cabin actions, the telescopic frame of the lifting mechanism will rise to the upper limit position within the main frame of the lifting mechanism and be locked to prevent it from moving. Then, the hydraulic cylinder of the tilting mechanism acts according to the angle planned by the control system, to ensure that the bottom of the lifting mechanism does not collide with the ship side and the objects in the cabin during the in-cabin and out-cabin actions.

[0127] It should be noted that when planning the in-cabin and out-cabin actions of the tilting mechanism and the lifting mechanism, the control system also considers the change in the draft of the ship cabin before and after the unloading operation, and dynamically adjusts and adapts.

[0128] In some embodiments, the control system can also provide operation suggestions and optimization strategies according to historical data and implementation feedback, thereby further improving the efficiency of the 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 tilting parameters, ensuring that the ship unloader operates under suitable conditions, improving the adaptability of the piece package ship unloader to different ships and operating environments, and dynamically adjusting the operation strategy according to real-time information. At the same time, operating within a suitable parameter range can improve the unloading efficiency, reduce the operation time and energy consumption.

[0130] Further, after determining the lifting height range of the lifting mechanism and the inclination angle range of the tilting mechanism, the method can further include the following steps:

[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 tilting mechanism and the ship is less than a preset second distance threshold, a prompt information is generated; and the position of the lifting mechanism and / or the tilting mechanism is adjusted according to the prompt information.

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

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

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

[0135] Specifically, adjusting the position of the lifting mechanism and / or the tilting mechanism can mean that the control system automatically or semi-automatically (by the operator) adjusts the position of the lifting mechanism and / or the tilting mechanism, including increasing the lifting height, changing the tilting angle or moving the position of the ship unloader, to ensure a safe distance.

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

[0137] As an example, when it is detected that the tilting mechanism and the lifting mechanism are too close to the surrounding objects, an audible and visual warning prompt is given, and an obstacle avoidance action is automatically performed.

[0138] It can be understood that through real-time monitoring and prompt information, the system can timely identify and avoid potential collision risks, improving the safety of the operation. 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, the dependence on the operator's judgment is reduced, and the risk of human error is reduced.

[0139] In one possible implementation, the method can further include the following steps:

[0140] First, the electrical parameters of the lifting mechanism and / or the hydraulic parameters of the luffing 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 device stops the ship unloading operation.

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

[0003] The second parameter threshold refers to the preset upper limit value of the hydraulic parameters (such as hydraulic pressure or flow) of the luffing mechanism. When the hydraulic parameters exceed 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, such as current, voltage or power, in real time. These parameters can reflect the load condition and electrical health status of the lifting mechanism. At the same time, the hydraulic parameters of the luffing mechanism, such as hydraulic pressure or flow, are also monitored in real time. If any one of the parameters exceeds the corresponding threshold, the control system immediately controls the ship unloader to stop the unloading operation, preventing equipment damage or accidents, and protecting the equipment and operators.

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

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

[0146] The ship unloader control method provided by the embodiments of the present application monitors and adjusts the inclination angle of the lifting mechanism to ensure that it operates in a horizontal state, reducing load deviation and instability caused by inclination. Operating in a horizontal state can reduce stress on the lifting mechanism and the luffing mechanism, reducing the risk of equipment wear and failure. At the same time, due to more uniform load distribution and smoother operation, the efficiency of lifting and transportation can be improved.

[0147] Figure 4 Flowchart of the ship unloader control method provided by the embodiments of the present application Figure 3 .Figure 2 As shown in the embodiment Figure 5 Based on the embodiment, S203 is described in detail, specifically including the following steps:

[0148] S401, the control part of the stretchable drum mechanism of the bag unloading machine transmits the bag.

[0149] The stretchable drum mechanism and the lifting mechanism are connected to each other. The stretchable drum mechanism can ensure the smooth movement of the bag on the drum, avoiding tilting or sliding during the transmission process.

[0150] S402, when it is detected that the bag is transmitted to the preset position on the lifting mechanism, the stop device on the bag unloading machine is released to transmit the bag to the shore connection transportation system.

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

[0152] Optionally, the stretchable drum mechanism is also provided with a guard plate, and a photoelectric sensor is arranged at the position where the lifting frame of the lifting mechanism is close to the entrance of the cantilever drum mechanism. When the bag reaches this position and is sensed by the sensor, the stop device is released, and the bag is stopped by the guard plate when it is conveyed to the end, preventing the bag from slipping off.

[0153] Based on S401, in one possible implementation, after S202, the method can further include:

[0154] If the height difference value information is outside the height threshold range, the lifting mechanism is controlled to stop running, and the connection between the stretchable drum mechanism and the lifting mechanism is prompted to be disconnected, and the bag unloading machine is controlled to stop the unloading operation.

[0155] As an example, when the distance measured by the sensor is less than the set value, the stretchable frame is driven by the stretchable mechanism to move upward to a set stroke position and stop, and the cycle is repeated. When the height difference value information measured by the four sensors is greater than the set value, it is considered that the rocking posture of the ship is not suitable for operation at this time, the lifting mechanism is automatically stopped, and a sound and light prompt is issued to disconnect the stretchable drum machine and the lifting mechanism through an automatic or semi-automatic way (i.e. performed by the cabin operator). The lifting mechanism is automatically retracted from the ship cabin, and the bag unloading machine is on standby on the shore. Until the control system receives the command of the port to continue the operation, the operation is continued.

[0156] It can be understood that if the height difference value 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 prompt information to suggest the operator to disconnect the telescopic roller mechanism and the lifting mechanism, ensures that there is no physical connection between the two mechanisms during adjustment or maintenance, thereby avoiding misoperation or equipment damage, and further controls the piece package ship unloader to stop all unloading operations, ensures that the ship unloader will not continue to operate before the height difference value problem is solved, thereby protecting the safety of the equipment and the operator.

[0157] The piece package ship unloader control provided by the embodiments of the present application controls the telescopic roller mechanism and the stop device automatically, ensures that the piece package is quickly and stably transmitted from the ship to the shore, reduces the risk of sliding or falling of the piece package during transmission by monitoring the position of the piece package in real time and using the stop device, and improves the overall efficiency and reliability of the unloading operation through the automatic control process.

[0158] Figure 5 The structural schematic diagram of the piece package ship unloader control device provided by the embodiments of the present application is shown in FIG. 1. As shown in the figure, the piece package ship unloader control device 50 provided by the embodiments of the present application comprises: Figure 6

[0159] The acquisition module 501 is configured to acquire pressure change information of the lifting mechanism of the piece package ship unloader.

[0160] The judgment module 502 is configured to judge whether the pressure change information meets a preset pressure threshold requirement. If the pressure threshold requirement is not met, the height information of at least one preset position corresponding region of the lifting mechanism and the bottom of the ship cabin is acquired.

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

[0162] In a possible implementation, before acquiring the pressure change information of the lifting mechanism of the piece package ship unloader, the acquisition module 501 is further configured to:

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

[0164] adjust the pitch angle of the pitch mechanism of the piece package ship unloader according to the inclination angle information until the inclination angle information indicates that the lifting mechanism is in a horizontal state, and the pitch mechanism and the lifting mechanism are connected to each other.

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

[0166] acquire the position information of the ship;

[0167] ​According to the position information, determine a lifting height range of the lifting mechanism and an inclination angle range of the tilting mechanism;

[0168] According to the lifting height range and the inclination angle range, control the bag unloading machine to perform the unloading operation on the ship.

[0169] In a possible implementation, after determining the lifting height range of the lifting mechanism and the inclination angle range of the tilting mechanism, the judging 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 value, and / or the distance between the tilting mechanism and the ship is less than a preset second distance threshold value, generate prompt information;

[0171] According to the prompt information, adjust the position of the lifting mechanism and / or the tilting mechanism.

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

[0173] Obtain an electrical parameter of the lifting mechanism and / or a hydraulic parameter of the tilting mechanism;

[0174] If the electrical parameter is greater than a preset first parameter threshold value, and / or the hydraulic parameter is greater than a preset second parameter threshold value, control the bag unloading machine to stop the unloading operation.

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

[0176] Control the bag unloading machine to transmit the bag through a telescopic roller mechanism, and the telescopic roller mechanism is connected to the lifting mechanism;

[0177] When it is detected that the bag is transmitted to a preset position on the lifting mechanism, control a stop device on the bag unloading machine to release, so as to transmit the bag to a shore-side transfer transport system.

[0178] In a possible implementation, after obtaining the height difference value information of at least one preset position of the lifting mechanism corresponding to the bottom of the ship cabin, the control module 503 is further configured to:

[0179] If the height difference value information is outside the height threshold range, control the lifting mechanism to stop running, prompt to disconnect the telescopic roller mechanism and the lifting mechanism, and control the bag unloading machine to stop the unloading operation.

[0180] The bag unloading machine control device provided in this embodiment can execute the method provided in the method embodiment, and has similar implementation principles and technical effects, which will not be described here in detail.

[0181] Figure 6A structural schematic diagram of a piece package ship unloading machine control system provided by the embodiment of the present application is shown in FIG. 1. Figure 7 As shown in FIG. 1, the piece package ship unloading machine control system 60 provided by the embodiment of the present application comprises a sensor 601 and an electronic device 602. Wherein:

[0182] The sensor 601 is configured to acquire pressure change information of a lifting mechanism of the piece package ship unloading machine, height information of a region corresponding to at least one preset orientation of the lifting mechanism and a bottom of a ship cabin, and a preset position of a piece package on the lifting mechanism.

[0183] The electronic device 602 is configured to execute the piece package ship unloading machine control method of the various possible embodiments.

[0184] The piece package ship unloading machine control system provided by the embodiment of the present application can execute the method provided by the method embodiment, and has similar implementation principles and technical effects, which will not be described here again.

[0185] Figure 7 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown in FIG. 2. ​ As shown in FIG. 2, the electronic device 70 provided by the embodiment of the present application comprises at least one processor 701 and a memory 702. Optionally, the device 70 further comprises a communication component 703. Wherein, the processor 701, the memory 702 and the communication component 703 are connected through a bus 704.

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

[0187] The specific implementation process of the processor 701 can refer to the method embodiment, which has similar implementation principles and technical effects, and will not be described here again.

[0188] In the above-mentioned embodiments, it should be understood that the processor can be a central processing unit (English: Central Processing Unit, for short: CPU), and can also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, for short: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, for short: ASIC) and the like. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor and the like. The steps of the method disclosed in the application can be directly embodied as hardware processor execution, or executed by hardware and software modules in the processor.

[0189] The memory can include a Random Access Memory (RAM) and can also include a Non-volatile Memory (NVM), such as at least one disk memory.

[0190] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (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 the present application does not limit to only one bus or one type of bus.

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

[0192] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the method described above is implemented.

[0193] The readable storage medium described above 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 storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0194] An exemplary readable storage medium is coupled to the 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 an integral part of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0195] The division of units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

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

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

[0198] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0199] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The aforementioned program can be stored in a computer readable storage medium. The program executes the steps including the above-mentioned method embodiments when executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, and various program code storage media.

[0200] It should be understood that many of the materials and devices exemplified in this disclosure are articles of manufacture (i.e., articles of manufacture) according to this disclosure. The articles of manufacture can be manufactured as such or can be manufactured by combining the materials and devices exemplified in this disclosure. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. It should be understood that, in some embodiments, equivalents to the specific electrode structures and / or methods described herein can be employed without departing from the scope of the application. Accordingly, the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," "having," "containing," "involving," "characterized by," "characterized into," and variations thereof herein, is meant to encompass the items listed thereafter, and equivalents thereof as well as additional items. Although the foregoing application has been described in some detail by way of illustration and example, it is not to be limited thereby, but rather, only by the scope of the appended claims.

Claims

1. A control method for a piece package unloader, characterized in that: include: Obtain pressure change information of the lifting mechanism in the piece package unloader; If the pressure change information indicates that the lifting mechanism is in an active buoyancy 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 vessel, wherein the active buoyancy state is used to indicate that the lifting mechanism exhibits an active upward trend during operation; If the height difference information is within a preset height threshold range, the package unloader is controlled to perform an unloading operation 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 package ship unloader, the method further includes: Obtaining tilt 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 and the lifting mechanism are connected to each other.

3. The method according to claim 2, characterized in that The controlling the package unloader to perform the unloading operation on the ship includes: Obtaining the location information of the vessel; 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 pitching 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 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 includes: Controlling the telescopic roller mechanism in the package unloader to transport the package, wherein the telescopic roller mechanism is connected to the lifting mechanism; 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.

7. The method according to claim 6, characterized in that After 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, 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 telescopic roller mechanism from the lifting mechanism, and the piece and package unloader is controlled to stop the unloading operation.

8. A control device for a piece package ship unloader, characterized in that: The method for executing any one of claims 1 to 7 above comprises: an acquisition module, configured to acquire pressure change information of a lifting mechanism of the package ship unloader; a judgment module, configured to judge whether the pressure change information satisfies a preset pressure threshold requirement, and if not, obtain height information between an area corresponding to at least one preset orientation of the lifting mechanism and the bottom of the cabin; The control module is configured to control the package unloader to perform the ship unloading operation if the height information meets a preset height threshold requirement.

9. A package unloader control system, characterized in that: including sensors and electronics; The sensor is 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 on the lifting mechanism; The electronic device is used to execute the method according to 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 package and transfer the package to the lifting mechanism; The stopping 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 according to any one of claims 1 to 7.

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