Automatic unmanned ship loading control method for ship loader

Abstract

The invention provides an automatic unmanned ship loading control method for a ship loader, which comprises the following steps: identifying the outline and materials of a barge through laser scanning, and carrying out balanced control on material placement in ship loading operation; during ship loading operation, the pitching arm frame is lifted, and the outline and four-point coordinates of the barge are scanned and recognized by the laser scanner in the lifting process; transmitting the scanned and identified data to a server for processing, and forming a two-dimensional plane formed by four points on an X axis and a Y axis; the optimal decomposition number of the whole cabin is obtained by judging the length-width ratio of the ship type; filling is started at the center strategy point in each decomposition cabin of the cabin, and cabin leveling is started after filling of the center strategy points is completed; and carrying out cabin leveling on the coordinate points of the cabin according to the decomposition number of the cabin and a preset diagonal cabin leveling domain working sequence. According to the system and the method, a traditional ship loading strategy is optimized, the fixed-point unmanned automatic ship loading operation efficiency of the ship loader is improved, and the flexibility of the ship loading working process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned control, and in particular to an automatic unmanned ship loading control method of a ship loader. Background Art

[0002] Large-scale port bulk material continuous ship loaders play an important role in the high-speed, stable, efficient and rolling development of energy, power, metallurgy, ports and other industries, especially some bulk material distribution centers. When loading, the ship loader often observes the draft of the barge in real time through the crew and informs the driver to adjust the loading strategy to achieve material balance on the barge. It cannot achieve stable and efficient loading, requires high operating experience from the driver, and cannot adapt to the efficient operation of the port terminal and the future needs of unmanned control. Summary of the invention

[0003] According to the technical problems mentioned in the above background technology, an automatic unmanned loading control method of a ship loader is provided. The present invention mainly utilizes an unmanned loading control system and method, which can scan the relative position of the barge contour and the material height in real time through a scanning and recognition method, adjust the loading strategy in real time, and thus achieve balanced draft and stable posture of the barge during automatic loading operation.

[0004] The technical means adopted by the present invention are as follows:

[0005] An automatic unmanned ship loading control method for a ship loader comprises the following steps:

[0006] Identify the barge's outline and materials through laser scanning, and control the balanced placement of materials during loading operations;

[0007] During the loading operation, the luffing boom is lifted, and during the lifting process, the outline of the barge and the four-point coordinates of the four corners of the cabin are scanned and identified by the laser scanner; the scanned and identified data are transmitted to the server for processing, and a two-dimensional plane consisting of four points is formed on the X and Y axes;

[0008] When the length and width of the barge's cabin are known, the optimal decomposition number of the entire cabin is obtained by judging the length-to-width ratio of the ship type;

[0009] Filling starts at the central strategic point in each decomposed compartment of the cabin, and when the central strategic point is filled, trimming starts; the coordinate points of the trimming are trimmed according to the number of decomposed compartments of the cabin and the preset diagonal trimming domain working order.

[0010] Furthermore, assuming that the length of the barge's cabin is a=X1-X0, and the width is b=Y2-Y0; the optimal loading center strategy point is calculated by the length-to-width ratio of the ship type:

[0011] n1=a / b、|n1-1|=N1;

[0012] n2=a / 2b、|n2-1|=N2;

[0013] n3=a / 3b、|n3-1|=N3;

[0014] n4=a / 4b,|n4-1|=N4;

[0015] Compare N1, N2, N3 and N4, select the minimum value among N1, N2, N3 and N4, and obtain the optimal decomposition number of the entire cabin according to the minimum value; among them, X1 represents the horizontal coordinate of the lower right corner point of the cabin, X0 represents the horizontal coordinate of the lower left corner point of the cabin; Y2 represents the vertical coordinate of the upper left corner point of the cabin, and Y0 represents the vertical coordinate of the lower left corner point of the cabin.

[0016] Furthermore, if the minimum value is N1, the cabin is divided into one cabin, and the central strategic point of the loading filler is A (a / 2, b / 2);

[0017] Fixed-point loading starts from the central strategic point of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at four points except the central strategic point.

[0018] Furthermore, the coordinates of the four-point positioning are A1 (a / 4, 3b / 4), A2 (3a / 4, 3b / 4), A3 (a / 4, b / 4), and A4 (3a / 4, b / 4). In order to ensure the balanced draft of the hull, the diagonal trimming area working sequence is adopted, that is, A1→A4→A2→A3. The automatic loading operation is stopped when the trimming is close to the height of the cabin cover.

[0019] Furthermore, if the minimum value is N2, the cabin is divided into two cabins, and the central strategic points of loading and packing are A (a / 4, b / 2), B (3a / 4, b / 2);

[0020] Fixed-point loading starts from the central strategic point A→B of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at eight points except the two central strategic points.

[0021] Furthermore, the coordinates of the eight-point positioning are A1 (a / 8, 3b / 4), A2 (3a / 8, 3b / 4), A3 (a / 8, b / 4), A4 (3a / 8, b / 4), B1 (5a / 8, 3b / 4), B2 (7a / 8, 3b / 4), B3 (5a / 8, b / 4), and B4 (7a / 8, b / 4). In order to ensure balanced draft of the hull, the diagonal trim domain working sequence is adopted, that is, A1→B4→B2→A3→A2→B3→B1→A4. When the trim is close to the height of the cabin cover, the automatic loading operation is stopped.

[0022] Furthermore, if the minimum value is N3, the cabin is divided into three cabins, and the central strategic points of loading and packing are A (a / 6, b / 2), B (a / 2, b / 2), and C (5a / 6, b / 2);

[0023] Fixed-point loading starts from the central strategic point A→C→B of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at twelve points except the three central strategic points.

[0024] Furthermore, the coordinates of the twelve-point positioning are A1 (a / 12, 3b / 4), A2 (3a / 12, 3b / 4), A3 (a / 12, b / 4), A4 (3a / 12, b / 4), B1 (5a / 12, 3b / 4), B2 (7a / 12, 3b / 4), B3 (5a / 12, b / 4), B4 (7a / 12, b / 4), C1 (9a / 12, 3b / 4), C2 ( 11a / 12, 3b / 4), C3 (9a / 12, b / 4), C4 (11a / 12, b / 4), in order to ensure balanced draft of the hull, the diagonal trimming area working sequence is adopted, that is, A1→C4→C2→A3→A2→C3→C1→A4→B1→B4→B2→B3. When the trimming is close to the height of the cabin hatch cover, the automatic loading operation is stopped. All the above work completes the automatic fixed-point filling work and the automatic fixed-point trimming work.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] The system and method of the present invention optimize the traditional loading strategy, improve the efficiency of the fixed-point unmanned automatic loading operation of the loader, and increase the flexibility of the loading work process.

[0027] The system and method of the present invention reduce manual intervention and reduce the complexity of operation communication by collecting coordinate data and calculating decisions.

[0028] The system and method of the present invention reduce the risks caused by human factors, have a high degree of automation, and improve the stability and reliability of equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 This is a schematic diagram of the four-point coordinates of the barge profile scan of the present invention.

[0031] Figure 2 The figure is a schematic diagram of cabin coordinates of the present invention.

[0032] Figure 3 Schematic diagram of two cabin coordinates of the present invention.

[0033] Figure 4 Schematic diagram of three cabin coordinates of the present invention.

[0034] Figure 5 Flowchart for strategy selection of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] like Figure 5As shown, the present invention provides an automatic unmanned loading control method for a ship loader, comprising the following steps: identifying the outline of a barge and materials by laser scanning, and controlling the balanced placement of materials in the loading operation;

[0038] During the loading operation, the luffing boom is lifted, and during the lifting process, the outline of the barge and the four-point coordinates of the four corners of the cabin are scanned and identified by the laser scanner; the scanned and identified data are transmitted to the server for processing, and a two-dimensional plane consisting of four points is formed on the X and Y axes;

[0039] When the length and width of the barge's cabin are known, the optimal decomposition number of the entire cabin is obtained by judging the length-to-width ratio of the ship type;

[0040] Filling starts at the central strategic point in each decomposed compartment of the cabin, and when the central strategic point is filled, trimming starts; the coordinate points of the trimming are trimmed according to the number of decomposed compartments of the cabin and the preset diagonal trimming domain working order.

[0041] like Figure 1 As shown, the four points are (X0, Y0), (X1, Y1), (X2, Y2), (X3, Y3), and the two-dimensional plane of the barge is almost a rectangle. The length of the rectangle a = X1-X0, and the width of the rectangle b = Y2-Y0. First, in the actual production process barge ship type, the length of the barge cabin is at most four times the width. Except for the cabin of a special ship type, if it is a special ship type, N5, N6... can also be calculated in the logical formula. The optimal loading center strategy point is determined by calculating the ratio of a and b. The calculation formula is:

[0042] n1=a / b、|n1-1|=N1;

[0043] n2=a / 2b、|n2-1|=N2;

[0044] n3=a / 3b、|n3-1|=N3;

[0045] n4=a / 4b,|n4-1|=N4;

[0046] The above four formulas are used to determine the length-to-width ratio of the ship. The processor calculates N1, N2, N3, and N4 respectively, compares them, and takes the smallest value. The optimal decomposition number of the entire cabin is obtained according to the smallest value; where X1 represents the horizontal coordinate of the lower right corner of the cabin, and X0 represents the horizontal coordinate of the lower left corner of the cabin; Y2 represents the vertical coordinate of the upper left corner of the cabin, and Y0 represents the vertical coordinate of the lower left corner of the cabin.

[0047] If N1 is the smallest, the entire cabin is divided into two cabins, such as Figure 2As shown, the central strategic point of loading is positioned as A (a / 2, b / 2), and fixed-point loading begins. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading stops and the trimming work begins. The trimming is performed at four points other than the central strategic point, as shown in FIG. Figure 3 As shown, the coordinates of the four points are A1 (a / 4, 3b / 4), A2 (3a / 4, 3b / 4), A3 (a / 4, b / 4), and A4 (3a / 4, b / 4). In order to ensure the balanced draft of the hull, the diagonal trimming domain working sequence is adopted, that is, A1→A4→A2→A3. When the trimming is close to the height of the cabin cover, the automatic loading operation is stopped. All the above work completes the automatic fixed-point filling work and the automatic fixed-point trimming work.

[0048] If N2 is the smallest, the entire cabin is divided into two cabins, such as Figure 3 As shown, the central strategic point of loading is positioned as A (a / 4, b / 2), B (3a / 4, b / 2) to start fixed-point loading A→B. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, it stops and starts trimming. In addition to the two central strategic points, eight points are positioned to trim the cabin, as shown in Figure 3 As shown, the coordinates of the eight points are A1 (a / 8, 3b / 4), A2 (3a / 8, 3b / 4), A3 (a / 8, b / 4), A4 (3a / 8, b / 4), B1 (5a / 8, 3b / 4), B2 (7a / 8, 3b / 4), B3 (5a / 8, b / 4), B4 (7a / 8, b / 4). In order to ensure the balanced draft of the hull, the diagonal trimming domain working sequence is adopted, that is, A1→B4→B2→A3→A2→B3→B1→A4. When the trimming is close to the height of the cabin cover, the automatic loading operation is stopped. All the above work completes the automatic fixed-point filling work and the automatic fixed-point trimming work.

[0049] If N3 is the smallest, the entire cabin is divided into three cabins, such as Figure 4 As shown, the central strategic points for loading and packing are A (a / 6, b / 2), B (a / 2, b / 2), and C (5a / 6, b / 2). The fixed-point loading starts from A→C→B. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading stops and the trimming work begins. The trimming is performed at twelve points except the three central strategic points, as shown in FIG. Figure 4As shown, the coordinates of the twelve points are A1(a / 12, 3b / 4), A2(3a / 12, 3b / 4), A3(a / 12, b / 4), A4(3a / 12, b / 4), B1(5a / 12, 3b / 4), B2(7a / 12, 3b / 4), B3(5a / 12, b / 4), B4(7a / 12, b / 4), C1(9a / 12, 3b / 4), C2(11a / 12, 3b / 4), C3 (9a / 12, b / 4), C4 (11a / 12, b / 4), in order to ensure the balanced draft of the hull, the diagonal trimming area working sequence is adopted, that is, A1→C4→C2→A3→A2→C3→C1→A4→B1→B4→B2→B3. The automatic loading operation is stopped when the trimming is close to the height of the cabin hatch cover. All the above work completes the automatic fixed-point filling work and the automatic fixed-point trimming work.

[0050] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic unmanned ship loading control method for a ship loader, characterized in that: The following steps are involved: Identify the barge's outline and materials through laser scanning, and control the balanced placement of materials during loading operations; During the loading operation, the luffing boom is lifted, and during the lifting process, the outline of the barge and the four-point coordinates of the four corners of the cabin are scanned and identified by the laser scanner; the scanned and identified data are transmitted to the server for processing, and a two-dimensional plane consisting of four points is formed on the X and Y axes; When the length and width of the barge's cabin are known, the optimal decomposition number of the entire cabin is obtained by judging the length-to-width ratio of the ship type; Filling starts at the central strategic point in each decomposed compartment of the cabin, and when the central strategic point is filled, trimming starts; the coordinate points of the trimming are trimmed according to the number of decomposed compartments of the cabin and the preset diagonal trimming domain working order.

2. The method for controlling automatic unmanned loading of a ship loader according to claim 1, characterized in that: The length of the barge's cabin is a=X1-X0, and the width is b=Y2-Y0; the optimal loading center strategy point is calculated according to the length-width ratio of the ship type: n1=a / b、|n1-1|=N1; n2=a / 2b、|n2-1|=N2; n3=a / 3b、|n3-1|=N3; n4=a / 4b,|n4-1|=N4; Compare N1, N2, N3 and N4, select the minimum value among N1, N2, N3 and N4, and obtain the optimal decomposition number of the entire cabin according to the minimum value; among them, X1 represents the horizontal coordinate of the lower right corner point of the cabin, X0 represents the horizontal coordinate of the lower left corner point of the cabin; Y2 represents the vertical coordinate of the upper left corner point of the cabin, and Y0 represents the vertical coordinate of the lower left corner point of the cabin.

3. The automatic unmanned ship loading control method of a ship loader according to claim 2, characterized in that: If the minimum value is N1, the cabin is divided into one compartment, and the central strategic point of loading stuffing is A (a / 2, b / 2); Fixed-point loading starts from the central strategic point of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at four points except the central strategic point.

4. The method for controlling automatic unmanned loading of a ship loader according to claim 3, characterized in that: The coordinates of the four-point positioning are A1 (a / 4, 3b / 4), A2 (3a / 4, 3b / 4), A3 (a / 4, b / 4), and A4 (3a / 4, b / 4). In order to ensure the balanced draft of the hull, the diagonal trimming area working sequence is adopted, that is, A1→A4→A2→A3. The automatic loading operation is stopped when the trim is close to the height of the cabin cover.

5. The method for controlling automatic unmanned ship loading of a ship loader according to claim 2, characterized in that: If the minimum value is N2, the ship's cabin is divided into two cabins, and the strategic center points of the loading and packing are A (a / 4, b / 2), B (3a / 4, b / 2); Fixed-point loading starts from the central strategic point A→B of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at eight points except the two central strategic points.

6. The method for controlling automatic unmanned ship loading of a ship loader according to claim 5, characterized in that: The coordinates of the eight-point positioning are A1 (a / 8, 3b / 4), A2 (3a / 8, 3b / 4), A3 (a / 8, b / 4), A4 (3a / 8, b / 4), B1 (5a / 8, 3b / 4), B2 (7a / 8, 3b / 4), B3 (5a / 8, b / 4), B4 (7a / 8, b / 4). In order to ensure the balanced draft of the hull, the diagonal trim domain working sequence is adopted, that is, A1→B4→B2→A3→A2→B3→B1→A4. When the trim is close to the height of the cabin cover, the automatic loading operation is stopped.

7. The method for controlling automatic unmanned ship loading of a ship loader according to claim 2, characterized in that: If the minimum value is N3, the ship's hold is divided into three compartments, and the strategic center points for loading and packing are A (a / 6, b / 2), B (a / 2, b / 2), and C (5a / 6, b / 2); Fixed-point loading starts from the central strategic point A→C→B of the loading filler. When the material height at the highest point of the cabin is scanned by the laser scanner to be close to the height of the cabin cover, the loading is stopped and the trimming work is started, and the trimming is performed at twelve points except the three central strategic points.

8. The method for controlling automatic unmanned ship loading of a ship loader according to claim 7, characterized in that: The coordinates of the twelve-point positioning are A1 (a / 12, 3b / 4), A2 (3a / 12, 3b / 4), A3 (a / 12, b / 4), A4 (3a / 12, b / 4), B1 (5a / 12, 3b / 4), B2 (7a / 12, 3b / 4), B3 (5a / 12, b / 4), B4 (7a / 12, b / 4), C1 (9a / 12, 3b / 4), C2 (11a / 12, 3b / 4), / 12, 3b / 4), C3 (9a / 12, b / 4), C4 (11a / 12, b / 4), in order to ensure balanced draft of the hull, the diagonal trimming area working sequence is adopted, that is, A1→C4→C2→A3→A2→C3→C1→A4→B1→B4→B2→B3. The automatic loading operation is stopped when the tank is trimmed to the height close to the cabin cover. All the above work completes the automatic fixed-point filling work and the automatic fixed-point trimming work.

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