Auxiliary electric control system of ship unloader

Abstract

The invention provides an auxiliary electronic control system of a ship unloader, which belongs to the technical field of electronic control, and comprises a first determination module for acquiring the working principle and the use environment of the ship unloader, determining key parameters needing to be monitored, and determining a sensor; the control module is used for analyzing the parameters acquired by the sensor, acquiring the real-time state of the ship unloader and controlling the movement and action of the ship unloader based on a PID (Proportion Integration Differentiation) controller; the first acquisition module is used for acquiring the swing condition of the grab bucket of the ship unloader and the semi-automatic running path of the grab bucket, and stabilizing and controlling the grab bucket based on an electronic anti-swing technology and semi-automatic optimal path control; the second acquisition module is used for processing the swing condition of the grab bucket of the ship unloader and the semi-automatic running path of the grab bucket and acquiring the abnormal condition of the ship unloader; the first generation module is used for generating different alarm information according to abnormal conditions, electric control assistance of the ship unloader is achieved, and the problems that manual inspection is needed, meanwhile, the real-time performance of related data cannot be guaranteed, and the working speed of the ship unloader is reduced are solved.

Description

Technical Field

[0001] The invention relates to the technical field of electronic control, and in particular to an auxiliary electronic control system for a ship unloader. Background Art

[0002] With the continuous development of my country's ports, ship unloaders have become an indispensable part of modern ports, responsible for unloading the cargo loaded on ships to the shore.

[0003] However, the traditional auxiliary electronic control system of the ship unloader usually adopts a mechanical control method, which requires manual regular maintenance and inspection and is easily affected by environmental factors such as humidity and temperature, resulting in equipment failure. At the same time, the existing auxiliary electronic control system of the ship unloader cannot guarantee the real-time data related to the travel path of the grab bucket and the ship unloader, resulting in the unloading process being unable to achieve safety, efficiency and smoothness, reducing the working efficiency and speed of the ship unloader.

[0004] Therefore, the present invention proposes an auxiliary electric control system for a ship unloader. Summary of the invention

[0005] The present invention provides an auxiliary electric control system for a ship unloader, which is used to solve the defects in the prior art that manual regular maintenance and inspection are required, and the system is easily affected by environmental factors such as humidity and temperature, which may lead to equipment failure. At the same time, the existing auxiliary electric control system for a ship unloader cannot ensure the real-time data related to the travel path of the grab bucket and the ship unloader, which results in the ship unloading process being unable to be safe, efficient and smooth, thereby reducing the working efficiency and working speed of the ship unloader.

[0006] In one aspect, the present invention provides an auxiliary electric control system for a ship unloader, comprising:

[0007] The first determination module: obtains the working principle and use environment of the ship unloader, determines the key parameters to be monitored according to the working principle and use environment, and determines the corresponding sensors according to the data types of the key parameters;

[0008] Control module: Analyze the parameters obtained by the sensor, obtain the real-time status of the ship unloader according to the analysis results, and control the movement and action of the ship unloader based on the PID controller according to the real-time status;

[0009] The first acquisition module: according to the movement and action of the controlled ship unloader, the grab bucket swing and the semi-automatic operation path of the grab bucket are acquired based on the images taken by the camera, and the grab bucket is stabilized and controlled based on the electronic anti-sway technology and semi-automatic optimal path control;

[0010] The second acquisition module processes the grab bucket swinging condition and the grab bucket semi-automatic operation path of the ship unloader, and acquires the abnormal condition of the ship unloader according to the processing result;

[0011] The first generation module: determines the impact scope and impact degree according to the abnormal situation, generates different alarm information according to the impact scope and impact degree, determines the solution strategy according to the alarm information, and realizes the electronic control assistance of the ship unloader.

[0012] According to the present invention, an auxiliary electric control system for a ship unloader, in the process of controlling the movement and action of the ship unloader based on a PID controller according to the real-time state, further comprises:

[0013] Establishment module: Scan the entire material to be unloaded and establish the initial three-dimensional structure of the material to be unloaded based on the scanned image;

[0014] The second determination module: determines the independent structure and the composite structure of the material to be unloaded according to the initial three-dimensional structure, and determines the grabbing elements of the grab bucket based on the independent structure and the composite structure;

[0015] Layering module: Determine the balance state offset of the unloaded material when unloading the ship according to the grab elements of the grab bucket, and layer the unloaded material according to the balance state offset;

[0016] The third determination module: determines the optimal grabbing design path of the grab bucket at each layer according to the stratification results and the balance structure maintenance parameters of the material to be unloaded;

[0017] The fourth determination module: determines the guiding grabbing instruction of the grab bucket based on the optimal grabbing design path and the grabbing algorithm process of the grab bucket;

[0018] The third acquisition module is used to acquire the instruction parameters for guiding the grabbing instruction, and determine the multiple grabbing points and grabbing amount of the grab bucket according to the instruction parameters;

[0019] The fifth determination module: determines the standard action parameters and standard motion parameters of the grab bucket when grabbing materials at each grabbing point according to the grabbing amount and the preset opening and closing parameters of the grab bucket;

[0020] The fourth acquisition module: obtains the three-dimensional spatial positioning of the grab bucket when performing standard grabbing at each grabbing point according to the standard action parameters and standard motion parameters of the grab bucket when grabbing at each grabbing point;

[0021] The sixth determination module: determines the standard time sequence coordinates of the grab bucket according to the three-dimensional spatial positioning, and determines the real-time phase deviation during the movement and action of the ship unloader controlled by the PID controller according to the standard time sequence coordinates;

[0022] Correction module: Corrects the real-time motion parameters and action parameters according to the real-time phase deviation.

[0023] According to an auxiliary electric control system for a ship unloader provided by the present invention, a first determination module comprises:

[0024] The first determination unit is configured to obtain a basic structure and a working process of the ship unloader, determine a type of the ship unloader according to the basic structure and the working process, and determine a working principle of the ship unloader according to the type of the ship unloader;

[0025] The first acquisition unit: acquires relevant information about the use environment of the ship unloader according to design specifications and actual operating experience;

[0026] A second determining unit: determining multiple factors that affect the normal operation of the ship unloader according to the working principle and relevant information of the use environment;

[0027] The second acquisition unit determines the key parameters that need to be monitored according to the multiple factors, acquires the data type based on the key parameters based on the user manual, and determines the corresponding sensor based on the data type based on the data range and accuracy requirements.

[0028] According to the present invention, a ship unloader auxiliary electric control system and a control module are provided, comprising:

[0029] Extraction unit: preprocesses the parameters obtained by the sensor and extracts features from the preprocessed data, wherein the parameters of the sensor are obtained through DP communication;

[0030] A third acquisition unit is configured to acquire value changes of key parameters at different time points and under different conditions according to the features, and acquire the real-time status of the ship unloader according to the value changes of the key parameters;

[0031] Parameter setting unit: obtains the working characteristics and control targets of the ship unloader, and sets the parameters of the PID controller according to the working characteristics and control targets;

[0032] Evaluation unit: evaluates the operating status of the ship unloader based on the neural network according to the set PID controller;

[0033] Control unit: obtains the error between the real-time state and the evaluation state according to different indicators, and controls the movement and action of the ship unloader based on the closed-loop control system according to the error.

[0034] According to the present invention, a ship unloader auxiliary electric control system, a first acquisition module includes:

[0035] Construction unit: analyzing the images captured by the camera based on the movement and action of the ship unloader based on computer vision technology, constructing a grab bucket detection model based on the analysis results, and obtaining the grab bucket swing of the ship unloader in combination with a deep learning algorithm;

[0036] Planning unit: obtaining the working conditions of the ship unloader terminal, and planning the path of the semi-automatic operation of the grab bucket based on the working conditions and the path planning algorithm;

[0037] Stability control unit: stabilizes and controls the grab bucket based on the electronic anti-sway technology and semi-automatic optimal path control according to the grab bucket swing condition and the path of the semi-automatic operation of the grab bucket.

[0038] According to the ship unloader auxiliary electric control system provided by the present invention, the second acquisition module comprises:

[0039] A fourth acquisition unit: acquiring a plurality of swing information of the grab bucket movement according to the swing condition of the grab bucket of the ship unloader;

[0040] The third determination unit is used to determine whether the grab bucket deviates from the predetermined path and moves abnormally according to the semi-automatic operation path of the grab bucket of the ship unloader;

[0041] A fifth acquiring unit acquires the abnormal situation of the ship unloader based on the preset swing information and the preset path according to the plurality of swing information, the grab bucket deviating from the preset path and the abnormal movement.

[0042] According to the present invention, an auxiliary electric control system for a ship unloader further comprises:

[0043] Monitoring module: The accelerometer and gyroscope are acquired according to the structure of the grab bucket of the ship unloader, and the movement state of the grab bucket is monitored in real time according to the accelerometer and gyroscope;

[0044] Data processing module: obtaining the movement data of the grab bucket according to the movement state of the grab bucket, performing data processing, and obtaining the movement law of the grab bucket according to the processing result;

[0045] The second generation module: obtains the movement trajectory of the grab bucket according to the movement law, and generates a real-time grab bucket movement trajectory diagram and a grab bucket movement report based on the drawing software;

[0046] Display module: Visually display the grab bucket motion trajectory diagram and grab bucket motion report in a visual manner, and monitor the grab bucket's operating abnormalities in real time based on the display results.

[0047] According to the present invention, a ship unloader auxiliary electric control system, a first generation module includes:

[0048] Fourth determination unit: determining the abnormal cause and development law according to the abnormal situation, and determining the impact scope and impact degree according to the abnormal cause and development law;

[0049] A fifth determining unit: obtaining the globality and locality of the abnormal situation according to the impact scope and the impact degree, and determining the abnormality type according to the globality and locality;

[0050] Generating unit: determining an alarm level according to the abnormality type, generating different alarm information according to the alarm level, and obtaining key features according to the alarm information;

[0051] Auxiliary unit: Determine the solution strategy according to the key characteristics to realize the electronic control assistance of the ship unloader.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The real-time status of the ship unloader is obtained through sensors, and the movement and action of the ship unloader is controlled based on the PID controller, and the swing condition of the grab bucket and the semi-automatic operation path of the grab bucket are obtained, so as to determine the abnormal situation of the ship unloader and issue an alarm. It does not require manual regular maintenance and inspection, is not easily affected by environmental factors, and reduces the frequency of ship unloader failures. At the same time, it can ensure the real-time data related to the grab bucket and the ship unloader's travel path, making the ship unloading process safer, more efficient and smoother, and improving the working efficiency and speed of the ship unloader. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 work.

[0055] Figure 1 It is a structural schematic diagram of an auxiliary electric control system for a ship unloader provided by an embodiment of the present invention;

[0056] Figure 2 It is a structural diagram of a control module provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0058] Embodiment 1:

[0059] An auxiliary electric control system for a ship unloader provided by an embodiment of the present invention is as follows: Figure 1 As shown, the system mainly includes the following modules:

[0060] The first determination module: obtains the working principle and use environment of the ship unloader, determines the key parameters to be monitored according to the working principle and use environment, and determines the corresponding sensors according to the data types of the key parameters;

[0061] Control module: Analyze the parameters obtained by the sensor, obtain the real-time status of the ship unloader according to the analysis results, and control the movement and action of the ship unloader based on the PID controller according to the real-time status;

[0062] The first acquisition module: according to the movement and action of the controlled ship unloader, the grab bucket swing and the semi-automatic operation path of the grab bucket are acquired based on the images taken by the camera, and the grab bucket is stabilized and controlled based on the electronic anti-sway technology and semi-automatic optimal path control;

[0063] The second acquisition module processes the grab bucket swinging condition and the grab bucket semi-automatic operation path of the ship unloader, and acquires the abnormal condition of the ship unloader according to the processing result;

[0064] The first generation module: determines the impact scope and impact degree according to the abnormal situation, generates different alarm information according to the impact scope and impact degree, determines the solution strategy according to the alarm information, and realizes the electronic control assistance of the ship unloader.

[0065] In this embodiment, key parameters include: position, speed, load, oil temperature, pressure, noise, etc.

[0066] In this embodiment, the data type may be: discrete data, continuous data, or time series data.

[0067] In this embodiment, the real-time status of the ship unloader refers to the monitoring and management of the current operating status of the ship unloader equipment, including: monitoring the operating time and workload of the equipment.

[0068] In this embodiment, the semi-automatic operation path of the grab bucket means that when grabbing objects, the grab bucket needs to autonomously select the optimal path within a certain range to move.

[0069] In this embodiment, the abnormal conditions of the ship unloader include: too fast or too slow unloading speed, too low or too high height, too low or too high material level.

[0070] In this embodiment, the impact range refers to an area affected or damaged by a certain abnormal situation.

[0071] In this embodiment, the impact degree refers to the magnitude of the adverse impact caused by a certain problem.

[0072] The beneficial effects of the above technical solution are: the real-time status of the ship unloader is obtained through sensors, and the movement and action of the ship unloader is controlled based on the PID controller, the grab bucket swing condition and the semi-automatic operation path of the ship unloader are obtained, so as to determine the abnormal situation of the ship unloader and issue an alarm, without the need for manual regular maintenance and inspection, and it is not easily affected by environmental factors, thus reducing the frequency of failure of the ship unloader. At the same time, it can ensure the real-time data related to the grab bucket and the ship unloader travel path, making the ship unloading process safer, more efficient and smoother, and improving the working efficiency and working speed of the ship unloader.

[0073] Embodiment 2:

[0074] Based on the first embodiment, in the process of controlling the movement and action of the ship unloader based on the PID controller according to the real-time state, the embodiment of the present invention further includes:

[0075] Establishment module: Scan the entire material to be unloaded and establish the initial three-dimensional structure of the material to be unloaded based on the scanned image;

[0076] The second determination module: determines the independent structure and the composite structure of the material to be unloaded according to the initial three-dimensional structure, and determines the grabbing elements of the grab bucket based on the independent structure and the composite structure;

[0077] Layering module: Determine the balance state offset of the unloaded material when unloading the ship according to the grab elements of the grab bucket, and layer the unloaded material according to the balance state offset;

[0078] The third determination module: determines the optimal grabbing design path of the grab bucket at each layer according to the stratification results and the balance structure maintenance parameters of the material to be unloaded;

[0079] The fourth determination module: determines the guiding grabbing instruction of the grab bucket based on the optimal grabbing design path and the grabbing algorithm process of the grab bucket;

[0080] The third acquisition module is used to acquire the instruction parameters for guiding the grabbing instruction, and determine the multiple grabbing points and grabbing amount of the grab bucket according to the instruction parameters;

[0081] The fifth determination module: determines the standard action parameters and standard motion parameters of the grab bucket when grabbing materials at each grabbing point according to the grabbing amount and the preset opening and closing parameters of the grab bucket;

[0082] The fourth acquisition module: obtains the three-dimensional spatial positioning of the grab bucket when performing standard grabbing at each grabbing point according to the standard action parameters and standard motion parameters of the grab bucket when grabbing at each grabbing point;

[0083] The sixth determination module: determines the standard time sequence coordinates of the grab bucket according to the three-dimensional spatial positioning, and determines the real-time phase deviation during the movement and action of the ship unloader controlled by the PID controller according to the standard time sequence coordinates;

[0084] Correction module: Corrects the real-time motion parameters and action parameters according to the real-time phase deviation.

[0085] In this embodiment, the initial three-dimensional structure of the material to be unloaded refers to a structure of the material to be unloaded having a specific shape and size in three dimensions in space, including: shape, size and weight, density and strength.

[0086] In this embodiment, the independent structure of the material to be unloaded means that the material to be unloaded is decomposed into independent parts, and each part has its own unique properties and information such as basic information, physical properties, and position information.

[0087] In this embodiment, the composite structure of the material to be unloaded is a method of managing the material to be unloaded after decomposing it into multiple interrelated sub-elements, each sub-element has a specific function and purpose. In the composite structure, there may be different logical relationships between the sub-elements, such as hierarchical relationships, primary and secondary relationships, priority relationships, etc.

[0088] In this embodiment, the grabbing elements refer to the key factors that affect the manipulator's ability to accurately and stably grab objects and complete corresponding operations, such as: manipulator structure design and grabbing mechanism design.

[0089] In this embodiment, the equilibrium state deviation of the material to be unloaded during unloading refers to the weight deviation or position deviation of the material caused by various reasons during the unloading process.

[0090] In this embodiment, stratifying the materials to be unloaded means classifying and distinguishing the materials to be unloaded according to different qualities, specifications, quantities and other characteristics, so as to better manage and control them.

[0091] In this embodiment, the balance structure maintenance parameters of the materials to be unloaded refer to parameters used to describe the conditions required for the materials to be unloaded to maintain a balance state within a certain period of time, such as: loading speed, unloading speed, inventory level, and lower limit of safety inventory level.

[0092] In this embodiment, the command parameters of the grab guide grab command refer to how to implement various operations when grabbing and placing objects during the motion planning and control process of the grab, including:

[0093] Position information: Specifies the exact coordinates of the target location to which the grab needs to move.

[0094] Speed ​​and Acceleration: Specify the speed and acceleration settings of the grab when reaching the target position.

[0095] Dwell Time: To ensure safety, the grab can be left in the target area for a period of time during the grab.

[0096] Joint angle: used to accurately control the rotation angle of each joint of the grab bucket, so as to achieve stable grasping of objects.

[0097] Load Limit: When the grab needs to grab heavier objects, the maximum allowable load can be set.

[0098] In this embodiment, the multiple grabbing points of the grab bucket refer to multiple grabbable portions on the material to be unloaded.

[0099] In this embodiment, the preset opening and closing parameters of the grab bucket refer to a series of predetermined action specifications that need to be followed during the movement of the grab bucket, such as: grabbing time, grabbing force, and grabbing range.

[0100] In this embodiment, three-dimensional spatial positioning refers to the process of determining the position and posture of an object in three-dimensional space.

[0101] In this embodiment, the standard time-series coordinates of the grab bucket are data that measure the precise position of the grab bucket when grabbing an object.

[0102] In this embodiment, the real-time phase deviation refers to the position change of each part (such as a drum, a belt, a hopper, etc.) of the ship unloader during continuous operation.

[0103] The beneficial effects of the above technical solution are: determining the standard time coordinates of the grab bucket based on three-dimensional spatial positioning, thereby determining the real-time phase deviation during the movement and action of the ship unloader controlled by the PID controller, and correcting the real-time motion parameters and action parameters, which can improve the control accuracy and help reduce damage to the ship unloader caused by abnormalities.

[0104] Embodiment 3:

[0105] Based on Example 2, the first determination module in this embodiment of the present invention includes:

[0106] The first determination unit is configured to obtain a basic structure and a working process of the ship unloader, determine a type of the ship unloader according to the basic structure and the working process, and determine a working principle of the ship unloader according to the type of the ship unloader;

[0107] The first acquisition unit: acquires relevant information about the use environment of the ship unloader according to design specifications and actual operating experience;

[0108] A second determining unit: determining multiple factors that affect the normal operation of the ship unloader according to the working principle and relevant information of the use environment;

[0109] The second acquisition unit determines the key parameters that need to be monitored according to the multiple factors, acquires the data type based on the key parameters based on the user manual, and determines the corresponding sensor based on the data type based on the data range and accuracy requirements.

[0110] In this embodiment, the types of ship unloaders include: chain bucket ship unloader, belt conveyor ship unloader, and bucket ship unloader.

[0111] In this embodiment, the relevant information includes: climate conditions of the workplace, composition of surrounding media, and surrounding noise levels.

[0112] In this embodiment, the multiple factors that affect the normal operation of the ship unloader include: mechanical failure, power failure, material problem, and environmental problem.

[0113] In this embodiment, key parameters include: position, speed, load, oil temperature, pressure, noise, etc.

[0114] In this embodiment, the data type may be: discrete data, continuous data, or time series data.

[0115] In this embodiment, the data range refers to the value range of the data, that is, the range between the minimum and maximum values ​​that the data can take. For example, if the range of a group of data is -50 to 50, it means that the minimum value of the group of data is -50 and the maximum value is 50.

[0116] In this embodiment, the accuracy requirement refers to the accuracy and precision of the acquired data. For unimportant parameters, the accuracy requirement may be a range, while for important parameters, the accuracy must be accurate to a specific value.

[0117] The beneficial effects of the above technical solution are: by obtaining relevant information on the working principle and use environment of the ship unloader and determining multiple factors that affect the normal operation of the ship unloader, the weak points and possibility of failure of the ship unloader can be better determined, and the impact of the factors can be reduced by adjusting the operating procedures or other control variables to improve the working efficiency of the ship unloader. At the same time, the key parameters that need to be monitored are determined, and the corresponding sensors are determined according to the key parameters, so as to ensure the accuracy of the key parameters obtained.

[0118] Embodiment 4:

[0119] Based on the third embodiment, the control module of the embodiment of the present invention includes:

[0120] Extraction unit: preprocesses the parameters obtained by the sensor and extracts features from the preprocessed data, wherein the parameters of the sensor are obtained through DP communication;

[0121] A third acquisition unit is configured to acquire value changes of key parameters at different time points and under different conditions according to the features, and acquire the real-time status of the ship unloader according to the value changes of the key parameters;

[0122] Parameter setting unit: obtains the working characteristics and control targets of the ship unloader, and sets the parameters of the PID controller according to the working characteristics and control targets;

[0123] Evaluation unit: evaluates the operating status of the ship unloader based on the neural network according to the set PID controller;

[0124] Control unit: obtains the error between the real-time state and the evaluation state according to different indicators, and controls the movement and action of the ship unloader based on the closed-loop control system according to the error.

[0125] In this embodiment, the features include: trend, peak and valley, volatility, and correlation.

[0126] In this embodiment, the real-time status of the ship unloader refers to the monitoring and management of the current operating status of the ship unloader equipment, including: monitoring the operating time and workload of the equipment.

[0127] In this embodiment, the working characteristics of the ship unloader refer to that during the ship unloading process, the ship unloader can perform a series of specific operations and actions to complete the transportation and unloading of cargo from the ship to the shore.

[0128] In this embodiment, the control objective of the ship unloader is to ensure the safe and efficient transportation and unloading of cargo from the ship to the shore.

[0129] In this embodiment, the parameter setting of the PID controller refers to adjusting the parameters of the three links of proportion, integration and differentiation of the PID controller according to the characteristics and requirements of the actual control object.

[0130] In this embodiment, different indicators may be: the length of the running time, the running speed, and whether the load is overloaded.

[0131] In this embodiment, the closed-loop control system refers to a process of eliminating or reducing the deviation between the control system output and the expected value by applying feedback control to the controlled object.

[0132] The beneficial effects of the above technical solution are: through DP communication, hard-wired communication can be avoided, saving a lot of cables. At the same time, centralized control can be achieved to reduce the complexity of the system. Furthermore, by preprocessing the parameters obtained by the sensor and obtaining the real-time status of the ship unloader under different time points and conditions, the operating status of the ship unloader can be understood in real time and compared with the operating status of the ship unloader evaluated according to the neural network, so as to control the movement and action of the ship unloader. It can be accurately adjusted according to the error value so that the ship unloader can maintain a stable operating state under various working conditions. At the same time, the control strategy can be adjusted according to the real-time data to cope with different working conditions and load conditions, thereby improving the operating efficiency and stability of the ship unloader.

[0133] Embodiment 5:

[0134] Based on Example 4, the first acquisition module of the embodiment of the present invention includes:

[0135] Construction unit: analyzing the images captured by the camera based on the movement and action of the ship unloader based on computer vision technology, constructing a grab bucket detection model based on the analysis results, and obtaining the grab bucket swing of the ship unloader in combination with a deep learning algorithm;

[0136] Planning unit: obtaining the working conditions of the ship unloader terminal, and planning the path of the semi-automatic operation of the grab bucket based on the working conditions and the path planning algorithm;

[0137] Stability control unit: stabilizes and controls the grab bucket based on the electronic anti-sway technology and semi-automatic optimal path control according to the grab bucket swing condition and the path of the semi-automatic operation of the grab bucket.

[0138] In this embodiment, computer vision technology is a technology that uses computers and artificial intelligence algorithms to process and understand images or videos.

[0139] In this embodiment, the grab detection model is used to detect the existence and position of the grab from the image.

[0140] In this embodiment, the swinging condition of the grab bucket of the ship unloader refers to the swinging condition of the grab bucket in the ship unloader.

[0141] In this embodiment, the working condition of the ship unloader terminal refers to the working state and performance of the ship unloader during the ship unloading operation, including: the operating frequency, processing capacity, and failure rate of the ship unloader.

[0142] In this embodiment, the path planning algorithm is an algorithm that determines how the ship unloader can most efficiently arrange tasks or resources to travel between points.

[0143] In this embodiment, the semi-automatic operation path of the grab bucket means that when grabbing objects, the grab bucket needs to autonomously select the optimal path within a certain range to move.

[0144] In this embodiment, the electronic anti-sway technology is a technology that reduces or eliminates grab bucket vibration by using electronic devices.

[0145] The beneficial effects of the above technical solution are: the grab swing condition of the ship unloader is obtained according to the grab detection model, and the semi-automatic operation path of the grab is planned according to the working conditions of the ship unloader terminal. The grab is stabilized and controlled based on electronic anti-sway technology and semi-automatic optimal path control, which can ensure the stability and safety of the grab under various working conditions and the accuracy of the ship unloader's travel path.

[0146] Embodiment 6:

[0147] Based on Example 5, the second acquisition module in this embodiment of the present invention includes:

[0148] A fourth acquisition unit: acquiring a plurality of swing information of the grab bucket movement according to the swing condition of the grab bucket of the ship unloader;

[0149] The third determination unit is used to determine whether the grab bucket deviates from the predetermined path and moves abnormally according to the semi-automatic operation path of the grab bucket of the ship unloader;

[0150] A fifth acquiring unit acquires the abnormal situation of the ship unloader based on the preset swing information and the preset path according to the plurality of swing information, the grab bucket deviating from the preset path and the abnormal movement.

[0151] In this embodiment, the swinging condition of the grab bucket of the ship unloader refers to the swinging condition of the grab bucket in the ship unloader.

[0152] In this embodiment, the plurality of swing information includes: speed, acceleration, and angle.

[0153] In this embodiment, the semi-automatic operation path of the grab bucket of the ship unloader refers to the path of the grab bucket when it runs in the ship unloader.

[0154] In this embodiment, the grab bucket deviates from the predetermined path, which means that the abnormal movement of the grab bucket refers to the phenomenon that the grab bucket deviates from the predetermined movement trajectory during normal operation.

[0155] In this embodiment, the abnormal movement of the grab bucket includes: sudden acceleration or deceleration, loss of control, and unstable movement.

[0156] In this embodiment, the abnormal conditions of the ship unloader include: too fast or too slow unloading speed, too low or too high height, too low or too high material level.

[0157] The beneficial effect of the above technical solution is: according to multiple swing information, the grab bucket deviates from the predetermined path and the abnormal movement, the abnormal situation of the ship unloader is obtained based on the preset swing information and the preset path, any abnormal movement of the ship unloader can be identified quickly and accurately, the fault can be located and solved, and the reliability and stability of the auxiliary electronic control system of the ship unloader can be ensured.

[0158] Embodiment 7:

[0159] Based on Example 6, the embodiment of the present invention further includes:

[0160] Monitoring module: The accelerometer and gyroscope are acquired according to the structure of the grab bucket of the ship unloader, and the movement state of the grab bucket is monitored in real time according to the accelerometer and gyroscope;

[0161] Data processing module: obtaining the movement data of the grab bucket according to the movement state of the grab bucket, performing data processing, and obtaining the movement law of the grab bucket according to the processing result;

[0162] The second generation module: obtains the movement trajectory of the grab bucket according to the movement law, and generates a real-time grab bucket movement trajectory diagram and a grab bucket movement report based on the drawing software;

[0163] Display module: Visually display the grab bucket motion trajectory diagram and grab bucket motion report in a visual manner, and monitor the grab bucket's operating abnormalities in real time based on the display results.

[0164] In this embodiment, the structure of the ship unloader grab bucket includes: a grab bucket body, an opening and closing mechanism, a hydraulic cylinder, and a material level meter.

[0165] In this embodiment, the accelerometer is a device for measuring the acceleration of an object under the action of gravity.

[0166] In this embodiment, the gyroscope is an inertial sensor mainly used to detect the rotational motion of an object around its own axis.

[0167] In this embodiment, the motion state of the grab bucket includes: position, speed, and load state.

[0168] In this embodiment, the movement data of the grab bucket includes: frequency, amplitude, and direction.

[0169] In this embodiment, the movement law of the grab bucket of the ship unloader refers to the movement trajectory and mode of the grab bucket inside the ship unloader, including parameters such as the moving direction, speed, acceleration of the grab bucket, and the friction between the grab bucket and the ground.

[0170] In this embodiment, the movement trajectory of the grab bucket refers to the path of the grab bucket inside the ship unloader, which depends on factors such as the movement law of the grab bucket and the placement of the cargo. Normally, the grab bucket moves along a straight line or curve until it grabs the cargo and places it on the discharge port.

[0171] In this embodiment, the grab bucket motion trajectory diagram refers to a diagram that graphically represents the motion path and mode of the grab bucket in the ship unloader.

[0172] The beneficial effects of the above technical solution are: obtaining the movement data of the grab according to the movement state of the grab, thereby determining the movement law of the grab, generating a real-time grab movement trajectory diagram and a grab movement report, and monitoring the movement abnormality of the grab in real time to avoid the problem from expanding or leading to more serious consequences, reducing the downtime caused by grab failure, and thus improving work efficiency.

[0173] Embodiment 8:

[0174] Based on Example 7, the first generation module of the embodiment of the present invention includes:

[0175] Fourth determination unit: determining the abnormal cause and development law according to the abnormal situation, and determining the impact scope and impact degree according to the abnormal cause and development law;

[0176] A fifth determining unit: obtaining the globality and locality of the abnormal situation according to the impact scope and the impact degree, and determining the abnormality type according to the globality and locality;

[0177] Generating unit: determining an alarm level according to the abnormality type, generating different alarm information according to the alarm level, and obtaining key features according to the alarm information;

[0178] Auxiliary unit: Determine the solution strategy according to the key characteristics to realize the electronic control assistance of the ship unloader.

[0179] In this embodiment, the abnormal conditions of the ship unloader include: too fast or too slow unloading speed, too low or too high height, too low or too high material level.

[0180] In this embodiment, the causes of abnormal conditions in the ship unloader include: long-term high-load use, improper maintenance and management, excessive operation, and environmental factors.

[0181] In this embodiment, the development rule may be that the abnormal situation becomes more serious as time goes by or that the failure of the device becomes more serious as the temperature changes.

[0182] In this embodiment, the impact range refers to an area affected or damaged by a certain abnormal situation.

[0183] In this embodiment, the impact degree refers to the magnitude of the adverse impact caused by a certain problem.

[0184] In this embodiment, the globality of an abnormal situation refers to the impact of a certain abnormal situation on the entire system.

[0185] In this embodiment, the locality of the abnormal situation means that a certain abnormal situation will only affect a part of the ship unloader or certain specific operating links. In this case, even if other parts operate normally, it will not cause problems in the entire system. For example, the failure of a sensor may cause an abnormal situation in a part of the ship unloader, but will not affect the normal operation of the entire system.

[0186] In this embodiment, the abnormal type of the ship unloader is:

[0187] Mechanical failure: For example, damage to a component, excessive wear or incorrect installation.

[0188] Electrical failure: For example, power line short circuit, overload, poor contact, etc.

[0189] Hydraulic failure: for example, hydraulic oil contamination, leakage, pipe damage, etc.

[0190] Control system failure: for example, PLC program error, sensor failure, communication interruption, etc.

[0191] Environmental factors: for example, high temperature, high humidity, dust pollution, etc.

[0192] In this embodiment, the alarm level may be a warning level or an emergency level.

[0193] In this embodiment, the alarm information refers to information automatically sent to relevant personnel when an abnormal situation of the ship unloader is detected.

[0194] In this embodiment, the key features include: the time, location, cause, and impact of the abnormal situation.

[0195] The beneficial effects of the above technical solution are: determining the scope and degree of impact according to the abnormal situation, thereby generating different alarm information, determining the solution strategy according to the alarm information, and realizing electronic control assistance for the ship unloader, which can ensure the safety of auxiliary operations and improve the safety and precise control of the system.

[0196] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0197] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ship unloader auxiliary electric control system, characterized in that: include: The first determination module: obtains the working principle and use environment of the ship unloader, determines the key parameters to be monitored according to the working principle and use environment, and determines the corresponding sensors according to the data types of the key parameters; Control module: Analyze the parameters obtained by the sensor, obtain the real-time status of the ship unloader according to the analysis results, and control the movement and action of the ship unloader based on the PID controller according to the real-time status; The first acquisition module: according to the movement and action of the controlled ship unloader, the grab bucket swing and the semi-automatic operation path of the grab bucket are acquired based on the images taken by the camera, and the grab bucket is stabilized and controlled based on the electronic anti-sway technology and semi-automatic optimal path control; The second acquisition module processes the grab bucket swinging condition and the grab bucket semi-automatic operation path of the ship unloader, and acquires the abnormal condition of the ship unloader according to the processing result; The first generation module: determines the impact scope and impact degree according to the abnormal situation, generates different alarm information according to the impact scope and impact degree, determines the solution strategy according to the alarm information, and realizes the electronic control assistance of the ship unloader.

2. The ship unloader auxiliary electric control system according to claim 1, characterized in that: In the process of controlling the movement and action of the ship unloader based on the PID controller according to the real-time state, it also includes: Establishment module: Scan the entire material to be unloaded and establish the initial three-dimensional structure of the material to be unloaded based on the scanned image; The second determination module: determines the independent structure and the composite structure of the material to be unloaded according to the initial three-dimensional structure, and determines the grabbing elements of the grab bucket based on the independent structure and the composite structure; Layering module: Determine the balance state offset of the unloaded material when unloading the ship according to the grab elements of the grab bucket, and layer the unloaded material according to the balance state offset; The third determination module: determines the optimal grabbing design path of the grab bucket at each layer according to the stratification results and the balance structure maintenance parameters of the material to be unloaded; The fourth determination module: determines the guiding grabbing instruction of the grab bucket based on the optimal grabbing design path and the grabbing algorithm process of the grab bucket; The third acquisition module is used to acquire the instruction parameters for guiding the grabbing instruction, and determine the multiple grabbing points and grabbing amount of the grab bucket according to the instruction parameters; The fifth determination module: determines the standard action parameters and standard motion parameters of the grab bucket when grabbing materials at each grabbing point according to the grabbing amount and the preset opening and closing parameters of the grab bucket; The fourth acquisition module: obtains the three-dimensional spatial positioning of the grab bucket when performing standard grabbing at each grabbing point according to the standard action parameters and standard motion parameters of the grab bucket when grabbing at each grabbing point; The sixth determination module: determines the standard time sequence coordinates of the grab bucket according to the three-dimensional spatial positioning, and determines the real-time phase deviation during the movement and action of the ship unloader controlled by the PID controller according to the standard time sequence coordinates; Correction module: Corrects the real-time motion parameters and action parameters according to the real-time phase deviation.

3. The auxiliary electric control system of the ship unloader according to claim 1, characterized in that: The first determination module includes: The first determination unit is configured to obtain a basic structure and a working process of the ship unloader, determine a type of the ship unloader according to the basic structure and the working process, and determine a working principle of the ship unloader according to the type of the ship unloader; The first acquisition unit: acquires relevant information about the use environment of the ship unloader according to design specifications and actual operating experience; A second determining unit: determining multiple factors that affect the normal operation of the ship unloader according to the working principle and relevant information of the use environment; The second acquisition unit determines the key parameters that need to be monitored according to the multiple factors, acquires the data type based on the key parameters based on the user manual, and determines the corresponding sensor based on the data type based on the data range and accuracy requirements.

4. The auxiliary electric control system for ship unloader according to claim 1, characterized in that: Control module, including: Extraction unit: preprocesses the parameters obtained by the sensor and extracts features from the preprocessed data, wherein the parameters of the sensor are obtained through DP communication; A third acquisition unit is configured to acquire value changes of key parameters at different time points and under different conditions according to the features, and acquire the real-time status of the ship unloader according to the value changes of the key parameters; Parameter setting unit: obtains the working characteristics and control targets of the ship unloader, and sets the parameters of the PID controller according to the working characteristics and control targets; Evaluation unit: evaluates the operating status of the ship unloader based on the neural network according to the set PID controller; Control unit: obtains the error between the real-time state and the evaluation state according to different indicators, and controls the movement and action of the ship unloader based on the closed-loop control system according to the error.

5. The ship unloader auxiliary electric control system according to claim 1, characterized in that: The first acquisition module includes: Construction unit: analyzing the images captured by the camera based on the movement and action of the ship unloader based on computer vision technology, constructing a grab bucket detection model based on the analysis results, and obtaining the grab bucket swing of the ship unloader in combination with a deep learning algorithm; Planning unit: obtaining the working conditions of the ship unloader terminal, and planning the path of the semi-automatic operation of the grab bucket based on the working conditions and the path planning algorithm; Stability control unit: stabilizes and controls the grab bucket based on the electronic anti-sway technology and semi-automatic optimal path control according to the grab bucket swing condition and the path of the semi-automatic operation of the grab bucket.

6. The ship unloader auxiliary electric control system according to claim 1, characterized in that: The second acquisition module includes: A fourth acquisition unit: acquiring a plurality of swing information of the grab bucket movement according to the swing condition of the grab bucket of the ship unloader; The third determination unit is used to determine whether the grab bucket deviates from the predetermined path and moves abnormally according to the semi-automatic operation path of the grab bucket of the ship unloader; A fifth acquiring unit acquires the abnormal situation of the ship unloader based on the preset swing information and the preset path according to the plurality of swing information, the grab bucket deviating from the preset path and the abnormal movement.

7. The ship unloader auxiliary electric control system according to claim 1, characterized in that: Also includes: Monitoring module: The accelerometer and gyroscope are acquired according to the structure of the grab bucket of the ship unloader, and the movement state of the grab bucket is monitored in real time according to the accelerometer and gyroscope; Data processing module: obtaining the movement data of the grab bucket according to the movement state of the grab bucket, performing data processing, and obtaining the movement law of the grab bucket according to the processing result; The second generation module: obtains the movement trajectory of the grab bucket according to the movement law, and generates a real-time grab bucket movement trajectory diagram and a grab bucket movement report based on the drawing software; Display module: Visually display the grab bucket motion trajectory diagram and grab bucket motion report in a visual manner, and monitor the grab bucket's operating abnormalities in real time based on the display results.

8. The ship unloader auxiliary electric control system according to claim 1, characterized in that: The first generation module includes: Fourth determination unit: determining the abnormal cause and development law according to the abnormal situation, and determining the impact scope and impact degree according to the abnormal cause and development law; A fifth determining unit: obtaining the globality and locality of the abnormal situation according to the impact scope and the impact degree, and determining the abnormality type according to the globality and locality; Generating unit: determining an alarm level according to the abnormality type, generating different alarm information according to the alarm level, and obtaining key features according to the alarm information; Auxiliary unit: Determine the solution strategy according to the key characteristics to realize the electronic control assistance of the ship unloader.

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