Intelligent unloading system of grab ship unloader for special-shaped cabin

Abstract

The application discloses a kind of intelligent unloading system of grab ship unloader for special-shaped cabin, comprising: mechanism driving unit includes: for driving grab mechanism to rise action, lowering action, along trolley track direction horizontal movement and along wharf trolley track direction's forward, backward movement action;Detection identification unit: for the laser point cloud data acquisition and processing of ship cabin operation area, obtain the distribution situation of cabin material, and the image data of ship cabin operation area is collected and handled to determine the area that has exposed cabin bottom plate in cabin material distribution situation;HMI control unit: for the material, ship cabin data information obtained by detection identification unit transmission is displayed, and operation process is changed, adjusted;PLC control unit: for receiving the operation task instruction issued by HMI control unit and the material, ship cabin data information obtained, control instruction is issued to mechanism driving unit, so that grab ship unloader completes unloading operation process.

Description

Technical Field

[0001] This invention belongs to the technical field of grab unloaders for bulk cargo terminals, and relates to an intelligent unloading system for grab unloaders with irregularly shaped cargo holds. Background Technology

[0002] As a crucial unloading equipment in bulk cargo terminals, grab unloaders have seen increasing demand for intelligent and digital solutions in recent years. Currently, intelligent grab unloaders can generally achieve automatic material handling and unloading for normal cargo hold shapes. However, for irregularly shaped cargo holds such as the bow and stern holds of bulk carriers, which have complex internal structures, there is no matching automatic material handling and unloading control system. Therefore, unloading operations in these irregularly shaped cargo holds often still require manual labor. Therefore, there is an urgent need to develop an intelligent unloading system for grab unloaders with irregularly shaped cargo holds, enabling automatic material handling and unloading operations in these cargo holds. Summary of the Invention

[0003] To solve the above problems, the technical solution adopted by the present invention is: an intelligent unloading system for grab bucket unloaders with irregularly shaped cabins, comprising:

[0004] The mechanism drive unit includes: for driving the grab mechanism to perform lifting, lowering, translational movement along the trolley track, and forward and backward movement along the dock trolley track;

[0005] Detection and recognition unit: used to collect and process laser point cloud data of the ship's cabin operation area, obtain the distribution pattern of materials in the cabin, and collect and process image data of the ship's cabin operation area to determine the area of ​​the bottom plate of the cabin that has been exposed in the distribution pattern of materials in the cabin.

[0006] HMI control unit: used to display the acquired material and cabin data information transmitted by the detection and identification unit, and to change and adjust the work process;

[0007] PLC control unit: Used to receive the work task instructions issued by the HMI control unit and the material and ship hold data information acquired, and send control instructions to the mechanism drive unit to enable the grab unloader to complete the unloading operation process.

[0008] Further: the mechanism drive unit includes:

[0009] Hoisting motor: Used to drive the grab mechanism to perform corresponding lifting and lowering actions;

[0010] Opening and closing motor: used to drive the grab mechanism to perform corresponding lifting, lowering, grab opening and grab closing actions;

[0011] Trolley motor: Used to drive the grab mechanism to perform corresponding translational movements along the trolley track;

[0012] Trolley motor: Used to drive the grab unloader to move forward and backward along the trolley track at the dock;

[0013] Lifting frequency converter: used to control the operation of the lifting motor;

[0014] Switching frequency converter: used to control the operation of switching motors;

[0015] Car frequency converter: used to control the operation of the car motor;

[0016] Trolley frequency converter: used to control the operation of the trolley motor.

[0017] Further: the detection and identification unit includes:

[0018] Laser scanner: Used to collect laser point cloud data of the ship's working area.

[0019] Point cloud processing server: Used to receive and process laser point cloud data transmitted by laser scanner to obtain the distribution pattern of materials in the cabin;

[0020] High-definition camera: used to collect image data of the ship's working area;

[0021] Image processing server: used to receive and process image data transmitted by the high-definition camera, and to determine the area where the bottom plate of the hold has been exposed in the distribution pattern of materials inside the hold.

[0022] Furthermore: the HMI control unit includes:

[0023] HMI Management Server: Used to run HMI management interface program. The HMI management interface is used to display material and cabin data information obtained by the detection and identification unit through laser scanning and image recognition, and to change and adjust the work process through the HMI management interface.

[0024] The first switch is used to enable data transmission between the HMI control server and the PLC control unit, as well as between the HMI control server and the point cloud processing server and image processing server in the detection and recognition unit.

[0025] Furthermore: the process of determining the area where the bottom plate of the hold has been exposed in the distribution pattern of materials inside the hold is as follows:

[0026] The work area within the ship's hold is divided into rows and columns by the grab points, resulting in N*M grids containing materials, each grid having an area of ​​W. 抓斗宽 *W 抓斗长 ;

[0027] Method for calculating the number of grabbing points distributed along the direction of the main vehicle within the ship's cabin operating area:

[0028] N = (W 舱口长 -2*S 大车安全 ) / W 抓斗宽 ;

[0029] Take the integer part N 整 , which represents the number of grabbing points distributed in the direction of the large vehicle within the ship's cabin working area;

[0030] Among them W 舱口长 S is the length of the hatch along the direction of the main carriage; 大车安全 The reserved safe distance from the hatch along the edge of the hatch in the direction of the main vehicle; W 抓斗宽 This refers to the width of the grab bucket.

[0031] The calculation method for the number of rows of grabbing points distributed in the direction of the trolley within the ship's cabin working area:

[0032] M = (W 舱口宽 -2*S 小车安全 ) / W 抓斗长 ;

[0033] Take the integer part M 整 , which represents the number of rows of grabbing points distributed in the direction of the large vehicle within the ship's cabin operating area;

[0034] Among them W 舱口宽 S is the width dimension of the hatch along the direction of the trolley; 小车安全 The safe distance reserved from the hatch edge along the smaller direction is taken as 2m; W 抓斗长 This refers to the length of the grab bucket when it is fully extended.

[0035] By comparing the color card values ​​of the corresponding pixels in each grid, if there is a deviation in the color card value of the same material pixel, it is determined that the material grab point of the corresponding grid has been exposed on the bottom plate of the hold.

[0036] The control method for an intelligent unloading system for a grab bucket unloader with irregularly shaped cargo holds includes the following steps:

[0037] Step 1: Operations in the irregularly shaped cabin begin;

[0038] Step 2: The detection and identification unit starts real-time detection of the material distribution in the ship's cabin operating area;

[0039] Step 3: The detected material distribution pattern and whether the bottom plate of the hopper is exposed at the material grabbing points are displayed on the HMI control interface;

[0040] Step 4: When the bottom plate of the hold is exposed at the material grabbing point, manually block the unloading task in the exposed area of ​​the hold through the HMI control interface;

[0041] Step 5: After skipping the blocked unloading task points, continue with the unloading process;

[0042] Step Six: Repeat the above process until the unloading operation is completed.

[0043] This invention provides an intelligent unloading system for grab bucket unloaders designed for irregularly shaped cargo holds. Addressing the challenges of irregularly shaped cargo holds with complex internal conditions, the system employs pre-planning and automated execution for automatic unloading. During operation, the selection of material grab points and the execution of the unloading process mitigate collision risks within the irregularly shaped cargo hold while ensuring high unloading efficiency.

[0044] This application provides an intelligent unloading system for grab bucket unloaders with irregularly shaped holds, offering users an intelligent unloading solution for complex operating environments in irregularly shaped holds. It eliminates risks and hazards such as collisions during operations in irregularly shaped holds, ensures unloading efficiency in these holds, and improves the safety and reliability of bulk cargo terminal operations.

[0045] It has the following advantages:

[0046] 1. Simple structure, low cost, and strong practicality;

[0047] 2. It can realize intelligent unloading operations for irregularly shaped ship compartments. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a layout diagram of an intelligent unloading system for grab unloaders designed for irregularly shaped cargo holds;

[0050] Figure 2 This is an architecture diagram of an intelligent unloading system for grab bucket unloaders designed for irregularly shaped cargo holds;

[0051] Figure 3 This is the wiring diagram for the HMI control unit;

[0052] Figure 4 This is a diagram of the HMI control unit interface;

[0053] Figure 5 This is the wiring diagram for the PLC control unit;

[0054] Figure 6 This is the wiring diagram of the mechanism drive unit;

[0055] Figure 7 This is the wiring diagram for the detection and identification unit;

[0056] Figure 8 This is a diagram showing the distribution of materials in the ship's cargo hold operating area;

[0057] Figure 9 This is a control flowchart for an intelligent unloading system for grab unloaders with irregularly shaped cargo holds. Detailed Implementation

[0058] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] An intelligent unloading system for grab unloaders with irregularly shaped cabins includes an HMI control unit, a PLC control unit, a mechanism drive unit, and a detection and identification unit.

[0061] The bottom of a conventional bulk carrier's hold is a flat rectangle. However, due to the ship's shape (narrower width at the bow and stern) and internal structure (oil tanks, ballast water storage tanks, ship propulsion mechanism, etc.), the bow and stern of a bulk carrier are often irregularly shaped. The characteristics of irregularly shaped holds are that the bottom of the hold is sloping rather than horizontal, and the bottom of the hold is not flat and may have a small area of ​​sloping plate. The bottom of the hold is not a regular rectangle but may be trapezoidal, triangular or semi-circular.

[0062] The mechanism drive unit includes a hoisting frequency converter, a switching frequency converter, a trolley frequency converter, and a trolley frequency converter, all installed in the electrical room of the grab unloader.

[0063] It consists of the hoisting motor, opening and closing motor, trolley motor installed in the machine room of the grab unloader, and the main trolley motor installed on the grab unloader trolley.

[0064] The hoisting motor drives the grab bucket mechanism to perform corresponding lifting and lowering actions;

[0065] The opening and closing motor drives the grab mechanism to perform corresponding lifting, lowering, grab opening, and grab closing actions;

[0066] The trolley motor drives the grab mechanism to perform corresponding translational movements along the trolley track.

[0067] The trolley motor drives the grab unloader to move forward and backward along the trolley track at the dock.

[0068] The hoisting inverter, switching inverter, trolley inverter, and gantry inverter control the operation of the hoisting motor, switching motor, trolley motor, and gantry motor by receiving control commands from the PLC control unit.

[0069] The detection and identification unit includes a laser scanner and a high-definition camera installed in the middle of the boom, as well as a point cloud processing server and an image processing server installed in the PLC room of the grab unloader.

[0070] The laser scanner is used to collect laser point cloud data of the ship's working area and transmit it to the point cloud processing server. The point cloud processing server is used to process the laser point cloud data provided by the laser scanner, obtain the distribution pattern of materials in the cabin, and transmit it to the HMI control server in the HMI control unit.

[0071] High-definition cameras are used to collect image data of the ship's working area and transmit it to the image processing server;

[0072] The image processing server is used to process the image data provided by the high-definition camera, determine the area where the bottom plate of the hold has been exposed in the distribution of materials in the hold, and transmit it to the HMI control server in the HMI control unit.

[0073] The HMI control unit includes an HMI control server and a first switch installed in the dock's remote control room;

[0074] The HMI control server is used to run the HMI control interface program. This interface can display the material and cabin data information obtained by the detection and identification unit through laser scanning and image recognition technology. At the same time, the operator can change and adjust the operation process through the HMI control interface.

[0075] The first switch is used to realize data transmission between the HMI control server and the PLC module in the PLC control unit, as well as between the HMI control server and the point cloud processing server and image processing server in the detection and recognition unit.

[0076] The PLC control unit includes a PLC module installed in the PLC room of the grab unloader and a second switch.

[0077] The PLC module receives the work task instructions issued by the HMI control server in the HMI control unit, and sends control instructions to the hoisting frequency converter, opening and closing frequency converter, trolley frequency converter and trolley frequency converter in the mechanism drive unit, thereby driving the hoisting motor, opening and closing motor, trolley motor and trolley motor to complete the corresponding actions, so that the grab bucket unloader can complete the unloading operation process.

[0078] The second switch is used for data transmission between the PLC module and the hoisting inverter, switching inverter, trolley inverter, and trolley inverter in the mechanism drive unit, as well as for data transmission between the PLC module and the HMI control server in the HMI control unit.

[0079] The layout diagram of the intelligent unloading system for grab unloaders with irregularly shaped cargo holds is as follows: Figure 1 As shown. Detailed implementation method:

[0081] The intelligent unloading system for grab unloaders with irregularly shaped cargo holds consists of four parts: an HMI control unit, a PLC control unit, a mechanism drive unit, and a detection and identification unit. The system architecture diagram is shown below. Figure 2 As shown.

[0082] like Figure 3 As shown, the HMI management unit U1 consists of an HMI management server and a switch.

[0083] like Figure 4 As shown, the HMI control interface program running on the HMI control server is divided into a material distribution status display area and a manual adjustment area for material operation points. The material distribution status display area is used to display data such as the actual distribution of materials in the cabin, the distribution of target grab points, and whether the bottom plate of the target grab point is exposed. The manual adjustment area for material operation points is used by operators to manually adjust the shielding of areas with exposed irregular cabin bottom plates based on the actual distribution of materials in the cabin. The operation task instructions adjusted by the HMI control interface are transmitted to the PLC module in the PLC control unit via the TCP / IP protocol.

[0084] The first switch supports the TCP / IP protocol for data transmission between the HMI management server and the PLC module in the PLC control unit.

[0085] like Figure 5 As shown, the PLC control unit consists of a PLC module and a second switch.

[0086] After the PLC module obtains the work task instructions from the HMI control unit, it transmits them via the second switch in the form of Profinet protocol to the hoisting frequency converter, opening and closing frequency converter, trolley frequency converter, and trolley frequency converter in the mechanism drive unit, so as to realize the unloading operation of the grab bucket ship unloader according to the work task instructions.

[0087] The second switch supports the Profinet protocol for data transmission between the PLC module and the hoisting inverter, switching inverter, trolley inverter, and gantry inverter in the mechanism drive unit.

[0088] like Figure 6 As shown, the mechanism drive unit consists of a hoisting frequency converter, a switching frequency converter, a trolley frequency converter, a gantry frequency converter, a hoisting motor, a switching motor, a trolley motor, and a gantry motor.

[0089] After the hoisting frequency converter receives the hoisting control command from the PLC control unit, it drives the hoisting motor to perform corresponding operating actions in a hard-wired manner, thereby realizing the opening and closing function of the grab bucket.

[0090] After the switching frequency converter obtains the switching control command from the PLC control unit, it drives the switching motor to perform the corresponding operation in the form of hard wiring, so as to realize the lifting and lowering function of the grab bucket.

[0091] After the trolley frequency converter obtains the trolley control instructions from the PLC control unit, it drives the trolley motor to perform corresponding operating actions in the form of hard wiring, so as to realize the sea-side translation and land-side translation functions of the grab bucket.

[0092] After the trolley frequency converter obtains the trolley control command from the PLC control unit, it drives the trolley motor to perform corresponding operating actions in the form of hard wiring, so as to realize the forward and backward functions of the grab bucket ship unloader along the trolley track at the dock.

[0093] like Figure 7 As shown, the detection and recognition unit includes a laser scanner, a high-definition camera, a point cloud processing server, and an image processing server;

[0094] The laser scanner collects laser point cloud data of the ship's cabin operating area and sends it to the point cloud processing server via TCP / IP protocol.

[0095] The high-definition camera transmits the image data of the ship's working area to the image processing server via TCP / IP protocol.

[0096] The point cloud processing server processes the received laser point cloud data to obtain the material distribution status data of the ship's cabin operation area, and transmits the data to the HMI control server in the HMI control unit via TCP / IP protocol.

[0097] The image processing server processes the received image data to obtain the coordinates of the area where the bottom plate of the hold has been exposed in the material distribution pattern of the ship's working area, and transmits the data to the HMI control server in the HMI control unit U1 via TCP / IP protocol.

[0098] by Figure 8 Taking this as an example, the material distribution data of the ship's cabin operation area obtained by the point cloud processing server and the image processing server are explained as follows:

[0099] Method for calculating the number of grabbing points distributed along the direction of the main vehicle within the ship's cabin operating area:

[0100] N = (W 舱口长 -2*S 大车安全 ) / W 抓斗宽 ;

[0101] Take the integer part N 整 , which represents the number of grabbing points distributed in the direction of the large vehicle within the ship's cabin operating area.

[0102] Among them W 舱口长 S is the length of the hatch along the direction of the main carriage; 大车安全 The safe distance reserved from the hatch edge along the direction of the main vehicle is taken as 2m; W 抓斗宽 This refers to the width of the grab bucket.

[0103] The calculation method for the number of rows of grabbing points distributed in the direction of the trolley within the ship's cabin working area:

[0104] M = (W 舱口宽 -2*S 小车安全 ) / W 抓斗长 ;

[0105] Take the integer part M 整 This refers to the number of rows of grabbing points distributed in the direction of the large vehicle within the ship's cabin operating area.

[0106] Among them W 舱口宽 S is the width dimension of the hatch along the direction of the trolley; 小车安全 The safe distance reserved from the hatch edge along the smaller direction is taken as 2m; W 抓斗长 This refers to the length of the grab bucket when it is fully extended.

[0107] Method for determining the number of grab points that have exposed bottom plates in the material distribution pattern of the ship's hold operation area:

[0108] Based on the row and column division of the grabbing points within the ship's hold operating area, the materials inside the hold can be divided into N*M grids, each grid having an area of ​​W. 抓斗宽 *W 抓斗长 .

[0109] The image processing server compares the color card value of the corresponding pixel in each grid. When there is a deviation in the color card value of the same material pixel, it is determined that the grab point of the material belonging to the corresponding grid has been exposed on the bottom plate of the hold.

[0110] For example, if the material is red, the corresponding pixel color card value RGB code is (231, 0, 20). If the detected color in the grid is greenish, the corresponding pixel color card value RGB code is (206, 220, 1), which means that there is a deviation.

[0111] Figure 9 This is a control flowchart for an intelligent unloading system for grab unloaders with irregularly shaped cargo holds.

[0112] The specific control methods for the intelligent unloading system of grab bucket ship unloaders with irregularly shaped cargo holds are as follows:

[0113] Step 1: Operations in the irregular-shaped cabin begin; system functions are activated.

[0114] Step 2: The detection and identification unit starts real-time detection of the material distribution in the ship's cabin operating area;

[0115] Step 3: The detected material distribution pattern and whether the bottom plate of the hopper is exposed at the material grabbing points are displayed on the HMI control interface:

[0116] Step 4: When the bottom plate of the hold is exposed at the material grabbing point, the operator manually blocks the unloading task of the exposed area of ​​the hold through the HMI control interface.

[0117] Step 5: After the system skips the blocked unloading task points, it continues to execute the unloading process;

[0118] Step Six: Repeat the above process until the unloading operation is completed and the system is shut down.

[0119] Taking a 1800t / h grab unloader and a 50,000-ton bulk carrier as examples, this paper explains the control process of the intelligent unloading system for grab unloaders with irregularly shaped cargo holds. Figure 8 As shown: First, the unloading operation of the irregularly shaped hold begins, and the system function is activated; then, the detection and identification unit starts real-time detection of the material distribution in the work area of ​​the hold; the detected material distribution and whether the bottom plate of the hold is exposed at the material grabbing points are displayed on the HMI control interface; when the bottom plate of the hold is exposed at the material grabbing points, the operator manually blocks the unloading task execution in the exposed area through the HMI control interface; the system skips the blocked unloading task points and continues to execute the unloading process; the above process is repeated until the unloading operation is completed, and the system function is turned off.

[0120] It will be used in the grab unloader project produced by the Port Machinery Division of Dalian Huarui Heavy Industry Group Co., Ltd.

[0121] This application provides an intelligent unloading system for grab bucket ship unloaders with irregularly shaped cargo holds. It offers users an intelligent unloading solution for the complex operating environment of irregularly shaped cargo holds, eliminating risks such as collisions during operations within these holds, ensuring unloading efficiency, and improving the safety and reliability of bulk cargo terminal operations. The development of this intelligent unloading system for grab bucket ship unloaders with irregularly shaped cargo holds significantly enhances the core market competitiveness of grab bucket ship unloader products.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 intelligent unloading system for grab bucket unloaders with irregularly shaped cargo holds, characterized in that: include: The mechanism drive unit includes: for driving the grab mechanism to perform lifting, lowering, translational movement along the trolley track, and forward and backward movement along the dock trolley track; Detection and recognition unit: used to collect and process laser point cloud data of the ship's cabin operation area, obtain the distribution pattern of materials in the cabin, and collect and process image data of the ship's cabin operation area to determine the area of ​​the bottom plate of the cabin that has been exposed in the distribution pattern of materials in the cabin. HMI control unit: used to display the acquired material and cabin data information transmitted by the detection and identification unit, and to change and adjust the work process; PLC control unit: used to receive the work task instructions issued by the HMI control unit and the acquired material and ship hold data information, and send control instructions to the mechanism drive unit to enable the grab unloader to complete the unloading operation process. The detection and identification unit includes: Laser scanner: Used to collect laser point cloud data of the ship's working area. Point cloud processing server: Used to receive and process laser point cloud data transmitted by laser scanner to obtain the distribution pattern of materials in the cabin; High-definition camera: used to collect image data of the ship's working area; Image processing server: used to receive and process image data transmitted by the high-definition camera, and to determine the area where the bottom plate of the hold has been exposed in the distribution pattern of materials inside the hold; The process for determining the area where the bottom plate of the hold has been exposed in the distribution pattern of materials inside the hold is as follows: The row and column division of the grabbing points within the ship's hold operating area divides the materials within the hold into N. There are M grids, each with an area of ​​W. 抓斗宽 W 抓斗长 ; Method for calculating the number of grabbing points distributed along the direction of the main vehicle within the ship's cabin operating area: N=(W 舱口长 -2 S 大车安全 ) / W 抓斗宽 ; Take the integer part N 整 , which represents the number of grabbing points distributed in the direction of the large vehicle within the ship's cabin working area; Among them W 舱口长 S is the length of the hatch along the direction of the main carriage; 大车安全 The reserved safe distance from the hatch along the edge of the hatch in the direction of the main vehicle; W 抓斗宽 This refers to the width of the grab bucket; The calculation method for the number of rows of grabbing points distributed in the direction of the trolley within the ship's cabin working area: M=(W 舱口宽 -2 S 小车安全 ) / W 抓斗长 ; Take the integer part M 整 , which represents the number of rows of grabbing points distributed in the direction of the large vehicle within the ship's cabin operating area; Among them W 舱口宽 S is the width dimension of the hatch along the direction of the trolley; 小车安全 The safe distance reserved from the hatch edge along the smaller direction is taken as 2m; W 抓斗长 This refers to the length of the grab bucket when it is fully extended. By comparing the color card values ​​of the corresponding pixels in each grid, if there is a deviation in the color card value of the same material pixel, it is determined that the material grab point of the corresponding grid has been exposed on the bottom plate of the hold.

2. The intelligent unloading system for grab bucket unloaders with irregularly shaped cabins according to claim 1, characterized in that: The mechanism drive unit includes: Hoisting motor: Used to drive the grab mechanism to perform corresponding lifting and lowering actions; Opening and closing motor: used to drive the grab mechanism to perform corresponding lifting, lowering, grab opening and grab closing actions; Trolley motor: Used to drive the grab mechanism to perform corresponding translational movements along the trolley track; Trolley motor: Used to drive the grab unloader to move forward and backward along the trolley track at the dock; Lifting frequency converter: used to control the operation of the lifting motor; Switching frequency converter: used to control the operation of switching motors; Car frequency converter: used to control the operation of the car motor; Trolley frequency converter: used to control the operation of the trolley motor.

3. The intelligent unloading system for grab bucket unloaders with irregularly shaped cabins according to claim 1, characterized in that: The HMI control unit includes: HMI Management Server: Used to run HMI management interface program. The HMI management interface is used to display material and cabin data information obtained by the detection and identification unit through laser scanning and image recognition, and to change and adjust the work process through the HMI management interface. The first switch is used to enable data transmission between the HMI control server and the PLC control unit, as well as between the HMI control server and the point cloud processing server and image processing server in the detection and recognition unit.

4. A control method for an intelligent unloading system for a grab bucket unloader with irregularly shaped cargo compartments according to any one of claims 1-3, characterized in that: Includes the following steps: Step 1: Operations in the irregularly shaped cabin begin; Step 2: The detection and identification unit starts real-time detection of the material distribution in the ship's cabin operating area; Step 3: The detected material distribution pattern and whether the bottom plate of the hopper is exposed at the material grabbing points are displayed on the HMI control interface; Step 4: When the bottom plate of the hold is exposed at the material grabbing point, manually block the unloading task in the exposed area of ​​the hold through the HMI control interface; Step 5: After skipping the blocked unloading task points, continue with the unloading process; Step Six: Repeat the above process until the unloading operation is completed.

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