Grab ship unloader inner cabin material taking method based on three-dimensional space measurement

Abstract

The invention relates to the technical field of grab ship unloader material taking, in particular to a grab ship unloader inner cabin material taking method based on three-dimensional space measurement. The grab ship unloader is provided with a grab bucket, the inner cabin material taking method utilizes a ship unloader onboard server of the grab ship unloader and a full-automatic decision-making system carried by the ship unloader onboard server to carry out algorithm operation and trajectory planning, and the inner cabin material taking method comprises the steps of scanning input, data transmission, data modeling and data analysis. The radars are arranged on the bulldozer and the ship unloader for three-dimensional space measurement to obtain three-dimensional data of information of a hatch of an operation cabin, information of the inner wall of the cabin and information of a cargo pile on the inner wall, full-map three-dimensional information modeling of the cabin is achieved, and accurate closed-loop control over hopper throwing and material taking of the grab ship unloader is achieved through hopper throwing data calculation and analysis.

Description

Technical Field

[0001] The invention relates to the technical field of grab ship unloader material reclaiming, and in particular to a grab ship unloader inner cabin material reclaiming method based on three-dimensional space measurement. Background Art

[0002] When a grab bucket unloader is retrieving materials, since the internal shape of each ship's cabin is different and there is currently no way to form a closed-loop map of the three-dimensional graphics inside the cabin, the current mainstream grab bucket unloader generally adopts a bucket approximation algorithm to dig materials from the inner wall of the cabin. That is, the first bucket unloader swings to a depth D of 1 meter toward the inner wall; the second bucket unloader swings to a depth D of 2.5 meters toward the inner wall; the third bucket swings to a depth D of 4 meters toward the inner wall, and so on.

[0003] The main defects of the bucket-throwing approach material-grabbing algorithm are as follows: 1. Low grabbing efficiency: Since the ship shape data of the inner wall of the cabin of each ship are different, the open-loop bucket-throwing method, considering safety factors, has a very low speed for each bucket throw, which seriously affects the efficiency of automatic operation. 2. Poor safety of grabbing materials: The main core of the bucket-throwing approach algorithm is to set a safe distance for the bucket depth D in advance, and then divide and calculate the bucket depth of each cycle at this safe distance. This method is actually very unsafe, because the safe depth of the bucket is basically set by the driver's visual distance (due to the lack of ship shape data). 3. It is basically impossible to use during actual operations: In view of the above two obvious defects, the driver rarely uses the automatic bucket-throwing mode during actual operations of the bucket-throwing approach algorithm. Summary of the Invention

[0004] The purpose of the present invention is to address the above-mentioned shortcomings of the prior art and provide a method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement. By arranging radars on the pusher and the ship unloader to perform three-dimensional spatial measurement, the three-dimensional data of the hatch of the working cabin, the inner wall of the cabin and the cargo pile on the inner wall are obtained, thereby achieving full coverage of the cabin. Figure 3 Dimensional information modeling is used to achieve precise closed-loop control of the grab ship unloader's bucket reclaiming through bucket data calculation and analysis.

[0005] The technical solutions of the present invention are as follows:

[0006] A method for retrieving material from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement. The grab ship unloader is equipped with a grab bucket. The method utilizes the grab ship unloader's own onboard server and its fully automatic decision-making system to perform algorithm calculations and trajectory planning. The method is characterized in that it includes scanning input, data transmission, data modeling, and data analysis.

[0007] The scanning input, during the cabin opening stage, the ship unloader operator hoists a pusher carrying a 5G communication CPE and a three-dimensional radar I in the bow section cabin, the stern section cabin, and the midship section cabin respectively, and uses the three-dimensional radar I to perform graphic scanning and three-dimensional reconstruction of the inner walls of the bow section cabin, the stern section cabin, and the midship section cabin, thereby obtaining three-dimensional cabin data of the bow section cabin, the stern section cabin, and the midship section cabin respectively; a ship unloader is correspondingly set up in the bow section cabin, the stern section cabin, and the midship section cabin, and each of the ship unloaders is equipped with a laser three-dimensional radar II, which samples the three-dimensional data of the cabin hatch and the three-dimensional data of the material surface within the cabin opening range, and the three-dimensional hatch data includes the plane coordinates and height coordinates of the hatch;

[0008] For data transmission, after the three-dimensional data scanning of the interior cabins of the bow section cabin, the stern section cabin, and the midship section cabin is completed, the three-dimensional data of the interior cabins are sent to the corresponding onboard server of the ship unloader with which a connection has been established through 5G communication via the 5G CPE hoisted in each cabin;

[0009] The data modeling involves the unloader's onboard server receiving the corresponding 3D data for the interior cabins. The server then transmits the 3D data for the bow, stern, and midship sections, as well as the 3D data for the hatches at the bow, stern, and midship sections, and the 3D data for the material surface within the cabin openings at the bow, stern, and midship sections, back to the central control server of the grab ship unloader's fully automatic decision-making system. The central control server uses the transmitted 3D data to reconstruct a digital twin 3D model of the entire ship's cabins. For most dry bulk carriers, the 3D data for midship cabins 2 through X is essentially identical, with the exception of the first and last cabins at the bow and midship sections. Therefore, the central control server can completely reconstruct the 3D data for the entire operating vessel's cabins based on the data transmitted back by the unloader.

[0010] The data analysis adopts a grab bucket to obtain the cabin inner wall swing amplitude suppression algorithm, using the cabin height, cabin opening width, cabin opening length, material height in the cabin, and cabin inner wall depth; the cabin height is subtracted from the material height to obtain the height difference L between the cabin material surface and the cabin opening; the cabin inner wall depth is subtracted from the cabin buckle edge to obtain the depth difference D; the trigonometric function hypotenuse T2=L2+depth D2 is used to obtain the maximum material discharging angle θ of the grab bucket; after obtaining the maximum material discharging angle θ, the initial value of the speed of the discharging bucket can be calculated, and after setting the safety suppression distance, the grab bucket can be used to complete the material discharging in the cabin by gridding the material plane data and cooperating with the trajectory planning algorithm.

[0011] Preferably, the pusher-rake is topped with two pan-tilt platforms capable of 360-degree horizontal rotation. Each platform is equipped with a solid-state 3D radar I with a 180-degree horizontal wide-angle scan and a ±20-degree vertical scan. The pan-tilt platforms rotate at a constant rate of 360 degrees per minute, and the two platforms are mounted back-to-back at a 180-degree angle, performing circular motion. The two 3D radars I are used to scan the three-dimensional interior of the cabin and mineral layer data in hidden areas that cannot be scanned from the unloader's cab from above. The cabin interior data only requires the X / Y / Z data of the four hidden upper corners of the cabin. The mineral layer data on the cabin interior is represented as a point cloud data array, thus completing the map data for the entire cabin.

[0012] Preferably, the 3D LiDAR II is installed below the ship unloader's cab, scanning the 3D data of the corresponding hatch opening currently in operation. This data measures the hatch opening's shape and the ore surface of the open portion of the hatch. This hatch opening data is updated twice per operation cycle: once after the grab bucket exits the hatch, and once before it returns. The updated 3D data is transmitted as an array to the ship unloader's onboard server via an Ethernet communication interface. The hatch opening 3D data includes the X / Y / Z 3D point cloud coordinates of the hatch opening's four corners, while the ore surface data of the open portion of the hatch opening includes the 3D point cloud coordinates of the ore surface of the open portion of the hatch opening.

[0013] Preferably, the inner cabin reclaiming method further includes an alarm interlocking system. A GPS positioning system including differential positioning is installed on the pusher and rake. The GPS positioning accuracy is controlled at 0.5 meters. The GPS positioning system feeds back the position of the pusher and rake to the ship unloader, and then interlocks with the bucket throwing action of the ship unloader. The logic of the alarm interlocking system includes:

[0014] (1) When the pusher is located within the safety range of area 1, the grab bucket can be used in areas 3 and 4 to make the bucket move on the land side of the trolley and the bucket move on the left or right of the truck;

[0015] (2) When the pusher is located within the safety range of area 2, the grab bucket can move in areas 3 and 4 to drop the bucket when the trolley moves on the land side, or to drop the bucket when the truck moves left or right;

[0016] (3) When the pusher is located within the safety range of area 3, the grab bucket can make the trolley side movement and bucket throwing action in areas 1 and 2, and the truck left / truck right movement and bucket throwing action;

[0017] (4) When the pusher is located within the safety range of area 4, the grab bucket can move to the side of the car and throw the bucket in area 1 or area 2, or move to the left or right of the truck and throw the bucket.

[0018] Because the boundary anti-collision graphics of the bulldozer are marked with the maximum working size in the expression of map information, considering the balance between actual application needs and cost control, it is sufficient to control the accuracy within the range of 0.5 meters.

[0019] Preferably, the data communication channel between the ship unloader's onboard server and the central control server of the grab ship unloader's fully automatic decision-making system includes an onboard optical fiber and a 5G CPE. The two communication channels back up each other. When any communication link is disconnected, the other communication link will automatically switch the communication data. The self-check time of the communication diagnosis is 1 second. If the communication diagnosis fails and the delay is 4 seconds, the data connection will be immediately switched to another link if it is not restored. The central control server and each ship unloader's onboard server are configured with two sets of software background communication services. The software database of the central control server uses dual-channel data for mutual redundant backup to verify the received data to ensure the validity and accuracy of the data.

[0020] Preferably, after obtaining the corresponding three-dimensional data of the hatch, the three-dimensional data of the cabin, and the three-dimensional data of the ore layer in the cabin, the ship unloader's onboard server uses graphical processing to automatically reconstruct the three-dimensional model of the entire cabin and the three-dimensional model of the entire ore layer, and automatically calculates the limit linear coordinates of the maximum bucket material extraction from the cabin inner wall, that is, the maximum safe bucket angle θ and the length T of the wire rope in the cabin; the cabin number information set for the current ship unloader operation, the scanned cabin information, and the calculated bucket material extraction limit information are transmitted back to the central control server, and the ship unloader's onboard server only displays the data information of the current operating cabin.

[0021] Preferably, after receiving the inner cabin three-dimensional data, hatch three-dimensional data and mineral layer data sent back by the onboard servers of each ship unloader, the central control server uses graphical processing to reconstruct the three-dimensional model of the current operating cabin data and mineral layer data; for the cabin that is not yet in operation, it is processed as a graphic of no material in the cabin (that is, the cabin has not yet obtained data and has not been activated for use). When the ship unloader performs a new cabin operation, the graphic of the cabin without data will be updated; when the three-dimensional data of the cabin with the manually set number of cabin spaces at the start of the operation are all activated, the three-dimensional graphics of the cabin of the current operating berth will all be displayed with the actual three-dimensional coordinates of the mineral layer in the cabin.

[0022] As a preferred option, the ship unloader's onboard server and the central control server synchronize data every 30 seconds. The ship unloader in the current operating cabin will synchronize the cabin's real-time data with the ore layer's real-time data and transmit it back to the central control server. The model synchronization mechanism includes:

[0023] (1) Start operation phase: set the total number of cabins, scan the information of the current operating cabin, synchronize the information of the current operating cabin, including cabin information and ore layer information; the central control server automatically constructs the entire operating ship information and displays the ship, cabin, and ore layer information. The onboard server and the central control server are synchronized and the operation starts;

[0024] (2) New hold stage: The unloader enters the new hold, sets the hold number, scans the hold information, and the onboard server and the central control server complete the synchronization and start the new hold operation;

[0025] (3) Tank change operation stage: The two ship unloaders change tanks. The ship unloader enters the tank change area, selects the tank number, and the onboard server downloads the latest tank information from the central control server. The ship unloader and the pusher and rake scan the tank information, the data synchronization is completed, and the tank change operation begins;

[0026] (4) Adding a new ship unloader: After the newly added ship unloader and pusher rake enter the operation area, the current operation cabin number is set, the cabin information is scanned, and the data synchronization is completed; the operation starts, and the central control server displays the real-time interface of the newly added ship unloader and pusher rake;

[0027] (5) New operation ship unloader stage: After the current operation ship unloader moves out of the ship's operating range, the operation task is cleared and the data synchronization is completed; the real-time display interface of the central control server deletes the display information of the ship unloader and the pusher.

[0028] Preferably, the data analysis includes bucket amplitude limit calculation and swing speed calculation:

[0029] (1) Bucket throw limit calculation stage: The ship unloader and pusher rake feedback the cabin map information, analyze the current maximum bucket throw distance on the sea side, the maximum bucket throw distance on the land side, the maximum bucket throw distance for the truck to the left, and the maximum bucket throw distance for the truck to the right; after the data analysis is completed, the bucket throw limit distance of the current center point is immediately sent to the grab ship unloader automatic decision system through the internal data column; after receiving the current bucket throw limit, the grab ship unloader automatic decision system will send the bucket coordinates to be taken back to the ship unloader onboard server;

[0030] (2) Initial swing velocity calculation stage: When the depth parameter D at which the bucket needs to be thrown and the length parameter T of the wire rope in the cabin are known, the grab ship unloader automatic decision-making system automatically calculates the swing angle θ; after obtaining the swing angle θ, the grab ship unloader automatic decision-making system automatically calculates the initial velocity at which the grab needs to swing during the swing process; the swing process is further divided into two situations, one of which is that the moving trolley / cart has a sufficient movement distance, and the grab can swing to the angle θ at the current distance; the other is that the moving trolley / cart has an insufficient movement distance, and the grab cannot swing to the angle θ.

[0031] Preferably, the data analysis,

[0032] Sequential material retrieving (sufficient swinging distance): Under normal fully automatic operation, the fully automatic operation will automatically number the retrieving areas in the cabin, and the operator will set the queue order of the retrieving numbers before starting to retrieving materials. In the process of sequential material retrieving, the swing angle θ of the grab bucket and the initial speed required for the grab bucket to swing are automatically calculated when the grab bucket goes down to the cabin to retrieve materials. Therefore, the whole process is continuous and there will be no situation where the swing distance is insufficient.

[0033] Inserting new grabbing coordinates during sequential grabbing (sufficient swinging distance): During the grabbing process, if the operator inserts the coordinates for the next grabbing operation before the grabbing bucket returns to the hopper area to unload the material, the unloader will suspend the next sequential grabbing operation and calculate the grabbing bucket trajectory and initial velocity required for the next grabbing operation in advance. During the next grabbing operation, the grabbing bucket will be loaded according to the trajectory plan.

[0034] Inserting new coordinates during sequential reclaiming (insufficient swing distance): During the sequential reclaiming process, if the operator inserts the coordinates required for the next reclaim operation after the grab has returned to the ship's hold according to the established trajectory plan, the unloader will cancel the trajectory planning movement for this operation. After the trolley / hoist automatically decelerates and stops, the system automatically replans the path and automatically moves to the hoist and trolley coordinate points calculated for the current reclaiming operation. The reclaiming process then begins again. After the current reclaiming operation is completed, the continuous movement of the next reclaiming cycle will be continued.

[0035] Grab bucket throwing is only applicable during the hold opening and rapid material removal phases, not during the hold clearing phase. This is because the hold clearing phase relies primarily on the pusher rake to push materials from the hold edges to the center, while the unloader's grab bucket removes materials entirely from the center of the hold. Therefore, there is no need to activate the bucket throwing operation during the hold clearing phase.

[0036] The pusher is equipped with an outdoor 5G CPE that supports multiple wireless standards, including 5G NR, LTE, and WCDMA, and can connect to ISPs such as China Mobile, China Telecom, and China Unicom. The ship unloader is also equipped with an outdoor 5G CPE, which forms a dedicated 5G LAN with the pusher, enabling fixed-point communication. Because the ship unloader's 5G CPE has a fixed IP address, while the pusher working with it is not fixed at each operation, before each operation, the user selects the pusher's device number currently paired with the ship unloader in the HMI software's network communication interface to establish a communication connection.

[0037] The onboard server only contains the complete operational decision-making system for fully automated operations at this local machine, while the central control server simultaneously handles the complete operational decision-making system for all ship unloaders at the entire unloading terminal. Furthermore, during real-time unloader operations, the central control server and the onboard server implement hot redundancy and cross-verification of decision-making system data with unloader feedback. Therefore, even if communication with the central control fails, fully automated operations can still be performed locally using the onboard server. Once communication is restored, the onboard server automatically updates the central control server's operational data.

[0038] Beneficial effects of the present invention

[0039] The present invention is rationally designed and scientifically efficient. It utilizes a fully automatic decision-making system for grab ship unloaders, supplements cabin wall information and cargo pile information with a pusher and rake inside the cabin, and integrates and reconstructs a digital twin 3D model of the entire ship's cabin, combining the 3D data collected by the ship unloader. This addresses the technical pain points of the ship unloader, such as poor safety and low efficiency of the automatic link caused by incomplete cabin information.

[0040] The inner cabin material-retrieving method of the present invention realizes the closed-loop control of the bucket-throwing control process, greatly improving the safety and reliability of grab bucket-throwing material-retrieving during fully automatic operation, and is an effective method to comprehensively improve the safety and reliability of fully automatic operation and ensure efficiency. The inner cabin material-retrieving method of the present invention achieves the goal of precise control of the bucket-throwing distance, and accurately controls the depth of the bucket by precisely controlling the bucket-throwing angle θ, thereby achieving the accuracy of bucket-throwing material-retrieving, which is impossible to achieve by visual manual bucket-throwing and open-loop automatic bucket-throwing material-retrieving. At the same time, because the three-dimensional map of the cabin inner wall and the three-dimensional information of the cargo pile on the cabin inner wall are supplemented, and the angle θ of the grab bucket-throwing material-retrieving can be precisely controlled, the safety of bucket-throwing material-retrieving during fully automatic operation has achieved a qualitative leap.

[0041] The present invention's internal cabin material extraction method is highly adaptable to various ship and cabin types, as both the unloader and the pusher / rake are equipped with three-dimensional radars and achieve full-link collaboration during the fully automated operation, making it agnostic about ship and cabin types. Furthermore, the fully automated decision-making system no longer requires a massive database to memorize ship and cabin types. Ship types at each port cannot be completely fixed, and memorizing all ship and cabin types would require a massive database for storage. Therefore, the present invention's deployment is highly real-time, eliminating the need for a massive database and enabling a fast and efficient fully automated operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 It is a logic block diagram of the method of the present invention.

[0044] Figure 2 This is a schematic diagram of the calculation of the bucket reclaiming material of the present invention.

[0045] Figure 3 This is a numbered schematic diagram of the sequential and automatic material taking process of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0047] CPE, short for Customer-Premise Equipment, is a type of 5G terminal device. It receives 5G signals from the operator's base station and converts them into WiFi or wired signals for local devices (mobile phones, tablets, and computers) to access the internet. A 5G CPE is essentially a fusion of a 5G modem and a WiFi router. With a standalone 5G CPE, devices can access the internet directly via WiFi signals or the CPE's LAN port, eliminating the need for fiber optic connections. Of course, a 5G SIM card must be inserted into the CPE's SIM card slot.

[0048] Example 1

[0049] A method for retrieving material from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement. The grab ship unloader is equipped with a grab bucket. The method utilizes the grab ship unloader's own onboard server and its fully automatic decision-making system to perform algorithm calculations and trajectory planning. The method includes scanning input, data transmission, data modeling, and data analysis.

[0050] Scanning input. During the cabin opening stage, the unloader operator hoisted a pusher carrying 5G communication CPE and 3D radar I in the bow section cabin, stern section cabin, and midship section cabin respectively, and used the 3D radar I to perform graphic scanning and 3D reconstruction of the inner walls of the bow section cabin, stern section cabin, and midship section cabin, thereby obtaining the 3D data of the inner cabins of the bow section cabin, stern section cabin, and midship section cabin respectively; unloaders were respectively set up in the bow section cabin, stern section cabin, and midship section cabin, and each unloader was equipped with a laser 3D radar II. The laser 3D radar II sampled the 3D data of the cabin hatch and the 3D data of the material surface within the cabin opening range. The 3D data of the hatch included the plane coordinates and height coordinates of the hatch. Mounted atop the pusher rake are two pan-tilt platforms capable of 360-degree horizontal rotation. Each platform houses a solid-state 3D radar I with a 180-degree horizontal wide-angle scan and ±20-degree vertical coverage. The pan-tilt platforms rotate at a constant rate of 360 degrees per minute, mounted back-to-back at 180 degrees, in a circular motion. These two 3D radars are used to scan the interior of the cabin, providing 3D data and mineral layer data in hidden areas that are inaccessible from the unloader operator's cab. The cabin interior data only requires X / Y / Z data from the four hidden upper corners of the cabin. The mineral layer data is represented as a point cloud array, creating a complete map of the entire cabin. A 3D LiDAR II is installed below the ship unloader's cab. It scans the 3D data of the hatch openings currently in operation, measuring both the hatch shape and the surface of the ore layer within the hatch opening. The hatch data is updated twice per operation cycle: once after the grab bucket exits the hatch, and once before it returns. The updated data is transmitted in array form to the ship unloader's onboard server via an Ethernet communication interface. The hatch data includes the X / Y / Z point cloud coordinates of the hatch opening's four corners, while the ore layer surface data within the hatch opening includes the 3D point cloud coordinates of the ore layer within the hatch opening.

[0051] After completing 3D scans of the bow, stern, and midship interiors, 5G CPEs hoisted from each hold are used to transmit this data via 5G communications to the corresponding onboard server of the ship unloader. The pusher-rake is equipped with an outdoor 5G CPE that supports multiple wireless standards, including 5G NR, LTE, and WCDMA, and can connect to ISPs such as China Mobile, China Telecom, and China Unicom. Another outdoor 5G CPE is also installed on the ship unloader, forming a dedicated 5G local area network with the pusher-rake, enabling fixed-point communication.

[0052] The data communication channels between the ship unloader's onboard server and the central control server of the grab ship unloader's fully automatic decision-making system include onboard optical fiber and 5G CPE. The two communication channels back up each other. When any communication link is disconnected, the other communication link will automatically switch the communication data. The self-test time of communication diagnosis is 1 second. If the communication diagnosis fails and the delay is 4 seconds, the data connection will be immediately switched to another link if it is not restored. The central control server and each ship unloader's onboard server are equipped with two sets of software background communication services. The software database of the central control server uses dual-channel data for mutual redundant backup to verify the received data to ensure the validity and accuracy of the data.

[0053] Data modeling: After receiving the corresponding 3D data of the internal cabins, the ship unloader's onboard server transmits the 3D data of the bow, stern, and midship sections, as well as the 3D data of the hatches, and the 3D data of the material surface within the cabin openings of the bow, stern, and midship sections, back to the central control server of the grab ship unloader's fully automatic decision-making system. The central control server uses the returned 3D data to reconstruct a 3D digital twin model of the entire ship's cabins. For most dry bulk carriers, the 3D data of midship cabins 2 to X is essentially identical, with the exception of the first and last cabins at the bow and midship sections. Therefore, the central control server can completely reconstruct the 3D data of the entire operating ship's cabins based on the data transmitted by the ship unloader.

[0054] After receiving the 3D data of the interior cabin, hatch, and ore layer from the onboard servers of each ship unloader, the central control server uses graphical processing to reconstruct the 3D model of the current operating cabin data and ore layer data. For cabins not yet in operation, the graphics of the cabins without material are processed (i.e., the cabins have not yet obtained data and have not been activated for use). When the ship unloader performs new cabin operations, the graphics of the cabins without data will be updated. When the 3D data of the cabins with the number of manually set cabins at the beginning of the operation are all activated, the 3D graphics of the cabins at the current operating berth will all be displayed with the actual 3D coordinates of the ore layer inside the cabin. Inactivated operating cabins will be displayed in gray layers with no data. Only activated cabins will display the normal 3D coordinates of the cabin and cargo. For example, there are three ship unloaders operating simultaneously at the current operating berth, and the other cabins have not yet been activated. Before the operation starts, the number of cabins set is 8 cabins. The number of cabins currently displayed with high brightness is 3, and the other 5 cabins that have not yet been activated are displayed as no mineral layer data.

[0055] Data analysis, using grab bucket to obtain the cabin inner wall swing amplitude suppression algorithm, using the cabin height, cabin opening width, cabin opening length, material height in the cabin, cabin inner wall depth; using the cabin height minus the material height to obtain the height difference L between the cabin material surface and the cabin opening; using the cabin inner wall depth minus the cabin buckle edge to obtain the depth difference D; using the trigonometric function hypotenuse T2=L2+depth D2, the maximum grab bucket discharging angle θ can be obtained; after obtaining the maximum discharging angle θ, the initial value of the discharging bucket speed can be calculated, and after setting the safety suppression distance, the grab bucket can be used to complete the material discharging in the cabin by gridding the material plane data and cooperating with the trajectory planning algorithm.

[0056] After obtaining the corresponding three-dimensional data of the hatch, the three-dimensional data of the cabin, and the three-dimensional data of the ore layer in the cabin, the ship unloader's onboard server uses graphical processing to automatically reconstruct the three-dimensional model of the entire cabin and the three-dimensional model of the entire ore layer, and automatically calculates the limit linear coordinates of the maximum bucket material extraction from the cabin inner wall, that is, the maximum safe bucket extraction angle θ and the length T of the wire rope in the cabin; the cabin number information set for the current ship unloader operation, the scanned cabin information, and the calculated bucket extraction limit information are transmitted back to the central control server. The ship unloader's onboard server only displays the data information of the current operating cabin.

[0057] The internal reclaiming method also includes an alarm interlock. A GPS positioning system with differential positioning is installed on the pusher. The GPS positioning accuracy is controlled at 0.5 meters. The GPS positioning system feeds the pusher's position back to the ship unloader, which then interlocks with the ship unloader's bucket throwing action. The alarm interlock logic includes:

[0058] (1) When the pusher is located within the safety range of area 1, the grab bucket can be used in areas 3 and 4 to make the bucket move on the land side of the trolley and the bucket move on the left or right of the truck;

[0059] (2) When the pusher is located within the safety range of area 2, the grab bucket can move in areas 3 and 4 to drop the bucket when the trolley moves on the land side, or to drop the bucket when the truck moves left or right;

[0060] (3) When the pusher is located within the safety range of area 3, the grab bucket can make the trolley side movement and bucket throwing action in areas 1 and 2, and the truck left / truck right movement and bucket throwing action;

[0061] (4) When the pusher is located within the safety range of area 4, the grab bucket can move to the side of the car and throw the bucket in area 1 or area 2, or move to the left or right of the truck and throw the bucket.

[0062] Because the boundary anti-collision graphics of the bulldozer are marked with the maximum working size in the expression of map information, considering the balance between actual application needs and cost control, it is sufficient to control the accuracy within the range of 0.5 meters.

[0063] The ship unloader's onboard server synchronizes data with the central control server every 30 seconds. The ship unloader in the current operating hold synchronizes the real-time data of the hold and the ore layer back to the central control server. The model synchronization mechanism includes:

[0064] (1) Start operation phase: set the total number of cabins, scan the information of the current operating cabin, synchronize the information of the current operating cabin, including cabin information and ore layer information; the central control server automatically constructs the entire operating ship information and displays the ship, cabin, and ore layer information. The onboard server and the central control server are synchronized and the operation starts;

[0065] (2) New hold stage: The unloader enters the new hold, sets the hold number, scans the hold information, and the onboard server and the central control server complete the synchronization and start the new hold operation;

[0066] (3) Tank change operation stage: The two ship unloaders change tanks. The ship unloader enters the tank change area, selects the tank number, and the onboard server downloads the latest tank information from the central control server. The ship unloader and the pusher and rake scan the tank information, the data synchronization is completed, and the tank change operation begins;

[0067] (4) Adding a new ship unloader: After the newly added ship unloader and pusher rake enter the operation area, the current operation cabin number is set, the cabin information is scanned, and the data synchronization is completed; the operation starts, and the central control server displays the real-time interface of the newly added ship unloader and pusher rake;

[0068] (5) New operation ship unloader stage: After the current operation ship unloader moves out of the ship's operating range, the operation task is cleared and the data synchronization is completed; the real-time display interface of the central control server deletes the display information of the ship unloader and the pusher.

[0069] Data analysis includes calculation of bucket limit and swing speed:

[0070] (1) Bucket throw limit calculation stage: The ship unloader and pusher rake feedback the cabin map information, analyze the current maximum bucket throw distance on the sea side, the maximum bucket throw distance on the land side, the maximum bucket throw distance for the truck to the left, and the maximum bucket throw distance for the truck to the right; after the data analysis is completed, the bucket throw limit distance of the current center point is immediately sent to the grab ship unloader automatic decision system through the internal data column; after receiving the current bucket throw limit, the grab ship unloader automatic decision system will send the bucket coordinates to be taken back to the ship unloader onboard server;

[0071] (2) Initial swing velocity calculation stage: When the depth parameter D at which the bucket needs to be thrown and the length parameter T of the wire rope in the cabin are known, the grab ship unloader automatic decision-making system automatically calculates the swing angle θ; after obtaining the swing angle θ, the grab ship unloader automatic decision-making system automatically calculates the initial velocity at which the grab needs to swing during the swing process; the swing process is further divided into two situations, one of which is that the moving trolley / cart has a sufficient movement distance, and the grab can swing to the angle θ at the current distance; the other is that the moving trolley / cart has an insufficient movement distance, and the grab cannot swing to the angle θ.

[0072] Data analysis, sequential material collection (sufficient swinging distance): Under normal fully automatic operation, the fully automatic operation will automatically number the material collection areas in the cabin, and the operator will set the queue order of the material collection numbers, and then start collecting materials; in the process of sequential material collection, the material removal process of the cabin wall has automatically calculated the swing bucket's θ angle and the initial speed required for the grab bucket to swing when the grab bucket goes down to the cabin to collect materials; therefore, the whole process is continuous and there will be no situation where the swing distance is insufficient. The numbering diagram of the automatic material collection process is attached to the instruction manual. Figure 3 .

[0073] Inserting new grabbing coordinates during sequential grabbing (sufficient swinging distance): During the grabbing process, if the operator inserts the coordinates for the next grabbing operation before the grabbing bucket returns to the hopper area to unload the material, the unloader will suspend the next sequential grabbing operation and calculate the grabbing bucket trajectory and initial velocity required for the next grabbing operation in advance. During the next grabbing operation, the grabbing bucket will be loaded according to the trajectory plan.

[0074] Inserting new coordinates during sequential reclaiming (insufficient swing distance): During the sequential reclaiming process, if the operator inserts the coordinates required for the next reclaim operation after the grab has returned to the ship's hold according to the established trajectory plan, the unloader will cancel the trajectory planning movement for this operation. After the trolley / hoist automatically decelerates and stops, the system automatically replans the path and automatically moves to the hoist and trolley coordinate points calculated for the current reclaiming operation. The reclaiming process then begins again. After the current reclaiming operation is completed, the continuous movement of the next reclaiming cycle will be continued.

Claims

1. A method for retrieving material from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement. The grab ship unloader is equipped with a grab bucket. The method utilizes the grab ship unloader's own onboard server and its fully automatic decision-making system to perform algorithm calculations and trajectory planning. The method is characterized by: The method for retrieving materials from the inner cabin includes scanning input, data transmission, data modeling, and data analysis; The scanning input, during the cabin opening stage, the ship unloader operator hoists a pusher carrying a 5G communication CPE and a three-dimensional radar I in the bow section cabin, the stern section cabin, and the midship section cabin respectively, and uses the three-dimensional radar I to perform graphic scanning and three-dimensional reconstruction of the inner walls of the bow section cabin, the stern section cabin, and the midship section cabin, thereby obtaining three-dimensional cabin data of the bow section cabin, the stern section cabin, and the midship section cabin respectively; a ship unloader is correspondingly set up in the bow section cabin, the stern section cabin, and the midship section cabin, and each of the ship unloaders is equipped with a laser three-dimensional radar II, which samples the three-dimensional data of the cabin hatch and the three-dimensional data of the material surface within the cabin opening range, and the three-dimensional hatch data includes the plane coordinates and height coordinates of the hatch; For data transmission, after the three-dimensional data scanning of the interior cabins of the bow section cabin, the stern section cabin, and the midship section cabin is completed, the three-dimensional data of the interior cabins are sent to the corresponding onboard server of the ship unloader with which a connection has been established through 5G communication via the 5G CPE hoisted in each cabin; The data modeling is carried out by transmitting the 3D data of the corresponding interior cabins to the ship unloader's onboard server, which transmits the 3D data of the interior cabins of the bow section, stern section, and midship section, as well as the 3D data of the hatches of the bow section, stern section, and midship section, and the 3D data of the surface of the materials within the cabin openings of the bow section, stern section, and midship section, to the central control server of the grab ship unloader's fully automatic decision-making system. The central control server uses the transmitted 3D data to reconstruct a digital twin 3D model of the entire ship's cabin. The data analysis adopts a grab bucket to obtain the cabin inner wall swing amplitude suppression algorithm, using the cabin height, cabin opening width, cabin opening length, material height in the cabin, and cabin inner wall depth; the cabin height is subtracted from the material height to obtain the height difference L between the cabin material surface and the cabin opening; the cabin inner wall depth is subtracted from the cabin buckle edge to obtain the depth difference D; the trigonometric function hypotenuse T2=L2+depth D2 is used to obtain the maximum material discharging angle θ of the grab bucket; after obtaining the maximum material discharging angle θ, the initial value of the speed of the discharging bucket can be calculated, and after setting the safety suppression distance, the grab bucket can be used to complete the material discharging in the cabin by gridding the material plane data and cooperating with the trajectory planning algorithm.

2. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: Two pan-tilt platforms with 360-degree horizontal rotation are installed on the top of the pusher rake. Each pan-tilt platform is equipped with a solid-state three-dimensional radar I with a horizontal 180-degree wide-angle scanning and a vertical ±20-degree scanning. The pan-tilt platforms rotate at a constant speed of 360 degrees per minute. The two pan-tilt platforms are installed back-to-back at an angle of 180 degrees and perform circular motion. The two three-dimensional radars I are used to scan the three-dimensional data of the cabin inner wall and the mineral layer data in the hidden parts of the cabin, that is, the blind spots that cannot be scanned from the top down of the ship unloader driver's cab.

3. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: The laser 3D radar II is installed at the bottom of the ship unloader driver's cab, and scans the corresponding 3D data of the hatch of the current operation ship. It can measure the 3D data of the hatch shape and the 3D data of the ore layer surface in the open part of the hatch. The hatch data is updated twice according to each operation cycle, namely the data after the grab bucket leaves the hatch and the data before the grab bucket returns to the hatch. The update frequency is once every 30 seconds.

4. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: The inner cabin reclaiming method also includes an alarm interlock. A GPS positioning system including differential positioning is installed on the pusher and rake. The GPS positioning accuracy is controlled at 0.5 meters. The GPS positioning system feeds back the position of the pusher and rake to the ship unloader, and then interlocks with the bucket throwing action of the ship unloader. The logic of the alarm interlock includes: (1) When the pusher is located within the safety range of area 1, the grab bucket can be used in areas 3 and 4 to make the bucket move on the land side of the trolley and the bucket move on the left or right of the truck; (2) When the pusher is located within the safety range of area 2, the grab bucket can move in areas 3 and 4 to drop the bucket when the trolley moves on the land side, or to drop the bucket when the truck moves left or right; (3) When the pusher is located within the safety range of area 3, the grab bucket can make the trolley side movement and bucket throwing action in areas 1 and 2, and the truck left / truck right movement and bucket throwing action; (4) When the pusher is located within the safety range of area 4, the grab bucket can move to the side of the car and throw the bucket in area 1 or area 2, or move to the left or right of the truck and throw the bucket.

5. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: The data communication channels between the ship unloader's onboard server and the central control server of the grab ship unloader's fully automatic decision-making system include onboard optical fiber and 5G CPE. The two communication channels back up each other. When any communication link is disconnected, the other communication link will automatically switch the communication data. The self-test time of communication diagnosis is 1 second. If the communication diagnosis fails and the delay is 4 seconds, the data connection will be immediately switched to another link if it is not restored. The central control server and each ship unloader's onboard server are equipped with two sets of software background communication services. The software database of the central control server uses dual-channel data for mutual redundant backup to verify the received data to ensure the validity and accuracy of the data.

6. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: After obtaining the corresponding three-dimensional data of the hatch, the three-dimensional data of the cabin, and the three-dimensional data of the ore layer in the cabin, the ship unloader's onboard server uses graphical processing to automatically reconstruct the three-dimensional model of the entire cabin and the three-dimensional model of the entire ore layer, and automatically calculates the limit linear coordinates of the maximum bucket material extraction from the cabin inner wall, that is, the maximum safe bucket extraction angle θ and the length T of the wire rope in the cabin; the cabin number information set for the current ship unloader operation, the scanned cabin information, and the calculated bucket extraction limit information are transmitted back to the central control server. The ship unloader's onboard server only displays the data information of the current operating cabin.

7. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: After receiving the three-dimensional data of the interior cabin, hatch and ore layer from the onboard servers of each ship unloader, the central control server uses graphical processing to reconstruct the three-dimensional model of the current operating cabin data and ore layer data; for the cabin that is not yet in operation, it is processed as a graphic of no material in the cabin. When the ship unloader performs a new cabin operation, the graphic of the cabin without data will be updated; when the three-dimensional data of the cabin with the manually set number of cabin spaces at the beginning of the operation are all activated, the three-dimensional graphics of the cabin of the current operating berth will all be displayed with the actual three-dimensional coordinates of the ore layer in the cabin.

8. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: The ship unloader's onboard server and the central control server synchronize data every 30 seconds; The unloading machine in the current operation cabin will synchronize the real-time cabin data and the real-time ore layer data back to the central control server. The model synchronization mechanism includes: (1) Start operation phase: set the total number of cabins, scan the information of the current operating cabin, synchronize the information of the current operating cabin, including cabin information and ore layer information; the central control server automatically constructs the entire operating ship information and displays the ship, cabin, and ore layer information. The onboard server and the central control server are synchronized and the operation starts; (2) New hold stage: The unloader enters the new hold, sets the hold number, scans the hold information, and the onboard server and the central control server complete the synchronization and start the new hold operation; (3) Tank change operation stage: The two ship unloaders change tanks. The ship unloader enters the tank change area, selects the tank number, and the onboard server downloads the latest tank information from the central control server. The ship unloader and the pusher and rake scan the tank information, the data synchronization is completed, and the tank change operation begins; (4) Adding a new ship unloader: After the newly added ship unloader and pusher rake enter the operation area, the current operation cabin number is set, the cabin information is scanned, and the data synchronization is completed; the operation starts, and the central control server displays the real-time interface of the newly added ship unloader and pusher rake; (5) New operation ship unloader stage: After the current operation ship unloader moves out of the ship's operating range, the operation task is cleared and the data synchronization is completed; the real-time display interface of the central control server deletes the display information of the ship unloader and the pusher.

9. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional spatial measurement according to claim 1, characterized in that: The data analysis includes calculation of bucket limit and swing speed: (1) Bucket throw limit calculation stage: The ship unloader and pusher rake feedback the cabin map information, analyze the current maximum bucket throw distance on the sea side, the maximum bucket throw distance on the land side, the maximum bucket throw distance for the truck to the left, and the maximum bucket throw distance for the truck to the right; after the data analysis is completed, the bucket throw limit distance of the current center point is immediately sent to the grab ship unloader automatic decision system through the internal data column; after receiving the current bucket throw limit, the grab ship unloader automatic decision system will send the bucket coordinates to be taken back to the ship unloader onboard server; (2) Initial swing velocity calculation stage: When the depth parameter D at which the bucket needs to be thrown and the length parameter T of the wire rope in the cabin are known, the grab ship unloader automatic decision-making system automatically calculates the swing angle θ; after obtaining the swing angle θ, the grab ship unloader automatic decision-making system automatically calculates the initial velocity at which the grab needs to swing during the swing process; the swing process is further divided into two situations, one of which is that the moving trolley / cart has a sufficient movement distance, and the grab can swing to the angle θ at the current distance; the other is that the moving trolley / cart has an insufficient movement distance, and the grab cannot swing to the angle θ.

10. The method for retrieving materials from the inner cabin of a grab ship unloader based on three-dimensional space measurement according to claim 9, characterized in that: The data analysis, Sequential material reclaiming: Under normal fully automatic operation, the fully automatic operation will automatically number the reclaiming areas in the cabin, and the operator will set the queue order of the reclaiming numbers before starting to reclaim the materials. In the process of sequential material reclaiming, the swing angle θ of the grab bucket and the initial speed required for the grab bucket to swing are automatically calculated when the grab bucket goes down to the cabin to reclaim the materials. Inserting new grabbing coordinates during sequential grabbing: During the grabbing process, if the operator inserts the coordinates for the next grabbing operation before the grabbing bucket returns to the hopper area to unload the material, the unloader will suspend the next sequential grabbing operation and calculate the grabbing bucket trajectory and initial velocity required for the next grabbing operation in advance. During the next grabbing operation, the grabbing bucket will be loaded according to the trajectory plan. Inserting new grab coordinates during sequential reclaiming: During the grab bucket sequential reclaiming process, if the operator inserts the coordinates needed for the next bucket reclaim after the grab bucket has returned to the ship's hold according to the planned trajectory, the unloader will cancel the planned trajectory for that operation. The trolley / hoist will automatically slow down and stop, and the system will automatically re-plan the path and move to the hoist and trolley coordinates calculated for the current bucket reclaiming process. The current bucket reclaiming process will then begin. Once the current bucket reclaiming process is completed, the next reclaiming cycle will continue.

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