Screw ship unloader feeding device pose determination system based on laser recognition

Abstract

The invention relates to the technical field of screw ship unloaders, in particular to a screw ship unloader feeding device pose determination system based on laser recognition, comprising: a laser recognition module for scanning the surface of a material in a cabin and obtaining three-dimensional space coordinate data; the positioning and posture acquisition module is used for acquiring posture information of the screw ship unloader feeding module; the control module is used for generating a control instruction according to the three-dimensional space coordinate data, the pose information and a preset unloading position; the screw ship unloader feeding module is used for conveying materials in a cabin to a preset discharging position according to the control instruction. According to the invention, through acquiring the three-dimensional coordinates of cabin materials and the pose information of the feeding module in real time, the dynamic optimization control of the conveying path and speed is realized. The discharging precision and efficiency are improved, material residues are reduced, the operation time is shortened, manual intervention is reduced, system automation and safety are enhanced, and the intelligent level of port ship unloading operation is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spiral ship unloaders, in particular to a spiral ship unloader feeding device pose positioning system based on laser recognition. BACKGROUND

[0002] With the continuous development of port logistics and unloading operations of bulk materials such as ores, spiral ship unloaders, as a kind of efficient ship cabin material conveying equipment, are widely used in the automatic unloading process of ship cabin materials. In the material conveying process of traditional spiral ship unloaders, experience operation and simple mechanical control are usually relied on, and it is difficult to accurately obtain the spatial distribution and loading state of the materials in the ship cabin in real time, resulting in unreasonable material conveying path planning, low efficiency, and problems such as uneven material unloading and more residues.

[0003] In the prior art, the pose adjustment of the material conveying device relies on manual or fixed path planning, and it is difficult to realize real-time perception and dynamic response to the three-dimensional form of the material surface, affecting the unloading efficiency and safety. At the same time, there is a lack of high-precision positioning and attitude acquisition means, making it difficult to achieve accurate control of the spiral ship unloader feeding module. SUMMARY

[0004] (I) Invention purpose

[0005] The purpose of the present application is to provide a spiral ship unloader feeding device pose positioning system based on laser recognition, which realizes dynamic optimization control of the conveying path and speed by real-time acquisition of the three-dimensional coordinates of the ship cabin materials and the pose information of the feeding module. Improve unloading accuracy and efficiency, reduce material residues, shorten operation time, reduce manual intervention, enhance system automation and safety, and significantly improve the intelligent level of port ship unloading operations.

[0006] (II) Technical solution

[0007] To solve the above problems, the present application provides a spiral ship unloader feeding device pose positioning system based on laser recognition, comprising: a laser recognition module, a spiral ship unloader feeding module, a positioning and attitude acquisition module, and a control module.

[0008] The laser recognition module is in communication connection with the control module, and is used for scanning the material surface in the ship cabin and acquiring three-dimensional spatial coordinate data;

[0009] The positioning and attitude acquisition module is in communication connection with the control module, and is used for acquiring the pose information of the spiral ship unloader feeding module;

[0010] The control module is in communication connection with the spiral ship unloader feeding module, and is used for generating a control instruction according to the three-dimensional spatial coordinate data, the pose information, and a predetermined unloading position;

[0011] The spiral ship unloader feeding module is used for conveying the materials in the ship cabin to the predetermined unloading position according to the control instruction.

[0012] In another aspect of the present application, preferably, the laser recognition module comprises a multi-line laser radar.

[0013] The multi-line laser radar obtains distance data and reflection intensity information of the material surface through multi-angle laser scanning.

[0014] According to the distance data and the reflection intensity information, three-dimensional point cloud data is formed.

[0015] According to the three-dimensional point cloud data, three-dimensional spatial coordinate data of the material surface is generated based on a spatial fitting and surface reconstruction algorithm.

[0016] In another aspect of the present application, preferably, according to the three-dimensional point cloud data, the three-dimensional spatial coordinate data of the material surface is generated based on a spatial fitting and surface reconstruction algorithm, comprising:

[0017] The three-dimensional point cloud data is subjected to coordinate unification and time synchronization by using a point cloud registration algorithm to form a continuous global point cloud model.

[0018] The global point cloud model is subjected to spatial fitting based on a surface fitting algorithm to extract the geometric morphology of the material surface.

[0019] The surface reconstruction algorithm is used to perform gridding processing based on the geometric morphology of the material surface to generate a continuous material surface model.

[0020] Based on the material surface model, the three-dimensional spatial coordinate data of the material surface is generated.

[0021] In another aspect of the present application, preferably, the spiral ship unloader feeding module comprises an execution unit and a driving unit.

[0022] The driving unit is connected with the control module, and the execution unit and the driving unit are connected.

[0023] The driving unit receives the control instruction of the control module, and drives the execution unit to move according to the control instruction to convey the materials in the ship cabin to the predetermined unloading position.

[0024] In another aspect of the present application, preferably, the execution unit comprises a spiral conveying mechanism, and the driving unit comprises a variable frequency speed regulation motor.

[0025] The variable frequency speed regulation motor is connected with the spiral conveying mechanism through a shaft coupling, and adjusts the material conveying speed by adjusting the rotating speed.

[0026] In another aspect of the present application, preferably, the pose information comprises position information and attitude information, and the position and attitude acquisition module comprises a position acquisition unit and an attitude acquisition unit.

[0027] The position acquisition unit is configured to acquire position information of the spiral ship unloader feeding module in a three-dimensional space.

[0028] The attitude acquisition unit is configured to acquire attitude information of the spiral ship unloader feeding module in a three-dimensional space, and the attitude information comprises a pitch angle and a horizontal rotation angle.

[0029] In another aspect of the present application, preferably, the control module comprises a data receiving unit.

[0030] The data receiving unit adopts a high-speed Ethernet interface and supports a TCP / IP communication protocol, and is configured to receive three-dimensional space coordinate data of the laser recognition module and pose information acquired by the position and attitude acquisition module.

[0031] In another aspect of the present application, preferably, the pose adjustment control unit is configured to generate a pose adjustment control instruction based on the three-dimensional space coordinate data, the pose information and a predetermined unloading position, and the pose adjustment control instruction comprises an attitude adjustment path of the spiral ship unloader feeding module.

[0032] In another aspect of the present application, preferably, the control module further comprises a pose adjustment control unit, and the pose adjustment control unit is configured to generate a pose adjustment control instruction based on the three-dimensional space coordinate data, the pose information and a predetermined unloading position, and the pose adjustment control instruction comprises:

[0033] According to the predetermined unloading position in a specified reference coordinate system, an attitude deviation between current pose information of the spiral ship unloader feeding module and a target attitude is calculated, and the attitude deviation comprises a horizontal rotation angle deviation, a pitch angle deviation and a telescopic displacement deviation.

[0034] Based on the attitude deviation, a kinematic model of the spiral ship unloader feeding module is combined to generate an attitude adjustment path.

[0035] In another aspect of the present application, preferably, the attitude adjustment path comprises adjustment amplitudes of a horizontal rotation angle and a pitch angle and a continuous time trajectory of a telescopic adjustment amount, and the trajectory satisfies preset speed, acceleration and mechanical stroke limits.

[0036] (Three) beneficial effects

[0037] The above technical solutions of the present application have the following beneficial technical effects:

[0038] The application can realize real-time scanning of the surface of the material in the cabin, accurate acquisition of three-dimensional spatial coordinate data, synchronous acquisition of the pose information of the feeding module of the screw unloading machine by combining the positioning and attitude acquisition module, and dynamic optimization control of the conveying path and conveying speed. Through the control module, the total amount of material, the target time limit and the predetermined unloading position are comprehensively considered to automatically generate reasonable control instructions, which significantly improves the intelligent level of unloading operation. Compared with the traditional unloading mode relying on manual experience and fixed path, the accuracy of material conveying is improved, and the unloading efficiency and operation quality are maximized. At the same time, the conveying path and speed are dynamically adjusted in real time, the unloading time is shortened, the frequency of manual intervention is reduced, the operation risk is reduced, and the safety of equipment and personnel is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a schematic diagram of the overall structure of an embodiment of the application. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application with reference to the specific embodiments and the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0041] Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] In the description of the present application, it should be noted that the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0043] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0044] Embodiment one

[0045] A screw unloading machine feeding device pose system based on laser recognition, Figure 1 shows a schematic diagram of the overall structure of an embodiment of the application, as Figure 1 shown, comprising: a laser recognition module, a screw unloading machine feeding module, a positioning and attitude acquisition module, a control module;

[0046] The laser recognition module is in communication connection with the control module, and is used for scanning the surface of the materials in the cabin and acquiring three-dimensional spatial coordinate data; in the embodiment, the laser recognition module comprises a multi-line laser radar; the multi-line laser radar ensures that the material surface information can be stably and accurately acquired under the complex light condition and the environment with more dust in the cabin. The multi-line laser radar has a plurality of scanning line arrays, and can simultaneously acquire distance information of a plurality of height levels in one scanning period through high-speed rotation or swinging multi-angle laser scanning, so as to realize full-coverage measurement of the material surface in the cabin.

[0047] The multi-line laser radar acquires distance data and reflection intensity information of the material surface through multi-angle laser scanning; in the scanning process, the multi-line laser radar emits laser pulses to the material surface, receives the reflected signals, calculates the accurate distance between the material surface and the sensor through the ranging principle of time of flight or phase difference, and synchronously records the reflection intensity information. The reflection intensity information can reflect the material surface material, roughness and color difference, so as to assist in identifying the material type and boundary features in the subsequent data processing stage. The multi-line laser radar has at least 16 line scanning capabilities, a scanning frequency of 20 Hz to 50 Hz, a measurement range of 0.5 m to 50 m, a measurement accuracy of ±3 mm to ±5 mm, and an IP65 protection level of the laser radar shell, so as to ensure stable operation in the humid and dusty cabin environment.

[0048] According to the distance data and the reflection intensity information, three-dimensional point cloud data is formed; the multi-line laser radar matches and fuses the acquired distance data and reflection intensity information according to the scanning angle and the time stamp, to form a complete three-dimensional point cloud data set. The three-dimensional point cloud data contains the spatial position of each sampling point of the material surface, i.e. X, Y and Z coordinates;

[0049] According to the three-dimensional point cloud data, three-dimensional spatial coordinate data of the material surface is generated based on a space fitting and surface reconstruction algorithm. The space fitting and surface reconstruction algorithm can be least square fitting, B-spline surface fitting, Poisson surface reconstruction, etc. The original point cloud data is denoised, interpolated and smoothed, a continuous three-dimensional model of the material surface is constructed, and the spatial distribution, accumulation form and height information of the materials in the cabin are further accurately obtained, to provide a reliable data basis for subsequent path planning, unloading sequence optimization and speed control. At the same time, the system can dynamically update the estimation result of the material remaining amount according to the point cloud data, to realize real-time monitoring and closed-loop control of the unloading process.

[0050] In the embodiment, according to the three-dimensional point cloud data, three-dimensional spatial coordinate data of the material surface is generated based on a space fitting and surface reconstruction algorithm, which comprises:

[0051] The point cloud registration algorithm is used for coordinate unification and time synchronization of the three-dimensional point cloud data, to form a continuous global point cloud model. Since the multi-line laser radar usually needs to collect data multiple times when scanning the cabin materials, and the position or attitude of the device may change during scanning, the point cloud data of different batches is different in the coordinate system and the collection time. In this embodiment, the iterative closest point algorithm, NDT algorithm or feature matching algorithm can be used to convert the point cloud data of multiple time points and multiple perspectives into a unified global coordinate system, and synchronize through the timestamp information, to finally form a continuous and seamless global point cloud model.

[0052] The global point cloud model is fitted in space based on the surface fitting algorithm, and the geometric morphology of the material surface is extracted. In order to reduce the influence of point cloud noise on the fitting accuracy, the global point cloud model is filtered and down-sampled, for example, the statistical outlier removal method or the voxel grid filtering is used to reduce the data amount and eliminate abnormal points. Then, a surface fitting method such as polynomial surface fitting, B-spline surface fitting or least square smoothing surface fitting is used to model the material surface region, to obtain a continuous geometric description of the material surface.

[0053] A surface reconstruction algorithm is used to grid the material surface based on the geometric morphology of the material surface, to generate a continuous material surface model. In the surface reconstruction process, Poisson surface reconstruction, alpha shape or Delaunay triangulation method can be selected to convert the discrete point cloud into a triangular mesh model with consistent topology, to realize the conversion of the material surface from discrete points to continuous curves. The gridding model can intuitively reflect the stacking morphology and spatial distribution characteristics of the material, and can be used as basic data for subsequent unloading path planning and simulation.

[0054] Based on the material surface model, three-dimensional spatial coordinate data of the material surface is generated. The material surface grid can be sampled according to a predetermined resolution, and the spatial position (X, Y, Z coordinates) of each sampling point is output as three-dimensional spatial coordinate data, while the corresponding normal vector, curvature and reflectance intensity and other additional information are retained. It can not only be used for real-time display of the three-dimensional morphology of the material surface, but also can be combined with the pose information of the ship unloader to realize accurate estimation and dynamic updating of the remaining amount of the material, to ensure high-precision control and operation efficiency optimization of the unloading operation process.

[0055] The positioning and attitude acquisition module is in communication connection with the control module, and is configured to acquire the position and attitude information of the screw ship unloader feeding module; and is configured to acquire the position and attitude information of the screw ship unloader feeding module in the working process in real time, so as to realize accurate control and dynamic adjustment. In the embodiment, the position and attitude information includes position information and attitude information, the position information is used to reflect the absolute position of the screw ship unloader feeding module in the three-dimensional space, and the attitude information is used to reflect the orientation and motion attitude of the screw ship unloader feeding module at the current spatial position; and the positioning and attitude acquisition module includes a position acquisition unit and an attitude acquisition unit.

[0056] The position acquisition unit is configured to acquire the position information of the screw ship unloader feeding module in the three-dimensional space; and the position acquisition unit can include one or more combinations of a global satellite positioning system such as GPS or Beidou, a laser ranging sensor, an ultrasonic ranging module or an optical tracking system. Through these sensors, the three-dimensional coordinates (X, Y, Z) of the screw ship unloader feeding module can be accurately measured in the complex space such as a ship cabin, and a coordinate system is realized by combining a fixed reference point or a reference mark, so as to obtain accurate spatial position information.

[0057] The attitude acquisition unit is configured to acquire the attitude information of the screw ship unloader feeding module in the three-dimensional space, and the attitude information includes a pitch angle and a horizontal rotation angle. The attitude acquisition unit can include an inertial measurement unit, an electronic compass, a gyroscope and an accelerometer, etc., and high-precision calculation of the attitude angle is realized by fusing multiple sensor data, such as using Kalman filtering algorithm or complementary filtering algorithm. The pitch angle is used to describe the forward and backward inclination degree of the screw ship unloader feeding module relative to the horizontal plane; the yaw angle is used to describe the rotation direction and amplitude of the screw ship unloader feeding module around the vertical axis; and the roll angle is used to describe the left and right inclination state of the screw ship unloader feeding module. In the embodiment, the position sensor adopts a high-precision photoelectric encoder with a resolution of 0.01°, which is used to monitor the position of the screw ship unloader feeding module in the three-dimensional space in real time; and the attitude sensor adopts a combination of a three-axis gyroscope and an accelerometer, which can measure and compensate the pitch angle and the horizontal rotation angle of the device in real time, and the precision is ±0.1°.

[0058] The screw ship unloader feeding module includes an execution unit and a driving unit;

[0059] The driving unit is connected with the control module, and the execution unit and the driving unit are connected;

[0060] The driving unit receives the control instruction of the control module, drives the execution unit to move according to the control instruction, and transports the materials in the ship cabin to the predetermined unloading position.

[0061] The execution unit comprises a screw conveying mechanism, the screw conveying mechanism comprises a screw rod with a diameter of 300mm to 500mm, a length of 1500mm to 2500mm, and a screw groove depth of 40mm to 60mm, and is made of wear-resistant alloy steel to improve wear resistance and service life. The driving unit comprises a variable frequency speed regulation motor; the power is 15kW to 30kW, which is connected with the screw rod through a speed reducer and a shaft coupling, realizes smooth and impact-free rotary motion, and can adjust the rotating speed range to 5rpm to 30rpm according to the material characteristics and conveying requirements.

[0062] The variable frequency speed regulation motor is connected with the screw conveying mechanism through a shaft coupling, and adjusts the material conveying speed by adjusting the rotating speed. The driving unit comprises at least three variable frequency speed regulation motors, each of which is a servo motor with a power of 5kW to 10kW, which is connected with the execution unit through a precision speed reducer and a transmission mechanism, realizes accurate adjustment of position and attitude, and the adjustment range is ±500mm and ±15°.

[0063] The control module is in communication connection with the spiral ship unloader feeding module, and is used for generating a control instruction according to the three-dimensional space coordinate data, the pose information and the predetermined unloading position;

[0064] In this embodiment, the control module comprises a data receiving unit and a pose adjustment control unit;

[0065] The data receiving unit adopts a high-speed Ethernet interface and supports a TCP / IP communication protocol, and is used for receiving three-dimensional space coordinate data of a laser recognition module and pose information collected by a positioning and attitude acquisition module;

[0066] The pose adjustment control unit is used for generating a pose adjustment control instruction based on the three-dimensional space coordinate data, the pose information and the predetermined unloading position, and the pose adjustment control instruction comprises an attitude adjustment path of the spiral ship unloader feeding module.

[0067] In this embodiment, the pose adjustment control unit is used for generating a pose adjustment control instruction based on the three-dimensional space coordinate data, the pose information and the predetermined unloading position, and comprises:

[0068] According to the predetermined unloading position in the specified reference coordinate system, the pose deviation between the current pose information of the spiral ship unloader feeding module and the target pose is calculated, including horizontal rotation angle deviation, pitch angle deviation and telescopic displacement deviation; the pose adjustment control unit performs coordinate conversion on the predetermined unloading position in the specified reference coordinate system, ensuring that the position is consistent with the current working coordinate system of the spiral ship unloader, to realize unified spatial reference. Subsequently, the control unit obtains the current pose information of the spiral ship unloader feeding module, which includes the current three-dimensional space position and pose parameters of the module, specifically involving the horizontal rotation angle (yaw angle), the pitch angle and the telescopic displacement; the pose deviation includes but is not limited to: the horizontal rotation angle deviation, indicating the angle difference between the spiral ship unloader and the target pose in the horizontal plane; the pitch angle deviation, indicating the deviation of the module pose in the vertical direction; and the telescopic displacement deviation, indicating the distance error of the feeding module in the unloading direction. Through accurate calculation of the above deviations, the difference between the current state and the ideal state of the spiral ship unloader feeding module can be comprehensively reflected.

[0069] Based on the pose deviation, a pose adjustment path is generated in combination with the kinematic model of the spiral ship unloader feeding module. The kinematic model includes the mechanical structure parameters, motion constraint conditions and dynamics characteristics of each degree of freedom of the module, ensuring that the generated adjustment path can be accurately executed by the mechanical system in actual operation

[0070] The pose adjustment path includes the adjustment amplitudes of the horizontal rotation angle and the pitch angle, and the continuous time trajectory of the telescopic adjustment amount, which satisfies the preset speed, acceleration and mechanical stroke limit, such as maximum rotation speed, maximum acceleration and maximum stroke range, to ensure smooth path, safe motion and reasonable mechanical load.

[0071] The spiral ship unloader feeding module is used to transport the materials in the ship cabin to the predetermined unloading position according to the control instruction.

[0072] Further, the embodiment also includes a power module, which includes a main power supply and a backup power supply. The main power supply is a three-phase alternating current power supply with a voltage of 380V±10%, a frequency of 50Hz±5% and a capacity of 50kVA to 100kVA, which provides stable power support for the entire system. The backup power supply is an uninterruptible power supply (UPS) with a capacity of 20kVA to 30kVA, which can automatically switch when the main power supply fails, ensuring that the continuous operation time of the system is not less than 30 minutes.

[0073] The safety monitoring module also includes a temperature sensor, a current sensor, a voltage sensor and an emergency stop button, which monitors the running state of the system in real time, including motor temperature, current, voltage and other parameters, and automatically alarms and takes corresponding protection measures when the system is abnormal, such as cutting off the power supply, stopping the conveying and the like, to ensure the safe operation of the system. The safety monitoring module communicates with the control module to upload the monitoring data in real time, facilitating remote monitoring and fault analysis.

[0074] Based on the laser recognition technology, the application can scan the surface of the materials in the cabin in real time, accurately obtain three-dimensional spatial coordinate data, and synchronously collect the pose information of the feeding module of the spiral ship unloader by combining the positioning and attitude acquisition module, so that the dynamic optimization control of the conveying path and conveying speed is realized. The control module automatically generates reasonable control instructions by comprehensively considering the total amount of materials, the target time limit and the predetermined unloading position, so that the intelligent level of the unloading operation is significantly improved. Compared with the traditional unloading mode relying on manual experience and fixed path, the accuracy of material conveying is improved, and the unloading efficiency and operation quality are maximized.

[0075] It should be understood that the above specific embodiments of the application are only used for illustrative or explanatory purposes of the principles of the application, and do not constitute a limitation on the application. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the application shall be included in the protection scope of the application. In addition, the appended claims of the application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

[0076] The application has been described above with reference to embodiments. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the application. The scope of the application is defined by the appended claims and their equivalents. Without departing from the scope of the application, those skilled in the art can make various substitutions and modifications, which shall fall within the scope of the application.

[0077] Although the embodiments of the application have been described in detail, it should be understood that various changes, substitutions and modifications can be made to the embodiments of the application without departing from the spirit and scope of the application.

[0078] Obviously, the above embodiments are only examples for the purpose of clarity, and are not a limitation on the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, all embodiments need not and cannot be exhausted. The obvious changes or modifications derived therefrom are still within the protection scope of the application.

Claims

1. A pose positioning system for a laser recognition-based spiral ship unloader feeding device, characterized in that, The application relates to a laser identification module, a spiral ship unloading machine feeding module, a position and posture acquisition module and a control module. The laser identification module is in communication connection with the control module, is used for scanning a material surface in a ship cabin and acquiring three-dimensional space coordinate data, and the control module is in communication connection with the laser identification module. The position and posture acquisition module is in communication connection with the control module, and is used for acquiring position and posture information of the spiral ship unloading machine feeding module. The control module is in communication connection with the spiral ship unloading machine feeding module, is used for generating a control instruction according to the three-dimensional space coordinate data, the position and posture information and a predetermined unloading position, and the spiral ship unloading machine feeding module is in communication connection with the control module. The spiral ship unloading machine feeding module is used for conveying the material in the ship cabin to the predetermined unloading position according to the control instruction. The laser identification module comprises a multi-line laser radar.

2. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 1, characterized in that, The multi-line laser radar acquires distance data and reflection intensity information of the material surface through multi-angle laser scanning. Three-dimensional point cloud data is formed according to the distance data and the reflection intensity information. The three-dimensional space coordinate data of the material surface is generated according to the three-dimensional point cloud data based on a space fitting and surface reconstruction algorithm. The three-dimensional space coordinate data of the material surface is generated according to the three-dimensional point cloud data based on a space fitting and surface reconstruction algorithm.

3. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 2, characterized in that, The three-dimensional point cloud data is subjected to coordinate unification and time synchronization by using a point cloud registration algorithm to form a continuous global point cloud model. The global point cloud model is subjected to space fitting based on a curved surface fitting algorithm to extract the geometric shape of the material surface. The material surface model is generated based on the material surface model. The spiral ship unloading machine feeding module comprises an execution unit and a driving unit. The driving unit is connected with the control module, and the execution unit and the driving unit are connected.

4. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 1, characterized in that, The driving unit receives the control instruction of the control module, drives the execution unit to move according to the control instruction, and conveys the material in the ship cabin to the predetermined unloading position. The execution unit comprises a spiral conveying mechanism, and the driving unit comprises a variable frequency speed regulation motor. The variable frequency speed regulation motor is connected with the spiral conveying mechanism through a shaft coupling and adjusts the material conveying speed by adjusting the rotating speed.

5. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 4, characterized in that, The position and posture acquisition module comprises a position acquisition unit and a posture acquisition unit. The position acquisition unit is used for acquiring the position information of the spiral ship unloading machine feeding module in the three-dimensional space.

6. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 1, characterized in that, The posture acquisition unit is used for acquiring the posture information of the spiral ship unloading machine feeding module in the three-dimensional space, and the posture information comprises a pitch angle and a horizontal rotation angle. The control module comprises a data receiving unit and a position and posture adjustment control unit. The data receiving unit adopts a high-speed Ethernet interface and supports a TCP / IP communication protocol, and is used for receiving the three-dimensional space coordinate data of the laser identification module and the position and posture information acquired by the position and posture acquisition module.

7. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 1, characterized in that, The control module further comprises a position and posture adjustment control unit. ​ 8. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 7, characterized in that, ​ The pose adjustment control unit is configured to generate a pose adjustment control instruction based on the three-dimensional spatial coordinate data, the pose information, and the predetermined unloading position, the pose adjustment control instruction comprising a pose adjustment path of the spiral ship unloader feeding module.

9. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 8, characterized in that, The pose adjustment control unit is configured to generate a pose adjustment control instruction based on the three-dimensional spatial coordinate data, the pose information, and the predetermined unloading position, comprising: According to the predetermined unloading position in the specified reference coordinate system, the pose adjustment control unit is configured to calculate the pose deviation between the current pose information of the spiral ship unloader feeding module and the target pose, including the horizontal rotation angle deviation, the pitch angle deviation, and the stretch displacement deviation. Based on the pose deviation, the pose adjustment control unit is configured to generate a pose adjustment path in combination with the kinematic model of the spiral ship unloader feeding module.

10. The laser recognition based spiral ship unloader feeder pose positioning system according to claim 9, characterized in that, The pose adjustment path comprises the adjustment amplitudes of the horizontal rotation angle and the pitch angle, and the continuous time trajectory of the stretch adjustment amount, and the trajectory satisfies the preset speed, acceleration, and mechanical stroke limit.

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