Operating system of unattended screw ship unloader

Abstract

The invention discloses an operation system of an unattended screw ship unloader, which integrates a central control module, an automatic identification positioning module, a path planning optimization module, an autonomous navigation obstacle avoidance module, a screw unloading execution module and a real-time monitoring feedback module, and can realize full-automatic, efficient and safe unloading of goods in a cabin. And the unattended operation requirement is met.

Description

Technical Field

[0001] This invention relates to the field of automation technology, specifically to an unmanned spiral unloader operating system. Background Technology

[0002] Traditional ship unloading operations rely heavily on manual labor, which is not only inefficient but also poses safety hazards. With the rapid development of automation technology, unattended automated ship unloading equipment is gradually becoming an industry trend. However, existing automated ship unloading equipment still has many shortcomings in terms of cargo identification, path planning, execution efficiency, real-time monitoring, and obstacle avoidance, making it difficult to meet the requirements of efficient, safe, and unattended operations. Summary of the Invention

[0003] (I) Purpose of the Invention

[0004] The purpose of this invention is to provide an unmanned spiral unloader operating system that can achieve fully automated, efficient and safe unloading of cargo in the ship's hold, thus meeting the requirements of unmanned operation.

[0005] (II) Technical Solution

[0006] To address the aforementioned problems, a first aspect of the present invention provides an operating system for an unmanned screw unloader, comprising: a central control module, an automatic identification and positioning module, a path planning and optimization module, an autonomous navigation and obstacle avoidance module, a screw unloading execution module, and a real-time monitoring and feedback module. The automatic identification and positioning module, path planning and optimization module, autonomous navigation and obstacle avoidance module, screw unloading execution module, and real-time monitoring and feedback module are each communicatively connected to the central control module.

[0007] The automatic identification and positioning module is used to identify cargo data inside the ship's hold and send it to the central control module;

[0008] The path planning and optimization module is used to receive cargo data transmitted by the central control module, formulate control instructions based on the cargo data, and send the control instructions to the central control module. The control instructions include the movement path and unloading strategy of the screw unloader.

[0009] The autonomous navigation and obstacle avoidance module is used to receive control commands transmitted by the central control module, control the spiral unloader to move autonomously within the ship's hold according to the spiral unloader's movement path, and send the movement status to the central control module.

[0010] The screw unloading execution module is used to receive control commands transmitted by the central control module, execute unloading operations according to the unloading strategy, and send the execution status of the unloading operation to the central control module.

[0011] The real-time monitoring and feedback module is used to receive the movement status and execution status transmitted by the central control module and perform real-time monitoring, while feeding back the monitoring results to the central control module.

[0012] Preferably, the cargo data includes cargo type, location, and stacking status.

[0013] Preferably, the automatic identification and positioning module adopts a three-dimensional laser scanner and a deep learning algorithm. The scanning frequency of the three-dimensional laser scanner is 8-10Hz, the scanning range is 0-50 meters, and the resolution is not less than 0.1mm.

[0014] Preferably, the control commands include using the A* algorithm or Dijkstra's algorithm to formulate the movement path and unloading strategy of the screw unloader.

[0015] Preferably, the unloading operation includes adjusting the attitude and speed of the spiral arm, wherein the spiral arm includes a pitch adjustment mechanism and a rotation adjustment mechanism, the pitch angle is -30° to +60°, and the rotation angle is 360°.

[0016] Preferably, the autonomous navigation obstacle avoidance module adopts a multi-layer sensor fusion strategy, wherein the multi-layer sensors include at least two types of sensors: lidar, ultrasonic sensors, and infrared sensors.

[0017] Preferably, the real-time monitoring feedback module integrates a vibration sensor, a temperature sensor, and a high-definition camera for real-time monitoring.

[0018] Preferably, an alloy blade is mounted at the end of the spiral arm, and the alloy blade is a cuboid or a cube.

[0019] Preferably, the sensitivity of the vibration sensor is not less than 0.1 mm / s. 2 The temperature sensor has a measurement range of -40℃ to +80℃, and the high-definition camera has a resolution of no less than 1080P.

[0020] Preferably, the system further includes:

[0021] The energy management and maintenance module is used to supply power to the spiral unloader and also to receive monitoring results transmitted by the central control module and formulate maintenance plans based on the monitoring results.

[0022] The remote monitoring and emergency response module is used to receive monitoring results transmitted by the central control module and perform remote monitoring and monitoring data interaction based on the monitoring results.

[0023] Preferably, the remote monitoring and emergency response module is used to generate real-time video streams and data reports, and send them to the central control module. The central control module is connected to an external access terminal via wireless or wired means.

[0024] (III) Beneficial Effects

[0025] The above-mentioned technical solution of the present invention has the following beneficial technical effects: The present invention provides an unmanned spiral unloader operating system, which significantly improves unloading efficiency, reduces labor costs, and enhances safety through an automatic identification and positioning module, a path planning and optimization module, and a spiral unloading execution module. Furthermore, the real-time monitoring and feedback module and the autonomous navigation and obstacle avoidance module jointly ensure the safety of the operation process and extend the service life of the equipment. This system achieves fully automated, efficient, and safe unloading of cargo from the ship's hold, while also meeting the requirements for unmanned operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the operating system structure of the unmanned spiral unloader of the present invention;

[0027] Figure 2 This is a schematic diagram of a specific embodiment of the unmanned spiral unloader operating system of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0029] like Figure 1 As shown, this invention provides an unmanned spiral unloader operating system, comprising: a central control module 1, an automatic identification and positioning module 2, a path planning and optimization module 3, an autonomous navigation and obstacle avoidance module 4, a spiral unloading execution module 5, and a real-time monitoring and feedback module 6. The automatic identification and positioning module 2, path planning and optimization module 3, autonomous navigation and obstacle avoidance module 4, spiral unloading execution module 5, and real-time monitoring and feedback module 6 are all communicatively connected to the central control module 1.

[0030] The automatic identification and positioning module 2 is used to identify cargo data within the ship's hold and send it to the central control module 1. The cargo data includes cargo type, location, and stacking status. The automatic identification and positioning module 2 employs a 3D laser scanner and a deep learning algorithm. The 3D laser scanner has a scanning frequency of 8-10Hz, preferably 10Hz, a scanning range of 0-50 meters, and a resolution of no less than 0.1mm. Combined with the deep learning algorithm, it can achieve accurate identification and positioning of cargo outlines with an accuracy of no less than ±5cm. It can also operate stably under different lighting conditions, effectively coping with the complex and ever-changing ship's hold environment. This improves the accuracy and efficiency of cargo identification and provides reliable data support for subsequent path planning and unloading operations.

[0031] The path planning optimization module 3 is used to receive cargo data transmitted by the central control module 1, formulate control instructions based on the cargo data, and send the control instructions to the central control module. The control instructions include the movement path and unloading strategy of the screw unloader. The control instructions adopt the A* algorithm or Dijkstra algorithm, and dynamically adjust the unloading path by combining cargo distribution density, ship structure, current position and target position of the screw unloader, to ensure maximum efficiency and avoid excessive wear. The path planning algorithm can complete the calculation of the optimal path within 1 second, and can predict and avoid potential obstacles, optimize the unloading path, improve operation efficiency, reduce equipment wear and extend service life. The specific formulation of control instructions based on the cargo data includes: (1) scanning the cabin through the sensor system to generate a real-time 3D model of the coal pile; (2) the path planning module 3 receives the 3D model, combines it with the current position of the screw unloader, runs the A* algorithm, and generates the next path instruction; (3) the central control module sends the instruction to the PLC of the unloader to drive the trolley, slewing and screw head to move in coordination; (4) the sensor continuously scans to verify the unloading effect and updates the 3D model. If the actual material level deviates too much from the prediction (e.g., encountering coal blocks that are difficult to unload), then replan; repeat the above steps until all the coal is unloaded.

[0032] The autonomous navigation and obstacle avoidance module 4 receives control commands transmitted from the central control module 1, controls the spiral unloader to move autonomously within the ship's hold according to its movement path, and sends its movement status to the central control module 1. The autonomous navigation and obstacle avoidance module 4 employs a multi-layer sensor fusion strategy, including at least two types of sensors: lidar, ultrasonic sensors, and infrared sensors. The module uses a fusion technology of lidar (scanning range 0-30 meters, accuracy ±2 cm) and an inertial navigation system to achieve centimeter-level positioning accuracy, enabling autonomous navigation in complex ship's hold environments. The obstacle avoidance system employs a multi-layer sensor fusion strategy, including lidar, ultrasonic sensors, and infrared sensors, ensuring effective obstacle avoidance within a 0.5-1 meter range and real-time path adjustment in dynamic environments. This achieves autonomous movement and obstacle avoidance within the ship's hold, improving operational efficiency and safety while reducing manual intervention.

[0033] The screw unloading execution module 5 receives control commands transmitted from the central control module 1, executes unloading operations according to the unloading strategy, and sends the execution status of the unloading operation to the central control module. The unloading operation includes adjusting the screw arm's attitude and rotation speed. The screw arm is made of high-strength alloy material and includes a pitch adjustment mechanism and a rotation adjustment mechanism, with two degrees of freedom for adjustment. The pitch angle is -30° to +60°, the rotation angle is continuously adjustable at 360°, and the rotation speed is adjustable from 5 to 30 rpm. It can also automatically adjust according to the type and density of goods to adapt to different types of goods. The end of the screw arm is equipped with wear-resistant alloy blades, which are cuboids or cubes, to ensure efficient cutting and unloading, improve unloading efficiency and flexibility, reduce manual intervention, and reduce operational difficulty.

[0034] The real-time monitoring feedback module 6 receives and monitors the movement and execution status transmitted from the central control module, and feeds back the monitoring results to the central control module. The real-time monitoring feedback module 6 integrates a vibration sensor, a temperature sensor, and a high-definition camera for real-time monitoring. The sensitivity of the vibration sensor is no less than 0.1 mm / s. 2 The temperature sensor has a measurement range of -40℃ to +80℃ and an accuracy of ±0.5℃. The high-definition camera has a resolution of no less than 1080P and a frame rate of 30fps, which monitors the physical parameters during the unloading process in real time to ensure operational safety. When abnormal vibration, overheating, or obstacles are detected, an alarm signal is immediately sent to the central control module, which improves the safety and reliability of the operation process, promptly detects and handles potential risks, and protects the safety of equipment and personnel.

[0035] Furthermore, such as Figure 2As shown, the system also includes an energy management and maintenance module 7 and a remote monitoring and emergency response module 8, with each module detailed below:

[0036] The energy management and maintenance module 7 is used to supply power to the spiral unloader and to receive monitoring results transmitted from the central control module, and to formulate maintenance plans based on the monitoring results. The energy management and maintenance module 7 is equipped with an intelligent battery management system that supports fast charging technology (charging time not exceeding 2 hours, and continuous operation for 8-12 hours after full charge), and can automatically adjust the equipment power according to the workload to ensure efficient energy utilization. The maintenance plan is based on equipment usage data and predictive algorithms, and automatically reminds users to replace worn parts or perform maintenance to ensure long-term stable operation of the equipment, improve energy utilization efficiency, reduce energy consumption costs, extend equipment service life, and reduce maintenance costs.

[0037] The remote monitoring and emergency response module 8 receives monitoring results transmitted from the central control module and performs remote monitoring and data interaction based on these results. This module generates real-time video streams and data reports, which are then sent to the central control module. The central control module connects to an external access point wirelessly or via a wired connection. The remote monitoring and emergency response module 8 provides real-time video streams and data reports, supporting access via 4G / 5G or Wi-Fi networks on smartphones, tablets, or PCs. It has a built-in emergency stop button, allowing for remote intervention at any time to ensure personnel and equipment safety. Furthermore, the module supports remote software upgrades, ensuring continuous system updates and optimization. This enables remote monitoring and emergency response during operations, improving efficiency and safety while reducing operational complexity and labor costs.

[0038] This invention provides an unmanned spiral unloader operating system. The system integrates a central control module, an automatic identification and positioning module, a path planning and optimization module, an autonomous navigation and obstacle avoidance module, a spiral unloading execution module, a real-time monitoring and feedback module, an energy management and maintenance module, and a remote monitoring and emergency response module. It also employs advanced algorithms for equipment integration and improvement. Through automated operation and path optimization, it significantly improves unloading efficiency and reduces labor costs. Reduced manual intervention lowers labor costs and enhances safety. Real-time monitoring and feedback, autonomous navigation and obstacle avoidance, and remote monitoring and emergency response modules jointly ensure the safety of the operation process and extend equipment lifespan. The energy management and maintenance module improves energy utilization efficiency, reduces equipment wear, and extends service life. This system achieves fully automated, efficient, and safe unloading of cargo from the ship's hold, solving the problems of existing spiral unloader operating methods, such as incomplete automation, low operating efficiency, and insufficient safety and reliability.

[0039] It should be understood that the specific embodiments described above are merely illustrative of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, or improvements made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries. Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes the flows of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. The steps in the methods of the embodiments of the present invention can be adjusted, merged, or deleted according to actual needs. The modules in the system of the embodiments of the present invention can be merged, divided, or deleted according to actual needs.

Claims

1. An operating system for an unmanned screw unloader, characterized in that, include: The system includes a central control module, an automatic identification and positioning module, a path planning and optimization module, an autonomous navigation and obstacle avoidance module, a screw unloading execution module, and a real-time monitoring and feedback module. The automatic identification and positioning module, path planning and optimization module, autonomous navigation and obstacle avoidance module, screw unloading execution module, and real-time monitoring and feedback module are all communicatively connected to the central control module. The automatic identification and positioning module is used to identify cargo data inside the ship's hold and send it to the central control module; The path planning and optimization module is used to receive cargo data transmitted by the central control module, formulate control instructions based on the cargo data, and send the control instructions to the central control module. The control instructions include the movement path and unloading strategy of the screw unloader. The autonomous navigation and obstacle avoidance module is used to receive control commands transmitted by the central control module, control the spiral unloader to move autonomously within the ship's hold according to the spiral unloader's movement path, and send the movement status to the central control module. The screw unloading execution module is used to receive control commands transmitted by the central control module, execute unloading operations according to the unloading strategy, and send the execution status of the unloading operation to the central control module. The real-time monitoring and feedback module is used to receive the movement status and execution status transmitted by the central control module and perform real-time monitoring, while feeding back the monitoring results to the central control module.

2. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The cargo data includes cargo type, location, and stacking status.

3. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The automatic identification and positioning module uses a 3D laser scanner and deep learning algorithms.

4. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The control commands include using the A* algorithm or Dijkstra's algorithm to determine the movement path and unloading strategy of the screw unloader.

5. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The unloading operation includes adjusting the attitude and speed of the spiral arm, which includes a pitch adjustment mechanism and a rotation adjustment mechanism.

6. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The autonomous navigation obstacle avoidance module adopts a multi-layer sensor fusion strategy, and the multi-layer sensors include at least two types of sensors: lidar, ultrasonic sensors, and infrared sensors.

7. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The real-time monitoring feedback module integrates a vibration sensor, a temperature sensor, and a high-definition camera for real-time monitoring.

8. The operating system of the unmanned screw unloader according to claim 5, characterized in that, An alloy blade is installed at the end of the spiral arm, and the alloy blade is a cuboid or a cube.

9. The operating system of the unmanned screw unloader according to claim 1, characterized in that, The system also includes: The energy management and maintenance module is used to supply power to the spiral unloader and also to receive monitoring results transmitted by the central control module and formulate maintenance plans based on the monitoring results. The remote monitoring and emergency response module is used to receive monitoring results transmitted by the central control module and perform remote monitoring and monitoring data interaction based on the monitoring results.

10. The operating system of the unmanned screw unloader according to claim 8, characterized in that, The remote monitoring and emergency response module is used to generate real-time video streams and data reports, and send them to the central control module. The central control module is connected to the external access terminal via wireless or wired means.

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