Grab ship unloader ship unloading system and method

Abstract

The invention discloses a ship unloading system and method of a grab ship unloader, and relates to the technical field of ship unloading method.The ship unloading method of the grab ship unloader comprises the steps that a model of the distribution state of material piles in a cabin is built; according to the model, a trolley with a grab bucket is controlled to move to the middle of a cabin, the grab bucket descends to a safe height above materials through a steel wire rope, the trolley is continuously driven to a specific position and then stops, and the steel wire rope is loosened while the grab bucket swings, so that the grab bucket is thrown into the cabin and carries the materials to a target position; the trolley is controlled to move and is matched with rope winding, so that the situation that the steel wire rope or the grab bucket touches the cabin is avoided, after the trolley drives the grab bucket to synchronously move to the designated position, the trolley is braked, the grab bucket continuously moves under the action of inertia force, and the steel wire rope is loosened in the grab bucket moving process so that the grab bucket can be thrown into the cabin; according to the method, the effective working area of the grab bucket can be enlarged, material collapse is reduced, and the cabin cleaning workload is reduced.

Description

Technical Field

[0001] This application relates to the technical field of unloading methods, and in particular to a grab bucket unloader system and method for unloading ships. Background Technology

[0002] When unloading cargo from bulk carriers, grab bucket gantry cranes or ship unloaders are usually used to grab the cargo from the hold and transport it directly to the bulk cargo yard via conveyor belt. Since the hatches of bulk carriers are relatively small compared to the holds, the cargo inside the holds needs to be unloaded through a hull-opening operation.

[0003] When bulk carriers are loaded with materials with high moisture content, such as coal and metal ores, the material will accumulate to a certain height after each grabbing operation. The properties of the material mean that this accumulation can collapse at any unpredictable time. Therefore, it is necessary to grab the material from the hold promptly to prevent collapse.

[0004] Existing technical solutions can only bring the steel wire rope as close to the side of the hull as possible, with a maximum extension into the hull of about half the width of the grab bucket. After that, manual intervention is required, which is inefficient. At the same time, the steel wire rope is prone to getting caught in the hull, posing a safety hazard. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method for unloading ships using a grab bucket unloader, which adds a bucket-swinging operation. After the grab bucket is moved synchronously to a designated position by a trolley, the trolley stops, and the grab bucket continues to move under the action of inertial force. During the continuous movement of the grab bucket, the wire rope is released to swing the grab bucket into the ship's hold. The deep emptying operation is completed by the automatic closing of the grab bucket. This method can expand the effective working area of ​​the grab bucket, reduce material collapse, and reduce the workload of cleaning the hold.

[0006] To achieve the above objectives, this application provides a method for unloading materials from a ship using a grab unloader, which controls the grab bucket to acquire materials from the ship's hold. The grab unloader method includes:

[0007] A model for obtaining the distribution state of material piles inside the ship's hold;

[0008] According to the model, the trolley with the grab bucket is controlled to move to the top of the cabin, and the grab bucket is controlled to descend to a safe height above the material using a steel wire rope. The trolley is continuously driven to a specific position and then stopped. While the grab bucket is swinging, the steel wire rope is released to allow the grab bucket to be thrown into the cabin and the material to be placed at the target position, so as to complete the material grabbing.

[0009] The trolley is controlled to move and coordinate with the rope reeling to prevent the wire rope or the grab bucket from touching the cabin.

[0010] Preferably, the model for obtaining the distribution state of the material pile inside the ship's hold includes:

[0011] The three-dimensional dynamic data of the ship's cabin and the distribution of the material pile are captured by LiDAR and machine vision camera, and the three-dimensional dynamic data are processed by the positioning system to obtain a model of the distribution of the material pile inside the ship's cabin.

[0012] The lidar determines the relative distance between the wire rope and the hatch opening by scanning the relative coordinate positions of the trolley and the grab bucket. If the wire rope is not in the safe area of ​​the hatch and / or the grab bucket has not completed loading, the trolley is controlled to move in the opposite direction to the middle of the hatch, and the grab bucket is driven again to throw into the hatch while accelerating the descent speed of the grab bucket.

[0013] Preferred options also include:

[0014] After completing the normal grabbing of materials under the projection of the hatch, the height difference of the materials at the edge projection of the hatch is detected. When the height difference of the materials is greater than a set value, a request for the emptying process is issued.

[0015] The set value is a preset material height value that triggers the emptying process.

[0016] Preferably, the hold includes an automated control system that automatically detects the material height difference and controls the implementation of the emptying operation. The material height difference is the difference in material height between the sea-side and land-side hatch edges of the hold.

[0017] Preferably, the lidar simultaneously scans and detects the relative coordinate positions of the trolley and the grab bucket and calculates the swing angle, and sets the grab bucket anti-sway process basic control model based on the relative coordinate positions of the trolley and the grab bucket and the swing angle.

[0018] Preferably, when the material discharge by the trolley ends, the trolley returns to the middle position of the hatch opening. At the same time as the trolley returns, the grab bucket descends, and the target descent height is the material level at the target emptying position plus the safety height.

[0019] Preferably, the automated control system outputs a closing command. After the grab bucket is fully closed, the trolley moves to a safe position in the middle of the hull, and the grab bucket begins to lift. The anti-sway operation is completed within one swing cycle of the grab bucket, driving the grab bucket to run smoothly out of the hull. After the grab bucket moves above the hopper, it opens to release the material.

[0020] Preferably, the step of controlling the movement of the trolley with the grab bucket and completing the material grabbing includes:

[0021] The trolley and the grab bucket move horizontally in sync. After reaching the predetermined position, the trolley stops, the grab bucket swings up due to inertia and is thrown into the hull. At the same time, the grab bucket descends at 1 / 2 of its maximum descent speed, and the loading of the grab bucket is completed within 1 / 4 of the swing cycle time.

[0022] Preferably, the hull includes a weighing sensor, which is installed at the head of the ship's main beam. The determination of material loading is based on a weight threshold detected by the weighing sensor, which is determined by the weight of the grab bucket and the wire rope.

[0023] This application also provides a grab unloader unloading system for controlling the grab bucket to obtain materials from the ship's hold. The grab unloader unloading system includes a controller for implementing the grab unloader unloading method.

[0024] Compared to the aforementioned background technology, the grab unloader method provided in this application adds a bucket-swinging operation. After the grab bucket is moved synchronously to the designated position by the trolley, the trolley stops, and the grab bucket continues to move under the action of inertial force. During the continuous movement of the grab bucket, the wire rope is released to swing the grab bucket into the cabin. The deep emptying operation is completed by the automatic closing of the grab bucket. This method can expand the effective working area of ​​the grab bucket, reduce material collapse, and reduce the workload of cleaning the cabin. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the unloading method of the grab bucket unloader of this application.

[0027] Figure 2 This is a flowchart of the unloading method of the grab bucket unloader in this application.

[0028] Among them: 1. Ship hold; 2. Material pile distribution; 3. Radar; 4. Grab bucket; 5. Trolley; 6. Wire rope; 7. Ship hold safety area; 11. Ship hold opening. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] It should be noted that the directional terms such as "upper end," "lower end," "left side," and "right side" mentioned below are defined based on the accompanying drawings in the instruction manual.

[0032] The grab bucket unloader unloading method provided in this application includes the following steps:

[0033] Obtain a model of the material distribution state inside cabin 1;

[0034] According to the model, the trolley 5 with grab bucket 4 is controlled to move above the cabin 1, and the grab bucket 4 is controlled to descend to a safe height above the material using steel wire rope 6. The trolley 5 is continuously driven to a specific position and then stopped. While the grab bucket 4 is swinging, the steel wire rope 6 is released to make the grab bucket 4 swing into the cabin 1 and place the material at the target position to complete the grabbing.

[0035] Control the movement of the trolley 5 and coordinate with the rope retraction to prevent the wire rope 6 or the grab bucket 4 from touching the cabin 1.

[0036] The interior of hold 1 and the distribution of materials are automatically scanned in real time using a scanning device, collecting three-dimensional dynamic data of the material stacking inside hold 1. A model of the material stacking distribution state inside hold 1 is then constructed using this dynamic three-dimensional data.

[0037] Based on the model of the material distribution state 2 inside the ship's hold 1, the trolley 5 is controlled to move to the middle position of the ship's hold 1, while the grab bucket 4 descends to a safe height above the material inside the ship's hold 1. The trolley 5 continues to move to the designated position and then stops. The grab bucket 4 follows the trolley 5 synchronously via the steel wire rope 6. After the trolley 5 stops, the grab bucket 4 continues to move under the action of inertial force. During this movement, the grab bucket 4 swings around the trolley 5 as the center and the length of the steel wire rope 6 as the radius. During the swinging process, the steel wire rope 6 is released to lower the grab bucket 4. Under the premise of ensuring a safe distance between the steel wire rope 6 and the wall of the ship's hold 1, the grab bucket 4 is obliquely thrown into the target position inside the ship's hold 1.

[0038] First, control the trolley 5 to move in the opposite direction towards the middle of the hatch 11, so that the wire rope 6 is at a certain distance from the hatch 11, so as to avoid the wire rope 6 from contacting the hatch 11 when it is being wound up. After the trolley 5 moves in the opposite direction to a safe position, it cooperates with the rope winding to make the grab bucket 4 wound up out of the hatch 1.

[0039] This invention adds a swinging operation. After the trolley 5 moves the grab bucket 4 to the designated position, the trolley 5 stops moving, and the grab bucket 4 continues to move under the action of inertial force. During the swinging process under the action of inertial force, the steel wire rope 6 is released to swing the grab bucket 4 into the cabin 1, thereby realizing the automatic deep emptying operation of the grab bucket 4. This method can expand the effective working area of ​​the grab bucket 4, reduce material collapse, and reduce the workload of cabin cleaning.

[0040] Based on any of the above embodiments, a lidar 3 and a machine vision camera are used to capture three-dimensional dynamic data of the cabin 1 and the material stack distribution 2, and the three-dimensional dynamic data is processed through a positioning system to obtain a model of the material stack distribution 2 inside the cabin 1.

[0041] The lidar 3 determines the relative distance between the wire rope 6 and the hatch 11 by scanning the relative coordinate positions of the trolley 5 and the grab bucket 4. If the wire rope 6 is not in the safe area of ​​the hatch 1 and / or the grab bucket 4 has not completed loading, the trolley 5 is controlled to move in the opposite direction to the middle of the hatch 1, and the grab bucket 4 is driven again to throw into the hatch 1 while accelerating its descent speed.

[0042] The LiDAR 3 uses a high-precision LiDAR 3. The LiDAR 3 and the machine vision camera provide clearer and more accurate three-dimensional dynamic data for the creation of the material model of the ship compartment 1 through a high-precision positioning system, ensuring the efficiency and accuracy of the creation of the material model of the ship compartment 1.

[0043] The lidar 3 determines the relative distance between the wire rope 6 and the hatch 11 by scanning the relative coordinate positions of the detected trolley 5 and the grab bucket 4. The lidar 3 can efficiently and accurately determine the safe distance, providing a safe and reliable data source for the automated control system.

[0044] When the distance is less than the set safety distance and / or the material loading is not completed, the trolley 5 moves in the opposite direction, moving the wire rope 6 away from the hatch 11. The trolley 5 moves to the center of the hatch 11 and completes the anti-sway process. After repeatedly driving the trolley 5 to move towards the side wall of the hatch 1 to the designated position, the trolley 5 stops moving, and the grab bucket 4 swings. At the same time as the grab bucket 4 swings, the descent speed of the grab bucket 4 is accelerated by increasing the release speed of the wire rope 6. The swinging process is repeated to achieve secondary swinging loading.

[0045] Based on any of the above embodiments, after the normal grabbing of materials under the projection of the hatch 11 is completed, the height difference of the materials at the edge projection of the hatch 11 is detected. When the height difference of the materials is greater than the set value, a request for the emptying process is issued.

[0046] The set value is the preset material height value that triggers the emptying process.

[0047] Based on real-time changes in data within the three-dimensional dynamic database, the material level in hold 1 is detected to be higher than a preset value, triggering the emptying process. Before triggering the emptying process, grab bucket 4 vertically grabs the material at hatch 11. After triggering the emptying process, grab bucket 4 stops grabbing the material at hatch 11 and performs the emptying operation. Grab bucket 4 is connected to trolley 5 by steel wire rope 6, and trolley 5 is equipped with a winch to control the up and down movement of grab bucket 4.

[0048] The lidar 3 monitors the material level in the cabin 1 in real time. When grabbing the material, the grab bucket 4 first grabs the material projected under the hatch opening 11, so that the material in the cabin 1 forms a concave state, and at this time the material in the cabin 1 forms a height difference.

[0049] The three-dimensional dynamic database of the ship's hold 1 and the material pile distribution 2 is updated in real time under the detection of LiDAR 3. When the material height difference exceeds the preset value, the hopper emptying operation is automatically realized.

[0050] Based on any of the above embodiments, the ship compartment 1 includes an automated control system. The automated control system automatically detects the material height difference and controls the implementation of the emptying operation. The material height difference is the difference in material height between the sea or land side hatch edges of the ship compartment 1.

[0051] The automated control system provides an operational basis for automatically controlling the unloading operation and automatically detecting the height difference. Since hold 1 is long, the height difference is determined by the difference in material height at the sea or land side hatch edge of hold 1.

[0052] The set value is determined by taking the height of the grab bucket 4 as the main reference value, and considering the different moisture contents of different materials and the angle of repose as correction parameters, and in conjunction with the height of the grab bucket 4 to determine the preset value.

[0053] The set values ​​determined by the height of the grab bucket 4, the moisture content of different materials, and the angle of repose are highly accurate and effective in actual implementation.

[0054] Based on any of the above embodiments, the lidar 3 simultaneously scans and detects the relative coordinate positions of the trolley 5 and the grab bucket 4 and calculates the swing angle. The anti-sway process basic control model of the grab bucket 4 is set according to the relative coordinate positions of the trolley 5 and the grab bucket 4 and the swing angle.

[0055] The lidar 3 simultaneously scans and detects the relative coordinate positions of the trolley 5 and the grab bucket 4 and calculates the swing angle. Based on the relative coordinate positions of the trolley 5 and the grab bucket 4 and the swing angle, the basic control model for the anti-sway process of the grab bucket 4 is set.

[0056] In the automated control system, the lidar 3 simultaneously scans and detects the relative coordinate positions of the trolley 5 and the grab bucket 4 to calculate the swing angle θ of the pendulum. The above data serves as the basic control model for the anti-sway process of the grab bucket 4, enabling the grab bucket 4 to smoothly return to the starting position of the emptying bin.

[0057] An anti-sway process model is based on the calculation of the pendulum swing angle θ by converting the relative coordinate positions of the trolley 5 and the grab bucket 4. Under this process model, the grab bucket 4 can quickly and stably achieve the anti-sway function.

[0058] Based on any of the above embodiments, after the material discharge of the trolley 5 ends, the trolley 5 returns to the middle position of the hatch 11. At the same time as the trolley 5 returns, the grab bucket 4 descends. The target height of the descent is the material level height at the target position of the bin plus the safety height.

[0059] When the trolley 5 returns to the middle position of the hatch 11, it is in its initial position. The grab bucket 4 is lowered at the same time as the trolley 5 returns. Compared with the operation of lowering the grab bucket 4 after the trolley 5 moves to the initial position, it can effectively reduce the running time of the grab bucket 4. Lowering the grab bucket 4 during the return of the trolley 5 can effectively save time and improve the material grabbing efficiency.

[0060] The descent height is a dynamic value. It is dynamically adjusted based on the three-dimensional dynamic database of the ship compartment 1 and the material pile distribution 2 established by the automatic scanning of the lidar 3. Specifically, the target descent height is the target position material level height for emptying the hopper plus the safety height. In this process, the system uses a single pendulum with variable pendulum length as the basic mathematical model.

[0061] The basic model is as follows.

[0062]

[0063] Following the model that the oscillation period is proportional to the pendulum length, the oscillation period is actually tested in multiple positions and with multiple pendulum length states to correct the theoretical oscillation period, which is then used as the actual oscillation period of the equipment.

[0064] The underlying model for the actual oscillation period is as follows.

[0065]

[0066] Based on any of the above embodiments, the automated control system outputs a closing command. After the grab bucket 4 is fully closed, the trolley 5 moves to a safe position in the middle of the cabin 1, and the grab bucket 4 begins to lift. The anti-sway operation is completed within one swing cycle of the grab bucket 4, and the grab bucket 4 is driven to run smoothly out of the cabin 1. After the grab bucket 4 moves above the hopper, the grab bucket 4 opens to release the material.

[0067] After the grab bucket successfully catches the material, the automated control system outputs a closing command. Once the grab bucket 4 is fully closed, the trolley 5 is controlled to move in the opposite direction. The trolley 5 moves towards the middle of the hold 1 to a safe position, ensuring that the wire rope 6, after being tightened, will not contact the hold opening 11 and maintains a safe distance. Then, the grab bucket 4 is lifted by tightening the wire rope 6. By continuously winding the wire rope 6, the grab bucket 4 rises until it smoothly exits the hold 1. The trolley 5 then moves the grab bucket 4 above the hopper, opens the grab bucket 4 to unload the material, completing one unloading operation from the hold 1 and starting the next automatic unloading process.

[0068] During the lifting process, grab bucket 4 will oscillate. Anti-sway operation is completed within one oscillation cycle of grab bucket 4. Utilizing the anti-sway function, the combined effects of the oblique pulling of grab bucket 4 and the operation of trolley 5 are eliminated, and the automatic control system controls grab bucket 4 to smoothly operate out of the ship's hold 1.

[0069] Based on any of the above embodiments, the trolley 5 and the grab bucket 4 move horizontally in sync. After reaching the predetermined position, the trolley 5 stops, the grab bucket 4 swings up due to inertia and is thrown into the cabin 1. At the same time, the grab bucket 4 descends at 1 / 2 of its maximum descending speed, and the loading of the grab bucket 4 is completed within 1 / 4 of the swing cycle time.

[0070] After grab bucket 4 stops swinging, trolley 5 and grab bucket 4 have the same horizontal running speed. Grab bucket 4 is vertically stable directly below trolley 5. Trolley 5 continues to move at a constant speed towards hold 1. At the set position, trolley 5 stops, and grab bucket 4 begins to swing, throwing grab bucket 4 into hold 1. At the same time, grab bucket 4 descends at half its maximum descending speed, completing the loading of material into grab bucket 4 within 1 / 4 of the swing cycle.

[0071] By limiting the descent speed and swing time of grab bucket 4, the grab bucket 4 can accurately deliver material, ensuring delivery quality and efficiency, reducing the number of rework cycles, and thus improving the overall unloading efficiency.

[0072] Based on any of the above embodiments, the cabin 1 includes a weighing sensor, which is installed at the head of the ship's main beam. The determination of material loading is based on the weight threshold detected by the weighing sensor, which is determined by the weight of the grab bucket 4 and the wire rope 6.

[0073] The weight threshold determined by the weight of the grab bucket 4 and the wire rope 6 serves as the basis for determining the threshold value of the weighing sensor at the head of the unloader beam. This maximizes the accuracy of material handling and improves unloading efficiency.

[0074] A grab bucket ship unloader unloading system includes a controller for implementing the grab bucket ship unloader unloading method.

[0075] The specific operating steps of this invention include:

[0076] Step 1: Capture the three-dimensional dynamic data of the cabin 1 and the material distribution 2 using the lidar 3 and machine vision camera, and process the three-dimensional dynamic data through the positioning system to construct a model of the state of the material distribution 2 inside the cabin 1.

[0077] Step 2: Set the material height setting value to trigger the emptying process in the automated control system. After the normal grabbing of the material under the projection of the hatch 11 is completed, detect the height difference of the material at the edge projection of the hatch 11. When the height difference of the material is greater than the set value, issue a request for the emptying process.

[0078] Step 3: According to the model, control the trolley 5 with grab bucket 4 to move to the middle of the cabin 1 and lower the grab bucket 4 to a safe height above the material using the wire rope 6. Continue to drive the trolley 5 to a specific position and then stop. While the grab bucket 4 is swinging, release the wire rope 6 to make the grab bucket 4 swing into the cabin 1 and place the material at the target position.

[0079] Step 4: The relative distance between the wire rope 6 and the hatch 11 is determined by scanning the relative coordinate positions of the trolley 5 and the grab bucket 4 using the lidar 3. The weighing sensor installed at the head of the ship's main beam is used to determine whether the material has been loaded.

[0080] If the wire rope 6 is not in the safe area of ​​the cabin 1 and / or the grab bucket 4 has not completed the loading, control the trolley 5 to move in the opposite direction to the middle of the cabin 1, and repeat the operation of throwing the grab bucket 4 into the cabin 1 and loading the material at the target position in step three, based on the increased descent speed of the grab bucket 4.

[0081] Step 5: After grab bucket 4 completes the grabbing of material, the automatic control system outputs the bucket closing command. After grab bucket 4 is fully closed, trolley 5 moves to the middle of the hopper 1 to a safe position, grab bucket 4 begins to lift. Anti-sway operation is completed within one swing cycle of grab bucket 4, driving grab bucket 4 to run smoothly out of hopper 1. After grab bucket 4 moves above the hopper, grab bucket 4 opens to release material.

[0082] This invention relates to a method for unloading ships using a grab bucket ship unloader, and proposes a complete set of intelligent fully automatic control units, including a high-precision lidar 3, a high-precision positioning system, a machine vision camera, and an automated control system for the ship unloader, as well as other hardware and software systems.

[0083] The automated control system automatically scans the cargo hold (1) and material pile distribution (2) using radar (3) to establish a three-dimensional dynamic database. Relying on intelligent algorithms, it automatically controls the lifting, opening and closing, trolley (5), and main trolley mechanisms of the grab unloader. The system is equipped with an advanced sensing system, which accurately grabs and smoothly unloads materials while ensuring the safe balance of the ship, ultimately achieving automatic, efficient, safe, and intelligent cargo unloading operations during the automated operation of the bridge grab unloader.

[0084] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0085] The above provides a detailed description of the grab bucket unloader unloading method provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the solution and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A method for unloading ships using a grab bucket ship unloader, characterized in that, The grab unloader is used to control the grab bucket to retrieve materials from the ship's hold, and the unloading method of the grab bucket unloader includes: Obtain a model of the internal material distribution (2) state of the ship's hold (1); According to the model, control the trolley (5) with grab bucket (4) to move above the cabin (1), use wire rope (6) to control the grab bucket (4) to descend to a safe height above the material, continuously drive the trolley (5) to a specific position and then stop, while the grab bucket (4) swings, release the wire rope (6) to make the grab bucket (4) swing into the cabin (1) and place the material at the target position to complete the grab; Control the movement of the trolley (5) and cooperate in reeling in the rope to prevent the wire rope (6) or the grab bucket (4) from touching the cabin (1).

2. The unloading method of the grab bucket unloader according to claim 1, characterized in that, A model for obtaining the internal material stacking distribution (2) state of the ship's hold (1) includes: The three-dimensional dynamic data of the cabin (1) and the material pile distribution (2) are captured by LiDAR (3) and machine vision camera, and the three-dimensional dynamic data are processed by the positioning system to obtain the model of the material pile distribution inside the cabin (1). The lidar (3) determines the relative distance between the wire rope (6) and the opening of the cabin (1) by scanning the relative coordinate positions of the trolley (5) and the grab bucket (4). If the wire rope (6) is not in the safe area of ​​the cabin (1) and / or the grab bucket (4) has not completed loading, the trolley (5) is controlled to move in the opposite direction to the middle of the cabin (1), and the grab bucket (4) is driven again to throw into the cabin (1) based on the increased descent speed of the grab bucket (4).

3. The unloading method of the grab bucket unloader according to claim 2, characterized in that, Also includes: After completing the normal grabbing of materials under the projection of the hatch (11), the height difference of the materials at the edge projection of the hatch (11) is detected. When the height difference of the materials is greater than the set value, a request for the emptying process is issued. The set value is a preset material height value that triggers the emptying process.

4. The unloading method of the grab bucket unloader according to claim 3, characterized in that, The hold (1) includes an automated control system that automatically detects the material height difference and controls the implementation of the emptying operation. The material height difference is the material height difference at the sea or land side hatch edge of the hold (1).

5. The unloading method of the grab bucket unloader according to claim 4, characterized in that, The lidar (3) simultaneously scans and detects the relative coordinate positions of the trolley (5) and the grab bucket (4) and calculates the swing angle. Based on the relative coordinate positions of the trolley (5) and the grab bucket (4) and the swing angle, the basic control model for the anti-sway process of the grab bucket (4) is set.

6. The unloading method of the grab bucket unloader according to claim 4, characterized in that, When the material discharge of the trolley (5) ends, the trolley (5) returns to the middle position of the hatch (11). At the same time as the trolley (5) returns, the grab bucket (4) descends. The target height of the descent is the material level height at the target position of the hopper plus the safety height.

7. The unloading method of the grab bucket unloader according to claim 6, characterized in that, The automated control system outputs a closing command. After the grab bucket (4) is fully closed, the trolley (5) moves to a safe position in the middle of the cabin (1). The grab bucket (4) then begins to lift. The anti-sway operation is completed within one swing cycle of the grab bucket (4). The grab bucket (4) is driven to run smoothly out of the cabin (1). After the grab bucket (4) moves above the hopper, it opens to release the material.

8. The unloading method of the grab bucket unloader according to claim 1, characterized in that, The steps of controlling the trolley (5) with the grab bucket (4) to move and complete the material grabbing are as follows: The trolley (5) and the grab bucket (4) move horizontally in sync. After reaching the predetermined position, the trolley (5) stops, and the grab bucket (4) swings inertia and is thrown into the cabin (1). At the same time, the grab bucket (4) descends at 1 / 2 of its maximum descending speed, and the loading of the grab bucket (4) is completed within 1 / 4 of the swing cycle time.

9. The unloading method of the grab bucket unloader according to claim 8, characterized in that, The cabin (1) includes a weighing sensor, which is installed at the head of the ship's main beam. The determination of the material loading is based on the weight threshold detected by the weighing sensor, which is determined by the weight of the grab bucket (4) and the wire rope (6).

10. A grab bucket unloader ship unloading system, characterized in that, Includes a controller for implementing the grab bucket unloader unloading method according to any one of claims 1 to 9.

Images