Dispatch and control methods and systems for shipborne crushing and salvage equipment

Abstract

This invention relates to the field of shipborne salvage control technology, and discloses a scheduling and control method and system for shipborne crushing and salvage equipment. The scheduling and control system of the shipborne crushing and salvage equipment includes a salvage unit, a crushing unit, a dewatering unit, and a storage unit sequentially connected in series on the operating vessel to form a continuous material processing line. A central controller receives real-time monitoring data from weighing sensors, laser triangulation sensors, and strain sensors. Based on the monitoring data, a preset dynamic scheduling algorithm generates collaborative control commands in real-time and sends these commands to the actuators of the salvage unit, crushing unit, and dewatering unit to achieve seamless connection and collaborative operation between the units. Through the central controller and intelligent algorithms, the operating rhythm of the salvage, crushing, and dewatering units is actively coordinated, achieving predictive feeding and seamless connection, completely eliminating waiting times between units in the traditional mode, and maximizing equipment utilization.

Description

Technical Field

[0001] This invention relates to the field of shipborne salvage control, and more specifically, to a scheduling and control method and system for shipborne crushing and salvage equipment. Background Technology

[0002] With the increasing demand for marine engineering, waterway dredging and underwater debris removal, shipborne crushing and salvage equipment has become a key piece of equipment. Such systems typically integrate four functional units—salvage, crushing, dewatering and storage—on the operating vessel, aiming to achieve continuous collection and processing of underwater materials.

[0003] In current shipborne crushing and salvage systems, each processing unit operates independently, leading to a severe systemic process fragmentation problem. This problem manifests primarily as poor coordination during material transfer between units and resource idleness and waste caused by equipment waiting for instructions. Due to the lack of a unified intelligent scheduling and control mechanism, the salvage unit requires manual intervention to start the crushing unit after completing material collection; the crushed material also needs to wait for the dewatering unit to be ready before entering the next stage. This intermittent operation mode results in a large amount of ineffective waiting time in the system, increasing the equipment idle rate under normal operating conditions. More importantly, the frequent start-stop operations create a discontinuous material flow, which not only increases the overall energy consumption of the system but also exacerbates the abnormal wear of key equipment such as crushing cutters. Although there are existing local optimization schemes for individual units, they can only improve the efficiency within the unit to a limited extent and cannot achieve multi-unit collaborative operation and global resource optimization at the system level. Therefore, it is difficult to fundamentally solve the problems of process fragmentation and low overall energy efficiency. Summary of the Invention

[0004] This invention provides a scheduling and control method and system for shipborne crushing and salvage equipment, which solves the technical problems in related technologies, such as process fragmentation caused by the independent operation of each processing unit, high equipment idle rate, increased energy consumption and wear, and excessive reliance on manual intervention.

[0005] This invention provides a scheduling and control system for shipborne crushing and salvage equipment, comprising: Central controller; The salvage unit includes a robotic arm, a hydraulic cylinder that drives the robotic arm, and a weighing sensor for detecting the weight of the salvaged material. The weighing sensor is connected to the central controller. The crushing unit includes a crushing chamber and a laser triangulation rangefinder for monitoring the material level in the crushing chamber. The laser triangulation rangefinder is connected to the central controller. The dehydration unit includes a dehydration drum, a drive mechanism for driving the dehydration drum to rotate, and a strain sensor for monitoring the load on the dehydration drum. The strain sensor is connected to the central controller. Storage unit, used to receive and store dehydrated materials; The salvage unit, crushing unit, dewatering unit, and storage unit are sequentially connected in series on the operating vessel to form a continuous material processing line. The central controller receives monitoring data from the weighing sensor, laser triangulation sensor, and strain sensor in real time. Based on the monitoring data, it generates collaborative control commands in real time through a preset dynamic scheduling algorithm and sends the collaborative control commands to the actuators of the salvage unit, crushing unit, and dewatering unit to achieve seamless connection and collaborative operation of material handling between the units.

[0006] In a preferred embodiment, the salvage unit further includes a fixed frame, a support base, and a hydraulic cylinder. The support base is fixedly connected to the working vessel, the fixed frame is fixedly connected to the side of the support base, the top of the support base is hinged to one end of the robotic arm, the other end of the robotic arm is connected to a gripper, an installation groove is provided on the side wall of the robotic arm near the movable joint, a load cell is installed in the installation groove and fixedly connected to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is fixedly connected to another section of the side wall of the robotic arm.

[0007] In a preferred embodiment, the crushing unit further includes a hopper and a mounting frame. The mounting frame is fixedly connected to the working vessel, and the top of the mounting frame is fixedly connected to the bottom of the crushing chamber. The top of the crushing chamber is fixedly connected to the bottom of the hopper. A laser triangulation rangefinder is fixedly connected to the side wall of the hopper and illuminates the material surface inside the crushing chamber downward at a preset angle.

[0008] In a preferred embodiment, the crushing unit further includes a conveyor belt fixedly connected to the mounting frame, with the receiving end of the conveyor belt located below the bottom outlet of the crushing chamber and its conveying outlet located directly above the dewatering unit.

[0009] In a preferred embodiment, the dewatering unit further includes a mounting frame, a bearing housing, and a discharge hopper; the mounting frame is fixedly connected to the working vessel, and the top of the mounting frame is fixedly connected to the outer shell of the dewatering barrel; the drive mechanism includes a drive motor, which is installed inside the mounting frame, and the output end of the drive motor is connected to the bearing housing via a belt.

[0010] In a preferred embodiment, the bearing housing is fixedly connected inside the mounting frame, the output end of the bearing housing is fixedly connected to the bottom of the dehydration tank, and multiple strain sensors are installed on the top of the bearing housing in a circumferentially evenly spaced manner.

[0011] The scheduling and control method for shipborne crushing and salvage equipment includes the following steps: S1. The grabbing volume of the retrieval unit, the material level of the crushing unit, and the load data of the dewatering unit are collected in real time by the weighing sensor, the laser triangulation distance sensor, and the strain sensor, and then transmitted to the central controller. S2. Based on the real-time data collected in step S1, the central controller combines the preset equipment status model and optimization objectives, and calculates through a dynamic scheduling algorithm to generate control decisions for coordinating the rhythm of salvage, crushing and dewatering operations. S3. The central controller converts the control decision generated in step S2 into specific control commands, which are then sent to the actuators of the salvage unit, crushing unit and dewatering unit through the corresponding communication protocols. This drives each unit to operate according to the coordinated commands, thereby eliminating gaps in operation and forming a continuous material flow.

[0012] In a preferred embodiment, in step S2, the dynamic scheduling algorithm is a hybrid decision-making algorithm based on a combination of fuzzy control and reinforcement learning. The central controller fuzzifies the collected real-time data into multiple state levels and dynamically calculates and selects the control action that optimizes the overall energy efficiency of the system based on a preset fuzzy rule base and a reward function trained on historical operation data. Step S2 also includes an abnormal buffering process: setting multi-level threshold ranges for key status parameters; when monitoring data enters the yellow buffer zone, triggering the equipment coordination strategy to adjust the operation parameters of adjacent units; when monitoring data enters the red buffer zone, triggering the emergency response plan to adjust or suspend the operation of relevant units.

[0013] In a preferred embodiment, in step S3, the central controller further includes a protocol conversion module. The protocol conversion module is used to convert the unified control commands issued by the central controller into industrial communication protocols that match the respective actuators of the salvage unit, crushing unit, and dewatering unit. The central controller converts the unified control decision commands into industrial communication protocols that match each actuator through the protocol conversion module.

[0014] In a preferred embodiment, step S3 further includes a closed-loop feedback adjustment step: receiving operating status feedback signals from each execution unit in real time; processing the feedback signals using a data fusion algorithm to correct errors caused by transmission delay or measurement noise; and fine-tuning the issued control commands in real time based on the deviation between the processed feedback signals and the target state to achieve precise control.

[0015] The beneficial effects of this invention are as follows: 1. This invention uses a central controller and intelligent algorithms to actively coordinate the operation rhythm of the salvage, crushing and dewatering units, achieving predictive feeding and seamless connection, completely eliminating the waiting time between units in the traditional mode, maximizing equipment utilization and significantly improving the overall operating efficiency of the system.

[0016] 2. By smoothing material flow and optimizing operating parameters, this invention avoids frequent start-ups and shutdowns and sudden load changes, enabling each unit to operate under stable and efficient conditions. Actual measurements show that it can reduce the overall energy consumption of the system by 15%-20%, while significantly reducing abnormal wear of key components such as crushing tools.

[0017] 3. This invention replaces manual intervention with an intelligent closed loop of "monitoring-decision-execution-feedback", which can automatically handle fluctuations in normal operating conditions and trigger graded emergency strategies. This reduces the dependence on operators and greatly improves the stability and safety of the operation process through rapid automatic response.

[0018] 4. The hybrid intelligent algorithm used in this invention can self-optimize based on historical operation data and adapt to changes in different materials and environments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is the present invention. Figure 1 Enlarged view of point A in the middle.

[0021] Figure 3 This is a frontal view of the overall structure of the present invention.

[0022] Figure 4 This is the present invention. Figure 3 Enlarged view of section B in the middle.

[0023] Figure 5 This is a top view of the overall structure of the present invention.

[0024] Figure 6 This is a schematic diagram of the internal structure of the dehydration component of the present invention.

[0025] Figure 7 This is a flowchart of the control method of the present invention.

[0026] In the diagram: 1. Salvage unit; 101. Fixing frame; 102. Support base; 103. Robotic arm; 104. Hydraulic cylinder; 105. Weighing sensor; 106. Gripper; 2. Crushing unit; 201. Stacking hopper; 202. Crushing chamber; 203. Mounting frame; 204. Laser triangulation rangefinder; 205. Conveyor belt; 3. Dewatering unit; 301. Mounting frame; 302. Dewatering barrel; 303. Discharge hopper; 304. Bearing seat; 305. Strain sensor; 306. Drive motor. Detailed Implementation

[0027] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0028] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a scheduling and control system for shipborne crushing and salvage equipment, comprising: Central controller; The salvage unit 1 includes a robotic arm 103, a hydraulic cylinder 104 that drives the robotic arm 103, and a weighing sensor 105 for detecting the weight of the salvaged material. The weighing sensor 105 is connected to the central controller. The crushing unit 2 includes a crushing chamber 202 and a laser triangulation rangefinder 204 for monitoring the material level in the crushing chamber 202. The laser triangulation rangefinder 204 is connected to the central controller. The dehydration unit 3 includes a dehydration tank 302, a drive mechanism for driving the dehydration tank 302 to rotate, and a strain sensor 305 for monitoring the load on the dehydration tank 302. The strain sensor 305 is connected to the central controller. Storage unit, used to receive and store dehydrated materials; The salvage unit 1, crushing unit 2, dewatering unit 3, and storage unit are sequentially connected in series on the operating vessel to form a continuous material processing line. The central controller receives monitoring data from the weighing sensor 105, the laser triangulation distance sensor 204, and the strain sensor 305 in real time. Based on the monitoring data, it generates collaborative control commands in real time through a preset dynamic scheduling algorithm and sends the collaborative control commands to the actuators of the salvage unit 1, crushing unit 2, and dewatering unit 3 to achieve seamless connection and collaborative operation of material handling between the units.

[0029] It should be further noted that the central controller can be a high-performance industrial PLC or an embedded industrial computer, running a dynamic scheduling core program based on a hybrid algorithm of finite state machine and fuzzy-reinforcement learning. This controller connects to the sensor network through dual CAN bus interfaces and communicates with each execution unit through a protocol conversion gateway. Its control cycle can be set to 100ms to achieve real-time decision-making and rapid response. In specific deployment, the controller is installed in a vibration-proof and dust-proof cabinet in the ship's control room. The weighing sensor 105 is a dual-bridge weighing sensor with a range of 0-5 tons and a nonlinear error of less than 0. 3%, the weighing sensor 105 indirectly calculates the real-time weight of the material being grabbed by measuring the pressure change of the hydraulic cylinder 104; the laser triangulation distance sensor 204 uses a 905nm laser source, which is fixedly installed on the side wall of the hopper 201 and illuminates the surface of the material in the crushing chamber 202 at a 30° angle downwards, calculating the material level height based on the time of flight; the strain sensor 305 consists of four sets of 120Ω resistance strain gauges, arranged in a full-bridge manner on the top of the bearing seat 304, used to detect the dynamic torque load change when the dewatering barrel 302 rotates; the storage unit can be configured as a sealed hopper with compression and pushing function.

[0030] like Figure 4 , Figure 5 and Figure 6 As shown, the salvage unit 1 also includes a fixed frame 101, a support base 102, and a hydraulic cylinder 104. The support base 102 is fixedly connected to the working vessel, and the fixed frame 101 is fixedly connected to the side of the support base 102. The top of the support base 102 is hinged to one end of the robotic arm 103, and the other end of the robotic arm 103 is connected to a gripper 106. An installation groove is provided on the side wall of the robotic arm 103 near the movable joint. The weighing sensor 105 is installed in the installation groove and fixedly connected to one end of the hydraulic cylinder 104. The other end of the hydraulic cylinder 104 is fixedly connected to another section of the side wall of the robotic arm 103.

[0031] It should be noted that this structural design ensures that the load cell 105 can accurately sense the force changes generated by the hydraulic cylinder 104 when driving the robotic arm 103 and gripper 106 to grasp the material. Through calibration, the pressure signal can be accurately mapped to the weight of the material.

[0032] The crushing unit 2 also includes a hopper 201 and a mounting frame 203. The mounting frame 203 is fixedly connected to the working vessel. The top of the mounting frame 203 is fixedly connected to the bottom of the crushing chamber 202. The top of the crushing chamber 202 is fixedly connected to the bottom of the hopper 201. The laser triangulation range sensor 204 is fixedly connected to the side wall of the hopper 201 and illuminates the material surface inside the crushing chamber 202 at a preset angle.

[0033] It should be noted that the 30° tilt angle installation of the laser triangulation range sensor 204 allows its light spot to effectively cover the surface of the material pile near the inlet of the crushing chamber 202, avoiding blind spots. The material level data it collects is one of the key inputs to the dynamic scheduling algorithm. For example, when the material level A continues to drop and falls below the low threshold, the algorithm will determine that the crushing unit is about to run out of material, and thus issue an "accelerate" or "priority feeding" command to the retrieval unit in advance to achieve predictive feeding.

[0034] The crushing unit 2 also includes a conveyor belt 205, which is fixedly connected to the mounting frame 203. The receiving end of the conveyor belt 205 is located below the bottom outlet of the crushing chamber 202, and its conveying outlet is located directly above the dewatering unit 3.

[0035] It should be noted that the speed of the conveyor belt 205 can be adjusted by the central controller via a frequency converter. In the coordinated control, when the load on the dewatering unit 3 is high, the central controller can appropriately reduce the speed of the conveyor belt 205 to slow down the feeding rate to the dewatering unit. Conversely, when the load on the dewatering unit is low and there is sufficient processing capacity, the speed of the conveyor belt 205 can be increased to accelerate the material flow.

[0036] The dewatering unit 3 also includes a mounting frame 301, a bearing seat 304, and a discharge hopper 303; the mounting frame 301 is fixedly connected to the working vessel, and the top of the mounting frame 301 is fixedly connected to the outer shell of the dewatering barrel 302; the drive mechanism includes a drive motor 306, which is installed inside the mounting frame 301, and the output end of the drive motor 306 is connected to the bearing seat 304 via a belt.

[0037] The bearing housing 304 is fixedly connected inside the mounting frame 301. The output end of the bearing housing 304 is fixedly connected to the bottom of the dehydration tank 302. Multiple strain sensors 305 are installed on the top of the bearing housing 304 in a circumferentially evenly spaced manner.

[0038] like Figure 7 As shown, the scheduling and control method for shipborne crushing and salvage equipment includes the following steps: S1. The load data of the retrieval unit 1, the material level of the crushing unit 2, and the load of the dewatering unit 3 are collected in real time by the weighing sensor 105, the laser triangulation distance sensor 204, and the strain sensor 305, and transmitted to the central controller. S2. Based on the real-time data collected in step S1, the central controller combines the preset equipment status model and optimization objectives, and calculates through a dynamic scheduling algorithm to generate control decisions for coordinating the rhythm of salvage, crushing and dewatering operations. S3. The central controller converts the control decision generated in step S2 into specific control commands, and sends them to the actuators of the salvage unit 1, crushing unit 2 and dewatering unit 3 through the corresponding communication protocols, driving each unit to operate according to the coordinated commands, so as to eliminate the gaps in operation and form a continuous material flow.

[0039] In step S2, the dynamic scheduling algorithm is a hybrid decision-making algorithm based on fuzzy control and reinforcement learning. The central controller fuzzifies the collected real-time data into multiple state levels and dynamically calculates and selects the control action that optimizes the overall energy efficiency of the system based on the preset fuzzy rule base and the reward function trained on historical operation data. Step S2 also includes an abnormal buffering process: setting multi-level threshold ranges for key status parameters; when monitoring data enters the yellow buffer zone, triggering the equipment coordination strategy to adjust the operation parameters of adjacent units; when monitoring data enters the red buffer zone, triggering the emergency response plan to adjust or suspend the operation of relevant units.

[0040] In step S3, the central controller also includes a protocol conversion module. The protocol conversion module is used to convert the unified control commands issued by the central controller into industrial communication protocols that match the respective actuators of the salvage unit 1, the crushing unit 2, and the dewatering unit 3. The central controller converts the unified control decision commands into industrial communication protocols that match each actuator through the protocol conversion module.

[0041] Step S3 also includes a closed-loop feedback adjustment step: receiving operating status feedback signals from each execution unit in real time; processing the feedback signals using a data fusion algorithm to correct errors caused by transmission delay or measurement noise; and fine-tuning the issued control commands in real time based on the deviation between the processed feedback signals and the target state to achieve precise control.

[0042] The working principle of this invention is as follows: 1. After the system starts up, the sensors deployed in the three core units of retrieval, crushing and dewatering begin to work in real time, collecting key physical quantities such as the weight of the material grabbed by the robotic arm 103, the real-time material level in the crushing chamber 202, and the rotational load of the dewatering barrel 302. After local signal conditioning and digitization, these raw data are synchronously uploaded to the central controller through a high-speed, low-latency industrial fieldbus. The controller uses timestamp alignment and data fusion algorithms to integrate multi-source heterogeneous data into a status profile that can accurately reflect the global real-time working condition of the system.

[0043] 2. The central controller analyzes the received state profile through a hybrid fuzzy-reinforcement learning dynamic scheduling algorithm. This algorithm uses fuzzy logic to handle the uncertainty of sensor data, transforming precise values ​​into qualitative descriptions. Then, it combines a predefined fuzzy rule base with a reinforcement learning reward model that is optimized through self-learning from historical operation data to calculate the long-term benefit value of all possible control actions in the current state online. Finally, the algorithm automatically selects the decision that optimizes the overall energy efficiency and smoothness of the system.

[0044] 3. The central controller sends the generated optimization decisions to each execution unit and converts the unified format control commands into industrial protocol messages that match the target equipment in real time.

[0045] 4. The system simultaneously monitors the actual response of each actuator in real time. The feedback signal is collected again and sent back to the central controller. It is compared with the expected target state to form a closed loop. If there is a deviation, that is, the actual speed does not reach the command value, the controller will fine-tune the output command in real time through control algorithms such as PID to ensure that the execution effect is consistent with the decision target.

[0046] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Other modifications that can be made by those skilled in the art under the guidance of the embodiments are all within the protection scope of the present invention.

Claims

1. A scheduling and control system for shipborne crushing and salvage equipment, characterized in that, include: Central controller; The salvage unit (1) includes a robotic arm (103), a hydraulic cylinder (104) for driving the robotic arm (103), and a weighing sensor (105) for detecting the weight of the salvaged material. The weighing sensor (105) is connected to the central controller. The crushing unit (2) includes a crushing chamber (202) and a laser triangulation rangefinder (204) for monitoring the material level in the crushing chamber (202). The laser triangulation rangefinder (204) is connected to the central controller. The dehydration unit (3) includes a dehydration tank (302), a drive mechanism for driving the dehydration tank (302) to rotate, and a strain sensor (305) for monitoring the load on the dehydration tank (302), wherein the strain sensor (305) is signal-connected to the central controller. Storage unit, used to receive and store dehydrated materials; The salvage unit (1), crushing unit (2), dewatering unit (3) and storage unit are sequentially connected in series on the working vessel to form a continuous material processing line. The central controller is used to receive monitoring data from the weighing sensor (105), the laser triangulation distance sensor (204) and the strain sensor (305) in real time. Based on the monitoring data, a collaborative control command is generated in real time through a preset dynamic scheduling algorithm, and the collaborative control command is sent to the actuators of the salvage unit (1), the crushing unit (2) and the dewatering unit (3) to achieve seamless connection and collaborative operation of material operation between the units.

2. The scheduling and control system for the shipborne crushing and salvage equipment according to claim 1, characterized in that, The salvage unit (1) also includes a fixed frame (101), a support base (102), and a hydraulic cylinder (104). The support base (102) is fixedly connected to the working vessel. The fixed frame (101) is fixedly connected to the side of the support base (102). The top of the support base (102) is hinged to one end of the robotic arm (103). The other end of the robotic arm (103) is connected to a gripper (106). An installation groove is provided on the side wall of the robotic arm (103) near the movable joint. The weighing sensor (105) is installed in the installation groove and fixedly connected to one end of the hydraulic cylinder (104). The other end of the hydraulic cylinder (104) is fixedly connected to another section of the side wall of the robotic arm (103).

3. The scheduling and control system for the shipborne crushing and salvage equipment according to claim 1, characterized in that, The crushing unit (2) also includes a hopper (201) and a mounting frame (203). The mounting frame (203) is fixedly connected to the working vessel. The top of the mounting frame (203) is fixedly connected to the bottom of the crushing chamber (202). The top of the crushing chamber (202) is fixedly connected to the bottom of the hopper (201). The laser triangulation distance sensor (204) is fixedly connected to the side wall of the hopper (201) and illuminates the material surface inside the crushing chamber (202) at a preset tilt angle.

4. The scheduling and control system for the shipborne crushing and salvage equipment according to claim 3, characterized in that, The crushing unit (2) also includes a conveyor belt (205), which is fixedly connected to the mounting frame (203). The receiving end of the conveyor belt (205) is located below the bottom outlet of the crushing chamber (202), and its conveying outlet is located directly above the dewatering unit (3).

5. The scheduling and control system for the shipborne crushing and salvage equipment according to claim 1, characterized in that, The dewatering unit (3) also includes a mounting frame (301), a bearing seat (304), and a discharge hopper (303); the mounting frame (301) is fixedly connected to the working vessel, and the top of the mounting frame (301) is fixedly connected to the outer shell of the dewatering barrel (302); the driving mechanism includes a drive motor (306), the drive motor (306) is installed inside the mounting frame (301), and the output end of the drive motor (306) is connected to the bearing seat (304) via a belt.

6. The scheduling and control system for the shipborne crushing and salvage equipment according to claim 5, characterized in that, The bearing housing (304) is fixedly connected inside the mounting frame (301), and the output end of the bearing housing (304) is fixedly connected to the bottom of the dehydration tank (302). A plurality of strain sensors (305) are installed on the top of the bearing housing (304) in a circumferentially evenly spaced manner.

7. The scheduling and control method for shipborne crushing and salvage equipment according to any one of claims 1-6, characterized in that, Includes the following steps: S1. The grabbing amount of the retrieval unit (1), the material level of the crushing unit (2) and the load data of the dewatering unit (3) are collected in real time by the weighing sensor (105), the laser triangulation distance sensor (204) and the strain sensor (305), and transmitted to the central controller. S2. Based on the real-time data collected in step S1, the central controller combines the preset equipment status model and optimization objectives, and calculates through a dynamic scheduling algorithm to generate control decisions for coordinating the rhythm of salvage, crushing and dewatering operations. S3. The central controller converts the control decision generated in step S2 into specific control instructions, and sends them to the actuators of the salvage unit (1), crushing unit (2) and dewatering unit (3) through the corresponding communication protocols, driving each unit to run according to the coordinated instructions, so as to eliminate the gap between operations and form a continuous material flow.

8. The scheduling and control method for shipborne crushing and salvage equipment according to claim 7, characterized in that, In step S2, the dynamic scheduling algorithm is a hybrid decision-making algorithm based on fuzzy control and reinforcement learning. The central controller fuzzifies the collected real-time data into multiple state levels and dynamically calculates and selects the control action that optimizes the overall energy efficiency of the system based on the preset fuzzy rule base and the reward function trained on historical operation data. Step S2 also includes an abnormal buffering process: setting multi-level threshold ranges for key status parameters; when monitoring data enters the yellow buffer zone, triggering the equipment coordination strategy to adjust the operation parameters of adjacent units; when monitoring data enters the red buffer zone, triggering the emergency response plan to adjust or suspend the operation of relevant units.

9. The scheduling and control method for shipborne crushing and salvage equipment according to claim 7, characterized in that, In step S3, the central controller further includes a protocol conversion module. The protocol conversion module is used to convert the unified control commands issued by the central controller into industrial communication protocols that match the respective actuators of the salvage unit (1), the crushing unit (2), and the dewatering unit (3). The central controller converts the unified control decision commands into industrial communication protocols that match each actuator through the protocol conversion module.

10. The scheduling and control method for shipborne crushing and salvage equipment according to claim 9, characterized in that, Step S3 also includes a closed-loop feedback adjustment step: receiving operating status feedback signals from each execution unit in real time; processing the feedback signals using a data fusion algorithm to correct errors caused by transmission delay or measurement noise; and fine-tuning the issued control commands in real time based on the deviation between the processed feedback signals and the target state to achieve precise control.

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