Intelligent cleaning method and device for dry bulk carrier excess material

Abstract

This invention provides an intelligent method and apparatus for cleaning residual cargo in dry bulk carriers, relating to the field of smart ports. The method scans the internal environment of the ship's hold using a ship's hold sensing system, models the internal environment based on the scanning results, identifies the target object, and obtains real-time operational information. It controls the robot body to reach the lifting point position and controls the unloader's grab bucket, which includes an autonomous unhooking device, to move to the lifting point position, enabling the autonomous unhooking device to identify and hook the robot body. Based on the real-time operational information, it controls the unloader to lift the robot body into the hold and unhooks it using the autonomous unhooking device. Based on the real-time operational information, it models the local operational environment, detects the target object, and locates the robot body within the hold. Finally, based on the local operational environment, the target object, and the location, it determines the path planning results for the robot body and the trajectory planning results for the robotic arm within the hold.

Description

Technical Field

[0001] This application relates to the field of smart port technology, and in particular to a method and apparatus for intelligent cleaning of residual cargo on dry bulk carriers. Background Technology

[0002] Currently, traditional dry bulk carrier tank cleaning operations heavily rely on manual labor, which presents numerous challenges. Crew members or workers must enter enclosed / semi-enclosed and hazardous tank interiors, facing severe dust pollution, high temperatures, toxic and harmful gases, and the risk of material collapse, among other safety and health risks. Simultaneously, low worker efficiency and high labor intensity have become key bottlenecks restricting the overall improvement of port loading and unloading efficiency. Although some mechanical auxiliary devices exist, the efficiency of dry bulk carrier tank cleaning operations using existing mechanical aids remains low. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent method and apparatus for cleaning the tanks of dry bulk carriers to solve the technical problem of low efficiency in cleaning the tanks of dry bulk carriers.

[0004] In a first aspect, this application provides an intelligent tank cleaning method for dry bulk carriers, applied to an intelligent tank cleaning system for dry bulk carriers. The intelligent tank cleaning system includes an intelligent tank cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The intelligent tank cleaning robot includes a robot body and a body sensing system. The robot body is located inside the ship hold of the cargo ship. The ship unloader sensing system is located below the ship unloader's bridge and connected to the ship unloader. The ship hold sensing system is located at the ship hold opening of the cargo ship. The method includes: In response to the detection that the unloader is ineffective in grabbing the remaining material in the hold, the environment inside the hold and the unloader's environment are scanned by the hold perception system and the unloader perception system. Based on the scanning results, the internal environment of the hold is modeled and the target object is identified, so as to obtain real-time operation information including the location of the unloader, the hatch location, and the point cloud map and image inside the hold. The robot body is controlled to reach the lifting point position, and the unloader grab bucket containing the autonomous unhooking device is controlled to move to the lifting point position so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body. According to the real-time operation information, the unloader is controlled to lift the robot body into the lower cabin and perform unhooking through the autonomous unhooking device. Based on the real-time operation information, the robot body is modeled in the local operation environment and the target object is detected by the body perception system. The robot body is located in the cabin. Based on the local operation environment, the target object, and the location, the path planning result and the trajectory planning result of the robot body in the cabin are determined. Based on the path planning result and the trajectory planning result of the robot body, the robot body is controlled to perform the cabin cleaning operation.

[0005] In one possible implementation, controlling the robot body to perform the cleaning operation based on the path planning result and the robotic arm trajectory planning result includes: The robot body is controlled to reach the work position according to the path planning result, and the bulk material in the ship's hold is cleaned to the material stacking area corresponding to the hatch position according to the mechanical arm trajectory planning result. In response to detecting that the amount of material piled up at the stack has reached a specified amount, the unloader is controlled to grab the material and the ship's hold sensing system scans the current remaining material in the hold. The unloading operation steps are repeated until the ship's hold sensing system determines that the current amount of remaining material in the ship's hold is less than the specified amount of remaining material. Then, the unloading machine completes the final cleaning operation based on the current amount of remaining material. For the specified amount of residual material at the stacking point, the robot body is scanned in real time at the working position through the body perception system to obtain the residual material point cloud and image at the working position. Based on the residual material point cloud and image, the robot body is planned with different strategies for cleaning process actions to obtain the cleaning process action planning result. Based on the cleaning process action planning result, the robot body is controlled to perform the cleaning and scavenging operation on the residual material by sweeping or sucking. In response to the detection of the completion of the tail-sweeping and cleaning operation, the robot body is controlled to move to the central area of ​​the ship's hold. The real-time area information of the central area is detected by the ship's hold perception system and the unloader perception system. Based on the real-time area information, the unloader grab bucket containing the autonomous unhooking device is coordinated to move to the position of the robot body in the central area, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body. The unloader lifts the robot body out of the ship's hold and unhooks the robot body through the autonomous unhooking device.

[0006] In one possible implementation, the intelligent cabin cleaning system further includes a vibration simulator disposed below the cabin. The vibration simulator includes an elastic airbag, horizontally arranged metal plates connected to the upper and lower ends of the elastic airbag, and a metal impact vibration head protruding from the center of the upper metal plate. The cabin floor includes two floor plates connected along the axis of the cabin, the axial direction of which is the direction of the cabin's entrance / exit along the cabin opening. The two floor plates, except for one side along the axis, are movable upwards. When these other sides move upwards, the two floor plates and the top of the cabin form a triangle along the axial direction. Multiple elastic airbags are disposed below the two floor plates, and each metal impact vibration head contacts the two floor plates. The method further includes: In response to the detection of adhesion between the remaining material in the cabin and the bottom plate by scanning, the other sides of the two bottom plates are lifted upward to the target height by the autonomous unhooking device, and the elastic airbag corresponding to the vibration simulator in the flat state is inflated to allow the vibration simulator to be supported by the inflated gas from the flat state to the non-flat state; there is no gas inside the elastic airbag corresponding to the vibration simulator in the flat state. In response to the other side moving upward to the target height and the inflation of the elastic airbag being completed, the two base plates are controlled to fall downward to the metal impact vibration head by their own gravity through the autonomous unhooking device, and the two base plates are vibrated by the vibration simulator so that the adhered objects on the base plates slide downward along the surface of the base plates to the axis by their own gravity. In response to the detection by scanning that the number of multiple adhered objects concentrated at the axis reaches a specified number, the robot body is controlled to perform a cleaning operation at the axis by adsorbing the adhered objects along the axial direction.

[0007] In one possible implementation, the response to detecting adhesion between the remaining material in the hull and the bottom plate via scanning, the autonomous unhooking device hoistes the other side of the two bottom plates upwards to a target height, and controls the inflation of the elastic airbag, including: In response to the detection of adhesion between the remaining material in the cabin and the bottom plate by scanning, the target vibration level of the two bottom plates is determined based on the material texture, particle size, shape, viscosity, weight, adhesion contact area, and adhesion location of the adhered object, so that the adhered object can be detached through the target vibration level. The target height to which the other side is to move upward and the target expansion level to which the elastic airbag is to be reached are determined based on the target vibration level, so that the vibration level of the two bottom plates reaches the target vibration level. The other sides on the two base plates are moved upward according to the target height, and the elastic airbag is inflated according to the target expansion degree, so that the other sides move to the target height and the elastic airbag reaches the target expansion degree.

[0008] In one possible implementation, vibrating the two base plates using the vibration simulator includes: During the process of vibrating the two base plates using the vibration simulator, the actual vibration data of the two base plates is detected. Based on the difference between the actual vibration data and the target vibration level, the vibration intensity of the vibration simulator is controlled by adjusting the amount of air inside the elastic airbag, thereby adjusting the real-time vibration intensity of the two base plates.

[0009] In one possible implementation, after determining the target height to which the other side is to move upward and the target degree of inflation to which the elastic airbag is to be reached based on the target vibration level, the method further includes: The target vibration concentration point of the two bottom plates is determined based on the adhesion position. Based on the target vibration concentration point and the setting position of the multiple vibration simulators below the cabin, the target vibration simulator to be activated and the different expansion height corresponding to each target vibration simulator are determined from the multiple vibration simulators. Based on the setting position of each target vibration simulator, the different expansion heights corresponding to each target vibration simulator, and the target height, the waveform simulation results of the oscillation waveforms corresponding to the multiple target vibration simulators that will be experienced at the adhesion position are predicted. Multiple oscillation waveforms corresponding to multiple target vibration simulators are superimposed with peaks and troughs and canceled with positive and negative waves in the same time dimension to simulate the comprehensive oscillation waveform that will be experienced at the adhesion location; the target vibration degree includes the target vibration amplitude and the target vibration frequency. The target vibration amplitude and target vibration frequency are compared with the vibration amplitude and vibration frequency in the comprehensive oscillation waveform to obtain the comparison result. Based on the comparison result, the different expansion heights corresponding to each target vibration simulator and the target height are adjusted.

[0010] In one possible implementation, determining the target height to which the other side is to move upward and the target inflation level to which the elastic airbag is to be reached based on the target vibration level includes: The target height to which the other sides are to be moved upwards is determined based on the target vibration level using the following formula:

[0011] in, Indicates the target altitude; This indicates the minimum impact acceleration required to correspond to the target vibration level; This represents the moment of inertia of the base plate; This indicates the mass of a single piece of the base plate; Represents gravitational acceleration; This indicates the initial tilt angle of the base plate; Indicates energy transfer efficiency; This indicates the width of the base plate; The target inflation level of the elastic airbag is determined based on the target vibration level using the following formula:

[0012] in, Indicates the degree of target inflation; Indicates atmospheric pressure; This indicates the number of air bladders in the elastic air bladder; This represents the contact area of ​​a single airbag in the elastic airbag; express; express; This represents the effective modulus of the gas in the elastic airbag; This indicates the thickness of the elastic airbag; This represents the elastic modulus of the base plate; This indicates the thickness of the base plate.

[0013] Secondly, this application provides an intelligent tank cleaning device for dry bulk carriers, applied to an intelligent tank cleaning system for dry bulk carriers. The intelligent tank cleaning system includes an intelligent tank cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The intelligent tank cleaning robot includes a robot body and a body sensing system. The robot body is installed inside the ship hold of the cargo ship. The ship unloader sensing system is located below the bridge of the ship unloader and connected to the ship unloader. The ship hold sensing system is located at the hatch opening of the cargo ship. The intelligent tank cleaning device for dry bulk carriers includes: The scanning module is used to respond to the detection that the unloader is not grabbing the remaining material in the hold. It scans the environment inside the hold and the unloading operation environment through the hold perception system and the unloader perception system. Based on the scanning results, it models the internal environment of the hold and identifies the target object of the operation, and obtains real-time operation information including the location of the unloader, the location of the hatch, the point cloud map and image inside the hold. The first control module is used to control the robot body to reach the lifting point position, control the unloader grab bucket containing the autonomous unhooking device to move to the lifting point position, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body, and control the unloader to lift the robot body into the cabin according to the real-time operation information and perform unhooking through the autonomous unhooking device. The second control module is used to model the local working environment, detect the target object, and locate the robot body in the cabin based on the real-time operation information through the body perception system. Based on the local working environment, the target object, and the location, the module determines the path planning result and the robotic arm trajectory planning result of the robot body in the cabin. Based on the path planning result and the robotic arm trajectory planning result, the module controls the robot body to perform the cabin cleaning operation.

[0014] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the method described in the first aspect above.

[0015] Fourthly, this application also provides a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method described in the first aspect above.

[0016] This application brings the following beneficial effects: This application provides an intelligent method and apparatus for cleaning residual material in dry bulk carriers. In response to the detection that the unloader's grabbing of residual material in the hold is invalid, the method scans the environment inside the hold and the unloading operation environment through the hold's sensing system and the unloader's sensing system. Based on the scanning results, it models the internal environment of the hold and identifies the target object, obtaining real-time operation information including the unloader's position, hatch position, and a point cloud map and image of the hold. It controls the robot body to reach the lifting point position and controls the unloader's grab bucket, which includes the autonomous unhooking device, to move to the lifting point position, so that the autonomous unhooking device can identify and hook the robot body. Based on the real-time operation information, it controls the unloader to lift the robot body into the hold and unhooks it through the autonomous unhooking device. Based on the real-time operation information, it controls the unloader to lift the robot body into the hold and unhooks it. The operation information is modeled through the body perception system to detect the local operation environment, the target object, and the robot body's location within the ship's hold. Based on the local operation environment, the target object, and the location, the system determines the robot body's path planning and the robotic arm's trajectory planning within the ship's hold. Based on these results, the system controls the robot body to perform the hold cleaning operation. This solution integrates an intelligent hold cleaning robot, an autonomous unhooking device, and ship's hold environment modeling to create a new safe operation mode for dry bulk carrier waste hold cleaning, combining unloading machine collaboration with automatic unhooking and lifting, and intelligent hold cleaning robots. This improves the efficiency of dry bulk carrier waste hold cleaning operations and solves the technical problem of low efficiency in dry bulk carrier waste hold cleaning operations.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating the intelligent tank cleaning method for residual cargo on dry bulk carriers provided in this application embodiment; Figure 2 The dry bulk carrier residual material intelligent tank cleaning system provided in the embodiments of this application; Figure 3 Another flowchart illustrating the intelligent tank cleaning method for dry bulk carriers provided in this application embodiment; Figure 4 A schematic diagram of the structure of an intelligent tank cleaning device for residual cargo on a dry bulk carrier provided in this application embodiment; Figure 5 This paper shows a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 6 A schematic diagram of the structure of the vibration simulator provided in the embodiment of this application is shown. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions 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, 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.

[0021] The terms "comprising" and "having," and any variations thereof, used in the embodiments of this application, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0022] Currently, although some mechanical auxiliary devices exist, their automation level is low and they still require close-range human operation, thus failing to fundamentally solve the aforementioned problems. Existing mechanical auxiliary devices have low efficiency in cleaning dry bulk carrier cargo holds.

[0023] Based on this, the present application provides a method and apparatus for intelligent cleaning of residual cargo tanks on dry bulk carriers, which can solve the technical problem of low efficiency in cleaning residual cargo tanks on dry bulk carriers.

[0024] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 This is a flowchart illustrating an intelligent tank cleaning method for residual cargo on a dry bulk carrier, provided in an embodiment of this application. The method is applied to an intelligent tank cleaning system for residual cargo on a dry bulk carrier. The intelligent cleaning system includes an intelligent cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The intelligent cleaning robot comprises a robot body and a body sensing system. The robot body is located inside the ship's hold. The ship unloader sensing system is located below the ship unloader's bridge and connected to the ship unloader. The ship hold sensing system is located at the ship's hatch opening. Figure 1 As shown, the method includes: Step S110: In response to the detection that the unloader's grabbing of the remaining material in the hold is invalid, the environment inside the hold and the unloading operation environment are scanned through the hold perception system and the unloader perception system. Based on the scanning results, the internal environment of the hold is modeled and the target object of the operation is identified, and real-time operation information including the location of the unloader, the hatch location, the point cloud map and image inside the hold are obtained.

[0026] As one possible implementation method, such as Figure 2 As shown, the intelligent cargo hold cleaning system for dry bulk carriers includes: an intelligent cleaning robot 1, an autonomous unhooking device 2, a ship unloader sensing system 3, and a cargo hold sensing system 4. The intelligent cleaning robot 1 comprises the robot body and its sensing system. The robot body can perform in-cabin movement and essential cleaning processes; the sensing system enables robot positioning within the cargo hold, local working environment modeling, target detection and recognition, path planning for the walking device, and trajectory planning for the robotic arm. The ship unloader sensing system 3 works collaboratively with the ship unloader and can be deployed below the ship unloader's bridge. The cargo hold sensing system 4 enables real-time modeling of the cargo hold's internal environment and target recognition and can be deployed around the cargo hold openings.

[0027] For example, such as Figure 3 As shown, when the unloader operates until the remaining material in the hold can no longer be efficiently grabbed, the unloader sensing system 3 and the hold sensing system 4 are activated. The unloader sensing system 3 scans the unloading operation environment, and the hold sensing system 4 scans the environment inside the hold to obtain information such as the location of the unloader, the location of the hatch, and the point cloud map inside the hold.

[0028] Step S120: Control the robot body to reach the lifting point position, control the unloader grab bucket containing the autonomous unhooking device to move to the lifting point position, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body, and control the unloader to lift the robot body into the cabin according to the real-time operation information and perform unhooking through the autonomous unhooking device.

[0029] In one optional implementation, the autonomous unhooking device 2 enables automatic hooking and unhooking under the robot compartment. For example, such as... Figure 3 As shown, the intelligent cleaning robot 1 arrives at the hoisting point in advance and controls the unloader's grab bucket (including the autonomous unhooking device 2) to move to the hoisting point. The autonomous unhooking device 2 then autonomously identifies and hooks the hook. Figure 2 As shown, based on real-time information obtained from the unloader's sensing system 3 and the ship's cabin sensing system 4, the unloader's hoisting robot 1 is coordinated and controlled to descend into the central area with less remaining material and complete autonomous unhooking.

[0030] Step S130: Based on real-time operation information, the local operation environment is modeled and the target object is detected through the body perception system, and the robot body is located in the cabin. Based on the local operation environment, the target object and the location, the path planning result of the robot body and the trajectory planning result of the robotic arm in the cabin are determined. Based on the path planning result and the trajectory planning result of the robotic arm, the robot body is controlled to perform the cabin cleaning operation.

[0031] As an optional implementation, controlling the robot body to perform the cleaning operation based on the path planning results and the robotic arm trajectory planning results may specifically include the following steps: The robot body is controlled to reach the work position according to the path planning result and to clean the bulk materials in the ship's hold to the corresponding material stacking point at the hatch position according to the trajectory planning result of the robotic arm; in response to the detection that the accumulation amount at the material stacking point has reached the specified accumulation amount, the unloader is controlled to grab the material and scan the current remaining material in the ship's hold through the ship's hold perception system; the unloading operation steps are repeated until the ship's hold perception system determines that the current remaining material amount in the ship's hold is less than the specified remaining material amount, and the unloader completes the final cleaning operation based on the current remaining material amount; For a specified amount of residual material at the stacking point, the robot body is scanned in real time through the body perception system to obtain the point cloud and image of the residual material at the working position. Based on the point cloud and image of the residual material, the robot body is planned with different strategies for cleaning process actions to obtain the cleaning process action planning results. Based on the cleaning process action planning results, the robot body is controlled to perform the cleaning and sweeping operation on the residual material by sweeping or sucking. In response to the detection of the completion of the cleanup operation, the robot body is moved to the central area of ​​the ship's hold. The real-time area information of the central area is detected by the ship's hold perception system and the unloader perception system. Based on the real-time area information, the unloader grab bucket, which contains an autonomous unhooking device, is coordinated to move to the position of the robot body in the central area, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body. The unloader lifts the robot body out of the ship's hold and unhooks the robot body through the autonomous unhooking device.

[0032] For example, such as Figure 3As shown, the intelligent cabin cleaning robot 1 system is activated. Based on the point cloud and image data provided by the cabin perception system 4, the control system completes the modeling of the cabin's internal environment, robot body localization, and path planning. Following the planned path, robot 1 reaches the work position. The cabin perception system 4 scans for residual material information and unloading machine material accumulation information within the cabin. Robot 1 clears the loose material around the cabin to the material accumulation area at the cabin opening. Once a certain amount has accumulated, the unloading machine grabs it. This process repeats until the cabin perception system 4 determines that there is no residual material in the cabin. The unloading machine then completes the final unloading operation based on the residual material information scanned by the cabin perception system 4. However, the unloading machine cannot completely remove all the material accumulated at the cabin opening; some residue remains. Robot 1 needs to collect this residue, which can be done by sweeping or suction. During the operation, the robot perception system scans the work area in real time. The robot control system plans different cleaning process actions for the robot based on the acquired point cloud and image data of residual material at the work position, achieving efficient cabin cleaning operations. Afterwards, Robot 1 moves to the central area of ​​the ship's hold. Based on the real-time information obtained from the unloader's sensing system 3 and the ship's hold sensing system 4, it coordinates the unloader's grab bucket (including the autonomous unhooking device 2) to move to the lifting point of Robot 1. The autonomous unhooking device 2 completes autonomous hook recognition and hooking. The unloader lifts the cleaning robot 1 out of the ship's hold, ending the intelligent cleaning operation.

[0033] In this embodiment, by introducing intelligent cleaning robots, autonomous unhooking devices, and ship cabin environment modeling, the intelligent cleaning system for dry bulk carrier scrap is integrated with the collaborative operation of unloading machines, automatic unhooking and hoisting, and intelligent cleaning robots, to achieve a new safe operation mode with no one inside the cabin and fewer people on the deck, thereby improving the efficiency of dry bulk carrier scrap cleaning operations.

[0034] In some embodiments, the aforementioned intelligent cabin cleaning system further includes a vibration simulator disposed below the cabin, such as... Figure 6 As shown, the vibration simulator includes an elastic airbag 601, horizontally arranged metal plates 602 connected to the upper and lower ends of the elastic airbag, and a metal impact vibration head 603 protruding from the center of the upper metal plate 602; the cabin floor includes two floor plates connected along the axis of the cabin, the axis direction being the direction of the cabin's entrance / exit; the other sides of the two floor plates, except for one side along the axis, can move upwards, and when the other sides move upwards, the two floor plates and the top of the cabin form a triangle along the axis direction; multiple elastic airbags are arranged below the two floor plates, and each metal impact vibration head is in contact with the two floor plates; the method may further include the following steps: In response to the detection of residual material adhering to the bottom plate in the cabin through scanning, the other sides of the two bottom plates are lifted and moved upward to the target height through the autonomous unhooking device, and the elastic airbag corresponding to the vibration simulator in the flat state is inflated to make the vibration simulator support the vibration simulator from the flat state to the non-flat state by the inflated gas; there is no gas inside the elastic airbag corresponding to the vibration simulator in the flat state. In response to the other side moving upward to the target height and the elastic airbag being inflated, the two base plates are controlled to fall downward to the metal impact vibration head by their own gravity through the autonomous unhooking device. The two base plates are then vibrated by the vibration simulator so that the adhered objects on the base plates slide downward along the plate surface to the axis by their own gravity. In response to the detection of a specified number of multiple adhered objects concentrated along the axis through scanning, the robot body is controlled to perform a cleaning operation along the axis by adsorbing the adhered objects.

[0035] By deeply integrating mechanical structure, pneumatic control, intelligent sensing and robotic operation, it achieves efficient and unmanned cleaning of strongly adhesive residues, solving the pain points of traditional cleaning such as reliance on manual operation, low efficiency and poor safety. It can efficiently and automatically remove residues that are difficult to remove due to material adhesion on the bottom plate of the ship's hold, significantly improving the automation level and efficiency of cleaning operations, while reducing manual intervention and operational risks.

[0036] In some embodiments, in response to the detection of adhesion between residual material in the hold and the bottom plate by scanning, the other sides of the two bottom plates are lifted to the target height by an autonomous unhooking device, and the inflation of the elastic airbag is controlled. Specifically, this may include the following steps: In response to the detection of material adhering to the bottom plate in the hold through scanning, the target vibration level of the two bottom plates is determined based on the material texture, particle size, shape, viscosity, weight, contact area, and location of the adhering material. This is to allow the adhering material to detach from the adhesion through the target vibration level. Based on the target vibration level, the target height to which the other side needs to move upward and the target expansion level of the elastic airbag need to be reached are also determined, so that the vibration level of the two bottom plates reaches the target vibration level. The other sides of the two base plates are moved upward according to the target height, and the air is inflated into the elastic airbag according to the target expansion degree, so that the other sides move to the target height and the elastic airbag reaches the target expansion degree.

[0037] In this embodiment, the cleaning vibration parameters are intelligently and dynamically adjusted based on the multidimensional physical characteristics of the adhering materials (such as texture, particle fineness, shape, viscosity, weight, contact area, and position), thereby achieving precise, efficient, and low-damage removal of adhering materials and significantly improving the adaptability and operational efficiency of the cleaning system. This solution realizes "on-demand customization" and "precise vibration application" for cleaning vibration operations, breaking through the limitations of fixed vibration intensity and poor adaptability of traditional cleaning equipment, and providing a highly intelligent and efficient solution for cleaning complex and ever-changing ship hold debris.

[0038] In some embodiments, the above-mentioned vibration simulation of the two base plates may specifically include the following steps: During the vibration of the two base plates using a vibration simulator, the actual vibration data of the two base plates is detected. Based on the difference between the actual vibration data and the target vibration level, the vibration intensity of the vibration simulator is controlled by adjusting the amount of air inside the elastic airbag, thereby adjusting the real-time vibration intensity of the two base plates.

[0039] By upgrading the traditional open-loop impact cleaning system to an intelligent vibration control system with real-time sensing and adaptive adjustment capabilities, the accuracy, efficiency, and reliability of cleaning operations are significantly improved. The system enables real-time closed-loop feedback adjustment of the vibration intensity of the ship's bottom plate, ensuring that the vibration operation always precisely matches the preset target vibration level. This ensures efficient removal of adhering materials while avoiding low cleaning efficiency or equipment damage caused by insufficient or excessive vibration.

[0040] In some embodiments, after determining the target height to be moved upwards on the other side and the target inflation degree to be achieved by the elastic airbag based on the target vibration level, the method may further include the following steps: The target vibration concentration point of the two bottom plates is determined based on the adhesion location. Based on the target vibration concentration point and the setting position of multiple vibration simulators below the cabin, the target vibration simulator to be activated and the different expansion height corresponding to each target vibration simulator are determined from the multiple vibration simulators. Based on the setting position of each target vibration simulator, the different expansion heights corresponding to each target vibration simulator, and the target height, the waveform simulation results of the oscillation waveforms corresponding to the multiple target vibration simulators that will be experienced at the adhesion location are predicted. Multiple oscillation waveforms corresponding to multiple target vibration simulators are superimposed with peaks and troughs and canceled with positive and negative waves in the same time dimension to simulate the comprehensive oscillation waveform that will be experienced at the adhesion location; the target vibration degree includes the target vibration amplitude and the target vibration frequency. The target vibration amplitude and frequency are compared with the vibration amplitude and frequency in the comprehensive oscillation waveform to obtain the comparison results. Based on the comparison results, the different expansion heights and target heights corresponding to each target vibration simulator are adjusted.

[0041] By employing multi-vibration source collaborative modeling and waveform superposition simulation, precise prediction and optimized control of the vibration field at the adhesion location are achieved. This allows for the synthesis of a comprehensive oscillation waveform that meets the target vibration amplitude and frequency requirements in both spatial and temporal dimensions. This ensures that vibration energy acts efficiently and directionally on the adhesion area, maximizing cleaning efficiency and reducing ineffective energy consumption or structural impact. By upgrading the cleaning vibration from a single, coarse mechanical impact to a "directional vibration field synthesis" technology based on wave theory and multi-actuator collaborative control, precise spatiotemporal control of vibration energy under complex adhesion conditions is achieved, significantly improving the physical accuracy and intelligence level of the intelligent cleaning system.

[0042] In some embodiments, determining the target height to be moved upwards on the other side and the target inflation degree to be achieved by the elastic airbag based on the target vibration level may specifically include the following steps: The target height to be moved upwards on other sides is determined based on the target vibration level using the following formula: (1) in, Indicates the target altitude; This indicates the minimum impact acceleration required to correspond to the degree of vibration of the target. Indicates the moment of inertia of the base plate; This indicates the mass of a single base plate; Represents gravitational acceleration; Indicates the initial tilt angle of the base plate; Indicates energy transfer efficiency; This indicates the width of the base plate.

[0043] The target inflation level of the elastic airbag is determined based on the target vibration level using the following formula:

[0044] in, Indicates the degree of target inflation; Indicates atmospheric pressure; Indicates the number of airbags in the elastic airbag; This represents the contact area of ​​a single airbag within an elastic airbag; express; express; This represents the effective modulus of the gas inside the elastic airbag. Indicates the thickness of the elastic airbag; Indicates the elastic modulus of the base plate; This indicates the thickness of the base plate.

[0045] It should be noted that pressure P The airbag's rigidity is determined by the pressure. Higher pressure results in less deformation of the airbag-metal plate assembly upon impact, making it more like a rigid support. This allows more impact energy to be transferred to the base plate in the form of high-frequency vibrations, generating the necessary energy. The composite term in the denominator of the formula reflects the series stiffness of the "airbag-floor" system.

[0046] Formula (1) above describes the process of deducing the required lifting height of the base plate from the desired vibration acceleration. Its core is based on energy conservation and rigid body rotational dynamics. First, the energy starting point: the base plate from the height... H A point is in free fall (actually rotating about an axis), and its initial potential energy is: Ep = g ;in This is the vertical height by which the center of mass of the base plate descends. Rotational analysis: The base plate rotates around its axis, and its falling motion is better described using rotational kinetic energy. When the base plate rotates through an angle... (Corresponding lifting height) H When it strikes the vibrating head, its rotational kinetic energy is: Er =1 / 2 I ,in ω This is the angular velocity at the moment of impact. Energy conversion relationship: potential energy is converted into rotational kinetic energy, considering efficiency losses: κ =1 / 2 I Impact effect: When the base plate impacts the rigid vibrating head, an impact acceleration is generated at the point of impact. For a certain point on the base plate (especially the location of adhered material), its linear acceleration 'a'... a With angular acceleration α The relationship is: a = α r =τ / I r ;in r It is the distance from that point to the axis of rotation. τ It is the impact torque. Simplified: Assuming the impact is a perfectly inelastic, instantaneous collision, and the vibrating head is sufficiently rigid, then the angular acceleration generated by the impact... α With angular velocity ω and impact time Δ t It is related to the principle of angular momentum. The impact force is related to... ω Proportional to the peak acceleration obtained by the base plate and ω Proportional: ∝ ω ω ∝ Synthetic Relationship: Integrating the above relationships yields a highly... H With the required acceleration The square root relationship: H ∝ The final formula contains cos( The item is due to the drop in the center of gravity of the base plate. and H It exhibits a trigonometric cosine relationship.

[0047] For the above formula (2), the system is modeled as a series spring: upper spring: bottom plate (stiffness is determined by...) (Implication); Lower spring: Inflatable airbag (stiffness determined by...) (Example); two springs connected in series share the impact force. For the effective modulus of gas... Key role: For an ideal gas, its bulk modulus K = γP (γ is the adiabatic index); gas pressure inside the airbag P This directly determines the gas stiffness. Low-pressure airbags: soft, like a cushioning pad → impact energy is absorbed; high-pressure airbags: rigid, like a rigid support → impact energy is efficiently transferred. Regarding the stiffness distribution principle: This represents the proportion of airbag stiffness in the total system stiffness: when P Very small → Very small → Score value close to 0 → The system is mainly dominated by base plate deformation; when P Very big → Very large → The fractional value is close to 1 → The system rigidity is close to perfect. To generate the target acceleration. Requires a specific impact force F : F = This force is caused by N Each airbag shares the burden, with each airbag contributing its share: Fp = / N Since the system uses series springs, the actual compression of the airbag (which determines the acceleration of the base plate) is related to its stiffness. The required pressure can be derived from the mechanical relationships of the series springs. P With target acceleration A direct proportional relationship.

[0048] In this embodiment of the application, the above formulas (1) and (2) make the target height to which the other side is to be moved upward and the target expansion degree to which the elastic airbag is to be reached more accurate, thereby realizing precise control of the vibration effect.

[0049] Figure 4 A schematic diagram of a smart tank cleaning device for dry bulk carriers is provided. This device can be applied to a smart tank cleaning system for dry bulk carriers. The smart tank cleaning system includes a smart tank cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The smart tank cleaning robot includes a robot body and a body sensing system. The robot body is installed inside the ship's hold. The ship unloader sensing system is located below the ship unloader's bridge and connected to the ship unloader. The ship hold sensing system is located at the ship's hold opening. Figure 4 As shown, the intelligent tank cleaning device 400 for residual cargo on dry bulk carriers includes: The scanning module 401 is used to respond to the detection that the unloader is not grabbing the remaining material in the hold, and to scan the environment inside the hold and the unloading operation environment through the hold perception system and the unloader perception system. Based on the scanning results, the internal environment of the hold is modeled and the target object is identified, and real-time operation information including the location of the unloader, the hatch location, the point cloud map and image inside the hold is obtained. The first control module 402 is used to control the robot body to reach the lifting point position, control the unloader grab bucket containing the autonomous unhooking device to move to the lifting point position, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body, and control the unloader to lift the robot body into the cabin according to the real-time operation information and perform unhooking through the autonomous unhooking device. The second control module 403 is used to model the local working environment, detect the target object, and locate the robot body in the cabin based on the real-time operation information through the body perception system. Based on the local working environment, the target object, and the location, the module determines the path planning result and the robotic arm trajectory planning result of the robot body in the cabin. Based on the path planning result and the robotic arm trajectory planning result, the module controls the robot body to perform the cabin cleaning operation.

[0050] The intelligent tank cleaning device for dry bulk carriers provided in this application embodiment has the same technical features as the intelligent tank cleaning method for dry bulk carriers provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0051] An electronic device provided in this application embodiment, such as Figure 5As shown, the electronic device 500 includes a processor 502 and a memory 501. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps of the method provided in the above embodiments.

[0052] See Figure 5 The electronic device also includes a bus 503 and a communication interface 504. The processor 502, the communication interface 504 and the memory 501 are connected through the bus 503. The processor 502 is used to execute executable modules, such as computer programs, stored in the memory 501.

[0053] The memory 501 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 504 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0054] Bus 503 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0055] The memory 501 is used to store programs. After receiving an execution instruction, the processor 502 executes the program. The method executed by the apparatus defined by the process disclosed in any of the preceding embodiments of this application can be applied to the processor 502 or implemented by the processor 502.

[0056] Processor 502 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 502 or by instructions in software form. The processor 502 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 501, and processor 502 reads the information from memory 501 and, in conjunction with its hardware, completes the steps of the above method.

[0057] Corresponding to the above-described intelligent cleaning method for dry bulk carrier scrap, this application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to perform the steps of the above-described intelligent cleaning method for dry bulk carrier scrap.

[0058] The intelligent tank cleaning device for dry bulk carriers provided in this application embodiment can be specific hardware on the equipment or software or firmware installed on the equipment. The implementation principle and technical effects of the device provided in this application embodiment are the same as those in the foregoing method embodiments. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the foregoing method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0059] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0060] For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0062] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0063] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the intelligent tank cleaning method for dry bulk carrier residual cargo described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0064] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0065] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for intelligent cleaning of dry bulk carrier residues, characterized by, An intelligent tank cleaning system for dry bulk carriers is applied. The intelligent tank cleaning system includes an intelligent tank cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The intelligent tank cleaning robot comprises a robot body and a body sensing system. The robot body is installed inside the ship's hold. The ship unloader sensing system is located below the ship unloader's bridge and connected to the ship unloader. The ship hold sensing system is located at the ship's hatch opening. The method includes: In response to the detection that the unloader is ineffective in grabbing the remaining material in the hold, the environment inside the hold and the unloader's environment are scanned by the hold perception system and the unloader perception system. Based on the scanning results, the internal environment of the hold is modeled and the target object is identified, so as to obtain real-time operation information including the location of the unloader, the hatch location, and the point cloud map and image inside the hold. The robot body is controlled to reach the lifting point position, and the unloader grab bucket containing the autonomous unhooking device is controlled to move to the lifting point position so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body. According to the real-time operation information, the unloader is controlled to lift the robot body into the lower cabin and perform unhooking through the autonomous unhooking device. Based on the real-time operation information, the robot body is modeled in the local operation environment and the target object is detected by the body perception system. The robot body is located in the cabin. Based on the local operation environment, the target object, and the location, the path planning result and the trajectory planning result of the robot body in the cabin are determined. Based on the path planning result and the trajectory planning result of the robot body, the robot body is controlled to perform the cabin cleaning operation.

2. The method of claim 1, wherein, The step of controlling the robot body to perform the cleaning operation based on the path planning result and the robotic arm trajectory planning result includes: The robot body is controlled to reach the work position according to the path planning result, and the bulk material in the ship's hold is cleaned to the material stacking area corresponding to the hatch position according to the mechanical arm trajectory planning result. In response to detecting that the amount of material piled up at the stack has reached a specified amount, the unloader is controlled to grab the material and the ship's hold sensing system scans the current remaining material in the hold. The unloading operation steps are repeated until the ship's hold sensing system determines that the current amount of remaining material in the ship's hold is less than the specified amount of remaining material. Then, the unloading machine completes the final cleaning operation based on the current amount of remaining material. For the specified amount of residual material at the stacking point, the robot body is scanned in real time at the working position through the body perception system to obtain the residual material point cloud and image at the working position. Based on the residual material point cloud and image, the robot body is planned with different strategies for cleaning process actions to obtain the cleaning process action planning result. Based on the cleaning process action planning result, the robot body is controlled to perform the cleaning and scavenging operation on the residual material by sweeping or sucking. In response to the detection of the completion of the tail-sweeping and cleaning operation, the robot body is controlled to move to the central area of ​​the ship's hold. The real-time area information of the central area is detected by the ship's hold perception system and the unloader perception system. Based on the real-time area information, the unloader grab bucket containing the autonomous unhooking device is coordinated to move to the position of the robot body in the central area, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body. The unloader lifts the robot body out of the ship's hold and unhooks the robot body through the autonomous unhooking device.

3. The method according to claim 1, characterized in that, The intelligent cabin cleaning system also includes a vibration simulator located below the cabin. The vibration simulator includes an elastic airbag, horizontally arranged metal plates connected to the upper and lower ends of the elastic airbag, and a metal impact vibration head protruding from the center of the upper metal plate. The cabin floor includes two floor plates connected along the axis of the cabin, with the axis direction being the direction of the cabin's entrance / exit along the cabin opening. The two floor plates, except for one side along the axis, can move upwards. When the other sides move upwards, the two floor plates and the top of the cabin form a triangle along the axis direction. Multiple elastic airbags are disposed below the two base plates, and each of the metal impact vibration heads is in contact with the two base plates; the method further includes: In response to the detection of adhesion between the remaining material in the cabin and the bottom plate by scanning, the other sides of the two bottom plates are lifted upward to the target height by the autonomous unhooking device, and the elastic airbag corresponding to the vibration simulator in the flat state is inflated to allow the vibration simulator to be supported by the inflated gas from the flat state to the non-flat state; there is no gas inside the elastic airbag corresponding to the vibration simulator in the flat state. In response to the other side moving upward to the target height and the inflation of the elastic airbag being completed, the two base plates are controlled to fall downward to the metal impact vibration head by their own gravity through the autonomous unhooking device, and the two base plates are vibrated by the vibration simulator so that the adhered objects on the base plates slide downward along the surface of the base plates to the axis by their own gravity. In response to the detection by scanning that the number of multiple adhered objects concentrated at the axis reaches a specified number, the robot body is controlled to perform a cleaning operation at the axis by adsorbing the adhered objects along the axial direction.

4. The method according to claim 3, characterized in that, In response to the detection of adhesion between the remaining material in the hull and the bottom plate via scanning, the autonomous unhooking device lifts the other sides of the two bottom plates upwards to a target height and controls the inflation of the elastic airbag, including: In response to the detection of adhesion between the remaining material in the cabin and the bottom plate by scanning, the target vibration level of the two bottom plates is determined based on the material texture, particle size, shape, viscosity, weight, adhesion contact area, and adhesion location of the adhered object, so that the adhered object can be detached through the target vibration level. The target height to which the other side is to move upward and the target expansion level to which the elastic airbag is to be reached are determined based on the target vibration level, so that the vibration level of the two bottom plates reaches the target vibration level. The other sides on the two base plates are moved upward according to the target height, and the elastic airbag is inflated according to the target expansion degree, so that the other sides move to the target height and the elastic airbag reaches the target expansion degree.

5. The method according to claim 4, characterized in that, The process of vibrating the two base plates using the vibration simulator includes: During the process of vibrating the two base plates using the vibration simulator, the actual vibration data of the two base plates is detected. Based on the difference between the actual vibration data and the target vibration level, the vibration intensity of the vibration simulator is controlled by adjusting the amount of air inside the elastic airbag, thereby adjusting the real-time vibration intensity of the two base plates.

6. The method according to claim 4, characterized in that, After determining the target height to which the other side needs to move upward and the target inflation level to which the elastic airbag needs to be reached based on the target vibration level, the method further includes: The target vibration concentration point of the two bottom plates is determined based on the adhesion position. Based on the target vibration concentration point and the setting position of the multiple vibration simulators below the cabin, the target vibration simulator to be activated and the different expansion height corresponding to each target vibration simulator are determined from the multiple vibration simulators. Based on the setting position of each target vibration simulator, the different expansion heights corresponding to each target vibration simulator, and the target height, the waveform simulation results of the oscillation waveforms corresponding to the multiple target vibration simulators that will be experienced at the adhesion position are predicted. Multiple oscillation waveforms corresponding to multiple target vibration simulators are superimposed with peaks and troughs and canceled with positive and negative waves in the same time dimension to simulate the comprehensive oscillation waveform that will be experienced at the adhesion location; the target vibration degree includes the target vibration amplitude and the target vibration frequency. The target vibration amplitude and target vibration frequency are compared with the vibration amplitude and vibration frequency in the comprehensive oscillation waveform to obtain the comparison result. Based on the comparison result, the different expansion heights corresponding to each target vibration simulator and the target height are adjusted.

7. The method according to claim 4, characterized in that, Determining the target height to which the other side needs to move upward and the target inflation level to which the elastic airbag needs to be reached based on the target vibration level includes: The target height to which the other sides are to be moved upwards is determined based on the target vibration level using the following formula: in, Indicates the target altitude; This indicates the minimum impact acceleration required to correspond to the target vibration level; This represents the moment of inertia of the base plate; This indicates the mass of a single piece of the base plate; Represents gravitational acceleration; This indicates the initial tilt angle of the base plate; Indicates energy transfer efficiency; This indicates the width of the base plate; The target inflation level of the elastic airbag is determined based on the target vibration level using the following formula: in, Indicates the degree of target inflation; Indicates atmospheric pressure; This indicates the number of air bladders in the elastic air bladder; This represents the contact area of ​​a single airbag in the elastic airbag; express; express; This represents the effective modulus of the gas in the elastic airbag; This indicates the thickness of the elastic airbag; This represents the elastic modulus of the base plate; This indicates the thickness of the base plate.

8. An intelligent tank cleaning device for residual cargo on dry bulk carriers, characterized in that, An intelligent tank cleaning system for dry bulk carriers is applied. The intelligent tank cleaning system includes an intelligent tank cleaning robot, an autonomous unhooking device, a ship unloader sensing system, and a ship hold sensing system. The intelligent tank cleaning robot includes a robot body and a body sensing system. The robot body is installed inside the ship hold of the cargo ship. The ship unloader sensing system is installed below the ship unloader's cockpit and connected to the ship unloader. The ship hold sensing system is installed at the ship hold opening of the cargo ship. The intelligent tank cleaning device for residual cargo on dry bulk carriers includes: The scanning module is used to respond to the detection that the unloader is not grabbing the remaining material in the hold. It scans the environment inside the hold and the unloading operation environment through the hold perception system and the unloader perception system. Based on the scanning results, it models the internal environment of the hold and identifies the target object of the operation, and obtains real-time operation information including the location of the unloader, the location of the hatch, the point cloud map and image inside the hold. The first control module is used to control the robot body to reach the lifting point position, control the unloader grab bucket containing the autonomous unhooking device to move to the lifting point position, so that the autonomous unhooking device can complete the hook recognition and hooking of the robot body, and control the unloader to lift the robot body into the cabin according to the real-time operation information and perform unhooking through the autonomous unhooking device. The second control module is used to model the local working environment, detect the target object, and locate the robot body in the cabin based on the real-time operation information through the body perception system. Based on the local working environment, the target object, and the location, the module determines the path planning result and the robotic arm trajectory planning result of the robot body in the cabin. Based on the path planning result and the robotic arm trajectory planning result, the module controls the robot body to perform the cabin cleaning operation.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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