CN101112961A - Bulk cargo automatic ship-unloading system and method thereof - Google Patents
Bulk cargo automatic ship-unloading system and method thereof Download PDFInfo
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- CN101112961A CN101112961A CNA2006100293582A CN200610029358A CN101112961A CN 101112961 A CN101112961 A CN 101112961A CN A2006100293582 A CNA2006100293582 A CN A2006100293582A CN 200610029358 A CN200610029358 A CN 200610029358A CN 101112961 A CN101112961 A CN 101112961A
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Abstract
The invention discloses a bulk automation boat discharging system, which is characterized in that a main control unit is connected with an object position scanning unit; the main control unit is connected with an exchanger; the object position scanning unit is connected with the exchanger which is connected with a crane maintenance and monitoring unit. In the invention, the object position scanning unit automatically scans the boat cabin and implements the automatic detection of the boat cabin position and the distribution of the material; the main control unit automatically produces the optimized boat discharging path according to the detection result and controls and executes the drive control of all mechanism motors of the boat discharging machine by a plurality of transmission units. A cab controlling platform and a central monitoring chamber are connected with the main control unit, can interrupt the automatic boat discharging process according to the actual situations, and interfaces and adjusts the devices. The invention has the advantages of implementing the continuous automatic boat discharging function of the whole cabin, improving the operation efficiency, ensuring the safety performance, and reaching the purpose of implementing full automation of the buck dock.
Description
Technical field:
The present invention relates to ports handling machine, the particularly a kind of bulk cargo automation ship-unloading system and the method for unloading a ship thereof.
Background technology:
When at present, the harbour bulk cargo terminals adopt crab bucket ship unloading all is manual mode.Manually unload ship time, cart, dolly, the action that hoists and grab bucket are all operated by the driver, and its efficient depends on driver's skill level fully.Driver operation causes waving of grab bucket easily, influences operating efficiency to a great extent.The head driver time, not only operating efficiency reduced significantly, also grabs, buries phenomenons such as bucket, inaccurate discharging easily because of visual fatigue causes less during continuous working.
A lot of companies have also developed the grab bucket ship unloader of automated manner, but under the present this mode, grab bucket from cabin top the opening bucket discharging to the hopper top and above hopper finish by Automatic Program, that can avoid that M/C causes waves and inaccurate discharging, eliminate artificial factor, improved the conformability of the action of unloading a ship.At present there are two bottlenecks in this mode of unloading a ship automatically, and restricted it to a great extent and promoted, the one, need the interior outer fix of the pre-set cabin of driver, the prerequisite of automatic job is that this position of hypothesis is changeless in considerable time.And under actual conditions, because the influence of the variation of the interior material of cabin and rising tide and ebb tide, hull can produce or come-up.At this moment adopt automated manner to unload a ship and just have the danger that crashes.Another one is irregular that the bulk goods material distributes in the cabin, in order to reach full bucket, avoids sky to grab, grab less and bury the bucket phenomenon, and the driver needs manually to set the return point of next circulation cabin top when starting automatic circulation.Therefore, this mode of unloading a ship automatically only limits to the finite automation in the single circulation at present, and the connection between a plurality of circulations relies on driver's hand adjustment, and the driver also needs just can reach through training after a while the coordinated manipulation of automated procedure and hand adjustment.Along with progressively automation of harbour, digitalisation, intelligentized development tendency, bulk cargo terminals full-automatic imperative.Present cargo unloader is not suitable for the realization of bulk cargo terminals full-automation.
Summary of the invention:
An object of the present invention is to provide a kind of bulk cargo automation ship-unloading system, this system can realize the automatic detection that cabin position and material distribute, thereby substitute driver's manual setting and operation, realize whole cabin continuous automatic unloading ship function, reach the purpose that improves the operating efficiency and the performance that ensures safety.
To achieve these goals, technical scheme of the present invention is: a kind of bulk cargo automation ship-unloading system, this system is connected with hoisting crane, it comprises main control unit, main control unit is connected with many gear units, many gear units are connected with the grab bucket control unit, many gear units are connected with the dolly control unit, many gear units are connected with the cart control unit, many gear units are connected with other control unit, it is characterized in that main control unit is connected with the target location scanning element, and main control unit is connected with exchange, the target location scanning element is connected with exchange, and exchange is safeguarded with hoisting crane and is connected with monitor unit.Main control unit is connected with central control room, and main control unit is connected with the driver's cab control desk.
The control unit of wherein grabbing bucket comprises and main control unit bonded assembly first governor and first coder, first governor is connected with first coder, first coder is connected with the switching motor, opening and closing motor is connected with grab bucket, main control unit also is connected with second coder with second governor, second governor is connected with second coder, and second coder is connected with the support motor, supports that motor is connected with the grab bucket of hoisting crane.
Another object of the present invention provides a kind of bulk cargo automation method of unloading a ship, this method can realize the automatic detection that cabin position and material distribute, thereby substitute driver's manual setting and operation, realize whole cabin continuous automatic unloading ship function, reach the purpose that improves the operating efficiency and the performance that ensures safety.
To achieve these goals, technical scheme of the present invention is: a kind of bulk cargo automation method of unloading a ship, it is characterized in that it comprises following steps: A, crane is moved to over against the position of ship shape line of centers, target location scanning element scanning cabin and material also send the scanning situation to main control unit, and main control unit forms material surface reduction figure according to the scanning situation simultaneously at driver's cab control desk and central control room; B, main control unit produce automatically optimizes the path, shows this optimization path at driver's cab control desk and central control room, waits for that the driver confirms, after the driver confirmed, the many gear unit control of main control unit order hoisting crane was unloaded a ship automatically; After C, crane grab grasped material, the target location scanning element scanned the operating area, and main control unit generates the return point of grab bucket automatically, also formed corresponding material surface reduction figure simultaneously; D, judge that according to material surface reduction figure the grab bucket operation finishes after, main control unit order buck raker is piled up residual material in the cabin, and after the scanning of target location scanning element, main control unit orders crane grab to grasp material once more, with step C, until unloading a ship fully.
In the present invention, the target location scanning element scans cabin automatically, realize the automatic detection that cabin position and material distribute, main control unit produces the path of unloading a ship of optimization automatically according to testing result, and carries out the drive controlling of each mechanism's motor of ship unloaders by many gear unit controls.The driver's cab control desk all is connected with main control unit with central control room, can be according to the actual conditions process of interrupting unloading a ship automatically, and equipment is interfered and adjusted.The invention has the advantages that and to realize whole cabin continuous automatic unloading ship function, improve the operating efficiency and the performance that ensures safety, reach the purpose that realizes the bulk cargo terminals full-automation.
Description of drawings:
Fig. 1 is the system chart of one embodiment of the invention
Fig. 2 is the circuit block diagram of the control unit of wherein grabbing bucket
Fig. 3 is the installation site scheme drawing of the target location sensor in the scanning element of target location
The specific embodiment:
Below in conjunction with drawings and Examples the present invention is further described.
A kind of bulk cargo automation ship-unloading system among Fig. 1, it comprises main control unit 1, main control unit 1 is connected with central control room 2, main control unit 1 is connected with driver's cab control desk 3, main control unit 1 is connected with many transmission devices 4, many transmission devices 4 are connected with grab bucket control unit 5, many gear units 4 are connected with dolly control unit 6, many gear units 4 are connected with cart control unit 7, many gear units 4 are connected with other control unit 8, and main control unit 1 is connected with target location scanning element 9, and main control unit 1 is connected with exchange 8, target location scanning element 7 is connected with exchange 10, and exchange 10 is safeguarded with hoisting crane and is connected with monitor unit 11.This bulk cargo automation ship-unloading system is connected with hoisting crane.
The control unit 5 of wherein grabbing bucket comprises and main control unit 1 bonded assembly, first governor 51 and first coder 52, first governor 51 is connected with first coder 52, first coder 52 is connected with switching motor 53, opening and closing motor 53 is connected with grab bucket 54, main control unit 1 also is connected with second coder 56 with second governor 55, second governor 55 is connected with second coder 56, and second coder 56 is connected with support motor 57, supports motor 57 to be connected with grab bucket 54.In the present invention, by second governor 55 the waving when mobile of suppressing to grab bucket, guarantee machine security and location.
Main control unit 1 is carried out ship unloaders manual and the logic control of automatic job and the logic control of safety guard-safeguard.Many gear units 4 are carried out the drive controlling of each mechanism's motor of ship unloaders.For guaranteeing real time of data transmission, this bulk cargo automation ship-unloading system mainly adopts the Optical Fiber Transmission mode.
The driver only need move to ship unloaders in the scope of operation cabin, and target location scanning element 9 scans cabin automatically, determines the position and the height of hatch, and the distribution situation of material in the cabin, and shows in the mode of figure.The driver selects the suitable strategy of unloading a ship according to the distribution of material, and main control unit 1 produces the path of optimizing of unloading a ship automatically, after the driver confirms, begins ship-discharging operation automatically.In automatic ship-discharging operation process, target location scanning element 9 scans the operating area at any time, the variation that material distributes in hatch position, height and the cabin upgrades in time, main control unit 1 is according to the scope of the actual position and the automatic ship-discharging operation of highly automated renewal of hatch, and, need not the driver and manually set according to the position that the actual distribution of material is calculated return point automatically.The driver also can be at any time interrupted the process of unloading a ship automatically according to actual conditions, and equipment is interfered and adjusted, can recover automatic job after adjusting end, and system continues automatic ship-discharging operation.Under the situation that does not have the driver to interfere, main control unit 1 will carry out ship-discharging operation automatically and finish until whole cabin ship-discharging operation.
Among the present invention, target location scanning element 9 is used for discerning automatically the height of position, hatch and the bilge of position, cabin at boats and ships place and material variety and distribution situation thereof in the cabin.In target location scanning element 9, adopt external advanced target location sensor (TPS) to finish three kinds of functions of real-time detection of cabin position, material variety and distribution and return point.
The target location sensor is based on the scanner of laser ranging, can be applicable to the scanning of box ship type, stockyard scanning, truck scanning and location.Its basic functional principle is laser ranging, adopts laser that target is carried out two-dimensional high speed continuous scanning, and the distance of each point on the measurement target surface according to the laser angle and the distance of each point, can obtain the three dimensional local information of each point.From the location information of these points, can adopt various algorithms to extract the position of target surface shape facility (as the edge), also the shape of target surface can be recovered out.
The installation site of target location sensor TPS as shown in Figure 3.The position of attachment point is below preceding crossbeam one side, and over against the line of centers of ship type, the scanning window makes the scanning range of TPS can cover design maximum ship type over against the water surface.
The workflow of this bulk cargo automation ship-unloading system is:
Step 1: the driver moves to crane over against the position of ship shape line of centers, the target location sensor TPS scanning cabin of target location scanning element 9 and material also send the scanning situation to main control unit 1, and main control unit 1 forms material surface reduction figure according to the scanning situation simultaneously at driver's cab control desk 3 and central control room 2;
Step 2: main control unit 1 produces automatically optimizes the path, show this optimization path at driver's cab control desk 3 and central control room 2, wait for that the driver confirms, after the driver confirms, the many gear units 4 of main control unit 1 order are unloaded a ship automatically, many gear units 4 pass through cart control unit 7, dolly control unit 6, grab bucket control unit 5 and the 8 control hoisting crane work of other control unit;
Step 3: after crane grab grasps a bucket material, scanning element 9 pairs of operating areas in target location are scanned, main control unit 1 generates the return point of grab bucket automatically, and, also form corresponding material surface reduction figure simultaneously by the return point return of many gear unit 4 order hoisting cranes by automatic generation;
Step 4: after judging that according to material surface reduction figure the grab bucket operation finishes, the many gear units 4 of main control unit 1 order are piled up residual material in the cabin by other control unit 8 control buck rakers, after 9 scannings of target location scanning element, main control unit 1 orders crane grab to grasp material once more, same step 3 is until unloading a ship fully.
Claims (5)
1. bulk cargo automation ship-unloading system, this bulk cargo automation ship-unloading system is connected with hoisting crane, it comprises main control unit, main control unit is connected with many gear units, many gear units are connected with the grab bucket control unit, many gear units are connected with the dolly control unit, many gear units are connected with the cart control unit, many gear units are connected with other control unit, it is characterized in that main control unit is connected with the target location scanning element, main control unit is connected with exchange, and the target location scanning element is connected with exchange, and exchange is safeguarded with hoisting crane and is connected with monitor unit.
2. bulk cargo automation ship-unloading system as claimed in claim 1 is characterized in that main control unit is connected with central control room, and main control unit is connected with the driver's cab control desk.
3. bulk cargo automation ship-unloading system as claimed in claim 1 or 2, the control unit that it is characterized in that grabbing bucket comprises and main control unit bonded assembly first governor and first coder, first governor is connected with first coder, first coder is connected with the switching motor, opening and closing motor is connected with grab bucket, main control unit also is connected with second coder with second governor, second governor is connected with second coder, second coder is connected with the support motor, supports that motor is connected with the grab bucket of hoisting crane.
4. bulk cargo automation ship-unloading system as claimed in claim 1 or 2 is characterized in that the target location scanning element adopts the target location sensor, and this target location sensor is installed in the below of preceding crossbeam one side of hoisting crane, over against the line of centers of ship type.
5. bulk cargo automation method of unloading a ship, it is characterized in that it comprises following steps: A, crane is moved to over against the position of ship shape line of centers, target location scanning element scanning cabin and material also send the scanning situation to main control unit, and main control unit forms material surface reduction figure according to the scanning situation simultaneously at driver's cab control desk and central control room; B, main control unit produce automatically optimizes the path, shows this optimization path at driver's cab control desk and central control room, waits for that the driver confirms, after the driver confirmed, the many gear unit control of main control unit order hoisting crane was unloaded a ship automatically; After C, crane grab grasped material, the target location scanning element scanned the operating area, and main control unit generates the return point of grab bucket automatically, also formed corresponding material surface reduction figure simultaneously; D, judge that according to material surface reduction figure the grab bucket operation finishes after, main control unit order buck raker is piled up residual material in the cabin, and after the scanning of target location scanning element, main control unit orders crane grab to grasp material once more, with step C, until unloading a ship fully.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNA2006100293582A CN101112961A (en) | 2006-07-25 | 2006-07-25 | Bulk cargo automatic ship-unloading system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2006100293582A CN101112961A (en) | 2006-07-25 | 2006-07-25 | Bulk cargo automatic ship-unloading system and method thereof |
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| CNA2006100293582A Pending CN101112961A (en) | 2006-07-25 | 2006-07-25 | Bulk cargo automatic ship-unloading system and method thereof |
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Cited By (24)
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| CN102087521B (en) * | 2009-12-08 | 2012-08-22 | 鞍钢集团矿业公司 | Remotely operable mixed material picking and conveying apparatus and picking and conveying method thereof |
| CN103407883A (en) * | 2013-08-22 | 2013-11-27 | 泰富重工制造有限公司 | Control system and control method for ship unloader |
| CN103803418A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Crown block clamping jaw control system |
| CN105016099A (en) * | 2015-07-13 | 2015-11-04 | 上海振华重工(集团)股份有限公司 | Chain bucket continuous type ship unloader automatic intelligent control system |
| CN105565165A (en) * | 2016-03-04 | 2016-05-11 | 江苏聚业机械装备股份有限公司 | Full-automatic intelligent port crane coal grabbing system and method |
| CN108750952A (en) * | 2017-12-20 | 2018-11-06 | 江苏耐维思通科技股份有限公司 | A kind of remote control intelligent collision driving of automatic running |
| CN109095213A (en) * | 2018-09-29 | 2018-12-28 | 大连华锐重工集团股份有限公司 | Intelligent bucket continuous ship unloader control system and method |
| CN110182619A (en) * | 2019-04-22 | 2019-08-30 | 武汉钢铁有限公司 | A kind of bridge type ship unloader control system and method |
| CN110182622A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of unmanned bucket continuous ship unloader automatic material taking method |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| CN110222963A (en) * | 2019-05-25 | 2019-09-10 | 宁波梅山岛国际集装箱码头有限公司 | Long-range control method and system are hung in fixation |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN110817490A (en) * | 2019-11-15 | 2020-02-21 | 中冶宝钢技术服务有限公司 | Grab ship unloader and operation method thereof |
| CN111170153A (en) * | 2020-02-24 | 2020-05-19 | 上海驭矩信息科技有限公司 | Container loading and unloading method based on motion planning |
| CN111377356A (en) * | 2018-12-28 | 2020-07-07 | 上海梅山钢铁股份有限公司 | Semi-automatic loading and unloading bridge with path planning algorithm and control method |
| CN111634709A (en) * | 2020-06-12 | 2020-09-08 | 中冶宝钢技术服务有限公司 | Cabin cleaning operation method suitable for modified bulk cargo ship |
| CN111646247A (en) * | 2020-05-27 | 2020-09-11 | 青岛港国际股份有限公司 | Bridge type ship unloader operation method |
| CN111908188A (en) * | 2020-07-30 | 2020-11-10 | 神华黄骅港务有限责任公司 | Method and device for loading cargo in ship cabin, computer equipment and storage medium |
| TWI719403B (en) * | 2018-02-02 | 2021-02-21 | 日商Ｉｈｉ股份有限公司 | Unloading apparatus |
| CN113568402A (en) * | 2021-06-25 | 2021-10-29 | 武汉钢铁有限公司 | Ship unloading method and device and ship-shore cooperative ship unloading system |
| CN113879869A (en) * | 2021-09-27 | 2022-01-04 | 三一海洋重工有限公司 | Control method, control device and material grabbing machine |
| CN114314346A (en) * | 2021-12-31 | 2022-04-12 | 南京中远通科技有限公司 | Driving control method and system based on coal storage management |
| CN114803573A (en) * | 2022-04-14 | 2022-07-29 | 华能曹妃甸港口有限公司 | Automatic ship loading and cabin changing method for bulk cargo wharf |
| CN114803572A (en) * | 2022-04-20 | 2022-07-29 | 北京汇力智能科技有限公司 | Unloading system for cargo ship and ship unloader |
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| CN102087521B (en) * | 2009-12-08 | 2012-08-22 | 鞍钢集团矿业公司 | Remotely operable mixed material picking and conveying apparatus and picking and conveying method thereof |
| CN103803418A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Crown block clamping jaw control system |
| CN103407883A (en) * | 2013-08-22 | 2013-11-27 | 泰富重工制造有限公司 | Control system and control method for ship unloader |
| CN103407883B (en) * | 2013-08-22 | 2015-09-02 | 泰富重工制造有限公司 | Ship unloaders control system and control method |
| CN105016099A (en) * | 2015-07-13 | 2015-11-04 | 上海振华重工(集团)股份有限公司 | Chain bucket continuous type ship unloader automatic intelligent control system |
| CN105565165A (en) * | 2016-03-04 | 2016-05-11 | 江苏聚业机械装备股份有限公司 | Full-automatic intelligent port crane coal grabbing system and method |
| CN108750952A (en) * | 2017-12-20 | 2018-11-06 | 江苏耐维思通科技股份有限公司 | A kind of remote control intelligent collision driving of automatic running |
| TWI719403B (en) * | 2018-02-02 | 2021-02-21 | 日商Ｉｈｉ股份有限公司 | Unloading apparatus |
| CN109095213B (en) * | 2018-09-29 | 2023-10-24 | 大连华锐重工集团股份有限公司 | Intelligent chain bucket type continuous ship unloader control system and method |
| CN109095213A (en) * | 2018-09-29 | 2018-12-28 | 大连华锐重工集团股份有限公司 | Intelligent bucket continuous ship unloader control system and method |
| CN111377356A (en) * | 2018-12-28 | 2020-07-07 | 上海梅山钢铁股份有限公司 | Semi-automatic loading and unloading bridge with path planning algorithm and control method |
| CN111377356B (en) * | 2018-12-28 | 2022-02-22 | 上海梅山钢铁股份有限公司 | Semi-automatic loading and unloading bridge with path planning algorithm and control method |
| CN110182619B (en) * | 2019-04-22 | 2021-08-24 | 武汉钢铁有限公司 | Bridge type ship unloader control system and method |
| CN110182619A (en) * | 2019-04-22 | 2019-08-30 | 武汉钢铁有限公司 | A kind of bridge type ship unloader control system and method |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| CN110182622B (en) * | 2019-05-10 | 2020-08-14 | 大连华锐重工集团股份有限公司 | Automatic material taking method for unmanned chain bucket type continuous ship unloader |
| CN110182620B (en) * | 2019-05-10 | 2023-09-26 | 大连华锐重工集团股份有限公司 | Scanning identification system of unmanned chain bucket type continuous ship unloader and working method |
| CN110182622A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of unmanned bucket continuous ship unloader automatic material taking method |
| CN110222963A (en) * | 2019-05-25 | 2019-09-10 | 宁波梅山岛国际集装箱码头有限公司 | Long-range control method and system are hung in fixation |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN110817490A (en) * | 2019-11-15 | 2020-02-21 | 中冶宝钢技术服务有限公司 | Grab ship unloader and operation method thereof |
| CN111170153B (en) * | 2020-02-24 | 2022-06-14 | 上海驭矩信息科技有限公司 | Container loading and unloading method based on motion planning |
| CN111170153A (en) * | 2020-02-24 | 2020-05-19 | 上海驭矩信息科技有限公司 | Container loading and unloading method based on motion planning |
| CN111646247A (en) * | 2020-05-27 | 2020-09-11 | 青岛港国际股份有限公司 | Bridge type ship unloader operation method |
| CN111646247B (en) * | 2020-05-27 | 2021-08-31 | 青岛港国际股份有限公司 | Bridge type ship unloader operation method |
| CN111634709A (en) * | 2020-06-12 | 2020-09-08 | 中冶宝钢技术服务有限公司 | Cabin cleaning operation method suitable for modified bulk cargo ship |
| CN111908188A (en) * | 2020-07-30 | 2020-11-10 | 神华黄骅港务有限责任公司 | Method and device for loading cargo in ship cabin, computer equipment and storage medium |
| CN113568402B (en) * | 2021-06-25 | 2023-09-01 | 武汉钢铁有限公司 | Ship unloading method, device and ship-shore collaborative ship unloading system |
| CN113568402A (en) * | 2021-06-25 | 2021-10-29 | 武汉钢铁有限公司 | Ship unloading method and device and ship-shore cooperative ship unloading system |
| CN113879869B (en) * | 2021-09-27 | 2023-01-31 | 三一海洋重工有限公司 | Control method, control device and material grabbing machine |
| CN113879869A (en) * | 2021-09-27 | 2022-01-04 | 三一海洋重工有限公司 | Control method, control device and material grabbing machine |
| CN114314346A (en) * | 2021-12-31 | 2022-04-12 | 南京中远通科技有限公司 | Driving control method and system based on coal storage management |
| CN114803573A (en) * | 2022-04-14 | 2022-07-29 | 华能曹妃甸港口有限公司 | Automatic ship loading and cabin changing method for bulk cargo wharf |
| CN114803573B (en) * | 2022-04-14 | 2024-02-06 | 华能曹妃甸港口有限公司 | Automatic shipping cabin changing method for bulk cargo wharf |
| CN114803572A (en) * | 2022-04-20 | 2022-07-29 | 北京汇力智能科技有限公司 | Unloading system for cargo ship and ship unloader |
| CN114803572B (en) * | 2022-04-20 | 2023-12-12 | 北京汇力智能科技有限公司 | Unloading system for cargo ship and ship unloader |
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