CN108333993B - System and method for controlling hopper door and storage medium - Google Patents
System and method for controlling hopper door and storage medium Download PDFInfo
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- CN108333993B CN108333993B CN201810194944.5A CN201810194944A CN108333993B CN 108333993 B CN108333993 B CN 108333993B CN 201810194944 A CN201810194944 A CN 201810194944A CN 108333993 B CN108333993 B CN 108333993B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The embodiment of the invention discloses a system, a method and a storage medium for controlling a hopper door, wherein the system comprises: the device comprises a tilt angle sensor, a controller and a hopper door driver; the inclination angle sensor is connected with the controller and used for acquiring a ship pitching state signal and sending the ship pitching state signal to the controller; the controller is connected with the hopper door driver and used for sending a control signal to the hopper door driver according to the ship pitching state signal so as to keep the ship pitching state within a preset state range; the hopper door driver is used for controlling the opening and closing of the hopper door according to the received control signal, solves the problems that in the prior art, the hopper door is low in opening and closing efficiency and easy to cause potential safety hazards through means of manual judgment and manual intervention, guarantees the reliability and stability of a ship state, and improves the operation efficiency of the ship.
Description
Technical Field
The embodiment of the invention relates to the technical field of control, in particular to a system and a method for controlling a hopper door and a storage medium.
Background
A typical unloading system of modern self-unloading ships is a self-unloading system with a belt conveyor as a main body. The operation process of the bulk cargo transporting device is that bulk cargo stored in a bucket-shaped cargo hold is fed into a longitudinal conveyer belt positioned at the bottom of the cargo hold by gravity through a plurality of hydraulically operated hopper doors to be transported to the head part or the tail part of a ship, then the bulk cargo is directly or through a transverse conveyor to be transported into an annular belt conveyor to be lifted to the deck height, and then the bulk cargo is delivered to a receiving device or a storage yard on the shore through a conveyer belt on a discharging arm.
When the unloading operation is performed by the self-unloading ship, the opening and closing operation of the cargo hold bucket door is required. In general, the number of the hopper doors installed on a whole self-discharging ship is as large as dozens, and all the hopper doors need to be opened and closed each time the self-discharging ship unloads on a docking dock. In the prior art, when the bucket door of the self-unloading ship is opened and closed, workers on the ship need to judge the state of the ship in real time through naked eyes, and manually open and close each bucket door according to the state of the ship to unload the ship. The method needs manual judgment and manual intervention of ship workers, and reliability and stability of the acquired ship state are difficult to guarantee. When a large deviation occurs in artificial judgment, the transverse inclination and the longitudinal inclination of the ship are easily caused to exceed the safety limit, so that potential safety hazards are caused. Moreover, the efficiency of opening and closing the hopper door by means of manual judgment and manual intervention is low, and the requirement of high-efficiency operation of modern self-unloading ships is difficult to meet.
Disclosure of Invention
The embodiment of the invention provides a system and a method for controlling a bucket door and a storage medium, which can ensure the reliability and stability of a ship state and improve the operation efficiency of a ship.
In a first aspect, an embodiment of the present invention provides a door control system, including: the device comprises a tilt angle sensor, a controller and a hopper door driver;
the inclination angle sensor is connected with the controller and used for acquiring a ship pitching state signal and sending the ship pitching state signal to the controller;
the controller is connected with the hopper door driver and used for sending a control signal to the hopper door driver according to the ship pitching state signal so as to keep the ship pitching state within a preset state range;
the gate driver includes: the hydraulic power unit, the hydraulic main pipe, the hydraulic pipe, the addressable electromagnetic valve and the hydraulic driving rod are used for controlling the opening and closing of the hopper door according to the received control signal;
the hydraulic power unit is connected with the hydraulic main pipe and is used for controlling the flow of a medium in the hydraulic main pipe; the hydraulic main pipe is connected with each hydraulic pipe, and the hydraulic main pipe and the hydraulic pipes are used for loading the medium; the addressable electromagnetic valve is connected with the hydraulic pipe and is used for matching with the hydraulic power unit to control the hydraulic driving rod; the hydraulic pipe is connected with the hydraulic driving rod and used for acquiring the medium according to the opening and closing of the addressable electromagnetic valve and controlling the hydraulic driving rod according to the medium; and the hydraulic driving rod is connected with the hopper door and is used for controlling the opening and closing of the hopper door.
In a second aspect, an embodiment of the present invention further provides a method for controlling a hopper door, which is applied to the system in the first aspect, and includes:
acquiring a pitching state signal of the ship body through an inclination angle sensor;
and opening and/or closing the hopper doors with the set number corresponding to the set area by using a hopper door control system according to the hull pitching state signal.
In a third aspect, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling an arm according to the second aspect is implemented.
According to the embodiment of the invention, the pitching state signals of the ship body are acquired through the tilt angle sensor, and the hopper doors of the set number corresponding to the set area are opened and/or closed by the hopper door control system according to the acquired pitching state signals of the ship body, so that the problems that the efficiency of opening and closing the hopper doors by means of manual judgment and manual intervention is low, potential safety hazards are easily caused and the like in the prior art are solved, the reliability and the stability of the state of the ship are ensured, and the operation efficiency of the ship is improved.
Drawings
Fig. 1 is a schematic structural diagram of a door control system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a door control system according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for controlling a door according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a schematic structural diagram of an hopper door control system according to a first embodiment of the present invention, and as shown in fig. 1, the structure of the hopper door control system includes:
a tilt sensor 10, a controller 20, and a gate driver 30; the inclination angle sensor 10 is connected with the controller 20 and is used for acquiring a hull pitch state signal and sending the hull pitch state signal to the controller 20; the controller 20 is connected with the gate driver 30 and is used for sending a control signal to the gate driver 30 according to the hull pitch state signal so as to keep the hull pitch state within a preset state range; the door driver 30 is used for controlling the opening and closing of the door according to the received control signal.
The tilt sensor 10 may be any detection device for acquiring a pitch state signal of the hull; optionally, the tilt sensor 10 comprises a gyroscope. A gyroscope is an angular motion detection device using a moment-of-momentum sensitive housing of a high-speed rotating body about one or two axes orthogonal to the axis of rotation with respect to the inertial space. Angular motion detection devices made using other principles are also known as gyroscopes, which serve the same function. The hull pitch status signal represents the pitch angle beta of the hull, and optionally, the pitch angle beta of the hull can be the included angle between the midship line of the hull and the horizontal line. For example, when the bow of the ship body is bent upwards by 10 °, the midship line may form an angle β of 10 ° with the horizontal line; when the stern of the hull is tilted up by 10 °, the midship line may be inclined at-10 ° to the horizontal. The preset state range is a range set for the safe limits of the list and trim of the hull, for example, the preset state range may be such that the angle values of the list and trim do not exceed 30 °.
The working principle of the bucket door control system in the embodiment of the invention is as follows: the inclination sensor 10 acquires the pitch state of the hull in real time and transmits a hull pitch state signal to the controller 20. The controller 20 determines the hopper door to be opened (or closed) according to the received hull pitch state signal, generates a corresponding control signal, and transmits the control signal to the hopper door driver 30. The gate driver 30 controls the opening and closing of the corresponding gate according to the received control signal.
Example two
Fig. 2 is a schematic structural diagram of a control system of a hopper door according to a second embodiment of the present invention, and in the second embodiment of the present invention, a gyroscope is optionally used as an inclination sensor to obtain a pitch state signal of a ship hull. As shown in fig. 2, in an alternative embodiment of the present invention, the controller 20 includes a control power supply 210, a data processing unit 220, and a drive port 230; the control power supply 210 is connected with the data processing unit 220 and is used for supplying power to the controller 20; the data processing unit 220 is connected to the driving port 230, and is configured to obtain data sent by the tilt sensor 10 and output a control instruction according to the data; the driving port 230 is connected to the door driver 30, and is configured to send a control signal to the door driver 30 according to a control command, so as to control the opening and closing of the door.
The data processing unit 220 may be a single chip, a Digital Signal Processing (DSP) chip, or other types of microprocessors, which is not limited in the embodiments of the present invention. The driving port 230 is a solenoid valve driving communication port, the control instruction sent by the data processing unit 220 is transmitted to the driving port 230, and the driving port 230 controls all addressable solenoid valves in the gate driver 30 according to the received control instruction, so as to control the gate to be opened and closed through the addressable solenoid valves.
In an alternative embodiment of the invention, as shown in FIG. 2, the gate drive 30 comprises: a hydraulic power unit 310, a hydraulic manifold 320, hydraulic tubes 330, addressable solenoid valves 340, and hydraulic drive rods 350; the hydraulic power unit 310 is connected with the hydraulic manifold 320 and is used for controlling the flow of a medium in the hydraulic manifold 320; the hydraulic manifold 320 is connected with each hydraulic pipe 330, and the hydraulic manifold 320 and the hydraulic pipes 330 are used for loading media; the addressable solenoid valve 340 is connected with the hydraulic pipe 330 and is used for cooperating with the hydraulic power unit 310 to control the hydraulic driving rod 350; the hydraulic pipe 330 is connected with the hydraulic driving rod 350 and is used for acquiring media according to the opening and closing of the addressable electromagnetic valve 340 and controlling the hydraulic driving rod 350 according to the media; the hydraulic drive rod 350 is connected with the hopper door 360 and is used for controlling the opening and closing of the hopper door 360.
The hydraulic power unit 310 can control the flow of the medium in the hydraulic manifold 320 and the hydraulic pipe 330, and further control the opening and closing of the addressable solenoid valve 340. The medium may be hydraulic oil or other type of working medium that transfers energy, which is not limited by embodiments of the present invention. The addressable solenoid valve is a solenoid valve with a unique address number, and the data processing unit can output specific control signals according to the address number of the addressable solenoid valve. It should be noted that, inside the addressable electromagnetic valve, an electromagnetic valve power supply is further provided, and the power supply of the electromagnetic valve is controlled by the driving port and can directly control the opening and closing of the addressable electromagnetic valve.
In an embodiment of the invention, the drive ports are connected to the individually addressable solenoid valves in the hopper door drive via hydraulic lines to form redundant communication loops. Since the dump vessel includes a plurality of gates, in order to realize precise control of each gate, it is necessary to number each gate, such as gate 1 and gate 2 …, gate N shown in fig. 2.
Specifically, the specific control flow of the bucket door control system in the embodiment of the present invention is as follows: the gyroscope acquires a ship pitching state signal and sends the ship pitching state signal to the data processing unit in the controller, the data processing unit calculates the number of the hopper door needing to be opened according to the received ship pitching state signal, and sends a control signal to the addressable electromagnetic valve corresponding to the hopper door needing to be opened through the driving port so as to control the opening of the corresponding addressable electromagnetic valve. After the addressable electromagnetic valve is opened, the hydraulic driving rod can be pushed by a medium in the hydraulic pipe, so that the hydraulic driving rod controls the opening and closing of the hopper door.
According to the technical scheme of the embodiment, a pitching state signal of the ship body is acquired through the tilt angle sensor; according to the pitching state signal of the ship body, the hopper doors of the set number corresponding to the set area are opened and/or closed by the hopper door control system, so that the problems that in the prior art, the efficiency of opening and closing the hopper doors by means of manual judgment and manual intervention is low, potential safety hazards are easily caused and the like can be solved, the reliability and the stability of the ship state are ensured, and the operation efficiency of the ship is improved.
EXAMPLE III
Fig. 3 is a flowchart of a method for controlling an hopper door according to a third embodiment of the present invention, where this embodiment is applicable to a case where the hopper door is automatically controlled, and the method may be executed by a hopper door control system, as shown in fig. 3, where the method includes the following operations:
and step 410, acquiring a pitching state signal of the ship body through the inclination angle sensor.
In the embodiment of the invention, the pitch state signal of the ship body can be acquired through the inclination angle sensor. Optionally, the tilt sensor comprises a gyroscope. It should be noted that after the loading of the ship body, the pitch state of the ship body in the initial state, namely, the included angle β (shown in fig. 2) between the midship line of the ship body and the horizontal line is close to 0. During unloading of the ship body, the pitching state of the ship body can change along with the opening of each hopper door.
And step 420, opening and/or closing the hopper doors with the set number corresponding to the set area by using a hopper door control system according to the ship pitching state signal.
The set area can be an area corresponding to the opening of the hopper door according to the needs of the state judgment of the ship body in real time, namely the set area can be an area close to the gravity center of the ship body. If the included angle beta between the midship line of the ship body and the horizontal line is larger than zero, the set area is the area where the gate is not opened at the stern. The set area can also be a fixed area preset according to a certain rule, for example, in an initial state, the center of gravity of the ship body is in the middle area of the ship body, so the set area can be the middle area, after the hopper door in the middle area is opened, partial areas on two sides can be simultaneously set as the set area, and partial areas on two sides can also be alternately set as the set area. The set number can be set according to the conveying capacity of the conveying belt for conveying goods, and when the conveying capacity of the conveying belt is stronger, the set number can be set to be larger, such as 3 or 4; when the conveying ability of the conveyor belt is weak, the set number may be set to be smaller, such as 1 or 2.
The values corresponding to the set areas and the set number may be fixed, or may be randomly generated by the data processing unit according to the acquired hull pitch state signals. The embodiments of the present invention do not limit this. Optionally, in the initial state, since the included angle β between the midship line of the ship body and the horizontal line is close to 0, it indicates that in the initial state, the center of gravity of the ship body is located in the middle area of the ship body, so that the unopened hopper door can be opened from the middle area of the ship body.
On the basis of the above scheme, optionally, the acquiring the state of the ship body by the sensor may include: acquiring an included angle between a midship line of a ship body and a horizontal line through an inclination angle sensor; correspondingly, the opening and/or closing of the hopper doors of the set number corresponding to the set area by using the hopper door control system according to the hull pitch state signal may include: and opening and/or closing the hopper doors with the set number corresponding to the set area by using the hopper door control system according to the numerical value of the included angle.
In the embodiment of the invention, the door control system controls the opening and/or closing of the corresponding door according to the acquired numerical value of the included angle between the midship line of the ship body and the horizontal line. In the initial state, the pitch state of the ship body, namely the included angle beta (shown in fig. 2) between the midship line of the ship body and the horizontal line is close to 0.
In an optional embodiment of the present invention, the opening and/or closing, by using the gate control system, a set number of gates corresponding to the set area according to the value of the included angle may include: when the included angle is positive, the bucket door control system opens the bucket doors with the set number corresponding to the first set area through a first control instruction; and when the included angle is a negative number, the gate control system opens the gates with the set number corresponding to the second set area through a second control instruction.
The first control instruction is an instruction which is sent by the data processing unit to control opening of the stern sluice gate, and the second control instruction is an instruction which is sent by the data processing unit to control opening of the bow sluice gate. The first set area is a set area corresponding to the stern part, and the second set area is a set area corresponding to the bow part.
In the embodiment of the invention, the included angle between the midship line of the ship body and the horizontal line is inevitably changed in the unloading process of the ship body. In order to always keep the pitching state of the ship body within a preset state range, the bucket door control system needs to acquire the numerical value of an included angle between a midship line of the ship body and a horizontal line in real time, and open and/or close the corresponding bucket door for unloading according to specific numerical control. Specifically, when the included angle between the midship line of the ship body and the horizontal line is positive, the gravity center of the ship body is close to the stern, and the hopper door control system can open the hopper door with the gravity center going backwards from the stern; when the included angle between the midship line of the ship body and the horizontal line is negative, the gravity center of the ship body is close to the bow, and the hopper door control system can open the hopper door with the gravity center forward of the bow.
In an optional embodiment of the present invention, closing the gate corresponding to the set area by using the gate control system may include: and closing the hopper doors with the set number corresponding to the set area by using the hopper door control system according to a preset rule.
The preset rule may be a rule for closing the hopper doors according to actual requirements, for example, after all the hopper doors are opened, all the hopper doors are closed uniformly, or the opened hopper doors are closed sequentially in sequence, which is not limited in the embodiment of the present invention. The set area and the set number may be the same as the set area and the set number adopted by the hopper door control system to open the hopper door, or may be designed separately according to actual requirements, which is not limited in the embodiment of the present invention.
According to the embodiment of the invention, a pitching state signal of a ship body is acquired through an inclination angle sensor; according to the pitching state signal of the ship body, the hopper doors of the set number corresponding to the set area are opened and/or closed by the hopper door control system, so that the problems that in the prior art, the efficiency of opening and closing the hopper doors by means of manual judgment and manual intervention is low, potential safety hazards are easily caused and the like are solved, the reliability and the stability of the ship state are ensured, and the operation efficiency of the ship is improved.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for controlling a gate, and the method includes:
acquiring a pitching state signal of the ship body through an inclination angle sensor;
and opening and/or closing the hopper doors with the set number corresponding to the set area by using a hopper door control system according to the hull pitching state signal.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the bucket gate control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A hopper door control system, comprising: the device comprises a tilt angle sensor, a controller and a hopper door driver;
the inclination angle sensor is connected with the controller and used for acquiring a ship pitching state signal and sending the ship pitching state signal to the controller;
the controller is connected with the hopper door driver and used for sending a control signal to the hopper door driver according to the ship pitching state signal so as to keep the ship pitching state within a preset state range;
the gate driver includes: the hydraulic power unit, the hydraulic main pipe, the hydraulic pipe, the addressable electromagnetic valve and the hydraulic driving rod are used for controlling the opening and closing of the hopper door according to the received control signal;
the hydraulic power unit is connected with the hydraulic main pipe and is used for controlling the flow of a medium in the hydraulic main pipe; the hydraulic main pipe is connected with each hydraulic pipe, and the hydraulic main pipe and the hydraulic pipes are used for loading the medium; the addressable electromagnetic valve is connected with the hydraulic pipe and is used for matching with the hydraulic power unit to control the hydraulic driving rod; the hydraulic pipe is connected with the hydraulic driving rod and used for acquiring the medium according to the opening and closing of the addressable electromagnetic valve and controlling the hydraulic driving rod according to the medium; and the hydraulic driving rod is connected with the hopper door and is used for controlling the opening and closing of the hopper door.
2. The system of claim 1, wherein the controller comprises a control power supply, a data processing unit, and a drive port;
the control power supply is connected with the data processing unit and used for providing electric energy for the controller;
the data processing unit is connected with the driving port and used for acquiring data sent by the tilt sensor and outputting a control instruction according to the data;
and the driving port is connected with the hopper door driver and used for sending the control signal to the hopper door driver according to the control command so as to control the opening and closing of the hopper door.
3. The system of any of claims 1-2, wherein the tilt sensor comprises a gyroscope.
4. A method of controlling a hopper door, applied to a system according to any one of claims 1 to 3, comprising:
acquiring a pitching state signal of the ship body through an inclination angle sensor;
and opening and/or closing the hopper doors with the set number corresponding to the set area by using a hopper door control system according to the hull pitching state signal.
5. The method of claim 4, wherein the acquiring the state of the hull through the sensor comprises:
acquiring an included angle between a midship line of a ship body and a horizontal line through an inclination angle sensor;
correspondingly, the step of opening and/or closing the hopper doors in the set number corresponding to the set area by using the hopper door control system according to the hull pitching state signal comprises the following steps:
and opening and/or closing the hopper doors with the set number corresponding to the set area by using the hopper door control system according to the numerical value of the included angle.
6. The method of claim 5, wherein the opening and/or closing a set number of gates corresponding to the set area with the gate control system according to the value of the included angle comprises:
when the included angle is positive, the bucket door control system opens the bucket doors with the set number corresponding to the first set area through a first control instruction;
and when the included angle is a negative number, the gate control system opens the gates with the set number corresponding to the second set area through a second control instruction.
7. The method of any of claims 4-6, wherein closing the door corresponding to the set area with the door control system comprises:
and closing the hopper doors with the set number corresponding to the set area by using the hopper door control system according to a preset rule.
8. The method of claim 7, wherein the tilt sensor comprises a gyroscope.
9. A computer storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the method of any of claims 4 to 8.
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| CN204713395U (en) * | 2015-06-03 | 2015-10-21 | 舟山市智海技术开发有限公司 | A kind of boats and ships overturn-preventing system |
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| KR20150086409A (en) * | 2014-01-17 | 2015-07-28 | 이정용 | A ship which can freely change the turning direction |
| CN203819471U (en) * | 2014-02-18 | 2014-09-10 | 南通中远川崎船舶工程有限公司 | Large container ship loading and unloading balance system |
| CN104386209A (en) * | 2014-11-28 | 2015-03-04 | 上海瀚顺船舶设计有限公司 | Sand cabin type self-loading sand carrier |
| CN104908902B (en) * | 2015-06-17 | 2017-03-01 | 长安大学 | A kind of anti-sinking system of ship |
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| CN204713395U (en) * | 2015-06-03 | 2015-10-21 | 舟山市智海技术开发有限公司 | A kind of boats and ships overturn-preventing system |
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