CN108792666A - A kind of driving method, device, medium, equipment and the system of electrical differential ship unloaders - Google Patents
A kind of driving method, device, medium, equipment and the system of electrical differential ship unloaders Download PDFInfo
- Publication number
- CN108792666A CN108792666A CN201810627946.9A CN201810627946A CN108792666A CN 108792666 A CN108792666 A CN 108792666A CN 201810627946 A CN201810627946 A CN 201810627946A CN 108792666 A CN108792666 A CN 108792666A
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- CN
- China
- Prior art keywords
- grab bucket
- trolley body
- region
- material grasping
- discharge region
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention discloses a kind of driving methods of electrical differential ship unloaders, including：Obtain the location parameter in land side discharge region and cabin material grasping region；It is planned from discharge region to material grasping region according to location parameter or makes grab bucket avoid the rate curve of discharging and the grab bucket and trolley body on material grasping regional edge edge from material grasping region to discharge region；Obtain the physical location of grab bucket and trolley body；According to the speed preset value of grab bucket and rate curve and the actual calculation of location grab bucket and trolley body of trolley body；Obtain the pendulum length of grab bucket；According to the acceleration given value of the pendulum length counting of carriers mechanism of grab bucket；To speed preset value, the speed preset value of trolley body and the acceleration given value of driving mechanism output grab bucket.The present invention can plan grab bucket path in advance to realize that the semi-automatic operation of ship unloaders, anti-shake of grab bucket ensure that semi-automatic reliability of operation and safety according to barrier.The invention also discloses a kind of driving device, medium, equipment and the systems of electrical differential ship unloaders.
Description
Technical field
The present invention relates to electrical differential ship unloaders fields, and in particular to a kind of driving method of electrical differential ship unloaders, device, Jie
Matter, equipment and system.
Background technology
Electrical differential ship unloaders are a kind of widely applied unloading facilities in wharf apron, while it is working, the extra large side of grab bucket crawl
Cargo in cabin is grabbed bucket under the traction of trolley body and is moved to above the discharge region of land side, and grab bucket is opened cargo
It discharges to discharge region, then by ribbon conveyer or vehicle conveying cargo.Ship unloaders being capable of pole in moving in circles for extra large land both sides
The earth improves cargo and unloads efficiency.
In the prior art, it is often necessary to veteran operating personnel manipulate trolley body and grab bucket so that it is evaded various
It is run according to required operating mode while barrier.But manual operation labor intensity is big, need skilled operation skill and
The concentration of spirit, once misoperation easily causes accident, in addition, the production operation efficiency of bulk cargo terminals is also by manual operation
Restriction.Therefore, it is highly desirable to develop a kind of semi-automatic running technology of electrical differential ship unloaders, solve to the excessive of driver
Dependence, and improve the safety of system job.
Invention content
In order to solve the problems, such as above-mentioned all or part, the present invention provide a kind of driving method of electrical differential ship unloaders, device,
Medium, equipment and system.
Embodiments of the present invention disclose a kind of driving method of electrical differential ship unloaders, including：
Obtain the location parameter in land side discharge region and cabin material grasping region；
According to the location parameter plan from the discharge region to the material grasping region or from the material grasping region to
It grabs bucket during the discharge region and the rate curve of trolley body, the grab bucket and the rate curve of the trolley body makes
Obtain the edge that the discharge region and the material grasping region are avoided in the grab bucket；
Obtain the physical location of the grab bucket and the trolley body；
It grabs bucket described in rate curve and actual calculation of location according to the grab bucket with the trolley body and described small
The speed preset value of mechanism of car；
Obtain the pendulum length of the grab bucket；
The acceleration given value of the trolley body is calculated according to the pendulum length of the grab bucket；
To driving mechanism export the speed preset value of the grab bucket, the speed preset value of the trolley body and acceleration to
Definite value.
Embodiments of the present invention also disclose a kind of driving device of electrical differential ship unloaders, including：
Location parameter acquisition module obtains the location parameter in land side discharge region and cabin material grasping region；
Trajectory planning module is planned according to the location parameter from the discharge region to the material grasping region or from institute
State the rate curve grabbed bucket with trolley body during material grasping region to the discharge region, the grab bucket and the trolley body
Rate curve make the grab bucket avoid the edge of the discharge region and the material grasping region；
Physical location acquisition module obtains the physical location of the grab bucket and the trolley body；
Speed preset value computing module, according to the rate curve and physical location meter of the grab bucket and the trolley body
Calculate the speed preset value of the grab bucket and the trolley body；
Pendulum length acquisition module obtains the pendulum length of the grab bucket；
Acceleration given value computing module, the acceleration that the trolley body is calculated according to the pendulum length of the grab bucket are given
Value；
Given value output module exports the speed preset value of the grab bucket, the speed of the trolley body to driving mechanism
Given value and acceleration given value.
Embodiments of the present invention also disclose a kind of non-volatile memory medium, are stored with electricity on said storage
The driver of the driver of differential ship unloaders, the electrical differential ship unloaders is computer-executed to implement electrical differential ship unloaders
Driving method, described program includes：
Location parameter acquisition instruction obtains the location parameter in land side discharge region and cabin material grasping region；
Trajectory planning instructs, and is planned from the discharge region to the material grasping region or from institute according to the location parameter
State the rate curve grabbed bucket with trolley body during material grasping region to the discharge region, the grab bucket and the trolley body
Rate curve make the grab bucket avoid the edge of the discharge region and the material grasping region；
Physical location acquisition instruction obtains the physical location of the grab bucket and the trolley body；
Speed preset value computations, according to the rate curve and physical location meter of the grab bucket and the trolley body
Calculate the speed preset value of the grab bucket and the trolley body；
Pendulum length acquisition instruction obtains the pendulum length of the grab bucket；
Acceleration given value computations, the acceleration that the trolley body is calculated according to the pendulum length of the grab bucket are given
Value；
Given value output order exports the speed preset value of the grab bucket, the speed of the trolley body to driving mechanism
Given value and acceleration given value.
Embodiments of the present invention also disclose a kind of driving equipment of electrical differential ship unloaders, including：
Memory is stored with the driver for the electrical differential ship unloaders that computer can execute；And
Processor is connected to the memory, and be configured as executing the driver of the electrical differential ship unloaders with：
Obtain the location parameter in land side discharge region and cabin material grasping region；
According to the location parameter plan from the discharge region to the material grasping region or from the material grasping region to
It grabs bucket during the discharge region and the rate curve of trolley body, the grab bucket and the rate curve of the trolley body makes
Obtain the edge that the discharge region and the material grasping region are avoided in the grab bucket；
Obtain the physical location of the grab bucket and the trolley body；
It grabs bucket described in rate curve and actual calculation of location according to the grab bucket with the trolley body and described small
The speed preset value of mechanism of car；
Obtain the pendulum length of the grab bucket；
The acceleration given value of the trolley body is calculated according to the pendulum length of the grab bucket；
To driving mechanism export the speed preset value of the grab bucket, the speed preset value of the trolley body and acceleration to
Definite value.
Embodiments of the present invention also disclose a kind of drive system of electrical differential ship unloaders, including the unloading of above-mentioned electrical differential
The driving device of machine.
Compared with prior art, the main distinction and its effect are embodiment of the present invention：Grab bucket road can be planned in advance
Diameter realizes the semi-automatic operation of ship unloaders, and being capable of automatic avoiding barrier when the semi-automatic operation of ship unloaders；It is small by controlling
Mechanism of car, which carries out grab bucket, to be prevented shaking, and further ensures semi-automatic reliability of operation and safety.
Description of the drawings
Fig. 1 is the basic block diagram schematic diagram of electrical differential ship unloaders；
Fig. 2 is the structural schematic diagram according to the electrical differential of embodiment of the present invention unloading machine actuating device；
Fig. 3 is the flow diagram according to the electrical differential ship unloaders driving method of embodiment of the present invention；
Fig. 4 is the schematic diagram according to the grab bucket running orbit of embodiment of the present invention.
Specific implementation mode
In the following description, in order to make the reader understand this application better, many technical details are proposed.But this
The those of ordinary skill in field is appreciated that even if without these technical details and many variations based on the following respective embodiments
And modification, each claim of the application technical solution claimed can also be realized.
To make the object, technical solutions and advantages of the present invention clearer, the implementation below in conjunction with attached drawing to the present invention
Mode is described in further detail.
Fig. 1 is the basic structure schematic diagram of electrical differential ship unloaders, and electrical differential ship unloaders are completely independent and completely including four
Identical reel, that is, be opened and closed reel 1 and 2 and hoisting drum 3 and 4, each reel driven by corresponding alternating-current variable frequency motor,
The motor being connected with opening and closing reel is opening and closing motor, and the motor being connected with hoisting drum is hoisting motor；Each reel volume
Around steel cable, wherein around grab bucket 5 and trolley body 6, in addition two steel wire ropes are advanced through the pulley of preceding big beam end
Two steel wire ropes go backward through the pulley of rear big beam end around grab bucket 5 and trolley body 6.Electrical differential ship unloaders are by grab bucket
Opening/closing, grab bucket raising/decline, the traversing of trolley body are integrated, and three groups of actions can be individually performed, and compound can also execute,
Different operating conditions is consequently formed.
Fig. 2 is according to the structural schematic diagram of the electrical differential of embodiment of the present invention unloading machine actuating device, driving device 200
Mould is calculated including location parameter acquisition module 201, trajectory planning module 202, physical location acquisition module 203, speed preset value
Block 204, pendulum length acquisition module 205, acceleration given value computing module 206, given value output module 207.Fig. 3 is according to this hair
The flow diagram of the electrical differential ship unloaders driving method of bright embodiment, includes the following steps：
Step 301, location parameter acquisition module 201 obtains the location parameter in land side discharge region and cabin material grasping region；
Step 302, trajectory planning module 202 is planned according to location parameter from discharge region to material grasping region or from material grasping
It grabs bucket during region to discharge region and the rate curve of trolley body, grab bucket and the rate curve of trolley body to grab bucket
Avoid the edge of discharge region and material grasping region；
Step 303, physical location acquisition module 203 obtains the physical location of grab bucket and trolley body；
Step 304, speed preset module 204 is grabbed according to the rate curve and actual calculation of location of grab bucket and trolley body
The speed preset value of bucket and trolley body；
Step 305, pendulum length acquisition module 205 obtains the pendulum length of grab bucket；
Step 306, acceleration gives acceleration given value of the module 206 according to the pendulum length counting of carriers mechanism of grab bucket；
Step 307, speed preset value, the speed of trolley body of the given value output module 207 to driving mechanism output grab bucket
Spend given value and acceleration given value.
Fig. 4 is according to the schematic diagram of the grab bucket running orbit of embodiment of the present invention, and grab bucket 5 is in (the leakage of land side discharge region
Bucket region) it moves in circles between 7 and cabin material grasping region 8, since trolley body 6 and grab bucket 5 carry out compound motions, grab bucket 5
Running orbit will be parabolic.To realize the semi-automatic operation of electrical differential ship unloaders, need to obtain 7 He of discharge region in advance
The location parameter in material grasping region 8 is to plan the running orbit of grab bucket, such as the location parameter of two regional centers, in addition, in order to keep away
Exempt from the edge that discharge region and material grasping region are collided in grab bucket in the process of running, the location parameter of acquisition also should include edge
Location parameter is to be taken into account in path planning.It should be noted that due in cabin material be crawled, cabin is in water
Height can constantly change, therefore above-mentioned location parameter needs to obtain in real time.
According to each location parameter of acquisition, the Acceleration and deceleration time of given grab bucket and trolley body, it can calculate and send as an envoy to
Must grab bucket the rate curve of rate curve and trolley body that required grab bucket is run according to the path of planning.The speed is bent
Line is calculated before grab bucket and trolley body operation, when grab bucket brings into operation with trolley body, needs to obtain in real time
The physical location for taking grab bucket and trolley body calculates the velocity amplitude that grab bucket physical location should reach from grab bucket rate curve,
And from the velocity amplitude that counting of carriers mechanism physical location should reach on trolley body rate curve, which will be used as and grab
Bucket and trolley body are exported in the speed preset of physical location to driving mechanism so that driving mechanism drives each motor accordingly.
When trolley body moves horizontally, grab bucket will appear single pendulum phenomenon, the pendulum length of grab bucket be grab bucket and trolley body it
Between steel wire rope length, this makes even if having carried out path planning in advance, it is also difficult to ensure grab bucket in the process of running without impinging on
The edge of discharge region and material grasping region.In embodiments of the present invention, it is carried out by controlling the acceleration of trolley body
Grab bucket is anti-to shake.Specifically, the pendulum length for obtaining grab bucket in real time by encoder is calculated based on pendulum length and simple pendulum principle and is shaken in real time
Pendulum period and the relationship for obtaining grab bucket inclination angle and trolley acceleration, then can be incited somebody to action by the acceleration for controlling trolley body
Grab bucket inclination angle controls in a certain range and it is made to remain unchanged.The acceleration given value of trolley body also will be imparted to driving
Mechanism so that driving mechanism drives each motor accordingly.
It can plan that the half of ship unloaders is realized in grab bucket path in advance according to the driving method of embodiment of the present invention and device
Automatic running, and being capable of automatic avoiding barrier when the semi-automatic operation of ship unloaders；Prevented by controlling trolley body and grab bucket
It shakes, further ensures semi-automatic reliability of operation and safety.
Embodiments of the present invention also disclose a kind of non-volatile memory medium, are stored with electrical differential on a storage medium
The driver of the driver of ship unloaders, electrical differential ship unloaders is computer-executed to implement the driving side of electrical differential ship unloaders
Method, and include：
Location parameter acquisition instruction obtains the location parameter in land side discharge region and cabin material grasping region；
Trajectory planning instructs, and is planned from discharge region to material grasping region or from material grasping region to discharging according to location parameter
The rate curve of the rate curve of grab bucket and trolley body in region process, grab bucket and trolley body makes grab bucket avoid discharge zone
The edge in domain and material grasping region；
Physical location acquisition instruction obtains the physical location of grab bucket and trolley body；
Speed preset value computations, according to grab bucket and trolley body rate curve and actual calculation of location grab bucket and
The speed preset value of trolley body；
Pendulum length acquisition instruction obtains the pendulum length of grab bucket；
Acceleration given value computations, according to the acceleration given value of the pendulum length counting of carriers mechanism of grab bucket；
Given value output order, to driving mechanism output grab bucket speed preset value, the speed preset value of trolley body and
Acceleration given value.
Embodiments of the present invention also disclose a kind of driving equipment of electrical differential ship unloaders, including：
Memory is stored with the driver for the electrical differential ship unloaders that computer can execute；And
Processor is connected to memory, and be configured as execute electrical differential ship unloaders driver with：
Obtain the location parameter in land side discharge region and cabin material grasping region；
It is planned according to location parameter and is grabbed from discharge region to material grasping region or during material grasping region to discharge region
The rate curve of the rate curve of bucket and trolley body, grab bucket and trolley body makes grab bucket avoid discharge region and material grasping region
Edge；
Obtain the physical location of grab bucket and trolley body；
According to the speed preset of grab bucket and rate curve and the actual calculation of location grab bucket and trolley body of trolley body
Value；
Obtain the pendulum length of grab bucket；
According to the acceleration given value of the pendulum length counting of carriers mechanism of grab bucket；
To speed preset value, the speed preset value of trolley body and the acceleration given value of driving mechanism output grab bucket.
The 5th embodiment of the present invention discloses a kind of drive system of electrical differential ship unloaders, including any of the above-described kind of electricity
The driving device of differential ship unloaders.
It should be noted that in the claim and specification of this patent, such as first and second or the like relationship
Term is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying
There are any actual relationship or orders between these entities or operation.Moreover, the terms "include", "comprise" or its
Any other variant is intended to non-exclusive inclusion so that including the processes of a series of elements, method, article or
Equipment includes not only those elements, but also includes other elements that are not explicitly listed, or further include for this process,
Method, article or the intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.
Although by referring to some of the preferred embodiment of the invention, the present invention is shown and described,
It will be understood by those skilled in the art that can to it, various changes can be made in the form and details, without departing from this hair
Bright spirit and scope.
Claims (5)
1. a kind of driving method of electrical differential ship unloaders, which is characterized in that the method includes：
Obtain the location parameter in land side discharge region and cabin material grasping region；
It is planned from the discharge region to the material grasping region or from the material grasping region to described according to the location parameter
It grabs bucket during discharge region and the rate curve of trolley body, the grab bucket and the rate curve of the trolley body makes institute
State the edge that the discharge region and the material grasping region are avoided in grab bucket；
Obtain the physical location of the grab bucket and the trolley body；
According to grab bucket and the small vehicle device described in the rate curve and actual calculation of location of the grab bucket and the trolley body
The speed preset value of structure；
Obtain the pendulum length of the grab bucket；
The acceleration given value of the trolley body is calculated according to the pendulum length of the grab bucket；
It is given that the speed preset value of the grab bucket, the speed preset value of the trolley body and acceleration are exported to driving mechanism
Value.
2. a kind of driving device of electrical differential ship unloaders, which is characterized in that described device includes：
Location parameter acquisition module obtains the location parameter in land side discharge region and cabin material grasping region；
Trajectory planning module is planned from the discharge region to the material grasping region according to the location parameter or is grabbed from described
Expect the rate curve grabbed bucket with trolley body during region to the discharge region, the speed of the grab bucket and the trolley body
Line of writing music makes the grab bucket avoid the edge of the discharge region and the material grasping region；
Physical location acquisition module obtains the physical location of the grab bucket and the trolley body；
Speed preset value computing module, according to the rate curve and actual calculation of location institute of the grab bucket and the trolley body
State the speed preset value of grab bucket and the trolley body；
Pendulum length acquisition module obtains the pendulum length of the grab bucket；
Acceleration given value computing module calculates the acceleration given value of the trolley body according to the pendulum length of the grab bucket；
Given value output module exports the speed preset value of the grab bucket, the speed preset of the trolley body to driving mechanism
Value and acceleration given value.
3. a kind of non-volatile memory medium, which is characterized in that be stored with the drive of electrical differential ship unloaders on said storage
The driver of dynamic program, the electrical differential ship unloaders is computer-executed to implement the driving method of electrical differential ship unloaders, institute
Stating program includes：
Location parameter acquisition instruction obtains the location parameter in land side discharge region and cabin material grasping region；
Trajectory planning instructs, and is planned from the discharge region to the material grasping region according to the location parameter or is grabbed from described
Expect the rate curve grabbed bucket with trolley body during region to the discharge region, the speed of the grab bucket and the trolley body
Line of writing music makes the grab bucket avoid the edge of the discharge region and the material grasping region；
Physical location acquisition instruction obtains the physical location of the grab bucket and the trolley body；
Speed preset value computations, according to the rate curve and actual calculation of location institute of the grab bucket and the trolley body
State the speed preset value of grab bucket and the trolley body；
Pendulum length acquisition instruction obtains the pendulum length of the grab bucket；
Acceleration given value computations calculate the acceleration given value of the trolley body according to the pendulum length of the grab bucket；
Given value output order exports the speed preset value of the grab bucket, the speed preset of the trolley body to driving mechanism
Value and acceleration given value.
4. a kind of driving equipment of electrical differential ship unloaders, which is characterized in that including：
Memory is stored with the driver for the electrical differential ship unloaders that computer can execute；And
Processor is connected to the memory, and be configured as executing the driver of the electrical differential ship unloaders with：
Obtain the location parameter in land side discharge region and cabin material grasping region；
It is planned from the discharge region to the material grasping region or from the material grasping region to described according to the location parameter
It grabs bucket during discharge region and the rate curve of trolley body, the grab bucket and the rate curve of the trolley body makes institute
State the edge that the discharge region and the material grasping region are avoided in grab bucket；
Obtain the physical location of the grab bucket and the trolley body；
According to grab bucket and the small vehicle device described in the rate curve and actual calculation of location of the grab bucket and the trolley body
The speed preset value of structure；
Obtain the pendulum length of the grab bucket；
The acceleration given value of the trolley body is calculated according to the pendulum length of the grab bucket；
It is given that the speed preset value of the grab bucket, the speed preset value of the trolley body and acceleration are exported to driving mechanism
Value.
5. a kind of drive system of electrical differential ship unloaders, which is characterized in that including the electrical differential ship unloaders described in claim 2
Driving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627946.9A CN108792666B (en) | 2018-06-19 | 2018-06-19 | Driving method, device, medium, equipment and system of electric differential ship unloader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627946.9A CN108792666B (en) | 2018-06-19 | 2018-06-19 | Driving method, device, medium, equipment and system of electric differential ship unloader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108792666A true CN108792666A (en) | 2018-11-13 |
| CN108792666B CN108792666B (en) | 2020-07-28 |
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ID=64083530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810627946.9A Active CN108792666B (en) | 2018-06-19 | 2018-06-19 | Driving method, device, medium, equipment and system of electric differential ship unloader |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942941A (en) * | 2020-07-16 | 2022-01-18 | 上海宝信软件股份有限公司 | Grab mechanism swing GPS positioning system, method and medium |
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| US4756432A (en) * | 1986-07-11 | 1988-07-12 | Hitachi, Ltd. | Crane control method |
| US5392935A (en) * | 1992-10-06 | 1995-02-28 | Obayashi Corporation | Control system for cable crane |
| CN201166805Y (en) * | 2007-12-20 | 2008-12-17 | 上海国际港务（集团）股份有限公司 | System for automatically unloading bulk from a ship |
| CN104909273A (en) * | 2015-06-12 | 2015-09-16 | 华电重工股份有限公司 | Grab ship unloader as well as driving method and device of grab ship unloader |
| CN104961051A (en) * | 2015-07-06 | 2015-10-07 | 上海昂丰矿机科技有限公司 | Grab bucket anti-oscillation method applicable to grab bucket crane |
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2018
- 2018-06-19 CN CN201810627946.9A patent/CN108792666B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4756432A (en) * | 1986-07-11 | 1988-07-12 | Hitachi, Ltd. | Crane control method |
| US5392935A (en) * | 1992-10-06 | 1995-02-28 | Obayashi Corporation | Control system for cable crane |
| CN201166805Y (en) * | 2007-12-20 | 2008-12-17 | 上海国际港务（集团）股份有限公司 | System for automatically unloading bulk from a ship |
| CN104909273A (en) * | 2015-06-12 | 2015-09-16 | 华电重工股份有限公司 | Grab ship unloader as well as driving method and device of grab ship unloader |
| CN104961051A (en) * | 2015-07-06 | 2015-10-07 | 上海昂丰矿机科技有限公司 | Grab bucket anti-oscillation method applicable to grab bucket crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942941A (en) * | 2020-07-16 | 2022-01-18 | 上海宝信软件股份有限公司 | Grab mechanism swing GPS positioning system, method and medium |
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| Publication number | Publication date |
|---|---|
| CN108792666B (en) | 2020-07-28 |
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