CN111873884A - Intelligent cabin moving method and system for ship loader - Google Patents
Intelligent cabin moving method and system for ship loader Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- B60R16/005—Electro-mechanical devices, e.g. switched
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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
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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
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Abstract
The invention discloses an intelligent cabin moving method and system for a ship loader, wherein the method comprises the steps of completing cabin opening calibration, performing cabin moving confirmation, completing cabin moving operation, and realizing automatic advanced material demand of a bucket wheel machine, and the cabin moving operation is completed by adopting a five-section cabin moving algorithm; the system is installed on the cab operation desk and comprises a plurality of transfer switches, a button switch for defining setting and operation and a PLC program for processing the method. The invention is used for saving the cabin moving time, thereby avoiding the problems of high-altitude material scattering caused by too early material feeding and reduction of the operation efficiency caused by too late material feeding, and effectively improving the ship loading efficiency.
Description
Technical Field
The invention relates to an intelligent cabin moving method and system for a ship loader, and belongs to the technical field of ship operation process calculation methods.
Background
In the operation process of the port loading and unloading operation line, the stacker-reclaimer takes materials from the storage yard goods stack, and the materials reach the ship loader through the ground belt to complete the ship loader operation. After the loading of the single cabin is finished, the loading machine moves to the next hatch, and a driver of the loading machine needs to stop and start the suspension skin, retract and extend the suspension arm, rise, fall, pitch and walk the cart, so that the operation intensity is higher; in the cabin moving process, a driver contacts with the central control material in advance, the material is too early, the high-altitude material scattering is caused, and the operation efficiency is reduced too late.
Disclosure of Invention
The invention aims to provide an intelligent cabin moving method and system for a ship loader, which can avoid the problems of overhead material scattering caused by too early material feeding and operation efficiency reduction caused by too late material feeding.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an intelligent cabin moving method for a ship loader comprises the following implementation processes:
firstly, the cabin opening calibration is completed. Completing the calibration of the type of a ship hatch cover, the type of ship obstacles and the cabin entry position of each cabin in front of the ship;
then, a pod-move confirmation is performed. The traditional cooperation mode that the central control room controls the cabin material feeding process and the front and back fields and the central control system communicate frequently is changed into the mode that the front and back fields directly adopt one-key operation of electric signal communication, and the central control system only receives state notification. After the bucket wheel machine finishes material taking, clicking a control console button, calculating the time of all material flow on the ship by a program, and delaying to give a cabin moving permission signal;
and then, the cabin moving operation is completed. After receiving the cabin moving permission signal, when a commander confirms that the lower edge of the chute barrel and the cabin edge are at the same height, the commander can start automatic cabin moving operation, a driver of the ship loader clicks a cabin moving button to start cabin moving, a series of actions such as stopping and starting a suspension leather, retracting and extending a cantilever, lifting and pitching, walking a cart and the like are completed through one-key operation, and five-section cabin moving algorithm is adopted in the operation process of the equipment to save the cabin moving time.
And finally, automatically feeding materials in advance by the program. The program automatically calculates the feeding time and timely informs the bucket wheel machine to take materials in an indicator lamp mode; after the bucket wheel rotates and begins to take materials, the signal is sent to the ship loader.
An intelligent cabin moving system of a ship loader is used for realizing the intelligent cabin moving method, is arranged on a cab operation platform and comprises a plurality of transfer switches, a button switch for defining setting and operation and a PLC program for processing the method, wherein the transfer switches and the button switch are in information connection with a PLC processor of the cab operation platform, and the transfer switches comprise an 8-bit transfer switch and two 2-bit transfer switches:
the 8-bit change-over switch is used for selecting the cabin number, and 8 gears correspond to 1-8# hatches;
one 2-position change-over switch is used for calibrating the type of the hatch cover, and 2 gears correspond to the vertical cover and the flat cover;
the other 2-position change-over switch is used for obstacle type calibration, and 2 gears are corresponding to obstacles and have no obstacles;
the setting and operation functions of the button switch are as follows:
the clicking of the pitching adjacent safety hook position in the non-cabin moving stage is defined as system resetting, the clicking of the pitching adjacent cabin cover position in the non-cabin moving stage is defined as cabin opening calibration, the length of the non-cabin moving stage in seconds is defined as the deviation setting of a winching ship, and the clicking of the cabin moving stage is defined as cabin moving system operation.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the method is low in modification cost, only one 8-bit change-over switch is needed to be added to a cab operation console to define the cabin number, two 2-bit change-over switches are needed to define the cabin cover type and the obstacle type, one button switch is needed to define setting/running, hardware such as a sensor, a transceiver, an input module and an operation panel is not needed to be added, and the single machine installation cost is only dozens of yuan; the cabin moving is confirmed quickly, and the seven-step operation is changed into one-key operation; the cabin moving operation is simple and convenient, the complex operation mode that a driver pulls a handle for a long time and switches an operation button is omitted, the cabin number is only required to be confirmed, the operation is clicked, the full-automatic operation of the pitching mechanism, the cart mechanism and the telescopic mechanism is realized, and the thirteen-step operation is changed into one-key operation; the path planning is flexible, and the time is saved by tens of seconds once the five-section broken line cabin moving is carried out; the material is expected to calculate accurately, sends different material taking time signals according to the position of different bucket wheel machines, sets up and gets material countdown warning function, and artifical manual will expect to become the automatic material of procedure.
Drawings
FIG. 1 is a schematic diagram of the external connections of the system of the present invention;
FIG. 2 is a schematic view of a pod transfer validation process;
FIG. 3 is a schematic three-dimensional coordinate diagram of the intelligent cabin moving system;
FIG. 4 is a schematic view of the boom and chute mechanism of the loader;
FIG. 5 is a schematic diagram of the division of the calibration interval;
FIG. 6 is a schematic view of a pod-transfer parameter;
FIG. 7 is a schematic diagram of a FIFO method reading belt scale readings;
FIG. 8 is a schematic view of a five-segment broken line capsule transfer.
Detailed Description
Implementing an embodiment of the present invention requires the following necessary hardware settings:
a cabin system is moved to ship loader intelligence, set up a button switch in the cab operation panel, is used for realizing setting up and running function, the pitching near the position of the safety hook defines as the system resets in the non-cabin moving stage, the pitching near the cabin cover position is clicked and defined as the cabin calibration of opening in the non-cabin moving stage, the long-pressing of the non-cabin moving stage defines as the ship winching and shifts and sets up, the cabin moving stage clicks and defines as moving the cabin system to run;
an 8-bit change-over switch is arranged for selecting the cabin number, and 8 gears correspond to 1-8# hatches;
a 2-position change-over switch is arranged for calibrating the type of the hatch cover, and 2 gears correspond to the vertical cover and the flat cover;
a2-position change-over switch is arranged for obstacle type calibration, and 2 gears are corresponding to obstacles and have no obstacles.
An intelligent cabin moving method of a ship loader is disclosed, referring to fig. 1-8, and comprises the following steps:
1 cabin opening calibration
The hatch calibration is as follows:
first, the ship hatch type is set. The switch is rotated to a corresponding gear, namely the vertical cover or the flat cover, and the ship with the pull cover is considered according to the flat cover.
Next, a ship obstacle type is set. And rotating the switch to a corresponding gear, namely whether the boat crane, the mast or the mast house and other obstacles exist.
And finally, calibrating the cabin entry position of each cabin. The ship loader is moved from the bow to the stern, the selection switch is rotated to the corresponding hatch number position when the ship loader reaches one hatch, and the button is clicked to read in the ship type and simultaneously read in the position information of the cart encoder into the PLC.
During calibration, the ship type can be read into the PLC by clicking the button switch.
Any non-pod-movement time click is considered to be recalibrated.
When the working ship winches, the cabin entry position of each cabin needs to be calibrated again, and the overall offset of the calibration value of the cabin entry position of each cabin can be realized only by long pressing a button switch at the cabin entry position of a certain cabin.
The traveling cart marks the position of entering the cabin, when the ship loader reaches one hatch, the selection switch is rotated to the corresponding hatch number position, and the button is clicked to read in the ship type and simultaneously read in the position information of the cart encoder into the PLC. The current position of the loader is set to be P0, the position of a loader encoder is read in once at the entry position of each cabin, and the points are set to be P1, …, Pn and n as the number of the calibrated cabins.
The current position of the loader is P0, and if the loader has better installation conditions, the buttons can be set independently for functions such as ship type calibration, obstacle calibration, system reset, winch offset and the like.
2 moving cabin validation
And the cabin moving request and the cabin moving signal are agreement buttons, the original cabin moving confirmation mode is that after the bucket wheel machine finishes taking materials, the central control is contacted, the central control informs a driver of the ship loader, and when the ship loader completely removes the suspended materials, the central control is informed. The central control informs the ship loader that a cabin moving permission signal can be given, after a driver of the ship loader clicks the cabin moving permission signal, the signal lamp flickers, the central control sends a cabin moving permission signal at the moment, the signal lamp of the cab is changed into green, the ship loader moves the cabin, after the cabin moving is finished, a cabin moving request signal is clicked, and the signal lamp is turned off at the moment. The mode is changed into a mode that the front field and the rear field directly adopt one-key operation of electric signal communication, and the central control only receives state notification. As shown in fig. 2, after the bucket wheel machine finishes taking materials, clicking an operation button of a control console, shielding fault signals of a rapping motor and a shore machine of each tower along the line after a central control room receives the signals, calculating the time of all material flow on the ship by a program, delaying to give a cabin moving permission signal of a ship loader, and moving the cabin after the ship loader receives the cabin moving permission signal. And clicking a cabin moving allowing button after cabin moving is finished, and completing cabin moving.
3 cabin moving operation
After receiving the cabin moving permission signal, when a commander confirms that the lower edge of the chute barrel and the cabin edge are at the same height, the commander can start automatic cabin moving operation, a ship loader driver clicks a cabin moving button to start cabin moving, one-key operation is performed to finish a series of actions such as stopping, starting, suspending, retracting, extending, lifting, pitching, walking and the like, and five-section cabin moving algorithm is adopted in the operation process of the equipment to save the cabin moving time, and the specific algorithm is as follows:
3.1, analyzing safety factors, preventing ship trim and avoiding the generation of cabin moving operation prohibition factors;
the ship trim belongs to the key point and the difficulty of automatic cabin moving operation, and the following content introduces a detailed scheme; the tide height changes, but the cabin moving confirms that the position limit of the heavy hammer is consistent with the height of the cabin edge, and the relative coordinate is not influenced by the absolute coordinate; whether the cover is erected or not is determined, and whether the hatch cover is erected or flat cover is considered in the calibration of the ship type; whether obstacles exist in a ship, such as a ship crane, a mast house and the like or not is considered in the calibration of the ship type; the direction of the ship bow is oriented, the walking direction of the ship loader is determined by taking the number of meters as a standard, and various distances are calculated by adopting an absolute value function; the method is characterized in that wave impact is generated when a ship passes through a harbor basin, the displacement is usually 2-3m, and the ship can restore the original position automatically; and (4) carrying out winch displacement, and long-pressing a button switch to realize the integral offset arrangement of the cabin entering position under the working condition of the winch.
The automatic cabin moving operation is not started when the whole ship is not interlocked or part of cabins are not interlocked or cabin cover obstacles are not interlocked; the interlocking is arranged in a wrong way, and the situation of set confusion or overlarge interval deviation cannot occur between the cabin number and the meter number; and (6) fault response. The suspension-type emergency control system has the advantages that when the faults such as cable loosening of the cart, no suction of the suspension-type main contactor, opening of the pitching emergency brake and the like are temporarily stopped for timing, the influence of coming materials in the future on the operation safety is prevented; responding to the emergency stop, and stopping the automatic cabin moving operation immediately after the emergency stop button is pressed down; emergency conversion, manual operation is prior to automatic operation, and automatic cabin moving is stopped when a handle acts, but automatic material taking in advance is not influenced; and when the crossing of the line is forbidden and the side lines of the two sides of the current operation ship are surpassed, the cabin moving operation is forbidden to start.
3.2 building mathematical model
Landing the ship loader mechanism on the ship model in the form of space coordinates to form consistent three-dimensional coordinates, as shown in fig. 3, which are represented by an x-axis, a y-axis, a z-axis, an x-y plane, a y-z plane and an x-z plane, wherein:
the x axis is the motion axis of the cart mechanism, the left side is "+", and the right side is "-";
the y axis is the motion axis of the telescopic mechanism, the sea side is "+", and the land side is "-";
the z axis is the motion axis of the pitching mechanism, the upper side is "+", and the lower side is "-";
the x-y plane is the upper plane of the chute tube higher than the hatch cover/hatch edge when the cart walks;
the y-z plane is a vertical surface of the arm support close to the hatch cover/hatch edge when the cantilever is pitching;
the x-z plane is a transverse vertical plane of a ship cargo hold area provided with facilities such as a ship crane, a mast and the like.
And performing geometric analysis on the longitudinal and vertical surfaces of the ship loader. The landing arm frame is used for calibrating the type of ships, and mainly relates to the calibration of a hatch cover of whether a cover is erected and the calibration of obstacles of whether a boat crane, a mast and a mast house exist. An appropriate pitch range is selected, as shown in fig. 4, in which the lower edge of the blade is visible to the cab, and is higher than the hatch/hatch edge. The large area is divided into four small areas, as shown in fig. 5, namely, an obstacle area is covered vertically, an obstacle-free area is covered horizontally, and an obstacle area is covered horizontally, and the ship type can be read into the PLC by clicking a button switch during calibration.
h＝x sin α+asinα-bcosα
In fig. 4, h is the vertical distance between the pitching hinge point and the chute tube hinge point in the ground direction;
in fig. 4, a is the length of the fixed arm support;
in fig. 4, b is the vertical distance between the pitching hinge point and the chute hinge point along the arm support direction;
in fig. 4, x is the telescopic length;
in fig. 4, α is a pitch angle.
In the pitching hook state, x is 0.
When pitching is placed from the safe hook position, x is 0, and the cab can see that the condition of the lower edge of the shovel plate should satisfy:
asinα-bcosα+Ha-Hch≤Hc
Hcthe distance from the cab to the ground;
Hathe distance between the pitching main shaft and the ground;
Hchis the height of the chute.
3.3 Pitch mechanism parameter calculation
The distance between the entry position of the first cabin and the entry position of the tail cabin is divided by (n-1) to obtain the length of a single cabin, and then multiplied by n to obtain the length of a cargo cabin area, the length of the cargo cabin area is divided by a proportionality coefficient of the length of the cargo cabin area and the length of the ship to obtain the length of the ship, and the length of the ship is multiplied by a proportionality coefficient of the length between vertical lines and the length of the ship to obtain the length between vertical. From the principle of similarity of triangles, it can be known that the ratio of the length between vertical lines to the draught difference is equal to the ratio of the cabin moving distance to the trim height:
pitch height:
safe distance:
H2＝s
the height of the hatch cover is as follows:
H3＝0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]
hatch clearance:
H4＝c
0.25 is the ratio of the height of the folding hatch to the width of the hatch;
r is a proportional coefficient of the hatch length and the cabin length, and the value of r is 0.7-0.9;
Pi(i is 1-n) is used for calibrating the cabin entering position (m) of each cabin;
n is the number of the calibration cabins;
KBPLthe proportionality coefficient of the length between the vertical lines and the length of the ship is usually 0.96;
KCHLthe proportionality coefficient of the length of the cargo hold area and the length of the ship is 0.73-0.77, and is usually 0.75;
s is a cabin moving safety distance (m) greater than the change of the tidal height, and is generally 2;
c is a gap (m) between the upright hatch cover and the hatch coaming, and is usually 1.5;
tAbs＝Abs(t)＝|dF-dAi is absolute value (m) of draught difference;
the calculation of the draft difference t is more complex, and is detailed as follows:
ΔL＝0.32～0.56DW
ΔB＝0.2～0.4DW
to obtain
Δ0＝ΔL+△B＝0.52～0.96DW
By
L＝8.545DW0.2918
To obtain
Wherein:
DW is load ton;
ΔLthe weight of the empty ship;
ΔBis the weight of ballast water;
Δ0the displacement is the berthing displacement;
l is the length of the ship;
the ship body is similar to an equal water plane model, so that the smaller berthing average draft d can be obtained, the larger draft difference t can be finally obtained, and the cabin moving safety is ensured:
t is the design draught;
d is the average draught;
substitution into
T＝0.0441L1.051
Then there is
Get it solved
d＝0.0151L1.051
dF+dA＝2d＝0.0302L1.051
dFDraft the first ship;
dAdraft for the ship tail;
CBis a square coefficient;
Wnthe load capacity loaded for each round;
xnfor each wheelLoaded cart position coordinates;
xFnfloating center coordinates loaded for each wheel;
neglecting floating center and estimating the difference of mooring draught according to 2% of the ship length to obtain
By
The above formula can be expressed as follows:
namely, it is
t0…tnThe draught difference for each round of loading;
reverse thrust xn：
Namely, it is
x1…xnA cart position coordinate loaded for each wheel;
the formula represents the corresponding relationship of the loading capacity, the cart position coordinate and the draft difference variation.
Wherein the content of the first and second substances,
substituting L into the formula for estimating the length of the ship
xnSubstituting the position coordinates of the cart;
the heading direction of the bow is the same as the increasing direction of the coordinates of the cart:
xn＝Pi-[P1-(0.5-0.07)L]
xn＝0.43L-P1+Pi
the heading direction of the bow is the same as the descending direction of the cart coordinates:
xn＝-Pi+[P1+(0.5-0.07)L]
xn＝0.43L+P1-Pi
0.07 is the ratio of bow to length;
0.5 is half of the length of the ship;
Pnthe work amount corresponding to the truck position is substituted.
After the calculation formula is obtained, the loading amount of the transfer tower belt weigher needs to be read in real time. The method comprises the following steps:
the distance between the ship loader and the far-end belt scale is LBThe running speed of the belt is vBThe belt running time is
Setting an ARRAY ARRAY, reading the belt weigher reading at certain time intervals when the belt weigher flow is more than 0, wherein the reading method is a first-in first-out (FIFO) method: ARRAY [0] is a real-time reading, ARRAY [1] reads ARRAY [0], ARRAY [2] reads ARRAY [1], and so on.
Reading time interval ts(s) setting the rated flow of the equipment as f (t/h), namely
The time interval causes a deviation of tonnage of
Sequence number of the calculation array is
When the ship loader reaches a certain position, the cumulative flow of the belt scale is WA，WA-WIThe total amount of material on the belt at that time. T before readingBInitial value of flow at a time
WI＝ARRAY[i]
When the ship loader leaves the position, the cumulative flow of the belt scale is WL，WL-WFThe total amount of material on the belt at that time. T before readingBEnd value flow of time
WF＝ARRAY[i]
The loading capacity of the loader in that position is then
Wn＝WF-WI
Elevation height H in pitching elevation phaseu：
The ship bow of the vertical cover is facing left, and the cart moves left:
Hu＝H1+H2+H3+H4
the ship bow of the flat cover ship faces left, and the cart moves left:
Hu＝H1+H2
the ship bow of the vertical cover ship faces left, and the cart moves right:
Hu＝H2+H3+H4
Hu＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hu＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces left, and the cart moves right:
Hu＝H2
Hu＝s
Hu＝2
the ship bow of the vertical cover is facing right, and the cart moves left:
Hu＝H2+H3+H4
Hu＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hu＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces right, and the cart moves left:
Hu＝H2
Hu＝s
Hu＝2
the ship bow of the vertical cover is facing right, and the cart is driven to the right:
Hu＝H1+H2+H3+H4
the ship bow of the flat cover ship faces right, and the cart moves right:
Hu＝H1+H2
when the following conditions are satisfied:
y sin β+asinβ-bcosβ≥x sin α+asinα-bcosα+Huthe pitch up stops.
Height of descent H in pitch-descent phased：
The ship bow of the vertical cover is facing left, and the cart moves left:
Hd＝H2+H3+H4
Hd＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hd＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces left, and the cart moves left:
Hd＝H2
Hd＝s
Hd＝2
the ship bow of the vertical cover ship faces left, and the cart moves right:
Hd＝H1+H2+H3+H4
the ship bow of the flat cover ship faces left, and the cart moves right:
Hd＝H1+H2
the ship bow of the vertical cover is facing right, and the cart moves left:
Hd＝H1+H2+H3+H4
the ship bow of the flat cover ship faces right, and the cart moves left:
Hd＝H1+H2
the ship bow of the vertical cover is facing right, and the cart is driven to the right:
Hd＝H2+H3+H4
Hd＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hd＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces right, and the cart moves right:
Hd＝H2
Hd＝s
Hd＝2
when the following conditions are satisfied:
y sin β+asinβ-b cos β≤x sin α+asinα-bcosα+Hu-Hd
the pitch down stops.
In the actual pitching process, the vehicle-sliding distance from the moment that the pitching speed is reduced from the full speed to 0 to the moment that the actual speed is reduced to 0 is calculated, and the vehicle is stopped in advance.
3.4 calculation of Cart mechanism parameters
P0＜PiWhen the vehicle is running, the cart is left; p0＞PiWhen the cart is running, the cart is driven to the right, and the walking distance L is reachedg：
Lg＝Pi-P0,i＝1,…,n
In the actual walking process, the vehicle sliding distance from the full speed to 0 to the actual speed to 0 is measured and calculated, and the vehicle is stopped in advance.
3.5 telescoping mechanism parameter calculation
LtAnd taking a global variable of the telescopic position.
In the actual stretching process, the vehicle sliding distance from the full speed to 0 to the actual speed to 0 should be measured and calculated, and the vehicle should be stopped in advance.
Broken line track
When the length of the movable arm support is x and the length of the fixed arm support is a and the pitch angle speed is kept constant tau (DEG/s), calculating the linear speed (m/s) of the shovel plate in the vertical direction, wherein the initial pitch angle is alpha and the final pitch angle is beta.
The exact formula is as follows:
the simplified formula is as follows:
v＝0.0174533(x+a)τ
the oblique cabin moving track is a composite motion broken line of the vertical linear speed (an actual value calculated by the telescopic length) of the shovel plate and the linear speed (0.5m/s) of the cart. The fold line is only used for the process of moving the cabin from the stern to the bow. And (3) judging the track when the vehicle leaves the cabin:
a. horizontal displacement of the outbound broken line trajectory:
Lo＝Pi-P0,Pj>Pi>P0
Lo＝P0-Pi,P0>Pi>Pj
Lois the horizontal displacement of the outbound broken line track.
b. Vertical displacement of the outbound broken line trajectory:
Ho＝0.0349066(x+a)τLo
Hois the horizontal displacement of the outbound broken line track.
c. Horizontal displacement of the entry broken line trajectory:
Lihorizontal displacement of the cabin entering broken line track;
KCHLtaking the minimum value of 0.7;
r is as above, and the minimum value is 0.7.
d. Vertical displacement of the entry broken line trajectory:
Hi＝0.0349066(x+a)τLi
Hiis the vertical displacement of the cabin entering broken line track.
4 automatic advanced material preparation
The automatic calculation of the feeding time means that the feeding time is delayed for several seconds to ensure the feeding safety (for example, 30s of feeding delay) when the total time required for moving the cabin is estimated to the end of moving the cabin (the position of the weight is flush with the hatch edge), and the shovel plate should descend for a certain distance (0.054m/s × 30s is 1.62 m). Different material time signals of getting are sent according to the position of different bucket wheel machines in advance, set up to get and get material countdown warning function, and concrete process is:
4.1 data communication of variables
(1) Transmitting the position variable acquired from the bucket wheel machine absolute value encoder to a central control, and transmitting the position variable to a ship loader through the central control to obtain a position label of the bucket wheel machine, wherein the position label of the bucket wheel machine comprises a bucket wheel machine number, a central control label name, a communication label name, a ship loader label name and a ship loader number;
watch bucket wheel machine position label
(2) Transmitting the belt running signal of the central control to a ship loader with a corresponding number according to a flow numbering principle to obtain a belt running signal label, wherein the belt running signal label comprises a bucket wheel machine number, a central control label name, a communication label name, a ship loader label name and a ship loader number:
watch two belt operation signal label
4.2 Intelligent cabin moving algorithm
(1) Firstly, calculating the material taking time from a bucket wheel machine to a ship loader along a belt: the distance from the ship loader to the head-end adapter tower and the distance from the tail-end adapter tower to the bucket wheel machine belong to variables, and the numerical values are taken from an absolute value encoder; wherein the distance from the head end transfer tower to the tail end transfer tower is a quantitative value which may be taken from a floor plan of the job site; adding the three distances and dividing the sum by the running speed of the belt to obtain the material taking time; if a plurality of bucket wheels are matched with one ship loader to operate, the distances from the bucket wheels to the ship loader along the belt line need to be calculated respectively, and the sum of the three distances from the bucket wheel with the farthest distance is taken as the denominator of the calculation formula.
When one bucket wheel machine is matched with one ship loader for operation, the following method is directly adopted; when a plurality of bucket wheels are matched with one ship loader to operate, s of each bucket wheel machine and the ship loader is calculated respectivelyTower loading+sTower column+sTower bucketNumerical value, taking the maximum value and substituting it into tMaterial takingAnd (4) obtaining the formula. The calculation method comprises the following steps:
stower loadingFor the ship loader apart from getting the distance of dress operation line terminal switching tower, the unit: m;
stower columnFor the distance of taking and installing terminal switching tower of operation line and head end switching tower, the unit: m;
stower bucketDistance between switching tower and bucket wheel machine for loading and unloading operation line head endThe unit: m;
vleather beltThe belt conveyor running speed for loading and unloading operation line, unit: m/s.
(2) Secondly, calculating the pitching time of the pitching mechanism from lifting to cabin moving angle to falling to working angle: i.e. the difference in angle divided by the operating speed of the pitch mechanism.
θCabin moving deviceIn order to raise the cabin to a cabin moving angle with cabin moving conditions, the unit is as follows: (iv) DEG;
θwork byFor pitching and descending to a working angle with working conditions, the unit: degree.
ωPitchingPitch operating speed, unit: (ii) in degrees/s.
(3) And finally comparing the material taking time with the pitching time: if the material taking time is shorter, the ship loader takes materials by the bucket wheel machine after the ship loader is connected at a proper angle in the operation process of the pitching mechanism; and if the material taking time is larger, the ship loader contacts the back field bucket wheel machine at a proper position in the operation process of the cart mechanism to take materials.
When t isMaterial taking≤tPitchingDuring the time, the shipment machine driver contacts the back ground at every single move in-process and gets the material, and the every single move operating angle when getting the material is:
θmaterial taking＝θCabin moving device-ωPitching(tPitching-tMaterial taking)
θMaterial takingFor shipment machine every single move running angle when getting material, the unit: (iv) DEG;
θcabin moving deviceThe same as above;
ωpitchingAs above.
At this time, the display of the cab of the ship loader prompts "the pitch is lowered to xxx ° to take the material".
When t isMaterial taking>tPitchingWhen the ship loader driver contacts the back ground in the walking process to take materials, the walking stopping distance when taking materials is as follows:
smaterial taking＝vLarge vehicle(tMaterial taking-tPitching)
sMaterial takingFor shipment machine walking termination distance when getting material, the unit: m;
vlarge vehicleFor the ship loader cart walking speed, unit: m/s.
At this time, the display of the cab of the ship loader prompts "x m get before the travel stops".
4.3 convert the above algorithm into a PLC program and add HMI display function.
An intelligent cabin moving system of a ship loader is used for realizing the intelligent cabin moving method, is arranged on a cab operation platform, and comprises a plurality of transfer switches, a button switch for defining setting and operation and a PLC program for processing the method, wherein the transfer switches and the button switch are in information connection with a PLC processor of the cab operation platform, and the transfer switches comprise an 8-bit transfer switch and two 2-bit transfer switches:
the 8-bit change-over switch is used for selecting the cabin number, and 8 gears correspond to 1-8# hatches;
one 2-position change-over switch is used for calibrating the type of the hatch cover, and 2 gears correspond to the vertical cover and the flat cover;
and the other 2-position change-over switch is used for obstacle type calibration, and 2 gears are corresponding to obstacles and have no obstacles.
According to the method, an intelligent cabin moving calculation program is added to an original machine PLC program, and the calculation program displays a comparison result on a display of a cab of the ship loader in a prompt message mode, so that a driver is informed of contacting a back ground in a pitching process or contacting the back ground in a walking process to take materials, and the intelligent cabin moving of the ship loader is realized.
Claims (5)
1. An intelligent cabin moving method of a ship loader is characterized by comprising the following steps:
s1, completing cabin opening calibration, and completing calibration of the type of a ship cabin cover, the type of a ship obstacle and the cabin entry position in front of a ship;
s2, cabin moving confirmation is carried out, after the bucket wheel machine finishes material taking, the time of all material flow on the ship is automatically calculated by clicking a control console button, a cabin moving permission signal is given in a delayed mode, and after the ship loader receives the cabin moving permission signal, cabin moving is carried out;
s3, completing cabin moving operation, after the ship loader receives a cabin moving permission signal, starting automatic cabin moving operation when a commander confirms that the lower edge of the chute and the cabin edge are at the same height, and a driver of the ship loader starts cabin moving by clicking a cabin moving button, wherein a series of actions of stopping and starting a suspension leather, retracting and extending a cantilever, lifting and pitching and walking a cart are completed through one-key operation;
s4, realizing automatic advanced material feeding of the bucket wheel machine, automatically calculating the material feeding time, and timely informing the bucket wheel machine to feed materials in an indicator lamp mode; and after the bucket wheel machine rotates to begin to take materials, sending a material taking signal of the bucket wheel machine to the ship loader.
2. The intelligent cabin moving method of the ship loader according to claim 1, characterized in that: in S1, the specific process of cabin opening calibration is as follows:
firstly, setting the type of a ship hatch cover, rotating a hatch cover type switch to a corresponding gear, namely, a vertical cover or a flat cover, and drawing the cover of the ship according to the gear of the flat cover;
secondly, setting the ship obstacle type, and rotating an obstacle type switch to a corresponding gear, namely whether a ship crane obstacle, a mast obstacle or a mast house obstacle exists;
finally, the cabin entering position of each cabin is calibrated, the ship loader is moved from the bow to the stern, the cabin number selection switch is rotated to the corresponding cabin number position when the ship loader reaches one cabin, the ship loader reads the ship type through clicking a button and simultaneously reads the position information of a large vehicle encoder of the ship loader into the processor, the position information of the large vehicle encoder of the ship loader is read in at the cabin entering position of each cabin, the current position of the ship loader is set to be P0, and the point positions of the cabin entering position of each cabin are set to be P1, …, Pn and n are the number of the calibrated cabins.
3. The intelligent cabin moving method of the ship loader according to claim 1, characterized in that: in S3, in order to save the capsule moving time, a five-segment capsule moving algorithm is used to complete capsule moving operation, and the five-segment capsule moving algorithm specifically includes:
s3.1, analyzing safety factors, preventing ship trim and avoiding the generation of cabin moving operation prohibition factors;
s3.2 establishing a mathematical model
The ship loader mechanism action is dropped on a ship model in a space coordinate mode to form consistent three-dimensional coordinates which are expressed by an x axis, a y axis, a z axis, an x-y plane, a y-z plane and an x-z plane, wherein:
the x axis is the motion axis of the cart mechanism, the left side is plus, and the right side is minus;
the y axis is the motion axis of the telescopic mechanism, the sea side is plus, and the land side is minus;
the z axis is the movement axis of the pitching mechanism, the upper side is plus, and the lower side is minus;
the x-y plane is the upper plane of the chute tube higher than the hatch cover/hatch edge when the cart walks;
the y-z plane is a vertical surface of the arm support close to the hatch cover/hatch edge when the cantilever is pitching;
the x-z plane is a transverse vertical plane of a ship cargo hold area provided with a ship crane and a mast facility;
performing geometric analysis on the longitudinal and vertical surfaces of the ship loader, and selecting a proper pitching range, so that the lower edge of the shovel can be observed by the cab in the range, and the lower edge of the shovel is higher than the cabin cover or the cabin edge; then dividing the large interval into four small intervals, namely an obstacle-covered vertical interval, an obstacle-free flat-covered horizontal interval and an obstacle-covered horizontal interval, and reading ship type data into a processor by clicking a button switch during calibration of a ship loader, wherein the specific data is as follows:
h＝xsinα+asinα-bcosα
h is the vertical distance between the pitching hinge point and the sliding barrel hinge point in the ground direction;
a is the length of the fixed arm support;
b is the vertical distance between the pitching hinge point and the chute tube hinge point along the arm support direction;
x is the telescopic length;
alpha is a pitch angle;
in the pitching hook state, x is 0;
when pitching is placed from the safe hook position, x is 0, and the cab can see that the condition of the lower edge of the shovel plate should satisfy:
asinα-bcosα+Ha-Hch≤Hc
Hcthe distance from the cab to the ground;
Hathe distance between the pitching main shaft and the ground;
Hchis the height of the chute;
s3.3 Pitch mechanism parameter calculation
Dividing the distance between the entry position of the first cabin and the entry position of the tail cabin of the ship loader by the difference value of n-1 to obtain the length of a single cabin, multiplying the length of the single cabin by n to obtain the length of a cargo cabin area, dividing the length of the cargo cabin area by the proportionality coefficient of the length of the cargo cabin area and the length of the ship to obtain the length of the ship, and multiplying the length of the ship by the proportionality coefficient of the length of the vertical lines and the length of the ship to; from the principle of similarity of triangles, it can be known that the ratio of the length between vertical lines to the draught difference is equal to the ratio of the cabin moving distance to the trim height:
pitch height:
safe distance: h2＝s；
The height of the hatch cover is as follows: h3＝0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]；
Hatch clearance: h4＝c；
0.25 is the ratio of the height of the folding hatch to the width of the hatch;
r is a proportional coefficient of the hatch length and the cabin length, and the value of r is 0.7-0.9;
Piin order to calibrate the cabin entry position of each cabin, i is 1-n;
n is the number of the calibration cabins;
KBPLthe proportional coefficient of the length between the vertical lines and the length of the ship is 0.96;
KCHLthe proportionality coefficient of the length of the cargo hold area and the length of the ship is 0.73-0.77;
s is the safe distance of moving the cabin, which is greater than the change of the tidal height and has the unit of meter;
c is a gap between the hatch cover and the hatch coaming after the hatch cover is erected, and the unit is meter;
tAbs＝Abs(t)＝|dF-dAi is absolute value (m) of draught difference;
the calculation process of the draught difference t is detailed as follows:
ΔL＝0.32～0.56DW
ΔB＝0.2～0.4DW
to obtain
Δ0＝ΔL+△B＝0.52～0.96DW
By
L＝8.545DW0.2918
To obtain
Wherein:
DW is load ton;
ΔLthe weight of the empty ship;
ΔBis the weight of ballast water;
Δ0the displacement is the berthing displacement;
l is the length of the ship;
the ship body is similar to an equal water plane model, so that the smaller berthing average draft d can be obtained, the larger draft difference t can be finally obtained, and the cabin moving safety is ensured:
t is the design draught;
d is the average draught;
substitution into
T＝0.0441L1.051
Then there is
Get it solved
d＝0.0151L1.051
dF+dA＝2d＝0.0302L1.051
Wherein:
dFdraft the first ship;
dAdraft for the ship tail;
CBis a square coefficient;
Wnthe load capacity loaded for each round;
xna cart position coordinate loaded for each wheel;
xFnfloating center coordinates loaded for each wheel;
neglecting floating center and estimating the difference of mooring draught according to 2% of the ship length to obtain
By
The above formula can be expressed as follows:
namely, it is
t0…tnThe draught difference for each round of loading;
reverse thrust xn：
Namely, it is
x1…xnFor each wheelLoaded cart position coordinates;
the formula represents the corresponding relation of the loading capacity, the position coordinate of the cart and the draught difference variation;
wherein the content of the first and second substances,
substituting L into the formula for estimating the length of the ship
xnSubstituting the position coordinates of the cart;
the heading direction of the bow is the same as the increasing direction of the coordinates of the cart:
xn＝Pi-[P1-(0.5-0.07)L]
xn＝0.43L-P1+Pi
the heading direction of the bow is the same as the descending direction of the cart coordinates:
xn＝-Pi+[P1+(0.5-0.07)L]
xn＝0.43L+P1-Pi
0.07 is the ratio of bow to length;
0.5 is half of the length of the ship;
Pnsubstituting the workload corresponding to the position of the cart;
after the calculation formula is obtained, the loading amount of the transfer tower belt weigher needs to be read in real time, and the method comprises the following steps:
the distance between the ship loader and the far-end belt scale is LBThe running speed of the belt is vBThe belt running time is
Setting an ARRAY ARRAY, reading the belt weigher reading at certain time intervals when the belt weigher flow is more than 0, wherein the reading method is a first-in first-out (FIFO) method: ARRAY [0] is a real-time reading, ARRAY [1] reads ARRAY [0], ARRAY [2] reads ARRAY [1], and so on;
reading time interval ts(s) will be provided withThe rated flow is f (t/h), namely
The time interval causes a deviation in tons:
the sequence number of the calculation array is:
when the ship loader reaches a certain position, the cumulative flow of the belt scale is WA，WA-WIReading the total amount of material on the belt at the momentBInitial value of flow at a time
WI＝ARRAY[i]
When the ship loader leaves the position, the cumulative flow of the belt scale is WL，WL-WFReading the total amount of material on the belt at the momentBEnd value flow of time
WF＝ARRAY[i]
The loading capacity of the loader in that position is then
Wn＝WF-WI
Elevation height H in pitching elevation phaseu：
The ship bow of the vertical cover is facing left, and the cart moves left:
Hu＝H1+H2+H3+H4
the ship bow of the flat cover ship faces left, and the cart moves left:
Hu＝H1+H2
the ship bow of the vertical cover ship faces left, and the cart moves right:
Hu＝H2+H3+H4
Hu＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hu＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces left, and the cart moves right:
Hu＝H2
Hu＝s
Hu＝2
the ship bow of the vertical cover is facing right, and the cart moves left:
Hu＝H2+H3+H4
Hu＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hu＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces right, and the cart moves left:
Hu＝H2
Hu＝s
Hu＝2
the ship bow of the vertical cover is facing right, and the cart is driven to the right:
Hu＝H1+H2+H3+H4
the ship bow of the flat cover ship faces right, and the cart moves right:
Hu＝H1+H2
when the following conditions are satisfied:
ysinβ+asinβ-bcosβ≥xsinα+asinα-bcosα+Hu
stopping pitching and ascending;
height of descent H in pitch-descent phased：
The ship bow of the vertical cover is facing left, and the cart moves left:
Hd＝H2+H3+H4
Hd＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hd＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces left, and the cart moves left:
Hd＝H2
Hd＝s
Hd＝2
the ship bow of the vertical cover ship faces left, and the cart moves right:
Hd＝H1+H2+H3+H4
the ship bow of the flat cover ship faces left, and the cart moves right:
Hd＝H1+H2
the ship bow of the vertical cover is facing right, and the cart moves left:
Hd＝H1+H2+H3+H4
the ship bow of the flat cover ship faces right, and the cart moves left:
Hd＝H1+H2
the ship bow of the vertical cover is facing right, and the cart is driven to the right:
Hd＝H2+H3+H4
Hd＝s+0.25·r·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+c
Hd＝0.2·Max[Abs(P1-P2),…,Abs(Pn-1-Pn)]+3.5
the ship bow of the flat cover ship faces right, and the cart moves right:
Hd＝H2
Hd＝s
Hd＝2
when the following conditions are satisfied:
ysinβ+asinβ-bcosβ≤xsinα+asinα-bcosα+Hu-Hd
stopping pitching and descending;
s3.4 calculation of mechanism parameters of cart
P0＜PiWhen the vehicle is running, the cart is left; p0＞PiWhen the cart is running, the cart is driven to the right, and the walking distance L is reachedg：
Lg＝Pi-P0,i＝1,…,n
S3.5 telescoping mechanism parameter calculation
LtTaking a global variable of a telescopic position;
processing a broken line track:
when the length of the movable arm support is x and the length of the fixed arm support is a and the pitch angle speed is kept constant tau (degree/s), calculating the linear speed (m/s) of the shovel plate in the vertical direction, wherein the initial pitch angle is alpha and the final pitch angle is beta;
the exact formula is as follows:
the simplified formula is as follows:
v＝0.0174533(x+a)τ
the oblique cabin moving track is a synthetic motion fold line which uses the vertical linear velocity of a shovel plate and the linear velocity of a cart, the fold line is only used for the cabin moving process of the ship tail to the ship head direction, and the track judgment is needed when the ship goes out of the cabin:
a. horizontal displacement of the outbound broken line trajectory:
Lo＝Pi-P0,Pj>Pi>P0
Lo＝P0-Pi,P0>Pi>Pj
Lois the horizontal displacement of the cabin-out broken line track;
b. vertical displacement of the outbound broken line trajectory:
Ho＝0.0349066(x+a)τLo
Hois the horizontal displacement of the cabin-out broken line track;
c. horizontal displacement of the entry broken line trajectory:
Lihorizontal displacement of the cabin entering broken line track;
KCHLtaking the minimum value of 0.7;
r is as above, and the minimum value is 0.7;
d. vertical displacement of the entry broken line trajectory:
Hi＝0.0349066(x+a)τLi
Hiis the vertical displacement of the cabin entering broken line track.
4. The intelligent cabin moving method of the ship loader according to claim 3, characterized in that: in S4, automatically calculating the incoming material time means that all the required cabin moving time is estimated to the end of cabin moving, the incoming material is delayed for several seconds to ensure the safety of feeding, after the shovel plate of the ship loader descends for a certain distance, different incoming material time signals are sent in advance according to the positions of different bucket wheel machines, and the reminding of the backward timing of the incoming material is set, and the specific process is as follows:
s4.1 data communication of variables
S4.11, transmitting the position variable acquired from the bucket wheel machine absolute value encoder to a central control, and transmitting the position variable to a ship loader through the central control to obtain a position label of the bucket wheel machine, wherein the position label of the bucket wheel machine comprises a bucket wheel machine number, a central control label name, a communication label name, a ship loader label name and a ship loader number;
s4.12 the belt running signal of well accuse transmits the shipment machine that corresponds the serial number according to flow numbering principle to, obtains belt running signal label, and belt running signal label includes bucket wheel machine serial number, well accuse label name, communication label name, shipment machine serial number:
s4.2 Intelligent cabin moving algorithm implementation
S4.21, firstly calculating the material taking time from the bucket wheel machine to the ship loader along the belt: the distance from the ship loader to the head-end adapter tower and the distance from the tail-end adapter tower to the bucket wheel machine belong to variables, and the numerical values are taken from an absolute value encoder; wherein the distance from the head end transfer tower to the tail end transfer tower is a quantitative value which may be taken from a floor plan of the job site; adding the three distances and dividing the sum by the running speed of the belt to obtain the material taking time; if a plurality of bucket wheels are matched with one ship loader for operation, the distances from the bucket wheels to the ship loader along the belt line need to be calculated respectively, and the sum of the three distances from the bucket wheel with the farthest distance is taken as the denominator of the calculation formula;
when one bucket wheel machine is matched with one ship loader to work, the following calculation method is directly adopted; when a plurality of bucket wheels are matched with one ship loader to operate, s of each bucket wheel machine and the ship loader is calculated respectivelyTower loading+sTower column+sTower bucketNumerical value, taking the maximum value and substituting it into tMaterial takingThe formula is obtained;
the calculation method comprises the following steps:
stower loadingFor the ship loader apart from getting the distance of dress operation line terminal switching tower, the unit: m;
stower columnFor the distance of taking and installing terminal switching tower of operation line and head end switching tower, the unit: m;
stower bucketFor getting dress operation line head end switching tower apart from bucket wheel machine's distance, the unit: m;
vleather beltThe belt conveyor running speed for loading and unloading operation line, unit: m/s;
s4.22, secondly, calculating the pitching time of the pitching mechanism from lifting to cabin moving angle to falling to working angle: i.e. the difference in angle divided by the operating speed of the pitch mechanism;
θcabin moving deviceIn order to raise the cabin to a cabin moving angle with cabin moving conditions, the unit is as follows: (iv) DEG;
θwork byFor pitching and descending to a working angle with working conditions, the unit: (iv) DEG;
ωpitchingPitch operating speed, unit: (ii) DEG/s;
s4.23, finally comparing the material taking time with the pitching time: if the material taking time is shorter, the ship loader takes materials by the bucket wheel machine after the ship loader is connected at a proper angle in the operation process of the pitching mechanism; if the material taking time is larger, the ship loader takes materials by a bucket wheel machine after being contacted at a proper position in the operation process of the cart mechanism;
when t isMaterial taking≤tPitchingDuring the time, the shipment machine driver contacts the back ground at every single move in-process and gets the material, and the every single move operating angle when getting the material is:
θmaterial taking＝θCabin moving device-ωPitching(tPitching-tMaterial taking)
θMaterial takingFor shipment machine every single move running angle when getting material, the unit: (iv) DEG;
θcabin moving deviceThe same as above;
ωpitchingThe same as above;
at the moment, a display of the cab of the ship loader prompts;
when t isMaterial taking>tPitchingWhen the ship loader driver contacts the back ground in the walking process to take materials, the walking stopping distance when taking materials is as follows:
smaterial taking＝vLarge vehicle(tMaterial taking-tPitching)
sMaterial takingFor shipment machine walking termination distance when getting material, the unit: m;
vlarge vehicleFor the ship loader cart walking speed, unit: m/s;
at the moment, a display of the cab of the ship loader prompts;
and S4.3, converting the algorithm into a PLC program, and adding a human-computer interface for display.
5. An intelligent cabin moving system of a ship loader, which is used for realizing the method of any one of the claims 1 to 4, and is characterized in that: the system is arranged on a cab operation console and comprises a plurality of transfer switches, a button switch for defining setting and operation and a PLC program for processing the method, wherein the transfer switches and the button switch are in information connection with a PLC processor of the cab operation console, and the transfer switches comprise an 8-bit transfer switch and two 2-bit transfer switches:
the 8-bit change-over switch is used for selecting the cabin number, and 8 gears correspond to 1-8# hatches;
one 2-position change-over switch is used for calibrating the type of the hatch cover, and 2 gears correspond to the vertical cover and the flat cover;
the other 2-position change-over switch is used for obstacle type calibration, and 2 gears are corresponding to obstacles and have no obstacles;
the setting and operation functions of the button switch are as follows:
the clicking of the pitching adjacent safety hook position in the non-cabin moving stage is defined as system resetting, the clicking of the pitching adjacent cabin cover position in the non-cabin moving stage is defined as cabin opening calibration, the length of the non-cabin moving stage in seconds is defined as the deviation setting of a winching ship, and the clicking of the cabin moving stage is defined as cabin moving system operation.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113104612A (en) * | 2021-03-26 | 2021-07-13 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
| CN113443462A (en) * | 2021-06-25 | 2021-09-28 | 国能黄骅港务有限责任公司 | Shipping operation system, control method and device and computer equipment |
| CN114014037A (en) * | 2021-11-17 | 2022-02-08 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
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| CN113104612A (en) * | 2021-03-26 | 2021-07-13 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
| CN113104612B (en) * | 2021-03-26 | 2022-07-29 | 国能黄骅港务有限责任公司 | Cabin moving method of ship loader, controller, system and computer readable storage medium |
| CN113443462A (en) * | 2021-06-25 | 2021-09-28 | 国能黄骅港务有限责任公司 | Shipping operation system, control method and device and computer equipment |
| CN113443462B (en) * | 2021-06-25 | 2022-04-01 | 国能黄骅港务有限责任公司 | Shipping operation system, control method and device and computer equipment |
| CN114014037A (en) * | 2021-11-17 | 2022-02-08 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
| CN114014037B (en) * | 2021-11-17 | 2023-08-29 | 安徽海螺信息技术工程有限责任公司 | Intelligent cement loading and unloading monitoring system for wharf |
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