CN111891761B - Cabin loading control method and device for ship loader, computer equipment and storage medium - Google Patents
Cabin loading control method and device for ship loader, computer equipment and storage medium Download PDFInfo
- Publication number
- CN111891761B CN111891761B CN202010651390.4A CN202010651390A CN111891761B CN 111891761 B CN111891761 B CN 111891761B CN 202010651390 A CN202010651390 A CN 202010651390A CN 111891761 B CN111891761 B CN 111891761B
- Authority
- CN
- China
- Prior art keywords
- stacking
- point
- cabin
- accumulation
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The application relates to a control method and device for loading a cabin of a ship loader, computer equipment and a storage medium. The method comprises the following steps: determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point; according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path; determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point; and controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount. By adopting the method, the automatic loading of the cabin can be realized, and the cabin loading operation efficiency is effectively improved.
Description
Technical Field
The application relates to the technical field of port machinery control, in particular to a method and a device for controlling the loading of a ship loader into a cabin, computer equipment and a storage medium.
Background
Generally, the coal loading operation is to take materials from a material taking machine in a storage yard, convey the materials to a wharf loading machine through a belt conveyor, and finish loading the materials into a cabin through the loading machine. At present, a ship loader is commanded by a hatch commander on site during loading, and an action instruction is transmitted to a ship loader driver in an operation room through an interphone. And the driver of the ship loader operates the ship loader equipment according to the action instruction to finish the loading operation.
However, the current manual loading mode requires at least two persons to complete loading, and the operation efficiency is low.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for controlling loading of a ship loader, a computer device, and a storage medium, which can effectively improve the loading efficiency.
A control method for loading a cabin of a ship loader comprises the following steps:
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path;
determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
In one embodiment, the cabin data includes a cabin length X, a cabin width Y, a long edge distance a, and a wide edge distance B;
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the step that the loading path comprises a starting stacking point and an ending stacking point comprises the following steps:
in a preset two-dimensional coordinate system, determining the total number M of stacking points and the positions of the front N stacking points on a loading path according to the cabin length X, the cabin width Y, the long edge distance A and the wide edge distance B;
judging whether the ith stacking point can be propelled to move to the (i + 1) th stacking point in the cabin length direction or not according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader; the edge distance is straight line
Wherein N is less than or equal to i<M；
And determining the position of each accumulation point and the moving path between the accumulation points according to the judgment result.
In one embodiment, the step of judging whether the ship loader can be pushed to move from the ith stacking point to the (i + 1) th stacking point in the cabin length direction according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader comprises the following steps:
comparing the distance d between the ith accumulation point and the edge distance straight line with a pushable threshold value E; if d is larger than or equal to E, the judgment result is yes; otherwise, the corresponding judgment result is negative.
In one embodiment, the step of determining the position of each accumulation point and the moving path between each accumulation point according to the judgment result comprises:
if the judgment result is yes, controlling the chute barrel to advance a first distance from the ith stacking point to the (i + 1) th stacking point in the cabin length direction, and then extending a second distance from the (i + 1) th stacking point to the (i + 2) th stacking point in the cabin width direction; wherein the second distance is determined by the cabin width and the broadside distance;
if the judgment result is negative, determining the position from the (i + 1) th accumulation point to the accumulation termination point according to a preset rule, and controlling the chute to move from the (i) th accumulation point to the accumulation termination point.
In one embodiment, the step of determining the positions of the first N stacking points on the loading path according to the cabin length X, the cabin width Y, the long edge distance a and the wide edge distance B in the preset two-dimensional coordinate system includes:
when N is 4, the position of the initial accumulation point is
The position of the second accumulation point is
The position of the third accumulation point is
The fourth accumulation point is located at
In one embodiment, the equipment data further comprises loader scaling data;
before the step of determining the loading path of the ship loader according to the cabin data and the equipment data, the method comprises the following steps:
judging whether the cabin data meet the anti-collision condition of the ship loader or not according to the cabin data and the ship loader expansion and contraction data; if the judgment result is negative, outputting the judgment result for prompting.
In one embodiment, the step of controlling the chute of the ship loader to move according to the loading path, respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount is finished comprises the following steps:
controlling the chute movement of the ship loader by at least one of the following modes:
the arm support mechanism stretches and retracts and the travelling mechanism travels.
A control device for loading a ship loader into a cabin, the device comprising:
the path determining module is used for determining the loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
the query module is used for querying a preset database to obtain stacking proportion data of each stacking point on the hold loading path according to the hold data and the hold loading path;
the accumulation amount determining module is used for determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and the stacking control module is used for controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The method and the device for controlling the loading of the ship loader into the cabin, the computer equipment and the storage medium provide a method for controlling the loading of the ship loader into the cabin, and the method comprises the following steps: determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point; according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path; determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point; according to the hold path, the chute of the ship loader is controlled to move, materials are piled for each accumulation point respectively until the actual accumulation amount of the accumulation point is stopped is equal to the corresponding target accumulation amount, automatic hold of the cabin is achieved, manual excessive intervention is not needed, and the operation efficiency can be effectively improved.
Drawings
FIG. 1 is a first schematic flow diagram of a method for controlling the loading of a ship loader according to an embodiment;
FIG. 2 is a second flow diagram of a hold control method for a loader according to one embodiment;
FIG. 3 is a schematic illustration of a distribution of 21 buildup points in a hold in one embodiment;
FIG. 4 is a third flowchart of a hold control method for a loader according to an embodiment;
FIG. 5 is a block diagram showing the construction of a hold control device of the ship loader in one embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
In one embodiment, as shown in fig. 1, there is provided a cargo hold control method of a ship loader, comprising the steps of:
step S120, determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
the cabin data can comprise cabin length, cabin width, cabin height, chute telescopic anti-collision side distance, cabin maximum bearing capacity and the like. The telescopic anti-collision edge distance of the chute comprises the safe interval from the center of the chute to the front and rear cabin edges in the cabin length direction and the safe interval from the center to the cabin width direction in the loading process of each wheel, and is beneficial to limiting the chute to move in a movable range to avoid collision. The equipment data includes the loader one-way travel distance, i.e., the fixed distance each loader travels. The loading path is a moving path of the central point of a slide barrel of the ship loader and comprises a plurality of stacking points and a moving path passing between the stacking points. The accumulation points include a start accumulation point and an end accumulation point.
Specifically, under the condition of avoiding collision with the cabin edge, the cabin loading path of the ship loader is determined according to the cabin data and the equipment data, and the chute is controlled to move on the stacking points and the moving path between the stacking points to stack materials in the cabin.
Step S140, inquiring a preset database to obtain stacking proportion data of each stacking point on the hold path according to the hold data and the hold path;
specifically, the pile proportion data for each pile point includes distribution proportion data of the total amount of pile points and the total amount of pile on the movement path between the pile points, and the pile proportion of each pile point in the total amount of pile points. The method comprises the steps of carrying out a plurality of tests according to cabin data and a cabin loading path to obtain a cabin loading flow, a process accumulation amount of each accumulation point on the cabin loading path, an accumulation amount on a moving path between the accumulation points and an accumulated accumulation amount of each accumulation point, and finally obtaining accumulation proportion data corresponding to each accumulation point and the moving path from the current accumulation point to the next accumulation point during balanced loading and storing the accumulation proportion data in a preset database.
And inquiring a preset database according to the cabin data and the loading path to obtain the stacking proportion data of each stacking point of the loading path.
Step S160, determining the target accumulation amount corresponding to each accumulation point according to the cabin target loading amount and the accumulation proportion data of each accumulation point;
the target loading amount of the cabin can be a first-wheel target loading amount or a second-wheel target loading amount.
Specifically, the target stacking amount of each stacking point and the stacking amount on the moving path between the stacking points are determined according to the cabin target loading amount and the stacking proportion data of each stacking point.
And S180, controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
The movement of the chute of the ship loader can be controlled by controlling one or more operation modes of stretching, pitching, walking and rotating of the ship loader.
Specifically, according to the loading path, the chute of the ship loader is controlled to stack materials from a starting accumulation point to a final accumulation point at a certain flow rate, when the actual accumulation amount of the current accumulation point is equal to the target accumulation amount, the chute is controlled to move from the current accumulation point to the next accumulation point to stack materials, each accumulation point is traversed until the actual accumulation amount of the ending accumulation point is equal to the corresponding target accumulation amount, one round of loading of the current cabin is confirmed to be completed, manual intervention is not needed, and the loading operation efficiency is effectively improved. It should be noted that the chute is controlled to move at a certain flow rate, and the stacking on the moving path between the stacking points is completed when the current stacking point moves to the next stacking point, so that the stacking is started for the next stacking point.
The cabin loading control method of the ship loader comprises the steps of determining a cabin loading path of the ship loader according to cabin data and equipment data, determining a target accumulation amount corresponding to each accumulation point according to the cabin data, the cabin loading path and a cabin target cabin loading amount, controlling the movement of a chute of the ship loader according to the cabin loading path and the target accumulation amount of each accumulation point, respectively accumulating materials for each accumulation point until the actual pair measurement of the accumulation point is equal to the target accumulation amount of the accumulation point, confirming that one round of automatic loading is completed, and effectively improving the cabin loading operation efficiency.
In one embodiment, the cabin data includes a cabin length X, a cabin width Y, a long edge distance a, and a wide edge distance B;
as shown in fig. 2, determining a loading path of the loader based on the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the step that the loading path comprises a starting stacking point and an ending stacking point comprises the following steps:
s122, determining the total number M of stacking points and the positions of the front N stacking points on the loading path in a preset two-dimensional coordinate system according to the cabin length X, the cabin width Y, the long edge distance A and the wide edge distance B;
the original point of the preset two-dimensional coordinate system is the position of the central point of the bottom surface of the cabin, the X-axis direction is parallel to the length direction of the cabin, and the Y-axis direction is parallel to the width direction of the cabin. The long margin A is the safe margin from the center point of the chute barrel to the front and rear cabin edges in the length direction; the wide margin is the safe distance from the center point of the chute to the edge of the inner and outer side cabins in the width direction. The movable range of the chute barrel is determined according to the cabin length, the cabin width, the long edge distance and the wide edge distance. The central point of the chute barrel can move in a movable range, so that the chute barrel can be safely moved and prevented from colliding with the cabin edge.
Specifically, according to a preset rule, the total number M of stacking points and the positions of the front N stacking points on a loading path are determined according to the cabin length, the cabin width, the long edge distance, the wide edge distance and the one-way walking distance of the ship loader. Typically, the first N accumulation points are distributed along the width of the chamber. Wherein N is an integer. Generally, N >1, N may be an odd number or an even number, and is not particularly limited herein.
Step S124, judging whether the ith accumulation point can be pushed to move to the (i + 1) th accumulation point in the cabin length direction according to the distance d between the ith accumulation point and the edge distance straight line and the one-way walking distance C of the ship loader; the edge distance is straight line
Wherein N is less than or equal to i<M；
Specifically, the one-way travel distance C of the ship loader is compared with the ith accumulation point and the edge distance straight line
The distance d therebetween, and whether the (i) th accumulation point is reached by advancing in the longitudinal direction of the chamber to the (i + 1) th accumulation point is judged. If the situation that the vehicle can be pushed to the (i + 1) th accumulation point from the ith accumulation point in the cabin length direction is judged, determining the (i + 1) th accumulation point position according to the ith accumulation point position, moving the (i + 2) th accumulation point to the (i + 2) th accumulation point in the cabin width direction, and determining the (i + 2) th accumulation point position according to the (i + 1) th accumulation point position; if the judgment result is negative, determining the position of the next accumulation point according to a preset rule. Traversing according to the method, and determining the position of each accumulation point on the loading path.
And step S126, determining the position of each accumulation point and the moving path between the accumulation points according to the judgment result.
And determining the position from the (N + 1) th stacking point to the stacking termination point and the moving path between the stacking points according to the judgment result, and determining the loading path of the chute.
In the above embodiment, the total number M of the stacking points and the positions of the first N stacking points on the loading path are determined by the length of the cabin, the width of the cabin, the distance between the long edge and the distance between the wide edge, and then the positions of the subsequent stacking points and the moving path between the stacking points are determined according to the one-way traveling distance of the ship loader and the distance d between the ith stacking point and the edge distance straight line, and the loading path of the chute is determined, so that the chute is controlled to move according to the loading path in the subsequent process, and balanced loading is realized.
In one embodiment, the step of judging whether the ship loader can move to the (i + 1) th stacking point in the cabin length direction in an advancing manner from the ith stacking point according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader comprises the following steps:
comparing the distance d between the ith accumulation point and the edge distance straight line with a pushable threshold value E; if d is larger than or equal to E, the judgment result is yes; otherwise, the corresponding judgment result is negative.
Specifically, the distance d between the current ith accumulation point and the edge distance straight line is compared with a pushable threshold value E, if d is larger than or equal to E, the current accumulation point is considered to be pushed and moved to the next accumulation point in the cabin length direction, the position of the next accumulation point is determined, if d is smaller than E, the judgment result is negative, and the position of the next accumulation point is determined according to a preset rule. The pushable threshold may be determined by a number of tests.
In one embodiment, the step of determining the position of each accumulation point and the moving path between each accumulation point according to the judgment result comprises:
if the judgment result is yes, controlling the chute barrel to advance a first distance from the ith stacking point to the (i + 1) th stacking point in the cabin length direction, and then extending a second distance from the (i + 1) th stacking point to the (i + 2) th stacking point in the cabin width direction; wherein the second distance is determined by the cabin width and the broadside distance;
if the judgment result is negative, determining the position from the (i + 1) th accumulation point to the accumulation termination point according to a preset rule, and controlling the chute to move from the (i) th accumulation point to the accumulation termination point.
Specifically, if the judgment result is yes, d is larger than or equal to E, the chute is controlled to advance a first distance in the cabin length direction from the ith stacking point to move to the (i + 1) th stacking point, and then the chute is controlled to stretch a second distance in the cabin width direction from the (i + 1) th stacking point to the (i + 2) th stacking point. If d is larger than or equal to C, the first distance is the one-way walking distance C of the ship loader; and if E is less than or equal to d and less than C, the first distance is the distance d between the ith accumulation point and the edge distance straight line. The second distance is defined by the cabin width and the broadside distance, and the value of the second distance is equal to the difference between the cabin width Y and twice the broadside distance B.
If the judgment result is negative, the positions of the last 4 accumulation points need to be further determined. And determining the position of the (i + 1) th stacking point as the position of the (i) th stacking point, controlling a shovel of the ship loader at the i th stacking point to rotate by a certain angle to the (i + 1) th stacking point, stretching the (i + 1) th stacking point by a second distance to the (i + 2) th stacking point along the cabin width direction, and stretching the (i + 2) th stacking point by a second distance to the end stacking point along the cabin width direction. Wherein a straight line between the ending accumulation point and the starting accumulation point is parallel to the cabin length direction.
In one embodiment, the step of determining the positions of the first N stacking points on the loading path according to the cabin length X, the cabin width Y, the long edge distance a and the wide edge distance B in the preset two-dimensional coordinate system includes:
when N is 4, the position of the initial accumulation point is
The position of the second accumulation point is
The position of the third accumulation point is
The fourth accumulation point is located at
Specifically, the origin of the preset two-dimensional coordinate system is the position of the central point of the bottom surface of the cabin, the X-axis direction is parallel to the length direction of the cabin, and the Y-axis direction is parallel to the width direction of the cabin. In the preset two-dimensional coordinate system, when N is 4, the positions of the first N stacking points are respectively the positions of the initial stacking points
The position of the second accumulation point is
The position of the third accumulation point is
The fourth accumulation point is located at
The positions of the second accumulation point and the fourth accumulation point in the cabin are the same, but the rotation angles of the shovels at the two positions are different, and the sum of the target accumulation amounts of the second accumulation point and the fourth accumulation point is equal to the target accumulation amount of the third accumulation point.
In one embodiment, when N is 4, the step of determining the total number M of stacking points and the positions of the first N stacking points on the loading path in the preset two-dimensional coordinate system according to the bin length X, the bin width Y, the long side distance a and the wide side distance B includes the steps of:
judging whether the ith stacking point can be propelled to move to the (i + 1) th stacking point in the cabin length direction or not according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader; the edge distance is straight line
Wherein N is less than or equal to i<M；
Comparing the distance d between the ith accumulation point and the edge distance straight line with a pushable threshold value E; if d is larger than or equal to E, the judgment result is yes; otherwise, the corresponding judgment result is negative;
if the judgment result is yes, controlling the chute barrel to advance a first distance from the ith stacking point to the (i + 1) th stacking point in the cabin length direction, and then extending a second distance from the (i + 1) th stacking point to the (i + 2) th stacking point in the cabin width direction; wherein the second distance is determined by the cabin width and the broadside distance;
if the judgment result is negative, determining the position from the (i + 1) th accumulation point to the accumulation termination point according to a preset rule, and controlling the chute to move from the ith accumulation point to the accumulation termination point.
Specifically, the intermediate number of pushing passes a' is determined by the following formula:
X-2A＝C*a′+r
in the formula, the number a' of the middle propelling passes is an integer quotient, the remainder is r, and r is less than C;
the computational expression of the integer quotient a' obtained by using the above formula is:
in the formula (I), the compound is shown in the specification,
indicating a rounding down.
Comparing the remainder r with a pushable threshold E to determine the total number of accumulation points; if r is more than or equal to E, the number a of propelling strokes is a' + 1; otherwise, the number of passes a may be advanced a'. The total number of stacked dots M is 7+2 a. It should be understood that the total number of accumulation points M is odd and i is even.
In one embodiment, the cabin length X is 20 meters, the cabin width Y is 15.3 meters, the long side distance a is 3.4 meters, the wide side distance B is 2.8 meters, the one-way travel distance C of the ship loader is 2 meters, the propulsive threshold E is 0.5 meters, and N is 4. In a preset two-dimensional coordinate system, determining the number a' of intermediate propelling passes according to the following formula:
a' is 6, the remainder is 1.2 and is largeAt the pushable threshold value of 0.5, the pushable lap number a is determined to be 7, and the total number M of accumulation points is determined to be 7+2a to 21 points. According to the above embodiment, the position of the initial accumulation point is
The position of the second accumulation point is
The position of the third accumulation point is
The fourth accumulation point is located at
As shown in fig. 3, the distribution of 21 stacking points, the dashed area is the range of the carriage, the center point of the circle and the numbers therein represent the position of the loader carriage and the sequence of the positions of the points. In the figure, the position of the initial stacking point is (6.6, 0), the position of the second stacking point is (6.6, -4.85), the position of the third stacking point is (6.6, 4.85), and the position of the fourth stacking point is (6.6, -4.85). And judging whether to control the chute barrel to advance a first distance to an i +1 th stacking point from the ith stacking point in the cabin length direction according to the distance d between the ith stacking point and the edge distance straight line x, and then stretching a second distance 9.7 meters to an i +2 th stacking point from the i +1 th stacking point in the cabin width direction, wherein i is more than or equal to 4 and less than or equal to 18, and i is an even number. If the judgment result is yes, the ith accumulation point advances a first distance to an (i + 1) th accumulation point in the cabin length direction; otherwise, determining the ith +1 stacking point position as the ith stacking point position, moving the second distance from the ith +1 stacking point to the ith +2 stacking point along the cabin width direction, and extending and retracting the second distance by one half from the ith +2 stacking point along the cabin width direction to the end stacking point. In the embodiment of the application, the positions from the 5 th stacking point to the 18 th stacking point are determined by determining the positions of the first 4 stacking point positions, and then the positions from the 19 th stacking point to the end stacking point are determined according to the determined position of the 18 th stacking point.
Specifically, if the distance d between the ith accumulation point and the edge distance straight line is more than or equal to 2, the first distance is equal to the one-way walking distance C of the ship loader; if D is more than or equal to 0.5 and less than 2, the first distance is the distance D between the ith accumulation point and the edge distance straight line. By the above method, the position from the first accumulation point to the end accumulation point is determined. The direction of each advance in the cabin length direction is the same direction.
In one embodiment, the equipment data further comprises loader scaling data;
as shown in fig. 4, the step of determining the loading path of the loader based on the hold data and the equipment data includes the steps of:
s100, judging whether the cabin data meet the anti-collision condition of the ship loader according to the cabin data and the ship loader expansion and contraction data; if the judgment result is negative, outputting the judgment result for prompting.
Specifically, the equipment data includes the scaling data of the ship loader. The telescopic data of the ship loader comprise the minimum telescopic distance of the ship loader, which can ensure the anti-collision of the chute under different pitching angles and rotation angles.
The cabin data comprises cabin length, cabin width, long edge distance and wide edge distance, and when the long edge distance and the wide edge distance are greater than the minimum safe telescopic distance of the chute, the accident that the chute collides with the hatch can be avoided. If the input long edge distance and the input wide edge distance are smaller than the minimum telescopic distance of the chute, judging that the input cabin data do not meet the anti-collision condition of the ship loader, outputting a judgment result to prompt an operator, further increasing the input long edge distance and the input wide edge distance, and ensuring that the chute moves safely in the cabin.
In one embodiment, the step of controlling the chute of the ship loader to move according to the loading path, respectively stacking materials for each stacking point until the actual stacking amount of the ending stacking point is equal to the corresponding target stacking amount comprises the following steps:
controlling the chute movement of the ship loader by at least one of the following modes:
the arm support mechanism stretches and retracts and the travelling mechanism travels.
It should be understood that although the various steps in the flowcharts of fig. 1-2, 4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-2 and 4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternatively with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided a cargo hold control device for a ship loader, comprising: the device comprises a path determining module, an inquiring module, a stacking amount determining module and a stacking control module, wherein:
the path determining module is used for determining the loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
the query module is used for querying a preset database to obtain stacking proportion data of each stacking point on the hold loading path according to the hold data and the hold loading path;
the accumulation amount determining module is used for determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and the stacking control module is used for controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
For specific limitations of the loading control device of the ship loader, reference may be made to the above limitations of the loading control method of the ship loader, and details thereof will not be repeated here. The modules in the loading control device of the ship loader can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of controlling the loading of a ship loader. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path;
determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point;
according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path;
determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and controlling the chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling the loading of a ship loader, characterized in that the method comprises:
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point; the cabin data comprises a cabin length X, a cabin width Y, a long edge distance A and a wide edge distance B;
according to the cabin data and the loading path, inquiring a preset database to obtain stacking proportion data of each stacking point on the loading path;
determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
controlling a chute of the ship loader to move according to the loading path, and respectively stacking materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount;
determining a loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and a stopping stacking point, and comprises the following steps:
determining the total number M of the accumulation points and the positions of the front N accumulation points on the loading path in a preset two-dimensional coordinate system according to the cabin length X, the cabin width Y, the long edge distance A and the wide edge distance B; wherein the first N accumulation points are distributed along the cabin width direction;
judging whether the ith stacking point can be propelled to move to the (i + 1) th stacking point in the cabin length direction or not according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader; the edge distance straight line is
Wherein N is not less than i and is less than M;
and determining the position of each stacking point and the moving path between the stacking points according to the judgment result.
2. The method for controlling the loading of the ship loader according to claim 1, wherein the step of determining whether the ship loader can be propelled from the ith stacking point to the (i + 1) th stacking point in the cabin length direction based on the distance d between the ith stacking point and the edge distance straight line and the one-way travel distance C of the ship loader comprises the steps of:
comparing the distance d between the ith accumulation point and the edge distance straight line with a pushable threshold E; if d is larger than or equal to E, the judgment result is yes; otherwise, the corresponding judgment result is negative.
3. The hold control method of a ship loader according to claim 1, wherein the step of determining the position of each of the stacking points and the moving path between the stacking points according to the judgment result comprises:
if the judgment result is yes, controlling the chute to advance a first distance from the ith stacking point to an (i + 1) th stacking point in the cabin length direction, and then extending a second distance from the (i + 1) th stacking point to an (i + 2) th stacking point in the cabin width direction; wherein the second distance is determined by the cabin width and the broadside distance;
if the judgment result is negative, determining the position from the (i + 1) th accumulation point to the accumulation termination point according to a preset rule, and controlling the chute to move from the (i) th accumulation point to the accumulation termination point.
4. The hold control method of a ship loader as claimed in claim 1, wherein said step of determining the positions of the first N stacking points on the hold path from the hold length X, the hold width Y, the long margin a and the wide margin B in a predetermined two-dimensional coordinate system comprises:
when N is 4, the position of the initial accumulation point is
The position of the second accumulation point is
The position of the third accumulation point is
The fourth accumulation point is located at
5. The cargo loader hold control method according to any one of claims 1 to 4, wherein the equipment data further includes loader stretch data;
before the step of determining the loading path of the ship loader according to the cabin data and the equipment data, the method comprises the following steps:
judging whether the cabin data meet the anti-collision condition of the ship loader or not according to the cabin data and the ship loader expansion and contraction data; and if the judgment result is negative, outputting the judgment result for prompting.
6. The method according to any one of claims 1 to 5, wherein said step of controlling the movement of the chute of the loader according to the loading path to separately stack each of said stacking points until the actual stacking amount of said end stacking point equals the corresponding target stacking amount comprises the steps of:
controlling the chute movement of the loader by at least one of:
the arm support mechanism stretches and retracts and the travelling mechanism travels.
7. The shipment control method according to claim 1, wherein the movable range of the chute is determined in accordance with a tank length, a tank width, a long side distance, and a wide side distance.
8. A control device for loading a hold of a ship loader, characterized in that the device comprises:
the path determining module is used for determining the loading path of the ship loader according to the cabin data and the equipment data; the equipment data comprises one-way walking distance of the ship loader; the loading path comprises a starting stacking point and an ending stacking point; the cabin data comprises a cabin length X, a cabin width Y, a long edge distance A and a wide edge distance B; the path determining module is further configured to determine, in a preset two-dimensional coordinate system, the total number M of accumulation points and positions of the first N accumulation points on the loading path according to the cabin length X, the cabin width Y, the long edge distance a, and the wide edge distance B; wherein the first N accumulation points are divided along the width direction of the cabinCloth; judging whether the ith stacking point can be propelled to move to the (i + 1) th stacking point in the cabin length direction or not according to the distance d between the ith stacking point and the edge distance straight line and the one-way walking distance C of the ship loader; the edge distance straight line is
Wherein N is not less than i and is less than M; determining the position of each stacking point and the moving path between the stacking points according to the judgment result;
the query module is used for querying a preset database to obtain stacking proportion data of each stacking point on the hold loading path according to the hold data and the hold loading path;
the accumulation amount determining module is used for determining the target accumulation amount corresponding to each accumulation point according to the target cabin loading amount of the cabin and the accumulation proportion data of each accumulation point;
and the stacking control module is used for controlling the chute of the ship loader to move according to the loading path, and respectively stacking the materials for each stacking point until the actual stacking amount of the stacking point is equal to the corresponding target stacking amount.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010651390.4A CN111891761B (en) | 2020-07-08 | 2020-07-08 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010651390.4A CN111891761B (en) | 2020-07-08 | 2020-07-08 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111891761A CN111891761A (en) | 2020-11-06 |
| CN111891761B true CN111891761B (en) | 2022-03-25 |
Family
ID=73192012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010651390.4A Active CN111891761B (en) | 2020-07-08 | 2020-07-08 | Cabin loading control method and device for ship loader, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111891761B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113377103B (en) * | 2021-05-31 | 2024-04-12 | 武汉港迪智能技术有限公司 | Automatic planning method and system for bulk cargo loading |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS521541B2 (en) * | 1971-12-24 | 1977-01-14 | ||
| AUPP842999A0 (en) * | 1999-02-02 | 1999-02-25 | Austrack Project Management Pty Ltd | A stockyard for bulk materials |
| CN1987693A (en) * | 2006-12-28 | 2007-06-27 | 上海港机重工有限公司 | Control method and device for ship loading machine automatic operation |
| CN101788264B (en) * | 2007-06-22 | 2011-12-21 | 上海海事大学 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
| CL2012001183A1 (en) * | 2012-05-04 | 2012-07-06 | Giglio Guillermo Bobenrieth | System for loading and unloading in port operations and support of hatch covers of holds of maritime vessels, comprising a loading and unloading crane and a base located in the body of said crane to support and stack said hatch covers; process. |
| CN104724506B (en) * | 2015-04-14 | 2016-03-02 | 上海东源计算机自动化工程有限公司 | A kind of automatic material stacking and fetching system for bulk storage yard |
| CN106629102A (en) * | 2016-12-27 | 2017-05-10 | 上海云统信息科技有限公司 | Automatic unloading system of bulk material yard |
| CN107010425B (en) * | 2017-05-11 | 2019-01-15 | 上海振华重工电气有限公司 | Full-automatic windrow operational method |
| CN107324075B (en) * | 2017-06-27 | 2019-08-02 | 上海振华重工(集团)股份有限公司 | Windrow method based on the movement of stacker row |
| CN110182622B (en) * | 2019-05-10 | 2020-08-14 | 大连华锐重工集团股份有限公司 | Automatic material taking method for unmanned chain bucket type continuous ship unloader |
| CN110356862B (en) * | 2019-05-31 | 2021-08-31 | 燕山大学 | Anti-collision method and system for stacker-reclaimer based on GPS positioning |
| CN110723256A (en) * | 2019-09-29 | 2020-01-24 | 中冶宝钢技术服务有限公司 | Bulk carrier loading method |
| CN111003540B (en) * | 2019-11-27 | 2021-08-06 | 神华粤电珠海港煤炭码头有限责任公司 | Ship unloaders anti-collision method, system, equipment and storage medium |
-
2020
- 2020-07-08 CN CN202010651390.4A patent/CN111891761B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111891761A (en) | 2020-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9834251B2 (en) | Method for steering a vehicle | |
| CN111891761B (en) | Cabin loading control method and device for ship loader, computer equipment and storage medium | |
| CN113104612B (en) | Cabin moving method of ship loader, controller, system and computer readable storage medium | |
| CN111908186A (en) | First-wheel loading control system, method and device and storage medium | |
| EP2759897B1 (en) | Method and arrangement for determining a trajectory | |
| JP2009115465A (en) | Method and system for forming drive trace | |
| CN109335713B (en) | Automatic dock AGV box conveying path optimization method and system | |
| CN111897369B (en) | Second-wheel loading control system, method, device and storage medium | |
| CN111908187B (en) | First-wheel loading control method and device, computer equipment and storage medium | |
| CN111813112A (en) | Vehicle track point determination method and device, vehicle and storage medium | |
| CN115071686A (en) | Parking method for unmanned mining vehicle in long and narrow area | |
| CN114115232A (en) | AGV transportation speed control method, system, equipment and medium | |
| CN113867331A (en) | Method for controlling an autonomous vehicle operating on a site | |
| CN117303017A (en) | Method for process selection, digital realization and simulation evaluation of bucket-wheel stacker-reclaimer | |
| JP5993784B2 (en) | Route correction device | |
| JP2012066888A (en) | Raw material stowage apparatus | |
| JP3911085B2 (en) | Reclaimer operation control device and control method | |
| US20230330853A1 (en) | System and Method for Controlling a Motion of a Robot | |
| CN114560310B (en) | Full-automatic job scheduling method for screw ship unloader | |
| CN111908188B (en) | Method and device for loading ship cabin, computer equipment and storage medium | |
| CN114185343A (en) | Method, device and storage medium for controlling the loading of a transport vehicle into a compartment of a fork-lift truck | |
| JP2014115924A (en) | Route correction device | |
| JP2020135488A (en) | Mobile body control device and mobile body control program | |
| CN113291854A (en) | Material piling method and material piling device | |
| JP2009113524A (en) | Method and device for generating travel track |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |