CN112758825B - A remote control system for grab ship unloader - Google Patents
A remote control system for grab ship unloader Download PDFInfo
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- CN112758825B CN112758825B CN202110084494.6A CN202110084494A CN112758825B CN 112758825 B CN112758825 B CN 112758825B CN 202110084494 A CN202110084494 A CN 202110084494A CN 112758825 B CN112758825 B CN 112758825B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Ship Loading And Unloading (AREA)
Abstract
一种抓斗卸船机远程遥控系统，该系统包括GIS监控管理平台、客户端、操作台、固定基站、卸船机监控系统、船头船尾定位装置；GIS监控管理平台通过第四交换机分别连接客户端、操作台；GIS监控管理平台通过5G通讯模块与卸船机监控系统通讯连接；卸船机监控系统分别连接现地遥控接收机、固定基站；卸船机监控系统、船头船尾定位装置均与固定基站通讯连接。本发明一种抓斗卸船机远程遥控系统，不但能够解决卸船机远程操作控制问题；同时也能够做到一人操作多台卸船机，并且可以与生产调度系统联网通讯。实现码头无人化作业，降低了抓斗卸船机作业成本，提供了工作效率。
A remote control system for a grab ship unloader, the system includes a GIS monitoring and management platform, a client, an operating console, a fixed base station, a ship unloader monitoring system, and a bow and stern positioning device; the GIS monitoring and management platform is connected to the client and the operating console respectively through a fourth switch; the GIS monitoring and management platform is connected to the ship unloader monitoring system through a 5G communication module; the ship unloader monitoring system is connected to an on-site remote control receiver and a fixed base station respectively; the ship unloader monitoring system and the bow and stern positioning devices are all connected to the fixed base station. The remote control system for a grab ship unloader of the present invention can not only solve the problem of remote operation and control of the ship unloader; it can also enable one person to operate multiple ship unloaders, and can communicate with the production scheduling system through networking. It realizes unmanned operation of the dock, reduces the operating cost of the grab ship unloader, and improves work efficiency.
Description
Technical Field
The invention relates to the technical field of control of grab ship unloader, in particular to a grab ship unloader remote control system.
Background
When the grab ship unloader works, the grab ship unloader is required to continuously work for 72 hours, usually 24 hours a day or more, and is easy to fatigue for operators, and window glass cannot be closed during work, so that the operators are very hard and bitter in the severe cold environment in winter and high temperature in summer. And each ship unloader needs to be equipped with two operators, so that the labor cost is high.
Disclosure of Invention
In order to improve the labor intensity of operators, the working benefit of the grab ship unloader is improved, and the cost is reduced. The invention provides a grab ship unloader remote control system which can solve the problem of remote operation and control of ship unloaders, can operate a plurality of ship unloaders by one person, and can be in networking communication with a production scheduling system. The unmanned operation of the wharf is realized, the operation cost of the grab ship unloader is reduced, and the working efficiency is improved.
The technical scheme adopted by the invention is as follows:
A grab ship unloader remote control system, the system comprising:
the system comprises a GIS monitoring and management platform, a client T5820, an operation console CX-LHJBB03, a fixed base station M300, a ship unloader monitoring system and a bow and stern positioning device;
the GIS monitoring management platform is respectively connected with a client T5820 and an operation platform CX-LHJBB03 through a switch 4 HI-08;
the GIS monitoring management platform is in communication connection with the ship unloader monitoring system through a 5G communication module CPEPRO;
the ship unloader monitoring system is respectively connected with a local remote control receiver JT-KP and a fixed base station M300;
The ship unloader monitoring system and the bow and stern positioning device are all in communication connection with the fixed base station M300.
The exchanger 4HI-08 is connected with the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected with the spliced screen CB5503S.
The ship unloader monitoring system comprises a monitoring terminal host machine part, a trolley monitoring part, a grab bucket monitoring part and a ship monitoring part, wherein the monitoring terminal host machine part is respectively connected with the trolley monitoring part, the grab bucket monitoring part, the ship monitoring part and a bow and stern positioning device.
The monitoring terminal host part comprises a PLC controller S7-1500, a touch screen TCP7062Ti, a 3D laser scanner CX-JS800 and a mobile base station 2CX-E728;
The PLC controller S7-1500 is respectively connected with a crane operating handle, a crane working mode selection switch, a touch screen TCP7062Ti and a switch 3HI-08;
the PLC controllers S7-1500 are respectively connected with the wind speed sensor YS-CF, the grab bucket height encoder and the trolley amplitude encoder;
The PLC controller S7-1500 is respectively connected with the anti-swing module CX-FY400, the left cart running frequency converter, the right cart running frequency converter and the lifting frequency converter, and the anti-swing module CX-FY400 is connected with the trolley variable amplitude frequency converter;
The exchanger 3HI-08 is respectively connected with the 5G communication module CPEPRO, the mobile base station 2CX-E728, the lifting capacity limiter CQA01, the stress strain acquisition instrument DH3820 and the scanner controller CX-S8000;
The mobile base station 2CX-E728 is respectively connected with the positioning antenna 2AT300 and the data transmission station 4SZ02, the lifting limiter CQA01 is connected with the weight sensor JZ-1, the stress strain acquisition instrument DH3820 is connected with the stress strain sensor DH1101, and the scanner controller CX-S8000 is connected with the 3D laser scanner CX-JS800;
the PLC controllers S7-1500 are respectively connected with the data transmission station 3SZ02 and the local remote control receiver JT-KP.
PLC controller S7-1500 connects switch 2HI-08, switch 2HI-08 connects video recorder DS-7808N-K2, video recorder DS-7808N-K2 connects display E1715Sc, switch 2HI-08 connects switch 3HI-08.
The trolley monitoring part comprises a power modem 3WD-200M, a hysteresis power supply reel 2MH1800-28/180, a switching power supply 2LRS-250-12, a switch 11005, a power modem 2WD-200M and a hysteresis power supply reel 1MH1800-28/180;
The AC220V power supply is respectively connected with the power cat 2WD-200M, the switching power supply 2LRS-250-12, the hysteresis type power supply reel 2MH1800-28/180, the hysteresis type power supply reel 1MH1800-28/180 and the power cat 3WD-200M;
The switching power supply 2LRS-250-12 is connected with the electric power cat 2WD-200M, the electric power cat 2WD-200M is connected with the switch 11005, the switch 11005 is connected with the trolley camera, and the electric power cat 3WD-200M is connected with the switch 2HI-08.
The grab bucket monitoring part comprises a power cat 1WD-200M, an exchanger 5005, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission station 1SZ02, a grab bucket camera, a switching power supply 1LRS-350-24, a power supply manager CX-DY02, a data transmission station 2SZ02 and a grab bucket searchlight;
The AC220V power supply is respectively connected with the power cat 1WD-200M and the switching power supply 1LRS-350-24, the power cat 1WD-200M is connected with the switch 5005, the switch 5005 is respectively connected with the mobile base station 1CX-E728 and the grab camera, and the mobile base station 1CX-E728 is respectively connected with the GPS antenna 1AT300 and the data transmission radio station 1SZ02;
The switching power supply 1LRS-350-24 is connected with the power supply manager CX-DY02, the power supply manager CX-DY02 is connected with the grab bucket searchlight, and the power supply manager CX-DY02 is connected with the data transmission radio station 2SZ02;
The ship monitoring part comprises an omnibearing monitoring dome camera DHK-EX300, a left cart monitoring camera BS-CA33-IP, a right cart monitoring camera BS-CA33-IP and an automatic tracking camera;
All the omnibearing monitoring dome camera DHK-EX300, the left cart monitoring camera BS-CA33-IP and the right cart monitoring camera BS-CA33-IP are connected with the exchanger 2HI-08.
The bow and stern positioning device comprises a bow moving base station and a stern moving base station;
The ship head mobile base station comprises a switch power supply 1LRS-150-12, wherein an AC220V power supply is connected with the switch power supply 1LRS-150-12, the switch power supply 1LRS-150-12 is connected with a mobile base station 3CX-E728, and the mobile base station 3CX-E728 is respectively connected with a GPS positioning antenna 3BT5630, a data transmission radio station 5SZ02 and a data transmission radio station 6SZ02;
The stern mobile base station comprises a switch power supply 2LRS-150-12, an AC220V power supply is connected with the switch power supply 2LRS-150-12, the switch power supply 2LRS-150-12 is connected with a mobile base station 4CX-E728, and the mobile base station 4CX-E728 is respectively connected with a GPS positioning antenna 4BT5630, a data transmission radio station 7SZ02 and a data transmission radio station 8SZ02.
The invention discloses a grab ship unloader remote control system, which has the following technical effects:
1) The digital modeling of the site electronic map of the ship unloader, the grab bucket, the rail, the berth and the ship is realized by using the GIS electronic map technology and the satellite positioning technology, so that the digitization and the intellectualization of the ship unloader are possible;
2) The ship unloader is intelligent by using an AI artificial intelligence technology, the ship unloader can automatically find a station according to a remote control operation instruction, automatically adjust the amplitude of the trolley and the height of the grab bucket according to the position of the cabin and the rise and fall height, and automatically perform coal grabbing operation to the cabin;
3) An operator can give a grabbing task to a ship unloader monitoring terminal through a cloud service platform at a client or a console, the ship unloader terminal can automatically operate according to a control flow, the ship unloader operation can be controlled through manual remote operation, and the remote control/on-site control function is provided with on-site remote control and on-board manual control functions, so that the operator can adjust an operation mode according to on-site working conditions;
4) The anti-swing digital model of the ship unloader is developed by using a GIS vector electronic map technology, a satellite positioning technology and AI artificial intelligence, an aerial bucket-throwing operation model can effectively inhibit the swing amplitude of the grab bucket of the ship unloader, realize the automatic anti-swing and accurate positioning of the grab bucket of the ship unloader, effectively shorten the operation time of the grab bucket and improve the operation benefit of the ship unloader;
5) According to the invention, the GIS vector electronic map technology and the satellite positioning technology are used for developing the ship unloader electronic security fence and the grab bucket electronic security fence, the security isolation between the grab bucket of the ship unloader and the ship edge, the anti-collision between the ship unloader and the like are realized through the development of the electronic security fence technology, and the security risks of the grab bucket for grabbing the ship edge by mistake and the collision between the ship unloader and peripheral obstacles can be effectively prevented;
6) The grab bucket all-weather uninterrupted high-efficiency lighting device can realize remote high-definition monitoring on the working condition of the grab bucket at any time, thereby realizing remote visual operation;
7) The intelligent monitoring terminal of the ship unloader can automatically identify the position of the ship edge, the height of the port of the ship cabin, the position of the hopper, automatically calculate the size of the material pile, the height of the material pile and the like, so that the intelligent operation of the grab bucket is realized;
8) The intelligent video tracking and monitoring grab bucket running function, the video monitoring system can automatically track and monitor any operation working condition of the grab bucket, and the safety operation of operators is assisted in all directions;
9) The CAE online acquisition and analysis technology is used for realizing the online fatigue monitoring and early warning of the key mechanical structure of the ship unloader, so that the scientificity of maintenance of the ship unloader can be effectively improved;
10 One person controls the operation of a plurality of ship unloaders, thereby realizing cost reduction and synergy;
11 Hysteresis type power supply winding drum, and ensures that the power supply of the trolley monitoring equipment and the power supply of the grab bucket monitoring equipment can be reliably conveyed.
Drawings
FIG. 1 is a schematic diagram of the overall architecture of the system of the present invention.
Fig. 2 is a flowchart of development of a ship unloader dock GIS electronic map.
Fig. 3 is a digital working flow chart of the ship unloader walking track.
Fig. 4 is a flow chart of digital berth modeling.
Fig. 5 is a flow chart for digitally establishing the ship.
FIG. 6 is a flow chart of digitized modeling of the ship unloader.
FIG. 7 is a flowchart of digitized modeling of a grapple.
Fig. 8 is a flow chart for establishing an electronic security fence for a ship unloader.
FIG. 9 is a flow chart of the establishment of the electronic security fence of the grab bucket.
Fig. 10 is a flow chart for building electronic security fence establishment.
Fig. 11 is a flow chart for establishing the cabin mouth electronic security fence.
Fig. 12 is a configuration diagram of a fixed base station according to the present invention.
Fig. 13 is a schematic diagram of the remote control system of the ship unloader of the present invention.
Fig. 14 is a hardware connection diagram of the remote control system of the ship unloader of the present invention.
Fig. 15 is a schematic diagram of the operation of the monitoring portion of the cart and grab.
FIG. 16 is a schematic diagram of the bow positioning operation;
fig. 17 is a stern positioning operation schematic diagram.
Fig. 18 is a schematic diagram of the cart and grab monitoring.
Fig. 19 is a schematic diagram of ship unloader video surveillance.
Fig. 20 is a schematic diagram of a ship unloader anti-sway control system.
Fig. 21 is a schematic diagram of cabin position and stack position identification.
Detailed Description
1. Principle of system:
According to the working characteristics and working condition requirements of the grab ship unloader, an SOA technical architecture and a B/S structure are adopted to build an automatic GIS monitoring management platform of the grab ship unloader, a GIS electronic information technology, big data and an AI technology are utilized to provide digital and visual monitoring for automatic control of the grab ship unloader, and then advanced means such as GPS positioning, 3D digital scanning, CAE on-line monitoring analysis and 5G communication are adopted to realize the anti-swing, spatial anti-collision, material identification, obstacle identification, fatigue predictive maintenance of a mechanical structure and the like of the grab ship unloader, so that the remote control of the grab ship unloader is realized, the remote control can be communicated with a production scheduling system, and advanced technical support is provided for realizing unmanned operation, cost reduction and efficiency improvement of a grocery wharf. The system is mainly composed of a data acquisition and control part, a cloud service part and a management scheduling part, wherein the data acquisition and control part mainly comprises various sensors, a PLC, a frequency converter, a touch screen and the like and is mainly responsible for information acquisition and control of the grab ship unloader, the cloud service part mainly comprises a GIS electronic map, a cloud server, a database and the like and is mainly responsible for providing GIS electronic map support, cloud computing, AI computing support service and the like for the grab ship unloader terminal, and the management scheduling part is mainly responsible for task arrangement and remote control of the grab ship unloader.
2. Realization of various functions of the system:
2.1. And (3) designing a ship unloader wharf GIS electronic map:
Firstly, CAD maps of ship unloader wharfs, equipment and the like are provided by a client unit, on the basis, MO (Map Objects) assembly GIS software of American ESRI company is adopted to organize and manage vector data and image data in a file form, so that multi-source space data are displayed in the same environment, and the operation function of the geographic space data is realized. And then establishing an oracle-based database, and connecting the graph and the attribute data by using the ID to realize the comprehensive application of the space information and the attribute information. Microsoft VB (Visual Basic) ENTERPRISE EDITION is used as a software development tool, a system user interface is established by combining the GIS function of MO and the oracle relational database management function, and system tools such as space and attribute data browsing, inquiring, statistics, calling and drawing are provided, so that an application platform for real-time and dynamic navigation positioning, display and storage release of various devices in a dock is realized, and conditions are created for remote control of a ship unloader, and the development flow of a GIS electronic map of the ship unloader dock is shown in figure 2.
2.2. After the design of the electronic map is finished, the electronic map can be used for modeling the walking track of the ship unloader, berth, ship unloader, grab bucket and ship, and then the walking track, the berth, the ship unloader, the grab bucket and the ship are respectively solidified and numbered and stored in a database.
2.2.1. Establishing a ship unloader virtual digital track:
By establishing the virtual digital track, visual basis can be provided for the large vehicle to find the berth of the ship, the grab bucket is positioned, a foundation is laid for automatic control of the system, and a digital working flow chart of the ship unloader walking track is shown in figure 3.
2.2.2. Digital modeling of ship berth:
By establishing the digital berth, a digital foundation can be established for the ship berth, the berth can be found for a large vehicle, a visual basis is provided for grab bucket positioning, and the flow of the digital berth establishment is shown in fig. 4.
2.2.3. And (3) digital modeling of the ship:
Through the establishment of the virtual digital ship, a digital foundation can be established for ship unloader positioning, grab bucket operation, electronic fence setting and 3D digital scanner, a visual basis is provided for ship searching, electronic fence, grab bucket positioning and the like for a cart, and the ship digital establishment flow chart is shown in fig. 5.
2.2.4. Digitally modeling the ship unloader:
By establishing the digital ship unloader, a digital foundation can be established for grab bucket operation, ship unloader collision prevention and a 3D digital scanner, a visual basis is provided for locating a berth of a cart, and the digital modeling flow of the ship unloader is shown in fig. 6.
2.2.5. Digital modeling of grab bucket:
Through the establishment of the digital grab bucket, a digital foundation can be established for the accurate operation of the grab bucket, the swing prevention, the false grab edge prevention, the ship cabin in and out, the bucket throwing operation and the like, a visual basis is provided for the accurate positioning of the grab bucket and the grab bucket operation, and the digital modeling flow of the grab bucket is shown in figure 7.
2.2.6. Establishing an electronic security fence of the ship unloader:
The system comprises a GIS electronic map, an oracle database, a 5G communication module CPEPRO, an exchanger 3HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a ship unloader mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a grab mobile base station 1CX-E728, a GPS positioning antenna 1AT300 and the like. Working principle:
The ship unloader electronic security fence function is to set a coordinate range of a ship unloader cart, a grab bucket and the like on a GIS electronic map through a field GIS electronic map and a database technology, when the GPS positioning antenna 2AT300 of the ship unloader mobile base station 2CX-E728 or the GPS positioning antenna 1AT300 of the grab bucket mobile base station 1CX-E728 enters or exits the range, an alarm of a GIS monitoring platform is triggered, the GIS platform alarms through a 5G communication module CPEPRO, a switch 3HI08, a PLC controller S7-1500 of the ship unloader monitoring terminal and a touch screen TCP7062Ti, and the touch screen TCP7062Ti commands the PLC controller S7-1500 to stop the cart running frequency converter ATV930 or the variable amplitude frequency converter ATV930 to continue running, so that the ship unloader cart or the grab bucket is protected from collision with peripheral obstacles. The set-up flow chart is shown in fig. 8.
2.2.7. A flow chart of the establishment of the grab bucket electronic security fence is shown in fig. 9.
2.2.8. Building electronic security fence of surrounding buildings, barriers and cabin openings:
The system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, an exchanger 3HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a ship unloader mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a grab bucket mobile base station 1CX-E728, a GPS positioning antenna 1AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 3AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 4AT300 and the like. Working principle:
The functions of the electronic safety fence of the surrounding buildings, the barriers and the cabin openings of the ship unloader are also to mark the coordinate ranges of the buildings, the barriers, the cabin openings and the like which are forbidden to enter or exit on the GIS electronic map through the field GIS electronic map and the database technology, when the GPS positioning antenna 2AT300 of the mobile base station 2CX-E728 of the ship unloader or the GPS positioning antenna 1AT300 of the mobile base station 1CX-E728 of the grab bucket enters or exits the range, the alarm of the GIS monitoring platform is triggered, the GIS platform can alarm through the 5G communication module CPEPRO, the exchanger 3HI08, the PLC controllers S7-1500 of the monitoring terminals of the ship unloader and the touch screen TCP7062Ti, and the touch screen TCP7062Ti can command the PLC controllers S7-1500 to stop the operation of the cart frequency converter ATV930 or the amplitude converter ATV930 to continue to operate, so that the ship unloader cart or the grab bucket is protected from collision with the surrounding buildings, the barriers, the cabin openings and the like. The flow chart is shown in fig. 10 and 11.
3. Establishing a cloud server:
In order to effectively utilize cloud resources to automatically serve the ship unloader, a cloud server is configured as follows:
4. The fixed base station M300 is installed:
The fixed base station is an important device for real-time calibration of the Beidou satellite mobile receiving base station, and high-precision positioning control cannot be realized without the fixed base station, so that the system must be provided with a fixed base station within the range of 75KM, and the configuration of the fixed base station M300 is shown in fig. 12.
5. The realization of the remote control function of the ship unloader:
5.1. the working principle of the ship unloader remote control system is as follows:
5.1.1 composition of remote control system of ship unloader:
The system consists of a GIS monitoring management platform (cloud service), 5G communication CPEPRO, a client T5820, an operation console CX-LHJBB03, a streaming media server DVSCAR-51, a splicing screen CB5503S, GPS fixed base station M300, an on-site remote controller JT-KP, a video monitoring system CX-SXJ03, a 3D laser scanner CX-S8000, a ship unloader monitoring terminal S7-1500, a trolley monitoring part CX-SXJ02, a grab bucket monitoring part CX-E728, a bow portable mobile base station CX-E728, a stern portable mobile base station CX-E728 and the like, and the schematic diagram is shown in figure 13.
5.1.2. The working principle of the ship unloader remote control system is as follows:
When the ship unloader is operated, an operator carries out remote control operation on the omnibearing monitoring ball machine through a client, carries out video inspection on the working environment of the ship unloader through a splicing screen, checks whether the field environment is suitable for remote control operation standard, starts to issue various control instructions to the monitoring terminal of the ship unloader through the client according to the position of an electronic map after the field environment is suitable for the remote control operation standard, and the cloud platform forwards the instructions to the monitoring terminal of the ship unloader through 5G communication;
If the scene is found to be out of compliance with the automatic operation conditions through video inspection, operators can conduct manual operation control through the operation console.
5.2. The working principle of the ship unloader monitoring terminal is as follows:
The ship unloader monitoring terminal consists of a ship unloader monitoring terminal host machine part, a trolley monitoring part, a grab bucket monitoring part and a ship monitoring part;
The ship unloader monitoring terminal host machine part consists of a crane operating handle, a crane working mode selection switch (automatic/semi-automatic), a PLC controller S7-1500, a touch screen TCP7062Ti, a 3D laser scanner CX-JS800, a Beidou satellite positioning mobile base station 2CX-E728, a Beidou satellite positioning antenna 2AT300, a data transmission station 4SZ02, a lifting limiter CQA01, a wind speed sensor YS-CF, a grab bucket height encoder 1GM58S10K6MA12WN, a grab bucket height encoder 2GM58S10K6MA12WN, a trolley amplitude encoder 3GM58S10K6MA12WN, a stress strain sensor DH1101, a stress strain acquisition instrument DH3820, a lifting frequency converter 1ATV930, a lifting frequency converter 2ATV930, a trolley amplitude frequency converter ATV930, a sway prevention module CX-FY400, a left trolley walking frequency converter ATV930, a right trolley walking frequency converter ATV930, a 5G module CPEPRO and the like;
the trolley monitoring part mainly comprises the following equipment:
The power cat 3WD-200M, hysteresis power supply reel 2MH1800-28/180, switch power supply 2LRS-250-12, switch 11005, grab camera 1CX-SXJ02, grab camera 2CX-SXJ02, power cat 2WD-200M, hysteresis power supply reel 1MH1800-28/180 and the like;
The grab bucket part mainly consists of the following equipment:
The power cat 1WD-200M, the switch 5005, the mobile base station 1CX-E728, the GPS antenna 1AT300, the data transmission station 1SZ02, the grab camera 1BS-CA33-IP, the grab camera 2BS-CA33-IP, the switching power supply 1LRS-350-24, the power supply manager CX-DY02, the data transmission station 2SZ02, the grab searchlight 1SM-2009, the grab searchlight 2SM-2009 and the like,
The ship monitoring part mainly comprises the following equipment:
The system comprises a switching power supply 1LRS-150-12, a mobile base station 4CX-E728, a GPS positioning antenna 4BT5630, a data transmission radio station 6SZ02, a data transmission radio station 7SZ02, a switching power supply 2LRS-150-12, a mobile base station 5CX-E728, a GPS positioning antenna 5BT5630, a data transmission radio station 8SZ02, a data transmission radio station 9SZ02 and the like;
The working principle diagram of the remote control terminal of the ship unloader is shown in fig. 14. The working principle diagram of the monitoring part of the trolley and the grab bucket is shown in figure 15. The working principle diagram of the bow positioning is shown in fig. 16 and 17.
When the ship unloader touch screen TCP7062Ti works, a GIS electronic map, a ship ID number, a berth, GPS positioning antennas 3BT-5630C of a ship mobile base station 3CX-E728 and GPS positioning antennas 4BT-5630C of a mobile base station 4CX-E728 are received from a GIS monitoring platform through a 5G communication module CPEPRO, so that information such as cabin position information, shipyard position information, preset grabbing point coordinate information, work tasks, electronic security fence and the like is obtained; the touch screen TCP7062Ti of the ship unloader can automatically call the ship performance parameters stored in the hard disk according to the information such as ship ID number, ship coordinates and the like, the ship unloader PLCS7-1500 automatically starts the cart frequency converter ATV930 to move the ship unloader to the berth according to the platform instruction, after the cart is in place, the touch screen TCP7062Ti control system of the ship unloader adjusts the amplitude-changing cart and the working amplitude according to the starting point set by a program, at the moment, the 3D laser scanner CX-JS800 starts working, scans the designated area according to the program, and indicates the direction for grab bucket working; the control system of the touch screen TCP7062Ti of the ship unloader automatically judges the starting position of work according to the material pile information provided by the 3D laser scanner CX-JS800 and grabs the ship from left to right or from right to left according to the material pile height, when the control system of the touch screen TCP7062Ti of the ship unloader is used for grabbing the ship from left to right according to the sequence of the program setting, the ship unloader can position the cart on the first left, then the control system of the touch screen TCP7062Ti of the ship unloader can start to grab the ship from 1 according to the sequence of the program setting from front to back or from back to front, because the first bucket generally starts from the No. 1 position of the first block, at the moment, the grab is close to the ship edge, at the moment, red electronic fence protection information can appear on the touch screen TCP7062Ti, and virtual grab movement information can appear at the same time, if the virtual grab is close to the electronic fence, an alarm is triggered, and the PLCS7-1500 control system automatically adjusts the position of the trolley in the process of lowering the grab, so that the ship edge which is possibly touched is automatically avoided, and the false grabbing prevention effect is achieved;
When the grab bucket is full of materials, a ship unloader touch screen TCP7062Ti control system judges whether the grab bucket leaves the ship cabin or not according to the position and the height of the ship cabin provided by a Beidou satellite mobile base station 3CX-E728 installed on the current ship and a GPS antenna 3BT-5630C, GPS antenna 4BT-5630C of the mobile base station 4CX-E728, according to the height information of the grab bucket provided by a GPS antenna 1AT300 of the Beidou satellite mobile base station 1CX-E728 installed on the grab bucket, after the grab bucket leaves the ship cabin, the ship unloader touch screen TCP7062Ti can drive a lifting frequency converter ATV930 through a PLCS7-1500 to accelerate and lift the trolley, meanwhile, the PLCS7-1500 controller can automatically drive the trolley amplitude converter ATV930 to perform amplitude changing operation on the trolley, when the grab bucket height reaches a set value, an anti-swing control curve is automatically started according to a preset funnel position, when the trolley reaches a preset blanking place, the amplitude converter ATV930 automatically decelerates until the set funnel position stops the trolley, the amplitude converter ATV930 automatically decelerates until the set funnel position stops, the PLCS7-1500 is automatically controlled to start to automatically cut down, and then the laser stack vibration system is automatically started, if the PLCS7-1500 is automatically cut down, and the laser stack system is automatically started to start to be started to wait for blanking;
If overload occurs in the system during lifting, the lifting limiter CQA01 system can automatically alarm and automatically control, so that the safety of the crane is ensured.
6. The realization of the visual and intelligent monitoring functions of the trolley and the grab bucket:
The system comprises a trolley part which consists of a power cat 3WD-200M, a hysteresis type power supply reel 2MH1800-28/180, a power cat 2WD-200M, a switch 1005, a trolley camera 1CX-SXJ02, a trolley camera 2CX-SXJ02 and a switching power supply 2 LRS-250-12;
The grab bucket part consists of hysteresis type power supply reels 1MH1800-28/180, a power cat 1WD-200M, a switch 5005, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a grab bucket camera 1BS-CA33-IP, a grab bucket camera 2BS-CA33-IP, a grab bucket searchlight 1SM-2009, a grab bucket searchlight 2SM-2009, a power supply manager CX-DY02, a data transmission radio station 2SZ02, a switching power supply 1LRS-350-24 and the like, and the working principle diagram is shown in figure 18.
When the ship unloader works, an AC220V power supply is provided by the ship unloader, the AC220V power supply enters a hysteresis type power supply reel 2MH1800-28/180, the output end of the hysteresis type power supply reel 2MH1800-28/180 is divided into two paths, one path passes through the hysteresis type power supply reel 1MH1800-28/180 to reach a grab bucket, the other path passes through a power cat 1WD-200M to reach an exchanger 5005 and then to reach a mobile base station 2CX-E728, the other path passes through a switching power supply 1LRS-350-24 to reach a power manager CX-DY02, when the power manager CX-DY02 is in a closed state, the grab bucket searchlight 1SM-2009 and the grab bucket searchlight 2SM-2009 are electrified, and the grab bucket searchlight 2SM-2009 are lighted up, and the grab bucket searchlight 2SM-2009 is irradiated to a ship cabin from the left direction and the right direction of the grab bucket, so that an operator can clearly see material stacking information, the ship cabin position and other important information can be effectively prevented;
When the grab bucket does not work, the client T8520 issues a control command, and the grab bucket power manager CX-DY02 is controlled through the 5G communication module CPEPRO-the switch 3 HI-08-the wireless data transmission station 3SZ 02-the wireless data transmission station 2SZ02, so that the power supplies of the grab bucket searchlight 1SM-2009 and the grab bucket searchlight 2SM-2009 are turned on/off, and the service lives of the searchlight grab searchlight 1SM-2009 and the grab bucket searchlight 2SM-2009 are prolonged.
The acquired satellite positioning signals are sent to a mobile base station 1CX-E728 by a grab bucket GPS antenna 1AT300, the mobile base station 1CX-E728 is operated, then the current position coordinates of the grab bucket are sent to a receiving end of a power bucket 3WD-200M through a hysteresis power winding drum 1MH1800-28/180 and a hysteresis power winding drum 2MH1800-28/180 by microwave communication of a power bucket 1WD-200M, the grab bucket position signals are converted into TCP/IP protocol by the power bucket 3WD-200M and then sent to a ship unloader control terminal PLCS7-1500 through a switch 2HI008, and the converted current position coordinates are sent to a touch screen TCP7062Ti by the PLCS7-1500 to be subjected to anti-swing and bucket swinging operation treatment. The data transmission station 1SZ02 communicates with the fixed base station M300 to calibrate the position of the grab bucket. The trolley cameras 1CX-SXJ02 and the trolley cameras 2CX-SXJ02 are responsible for monitoring the grab bucket operation, the ship edge and the outer edge video information of the sea side and the land side, the collected monitoring video information is sent to the switch 1005, the switch 1005 is sent to the electric cat 2WD-200M, the information is sent to the receiving end of the electric cat 3WD-200M through the AC220V power line of the hysteresis power supply winding drum 2MH1800-28/18 after the electric cat 2WD-200M is converted into microwave communication, the microwave signal is sent to the switch 2HI-08 through TCP/IP communication, the switch 2HI-08 divides the signal into three paths, one path of the video signal is sent to the video recorder DS-7816N-K2 for storage, inquired and then sent to the display E1715SC for display, the other path of the video signal is sent to the streaming media server DVSCAR-51 through the 5G communication module CPEPRO, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for display, and the operator monitors the use. The third grab position signal is sent to the ship unloader control terminal PLCS7-1500 through the exchanger 2HI-08, and is sent to the touch screen TCP7062Ti through the PLCS7-1500, and anti-swing and bucket throwing operation processing is carried out through the touch screen TCP7062 Ti.
The switching power supply 2LRS-250-12 is for powering the switch 1005, the grab camera 1CX-SXJ02, the grab camera 2CX-SXJ02, etc. The switching power supply 1LRS-350-24 supplies power to the mobile base station 1CX-E728, the GPS antenna 1AT300, the data transmission station 1SZ02, the power manager CX-DY02, the searchlight 1SM-2009, the searchlight 2SM-2009, and the like. The working principle of the hysteresis type power supply reel 2MH1800-28/180 is that the hysteresis type power supply reel 2MH1800-28/180 adopts a hysteresis type coupling as a synchronous differential mechanism, and the magnetic coupling principle is utilized to ensure that the speed of the cable reel for winding and unwinding the cable is always synchronous with the lifting speed of the moving trolley and the grab bucket. The hysteresis cable drum 2MH1800-28/180 is characterized in that the motor transmits power to the hysteresis coupling, and the motor transmits amplified torque to the cable drum after the speed change of the speed reduction box. When the cable drum works, the motor of the hysteresis power supply drum 2MH1800-28/180 always rotates towards the cable retracting direction, when the ship unloader trolley or the grab moves towards the power supply point away direction, the magnetic field torque on the hysteresis coupling is overcome through dragging the cable, so that the magnetic field between the permanent magnet steel in the hysteresis coupling and the induction disc generates slip, the cable on the reel is put down, the cable is always in a tensioning state under the action of magnetic coupling in the cable releasing process, and when the ship unloader trolley or the grab moves towards the power supply point direction, the cable drum automatically rotates towards the set reeling direction to retract the cable.
7. The realization of ship plane height and cabin position positioning function:
The system comprises a portable bow mobile base station 4 and a portable stern mobile base station 5;
The portable ship head mobile base station consists of a switching power supply 1LRS-150-12, a mobile base station 3CX-E728, a GPS positioning antenna 3BT-5630, a data radio station 5SZ02, a data radio station 6SZ02 and the like, wherein the portable main machine box is placed at the ship head position, and the GPS positioning antenna 3BT-5630 is fixed at a designated position on the central axis of the ship head;
the portable stern mobile base station consists of a switch power supply 2LRS-150-12, a mobile base station 4CX-E728, a GPS positioning antenna 4BT-5630, a data radio station 7SZ02, a data radio station 8SZ02 and the like, wherein the portable main case is placed at the stern position, and the GPS positioning antenna 4BT-5630 is fixed at a designated position on the central axis of the stern, and the schematic diagrams are shown in fig. 16 and 17.
During operation, the GPS positioning antenna 3BT-5630, GPS positioning antenna 4BT-5630 sends received bow and stern satellite positioning signals and altitude signals to the mobile base station 3CX-E728 and the mobile base station 4CX-E728, the mobile base station 3CX-E728 and the mobile base station 4CX-E728 calculate the difference between the current bow and stern position coordinates and altitude values, the current bow and stern position coordinates and altitude values are sent to the data transmission station 3SZ02 through the data transmission station 6SZ02 and the data transmission station 8SZ02 in a wireless mode, the data transmission station 3SZ02 is sent to the PLC controller S7-1500, the PLC controller S7-1500 is sent to the touch screen TCP7062Ti, the touch screen TCP7062Ti calculates the current cabin position and the cabin edge position according to the current bow position coordinates and altitude values, and then the PLC controller S7-1500 instructs the cart transducer ATV930 to reach the set cabin position according to the instructions of the client T5820 or the remote control console CX-LHJBB, and the cart is driven to the set cabin position by the cart transducer and the cart grab car is driven to the set position. The data transmission station 5SZ02 and the data transmission station 7SZ02 are communicated with the data transmission station SZ02 of the fixed base station, and are mainly used for calibrating position accuracy for the mobile base stations 3CX-E728 and 4 CX-E728.
8. The realization of the ship unloader video monitoring function:
The system comprises a camera BS-CA33-IP installed on a left grab bucket, a camera BS-CA 33-SXJ 03 installed on a right grab bucket, a switch 5005, a power cat 2WD-200M, a grab bucket power supply reel 2MH1800-28/180, a trolley front camera CX-SXJ02, a trolley rear camera CX-SXJ02, a switch 1005, a power cat 1WD-200M, a trolley power supply reel 1MH1800-28/180, a power cat 3WD-200M, a camera 1CX-SXJ03 installed on the middle of a front girder top contact beam and on the middle of a land side of a ladder roof, a camera 2CX-SXJ03 installed on the middle of a land side of the ladder roof, an omnibearing surveillance dome DHK-EX300, a left trolley surveillance camera BS-CA-IP, a right trolley surveillance camera BS-CA-IP, a switch 2HI-08, a video recorder 7816N-K2, a display E5 HI 5SC communication HI 08, a switch controller 535G 53, a switch service module 55053951, and the like.
When the camera works, the left grab camera BS-CA33-IP and the right grab camera BS-CA33-IP continuously collect video signals under the grab and send the video signals to the switch 5005, the switch 5005 sends the video signals to the power cat 2 WD=200M, and the video signals are sent to the power cat 3WD-200M through microwave communication of the power cat 2 WD-200M; the front monitoring camera CX-SXJ02 and the rear monitoring camera CX-SXJ02 of the trolley send the operating condition information of the grab bucket under the trolley to the switch 1005, the switch 1005 sends the operating condition information to the electric cat 3WD-200M through microwave communication of the electric cat 1WD-200M, the electric cat 3WD-200M converts the received microwave signals into TCP/IP protocols and then displays the TCP/IP protocols with the omnibearing monitoring dome DHK-EX300, the automatic tracking monitoring grab bucket camera 1CX-SXJ03, the automatic tracking monitoring grab bucket camera 2CX-SXJ03, the left travelling monitoring camera BS-CA33-IP, the right travelling monitoring camera BS-CA33-IP and the like, the switch 2HI-08 is sent to the switch 3HI-08 through microwave communication of the electric cat 1WD-200M, then one path is sent to the video recorder DS-7816N-K2 for storage and simultaneously sent to the display E1715SC for display, and the other path of video signals are sent to the switch 3HI-08 through a communication module CPEPRO to a server DVSCAR-5351 for display by a monitor media screen of a 55053S 51;
The automatic tracking monitoring grab camera 1CX-SXJ03 and the automatic tracking monitoring grab camera 2CX-SXJ03 consist of an integral camera and a stepping motor, wherein the integral camera is responsible for collecting the operation video information of the monitoring grab and can automatically adjust the focus and the distance according to the distance of the grab so as to ensure that the video monitoring effect reaches the optimal state;
when the automatic tracking and monitoring device works, the PLC controller S7-1500 calculates the current grab bucket position according to the grab bucket height position information and the trolley amplitude position information sent by the grab bucket height encoder 1GM58S10K6MA12WN and the trolley amplitude encoder 3GM58S10K6MA12WN, and then drives the stepping motor to automatically adjust the angle, so that the integral camera always aims at the grab bucket to perform video acquisition and monitoring, and the aim of automatically tracking and monitoring the operation of the grab bucket is achieved.
Realizing the fatigue monitoring and alarming function of the mechanical structure of the key part of the ship unloader:
the system comprises a stress strain sensor BH1101, a stress strain collector DH3820, a PLCS7-1500 controller, a touch screen TCP7062Ti, a 5G communication module CPEPRO, a GIS platform server, CAE analysis software and the like which are arranged at the corresponding positions of a ladder frame, a pull rod, a girder and a door leg;
when the system works, the stress strain sensor BH1101 sends stress strain information of corresponding positions of the ladder frame, the pull rod, the girder and the door leg to the collector DH3820, the collector DH3820 converts signals into standard signals after amplification and shaping, the standard signals are sent to the GIS platform server through the 5G communication module CPEPRO in a communication protocol mode, the GIS platform server continuously monitors and analyzes structural stress strain of the ladder frame, the pull rod, the girder and the door leg by using CAE analysis software, when the stress strain of the ladder frame, the pull rod, the girder and the door leg is found to exceed a set value, an alarm signal is immediately sent to the ship unloader monitoring terminal PLCS7-1500, and after the ship unloader monitoring terminal PLCS7-1500 receives the alarm signal, a control command is immediately output to prohibit the ship unloader from lifting the frequency converter ATV930 to continue working, so that serious safety accidents caused by sudden brittle fracture due to structural fatigue of the ladder frame, the pull rod, the girder and the door leg are avoided.
Tenth, realizing the automatic positioning function of the ship unloader:
The system comprises a client, a GIS electronic map of a cloud platform, a fixed satellite positioning base station M300 arranged on the roof outside a central chamber of a ship unloader wharf, a satellite positioning antenna AT300 of the fixed base station, a data transmission radio station SZ02 of the fixed base station, a ship unloader satellite positioning mobile base station 2CX-E728, a satellite positioning antenna 2AT300, a data transmission radio station 4SZ02 and the like;
When the system works, an operator sets a starting point coordinate, a dock berth coordinate, a ship grabbing position coordinate and a unloading point coordinate of a ship unloader on a cloud platform GIS electronic map of a client according to a current day task, sends a command to a ship unloader touch screen TCP7062Ti through a 5G communication module CPEPRO, the ship unloader touch screen TCP7062Ti receives the command and commands PLCS7-1500 to start a cart to advance to a specified berth coordinate, the position is provided by a mobile antenna 2AT300 of a ship unloader mobile base station 2CX-E728, after the specified berth is reached, the difference between the ship unloader touch screen TCP7062Ti and the ship cabin grabbing position coordinate is calculated according to the current position of a trolley amplitude encoder 3GM58S10K6MA12WN, and then commands PLCS7-1500 to drive a trolley frequency converter to adjust and agree with a grab bucket and a target position, so that the system can start to work.
Eleven realizing the functions of grab bucket anti-swing and aerial bucket throwing operation positioning:
The system comprises a GIS management platform, a client, a 5G communication module CPEPRO, a touch screen TCP7062Ti, a PLC controller S7-1500, a switch 2HI-08, a mobile base station 1CX-E728, a satellite positioning antenna 1AT300 (arranged on a grab bucket) data transmission station 1SZ02, a 3D laser scanner CX-JS800, an image controller CX-X8000, a lifting weight limiter CQA01, a weight sensor JZ-1, a wind speed sensor YS-CF, a grab bucket height encoder 2GM58S10K6MA12WN, a trolley amplitude variation encoder 3GM58S10K6MA12WN, a grab bucket support frequency converter ATV930, an amplitude variation frequency converter ATV930, an anti-swing module CX-FY400 and the like, and the schematic diagram is shown in figure 20.
During operation, firstly, sampling is carried out, swing amplitude of the ship unloader grab bucket under variable amplitude working conditions of different weights, different heights, different speeds and different wind speeds is collected through a touch screen TCP7062Ti, then the swing amplitude is uploaded to a GIS management platform through a 5G communication module CPEPRO for calculation and simulation, then a simulated program is sent to the touch screen TCP7062Ti through a 5G communication module CPEPRO, after the touch screen TCP7062Ti is arranged, an anti-swing program is solidified to an anti-swing module CX-FY400, and the anti-swing module CX-FY400 can regulate and control a frequency converter according to control parameters of a 3D laser scanner CX-JS800 under different weights, different heights, different speeds and different wind speeds, so that the purpose of inhibiting the swing amplitude of the grab bucket is achieved.
In order to further explain the anti-swing working principle of the grab ship unloader, the working condition of the ship unloader is exemplified by a process flow that coal is grabbed from a cabin and conveyed to a telescopic coal unloading hopper below the crotch of the ship unloader, then the coal is unloaded to a belt conveyor by the hopper, and the coal is conveyed to a coal stacking place by the belt conveyor;
The grab bucket is lifted vertically from the cabin, passes through the cabin opening, is accelerated to lift and change amplitude, is higher than the proper position of the coal unloading funnel, is horizontally changed amplitude and accelerated, is close to the proper position above the coal unloading funnel, the PLC controller S71500 commands the grab bucket to open and close the frequency converter ATV930 to open the grab bucket to unload coal, when the grab bucket reaches the center point of the coal unloading funnel by the impact speed, the coal of the grab bucket is discharged, and when the grab bucket speed is zero, the PLCS7-1500 immediately changes the gear to command the frequency converter ATV930 to do reverse movement, so that the operation process of anti-swing in the air and the high-efficiency operation of the grab bucket are completed;
According to the principle, in order to improve the coal grabbing efficiency of the grab bucket, the PLC controller S7-1500 is controlled according to the position coordinates of the coal pile after the height and the size of the coal pile in the grab bucket are analyzed by the touch screen TCP7062Ti, so that the grab bucket is high and high in priority and is set above the ship edge according to the conventional method, but in order to grab the coal at the lower part of the ship edge, the grab bucket is opened at a proper position in the middle of the ship cabin according to the height of the coal pile and the impact force of the amplitude variation speed of the horizontal position of the grab bucket, the grab bucket is thrown to the coal at the lower part of the ship edge by the amplitude variation speed of the trolley, and the impact on the ship edge and the ship body is avoided, so that the coal grabbing operation function of the air throwing bucket is realized.
Twelve, realizing the cabin position and material pile position recognition function:
The system comprises a 3D laser scanner CX-JS800, a scanner controller CX-X8000, a switch HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a 5G communication module CPEPRO, a GIS management platform, a client and the like, and the working principle is shown in figure 21.
When the laser scanning device works, a laser transmitter in the 3D laser scanner CX-JS800 is aligned with a ship body to send laser pulses, after the laser waves touch the ship cabin ship body, the laser scanner calculates the distance value from the laser scanner to the ship cabin ship body, the laser scanner CX-JS800 continuously transmits the laser pulse waves, the laser pulse waves are transmitted on a mirror surface rotating at a high speed, and the laser pulse waves are transmitted to all directions to form scanning of a two-dimensional area. And a cradle head is added to perform orthogonal rotation on the basis of two-dimensional scanning, so that scanning in a three-dimensional space can be formed. The three-dimensional coordinate information and reflectivity information of a large number of dense points on the surface of the detected ship body are recorded through a scanner controller CX-X8000, three-dimensional data of various ship body live-action are completely collected into the controller CX-X8000, and various drawing data such as a three-dimensional model of the detected ship body, lines, planes, bodies and the like of a material pile in a cabin are quickly reconstructed through processing of point cloud processing software.
Since the laser can penetrate through the glass, the 3D laser scanner CX-JS800 can be well protected and can be used for measuring severe environments (high temperature, high pressure, high humidity and high dust). Because the laser emission angle is very small (< 0.2 °), the 3D laser material scanner CX-JS800 can measure the material level in a narrow space, can perform three-dimensional measurement on an irregular material level, then sends the detected information to the image controller CX-X8000, the image controller CX-X8000 is equipped with point cloud processing software, the three-dimensional image of the material level is formed through processing by the point cloud processing software, the lowest material level, the highest material level, the average material level, the cabin distance, the cabin height, the cabin width and the like of the cabin material level are obtained, then sent to the PLC controller S7-1500 through the switch HI-08 in a protocol manner, the PLC controller S7-1500 is sent to the touch screen TCP7062Ti again, the large vehicle position or the arm support posture is adjusted by the touch screen TCP7062Ti according to the coal grabbing rule, so that the grab bucket can accurately fall to the highest material level of the cabin, and the touch screen TCP7062Ti is sent to the GIS management platform and the client through the 5G communication module CPEPRO while controlling the operation of the PLC controller S7-1500 for monitoring and use.
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| CN114834918A (en) * | 2022-03-16 | 2022-08-02 | 武汉理工大学 | Anti-collision automatic grabbing and unloading method and system for grab ship unloader |
| CN114840628A (en) * | 2022-05-27 | 2022-08-02 | 国家能源集团乐东发电有限公司 | Method for constructing ship type database of unattended screw ship unloader |
| CN115744386B (en) * | 2022-11-28 | 2024-04-26 | 大连华锐重工集团股份有限公司 | Bulk cargo ship unloading wharf remote control system |
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| CN214243509U (en) * | 2021-01-21 | 2021-09-21 | 宜昌市创星电子技术发展有限公司 | Remote control system of grab ship unloader |
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