CN117049375B - Control method and system for bucket throwing operation of bridge type grab ship unloader - Google Patents
Control method and system for bucket throwing operation of bridge type grab ship unloader Download PDFInfo
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The invention discloses a control method and a system for a swinging bucket operation of a bridge type grab ship unloader, which belong to the technical field of cranes and comprise the following steps of S1: establishing a strategy generation model, and setting a strategy set, wherein the strategy set comprises a plurality of default grabbing strategies which are pre-calculated and generated through the strategy generation model; step S2: marking a first label and a second label in each default grabbing strategy; step S3: collecting the actual cabin height of the cargo ship to be operated and the second position data of the trolley and the grab bucket, and if the matched first label and second label exist, setting the corresponding default grabbing strategy as a target grabbing strategy; step S4: if the default grabbing strategy is not matched, generating a target grabbing strategy of the operation based on the grabbing mode output by the strategy generating model and the corresponding operation parameters; step S5: and controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy. The invention can reduce the calculated amount of the grabbing strategy of the cargo ship.
Description
Technical Field
The invention belongs to the technical field of cranes, and particularly relates to a control method and a system for a swinging bucket operation of a bridge type grab ship unloader.
Background
The bridge grab ship unloader is one kind of continuous ship unloader suitable for various bulk cargo, such as coal, ore, grain, cement, etc. The ship has the main purposes that cargoes in a ship cabin are grabbed to a wharf, and then the cargoes are conveyed to a destination through other transportation means. Currently, with the development of computer technology, the grabbing operation performed by the ship unloader controlled by the system automatically replaces manual operation, so that the overall safety of the operation is improved.
For example, chinese patent application CN104909273a discloses a grab ship unloader and a driving method and apparatus thereof, the method firstly obtains a unloading position and a starting position of a grab bucket, so as to plan a movement track from the starting position to the unloading position of the grab bucket, then obtains a swing length of the grab bucket, calculates acceleration of starting of the grab bucket according to the swing length of the grab bucket and a preset movement speed of the grab bucket, and finally outputs an acceleration instruction of starting of the grab bucket to a grab bucket driving mechanism according to the calculated acceleration, and outputs a movement instruction to the grab bucket driving mechanism according to the planned movement track, by which automatic movement of the grab bucket can be realized and swing of the grab bucket is reduced; also, for example, chinese patent application CN114751303a discloses a closed loop anti-sway system, method and grab ship unloader, which extracts the grab from the video information and generates the pixel coordinates of the grab. The video processing server combines the pixel coordinates of the grab bucket and the working condition data to calculate and obtain the actual space coordinates of the grab bucket. And the anti-shake controller adjusts the movement of the trolley and the rope according to the real-time additional speed, so that the shaking angle of the grab bucket is within a preset range in the grabbing process.
However, before the movement instructions of the trolley and the grab bucket are generated, parameters such as the movement speed, the acceleration and the like of the trolley, the grab bucket and the cargo ship are required to be calculated each time according to the positions of the trolley, the grab bucket and the cargo ship, which causes the problems of repeated calculation and resource waste.
Disclosure of Invention
In order to solve the problems, the invention provides a control method and a system for the bucket throwing operation of a bridge type grab bucket ship unloader, so as to reduce the calculated amount of ship unloading operation in the prior art.
In order to achieve the above-mentioned object, the present invention provides a control method for a swing operation of a bridge grab ship unloader, comprising:
step S1: establishing a strategy generation model, and setting a strategy set, wherein the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process;
step S2: marking a first tag and a second tag within each of the default grab strategies, the first tag comprising a standard cabin height and the second tag comprising first position data of the trolley and grab bucket;
Step S3: when the ship unloading operation is required, collecting the actual cabin height of a cargo ship to be operated, and collecting the second position data of the current trolley and the grab bucket, wherein if the first label and the second label matched with the actual cabin height and the second position data exist, and the first label and the second label correspond to the same default grabbing strategy, the corresponding default grabbing strategy is set as a target grabbing strategy;
step S4: if the default grabbing strategy is not matched, inputting the actual cabin height and the second position data into the strategy generation model, and generating the target grabbing strategy of the current operation based on the grabbing mode and the corresponding operation parameters output by the strategy generation model;
step S5: and controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy.
Further, the step S5 is performed further comprising the steps of:
step S51: setting a plurality of detection rounds in the target grabbing strategy, wherein each detection round comprises a plurality of detection time points, the intervals among the detection time points are fixed by numerical values, and in the same detection round, each detection time point correspondingly collects one type of operation parameter, and standard numerical values corresponding to the operation parameters at each detection time point are calculated in advance based on the strategy generation model;
Step S52: in the grabbing process, acquiring actual operation parameters of each detection time point, setting a corresponding first threshold value for each type of operation parameters, and if the difference value between the actual operation parameters and the standard numerical value exceeds the first threshold value, defining the type of operation parameters as fluctuation parameters, and acquiring the operation state of the trolley, wherein the operation state comprises an acceleration state, a uniform speed state and a deceleration state;
step S53: and if the trolley is in the acceleration state or in the uniform speed state after the acceleration state, acquiring the actual operation parameters of each detection time point in the current detection round, inputting the actual operation parameters into the strategy generation model to regenerate the target grabbing strategy, and controlling the trolley and the grab bucket to carry out ship unloading operation based on the regenerated target grabbing strategy.
Further, in the step S52, the operation parameters are collected based on the following steps:
step S521: each operation parameter is collected through two sensors, the operation parameters collected by each sensor are transmitted to a control center, and the two sensors for collecting the same operation parameter are defined as a first sensor and a second sensor respectively;
Step S522: dividing a plurality of acquisition groups, each acquisition group comprising the first sensor and the second sensor which acquire the same operation parameters, numbering the acquisition groups from 1 to n, wherein n is the number of the acquisition groups, the first sensor and the second sensor in the acquisition group 1 acquire the operation parameters simultaneously, the first sensor directly transmits the operation parameters to the control center, in a first detection round, the second sensor transmits the operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 forwards the received operation parameters and the operation parameters acquired by itself to the second sensor in the acquisition group 3, and repeating the steps until the operation parameters which are received and acquired by itself are transmitted to the second sensor in the acquisition group n, and the second sensor in the acquisition group n transmits the operation parameters which are received and acquired by itself to the control center;
step S523: in the second detection round, the second sensor in the acquisition group 1 sends the currently acquired operation parameters and the last acquired operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the received and self-acquired operation parameters to the second sensor in the acquisition group 3, and the step is repeated until the second sensor in the acquisition group n sends the received and self-acquired operation parameters to the control center;
Step S524: in the third detection round, the second sensor in the acquisition group 1 sends the currently acquired operation parameters and the operation parameters acquired for the first time to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the operation parameters received and acquired by itself to the second sensor in the acquisition group 3, and the step is repeated until the second sensor in the acquisition group n sends the operation parameters received and acquired by itself to the control center;
step S525: the control center splits the operation parameters sent by the acquisition group 1 from the data sent by the second sensor, and resets the network transmission parameters of each sensor if the operation parameters sent by the acquisition group 1 and received for three times are different.
Further, in the step S522, the first sensor transmits the operation parameter based on the following steps:
setting a first sequence, a second sequence and a second threshold value, acquiring displacement data of the trolley, and if the displacement data of the trolley is smaller than or equal to the second threshold value, transmitting the operation parameters by the first sensors based on the first sequence, and if the displacement data of the trolley is larger than the second threshold value, transmitting the operation parameters by the first sensors based on the second sequence.
Further, in the step S3, the step of generating the actual cabin altitude includes the steps of:
generating three-dimensional point cloud data of a cargo ship to be worked based on a laser scanner, selecting characteristic data from the three-dimensional point cloud data, generating a three-dimensional model of the cargo ship to be worked based on the characteristic data, acquiring the actual cabin height and a working surface based on the three-dimensional model, dividing the working surface into a plurality of grabbing grids based on grab bucket sizes, acquiring the stacking height of materials in each grabbing grid, generating the working volume of each grabbing grid based on the stacking height and the grabbing grid sizes, and generating the maximum grabbing times of each grabbing grid based on the maximum grabbing volume and the working volume of a grab bucket.
The invention also provides a control system for the swinging operation of the bridge type grab ship unloader, which is used for realizing the control method for the swinging operation of the bridge type grab ship unloader, and comprises the following steps:
the system comprises a storage module, wherein a strategy generation model and a strategy set are stored in the storage module, the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process;
A marking module for marking a first tag and a second tag within each of the default capture strategies, the first tag comprising a standard cabin height and the second tag comprising first position data of the trolley and the grapple;
the strategy module is used for collecting the actual cabin height of the cargo ship to be operated and collecting the second position data of the current trolley and the grab bucket at the same time when the ship unloading operation is required, setting the corresponding default grabbing strategy as a target grabbing strategy if the first label and the second label matched with the actual cabin height and the second position data exist and correspond to the same default grabbing strategy, and inputting the actual cabin height and the second position data into the strategy generation model if the default grabbing strategy is not matched, and generating the target grabbing strategy of the operation based on the grabbing mode and the corresponding operation parameters output by the strategy generation model;
and the grab bucket control module is used for controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, a strategy generation model is firstly established, so that the grabbing strategy of the grab bucket can be quickly calculated and generated according to the input parameters, on the basis, the common parameters of the cargo ship, the trolley and the grab bucket are collected, so that a plurality of default grabbing strategies are established, in actual operation, when the cargo ship needs to be grabbed, if the grabbing strategy corresponding to the grabbing strategy exists in the database, the system directly uses the grab bucket to control the grabbing operation, so that calculation is not needed, and if the grabbing strategy corresponding to the actual data does not exist in the database, the grabbing strategy is calculated and generated through the strategy generation model, so that the calculation amount of the grabbing strategy of the cargo ship can be reduced.
Drawings
FIG. 1 is a flow chart of the steps of a control method for a swing operation of a bridge grab ship unloader according to the present invention;
FIG. 2 is a schematic diagram of the working principle of the bridge grab ship unloader of the present invention;
FIG. 3 is a schematic view of the working surface of the hold of the present invention;
FIG. 4 is a schematic diagram of a control system for a swing operation of a bridge grab ship unloader according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
As shown in fig. 1 and 2, a control method for a swing operation of a bridge grab ship unloader includes:
step S1: the method comprises the steps of establishing a strategy generation model, setting a strategy set, wherein the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process.
Firstly, describing the ship unloader in the invention, as shown in fig. 2, the ship unloader comprises a trolley A1 which moves left and right on a guide rail, a grab bucket A2 which is connected with the trolley A1 through a rope, when the grabbing operation is carried out, the grab bucket A2 enters a cabin of a cargo ship to grab materials by controlling the trolley to move A1 to the upper part of the cargo ship A3 and then controlling the rope to stretch; in this embodiment, the policy generating model is a calculation model, in which a plurality of constraint targets and constraint functions are set, where the constraint targets include a height of the cargo ship, a maximum swing angle of the grab bucket, a minimum swing period of the grab bucket, a maximum movement distance provided by the guide rail, and the constraint functions include an acceleration calculation formula, a speed calculation formula based on an initial position and a final position of the grab bucket, a swing period calculation formula, a calculation formula based on a speed calculation distance of the trolley, and the like, and the constraint targets and constraint conditions may be set according to a specific movement mode, for example, a mode of moving the trolley while winding the rope, or winding the rope to a position higher than the cabin, and then moving, and the specific constraint functions and calculation modes are well known in the art and are also described in references listed in the background art, and are not repeated here.
After the strategy generation model is built, the initial position and speed of the trolley in the horizontal direction, the initial position and speed of the grab bucket in the vertical direction and the cabin height are input into the strategy generation model, the strategy generation model outputs speed data, acceleration data, displacement data, key time points and the like of the trolley and the grab bucket, and particularly, the displacement data of the trolley is the horizontal distance between the distance of the trolley and the starting point on the right side of the guide rail, and the displacement data of the grab bucket is the vertical distance between the grab bucket and the trolley. Referring specifically to fig. 2, the key time point of the policy generation model output is the specific time of t7 in t1 in fig. 2, and specific speed and acceleration at each time point are output, in this embodiment, t1-t2, t3-t4 are acceleration phases, t5-t6, t7-t0 are deceleration phases, t2-t3, t4-t5 are uniform velocity phases, and by setting two sections of acceleration and deceleration, the swinging of the grab bucket can be suppressed, and the specific principle can refer to the prior art listed in the background art, and will not be described in detail here.
The default grabbing strategy is a strategy for realizing the completion of calculation setting and is calculated by the positions, namely the positions, of the common cargo ship height, the trolley and the grab bucket.
Particularly, the grabbing mode in this embodiment includes vertical grabbing and bucket throwing grabbing, wherein after the grab bucket stays right above the cargo ship, the grab bucket is controlled to vertically enter into the cabin of the cargo ship to grab, when the bucket throwing grabs right above the cabin, a certain speed is also provided in the horizontal direction, and at the moment, the grab bucket is thrown into the cabin along the oblique direction through the cooperation of the extension rope and the grab bucket, so that the position, which is blocked by the clamping plate and cannot be vertically entered, of the cabin can be grabbed, and therefore, based on the description, the acceleration stage and the deceleration stage of the vertical grabbing and bucket throwing grabbing are different, and correspond to two control strategies.
Step S2: first and second tags are marked within each default grab strategy, the first tag comprising a standard cabin height and the second tag comprising first position data of the trolley and grab bucket.
The default grabbing strategy can be classified by setting the label, so that subsequent searching and matching are facilitated.
Step S3: when the ship unloading operation is required, the actual cabin height of the cargo ship to be operated is collected, meanwhile, second position data of the current trolley and the grab bucket are collected, and if a first label and a second label matched with the actual cabin height and the second position data exist, and the first label and the second label correspond to the same default grabbing strategy, the corresponding default grabbing strategy is set as a target grabbing strategy.
Specifically, the characteristic data is three-dimensional point cloud data, and establishing a three-dimensional mode through the three-dimensional point cloud data is a common three-dimensional modeling technology; after the three-dimensional modeling of the cargo ship is established, the height data of the cargo ship can be obtained, at the moment, the actual data of the trolley and the grab bucket, namely the second position data, can be collected, whether the corresponding default grabbing strategies exist or not can be searched in the database, if the corresponding default grabbing strategies exist, for example, the second position data of the trolley and the grab bucket are 1m and 10m, the height of the cargo ship is 5m, the initial speed is 0, the first label and the second label which are the same with the first label and the second label exist in the existing system, the corresponding default grabbing strategies correspond to the first label and the second label, and the corresponding default grabbing strategies are directly used for controlling the trolley and the grab bucket to move grab bucket materials.
Step S4: if the default grabbing strategy is not matched, inputting the actual cabin height and the second position data into a strategy generation model, and generating a target grabbing strategy of the operation based on the grabbing mode output by the strategy generation model and the corresponding operation parameters.
Step S5: and controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy.
If the default grabbing strategy is not matched, the fact that the current trolley or grab bucket is not at the default position or the speed is not 0 or the height of the cargo ship is special is indicated, at the moment, the actual positions of the trolley and the grab bucket and the height of the cargo ship are input into the strategy generation model, then each parameter output by the strategy generation model controls the grab bucket to carry out grabbing operation, after the operation is completed, the parameters corresponding to the grabbing operation are recorded into the database, and the grabbing operation is convenient to use directly.
According to the invention, a strategy generation model is firstly established, so that the grabbing strategy of the grab bucket can be quickly calculated and generated according to the input parameters, on the basis, the common parameters of the cargo ship, the trolley and the grab bucket are collected, so that a plurality of default grabbing strategies are established, in actual operation, when the cargo ship needs to be grabbed, if the grabbing strategy corresponding to the grabbing strategy exists in the database, the system directly uses the grab bucket to control the grabbing operation, so that calculation is not needed, and if the grabbing strategy corresponding to the actual data does not exist in the database, the grabbing strategy is calculated and generated through the strategy generation model, so that the calculation amount of the grabbing strategy of the cargo ship can be reduced.
The embodiment further includes the following steps when executing step S5:
step S51: setting a plurality of detection rounds in a target grabbing strategy, wherein each detection round comprises a plurality of detection time points, the intervals among the detection time points are fixed in numerical values, and in the same detection round, each detection time point correspondingly collects one type of operation parameter, and standard numerical values of the operation parameters corresponding to each detection time point are calculated in advance based on a strategy generation model.
Specifically, the duration of the target grabbing strategy, that is, the duration between t1 and t0 in fig. 2, is obtained, then a plurality of detection rounds are set in the duration, and a plurality of detection time points are set in each detection round, for example, 50 detection rounds are set between t1 and t0, each detection round includes 6 detection time points 1-6, and the interval between adjacent detection time points is 10ms, in this embodiment, the operation parameters include the real-time speed of the trolley, the acceleration of the trolley, the displacement of the trolley, the speed of the grab bucket, the acceleration of the grab bucket and the displacement of the grab bucket, so that the detection time points 1-6 are respectively used for detecting the values of the 6 parameters; before the grabbing operation, the standard value of the operation parameter corresponding to each detection time point is calculated in advance through a strategy generation model, for example, in the first detection round, the standard value of the detection time point 1 is 2m/s, that is, the trolley normally moves according to the grabbing strategy, and the speed of the trolley reaches 2m/s theoretically when reaching the detection time point 1.
Step S52: in the grabbing process, acquiring actual operation parameters of each detection time point, setting a corresponding first threshold value for each type of operation parameters, and if the difference value between the actual operation parameters and the standard values exceeds the first threshold value, defining the type of operation parameters as fluctuation parameters, and acquiring the operation state of the trolley, wherein the operation state comprises an acceleration state, a uniform speed state and a deceleration state.
Various data when the trolley and the grab bucket are detected to move by arranging corresponding sensors, for example, a speed sensor is arranged in the trolley for measuring the real-time moving speed of the trolley; if the first threshold value set for the real-time speed is 1m/s, when the trolley actually reaches the detection time point 1, the speed sensor acquires the real-time speed of the trolley to be 3.2m/s, and the deviation of the real-time speed is 3.2-2=1.2 m/s, and the speed parameter of the trolley exceeds the first threshold value, so that the speed parameter of the trolley is set as the fluctuation parameter, and the running state of the detection time point is acquired, and the detection time point 1 in the first detection round is taken as an example, and the trolley is in an acceleration state within a time period of t1-t 2.
Step S53: if the trolley is in an acceleration state or in a uniform speed state after the acceleration state, acquiring actual operation parameters of each detection time point in the current detection round, inputting the actual operation parameters into a strategy generation model to regenerate a target grabbing strategy, and controlling the trolley and the grab bucket to perform ship unloading operation based on the regenerated target grabbing strategy.
With continued reference to fig. 2, if the trolley is in an accelerating state or in a uniform speed state after the accelerating state, it indicates that there is a certain distance between the trolley and the end points of the guide rail, at this time, the winding speeds of the trolley and the rope can be recalculated and generated by a policy generation model based on the current speeds of the trolley and the grab, the rope length and the remaining length between the trolley and the end points on the left side, for example, when the trolley runs at a uniform speed between t4 and t5, the running speed is greater than the theoretical speed, and after the trolley is corrected, the trolley decelerates before reaching the time t5, so that the grab still does not swing greatly when reaching the position right above the cargo ship. In the actual operation process, if the trolley and the grab bucket do not operate according to the grabbing strategy due to unexpected factors, the trolley and the grab bucket can be found timely through the steps and corrected by adopting the corresponding strategy, so that the reliability of grabbing operation is further improved.
In step S52 of the present embodiment, the operation parameters are collected based on the following steps:
step S521: each operation parameter is collected through two sensors, the operation parameter collected by each sensor is transmitted to a control center, and the two sensors for collecting the same operation parameter are defined as a first sensor and a second sensor respectively.
Specifically, the embodiment sets two identical sensors to collect the same operation parameters, for example, the first sensor and the second sensor are arranged in the trolley and collect the real-time moving speed of the trolley, the two sensors send the data collected by themselves to the control center, and the control center receives the sensor data and decodes the data, so that the real-time moving speed of the trolley is obtained.
Step S522: dividing a plurality of acquisition groups, wherein each acquisition group comprises a first sensor and a second sensor for acquiring the same operation parameters, numbering the acquisition groups as 1 to n, wherein n is the number of the acquisition groups, the first sensor and the second sensor in the acquisition group 1 acquire the operation parameters at the same time, the first sensor directly transmits the operation parameters to a control center, in a first detection round, the second sensor transmits the operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 transmits the received operation parameters and the operation parameters acquired by the second sensor to the second sensor in the acquisition group 3, and repeating the steps until the operation parameters are transmitted to the second sensor in the acquisition group n, and the second sensor in the acquisition group n transmits the operation parameters received and acquired by the second sensor to the control center.
Since the present embodiment collects 6 operating parameters, the sensors are divided into 6 groups, each group includes a first sensor and a second sensor, the sensors in the collection group 1 are defined as a first sensor 11 and a second sensor 12, the sensors in the collection group 2 are defined as a first sensor 21 and a second sensor 22, and the numbers of the other collection group sensors are the same, and the collection group 1 is used for illustration; the first sensor 11 and the second sensor 12 collect real-time moving speed of the trolley at the same time, the first sensor 11 directly sends collected data (defined as an operation parameter A1) to the control center, and the control center directly compares the collected data with standard data after receiving the operation parameter A1; the second sensor 12 sends the operation parameter A1 to the second sensor 22, the second sensor 22 resends the operation parameter A1 to the second sensor 32 together with the operation parameter B1 collected by itself, the present step is repeated until it is sent to the second sensor 62, and finally, the second sensor 62 sends itself and the received data to the control center.
Step S523: and in the second detection round, the second sensor in the acquisition group 1 sends the currently acquired operation parameters and the last acquired operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the received and self-acquired operation parameters to the second sensor in the acquisition group 3, and the step is repeated until the second sensor in the acquisition group n sends the received and self-acquired operation parameters to the control center.
Step S524: in the third detection round, the second sensor in the acquisition group 1 sends the current acquired operation parameters and the first acquired operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the received and self-acquired operation parameters to the second sensor in the acquisition group 3, and the steps are repeated until the second sensor in the acquisition group n sends the received and self-acquired operation parameters to the control center.
Specifically, in the second detection round, the second sensor 12 sends the operation parameter A1 and the operation parameter A2 to the second sensor 22, the second sensor 22 sends the operation parameter B2 and the operation parameter A1 and the operation parameter A2 currently collected by itself to the second sensor 32, and the steps are repeated until the second sensor 62 sends itself and all received data to the control center, that is, the data sent in the second detection round contains the operation parameter A1; likewise, in the third detection round, the second sensor 12 sends the operation parameters A1 and A3 to the second sensor 22, and the second sensor 22 sends the operation parameters B3 and A1 and A2 currently collected by itself to the second sensor 32, and the subsequent processes are the same and will not be repeated here.
Step S525: the control center splits the operation parameters sent by the acquisition group 1 from the data sent by the second sensor, and resets the network transmission parameters of each sensor if the first operation parameters sent by the acquisition group 1 and received for three times are different.
The following describes the beneficial effects of the above steps, when the control center receives the first detection round data sent by the second sensor 62, the data are decoded to obtain operation parameters A1, B1, C1, D1, E1, F1, and then the decoded operation parameters are compared with the operation parameters A1, A2 and the like directly sent by each first sensor, if the operation parameters are the same, it is indicated that the two sensors acquire the same and correct data, if the operation parameters are different, the two sensors wait to receive the data of the second and third detection rounds; after the receiving is finished, comparing the operation parameters A1 contained in the three detection rounds, and if the operation parameters A1 sent for three times are the same, indicating that one sensor in the first sensor and the second sensor collects error data; if different data exist in the three operation parameters A1, the data are lost or wrong in the sending process, and the network transmission parameters of the sensor are required to be adjusted.
In step S522 of the present embodiment, the first sensor transmits the operation parameters based on the following steps:
setting a first sequence, a second sequence and a second threshold value, acquiring displacement data of the trolley, transmitting the operation parameters by each first sensor based on the first sequence if the displacement data of the trolley is smaller than or equal to the second threshold value, and transmitting the operation parameters by each first sensor based on the second sequence if the displacement data of the trolley is larger than the second threshold value.
In order to avoid the situation that each sensor simultaneously sends data to the control center so that the control center generates data collision, a plurality of detection time points are set in the same round, and an acquisition interval is set between each detection time point, in the embodiment, since 6 detection time points exist and 6 operation parameters are correspondingly acquired, a first sequence is set in advance, specifically, in the first sequence, the first sensor in the acquisition group 1 firstly acquires and sends data, and then the first sensor in the acquisition group 2 acquires and sends data again, so that the data sequentially reaches the control center; in addition, in the moving process of the trolley, the distance between the trolley and the control center is increased, the sensors arranged on the trolley and the grab bucket are further and further away from the control center, the displacement sensors are generally arranged at the winding drum and cannot move along with the trolley, and in this case, the time for transmitting data by the sensors arranged on the trolley is prolonged along with the movement of the trolley, so that the second order is also provided, when the moving distance of the trolley is greater than the second threshold value, the data is transmitted by adopting the second order, in the second order, the sensors with the farther distance are preferentially made to collect and transmit the data, and the sensors with the closer distance are made to transmit the data after collecting the data, for example, the transmitting order of each acquisition group in the first order is 123456, and the transmitting order of each acquisition group in the second order is 361245, and because the transmitting time of the acquisition groups 3 and 6 is longer, the data is transmitted first, and the data sequence received by the control center is still 123456, so that the order of the data received by the control unit is ensured.
In step S3 of the present embodiment, generating the actual cabin altitude comprises the steps of:
generating three-dimensional point cloud data of a cargo ship to be operated based on a laser scanner, selecting characteristic data from the three-dimensional point cloud data, generating a three-dimensional model of the cargo ship to be operated based on the characteristic data, acquiring actual cabin height and an operation surface based on the three-dimensional model, dividing the operation surface into a plurality of grabbing grids based on grab bucket sizes, acquiring stacking heights of materials in each grabbing grid, generating an operation volume of each grabbing grid based on the stacking heights and grabbing grid sizes, and generating maximum grabbing times of each grabbing grid based on the maximum grabbing volume and the operation volume of the grab bucket.
After a three-dimensional model of a cargo source to be operated is established, acquiring cabin height and an operation surface, wherein the operation surface is a rectangular area P in the figure, acquiring the size of a grab bucket, dividing the operation surface into a plurality of grabbing grids based on the acquired size, acquiring stacking of each grabbing grid through three-dimensional point cloud data, further acquiring materials of which each grabbing grid stacks cubic meters, and finally calculating the maximum grabbing times of each grabbing grid by combining the maximum grabbing volume of the grab bucket; in addition, the height of the rest materials in the grabbing grid can be calculated by combining the volume of each grabbing of the grab bucket, so that the height of each descending of the grab bucket can be determined.
As shown in fig. 4, the present invention further provides a control system for a swinging operation of a bridge type grab ship unloader, where the system is used to implement the control method for the swinging operation of the bridge type grab ship unloader, and the system includes:
the storage module is stored with a strategy generation model and a strategy set, the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process;
the marking module is used for marking a first label and a second label in each default grabbing strategy, wherein the first label comprises a standard cabin height, and the second label comprises first position data of the trolley and the grab bucket;
the strategy module is used for collecting the actual cabin height of the cargo ship to be operated and collecting the second position data of the current trolley and the grab bucket at the same time when the ship unloading operation is required, setting the corresponding default grabbing strategy as a target grabbing strategy if a first label and a second label matched with the actual cabin height and the second position data exist and correspond to the same default grabbing strategy, and inputting the actual cabin height and the second position data into the strategy generation model if the default grabbing strategy is not matched, and generating the target grabbing strategy of the operation based on the grabbing mode and the corresponding operation parameters output by the strategy generation model;
And the grab bucket control module is used for controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a non-transitory computer readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, they should be considered as the scope of the disclosure as long as there is no contradiction between the combinations of the technical features.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. A control method for a bucket throwing operation of a bridge type grab ship unloader, comprising the following steps:
step S1: establishing a strategy generation model, and setting a strategy set, wherein the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process;
Step S2: marking a first tag and a second tag within each of the default grab strategies, the first tag comprising a standard cabin height and the second tag comprising first position data of the trolley and grab bucket;
step S3: when the ship unloading operation is required, collecting the actual cabin height of a cargo ship to be operated, and collecting the second position data of the current trolley and the grab bucket, wherein if the first label and the second label matched with the actual cabin height and the second position data exist, and the first label and the second label correspond to the same default grabbing strategy, the corresponding default grabbing strategy is set as a target grabbing strategy;
step S4: if the default grabbing strategy is not matched, inputting the actual cabin height and the second position data into the strategy generation model, and generating the target grabbing strategy of the current operation based on the grabbing mode and the corresponding operation parameters output by the strategy generation model;
step S5: controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy;
in the step S3, the step of generating the actual cabin altitude includes the steps of:
Generating three-dimensional point cloud data of a cargo ship to be worked based on a laser scanner, selecting characteristic data from the three-dimensional point cloud data, generating a three-dimensional model of the cargo ship to be worked based on the characteristic data, acquiring the actual cabin height and a working surface based on the three-dimensional model, dividing the working surface into a plurality of grabbing grids based on grab bucket sizes, acquiring the stacking height of materials in each grabbing grid, generating the working volume of each grabbing grid based on the stacking height and the grabbing grid sizes, and generating the maximum grabbing times of each grabbing grid based on the maximum grabbing volume and the working volume of a grab bucket.
2. The control method for a ship slinger operation of a bridge grab ship unloader according to claim 1, further comprising the steps of, when executing said step S5:
step S51: setting a plurality of detection rounds in the target grabbing strategy, wherein each detection round comprises a plurality of detection time points, the intervals among the detection time points are fixed by numerical values, and in the same detection round, each detection time point correspondingly collects one type of operation parameter, and standard numerical values corresponding to the operation parameters at each detection time point are calculated in advance based on the strategy generation model;
Step S52: in the grabbing process, acquiring actual operation parameters of each detection time point, setting a corresponding first threshold value for each type of operation parameters, and if the difference value between the actual operation parameters and the standard numerical value exceeds the first threshold value, defining the type of operation parameters as fluctuation parameters, and acquiring the operation state of the trolley, wherein the operation state comprises an acceleration state, a uniform speed state and a deceleration state;
step S53: and if the trolley is in the acceleration state or in the uniform speed state after the acceleration state, acquiring the actual operation parameters of each detection time point in the current detection round, inputting the actual operation parameters into the strategy generation model to regenerate the target grabbing strategy, and controlling the trolley and the grab bucket to carry out ship unloading operation based on the regenerated target grabbing strategy.
3. The control method for the ship throwing operation of the bridge type grab ship unloader according to claim 2, wherein in the step S52, the operation parameters are collected based on the following steps:
step S521: each operation parameter is collected through two sensors, the operation parameters collected by each sensor are transmitted to a control center, and the two sensors for collecting the same operation parameter are defined as a first sensor and a second sensor respectively;
Step S522: dividing a plurality of acquisition groups, each acquisition group comprising the first sensor and the second sensor which acquire the same operation parameters, numbering the acquisition groups from 1 to n, wherein n is the number of the acquisition groups, the first sensor and the second sensor in the acquisition group 1 acquire the operation parameters simultaneously, the first sensor directly transmits the operation parameters to the control center, in a first detection round, the second sensor transmits the operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 forwards the received operation parameters and the operation parameters acquired by itself to the second sensor in the acquisition group 3, and repeating the steps until the operation parameters which are received and acquired by itself are transmitted to the second sensor in the acquisition group n, and the second sensor in the acquisition group n transmits the operation parameters which are received and acquired by itself to the control center;
step S523: in the second detection round, the second sensor in the acquisition group 1 sends the currently acquired operation parameters and the last acquired operation parameters to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the received and self-acquired operation parameters to the second sensor in the acquisition group 3, and the step is repeated until the second sensor in the acquisition group n sends the received and self-acquired operation parameters to the control center;
Step S524: in the third detection round, the second sensor in the acquisition group 1 sends the currently acquired operation parameters and the operation parameters acquired for the first time to the second sensor in the acquisition group 2, the second sensor in the acquisition group 2 sends the operation parameters received and acquired by itself to the second sensor in the acquisition group 3, and the step is repeated until the second sensor in the acquisition group n sends the operation parameters received and acquired by itself to the control center;
step S525: the control center splits the operation parameters sent by the acquisition group 1 from the data sent by the second sensor, and resets the network transmission parameters of each sensor if the operation parameters sent by the acquisition group 1 and received for three times are different.
4. A control method for a swing operation of a bridge grab ship unloader according to claim 3, wherein in step S522, the first sensor sends the operation parameter based on the following steps:
setting a first sequence, a second sequence and a second threshold value, acquiring displacement data of the trolley, and if the displacement data of the trolley is smaller than or equal to the second threshold value, transmitting the operation parameters by the first sensors based on the first sequence, and if the displacement data of the trolley is larger than the second threshold value, transmitting the operation parameters by the first sensors based on the second sequence.
5. A control system for a bucket-throwing operation of a bridge grab ship unloader for realizing a control method for a bucket-throwing operation of a bridge grab ship unloader as claimed in any one of claims 1 to 4, comprising:
the system comprises a storage module, wherein a strategy generation model and a strategy set are stored in the storage module, the strategy set comprises a plurality of default grabbing strategies which are calculated and generated in advance through the strategy generation model, each default grabbing strategy comprises operation parameters corresponding to grabbing modes, each grabbing mode comprises vertical grabbing and bucket throwing grabbing, and the operation parameters comprise real-time speed data, acceleration data and displacement data of a trolley and a grab bucket in the grabbing process;
a marking module for marking a first tag and a second tag within each of the default capture strategies, the first tag comprising a standard cabin height and the second tag comprising first position data of the trolley and the grapple;
a strategy module, when the ship unloading operation is needed, the strategy module collects the actual cabin height of the cargo ship to be operated, when the actual cabin height is generated, the strategy module generates three-dimensional point cloud data of the cargo ship to be operated based on a laser scanner, selects characteristic data from the three-dimensional point cloud data, generates a three-dimensional model of the cargo ship to be operated based on the characteristic data, acquires the actual cabin height and an operation surface based on the three-dimensional model, divides the operation surface into a plurality of grabbing grids based on grab bucket sizes, acquires the stacking height of materials in each grabbing grid, generates the operation volume of each grabbing grid based on the stacking height and the grabbing grid sizes, generates the operation volume based on the maximum grabbing volume of the grab bucket, generating the maximum grabbing times of each grabbing grid, wherein the strategy module also collects second position data of a current trolley and a grab bucket, if the first label and the second label which are matched with the actual cabin height and the second position data exist, and the first label and the second label correspond to the same default grabbing strategy, the corresponding default grabbing strategy is set as a target grabbing strategy, and if the default grabbing strategy is not matched, the actual cabin height and the second position data are input into the strategy generation model, and the target grabbing strategy of the current operation is generated based on the grabbing mode and the corresponding operation parameters which are output by the strategy generation model;
And the grab bucket control module is used for controlling the trolley and the grab bucket to carry out ship unloading operation based on the target grabbing strategy.
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