CN209427772U - Intelligent bucket continuous ship unloader control system - Google Patents
Intelligent bucket continuous ship unloader control system Download PDFInfo
- Publication number
- CN209427772U CN209427772U CN201821604859.3U CN201821604859U CN209427772U CN 209427772 U CN209427772 U CN 209427772U CN 201821604859 U CN201821604859 U CN 201821604859U CN 209427772 U CN209427772 U CN 209427772U
- Authority
- CN
- China
- Prior art keywords
- control system
- module
- feeding
- continuous ship
- scanner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000007405 data analysis Methods 0.000 claims abstract description 21
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 10
- 241000755535 Bambusa emeiensis Species 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010408 sweeping Methods 0.000 claims 1
- 230000035611 feeding Effects 0.000 abstract description 47
- 230000006870 function Effects 0.000 abstract description 9
- 238000004891 communication Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 238000009966 trimming Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The utility model provides a kind of intelligent bucket continuous ship unloader control system, and the system includes: PLC control system and scanning recognition system.PLC control system includes at least: single machine control module and scan data Analysis of Policy Making module.Bucket continuous ship unloader PLC control system of the utility model with scan data Analysis of Policy Making function; design has scanning recognition system simultaneously; data exchange is carried out by communication between two systems; after assigning feeding task by Central Control Room station; continuous ship discharging machine, which can be realized, looks for operation cabin, feeding head automatically into functions such as cabin, Self Trimming, full-automatic feedings automatically; the safety protection function of equipment during operation can be realized simultaneously; completely instead of manual operation, unmanned intelligent operation is realized.
Description
Technical field
The present invention relates to control system technical fields, specifically, more particularly to intelligent bucket continuous ship unloader control
System processed.
Background technique
Bucket continuous ship unloader is the dedicated ship unloading equipment of bulk cargo harbour, its control mode is that operator exists at present
Drivers' cab manual operation, also or manually set teaching path after along predefined paths feeding semiautomatic control.
Feeding head need to be reached when because of continuous ship discharging machine operation and continuously take material in cabin, operation driver's labor intensity
Greatly；Situations such as because feeding manually operates completely, feeding flow is difficult stability contorting, often overloads, influence equipment
Safe operation.
In order to overcome above-mentioned deficiency, using material in laser scanner scans ship type and cabin, system judges automatically optimal take
Material technique, and each mechanism is driven to execute feeding task, it realizes the full-automatic feeding of bucket continuous ship unloader, reaches raising operation
Efficiency, the purpose for improving driver's working environment, reducing cost of labor.
Summary of the invention
According to technical problem set forth above, and provide a kind of intelligent bucket continuous ship unloader control system.The present invention
Mainly comprising a kind of intelligent bucket continuous ship unloader control system, which is characterized in that include at least: PLC control system and
Scanning recognition system；
The PLC control system includes at least: by entire continuous ship discharging machine peripheral data acquisition, logical interlock, based on
Point counting analysis, complete single machine structure logic control, the linkage control of multimachine structure and the single machine control module of safeguard protection, for pair
The Neosinocalamus affinis that the transmission of scanning recognition system comes is analyzed, and material heap type is judged, to judge automatically feeding head working length
With best feeding path, and single machine control module is sent jointly to together with feeding cutting into position and cut-in angle, and then control each
The scan data Analysis of Policy Making module of mechanism execution feeding task；
The scanning recognition system includes at least: obtaining the space coordinate of each scanner installation site to establish hull/object
The locating module of the point cloud space coordinate model of material, scan module and Data Analysis Services module.
Further, the scan module include at least two parts: be arranged in below drivers' cab platform for entire ship
Body Model passes in and out cabin or when feeding to the 3D laser scanner with holder of cabin mouth scanning to feeding head；It is arranged in feeding
The 3D laser scanner to multiple no holders of the scanning of material in cabin of head overhead cylinder two sides；
Further, the Data Analysis Services module, for receiving the real-time space of each scanner of locating module transmission
Real-time point cloud information between scanner and testee that the coordinate information and scanner of position are sent, then filtered by radius
Wave method, removal interference point cloud information, high density point cloud is linked up, forms surface, and then establish the point cloud coordinate of ship type, material heap
Model.
Further, the radius filter method draws circle centered on any point, calculates the number for falling in the round midpoint
Amount then retains the point when quantity is greater than preset value；When quantity is less than preset value, then the point is rejected.
Further, the system includes at least PLC control system and scanning recognition system；The PLC control system and
The scanning recognition system is communicated by PROFINET.
Further, the locating module is tied by each mechanism detection and localization data in conjunction with mechanical structure and to machinery
The analysis compensation of structure deformation, obtains each mechanism and scanner installation site coordinate.
The present invention has the advantages that full automatic unloading function can be achieved in the present invention, and design has band scan data decision
The bucket continuous ship unloader PLC control system of analytic function, while design has scanning recognition system, passes through between two systems logical
News carry out data exchange, and after assigning feeding task by Central Control Room station, continuous ship discharging machine can be realized looks for operation ship automatically
Cabin, feeding head can realize the safety of equipment during operation automatically into functions such as cabin, Self Trimming, full-automatic feedings
Defencive function realizes unmanned intelligent operation completely instead of manual operation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the intelligent bucket continuous ship unloader control system architecture schematic diagram of the present invention.
Fig. 2 is scanner schematic view of the mounting position of the present invention.
Fig. 3 is scanning range schematic diagram of the present invention.
Wherein, 1 is PLC control system, and 2 be scanning recognition system, and 3 be top structure lower scan instrument one, and 4 tie for top
Structure lower scan instrument two, 5 be feeding head scanning overhead instrument one, and 6 be feeding head scanning overhead instrument two, and 7 sweep for top structure lower section
Instrument scanning field of view is retouched, 8 be feeding head scanning overhead instrument scanning field of view, and 101 be single machine control module, and 102 be scan data decision
Analysis module, 201 be locating module, and 202 be scan module, and 203 be Data Analysis Services module.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
As shown in Figure 1-3, being included at least the present invention provides a kind of intelligent bucket continuous ship unloader control system:
PLC control system and scanning recognition system.
In the present embodiment, PLC control system includes at least: for being acquired to entire continuous ship discharging machine peripheral data,
Logical interlock calculates analysis, completes the single machine control of the logic control of single machine structure, the linkage control of multimachine structure and safeguard protection
Module, the Neosinocalamus affinis for coming to the transmission of scanning recognition system are analyzed, and material heap type are judged, to judge automatically feeding
Head working length and best feeding path, and single machine control module is sent jointly to together with feeding cutting into position and cut-in angle,
And then control the scan data Analysis of Policy Making module that each mechanism executes feeding task.It can be understood as in other embodiments
In, it can also be set according to actual demand, it can be by judging that material heap situation is realized to unloading as long as can satisfy
The control of machine control.
In the present embodiment, scanning recognition system includes at least: obtain the space coordinate of each scanner installation site with
Establish the locating module of hull/material point cloud space coordinate model, scan module and Data Analysis Services module.It is understood that
It, can be by acquiring hull phase as long as can satisfy for that in other embodiments, can be set according to actual demand
It closes information and then relevant information is reached into hull and then obtains identification information.
As preferred embodiment, scan module include at least two parts: be arranged in below drivers' cab platform for
Entire hull model or when passing in and out cabin or feeding to feeding head to the 3D laser scanner with holder of cabin mouth scanning.Setting
The 3D laser scanner to multiple no holders of the scanning of material in cabin in feeding head overhead cylinder two sides.
In the present embodiment, Data Analysis Services module, for receiving each scanner real-time empty of locating module transmission
Between position coordinate information and the scanner scanner and testee that send between real-time point cloud information, then pass through radius
Filter method, removal interference point cloud information, high density point cloud is linked up, surface is formed, and then establishes the point cloud seat of ship type, material heap
Mark model.
In the present embodiment using radius filter method removal interference cloud point, radius filter method is centered on any point
Circle is drawn, the quantity for falling in the round midpoint is calculated, when quantity is greater than preset value, then retains the point；When quantity is less than in advance
When first setting value, then the point is rejected.It can be understood as in other embodiments, can also be removed using other way
Noise spot obtains more accurately density points cloud as long as can satisfy and can remove distracter, and then obtains hull model.
As preferred embodiment, system includes at least PLC control system and scanning recognition system.PLC control system
And the scanning recognition system is communicated by PROFINET.It can be understood as in other embodiments, can pass through
Other way is communicated, as long as can satisfy the information that will be scanned is sent to control system.
In the present embodiment, locating module is by each mechanism detection and localization data, in conjunction with mechanical structure and to machinery
The analysis of malformation compensates, and obtains each mechanism and scanner installation site coordinate.
As a kind of embodiment of the application, as shown in Fig. 2, the deformation of the mechanical structure and mechanical structure refers to installation
The single unit system structure of the system.Such as: the row of linkage, the promotion of fixed point, linkage of feeding head etc..As long as can satisfy
It can satisfy the data that can clearly calculate whole detection and localization and then obtain scanner installation site coordinate.
As a kind of embodiment of the application, using a kind of method of this system, step S1: by production scheduling instruct and into
Port waits for operation ship information communicatively or is manually entered mode and is transferred to the PLC control system, first with the scanning
Identifying system is scanned entire ship, and scanning result is compared with ship type database, operation ship information to be approached, phase
After answering ship ship type database, scanning recognition result consistent, stops ship type scanning, quickly confirm operation ship type information.
Step S2: the PLC control system controls continuous ship discharging machine and runs to assignment ship according to the dispatch command
Freight space is set；The posture that the scanner below drivers' cab platform is adjusted by holder, makes two scanners detect cabin respectively
Mouth both horizontally and vertically, provides cabin mouth real-time location coordinates.
Step S3: the PLC control system control feeding head enters inside cabin.It is mounted on feeding head overhead cylinder two sides
Scanner, turned round by feeding head, scan the material in entire cabin, generate Neosinocalamus affinis in cabin；The data analysis
It, will be to operation according to path principle of optimality in conjunction with feeding head current location after processing module is to Neosinocalamus affinis layered shaping in cabin
Material heap coordinate is sent to PLC control system；
Step S4: the PLC control system receive that the Data Analysis Services module sends to operation material heap coordinate
Afterwards, scan data Analysis of Policy Making module judges to compare to operation material heap length and width with the typical material heap length and width set in database,
Confirm the type to operation material heap, then generate feeding strategy optimal for the material heap region, be sent to single machine control module,
And then it controls each mechanism and executes feeding task automatically.
Another embodiment as the application is as shown in Figure 1.Intelligent continuous ship discharging machine control system is controlled by PLC
System 1 and scanning recognition system 2 form.PLC control system 1 and scanning recognition system 2 are communicated by PROFINET.
Wherein, PLC control system includes: single machine control module 101 and scan data Analysis of Policy Making module 102.Single machine control
Molding block 101 is the basis of intelligent continuous ship discharging machine control system, for completing the control function of entire continuous ship discharging machine single machine
Can, interlocking, single machine structure including single machine structure drive, multimachine structure links (linkage row, fixed point are promoted, feeding head links) etc..
Scan data Analysis of Policy Making module 102 can be an independent PLC for completing the decision of reclaiming technology
Controller or computer server can receive the Neosinocalamus affinis of scanning recognition system transmission, carry out data analysis, then will most
Excellent feeding strategy is sent to single machine control module 101, and then controls each mechanism by single machine control module 101 and execute feeding times
Business.
Scanning recognition system includes: locating module 201, scan module 202, Data Analysis Services module 203.
Locating module 201 detects each mechanism position coordinate and fortune by encoder, sensor by single machine control module 101
Row angle calculates each scanner installation site coordinate in conjunction with continuous ship discharging machine mechanical structure.Optionally, in top structure position
It sets by being respectively arranged 1 movement station in ground configuration base station, continuous ship discharging machine feeding head revolving platform and tower top.By base
The phase observations data and coordinate information at quasi- station are sent to movement station, and movement station is by the data received with the phase observations number of acquisition
According to real time differential processing is carried out, to obtain the real-time three-dimensional position of movement station, and then each scanner real-time spatial position is obtained
Coordinate.And scanning recognition system 2 is transmitted to by communication modes.
Scan module 202, including the 3D laser scanner 3 and 4 with holder installed below top structure；In feeding head
The 3D laser scanner 5 and 6 without holder of overhead cylinder two sides installation.When specific operation, scan module 202 receives PLC
After the automatic material taking instruction of control system 1, it is scanned first by cradle head control 3D laser scanner 3 and 4 pairs of ship types, depending on
Field as shown with 7, obtains entire operation ship ship type data, and then by each cabin location transmission to PLC control system 1.PLC control
System 1 instructs control continuous ship discharging machine to run to operation cabin according to production scheduling, and scan module 202 passes through cradle head control again
3D laser scanner 3 and 4 adjusts the angle, respectively two vertical sides of monitoring ship hatch, and then obtains the real-time of operation ship hatch
Position, to prevent feeding head and cabin mouth from colliding, cylinder and the collision of cabin mouth it is outer, can be combined with ship type information, compensation by
The deviation of Neosinocalamus affinis and the deviation of cabin wall position in the cabin caused by hull shakes.After feeding head enters cabin, sweep
Material in the 3D laser scanner 5 and 6 pair cabin that module 202 is installed by feeding head overhead cylinder two sides again is retouched to be scanned,
Since scanner field of view limits, by rotating feeding head, the scanning of material in entire cabin, 3D laser scanner 5 can be completed
With 6 visual fields.
Data Analysis Services module 203, receives the data that locating module 201 and scan module 202 acquire, and to dust,
The disturbing factors such as rainwater, shake such as are filtered, denoise at the processing, extract effective point cloud data, generate accurate hull model,
Neosinocalamus affinis, and model is handled, scan data Analysis of Policy Making module 102 will be sent to operation material heap position coordinates,
Optimal feeding strategy is generated, then each mechanism automatic running is controlled by single machine control module 101, executes feeding task.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of intelligence bucket continuous ship unloader control system, which is characterized in that include at least: PLC control system and sweeping
Retouch identifying system；
The PLC control system includes at least: for entire continuous ship discharging machine peripheral data acquisition, logical interlock, calculating point
Logic control, the linkage control of multimachine structure and the single machine control module of safeguard protection of single machine structure are completed in analysis, for scanning
Identifying system transmission come Neosinocalamus affinis analyzed, judge material heap type, thus judge automatically feeding head working length with most
Good feeding path, and single machine control module is sent jointly to together with feeding cutting into position and cut-in angle, and then control each mechanism
Execute the scan data Analysis of Policy Making module of feeding task；
The scanning recognition system includes at least: obtaining the space coordinate of each scanner installation site to establish hull/material
The locating module of point cloud space coordinate model, scan module and Data Analysis Services module.
2. intelligence bucket continuous ship unloader control system according to claim 1, it is further characterized in that:
The scan module include at least two parts: be arranged in below drivers' cab platform for entire hull model or to feeding
To the 3D laser scanner with holder of cabin mouth scanning when head disengaging cabin or feeding；It is arranged in feeding head overhead cylinder two sides
The 3D laser scanner to multiple no holders of the scanning of material in cabin.
3. intelligence bucket continuous ship unloader control system according to claim 1, it is further characterized in that:
The Data Analysis Services module, the coordinate letter of each scanner real-time spatial position for receiving locating module transmission
Real-time point cloud information between scanner and testee that breath and scanner are sent, then pass through radius filter method, removal interference
Point cloud information links up high density point cloud, forms surface, and then establish the point cloud coordinate model of ship type, material heap.
4. intelligence bucket continuous ship unloader control system according to claim 1, it is further characterized in that:
The system includes at least PLC control system and scanning recognition system；The PLC control system and the scanning recognition system
System is communicated by PROFINET.
5. intelligence bucket continuous ship unloader control system according to claim 1, it is further characterized in that: the positioning
Module is compensated in conjunction with mechanical structure and to the analysis that mechanical structure deforms, is obtained each by each mechanism detection and localization data
Mechanism and scanner installation site coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821604859.3U CN209427772U (en) | 2018-09-29 | 2018-09-29 | Intelligent bucket continuous ship unloader control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821604859.3U CN209427772U (en) | 2018-09-29 | 2018-09-29 | Intelligent bucket continuous ship unloader control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209427772U true CN209427772U (en) | 2019-09-24 |
Family
ID=67966921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821604859.3U Withdrawn - After Issue CN209427772U (en) | 2018-09-29 | 2018-09-29 | Intelligent bucket continuous ship unloader control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209427772U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095213A (en) * | 2018-09-29 | 2018-12-28 | 大连华锐重工集团股份有限公司 | Intelligent bucket continuous ship unloader control system and method |
| CN113568412A (en) * | 2021-08-04 | 2021-10-29 | 武汉港迪智能技术有限公司 | Unmanned control system of bulk cargo wharf ship loader |
| CN114560310A (en) * | 2022-01-30 | 2022-05-31 | 浙江天新智能研究院有限公司 | Full-automatic operation scheduling method for screw ship unloader |
| CN114988052A (en) * | 2022-04-20 | 2022-09-02 | 北京汇力智能科技有限公司 | Automatic compensation method and device in dynamic ship unloading, storage medium and electronic equipment |
-
2018
- 2018-09-29 CN CN201821604859.3U patent/CN209427772U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095213A (en) * | 2018-09-29 | 2018-12-28 | 大连华锐重工集团股份有限公司 | Intelligent bucket continuous ship unloader control system and method |
| CN109095213B (en) * | 2018-09-29 | 2023-10-24 | 大连华锐重工集团股份有限公司 | Intelligent chain bucket type continuous ship unloader control system and method |
| CN113568412A (en) * | 2021-08-04 | 2021-10-29 | 武汉港迪智能技术有限公司 | Unmanned control system of bulk cargo wharf ship loader |
| CN114560310A (en) * | 2022-01-30 | 2022-05-31 | 浙江天新智能研究院有限公司 | Full-automatic operation scheduling method for screw ship unloader |
| CN114560310B (en) * | 2022-01-30 | 2024-01-19 | 国家能源集团乐东发电有限公司 | Full-automatic job scheduling method for screw ship unloader |
| CN114988052A (en) * | 2022-04-20 | 2022-09-02 | 北京汇力智能科技有限公司 | Automatic compensation method and device in dynamic ship unloading, storage medium and electronic equipment |
| CN114988052B (en) * | 2022-04-20 | 2023-06-09 | 北京汇力智能科技有限公司 | Automatic compensation method and device in dynamic ship unloading, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109095213A (en) | Intelligent bucket continuous ship unloader control system and method | |
| CN209427772U (en) | Intelligent bucket continuous ship unloader control system | |
| CN110182621A (en) | A kind of digitization system and control method of unmanned bucket continuous ship unloader | |
| CN110182622B (en) | Automatic material taking method for unmanned chain bucket type continuous ship unloader | |
| CN112150388B (en) | Continuous ship unloader ship and material identification sensing method | |
| EP3033293B1 (en) | Method and system for automatically landing containers on a landing target using a container crane | |
| CN111634636A (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN101104480B (en) | Unmanned piling and taking technique for bulk cargo stock yard | |
| US20170364089A1 (en) | Autonomous vehicle, in particular feed mixing vehicle, and method for controlling an autonomous vehicle | |
| CN106707956A (en) | Intelligent and fully-automatic stacker-reclaimer control device | |
| CN110182620A (en) | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader | |
| CN114861956B (en) | Intelligent port integrated management system | |
| CN213211045U (en) | Ship hatch identification system for ship loader | |
| CN109926342A (en) | A kind of efficient sorting system of express delivery and its method for sorting | |
| CN106327044A (en) | Device and method for automatically identifying and positioning vehicle-mounted steel coils and vehicle saddles | |
| CN114998824A (en) | Vehicle loading and unloading task monitoring method, device and system | |
| US11873195B2 (en) | Methods and systems for generating landing solutions for containers on landing surfaces | |
| CN109164828A (en) | A kind of unmanned aerial vehicle group cooperative system and its operation method | |
| CN111805533B (en) | Device for workpiece blanking and workpiece blanking method based on visual positioning | |
| CN106904442B (en) | The fully automatic feeding machine people system and its feeding and transportation method of view-based access control model | |
| CN210176068U (en) | Digitalized system of unmanned chain bucket type continuous ship unloader | |
| CN113819844A (en) | Method, device and equipment for identifying traveling materials and readable storage medium | |
| CN109633620A (en) | The recognition methods of target object and device, operating equipment | |
| CN209871804U (en) | Scanning identification system of unmanned chain bucket type continuous ship unloader | |
| US20210370930A1 (en) | Method for operating a vehicle assistance system, device for executing the method, and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190924 Effective date of abandoning: 20231024 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190924 Effective date of abandoning: 20231024 |