The invention discloses a full-automatic control system of a grab bucket type ship unloader, which comprises a ship unloader positioning system for acquiring real-time position data of a lifting mechanism, a large trolley mechanism and a small trolley mechanism to form a space coordinate system of a working environment of the ship unloader; the data acquisition and processing system is used for performing data acquisition and analysis on the ship unloader body and the operation main body (ships and materials) by adopting multi-type (laser radar, intelligent video and the like) and multi-dimensional sensing elements and a corresponding data processing technology; the control system is used for realizing full-automatic operation and abnormal fault alarm of the ship unloader according to the collected and analyzed data and the production scheduling instruction; and remote monitoring and the like are realized. According to the system, through real-time spatial position detection of the grab bucket and a closed-loop anti-swing control algorithm, stable and flexible control over the grab bucket is achieved, and accurate positioning is achieved; the main arrangement and the monitoring interface of the system are placed on a remote operation table of a central control room with a comfortable environment, so that the working environment of operators of the ship unloader is greatly improved, and the working safety is improved.
本发明公开了一种抓斗式卸船机全自动控制系统,包括:卸船机定位系统,采集起升、大、小车机构的实时位置数据,构成卸船机作业环境的空间坐标系统;数据采集和处理系统,采用多类型(激光雷达、智能视频等)、多维度的传感元件及相应的数据处理技术对卸船机本体和作业主体(船舶和物料)进行数据采集分析;控制系统,根据采集分析后的数据和生产调度指令,实现卸船机的全自动运行,异常故障报警;远程监控等功能。该系统通过对抓斗实时空间位置检测和闭环防摇控制算法,实现抓斗的稳定柔性控制,且精准定位;该系统的主要设置和监控界面放在环境舒适的中控室的远程操作台上大大改善了卸船机操作人员的工作环境,提高了工作安全性。
Full-automatic control system of grab bucket type ship unloader
一种抓斗式卸船机全自动控制系统
2023-06-13
Patent
Electronic Resource
Chinese
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