The invention provides a collaborative ship unloading operation method for a grab ship unloader and a gantry crane. The collaborative ship unloading operation method comprises the following steps: obtaining point cloud data; establishing a whole ship point cloud model; the corresponding grab ship unloader and the portal crane are controlled to move to the initial standing positions; a ship unloading operation strategy is automatically generated, operation paths of the grab ship unloader and the portal crane are planned, and the corresponding grab ship unloader and the portal crane are controlled to carry out unloading operation on the corresponding operation cabins; and the control part controls the grab ship unloader and the portal crane to automatically change cabins, and controls the portal crane to replace the adjacent grab ship unloader to clean the cabins. The invention provides a collaborative ship unloading operation system for a grab ship unloader and a gantry crane. The cooperative efficiency of the portal crane and the grab ship unloader in operation and path planning is improved, and therefore the ship unloading efficiency is improved.
本发明提出一种抓斗卸船机与门座起重机协同卸船作业方法,包括:获得点云数据;建立全船点云模型;控制对应的抓斗卸船机和门座起重机移动至初始站位位置;自动生成卸船作业策略,规划抓斗卸船机和门机的作业路径,控制对应的抓斗卸船机和门座起重机对各自对应的作业船舱进行卸料作业;控制部分抓斗卸船机和门座起重机进行自动换舱,并控制门座起重机接替相邻抓斗卸船机进行清舱作业。本发明提出一种抓斗卸船机与门座起重机协同卸船作业系统。本发明提高了门机与抓斗卸船机在作业及路径规划上的协同效率,从而提高卸船效率。
Cooperative ship unloading operation method and system for grab ship unloader and gantry crane
一种抓斗卸船机与门座起重机协同卸船作业方法及系统
2024-10-08
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Grab ship unloader as well as driving method and device of grab ship unloader
European Patent Office | 2015
|Ship unloader grab bucket control method and device, ship unloader and storage medium
European Patent Office | 2023
|