阅读说明：本技术 一种抓斗卸船机的远程控制系统 (Remote control system of grab ship unloader ) 是由 沈策 习昊皓 王水明 司军营 王定华 陶杨军 于 2020-08-26 设计创作，主要内容包括：本发明公开了一种抓斗卸船机的远程控制系统,包括：数据实时采集模块、数据处理控制模块、动态三维显示模块,数据处理控制模块分别与数据实时采集模块和动态三维显示模块连接。数据实时采集模块可实时采集抓斗位置信息、物料轮廓信息和物料位置信息,数据实时采集模块将采集到的信息再反馈给数据处理控制模块,数据处理控制模块可根据收到的信息选取出最佳的取料点和最佳的取料运行路径,然后传输至控制抓斗运行的电控系统以执行抓取任务。与此同时,动态三维显示模块实时动态显示抓卸场景图像,以便于司机观察其工作情况,规避了视野盲区的问题,当出现异常情况时,以便于及时人工干预,进而保证抓卸物料的安全性。(The invention discloses a remote control system of a grab ship unloader, which comprises: the device comprises a data real-time acquisition module, a data processing control module and a dynamic three-dimensional display module, wherein the data processing control module is respectively connected with the data real-time acquisition module and the dynamic three-dimensional display module. The data real-time acquisition module can acquire position information of the grab bucket, material contour information and material position information in real time, the data real-time acquisition module feeds the acquired information back to the data processing control module, and the data processing control module can select an optimal material taking point and an optimal material taking operation path according to the received information and then transmit the optimal material taking point and the optimal material taking operation path to an electric control system for controlling the grab bucket to operate so as to execute a grabbing task. Meanwhile, the dynamic three-dimensional display module dynamically displays the grabbing and unloading scene images in real time, so that a driver can observe the working condition of the driver, the problem of a visual field blind area is avoided, and when an abnormal condition occurs, manual intervention is facilitated in time, and the safety of grabbing and unloading materials is further ensured.)

1. A remote control system of a grab ship unloader, comprising:

the data real-time acquisition module is used for acquiring position information of the grab bucket, material contour information and material position information;

the data processing control module is connected with the data real-time acquisition module and used for constructing a three-dimensional profile map of the material, selecting a material taking point and a material taking operation path and controlling the operation of the grab bucket;

and the dynamic three-dimensional display module is connected with the data processing module and is used for dynamically displaying the grabbing and unloading scene images.

2. The remote control system of the grab ship unloader of claim 1, wherein the data real-time acquisition module comprises a lower computer, a dual-wavelength pulse laser and a CCD camera, the dual-wavelength pulse laser and the CCD camera are used for acquiring holographic data of a material, and the lower computer is used for transmitting the holographic data to the data processing control module.

3. The remote control system of the grab ship unloader of claim 2, wherein the data real-time acquisition module further comprises a distance meter for measuring real-time position information of the grab.

4. The remote control system of the grab ship unloader of claim 2, wherein the data processing control module comprises an upper computer and a manual control panel, the upper computer is in communication connection with the lower computer, and the manual control panel is used for controlling the grab bucket to operate.

5. The remote control system of the grab ship unloader of claim 4, further comprising an alarm module for emitting an alarm signal when a distance between the material and the obstacle is less than a preset distance.

6. The remote control system of a grab ship unloader of claim 5, further comprising an emergency brake module connected to the alarm module, the emergency brake module configured to shut down the grab when the alarm module sends an alarm signal.

7. The remote control system of the grab ship unloader of claim 4, wherein the upper computer is connected with the lower computer through a 5G wireless communication module.

Technical Field

The invention relates to the technical field of grab ship unloaders, in particular to a remote control system of a grab ship unloader.

Background

The existing ship unloader is usually operated manually, a driver is positioned in a high-altitude cab and controls the grab bucket to operate by observing with naked eyes, and due to the severe high-altitude environment, the blocked vision and the influence of the self state of the driver, the grabbing operation precision is insufficient, misoperation is easy to occur, and the safety problem is caused.

Therefore, the ship unloaders are gradually introduced into a fully automatic control system. However, the conventional full-automatic control is usually open-loop control, and the influence of the external environment on the operation of the equipment is not considered, such as wind power, friction and other factors, so that manual intervention is still required to select a grabbing point, and then the system automatically performs automatic forward and backward compensation on the basis, but the ship unloading mode still has limitations due to the irregularity of the material surface.

Therefore, how to provide a remote control system of a grab ship unloader to improve the automation level and the ship unloading safety is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

In view of this, the present invention provides a remote control system for a grab ship unloader, which can realize closed-loop control and improve automation level and ship unloading safety.

In order to achieve the purpose, the invention provides the following technical scheme:

a remote control system for a grab ship unloader, comprising:

the data real-time acquisition module is used for acquiring position information of the grab bucket, material contour information and material position information;

the data processing control module is connected with the data real-time acquisition module and used for constructing a three-dimensional profile map of the material, selecting a material taking point and a material taking operation path and controlling the operation of the grab bucket;

and the dynamic three-dimensional display module is connected with the data processing module and is used for dynamically displaying the grabbing and unloading scene images.

Preferably, the real-time data acquisition module comprises a lower computer, a dual-wavelength pulse laser and a CCD (charge coupled device) camera, the dual-wavelength pulse laser and the CCD camera are used for acquiring holographic data of materials, and the lower computer is used for transmitting the holographic data to the data processing control module.

Preferably, the data real-time acquisition module further comprises a distance meter, and the distance meter is used for measuring real-time position information of the grab bucket.

Preferably, the data processing control module comprises an upper computer and a manual control panel, the upper computer is in communication connection with the lower computer, and the manual control panel is used for controlling the operation of the grab bucket.

Preferably, the device further comprises an alarm module, and the alarm module is used for sending out an alarm signal when the distance between the material and the barrier is smaller than a preset distance.

Preferably, the grab bucket further comprises an emergency braking module connected with the alarm module, and the emergency braking module is used for shutting down the grab bucket when the alarm module sends out an alarm signal.

Preferably, the upper computer is connected with the lower computer through a 5G wireless communication module.

Compared with the prior art, the technical scheme has the following advantages:

the invention provides a remote control system of a grab ship unloader, which comprises: the device comprises a data real-time acquisition module, a data processing control module and a dynamic three-dimensional display module, wherein the data processing control module is respectively connected with the data real-time acquisition module and the dynamic three-dimensional display module. The data real-time acquisition module can acquire position information of the grab bucket, material contour information and material position information in real time, the data real-time acquisition module feeds the acquired information back to the data processing control module, and the data processing control module can select an optimal material taking point and an optimal material taking operation path according to the received information and then transmit the optimal material taking point and the optimal material taking operation path to an electric control system for controlling the grab bucket to operate so as to execute a grabbing task. Meanwhile, the dynamic three-dimensional display module dynamically displays the grabbing and unloading scene images in real time, so that a driver can observe the working condition of the driver, the problem of a visual field blind area is avoided, and when an abnormal condition occurs, manual intervention is facilitated in time, and the safety of grabbing and unloading materials is further ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic block diagram of a remote control system of a grab ship unloader according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a grab ship unloader according to an embodiment of the present invention.

The reference numbers are as follows:

the device comprises a material 1, a grab bucket 2, a CCD camera 3, a dual-wavelength pulse laser 4, a range finder 5, a lower computer 6 and a cart 7.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and 2, fig. 1 is a schematic block diagram of a remote control system of a grab ship unloader according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a grab ship unloader according to an embodiment of the present invention.

The embodiment of the invention provides a remote control system of a grab ship unloader, which comprises: the device comprises a data real-time acquisition module, a data processing control module and a dynamic three-dimensional display module, wherein the data processing control module is respectively connected with the data real-time acquisition module and the dynamic three-dimensional display module; the data real-time acquisition module is used for acquiring position information of the grab bucket, material contour information and material position information; the data processing control module is used for constructing a three-dimensional profile map of the material 1, selecting a material taking point and a material taking operation path and controlling the operation of the grab bucket; and the dynamic three-dimensional display module is used for dynamically displaying the grabbing and unloading scene images. The working principle of the remote control system is as follows:

after the system is started, the data processing control module sends a starting command and transmits the starting command to the data real-time acquisition module, the data real-time acquisition module can acquire position information, material profile information and material position information of the grab bucket in real time, the data real-time acquisition module feeds the acquired information back to the data processing control module, and the data processing control module can select an optimal material taking point and an optimal material taking operation path according to the received information and then transmits the optimal material taking point and the optimal material taking operation path to an electric control system for controlling the operation of the grab bucket 2 to execute a grabbing task. Meanwhile, the dynamic three-dimensional display module dynamically displays the grabbing and unloading scene images in real time, so that a driver can observe the working condition of the driver, the problem of a visual field blind area is avoided, and when an abnormal condition occurs, manual intervention is facilitated in time, and the safety of grabbing and unloading materials is further ensured.

Specifically, the data real-time acquisition module comprises a lower computer 6, a dual-wavelength pulse laser 4 and a CCD camera 3, wherein the device for controlling the operation of the grab bucket 2 comprises a crane, a trolley and a cart 7, the crane is used for controlling the grab bucket 2 to lift, the trolley is used for controlling the crane to transversely move in a horizontal plane, and the cart 7 is used for controlling the trolley to longitudinally move in the horizontal plane. The dual-wavelength pulse laser 4 and the lower computer 6 are both positioned below a front girder of the cart 7, and the CCD camera 3 is positioned on one side of the grab bucket 2. The wavelengths of the dual-wavelength pulse laser 4 are 488nm and 514.5nm respectively, and after the dual-wavelength pulse laser 4 emits short laser pulse, the lower area is scanned with a tiny angle resolution standing point. Parallel lasers with different wavelengths but the same inclination angle are used for scanning the surface of the material 1, the surface of the material 1 and scattered light and reference light are overlapped and interfered to generate two holograms with different wavelengths, light intensity distribution of the holograms is collected by a CCD camera, and analog/digital conversion and quantification are carried out after the light intensity distribution is collected by a data collection card. After a large number of measurement data points are collected, preprocessing such as noise suppression, contrast enhancement and the like is firstly carried out, and the data are converted into point cloud data in a three-dimensional space. The dual-wavelength pulse laser 4 and the CCD camera 3 are communicated with the lower computer 6 through an industrial bus, the collected data are transmitted to the lower computer 6 to be analyzed and processed, holographic data of the grab bucket 2 and the material 1 are obtained, and the holographic data are transmitted to the data processing control module by the lower computer 6.

In addition, the data real-time acquisition module still includes distancer 5, and distancer 5 is used for measuring 2 real-time positional information of grab bucket, and the preferred laser range finder of distancer 5, laser range finder install at the dolly lower extreme, and laser range finder also carries out the communication through industrial bus and next computer 6.

Specifically, the data processing control module comprises an upper computer and a manual control panel, the upper computer is in communication connection with the lower computer 6, preferably, the upper computer is connected through a 5G wireless communication module, and communication efficiency can be improved. The upper computer obtains three-dimensional object field point cloud data displayed in a chromatography mode from the lower computer 6 through a wireless network, the +1 st-order diffraction light is reconstructed after interference terms are eliminated through a two-step phase shift method, 8-bit quantization (256 gray scales) is carried out on the hologram in order to be consistent with the actual situation, interference patterns of two reconstructed image light wave fields are contour diagrams of the material 1 to be measured, and the three-dimensional reconstruction of the material 1 is completed. Meanwhile, the upper computer also receives working state information (including motion, opening and closing states and the like) of the grab bucket 2, an optimal material taking point and a material taking running path are planned after calculation of the algorithm processor, then the system automatically grabs the material 1, specifically, an industrial personal computer of the electronic control system receives a control command sent by the upper computer, then the control command is converted into a character string conforming to a communication protocol and sends the command to various motors, the motors are also connected with the industrial personal computer through an industrial bus, and the motors include but are not limited to a trolley motor, a cart motor, an opening and closing motor, a lifting motor, an amplitude motor and a feeding motor. Under special conditions, such as emergency starting and stopping, a driver can control the grab ship unloader to operate through the manual control panel, and the full-automatic intelligent control mode is deactivated.

The working principle of the dynamic three-dimensional display module is as follows: the upper computer can simulate the traditional optical holographic reconstruction process through calculation, obtain the complex amplitude distribution of the light wave field of the original material through numerical calculation (inverse Fresnel transformation), display the intensity distribution on a display to obtain a brightness image, and display the phase distribution to obtain a contrast image, so that the three-dimensional contour information of the material 1 is formed. Wherein the inverse fresnel transform only needs to change z in h (x, y) in the fresnel diffraction formula to-z. The upper computer analyzes the material and the grab bucket information into static frame signals, and the static frame signals are loaded into the DMD light modulator in sequence for optical reproduction. The static frame signal is refreshed at high speed, and the human eye can see the dynamic effect. The DMD is a micro-electromechanical system, and hundreds of thousands to millions of micro-mirrors are arranged on a chip. When the DMD is powered on, each micromirror is independently selectable, and thus each micromirror has three states of on, off, and rest, thereby achieving incident light amplitude type modulation.

Further, the device also comprises an alarm module, wherein the alarm module is used for sending out an alarm signal when the distance between the material 1 and the barrier is smaller than the preset distance. In addition, the system is used for tracking the running state and the environmental condition of the grab bucket 2, and when the grab bucket 2 runs to an area needing deceleration, sudden stop and the like, the alarm module can also send out an alarm signal. And the emergency braking module is connected with the alarm module and is used for shutting down the grab bucket 2 when the alarm module sends an alarm signal.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The remote control system of the grab ship unloader provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.