CN115709914A - Grab bucket anti-swing control method and device of door type ship unloader - Google Patents
Grab bucket anti-swing control method and device of door type ship unloader Download PDFInfo
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Abstract
The utility model provides a grab bucket anti-swing control method and a device of a gate ship unloader, comprising the following steps: acquiring a grab image, operation parameter information of the door type ship unloader and a target position of the grab at the current moment; calculating the actual position of the grab bucket based on the image of the grab bucket; calculating the theoretical position of the grab bucket, the theoretical backspin speed of the grab bucket and the duration of a simple pendulum based on the operation parameter information; calculating a deceleration control value based on the theoretical revolving speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the initial deceleration position of the grab bucket based on the single pendulum time length and the target position of the grab bucket; the rotation of the cantilever is controlled based on the starting deceleration position of the grab bucket and the deceleration control value, so that the starting deceleration position of the grab bucket and the deceleration control value can be accurately calculated, the stable control of the rotation process of the grab bucket is realized, the grab bucket is in a static state when rotating to the position above the target position of the ship to be unloaded, and the ship unloading efficiency is improved.
Description
Technical Field
The disclosure relates to the technical field of automatic control, in particular to a method and a device for controlling anti-swing of a grab bucket of a gate-type ship unloader.
Background
The gate seat grab ship unloader (i.e. gate ship unloader) is a grab ship unloader with a long cantilever large amplitude and a rotatable mechanism. The gate seat large vehicle runs along the dock ground rail, which is the most widely used bulk cargo ship unloader. When unloading through the gate-type ship unloader, need the operation personnel to control the gyration of cantilever according to the experience, and then realize the control of circling round of the grab bucket of connecting on the cantilever. Because the conventional convolution control process is manually controlled, the stable control of the convolution process of the grab bucket is difficult to realize, so that the grab bucket shakes when convoluted to the position above the target position of the ship to be unloaded, and the ship unloading efficiency is reduced.
Disclosure of Invention
In view of this, the present disclosure provides a method and a device for controlling anti-swing of a grapple of a gate-type ship unloader, which can stably control a swing process of the grapple, so that the grapple is in a stationary state when swinging to a position above a target position of a ship to be unloaded, thereby improving ship unloading efficiency.
According to a first aspect of the present disclosure, there is provided a grab bucket anti-swing control method of a gate type ship unloader, comprising:
acquiring a grab image at the current moment, operation parameter information of the door type ship unloader and a target position of the grab;
calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket;
respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical turning speed of the grab bucket and the single-pendulum duration of the grab bucket swinging once after the cantilever turning is stopped at the current moment based on the operation parameter information;
calculating a deceleration control value for deceleration control based on the theoretical slewing speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating a position for starting deceleration of the grab bucket based on the single pendulum time length and the target position of the grab bucket;
and performing slewing control on the cantilever based on the grab bucket starting deceleration position and the deceleration control value.
In one possible implementation manner, when calculating the actual position of the grab bucket at the current moment based on the grab bucket image, the method is implemented by adopting a convolutional neural network.
In one possible implementation manner, the operation parameter information includes: at least one of boom position, boom arm length, boom slewing angular velocity, cable length, and boom maximum slewing angular velocity.
In a possible implementation manner, when calculating the theoretical bucket slewing speed at the current time based on the operation parameter information, the method includes:
calculating the turning radius of the grab bucket at the current moment based on the arm length of the cantilever, the rotation angular speed of the cantilever and the length of the cable;
calculating the corresponding maximum gyration radius of the grab bucket based on the maximum gyration angular velocity of the cantilever;
and calculating the theoretical slewing speed of the grab bucket based on the change from the maximum slewing angular speed of the cantilever and the centripetal force corresponding to the maximum slewing radius of the grab bucket to the maximum centripetal force corresponding to the slewing angular speed of the cantilever and the slewing radius of the grab bucket.
In one possible implementation manner, when calculating a single pendulum time length of the grab bucket swinging once after stopping the cantilever from revolving at the current time based on the operation parameter information, the method includes:
calculating the inclination angle of the cable at the current moment based on the cantilever arm length, the cable length and the cantilever rotation angular velocity;
calculating the gyration radius of the grab bucket at the current moment based on the cable inclination angle, the cantilever arm length and the cable length;
and calculating the single-pendulum duration based on the combination of the grab bucket gyration radius, the cable length, the cantilever gyration angular speed and the grab bucket quality.
In one possible implementation, when calculating the deceleration control value for deceleration control based on the theoretical grab swing speed, the simple swing time period, the theoretical grab bucket position, and the actual grab bucket position, the method includes:
calculating a deceleration reference value for deceleration control based on the theoretical gyrating speed of the grab bucket and the duration of the simple pendulum;
calculating a deceleration correction value for deceleration control based on the deviation value between the actual position of the grab bucket and the theoretical position of the grab bucket;
a deceleration control value for deceleration control is obtained based on the deceleration reference value and the deceleration correction value.
In one possible implementation manner, when calculating the position of the grab bucket starting to decelerate based on the length of the simple pendulum and the target position of the grab bucket, the method includes:
calculating the distance required by deceleration based on the combination of the simple pendulum duration and the maximum rotation angular speed of the cantilever;
and calculating the speed reduction starting position of the grab bucket based on the speed reduction required distance and the grab bucket target position.
In one possible implementation, when the swing control is performed on the boom based on the grapple starting deceleration position, the deceleration control value, and the boom position, the control method includes:
judging whether the position of the cantilever is consistent with the position of the grab bucket for starting deceleration;
and under the condition that the position of the cantilever is judged to be consistent with the position of the grab bucket for starting deceleration, controlling the cantilever to rotate and decelerate according to the deceleration control value.
In a possible implementation manner, the method for controlling the grab bucket anti-swing of the gantry ship unloader further includes:
calculating the actual speed of the grab bucket at the current moment based on the image of the grab bucket;
predicting the actual position and the actual speed of the grab bucket at the next moment according to the actual position and the actual speed of the grab bucket;
judging whether the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket or not;
under the condition that the actual position of the grab bucket at the next moment is judged to be consistent with the target position of the grab bucket, judging whether the motion state of the grab bucket meets a static threshold value;
and under the condition that the actual speed of the grab bucket meets the static threshold value, determining that the grab bucket is static, and controlling the cantilever to stop rotating.
According to a second aspect of the present disclosure, there is provided a grab bucket anti-swing control apparatus of a gate ship unloader, including:
the data acquisition module is used for acquiring a grab image at the current moment, the operation parameter information of the portal ship unloader and the target position of the grab;
the actual position calculation module of the grab bucket is used for calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket;
the single pendulum duration calculation module is used for respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical revolving speed of the grab bucket and the single pendulum duration of the grab bucket swinging once after the cantilever is stopped to revolve at the current moment based on the operation parameter information;
the control parameter calculation module is used for calculating a deceleration control value for deceleration control based on the theoretical slewing speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the position of the grab bucket for starting deceleration based on the single pendulum time length and the target position of the grab bucket;
and the control module is used for carrying out rotation control on the cantilever based on the starting deceleration position of the grab bucket and the deceleration control value.
When the grab bucket of the door type ship unloader is subjected to anti-swing control, the image of the grab bucket at the current moment, the operation parameter information of the door type ship unloader and the target position of the grab bucket are obtained; then, calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket; respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical turning speed of the grab bucket and the single-pendulum duration of the grab bucket swinging once after the cantilever turning is stopped at the current moment based on the operation parameter information; calculating a deceleration control value for deceleration control based on the theoretical revolving speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the initial deceleration position of the grab bucket based on the single pendulum time length and the target position of the grab bucket; and finally, performing rotation control on the cantilever based on the starting deceleration position of the grab bucket and the deceleration control value. That is to say, the accurate calculation of the starting deceleration position of the grab bucket and the deceleration control value is realized through the real-time acquired grab bucket image, the running parameter information of the portal ship unloader, the target position of the grab bucket and other information, so that the stable control of the circling process of the grab bucket is realized, the grab bucket is in a static state when circling to the position above the target position of the ship to be unloaded, and the ship unloading efficiency is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 illustrates a flow chart of a method of grab anti-swing control of a gate ship unloader according to an embodiment of the present disclosure;
FIG. 2 illustrates a machine mechanical configuration presentation of a gantry ship unloader, according to an embodiment of the present disclosure;
FIG. 3 shows an experimental result presentation graph according to an embodiment of the present disclosure;
FIG. 4 illustrates a cantilever swivel angle illustration according to an embodiment of the present disclosure;
fig. 5 shows an experimental result presentation diagram according to another embodiment of the present disclosure;
fig. 6 shows a schematic block diagram of a grapple anti-swing control device of a gate ship unloader according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.
< method example >
Fig. 1 shows a flowchart of a grab bucket anti-swing control method of a gate-type ship unloader according to an embodiment of the present disclosure. As shown in fig. 1, the method includes steps S1100-S1500.
And S1100, acquiring the image of the grab bucket at the current moment, the operation parameter information of the door type ship unloader and the target position of the grab bucket.
The grab image is acquired by a high-definition camera device arranged at the front end of an image beam of the portal ship unloader (namely, the position of an olecranon in figure 2). Specifically, in the rotating process of the cantilever, the camera device collects images of the grab bucket in real time and sends the images of the grab bucket to a server configured in an electric control room, so that the server can calculate the actual position of the grab bucket at the current moment based on the images of the grab bucket collected in real time.
The operation parameter information of the gate ship unloader is acquired through a plurality of sensing devices arranged on the gate ship unloader. Specifically, in the circling process of the cantilever, each sensing device collects the operation parameter information of the door-type ship unloader in real time and sends the collected operation parameter information to a server configured in an electrical control room, so that the server can calculate the theoretical position of the grab bucket at the current moment, the theoretical circling speed of the grab bucket and the single-pendulum duration of swinging of the grab bucket once after the circling of the cantilever is stopped at the current moment based on the real-time collected operation parameter information.
In one possible implementation, the operation parameter information collected in real time includes: at least one of boom position (i.e. position of the olecranon in fig. 2), boom arm length (i.e. r in fig. 2), boom slewing angular velocity, cable length (i.e. L in fig. 2) and boom maximum slewing angular velocity at the current time. It should be noted here that the maximum rotation angular velocity of the cantilever is constant and can be achieved during each rotation of the cantilever.
The target position of the grab bucket is the position of the designated cargo on the vessel to be unloaded relative to the gantry unloader. Under the condition that the position of the designated goods on the ship to be unloaded and the position of the portal ship unloader are fixed, the target position of the grab bucket is a fixed value.
And S1200, calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket at the current moment.
In one possible implementation manner, when the actual position of the grab bucket at the current moment is calculated based on the image of the grab bucket at the current moment, the actual position is realized by adopting a convolutional neural network.
It should be noted here that a convolutional neural network having a grapple recognition function needs to be constructed in advance before the present step is performed. The method for constructing the convolutional neural network with the grab bucket identification function comprises the following steps: firstly, grab bucket images under various environmental conditions such as daytime natural light, night lamplight, cloudy days, haze days and the like are collected through the camera device arranged on the olecranon mouth respectively to be used as sample images, and grab bucket outlines are marked in the sample images. Secondly, training parameters of a convolutional neural network model with a target recognition function by adopting the sample image and the marked grab bucket outline so as to obtain the convolutional neural network capable of recognizing the grab bucket outline. The convolutional neural network model with the target identification function may be a gaussian mixture model GMM, or may be another convolutional neural network with the target identification function, which is not specifically limited herein.
After the construction of the convolutional neural network with the grab bucket identification function is completed, the actual position of the grab bucket at the current moment can be calculated by adopting the pre-constructed convolutional neural network based on the image of the grab bucket at the current moment.
In one possible implementation, the steps S1210 to S1230 are included when calculating the actual position of the grab bucket at the current time based on the image of the grab bucket at the current time by using a pre-constructed convolutional neural network.
And S1210, inputting the image of the grab bucket at the current moment into a pre-constructed convolutional neural network so as to identify the contour information of the grab bucket through the convolutional neural network.
And S1220, calculating the relative mass center position of the mass center of the grab bucket relative to the cantilever eagle mouth based on the contour information of the grab bucket. Specifically, the contour information of the grab bucket comprises position coordinates of a plurality of grab bucket contour points, and the position coordinates of the plurality of contour points are subjected to mean value calculation to obtain average position coordinates of the plurality of contour points. The average position coordinate is the coordinate of the mass center of the grab bucket. Based on the coordinates of the mass center of the grab bucket, the relative mass center position of the mass center of the grab bucket relative to the cantilever eagle mouth can be obtained by combining the height of the grab bucket relative to the cantilever eagle mouth.
And S1230, calculating the actual position of the grab bucket at the current moment based on the relative mass center position and the current cantilever position. Wherein, the current cantilever position is the position of the cantilever olecranon at the current moment.
For example, in the case where the position coordinates of the cantilever at the current time are (x, y, z) and the position coordinates of the relative centroid are (x ', y', h '), the actual position coordinates of the grapple are (x + x', y + y ', z-h').
In order to verify the accuracy of calculating the actual position of the grab bucket, a plurality of groups of test experiments are performed, and the experimental results are shown in fig. 3. As can be seen from fig. 3, the actual position of the grab bucket calculated by the method of the present disclosure (i.e., the calculated position of the grab bucket in fig. 3) is substantially the same as the actual measured position of the grab bucket (i.e., the actual position of the grab bucket in fig. 3), so that it is proved that the accuracy of calculating the actual position of the grab bucket can be improved by the method of the present disclosure.
And S1300, respectively calculating the theoretical position and the theoretical rotating speed of the grab bucket at the current moment and the single pendulum duration of the grab bucket swinging once after the cantilever rotation is stopped at the current moment based on the operation parameter information of the door type ship unloader.
In a possible implementation manner, when calculating the theoretical slewing speed of the grab bucket at the current moment based on the operation parameter information, the method comprises the following steps:
first, the boom arm length r based on the current time k k Angular velocity ω of cantilever rotation k And cable length L k Calculating the gyration radius R of the grab bucket at the current moment k 。
It should be noted here that equations (1) to (3) can be derived from the law of motion, force analysis and mechanical structure of the portal crane.
F＝m*R*ω 2 (1)
In the formula, F is the centripetal force applied to the grab bucket, m is the mass of the grab bucket, R is the gyration radius of the grab bucket, omega is the rotation angular speed of the cantilever, theta is the inclination angle of the cable, G is the gravity of the grab bucket, G is the relation coefficient of the gravity and the mass, G is approximately equal to 9.8n/kg, R is the length of the cantilever, and L is the length of the cable.
The relation (4) between the cantilever rotation angular speed omega and the cable inclination angle theta can be derived by combining the formula (2) and the formula (3):
after the relation between the rotation angular speed omega of the cantilever and the phase inclination angle theta of the cable is obtained, the length r of the cantilever at the current moment is determined k Angular velocity ω of cantilever rotation k And cable length L k The inclination angle theta of the cable at the current moment can be calculated by combining the relation coefficient g of gravity and mass k 。
Calculating the inclination angle theta of the cable at the current moment k Then, the inclination angle theta of the cable at the current moment is measured k Length L of cable k And cantilever arm length r k The formula (3) is substituted to calculate the gyration radius R of the grab bucket at the current moment k 。
Secondly, based on the maximum rotation angular velocity omega of the cantilever max Calculating the maximum rotation omega of the cantilever max Corresponding maximum gyration radius R of the grab bucket max . Specifically, the maximum rotation angular velocity ω of the cantilever is set max Maximum angular velocity ω of rotation of the cantilever max Corresponding cantilever arm length r max And cable length L max And the relation coefficient g of gravity and mass is substituted into the formula (4), the maximum rotation of the cantilever can be calculatedAngular velocity omega max Corresponding cable inclination angle theta max . The cable is inclined at an angle theta max Length L of cable max And cantilever arm length r max The maximum rotation omega of the cantilever can be obtained by substituting the formula (3) max Corresponding maximum gyration radius R of the grab bucket max 。
Finally, based on the maximum rotation angular velocity omega of the cantilever max And maximum gyration radius R of the grab bucket max Corresponding centripetal force to cantilever rotation angular velocity omega at the current moment k And current grapple radius of gyration R k Corresponding centripetal force change is carried out to calculate the theoretical rotating speed V of the grab bucket at the current moment k . Wherein, the theoretical rotating speed V of the grab bucket at the current moment k The formula (5) is shown below.
In the formula, V k Is the theoretical rotating speed of the grab bucket at the current moment, R max For maximum angular velocity ω of rotation of the cantilever max Corresponding maximum gyration radius, omega, of grab bucket max Is the maximum angular velocity of rotation of the cantilever (r) k +sin(θ k )*L k ) Namely the gyration radius R of the grab bucket at the current moment k ，ω k Is the current angular velocity of the cantilever, θ max Is the maximum angular velocity omega of the cantilever max Corresponding cable inclination angle theta max 。
In a possible implementation manner, when calculating the single pendulum time length of the grab bucket swinging once after the cantilever rotation is stopped at the current time based on the operation parameter information, the method includes the following steps:
first, the boom arm length r based on the current time k Length L of cable k And angular velocity ω of cantilever rotation k Calculating the inclination angle theta of the cable at the current moment k . The specific calculation process is described above and will not be described herein.
Secondly, the inclination angle theta of the cable based on the current time k Arm length r of arm k Length L of cable k Calculating the gyration radius of the grab at the current momentR k . The specific calculation process is described above, and is not described herein again.
Finally, the grab bucket gyration radius R based on the current moment k Length L of cable k Angular velocity ω of cantilever rotation k And the single-pendulum time length T of the grab bucket swinging once after the cantilever rotation is stopped at the current moment is calculated by combining the mass m of the grab bucket k 。
It should be noted here that, during the rotation of the grab bucket, since the connection between the grab bucket and the olecranon is connected through the cable, the speed of the grab bucket is related to the angular speed of the rotation of the cantilever during the rotation, and the whole process is similar to a pendulum, wherein the swing time calculation formula of the pendulum is shown as formula (6).
In the formula, T is the time length of a single pendulum, L is the length of a mooring rope, and g is the gravity acceleration.
Since the grab bucket is influenced by the inclined pulling force in the moving process to influence the gravity acceleration value, the speed of the grab bucket in the horizontal direction needs to be calculated in the application, and therefore g in the formula (6) needs to be replaced by centripetal acceleration. That is, the simple pendulum duration T of the grab bucket swinging once in the horizontal direction after the cantilever rotation is stopped at the current time T can be derived according to the formula (1) and the formula (6) k Equation (7).
In the formula, T k The length of the simple pendulum is L k The length of the cable at the current time, R k Is the gyration radius, omega, of the grab bucket at the current moment k Angular velocity of cantilever rotation at the current moment.
In a possible implementation manner, when calculating the theoretical position of the grab bucket at the current moment based on the operation parameter information, the following formula can be used for realizing the calculation.
x k ＝(r k +L k *sin(θ k ))*sin(β k ) (8)
y k ＝(r k +L k *sin(θ k ))*cos(β k ) (9)
z k ＝z-r k *cos(θ k ) (10)
In the formula (x) k ，y k ，z k ) Is the theoretical position r of the grab bucket at the current moment k k Is the cantilever arm length at the current time k, L k Is the length of the cable at the current time k, theta k Angle of inclination of cable at the current moment, beta k Z is the jib slewing angle (i.e. the angle β in fig. 4) at the current time k, and the ordinate of the jib position is a fixed value during the slewing of the jib.
And S1400, calculating a deceleration control value for deceleration control based on the theoretical revolving speed of the grab bucket, the duration of the single pendulum, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the position of the grab bucket starting deceleration based on the duration of the single pendulum and the target position of the grab bucket.
In a possible implementation, the theoretical slewing speed V of the grab bucket is based on the current moment k Time length of simple pendulum T k The method comprises the following steps of when calculating a deceleration control value for deceleration control according to a theoretical position of the grab bucket and an actual position of the grab bucket:
firstly, based on the theoretical gyration speed V of the grab bucket at the current time t k Sum simple pendulum duration T k Calculating a deceleration reference value a for deceleration control calculated at the present time 1k 。
It should be noted here that, in order to ensure that the grab bucket does not swing (i.e., is in a stationary state) after the cantilever stops rotating and stopping (i.e., after the rotation of the grab bucket is completed), the theoretical rotation speed of the grab bucket needs to be reduced to 0 within a half of the duration of a simple pendulum to avoid the swing of the grab bucket, and the deceleration meeting this process is the deceleration reference value. Specifically, for the current time k, the corresponding deceleration at the current time can be calculated based on the formula (11)Reference value a 1k 。
In the formula, V k Theoretical slewing velocity of the grab bucket, T, at the current moment k k The single pendulum duration, a, of one-time swing of the grab bucket in the horizontal direction after the cantilever is stopped from rotating at the current moment k 1k The corresponding deceleration reference value at the current time.
Secondly, based on the deviation value of the actual position and the theoretical position of the grab bucket at the current time, a deceleration correction value a for deceleration control is calculated 2k . In a possible implementation manner, a deviation value between the actual position and the theoretical position of the grab bucket (i.e., a difference value between the theoretical position and the actual position) at the current time is calculated, and then the deviation value is multiplied by a preset fixed coefficient, so as to obtain a deceleration correction value for deceleration control. Wherein the fixed coefficient can be calculated according to the formula (12).
In the formula eta k Is a fixed coefficient at the current time k, R tk The gyration radius R of the grab bucket corresponding to the theoretical position of the grab bucket at the current moment k rk The gyration radius omega of the grab bucket corresponding to the actual position of the grab bucket at the current moment k k Is the angular velocity, V, of the cantilever at the current time k k For actual speed of movement of the grab, LC max Is the maximum value of the simple resonance of the grab bucket. Wherein LC max ＝5*π/180。
Finally, based on the deceleration reference value a corresponding to the current time 1k Deceleration correction value a corresponding to current time 2k Obtaining the deceleration control value a corresponding to the current time for deceleration control k . Specifically, the deceleration reference value a 1k And deceleration correction value a 2k Adding up to obtain deceleration control value a k 。
In one possible implementation manner, when the speed reduction starting position of the grab bucket is calculated based on the length of the simple pendulum and the target position of the grab bucket, the method comprises the following steps:
firstly, based on the simple pendulum time length T at the current moment k Combined with maximum angular velocity ω of rotation of the cantilever max Calculating the required deceleration distance S corresponding to the current time 1k . Specifically, the distance S required for deceleration can be calculated by the formula (13) 1k 。
Next, the required deceleration distance S is determined based on the current time 1k And calculating the starting deceleration position of the grab bucket. In particular, the target position of the grab can be set to the distance S required for deceleration 1k The difference value of (a) is used as the starting deceleration position of the grab.
And S1500, performing rotation control on the cantilever based on the starting deceleration position of the grab bucket and the deceleration control value.
In one possible implementation, when the grab bucket is subjected to the swing control based on the grab bucket starting deceleration position, the deceleration control value and the cantilever position, the method comprises the following steps:
firstly, judging whether the position of the cantilever at the current moment is consistent with the calculated position of the grab bucket for starting deceleration. Specifically, if the difference between the position of the boom at the present time and the calculated position at which the grapple starts decelerating is smaller than the set first threshold, it can be determined that the positions of the boom and the grapple are the same. If the difference between the cantilever position at the current moment and the calculated grab bucket deceleration starting position is larger than a set first threshold value, the positions of the cantilever position and the grab bucket deceleration starting position are judged to be inconsistent. Wherein, the first preset threshold may range from-1 degree to 1 degree.
And secondly, controlling the cantilever to rotate and decelerate according to the deceleration control value under the condition that the position of the cantilever is judged to be consistent with the position of the grab bucket for starting deceleration.
In a possible implementation manner, the method for controlling the grab bucket anti-rolling of the gate-type ship unloader further comprises the following steps:
first, based on the image of the grab bucket, the actual speed of the grab bucket at the current moment is calculated. Specifically, the actual position of the grab bucket at each moment can be calculated by referring to the above steps, so that, for the current moment k, the difference value between the actual position of the grab bucket at the current moment k and the actual position of the grab bucket at the previous moment k-1 can be calculated, and the difference value is taken as the actual position offset of the adjacent moment.
Then, the actual speed of the grab bucket at the current moment k can be obtained by dividing the actual position offset by the time interval of the adjacent moments.
And secondly, predicting the actual position and the actual speed of the grab bucket at the next moment according to the actual position and the actual speed of the grab bucket.
In a possible implementation mode, the actual position and the actual speed of the grab bucket at the next moment are predicted according to the actual position and the actual speed of the grab bucket, and the method is implemented based on a Kalman filtering model established in advance.
It should be noted here that the kalman filtering model needs to be constructed in advance before this step is performed. When constructing the Kalman filtering model, the method comprises the following steps:
first, equation (14) -equation (15) can be derived from the law of uniform deceleration motion.
V k+1 ＝V k +T 0 *A k (15)
In the formula, S k Actual position of grab calculated at current time k, S k+1 For the predicted actual position of the grab at the next time k +1, V k Actual operating speed, V, of the grab bucket calculated at the current moment k k+1 To predict the actual operating speed, T, of the grab at the next moment k +1 0 Is the time interval between two adjacent time instants, A k Is the acceleration of the grab.
It should be noted here that the movement of the grapple can be decomposed into a movement in the direction of the mechanical arm and a random movement caused by environmental factors. The movement track of the grab bucket in the direction of the mechanical arm is similar to an equiangular spiral line, the movement speed in the direction is related to the acceleration movement of the cantilever, and the movement speed of the grab bucket in the directions x and y is close to uniform deceleration movement during deceleration through collecting and comparing the movement position data of the grab bucket for multiple times, so that the movement of the grab bucket in the direction of the mechanical arm is regarded as uniform deceleration movement in order to reduce the complexity of calculating data.
During actual operation of the grab bucket, the grab bucket acceleration A k Is the acceleration mu of movement of a mechanical simple pendulum k And random acceleration gamma caused by weather k Composition, whereby the grab acceleration A shown in the formula (16) can be obtained k The calculation formula of (2).
A k ＝μ k +γ k (16)
In one possible implementation, the acceleration μ of the movement of the mechanical pendulum k Can be calculated by the equations (17) to (19).
First, the centripetal force to which the grapple is subjected at the current time k is calculated according to formula (17).
In the formula, F k Is the centripetal force, V, received by the grab bucket at the current moment k k Is the actual operating speed of the grab bucket at the current moment k, R k And the rotating radius of the grab bucket corresponding to the actual position of the grab bucket at the current moment k.
Next, the inclination angle of the cable at the current time k is calculated according to equation (18).
Wherein m is the mass of the grab bucket, theta k Is the cable inclination at the current time k.
Finally, when the speed of the grab bucket is reduced, the acceleration formula (19) obtained according to the corresponding stress analysis is calculatedThe motion acceleration mu of the mechanical simple pendulum of the grab bucket at the current moment k k 。
In the formula, mu k The motion acceleration of the grab bucket mechanical simple pendulum at the current moment k is obtained.
It should be noted here that in an ideal state (i.e., a state where the grapple is decelerating at a reduced speed and is not affected by external random acceleration such as air resistance), the random acceleration γ is set to be equal to or smaller than the predetermined value k Is zero mean.
Second, the observation equation of the motion of the grab bucket (i.e., kalman filter model) shown in equation (20) can be derived from equation (14) to equation (15).
In the formula, F (k + 1) is a motion state of the grab bucket at the time k +1.
After the Kalman filtering model is obtained, for the current moment k, the actual position S of the grab bucket at the current moment k is obtained k And actual rotating speed V of the grab bucket k Inputting the actual position S of the grab bucket into the Kalman filtering model to predict the actual position S of the grab bucket at the next moment k +1 k+1 And actual rotating speed V of the grab bucket at the next moment k +1 k+1 。
And then, judging whether the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket. Specifically, if the difference between the actual position of the grapple and the target position of the grapple at the next time k +1 is smaller than the set second threshold value, it can be determined that the actual position and the target position of the grapple coincide with each other. And if the difference between the actual position of the grab bucket and the target position of the grab bucket at the next moment k +1 is larger than a set second threshold value, judging that the actual position of the grab bucket and the target position of the grab bucket are inconsistent. Wherein the second threshold may range from plus or minus 0.1 × grab radius, for example, when the grab radius is 3m, the second threshold may range from-0.3 m to +0.3m. Wherein, the grab bucket radius is set according to the grab bucket model. In particular, half the length of the grapple may be taken as the radius of the grapple. For example, the grab type: u80 light 9 cube single rope suspension grab bucket, the bucket length and width 3350 × 1990 (unit mm), the maximum opening 4280mm, and the grab bucket radius 3350/2=1675mm. As another example, the grab bucket model: the U82 light 15-cube single-rope suspension grab bucket has a bucket length and width of 3850 × 2290 (unit mm), and is opened for 4280mm at the maximum, so that the radius of the grab bucket is 3850/2=1925mm.
In a possible implementation, after obtaining the kalman filter model, the motion state of the grapple can be further extended to a two-dimensional plane, where the motion state F (k) of the grapple can be as shown in equation (21).
F(k)＝[x(k),vx(k),y(k),vy(k)] (21)
In the formula, F (k) is a motion state of the grab bucket at time k, x (k) is an actual position of the grab bucket in the x direction at time k (equal to an abscissa of the actual position of the grab bucket at time k), y (k) is an actual position of the grab bucket in the y direction at time k (equal to an ordinate of the actual position of the grab bucket at time k), vx (k) is an actual turning speed of the grab bucket in the x direction at time k (equal to an abscissa of the actual turning speed of the grab bucket at time k), vy (k) is an actual turning speed of the grab bucket in the y direction at time k (equal to an ordinate of the actual turning speed of the grab bucket at time k).
Thus, the kalman filtering model in the two-dimensional plane can be obtained by combining the formula (20) and the formula (21), which can be specifically shown in the formula (22).
In this implementation, the actual position S of the grab bucket at the current time k is calculated k And actual rotating speed V of the grab bucket k And then, decomposing the data into two dimensions, inputting the obtained two-dimensional data into a Kalman filtering model shown in a formula (22), and finally predicting the two-dimensional motion state of the grab bucket at the next moment.
And thirdly, under the condition that the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket, judging whether the motion state of the grab bucket meets a static threshold value.
In an implementation manner of decomposing the motion state of the grapple into two dimensions, after predicting the two-dimensional motion state of the grapple at the next time, a standstill determination value is calculated based on the formula (23), and it is determined whether or not the standstill threshold value satisfies a preset standstill threshold value.
Wherein δ (k) is a predetermined measurement error.
In one possible implementation, the measurement error δ (k) may be calculated as shown in equation (24) below.
Here, when performing image edge detection, at least 3 × 3 pixels of one pixel matrix are required to perform gaussian noise reduction processing on an image, and when no consideration is given to enhancement in boundary recognition and errors caused by manual labeling by a neural network, the recognition error of the boundary on one side of the image is 3 pixels at the minimum, and therefore, the recognition error of the image in the width direction is 3 × 2=6 pixels.
And finally, under the condition that the motion state of the grab bucket meets the static threshold value, determining that the grab bucket is static, and controlling the cantilever to stop rotating. Specifically, under the condition that the static judgment value is smaller than the preset third threshold, it can be judged that the grab bucket can be in a static state at the next moment, and at this moment, a static signal is formed and sent to the control device for controlling the cantilever to rotate, so that the control device finishes the rotation control of the cantilever. The value range of the third threshold may be plus or minus 0.5 × grab radius, for example, when the grab radius is 3m, the range of the third threshold may be-1.5 m to +1.5m.
In order to verify the anti-swing effect of the grab bucket, a plurality of test experiments are performed, and the test results are shown in fig. 5. In fig. 5, the upper curve is the existing grab bucket swing stopping time length data, and the lower curve adopts the grab bucket swing stopping time length data corresponding to the grab bucket anti-swing method disclosed by the invention, obviously, the grab bucket tends to a static state more quickly when reaching a target position by adopting the grab bucket anti-swing method disclosed by the invention, so that the ship unloading efficiency is improved.
When the grab bucket of the door type ship unloader is subjected to anti-swing control, the image of the grab bucket at the current moment, the operation parameter information of the door type ship unloader and the target position of the grab bucket are obtained; then, calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket; respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical turning speed of the grab bucket and the single-pendulum duration of the grab bucket swinging once after the cantilever turning is stopped at the current moment based on the operation parameter information; calculating a deceleration control value for deceleration control based on the theoretical revolving speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the initial deceleration position of the grab bucket based on the single pendulum time length and the target position of the grab bucket; and finally, performing rotation control on the cantilever based on the starting deceleration position of the grab bucket and the deceleration control value. That is to say, this application has realized the accurate calculation of grab bucket start deceleration position and deceleration control value through information such as the grab bucket image that obtains in real time, the operation parameter information of gate-type ship unloader, the target position of grab bucket to realized the stable control to the grab bucket process of circling round, be in quiescent condition when making the grab bucket circle round to waiting to unload ship target position top, promote the efficiency of unloading.
< apparatus embodiment >
Fig. 6 shows a schematic block diagram of a grapple anti-swing control device of a gate ship unloader according to an embodiment of the present disclosure. As shown in fig. 6, the grapple anti-swing control apparatus 100 includes:
the data acquisition module 110 is used for acquiring a grab image at the current moment, operation parameter information of the portal ship unloader and a target position of the grab;
the actual position calculation module 120 of the grab bucket is used for calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket;
the single pendulum variable calculation module 130 is configured to calculate, based on the operation parameter information, a theoretical position of the grab bucket at the current time, a theoretical slewing speed of the grab bucket, and a single pendulum duration of swinging the grab bucket once after stopping slewing of the cantilever at the current time, respectively;
the control parameter calculation module 140 is configured to calculate a deceleration control value for deceleration control based on the theoretical slewing speed of the grab, the single-pendulum time length, the theoretical position of the grab and the actual position of the grab, and calculate a position at which the grab starts to decelerate based on the single-pendulum time length and the target position of the grab;
and the control module 150 is used for carrying out rotation control on the cantilever based on the grab bucket deceleration starting position and the deceleration control value.
In a possible implementation manner, the actual position calculating module 120 is implemented by using a convolutional neural network when calculating the actual position of the grab bucket at the current time based on the image of the grab bucket.
In one possible implementation manner, the operation parameter information acquired by the data acquisition module 110 includes: at least one of boom position, boom arm length, boom slewing angular velocity, cable length, and boom maximum slewing angular velocity.
In a possible implementation manner, the simple pendulum variable calculation module 130, when calculating the theoretical slewing speed of the grab bucket at the current time based on the operation parameter information, is specifically configured to:
calculating the gyration radius of the grab bucket at the current moment based on the arm length of the cantilever, the gyration angular velocity of the cantilever and the length of the cable;
calculating the corresponding maximum gyration radius of the grab bucket based on the maximum gyration angular velocity of the cantilever;
and calculating the theoretical rotating speed of the grab bucket based on the change from the centripetal force corresponding to the maximum rotating angular velocity of the cantilever and the maximum rotating radius of the grab bucket to the centripetal force corresponding to the maximum rotating angular velocity of the cantilever and the rotating radius of the grab bucket.
In a possible implementation manner, the simple pendulum variable calculation module 130, when calculating the simple pendulum time length of the grab bucket swinging once after stopping the cantilever from revolving at the current time based on the operation parameter information, is specifically configured to:
calculating the inclination angle of the cable at the current moment based on the cantilever arm length, the cable length and the cantilever rotation angular speed;
calculating the gyration radius of the grab bucket at the current moment based on the inclination angle of the cable, the length of the cantilever and the length of the cable;
the length of the single pendulum is calculated based on the combination of the rotating radius of the grab bucket, the length of the cable, the rotation angular speed of the cantilever and the quality of the grab bucket.
In a possible implementation manner, the control parameter calculation module 140, when calculating the deceleration control value for the deceleration control based on the theoretical slewing speed of the grab bucket, the length of the simple pendulum, the theoretical position of the grab bucket, and the actual position of the grab bucket, is specifically configured to:
calculating a deceleration reference value for deceleration control based on the theoretical revolving speed of the grab bucket and the single pendulum duration;
calculating a deceleration correction value for deceleration control based on the deviation value between the actual position of the grab bucket and the theoretical position of the grab bucket;
a deceleration control value for deceleration control is obtained based on the deceleration reference value and the deceleration correction value.
In a possible implementation manner, the control parameter calculation module 140, when calculating the position of the grapple starting to decelerate based on the length of the simple pendulum and the target position of the grapple, is specifically configured to:
calculating the distance required by deceleration based on the combination of the simple pendulum duration and the maximum rotation angular speed of the cantilever;
and calculating the speed reduction starting position of the grab bucket based on the required speed reduction distance and the grab bucket target position.
In one possible implementation, the control module 150, when performing the swing control on the grapple based on the grapple starting deceleration position, the deceleration control value, and the boom position, is specifically configured to:
judging whether the position of the cantilever is consistent with the position of the grab bucket for starting deceleration;
and under the condition that the position of the cantilever is judged to be consistent with the position of the grab bucket for starting deceleration, controlling the grab bucket to rotate and decelerate according to the deceleration control value.
In a possible implementation manner, the control module 150 is further specifically configured to:
calculating the actual speed of the grab bucket at the current moment based on the image of the grab bucket;
predicting the actual position and the actual speed of the grab bucket at the next moment according to the actual position and the actual speed of the grab bucket;
judging whether the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket;
under the condition that the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket, judging whether the actual speed of the grab bucket meets a static threshold value or not;
and under the condition that the actual speed of the grab bucket meets the static threshold value, determining that the grab bucket is static, and controlling the cantilever to stop rotating.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. The utility model provides a grab bucket anti-swing control method of door ship unloaders which characterized in that includes:
acquiring a grab image at the current moment, operation parameter information of the portal ship unloader and a target position of the grab;
calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket;
respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical turning speed of the grab bucket and the single-pendulum duration of the grab bucket swinging once after the cantilever turning is stopped at the current moment based on the operation parameter information;
calculating a deceleration control value for deceleration control based on the theoretical slewing speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating a position for starting deceleration of the grab bucket based on the single pendulum time length and the target position of the grab bucket;
and carrying out slewing control on the cantilever based on the grab bucket deceleration starting position and the deceleration control value.
2. The method according to claim 1, characterized in that, when calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket, a convolutional neural network is used for implementation.
3. The method of claim 1, wherein the operational parameter information comprises: at least one of boom position, boom arm length, boom slewing angular velocity, cable length, and boom maximum slewing angular velocity.
4. The method according to claim 3, wherein when calculating the theoretical slewing speed of the grab bucket at the current time based on the operation parameter information, the method comprises the following steps:
calculating the gyration radius of the grab bucket at the current moment based on the cantilever arm length, the cantilever gyration angular velocity and the cable length;
calculating the corresponding maximum gyration radius of the grab bucket based on the maximum gyration angular velocity of the cantilever;
and calculating the theoretical slewing speed of the grab bucket based on the change from the maximum slewing angular speed of the cantilever and the centripetal force corresponding to the maximum slewing radius of the grab bucket to the maximum centripetal force corresponding to the slewing angular speed of the cantilever and the slewing radius of the grab bucket.
5. The method of claim 3, wherein calculating a single pendulum time length of the grab bucket swinging once after stopping the boom swing at the current time based on the operation parameter information comprises:
calculating the cable inclination angle at the current moment based on the cantilever arm length, the cable length and the cantilever rotation angular velocity;
calculating the gyration radius of the grab bucket at the current moment based on the cable inclination angle, the cantilever arm length and the cable length;
and calculating the duration of the simple pendulum based on the combination of the grab bucket rotating radius, the cable length, the cantilever rotating angular speed and the grab bucket mass.
6. The method according to claim 1, wherein in calculating a deceleration control value for deceleration control based on a theoretical grab swing speed, the simple swing time period, the theoretical grab position, and the actual grab position, includes:
calculating a deceleration reference value for deceleration control based on the theoretical slewing speed of the grab bucket and the single pendulum duration;
calculating a deceleration correction value for deceleration control based on the deviation value between the actual position of the grab bucket and the theoretical position of the grab bucket;
a deceleration control value for deceleration control is obtained based on the deceleration reference value and the deceleration correction value.
7. The method of claim 2, wherein when calculating a grapple deceleration start position based on the simple pendulum time length and the grapple target position, comprising:
calculating the distance required by deceleration based on the combination of the simple pendulum duration and the maximum rotation angular speed of the cantilever;
and calculating the speed reduction starting position of the grab bucket based on the speed reduction required distance and the grab bucket target position.
8. The method according to claim 1, wherein, when the boom is subjected to the swing control based on the grapple starting deceleration position, the deceleration control value, and the boom position, it comprises:
judging whether the position of the cantilever is consistent with the position of the grab bucket for starting deceleration;
and under the condition that the position of the cantilever is judged to be consistent with the position of the grab bucket for starting deceleration, controlling the cantilever to rotate and decelerate according to the deceleration control value.
9. The method of claim 1, further comprising:
calculating the actual speed of the grab bucket at the current moment based on the image of the grab bucket;
predicting the actual position and the actual speed of the grab bucket at the next moment according to the actual position and the actual speed of the grab bucket;
judging whether the actual position of the grab bucket at the next moment is consistent with the target position of the grab bucket;
under the condition that the actual position of the grab bucket at the next moment is judged to be consistent with the target position of the grab bucket, judging whether the motion state of the grab bucket meets a static threshold value or not;
and under the condition that the actual speed of the grab bucket meets the static threshold value, determining that the grab bucket is static, and controlling the cantilever to stop rotating.
10. The utility model provides a grab bucket anti-swing controlling means of door ship unloaders which characterized in that includes:
the data acquisition module is used for acquiring a grab bucket image at the current moment, the operation parameter information of the door type ship unloader and the target position of the grab bucket;
the actual position calculation module of the grab bucket is used for calculating the actual position of the grab bucket at the current moment based on the image of the grab bucket;
the single pendulum variable calculation module is used for respectively calculating the theoretical position of the grab bucket at the current moment, the theoretical revolving speed of the grab bucket and the single pendulum duration of the grab bucket swinging once after the cantilever is stopped to revolve at the current moment based on the operation parameter information;
the control parameter calculation module is used for calculating a deceleration control value for deceleration control based on the theoretical slewing speed of the grab bucket, the single pendulum time length, the theoretical position of the grab bucket and the actual position of the grab bucket, and calculating the position of the grab bucket for starting deceleration based on the single pendulum time length and the target position of the grab bucket;
and the control module is used for carrying out rotation control on the cantilever based on the starting deceleration position of the grab bucket and the deceleration control value.
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