KR102784513B1 - Unmanned unloading system for ships with an inertial control-based bucket throwing structure - Google Patents

Abstract

The present invention relates to an unmanned ship handling system having a bucket throwing structure based on inertial control, and more specifically, to an unmanned ship handling system having a bucket throwing structure based on inertial control, which collects and removes various cargoes, such as iron ore or coal, stored on a docked ship through a bucket and dumps them into a hopper located on land for unloading, and in particular, to an unmanned ship handling system having a bucket throwing structure based on inertial control, which recognizes the loading shape including the loading height and loading shape of cargoes stored on a ship, and inertially throws the bucket at a required height and angle according to the recognized loading shape to capture a larger amount of cargoes and enable unloading them from the ship.

Description

{Unmanned unloading system for ships with an inertial control-based bucket throwing structure}

The present invention relates to an unmanned shipboard unloading system having a bucket throwing structure based on inertial control, and more specifically, to an unmanned shipboard unloading system having a bucket throwing structure based on inertial control, which unmannedly controls a trolley, a hoist, and a bucket to capture and unload irregularly-shaped cargo stored in a cargo hold, thereby increasing the efficiency of capturing cargo requiring unloading by inertial throwing a bucket assembly at a more precise height and angle, thereby improving the reliability and productivity of work according to unloading.

Typically, irregular cargoes such as coke, sintered ore, iron ore, and coal are transported by ships, and these irregular cargoes transported by ships are unloaded onto land through a ship unloading system (Grab Type Ship Unloader, hereinafter referred to as GTSU) installed in the port.

The above-described ship handling system (GTSU) includes a trolley section having a trolley that moves between an unloading section where a cargo space of an anchored shelf is located and a return section where a return hopper is arranged; a hoist section mounted on the trolley that moves between the unloading section and the return section and adjusts the height of an installation end of the hoist wire by winding/unwinding a hoist wire through a hoisting winding unit; and a bucket section that is fixed to an installation end of a hoist wire forming the hoist section, is horizontally transported by the trolley and transported up and down by the hoisting wire that is wound/unwound by the hoisting winding unit, and includes a bucket assembly that captures cargo.

The trolley, hoist, and bucket assembly for unloading these irregular cargoes are directly controlled by skilled workers, but recently, unmanned automation for unloading cargoes is being attempted by incorporating various sensor equipment such as cameras, lidar, and radar, as well as AI-based technologies.

Meanwhile, in relation to the present invention, the process of unloading irregular cargo stored in a ship's cargo hold using a conventional bucket assembly is carried out by positioning the bucket assembly on the cargo and capturing it through horizontal transport of the bucket assembly using a trolley and vertical transport of the bucket assembly using a hoist unit, so it was very difficult to position the bucket assembly on the cargo along an optimal path.

In the case of some experts, depending on the loading type of the cargo, the trolley is stopped momentarily and the bucket assembly is thrown by inertia onto the cargo. However, this is very difficult and requires a high level of training, so it has limitations in ensuring efficiency according to unloading.

In addition, since the giant wire of the hoist section of the bucket assembly is bent at the upper end as a reference during inertia throwing, it is realistically difficult to precisely inertia throw the bucket assembly.

KR 10-2325219 KR 10-1679278

The purpose of the present invention, which has been devised to solve the above-mentioned problems, is to provide an unmanned shipboard unloading system having a bucket throwing structure based on inertial control, which collects irregularly shaped cargo such as iron ore or coal stored in the cargo hold of a docked ship through a bucket assembly and unloads them into a return hopper located on land, and in particular, recognizes the loading shape including the loading height and loading shape of the cargo stored in the cargo hold, and inertially throws the bucket assembly at a required height and angle according to the recognized loading shape to capture a larger amount of cargo, thereby improving the efficiency of unloading the cargo.

The above-mentioned object is achieved by the following configuration provided in the present invention.

The unmanned ship loading system having a bucket throwing structure based on inertial control according to the present invention is

A trolley section having a trolley that moves between an unloading section where a cargo space of an anchored shelf is located and a return section where a return hopper is arranged;

A hoist section that is mounted on the above trolley and moves between the unloading section and the return section, and adjusts the height of the installation section of the hoist wire by winding/unwinding the hoist wire through the hoist winding unit;

A bucket section including a bucket assembly that is fixed to an installation stage on a giant wire forming the hoist section, is horizontally transported in sections by the trolley, and is transported up and down by a giant wire that is wound/unwound by a giant winding unit, and captures unloaded materials;

A bending point variable setting unit that is arranged in a lifting structure on a hoisting wire from which the bucket assembly is suspended and fixed to a point of the lifting wire to variably set the bending point of the lifting wire from which the bucket assembly is suspended; and

It is characterized by comprising an unloading management unit that integrates and controls the trolley section, the hoist section, the bending point variable setting section, and the bucket section to move the bucket assembly between the unloading section where the cargo space is located and the return section where the return hopper is located, and captures the unloaded items loaded in the cargo space and drops them into the return hopper for unloading.

Preferably, the unmanned integrated cargo handling management unit comprises: a loading shape reading module for reading the loading shape of cargo including the loading height and loading shape of irregular cargo stored in the cargo hold of the ship; a throwing path value calculating module for calculating an optimal throwing path value of the bucket assembly according to the loading shape of the cargo extracted through the loading shape reading module; and a driving unit for controlling the operation of the trolley unit, the hoist unit, the bucket unit, and the bending point variable setting unit through the calculated optimal throwing path value to throw the bucket assembly into the cargo hold.

More preferably, the bending point variable setting unit is configured to include an elevating support member that is fixed to a point of the hoisting wire by being raised and lowered along the traction wire constituting the hoisting unit; and a rope traction unit that raises and lowers the elevating support member along the hoisting wire by being pulled up and down by the traction wire.

As described above, in the present invention, it is possible to capture and unload irregularly shaped cargo stored in a cargo hold by automatically controlling the trolley unit, the hoist unit, and the bucket unit through an unmanned integrated unloading management unit.

In particular, the present invention proposes and installs a bending point variable setting unit that inertially throws the bucket part, so that it is possible to variably set the bending point according to the inertial throwing of the bucket part, and through this, it has the unique feature of being able to secure improved work efficiency according to the capturing and unloading of unloaded materials by inertially throwing the bucket assembly at an optimal angle and height for capturing unloaded materials.

Figure 1 shows the overall configuration of an unmanned ship loading system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention.
Figures 2 and 3 show the detailed configuration of the bucket section of an unmanned ship loading system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention.
FIGS. 4 and 5 sequentially show the throwing process of a bucket assembly in an unmanned ship loading and unloading system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention.

Hereinafter, with reference to the attached drawings, an unmanned ship handling system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention, will be described in detail.

FIG. 1 shows the overall configuration of an unmanned ship handling system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention, FIGS. 2 and 3 show detailed configurations of a bucket portion in an unmanned ship handling system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention, and FIGS. 4 and 5 sequentially show a throwing process of a bucket assembly in an unmanned ship handling system having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention.

The unmanned ship unloading system (1) having a bucket throwing structure based on inertial control, which is proposed as a preferred embodiment of the present invention, is a means for unloading irregularly shaped cargo such as iron ore or coal stored in a cargo hold (110) of a docked ship by collecting them through a bucket section (30) and returning them to land where a return hopper (200) is formed.

The above unmanned ship handling system (1) comprises a trolley section (10) having a trolley (12) that moves between an unloading section where a cargo hold (110) of an anchored shelf is located and a return section where a return hopper (200) is placed, as shown in FIGS. 1 and 2; a hoist section (20) having a hoisting unit (21) that is mounted on the trolley (12) and moves between the unloading section where a cargo hold (110) of a ship is located and the return section where a return hopper (200) is located, and winds/unwinds a hoisting wire (22) to adjust the height of an installation end (22a) of a hoisting wire (22); It includes a bucket part (30) having a bucket assembly (31) that is arranged on the hoist part (20) of the hoist wire (22) installation section (22a) and is horizontally transported by a trolley (12) together with the hoist part (20) and transported up and down by winding/unwinding of the hoist wire (22) by the hoist winding unit (21).

The above trolley section (10) includes a guide frame (11) arranged across between the unloading section and the return section, and a trolley (12) that is transported longitudinally along the guide frame (11). The trolley (12) moves horizontally along the guide frame (11) to move the loaded hoist section (20) and bucket section (30) between the unloading section and the return section.

And, the bucket part (30) includes a bucket assembly (31) fixedly installed on the installation end (22a) of the giant wire (22) constituting the hoist part (20); and a bucket opening/closing unit that facilitates opening/closing of the bucket assembly (31).

The bucket assembly (31) above includes, as shown in FIG. 3, an elevating base (31') fixed to an installation end (22a) of a giant wire (22); a link bracket (32) spaced apart from and arranged at a lower portion of the elevating base (31'); and a pair of bucket members (33) in which the outer one point is arranged in a link structure with the elevating base (31') through a folding link arm (33a) and the inner one point is arranged in a link structure with the one point of the link bracket (32) through a link pin (32a) and which rotate inward and outward by the elevation of the link bracket (32) to open and close a collecting path.

Accordingly, when the link bracket (32) of the bucket assembly (31) is lowered, a pair of bucket members (33) rotate outward to open the collection path, and when the link bracket (32) is raised, a pair of bucket members (33) rotate inward to close the collection path.

In addition, the bucket opening/closing unit is configured to include an opening/closing wire (34a) that raises or lowers a link bracket (32) on which a pair of bucket members (33) are installed, so that the pair of bucket members (33) rotate inward and outward by raising and lowering the opening/closing wire (34a) to open and close the collecting path.

Meanwhile, the unmanned integrated cargo management unit (50) is configured as an AI-based unmanned unit that reads the loading form of cargo, including the loading height and loading form of irregular cargo stored in the cargo hold of the ship, through the loading form reading module (51), calculates the optimal throwing path value of the bucket assembly (31) based on the loading form of the cargo extracted through the throwing path value calculating module (52), and then throws the bucket assembly (31) into the cargo hold (110) through the calculated optimal throwing path value through the driving unit (53) to collect more cargo in the collecting space (33b) of the bucket assembly (31).

The above-mentioned loading shape extraction unit (51) is configured to include at least one of a lidar module (51a), a radar module (51b), and a camera module (51c) that reads the loading height and loading shape of the unloaded goods stored in the cargo compartment (110).

In addition, the optimal throwing path value calculated by the driving unit (53) includes the integrated driving control values of the hoist section (20), the trolley section (10), the bucket section (30), and the bending point variable setting section (40) described later.

Accordingly, the unmanned integrated unloading management unit (50) controls the trolley unit (10), the hoist unit (20), and the bucket unit (30) in an integrated manner according to the loading form of the unloaded goods extracted by the loading form extraction unit (51), thereby automatically capturing and unloading the unloaded goods stored in the cargo hold (110) of the ship through the bucket assembly (31) into the return hopper (200) located in the return section.

Meanwhile, the present invention proposes and installs a bucket throwing structure based on inertial control so that the bucket assembly (31) is not simply lowered horizontally and vertically into the cargo space where cargo is loaded and stored to capture the loaded cargo, but the driving control module (53) inertially throws the bucket assembly (31) into the cargo space (110) at a required height and angle according to the optimal throwing path value calculated by the throwing path value calculation module (52) of the unmanned integrated cargo management unit (50) to capture a larger amount of cargo.

In this specification, inertial throwing of the bucket assembly means that, while the trolley and the bucket assembly are moving at a set speed with the medan hoist section, the trolley temporarily stops and the bucket assembly inertially moves forward.

The above-described bucket throwing structure based on inertial control is arranged in a lifting structure on a giant wire (22) forming a hoist part (20) on which the bucket assembly (31) is suspended, and includes a bending point variable setting part (40) that variably sets the bending point of the giant wire (22).

The bending point variable setting unit (40) according to the present embodiment includes, as shown in FIGS. 3 to 5, a lifting support member (41) that is fixed to a point of a hoisting wire (22) by being raised and lowered along a traction wire (22) forming a hoist member (20); and a rope traction unit (43) that raises and lowers the lifting support member (41) along the hoisting wire (22) by pulling it up and down through the traction wire (42).

Preferably, the lifting support member (41) arranged in a lifting structure on the above-mentioned giant wire (22) has a guide hole (41b) formed in the support member body (41a) through which the giant wire (22) passes vertically, and a coil spring-type fixing stopper (41c) arranged in the guide hole (41b) to fix the giant wire (22) in a state of being penetrated.

Here, the coil spring-type fixed stopper (41c) performs the function of smoothly moving the lifting support member (41) up and down along the lifting wire (22) when the penetrating lifting wire (22) is extended up and down as shown in FIG. 4, and fixing the lifting support member (41) to the bending point by friction with the outer wall of the lifting wire (22) when a local bending of the lifting wire (22) occurs for inertial throwing of the bucket assembly (31) as shown in FIG. 5.

The above coil string type fixed stopper can fix the lifting support member to a point of the lifting wire in a standardized manner by bending the lifting wire without a separate drive, and can also prevent excessive bending of the bent lifting wire, thereby preventing physical damage to the lifting wire.

Accordingly, the lifting support member (41) is positioned at the bending point of the lifting wire (22) that requires bending by being lifted up and down along the lifting wire (22) by winding/unwinding the traction rope (42) through the rope traction unit (43).

And, the drive control module (53) of the unmanned integrated unloading management unit (50) sets the moving speed of the trolley (12), the height of the bucket assembly (31) through winding/unwinding of the hoist wire (22) forming the hoist unit (20), and the bending point of the hoist wire (22) variably by the bending point variable setting unit (40) according to the optimal throwing path value calculated by the throwing path value calculation module (52), thereby inertially throwing the bucket assembly (31) to the unloaded goods stored in the cargo space (110) at the required angle and height.

At this time, the lifting support member (31) is temporarily fixed to the bending point of the lifting wire (22) by the coil spring type fixed stopper (41c), and the lifting wire (22) is bent and fixed based on the bending point formed through the lifting support member (41), thereby promoting inertial throwing of the bucket assembly (31).

More preferably, the drive control module (53) momentarily pulls the lifting support member (41) fixed to the bending point of the sling wire (22) via the traction wire (42) at the moment of inertial throwing of the bucket assembly (31), thereby enabling more precise inertial throwing of the bucket assembly (31).

Thus, the bucket assembly (31) suspended from the installation end (22a) of the above-mentioned giant wire (22) is inertia-thrown onto the cargo loaded in the cargo space (110) at the required angle and height, thereby capturing a larger amount of cargo.

Afterwards, the collected cargo is moved to the unloading section by the hoist section (20) and the trolley section (10) and returned by dropping it onto the return hopper (200). As a result, the unmanned unloading system (1) for a ship according to the present embodiment can capture cargo by throwing the bucket assembly (31) more precisely according to the loading shape of the cargo by the mounted bending point variable setting section (40), and as a result, it has improved efficiency in unloading the cargo.

That is, the unmanned integrated unloading management unit (50) comprehensively controls the acceleration movement speed of the bucket assembly (31) through the trolley unit (10), the lifting height of the hoist unit (30), and the variable bending point of the lifting wire (22) through the traction transfer of the traction wire (42) through the bending point variable setting unit (40) according to the loading form of the unloaded goods, thereby inertially throwing the bucket assembly (31) at a height and angle suitable for the loading form of the unloaded goods loaded in the cargo space (110), thereby making it possible to capture a greater amount of irregularly shaped unloaded goods.

The present invention as described above has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will understand that various modifications can be implemented therefrom.

Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the appended patent claims.

1. Unmanned unloading system for ships
10. Trolley 11. Guide Frame
12. Trolley
20. Hoist section 21. Giant winding unit
22. Giant Wire 22a. Installation Section
30. Bucket section 31. Bucket assembly
32. Link Bracket 32a. Link Pin
33. Bucket member 33a. Folding link arm
34a. Opening wire
40. Variable bending point setting section 41. Lifting support member
41a. Support body 41b. Guide hole
41c. Coil spring type fixed stopper
42. Towing wire 43. Rope towing unit
50. Unmanned integrated loading management unit 51. Loading type interpretation module
51a. Lidar module 51b. Radar module
51c. Camera module
52. Throwing path value calculation module 53. Drive control module
53. Throw horizontal transfer speed setting value 54. Throw height setting value
54. Variable bending point setting value
55. Bucket assembly integrated throw value
100. Ship 110. Cargo hold
200. Return Hopper

Claims (3)

A trolley section having a trolley that moves between an unloading section where a cargo space of an anchored shelf is located and a return section where a return hopper is arranged;
A hoist section that is mounted on the above trolley and moves between the unloading section and the return section, and adjusts the height of the installation section of the hoist wire by winding/unwinding the hoist wire through the hoist winding unit;
A bucket section including a bucket assembly that captures unloaded materials and is fixed to an installation stage on a giant wire constituting the hoist section and is transported horizontally by a trolley and transported up and down by a giant wire that is wound/unwound by a giant winding unit;
An integrated unloading management unit that controls the trolley section, hoist section, and bucket section in an integrated manner to move the bucket assembly between the unloading section where the cargo compartment is located and the return section where the return hopper is located, and captures the unloaded items loaded in the cargo compartment and drops them into the return hopper for unloading; and
The bucket assembly is arranged in a lifting structure on a suspended hoist portion's giant wire, and is configured to include a bending point variable setting section that is fixed to a single point of the giant wire and variably sets the bending point of the suspended giant wire,
An unmanned ship handling system having a bucket throwing structure based on inertial control, characterized in that the above-mentioned bending point variable setting section comprises: an elevating support member that is fixed to a point of a hoisting wire by being raised and lowered along a traction wire forming a hoist section; and a rope towing unit that tows the elevating support member up and down through the traction wire to raise and lower it along the hoisting wire. delete In the first paragraph, the unmanned integrated cargo handling management unit comprises: a loading shape reading module that reads the loading shape of the cargo, including the loading height and loading shape of the irregular cargo stored in the cargo hold of the ship;
A throwing path value calculation module that calculates the optimal throwing path value of the bucket assembly according to the loading form of the unloaded material extracted through the loading form interpretation module; and
An unmanned ship handling system having an inertial control-based bucket throwing structure, characterized in that it comprises a driving unit that controls the operation of a trolley section, a hoist section, a bucket section, and a bending point variable setting section using the above-described optimal throwing path value to inertially throw a bucket assembly into a cargo hold.