{"paper_id":"2cfa5831-2625-4df1-bd6f-c79e7a81d1d1","body_text":"Research and Application of automatic train loading line and intelligent cleaning robot of dry bulk terminal | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research and Application of automatic train loading line and intelligent cleaning robot of dry bulk terminal Zhao weili, Yu shoushui, Zhang jie, Li lei, Ma xuexu, Liu fuqian This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3354531/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 4 You are reading this latest preprint version Abstract The ship cleaning operation is an indispensable job link in the bulk unloading operation. In the late ship unloading, it is difficult to capture the four-week goods in the cabin and unloading machinery. During the existing cleaning process, unloading machinery (grab), cabin machinery, cleaning workers, etc.At the same time, in the current epidemic environment, the risk of infection with neozoppneumitis is also increasing.In response to the outstanding problems in the above-mentioned clearing, the automated transformation of loaders and excavators, automated transformation of the door, and the development of the clearing equipment, and the electronic upper rod system are implemented.All the hatch commanders are all unmanned, while ensuring the efficiency of the cleans, completely eliminating the safety risks of personal injury. Ship Clearance Smart Clearance Remote Control Robots Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Research background In recent years, with the need of smart and green port construction, to improve the working environment of workers, reduce the labor intensity of workers, and reduce the risk of epidemic among workers, we have carried out the research, development and application of intelligent ship clearance operation system.Ship clearing operation is an essential part of bulk cargo unloading operation. In the later stage of ship unloading, it is difficult to capture and unload the goods around the cabin due to the limitations of cargo hatch size and unloading machinery.In order to improve the efficiency of ship unloading, excavators, loaders and clearance workers are often needed to lift, sweep and pile the goods into the hatch area, and then the hatch commander directs the unloading machinery to capture and unload.In this process, there are mainly safety risks such as falling from height, lifting injury, mechanical injury and other injuries in man-machine interaction and machine-machine interaction of ship unloading machinery (grab), cabin machinery and cabin cleaning workers. At the same time, the risk of COVID-19 infection is constantly increasing in the current epidemic environment.In view of the present situation of the outstanding problems of loader and excavator reconstruction of remote control, door machine automation, stripping belong to develop applications and electronic system, realized the stripping machine drivers, stripping the workers and all hatch commanders unmanned, in ensuring the stripping efficiency at the same time, completely put an end to the security risks of personal injury. Analysis of difficulties in clearing dry bulk cargo ships In the process of the original dry bulk cargo ship cleaning, the corners, flower beams and other parts that cannot be cleaned by mobile machinery are manually operated, which makes it difficult to separate man from machine and low operating efficiency. There are many drawbacks and defects in this operation mode: 2.1 The epidemic risk problem is prominent in the process of dry bulk cargo ship clearance.Under the current global epidemic environment, the epidemic situation is repeated, and foreign ships of Qiangang company account for a large proportion of daily unloading volume.The drivers and workers of the clearance machinery need to board the ship, which has the potential risk of epidemic infection. 2.2 The man-machine is not separated, and the safety risk is prominent.In the later stage of unloading, due to the size of the cargo hatch and the limitations of the unloading machinery, it is difficult to capture and unload the goods around the cabin. Excavators, loaders and clearance workers are required to lift, sweep and pile the goods into the hatch area, and then the hatch command personnel will command the unloading machinery to capture and unload.In this process, there are safety risks such as falling from height, lifting injury, mechanical injury and other injuries, such as man-machine interaction and machine-machine interaction of ship unloading machinery (grab), cabin machinery and cabin cleaning workers. 2.3 High labor intensity of personnel.The dust in the cabin of dry bulk cargo ships is diffuse, the environment is harsh, the cleaning time is urgent, and the operation in the cabin for a long time is not conducive to the physical and mental health of the staff. 2.4 Low operating efficiency.Manual cleaning is required for corners and bulkheads that are difficult to clean, which wastes a lot of manpower and is relatively inefficient. At the same time, the structure in the cabin is relatively complex, which is easy to make operation mistakes and has great safety risks. Technical solution 3.1 Remote control of loader and excavator Adopt video surveillance to monitor the operating environment inside the cabin.The laser scanning technology is used to obtain the material distribution and surrounding conditions in the cabin in real time, analyze the position of vehicles in the cabin, analyze the scanned cargo data in real time in the background, and automatically command the automatic operation of the clearance machinery.The self-learning function of the system is used to constantly improve the efficiency of automatic operation.Inertial navigation system, situational awareness and anti-collision technologies are used to obtain the action path, Angle and posture of the clearance machinery to ensure the safety of the automated operation of the vehicle.Wireless network is used to realize data transmission. 3.2 Automatic transformation of portal crane On the basis of mastering the wharf working conditions and key technologies of gantry crane automation system, the whole gantry crane automation system is abstracted into system control module, single machine control module and remote operation module based on the berths and the technical characteristics of each equipment by modular design.The system control module accepts the business instructions from the wharf dispatching system, coordinates the cooperative operation among the modules in the whole operation process, and carries out real-time analysis and transmission of the data generated in the operation.The single machine control module receives the task instructions from the system control module and controls the operation of each organization in real time.During the operation of the automation equipment, the remote operator can understand the operation situation in real time and monitor the whole operation process, and can carry out manual intervention on the operation equipment at any time to eliminate the lifting injury. The scanning accuracy of hatches in automatic operation of portal crane is 0.02% in length and 0.8% in width. 3.3 Development of clearance equipment Late for discharging, hold the goods is not much, collect loading speed is slow, finally you cleaned the collection, the overall efficiency is not high question, former Hong Kong company flow fleet technical personnel to the actual demand to develop stripping apparels, puts forward a used in the cabin bulkhead, edges and other difficult to clean up the stripping of the new method, which can effectively human liberation, reduce the labor intensity, after many experiments, After many tests, the effect is good, meets the requirements of cabin clearance, shortens the time of demurrying, improves the berth utilization rate and port passage capacity. 3.4 Development of electronic bar loading system By installing high-definition monitoring in the hatch and using wireless network to transmit back, the ship unloading driver can check the situation of machinery, cargo and personnel in the cabin in real time in the driver's cab or the rear remote control operation room, which completely liberates the hatch commanding staff and improves the safety of ship unloading and clearance operation. Main innovation points 4.1 Mechanical unmanned environment sensing system for lower cabin The environmental sensing system is a set of environmental scanning system designed for the existing flow machine. It integrates a variety of sensors to realize the function of environmental scanning and flow machine positioning. The sensors used include Lidar, IMU, and GPS.When there is no GPS signal in the cabin, the environment sensing system can also use Lidar and IMU to locate the flow machine in real time and build the point cloud model of the situation in the cabin, which provides a reference for the deployment of large machines on the shore.Figure 12 and 13 show the model established by the environmental sensing system and the estimation of the position and attitude of the excavator in the cabin over a period of time.The SLAM algorithm based on differential RTK positioning and laser point data fusion is used to collect real-time operation point cloud data of the lower chamber machine. The relative spatial position of the machine is calculated in real time by comparing the point cloud data when the machine is moving continuously during the operation. The measurement of the digging depth of the excavator is achieved by measuring the inclination Angle of each part of the manipulator and bucket.Usually, it is necessary to measure the Angle data of two mechanical arms and three points of a bucket, and then obtain the excavation depth data through certain mathematical calculation methods. H = H - (2 - L1 L2 * sine theta * sine theta 1) H indicates the height of the end of the large arm above the ground L2 indicates the fixed length of the forearm L1 indicates the fixed length of the upper arm The real-time angles of θ1 and θ2 can be measured separately using a dynamic inclinometer.A dynamic inclinometer mounted on the bucket can be used to measure the bucket's pitch Angle θ3 in real time, and the real-time excavation depth (relative to the ground where the main body is located) can be obtained. The position of the lower chamber machinery in the chamber is transmitted in real time by using three-dimensional reconstruction positioning. 4.2 Visual human-computer interaction and multi-machine cooperative operation system The operating platform is equipped with a 3D visual human-computer interaction system, which can be connected to any flow machine on the site for monitoring.Operation and management personnel can view the status of each institution of the equipment through the remote operation interface, real-time and historical alarm. In the process of ship clearance operation, the real-time position of the clearance machine and the real-time position of the grab of the automatic portal crane must be interlocked to ensure the safety and reliability of the automatic operation system when the clearance machine is under remote control or automated operation. The scanner detects the materials in the cabin to determine whether to start clearing the cabin. When the amount of material captured by the automatic gantry machine decreases and the height of the material pile in the cabin is lower than a certain value, the dredge is hoisted to the bilge of the corresponding operation by the gantry machine (or ship unloader) to start the clearing operation.The clearance operation is completed by the cooperation of the automatic gantry machine and the automatic gantry machine. The multi-machine cooperative operation system automatically divides the cabin and separates the gantry machine operation area from the automatic gantry machine operation area. 4.3 Wireless communication system for data of lower compartment machinery The mobile machinery for loading and unloading piles in the bulk carrier will transfer the control room from the equipment site to the central control room of the wharf, so as to realize the cooperative operation and safety protection with the unattended ship unloader.The system uses RADWIN5000 TBS500+ base station and RADWIN5000 TMU100+ mobile station bibase station and point-to-multipoint wireless communication to meet the enhanced QOS function, and can accurately control the bandwidth and priority of each data stream without affecting the performance of data forwarding. It supports VLAN (802.1P) or Diffserv QoS optimization, MIMO multi-in, multiple-out antenna technology and OFDM orthogonal frequency division multiplexing (OFDM) technology, which improves the fading resistance and connection reliability. The wireless system works in the 4.9~6GHz band and meets the 5GHz band requirements, and the data transmission is stable.The stable data wireless communication system enables efficient and stable data transmission in the cabin where the lower cabin machinery is semi-closed and the environment is harsh. 4.4 Belt flow Accurate unloading in hopper area Based on precise mechanism positioning control, high-precision laser real-time monitoring and grab anti-roll control technology, the precise unloading system of belt process hopper area is developed to achieve accurate material delivery in automatic clearance operation of portal crane. The redundant control mode of incremental encoder (installed on the motor side) and absolute encoder (installed on the drum side) is adopted to accurately locate the grab of the portal crane, so as to accurately locate the grab position, and ensure that the system can immediately respond and implement the safety protection strategy when any encoder fails.The precise positioning function is the basic guarantee of all automated operations. In order to ensure the positioning accuracy, the dynamic system can realize the unmanned precise control of the grab. The grab of the portal crane and the head of the elephant nose bridge are flexibly connected by the wire rope, so the wire rope must always be in the state of vertical downward in the process of automatic operation, to avoid the risk of collision to the cabin when the grab swing.The electronic anti-roll control system establishes the mathematical model of uniform circular motion and simple pendulum. When the rotary mechanism is started and stopped, the amplitude mechanism is used to offset the tangential velocity wobble produced by the centrifugal force. At the same time, the vertical distance Angle change between the grab and the elephant nose head is calculated by the length of the wire rope in the amplitude direction. The output speed, acceleration, moment and moment of inertia of the corresponding luffing motor are calculated, and then the signal is output to the frequency converter through spatial feedback verification, filtering and noise reduction to offset the angular velocity and angular acceleration generated by the grab in the luffing direction, and finally ensure that the grab track is right below the nose bridge of the gantry crane.The electronic anti-roll control system has the following advantages :(1) by means of accurate model calculation, the grab angular velocity can be basically offset in the first swing cycle after starting;(2) The anti-roll control system takes into account the synchronous calculation of the change of the lifting height, so that the anti-roll effect will not be affected even if the grab is running at full speed while the anti-roll is running.(3) the system can predict the deceleration distance and stop position in each PLC scanning cycle, so the rotary mechanism can carry out accurate positioning with anti-roll function to achieve safe and accurate grasping of material, and the positioning accuracy is 2cm;(4) anti-roll control system has the function of biaxial control, in addition to the car anti-roll, the operation of the car can also achieve anti-roll, so as to quickly realize the row change, cabin change. Through the stable mechanism control technology and grab anti-roll technology, the grab can maintain a safe distance of at least 0.5 meters after opening above the belt process hopper during the automatic clearance operation of the portal crane. The belt process hopper discharging success rate can reach 100%. Conclusion At present, the vessel intelligent stripping operation system has developed in the shandong port, Qingdao port before the office pool berth available, through the door and automation, remote control of loader and excavator, new clearance on the use of fittings and electronic application of rod system, one is to achieve the unmanned stripping operation each link, to ensure the safety of the equipment and personnel of stripping operation, It has reduced the number of stevedores during ship clearance, which has been applied for 19 months until December 2021, saving the labor cost of 4.56 million yuan.Second, to minimize the risk of infection in the case of epidemic situation, foreign trade special class cargo clearance personnel, saving the epidemic prevention cost of 3.8 million yuan;Third, the mechanical drivers and cabin clearance personnel were freed from the harsh environment in the cabin, which improved the working environment of the staff and ensured their physical and mental health.Fourth, it improves the core competitiveness, creates a new model of intelligent clearance construction for ships in the dry bulk cargo sector at home and abroad, vigorously promotes the transformation and upgrading of dry bulk cargo terminals, comprehensively leads the development of the industry, and is of great significance and promotion value to enhance the popularity and status of Qingdao Port in Shandong Province, and improves the core competitiveness. Declarations Ethical Approval: Not applicable. Consent to Participate: Informed consent was obtained from all individual participants included in the study. Consent to Publish: The participant has consented to the submission in this Journal. Authors Contributions: Authors have contributed equally in research work and the assessment of the outcomes and the writing of the manuscript. Funding Statement: The authors did not receive any funding Competing Interest: There is no conflict of interest among the authors. Availability of data and material: Data will be available by corresponding author on reasonable request. References \"Gantry crane automation Key Technology\" Sun Weizhe;Port science and technology;2021/4/15 \"Information Platform Design and Implementation of Automatic Dry Bulk Cargo Clearance Monitoring System\", Xu Qing;Journal of Shanghai Shipping Research Institute;2013/6/30 \"Several Noteworthy Issues in Ship Clearance Operation\" Li Wei;China Ship Survey; 2020/9/15 Research on Automatic Control of Loader Shoveling Process, Huang Zhongyi;Equipment manufacturing technology; 2020/5/15 Cite Share Download PDF Status: Under Review Version 1 posted Reviewers agreed at journal 17 Sep, 2023 Reviewers invited by journal 17 Sep, 2023 Editor assigned by journal 15 Sep, 2023 First submitted to journal 14 Sep, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {\"props\":{\"pageProps\":{\"initialData\":{\"identity\":\"rs-3354531\",\"acceptedTermsAndConditions\":true,\"allowDirectSubmit\":false,\"archivedVersions\":[],\"articleType\":\"Research Article\",\"associatedPublications\":[],\"authors\":[{\"id\":234187044,\"identity\":\"d8633dd4-8541-4153-bd1b-1c0fc7d68034\",\"order_by\":0,\"name\":\"Zhao weili\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"Qinggang International Co.\",\"correspondingAuthor\":false,\"submittingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Zhao\",\"middleName\":\"\",\"lastName\":\"weili\",\"suffix\":\"\"},{\"id\":234187045,\"identity\":\"17f665a2-e3d4-420a-955d-d7e0fac79aa5\",\"order_by\":1,\"name\":\"Yu 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In the later stage of ship unloading, it is difficult to capture and unload the goods around the cabin due to the limitations of cargo hatch size and unloading machinery.In order to improve the efficiency of ship unloading, excavators, loaders and clearance workers are often needed to lift, sweep and pile the goods into the hatch area, and then the hatch commander directs the unloading machinery to capture and unload.In this process, there are mainly safety risks such as falling from height, lifting injury, mechanical injury and other injuries in man-machine interaction and machine-machine interaction of ship unloading machinery (grab), cabin machinery and cabin cleaning workers. At the same time, the risk of COVID-19 infection is constantly increasing in the current epidemic environment.In view of the present situation of the outstanding problems of loader and excavator reconstruction of remote control, door machine automation, stripping belong to develop applications and electronic system, realized the stripping machine drivers, stripping the workers and all hatch commanders unmanned, in ensuring the stripping efficiency at the same time, completely put an end to the security risks of personal injury.\\u003c/p\\u003e\\n\"},{\"header\":\"Analysis of difficulties in clearing dry bulk cargo ships\",\"content\":\"\\u003cp\\u003eIn the process of the original dry bulk cargo ship cleaning, the corners, flower beams and other parts that cannot be cleaned by mobile machinery are manually operated, which makes it difficult to separate man from machine and low operating efficiency. There are many drawbacks and defects in this operation mode:\\u003c/p\\u003e\\n\\u003cp\\u003e2.1 The epidemic risk problem is prominent in the process of dry bulk cargo ship clearance.Under the current global epidemic environment, the epidemic situation is repeated, and foreign ships of Qiangang company account for a large proportion of daily unloading volume.The drivers and workers of the clearance machinery need to board the ship, which has the potential risk of epidemic infection.\\u003c/p\\u003e\\n\\u003cp\\u003e2.2 The man-machine is not separated, and the safety risk is prominent.In the later stage of unloading, due to the size of the cargo hatch and the limitations of the unloading machinery, it is difficult to capture and unload the goods around the cabin. Excavators, loaders and clearance workers are required to lift, sweep and pile the goods into the hatch area, and then the hatch command personnel will command the unloading machinery to capture and unload.In this process, there are safety risks such as falling from height, lifting injury, mechanical injury and other injuries, such as man-machine interaction and machine-machine interaction of ship unloading machinery (grab), cabin machinery and cabin cleaning workers.\\u003c/p\\u003e\\n\\u003cp\\u003e2.3 High labor intensity of personnel.The dust in the cabin of dry bulk cargo ships is diffuse, the environment is harsh, the cleaning time is urgent, and the operation in the cabin for a long time is not conducive to the physical and mental health of the staff.\\u003c/p\\u003e\\n\\u003cp\\u003e2.4 Low operating efficiency.Manual cleaning is required for corners and bulkheads that are difficult to clean, which wastes a lot of manpower and is relatively inefficient. At the same time, the structure in the cabin is relatively complex, which is easy to make operation mistakes and has great safety risks.\\u003c/p\\u003e\"},{\"header\":\"Technical solution\",\"content\":\"\\u003cp\\u003e3.1 Remote control of loader and excavator\\u003c/p\\u003e\\n\\u003cp\\u003eAdopt video surveillance to monitor the operating environment inside the cabin.The laser scanning technology is used to obtain the material distribution and surrounding conditions in the cabin in real time, analyze the position of vehicles in the cabin, analyze the scanned cargo data in real time in the background, and automatically command the automatic operation of the clearance machinery.The self-learning function of the system is used to constantly improve the efficiency of automatic operation.Inertial navigation system, situational awareness and anti-collision technologies are used to obtain the action path, Angle and posture of the clearance machinery to ensure the safety of the automated operation of the vehicle.Wireless network is used to realize data transmission.\\u003c/p\\u003e\\n\\u003cp\\u003e3.2 Automatic transformation of portal crane\\u003c/p\\u003e\\n\\u003cp\\u003eOn the basis of mastering the wharf working conditions and key technologies of gantry crane automation system, the whole gantry crane automation system is abstracted into system control module, single machine control module and remote operation module based on the berths and the technical characteristics of each equipment by modular design.The system control module accepts the business instructions from the wharf dispatching system, coordinates the cooperative operation among the modules in the whole operation process, and carries out real-time analysis and transmission of the data generated in the operation.The single machine control module receives the task instructions from the system control module and controls the operation of each organization in real time.During the operation of the automation equipment, the remote operator can understand the operation situation in real time and monitor the whole operation process, and can carry out manual intervention on the operation equipment at any time to eliminate the lifting injury.\\u003c/p\\u003e\\n\\u003cp\\u003eThe scanning accuracy of hatches in automatic operation of portal crane is 0.02% in length and 0.8% in width.\\u003c/p\\u003e\\n\\u003cp\\u003e3.3 Development of clearance equipment\\u003c/p\\u003e\\n\\u003cp\\u003eLate for discharging, hold the goods is not much, collect loading speed is slow, finally you cleaned the collection, the overall efficiency is not high question, former Hong Kong company flow fleet technical personnel to the actual demand to develop stripping apparels, puts forward a used in the cabin bulkhead, edges and other difficult to clean up the stripping of the new method, which can effectively human liberation, reduce the labor intensity, after many experiments, After many tests, the effect is good, meets the requirements of cabin clearance, shortens the time of demurrying, improves the berth utilization rate and port passage capacity.\\u003c/p\\u003e\\n\\u003cp\\u003e3.4 Development of electronic bar loading system\\u003c/p\\u003e\\n\\u003cp\\u003eBy installing high-definition monitoring in the hatch and using wireless network to transmit back, the ship unloading driver can check the situation of machinery, cargo and personnel in the cabin in real time in the driver\\u0026apos;s cab or the rear remote control operation room, which completely liberates the hatch commanding staff and improves the safety of ship unloading and clearance operation.\\u003c/p\\u003e\"},{\"header\":\"Main innovation points\",\"content\":\"\\u003cp\\u003e4.1 Mechanical unmanned environment sensing system for lower cabin\\u003c/p\\u003e\\n\\u003cp\\u003eThe environmental sensing system is a set of environmental scanning system designed for the existing flow machine. It integrates a variety of sensors to realize the function of environmental scanning and flow machine positioning. The sensors used include Lidar, IMU, and GPS.When there is no GPS signal in the cabin, the environment sensing system can also use Lidar and IMU to locate the flow machine in real time and build the point cloud model of the situation in the cabin, which provides a reference for the deployment of large machines on the shore.Figure 12 and 13 show the model established by the environmental sensing system and the estimation of the position and attitude of the excavator in the cabin over a period of time.The SLAM algorithm based on differential RTK positioning and laser point data fusion is used to collect real-time operation point cloud data of the lower chamber machine. The relative spatial position of the machine is calculated in real time by comparing the point cloud data when the machine is moving continuously during the operation.\\u003c/p\\u003e\\n\\u003cp\\u003eThe measurement of the digging depth of the excavator is achieved by measuring the inclination Angle of each part of the manipulator and bucket.Usually, it is necessary to measure the Angle data of two mechanical arms and three points of a bucket, and then obtain the excavation depth data through certain mathematical calculation methods.\\u003c/p\\u003e\\n\\u003cp\\u003eH = H - (2 - L1 L2 * sine theta * sine theta 1)\\u003c/p\\u003e\\n\\u003cp\\u003eH indicates the height of the end of the large arm above the ground\\u003c/p\\u003e\\n\\u003cp\\u003eL2 indicates the fixed length of the forearm\\u003c/p\\u003e\\n\\u003cp\\u003eL1 indicates the fixed length of the upper arm\\u003c/p\\u003e\\n\\u003cp\\u003eThe real-time angles of \\u0026theta;1 and \\u0026theta;2 can be measured separately using a dynamic inclinometer.A dynamic inclinometer mounted on the bucket can be used to measure the bucket\\u0026apos;s pitch Angle \\u0026theta;3 in real time, and the real-time excavation depth (relative to the ground where the main body is located) can be obtained.\\u003c/p\\u003e\\n\\u003cp\\u003eThe position of the lower chamber machinery in the chamber is transmitted in real time by using three-dimensional reconstruction positioning.\\u003c/p\\u003e\\n\\u003cp\\u003e4.2 Visual human-computer interaction and multi-machine cooperative operation system\\u003c/p\\u003e\\n\\u003cp\\u003eThe operating platform is equipped with a 3D visual human-computer interaction system, which can be connected to any flow machine on the site for monitoring.Operation and management personnel can view the status of each institution of the equipment through the remote operation interface, real-time and historical alarm.\\u003c/p\\u003e\\n\\u003cp\\u003eIn the process of ship clearance operation, the real-time position of the clearance machine and the real-time position of the grab of the automatic portal crane must be interlocked to ensure the safety and reliability of the automatic operation system when the clearance machine is under remote control or automated operation.\\u003c/p\\u003e\\n\\u003cp\\u003eThe scanner detects the materials in the cabin to determine whether to start clearing the cabin. When the amount of material captured by the automatic gantry machine decreases and the height of the material pile in the cabin is lower than a certain value, the dredge is hoisted to the bilge of the corresponding operation by the gantry machine (or ship unloader) to start the clearing operation.The clearance operation is completed by the cooperation of the automatic gantry machine and the automatic gantry machine. The multi-machine cooperative operation system automatically divides the cabin and separates the gantry machine operation area from the automatic gantry machine operation area.\\u003c/p\\u003e\\n\\u003cp\\u003e4.3 Wireless communication system for data of lower compartment machinery\\u003c/p\\u003e\\n\\u003cp\\u003eThe mobile machinery for loading and unloading piles in the bulk carrier will transfer the control room from the equipment site to the central control room of the wharf, so as to realize the cooperative operation and safety protection with the unattended ship unloader.The system uses RADWIN5000 TBS500+ base station and RADWIN5000 TMU100+ mobile station bibase station and point-to-multipoint wireless communication to meet the enhanced QOS function, and can accurately control the bandwidth and priority of each data stream without affecting the performance of data forwarding. It supports VLAN (802.1P) or Diffserv QoS optimization, MIMO multi-in, multiple-out antenna technology and OFDM orthogonal frequency division multiplexing (OFDM) technology, which improves the fading resistance and connection reliability. The wireless system works in the 4.9~6GHz band and meets the 5GHz band requirements, and the data transmission is stable.The stable data wireless communication system enables efficient and stable data transmission in the cabin where the lower cabin machinery is semi-closed and the environment is harsh.\\u003c/p\\u003e\\n\\u003cp\\u003e4.4 Belt flow Accurate unloading in hopper area\\u003c/p\\u003e\\n\\u003cp\\u003eBased on precise mechanism positioning control, high-precision laser real-time monitoring and grab anti-roll control technology, the precise unloading system of belt process hopper area is developed to achieve accurate material delivery in automatic clearance operation of portal crane.\\u003c/p\\u003e\\n\\u003cp\\u003eThe redundant control mode of incremental encoder (installed on the motor side) and absolute encoder (installed on the drum side) is adopted to accurately locate the grab of the portal crane, so as to accurately locate the grab position, and ensure that the system can immediately respond and implement the safety protection strategy when any encoder fails.The precise positioning function is the basic guarantee of all automated operations. In order to ensure the positioning accuracy, the dynamic system can realize the unmanned precise control of the grab.\\u003c/p\\u003e\\n\\u003cp\\u003eThe grab of the portal crane and the head of the elephant nose bridge are flexibly connected by the wire rope, so the wire rope must always be in the state of vertical downward in the process of automatic operation, to avoid the risk of collision to the cabin when the grab swing.The electronic anti-roll control system establishes the mathematical model of uniform circular motion and simple pendulum. When the rotary mechanism is started and stopped, the amplitude mechanism is used to offset the tangential velocity wobble produced by the centrifugal force. At the same time, the vertical distance Angle change between the grab and the elephant nose head is calculated by the length of the wire rope in the amplitude direction. The output speed, acceleration, moment and moment of inertia of the corresponding luffing motor are calculated, and then the signal is output to the frequency converter through spatial feedback verification, filtering and noise reduction to offset the angular velocity and angular acceleration generated by the grab in the luffing direction, and finally ensure that the grab track is right below the nose bridge of the gantry crane.The electronic anti-roll control system has the following advantages :(1) by means of accurate model calculation, the grab angular velocity can be basically offset in the first swing cycle after starting;(2) The anti-roll control system takes into account the synchronous calculation of the change of the lifting height, so that the anti-roll effect will not be affected even if the grab is running at full speed while the anti-roll is running.(3) the system can predict the deceleration distance and stop position in each PLC scanning cycle, so the rotary mechanism can carry out accurate positioning with anti-roll function to achieve safe and accurate grasping of material, and the positioning accuracy is 2cm;(4) anti-roll control system has the function of biaxial control, in addition to the car anti-roll, the operation of the car can also achieve anti-roll, so as to quickly realize the row change, cabin change.\\u003c/p\\u003e\\n\\u003cp\\u003eThrough the stable mechanism control technology and grab anti-roll technology, the grab can maintain a safe distance of at least 0.5 meters after opening above the belt process hopper during the automatic clearance operation of the portal crane. The belt process hopper discharging success rate can reach 100%.\\u003c/p\\u003e\"},{\"header\":\"Conclusion\",\"content\":\"\\u003cp\\u003eAt present, the vessel intelligent stripping operation system has developed in the shandong port, Qingdao port before the office pool berth available, through the door and automation, remote control of loader and excavator, new clearance on the use of fittings and electronic application of rod system, one is to achieve the unmanned stripping operation each link, to ensure the safety of the equipment and personnel of stripping operation, It has reduced the number of stevedores during ship clearance, which has been applied for 19 months until December 2021, saving the labor cost of 4.56 million yuan.Second, to minimize the risk of infection in the case of epidemic situation, foreign trade special class cargo clearance personnel, saving the epidemic prevention cost of 3.8 million yuan;Third, the mechanical drivers and cabin clearance personnel were freed from the harsh environment in the cabin, which improved the working environment of the staff and ensured their physical and mental health.Fourth, it improves the core competitiveness, creates a new model of intelligent clearance construction for ships in the dry bulk cargo sector at home and abroad, vigorously promotes the transformation and upgrading of dry bulk cargo terminals, comprehensively leads the development of the industry, and is of great significance and promotion value to enhance the popularity and status of Qingdao Port in Shandong Province, and improves the core competitiveness.\\u003c/p\\u003e\\n\"},{\"header\":\"Declarations\",\"content\":\"\\u003cp\\u003e\\u003cstrong\\u003eEthical Approval:\\u003c/strong\\u003e Not applicable.\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eConsent to Participate:\\u003c/strong\\u003e Informed consent was obtained from all individual participants included in the study.\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eConsent to Publish:\\u003c/strong\\u003e The participant has consented to the submission in this Journal.\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eAuthors Contributions:\\u003c/strong\\u003e Authors have contributed equally in research work and the assessment of the outcomes and the writing of the manuscript.\\u0026nbsp;\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eFunding Statement:\\u003c/strong\\u003e The authors did not receive any funding\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eCompeting Interest:\\u003c/strong\\u003e There is no conflict of interest among the authors.\\u003c/p\\u003e\\n\\u003cp\\u003e\\u003cstrong\\u003eAvailability of data and material:\\u003c/strong\\u003e Data will be available by corresponding author on reasonable request.\\u003c/p\\u003e\"},{\"header\":\"References\",\"content\":\"\\u003col\\u003e\\n\\u003cli\\u003e \\u0026quot;Gantry crane automation Key Technology\\u0026quot; Sun Weizhe;Port science and technology;2021/4/15\\u003c/li\\u003e\\n\\u003cli\\u003e\\u0026quot;Information Platform Design and Implementation of Automatic Dry Bulk Cargo Clearance Monitoring System\\u0026quot;, Xu Qing;Journal of Shanghai Shipping Research Institute;2013/6/30\\u003c/li\\u003e\\n\\u003cli\\u003e\\u0026quot;Several Noteworthy Issues in Ship Clearance Operation\\u0026quot; Li Wei;China Ship Survey; 2020/9/15\\u003c/li\\u003e\\n\\u003cli\\u003eResearch on Automatic Control of Loader Shoveling Process, Huang Zhongyi;Equipment manufacturing technology; 2020/5/15\\u003c/li\\u003e\\n\\u003c/ol\\u003e\"}],\"fulltextSource\":\"\",\"fullText\":\"\",\"funders\":[],\"hasAdminPriorityOnWorkflow\":false,\"hasManuscriptDocX\":true,\"hasOptedInToPreprint\":true,\"hasPassedJournalQc\":\"\",\"hasAnyPriority\":false,\"hideJournal\":false,\"highlight\":\"\",\"institution\":\"\",\"isAcceptedByJournal\":false,\"isAuthorSuppliedPdf\":false,\"isDeskRejected\":\"\",\"isHiddenFromSearch\":false,\"isInQc\":false,\"isInWorkflow\":false,\"isPdf\":false,\"isPdfUpToDate\":true,\"isWithdrawnOrRetracted\":false,\"journal\":{\"display\":true,\"email\":\"info@researchsquare.com\",\"identity\":\"soft-computing\",\"isNatureJournal\":false,\"hasQc\":true,\"allowDirectSubmit\":false,\"externalIdentity\":\"soco\",\"sideBox\":\"Learn more about [Soft Computing](https://www.springer.com/journal/500)\",\"snPcode\":\"500\",\"submissionUrl\":\"https://submission.nature.com/new-submission/500/3\",\"title\":\"Soft Computing\",\"twitterHandle\":\"\",\"acdcEnabled\":true,\"dfaEnabled\":true,\"editorialSystem\":\"em\",\"reportingPortfolio\":\"Springer Hybrid\",\"inReviewEnabled\":true,\"inReviewRevisionsEnabled\":false},\"keywords\":\"Ship Clearance, Smart Clearance, Remote Control, Robots\",\"lastPublishedDoi\":\"10.21203/rs.3.rs-3354531/v1\",\"lastPublishedDoiUrl\":\"https://doi.org/10.21203/rs.3.rs-3354531/v1\",\"license\":{\"name\":\"CC BY 4.0\",\"url\":\"https://creativecommons.org/licenses/by/4.0/\"},\"manuscriptAbstract\":\"\\u003cp\\u003eThe ship cleaning operation is an indispensable job link in the bulk unloading operation. In the late ship unloading, it is difficult to capture the four-week goods in the cabin and unloading machinery. During the existing cleaning process, unloading machinery (grab), cabin machinery, cleaning workers, etc.At the same time, in the current epidemic environment, the risk of infection with neozoppneumitis is also increasing.In response to the outstanding problems in the above-mentioned clearing, the automated transformation of loaders and excavators, automated transformation of the door, and the development of the clearing equipment, and the electronic upper rod system are implemented.All the hatch commanders are all unmanned, while ensuring the efficiency of the cleans, completely eliminating the safety risks of personal injury.\\u003c/p\\u003e\",\"manuscriptTitle\":\"Research and Application of automatic train loading line and intelligent cleaning robot of dry bulk terminal\",\"msid\":\"\",\"msnumber\":\"\",\"nonDraftVersions\":[{\"code\":1,\"date\":\"2023-09-25 13:50:14\",\"doi\":\"10.21203/rs.3.rs-3354531/v1\",\"editorialEvents\":[{\"type\":\"communityComments\",\"content\":0},{\"type\":\"reviewerAgreed\",\"content\":\"\",\"date\":\"2023-09-17T14:01:24+00:00\",\"index\":0,\"fulltext\":\"\"},{\"type\":\"reviewersInvited\",\"content\":\"\",\"date\":\"2023-09-17T12:41:33+00:00\",\"index\":\"\",\"fulltext\":\"\"},{\"type\":\"editorAssigned\",\"content\":\"\",\"date\":\"2023-09-16T01:46:20+00:00\",\"index\":\"\",\"fulltext\":\"\"},{\"type\":\"submitted\",\"content\":\"Soft Computing\",\"date\":\"2023-09-14T04:22:47+00:00\",\"index\":\"\",\"fulltext\":\"\"}],\"status\":\"published\",\"journal\":{\"display\":true,\"email\":\"info@researchsquare.com\",\"identity\":\"soft-computing\",\"isNatureJournal\":false,\"hasQc\":true,\"allowDirectSubmit\":false,\"externalIdentity\":\"soco\",\"sideBox\":\"Learn more about [Soft Computing](https://www.springer.com/journal/500)\",\"snPcode\":\"500\",\"submissionUrl\":\"https://submission.nature.com/new-submission/500/3\",\"title\":\"Soft Computing\",\"twitterHandle\":\"\",\"acdcEnabled\":true,\"dfaEnabled\":true,\"editorialSystem\":\"em\",\"reportingPortfolio\":\"Springer Hybrid\",\"inReviewEnabled\":true,\"inReviewRevisionsEnabled\":false}}],\"origin\":\"\",\"ownerIdentity\":\"fa1b6453-acc3-4403-87e8-a6bcdd246c8f\",\"owner\":[],\"postedDate\":\"September 25th, 2023\",\"published\":true,\"recentEditorialEvents\":[],\"rejectedJournal\":[],\"revision\":\"\",\"amendment\":\"\",\"status\":\"under-review\",\"subjectAreas\":[],\"tags\":[],\"updatedAt\":\"2023-09-25T13:50:14+00:00\",\"versionOfRecord\":[],\"versionCreatedAt\":\"2023-09-25 13:50:14\",\"video\":\"\",\"vorDoi\":\"\",\"vorDoiUrl\":\"\",\"workflowStages\":[]},\"version\":\"v1\",\"identity\":\"rs-3354531\",\"journalConfig\":\"researchsquare\"},\"__N_SSP\":true},\"page\":\"/article/[identity]/[[...version]]\",\"query\":{\"redirect\":\"/article/rs-3354531\",\"identity\":\"rs-3354531\",\"version\":[\"v1\"]},\"buildId\":\"7rjqhiLT3MXkJMwkYKINL\",\"isFallback\":false,\"isExperimentalCompile\":false,\"dynamicIds\":[84888],\"gssp\":true,\"scriptLoader\":[]}","source_license":"CC-BY-4.0","license_restricted":false}