摘要：During the loading operation of a ship loader in bulk terminal,in order to bring bulk cargo,such as coal and ore,precisely into every corner of the cabin and not to raise dust at the same time,the slip barrel mechanism usually is placed fully inside the ship cabin near the cargo as close as possible.However,if too close,it will increase the risk of collision between slip barrel and cargo,which poses a security risk to loading operation.This article proposes an anti-collision method for slip barrel in the process of automatic ship loading in bulk terminal.This method can accurately position the cargo of cabin which is blocked by slip barrel and shovel,and provide a reliable guarantee for the automatic loading operation.Firstly,this method use an array of laser radar mounted on the maintenance platforms to perceive the collision objects around the slip barrel,including the cargo and cabin.Meanwhile,it provides a compensation algorithm to reduce the effect of anti-collision recognition brought by dust and various obstacles during the operation.According to the calculated effective distance between the cargo and slip barrel,the automatic control system of ship loading can adjust the loading operation on a real-time basis.In the end,this article analyze and illustrate the reliability and validity of this method by the case of the application in automatic ship loading system in Tianjin coal terminal.
