CN113928868A - Automatic control system of scraper reclaimer - Google Patents
Automatic control system of scraper reclaimer Download PDFInfo
- Publication number
- CN113928868A CN113928868A CN202111294485.6A CN202111294485A CN113928868A CN 113928868 A CN113928868 A CN 113928868A CN 202111294485 A CN202111294485 A CN 202111294485A CN 113928868 A CN113928868 A CN 113928868A
- Authority
- CN
- China
- Prior art keywords
- scraper
- scraper reclaimer
- reclaimer
- control system
- laser scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to an automatic control system of a scraper reclaimer, which comprises a laser scanning system, a video monitoring system, a positioning system, a PLC (programmable logic controller) control system and an upper computer, wherein the positioning system is installed on the scraper reclaimer and used for acquiring positioning data of the scraper reclaimer, the PLC control system is used for controlling the scraper reclaimer, the upper computer is respectively in information connection with the laser scanning system, the video monitoring system and the PLC control system, and the PLC control system is in information connection with the laser scanning system and the positioning system. The system has the effect of remotely controlling the scraper reclaimer to carry out efficient operation, thereby realizing unmanned management of the stock ground and avoiding the exposure of operating personnel to the dust environment of the stock ground.
Description
Technical Field
The utility model belongs to the technical field of metallurgical industry reclaimer, more specifically says, relates to an automatic control system of scraper blade reclaimer for unmanned on duty operation.
Background
The operation modes of the scraper reclaimer are mainly divided into two types:
1. single action control in situ: the local manual control means that an operator carries out field operation on single equipment in a cab of the scraper reclaimer, and under the local operation mode, the automation degree of the equipment is low, the working strength of the operator is high, and the local manual control is only linked with a central control system through simple control. The working condition of the field equipment and the operation parameters of the equipment are not known by workers in the master control room of the central control system, and the alarm signal and the related parameters of the equipment do not exist in the control room.
2. In-situ linkage control: an operator controls the scraper reclaimer to take materials in a cab on site, and meanwhile, a scraper reclaimer mechanism of the scraper reclaimer and a ground belt form control interlock, so that the ground belt stops and the scraper reclaimer automatically stops.
At present scraper blade reclaimer's control mode mainly still carries out the operation on the spot through operating personnel in the driver's cabin, but scraper blade reclaimer generally uses at closed stock ground, and the stock ground environment is more abominable, and operating personnel working strength is big, separates by the barricade between the stock ground, and scraper blade reclaimer is getting when the material operation, and scraper blade reclaimer bumps with the barricade easily, and the maloperation often can appear in addition to operating personnel, causes the damage to equipment. Meanwhile, the operation condition of an operator of the central control system on the stock yard material quantity and the scraper reclaimer is unclear, and the operator can communicate with the scraper reclaimer only through an interphone, so that misoperation or false alarm often occurs in the production process to influence the production efficiency.
Therefore, the automatic control of the scraper reclaimer becomes a technical problem to be solved in the field.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic control system of a scraper reclaimer, which realizes automatic control and unattended operation.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an automatic control system of a scraper reclaimer is used for realizing remote control of the scraper reclaimer and comprises a laser scanning system, a video monitoring system, a positioning system, a PLC (programmable logic controller) control system and an upper computer, wherein the positioning system is installed on the scraper reclaimer and used for acquiring positioning data of the scraper reclaimer;
carry out information transmission through wireless communication system between host computer and the scraper blade reclaimer, wireless communication system includes switch and wireless communication radio station, and the last switch net twine of passing through on the car of scraper blade reclaimer arrives wireless communication radio station slave station, by ground wireless communication radio station main website received signal, and the signal rethread of receiving is by optical cable to PLC control system, with information transmission to the host computer of central control room again.
The automatic control system scans and images through a laser scanning system, displays a 3D model of a material in an upper computer in a central control room, and determines start-stop critical data and a material leveling and taking operation scheme of a scraper reclaimer by combining positioning data of the scraper reclaimer acquired by a positioning system; and through modification of a source program, real-time monitoring is carried out by utilizing a wireless communication system and a video monitoring system, so that remote automatic control of the scraper reclaimer is realized, and safe production operation is ensured.
The technical scheme of the invention is further improved as follows: the laser scanning system comprises two 3D laser scanners and a laser scanning server, wherein the two 3D laser scanners are respectively arranged at the top end of a cantilever platform of the scraper reclaimer and the middle part of a large arm; the two 3D laser scanners are in information connection with a laser scanning server, and the laser scanning server is in information connection with an upper computer and a PLC control system.
The technical scheme of the invention is further improved as follows: the data information of the stock yard stock pile comprises one or more of volume, weight and boundary of the stock pile.
The technical scheme of the invention is further improved as follows: the video monitoring system comprises a plurality of cameras, the cameras are respectively installed at different positions of the scraper reclaimer, full-coverage monitoring of the scraper reclaimer is achieved, and the cameras are connected with an upper computer in an information mode.
The technical scheme of the invention is further improved as follows: the number of the cameras is six, and the six cameras are respectively arranged on the traveling end main side, the traveling auxiliary side advancing direction, the traveling auxiliary side returning direction, the material pile, the discharging hopper and the ground belt of the scraper reclaimer.
The technical scheme of the invention is further improved as follows: the positioning system comprises a cart encoder and a winch encoder which are arranged on the scraper reclaimer, and the cart encoder and the winch encoder are in information connection with the PLC control system.
The technical scheme of the invention is further improved as follows: the scraper reclaimer is also provided with a protection limit which is 2 sets of ultrasonic sensors and is arranged on two sides away from the head 1/3 of the cantilever.
The technical scheme of the invention is further improved as follows: the automatic control system comprises the following steps of use,
s1, surveying and mapping the stock ground, establishing a stock ground coordinate system, determining the origin of coordinates of the stock ground and the position of the scraper reclaimer in the coordinate system, and unifying the positioning data of the scraper reclaimer and the stock ground coordinate system, wherein the positioning data refers to the positioning data acquired from a cart encoder and a winch encoder;
s2, mounting 3D laser scanners on two sides of a scraper of the scraper reclaimer, determining mounting position data of the 3D laser scanners according to a structural drawing of the scraper reclaimer, and simultaneously establishing wireless communication between the scraper reclaimer and an upper computer and a laser scanning server of a central control room;
s3, establishing a standard database of the stock ground, and ensuring that the database can be read by the upper computer and the laser scanning server;
s4, during scanning operation, the laser scanning server sends interval coordinates needing to be taken to a PLC control system, two 3D laser scanners of the scraper reclaimer scan a stock ground in the interval, the laser scanning server performs data calculation, comparative analysis and feature extraction on collected stock ground data information, calculates volume, weight and boundary data of a stock pile and stores the volume, weight and boundary data into a database of a corresponding stock ground;
s5, when automatic material taking operation is carried out, a stock ground is selected by reading the state characters of material types through an upper computer, so that the pile data of a corresponding stock ground database are read, after a scraper reclaimer automatically selects the stock ground, a laser scanning system can give the boundary data, the operation cut-in point and the scraper descending angle of the corresponding stock ground under the stock ground and send the boundary data, the operation cut-in point and the scraper descending angle to a PLC control system, and after the scraper reclaimer receives the boundary data, the operation cut-in point and the scraper descending angle sent by the PLC control system, the scraper reclaimer is controlled to carry out automatic material taking operation; viewing an operation picture through a video monitoring system in the whole process;
s6, after the material taking is finished, the scraper is automatically lifted to the highest position;
s7, when automatic material leveling operation is performed, as in the step S5, the selected material pile is still automatically scanned through the laser scanning system, and the scraper reclaimer is controlled to perform automatic material leveling operation; viewing an operation picture through a video monitoring system in the whole process;
and S8, after the material leveling is finished, the scraper automatically rises to the highest position.
The technical scheme of the invention is further improved as follows: the 3D laser scanner installed in the middle of the top end of the cantilever platform of the scraper reclaimer scans all the material piles, and the 3D laser scanner installed in the middle of the large arm of the cantilever platform of the scraper reclaimer scans the material piles at the boundary.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
realize the remote automatic control to scraper blade reclaimer through laser scanning technique, reduce operating personnel's working strength, improve operating personnel's operational environment, ensure scraper blade reclaimer steady operation. Has remarkable social and economic benefits and effectively solves the problems in the background technology.
According to the invention, through realizing remote automatic control of the scraper reclaimer, the working strength of operators can be greatly reduced, the working environment of the operators is improved, one person can simultaneously control a plurality of devices, the labor cost is greatly reduced, the operation flow of the scraper reclaimer is standardized, the device damage of the scraper reclaimer caused by human factors is well reduced, the maintenance rate of the devices is reduced, the laser scanning system also establishes a complete stock ground information database, the automatic stock keeping is realized by assistance, and compared with a manual stock keeping, the laser scanning-based scraper reclaimer control system can realize real-time stock keeping, timely calculation and other advantages.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is an acquisition diagram of a scraper reclaimer control system of the present invention;
FIG. 3 is a flow chart of the operation of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
The invention discloses an automatic control system of a scraper reclaimer, which introduces the scraper reclaimer at first, wherein the scraper reclaimer is a common machine and comprises a travelling mechanism, a hoisting mechanism, a scraper reclaimer, a cab and an electric room, and the specific structure is not described in detail.
Specifically, the automatic control system of the present invention, referring to fig. 1-3, is used for realizing remote control, and includes a laser scanning system, a video monitoring system, a positioning system, a PLC control system, and an upper computer, wherein the positioning system is installed on a scraper reclaimer and is used for acquiring positioning data of the scraper reclaimer, the PLC control system is used for controlling the scraper reclaimer, the upper computer is respectively in information connection with the laser scanning system, the video monitoring system, and the PLC control system is in information connection with the laser scanning system and the positioning system; the upper computer is connected with a PLC control system of the scraper reclaimer by a wireless communication system. The wireless communication system comprises a switch and a wireless communication radio station, the scraper reclaimer is connected with a wireless communication radio station slave station through a network cable of the switch on the vehicle, the wireless communication radio station master station receives signals, the received signals are transmitted to a PLC control system of an upper computer of a central control room through an industrial grade photoelectric port switch by an optical cable, and an operation instruction of the upper computer is transmitted to the PLC control system on the scraper reclaimer through the wireless communication system, so that the scraper reclaimer is controlled to work.
The automatic control system scans and images through a laser scanning system, displays a 3D model of a material on a computer terminal of an upper computer, and determines start-stop critical data and a material leveling and taking operation scheme of a scraper reclaimer by combining positioning data of the scraper reclaimer acquired by a positioning system; and through the modification of source program, through wireless communication system and video monitoring system, real time monitoring, with the help of host computer and PLC control system, realize the long-range automatic control of scraper reclaimer, ensure equipment safe operation, production is stable goes on.
Specifically, the laser scanning system comprises two 3D laser scanners and a laser scanning server, the two 3D laser scanners are respectively arranged at the top end of a cantilever platform of the scraper reclaimer and the middle part of a large arm, and the 3D laser scanners perform strip scanning on the whole stockpile of a stock yard; the two 3D laser scanners are in information connection with a laser scanning server, and the laser scanning server is in information connection with an upper computer and a PLC control system. The method comprises the following steps that a 3D laser scanner installed in the middle of the top end of a cantilever platform of a scraper reclaimer scans a material pile in all directions to obtain an operation entry point; and a 3D laser scanner arranged in the middle of the large arm of the cantilever platform of the scraper reclaimer scans the material pile at the boundary to acquire the boundary data of the material pile.
The data information of the stock yard stock pile comprises one or more of volume, weight and boundary of the stock pile.
The video monitoring system comprises a plurality of cameras, the cameras are respectively installed at different positions of the scraper reclaimer, full-coverage monitoring of the scraper reclaimer is achieved, and the cameras are connected with an upper computer in an information mode. Specifically, six cameras are arranged on the main side of the traveling end of the scraper reclaimer, the advancing direction of the traveling auxiliary side, the returning direction of the traveling auxiliary side, the material pile, the blanking hopper and the ground belt.
And positioning system is including installing cart encoder and the hoist encoder on scraper blade reclaimer, and cart encoder and hoist encoder all are connected with PLC control system information to acquire the stroke of scraper blade reclaimer, location data such as hoist angle.
The upper computer is arranged in a central control room, a server software platform is arranged in the upper computer, a data acquisition system, a graphic processing and UI system and an execution system are arranged in the server software platform, the data acquisition system, the graphic processing and UI system and the execution system are sequentially in information connection, the data acquisition system is unidirectionally connected with a laser scanning system and a video monitoring system, the graphic processing and UI system is also unidirectionally connected with the data acquisition system, the graphic processing and UI system and the execution system are bidirectionally in information connection, and the execution system is bidirectionally in information connection with a PLC control system.
The data acquisition system can analyze and compare data, extract and calculate data characteristics according to stock ground data scanned by the laser, and transmit finally calculated operation cut-in point data to a graphic processing and UI system.
And the graphic processing and UI system processes the data of the laser scanning system and the positioning system, converts the data into an intuitive three-dimensional model of the material pile and provides coordinate parameters of important boundary points of the material pile.
And the execution system is used for controlling the PLC control system.
And a control personnel establishes an operation plan according to an actual operation task, initializes the model parameters and then issues an operation instruction, and controls the automatic operation of the scraper reclaimer by using the three-dimensional material pile model and the PLC control system. Meanwhile, a wireless communication system and a video monitoring system are built for real-time monitoring, so that remote automatic control over the scraper reclaimer is realized through a laser scanning technology, the working strength of operators is reduced, the working environment of the operators is improved, and the stable operation of the scraper reclaimer is ensured. The system has remarkable social and economic benefits.
The scraper reclaimer is also provided with a protection limit for protecting the scraper reclaimer and preventing collision; the 2 sets of ultrasonic sensors are used in the protection limit mode and are installed on two sides of the position far away from the head 1/3 of the cantilever, the main function is to detect the distance of a material pile, the cantilever of the scraper reclaimer is prevented from being buried by the collapse of the material pile, and meanwhile, the device stops when the scraper reclaimer is close to a partition wall of a storage bin in a fault mode, and the cantilever of the scraper reclaimer is prevented from colliding with the partition wall.
The automatic control system of the scraper reclaimer comprises the following use steps:
s1, surveying and mapping the stock ground, establishing a stock ground coordinate system, determining the origin of coordinates of the stock ground and the position of the scraper reclaimer in the coordinate system, and unifying the positioning data of the scraper reclaimer and the stock ground coordinate system; the positioning data refers to positioning data acquired from a cart encoder and a winch encoder in real time.
S2, mounting 3D laser scanners on two sides of a scraper of the scraper reclaimer, determining mounting position data of the 3D laser scanners according to a structural drawing of the scraper reclaimer, and simultaneously establishing wireless communication between the scraper reclaimer and an upper computer and a laser scanning server in a central control room;
s3, establishing a standard database of the stock ground, and ensuring that the database can be read by the upper computer and the laser scanning server;
s4, during scanning operation, the laser scanning server sends interval coordinates needing to be taken to a PLC control system, two 3D laser scanners of the scraper reclaimer scan a stock ground in the interval, the laser scanning server performs data calculation, comparative analysis and feature extraction on collected stock ground data information, calculates volume, weight and boundary data of a stock pile and stores the volume, weight and boundary data into a database of a corresponding stock ground;
s5, when automatic material taking operation is carried out, a stock ground is selected through an upper computer (the program is realized by reading state characters of material types), stock pile data of a corresponding stock ground database are read, after a scraper reclaimer automatically selects the stock ground, a laser scanning system can give boundary data, an operation cut-in point and a scraper descending angle of the corresponding stock pile under the stock ground and send the boundary data, the operation cut-in point and the scraper descending angle to a PLC control system, and after the scraper reclaimer receives the boundary data, the operation cut-in point and the scraper descending angle sent by the PLC control system, the scraper reclaimer is controlled to carry out automatic material taking operation; viewing an operation picture through a video monitoring system in the whole process;
s6, after the material taking is finished, the scraper is automatically lifted to the highest position;
s7, during automatic leveling operation, the same step S5 is still to automatically scan the selected stockpile through the laser scanning system, the stockpile data of the corresponding stock yard database are read, after the stock yard is automatically selected by the scraper reclaimer, the laser scanning system can give the boundary data, the operation cut-in point and the scraper descending angle of the corresponding stockpile under the stock yard and send the boundary data, the operation cut-in point and the scraper descending angle to the PLC control system, and the scraper reclaimer controls the scraper reclaimer to automatically level the material after receiving the boundary data, the operation cut-in point and the scraper descending angle sent by the PLC control system; viewing an operation picture through a video monitoring system in the whole process;
and S8, after the material leveling is finished, the scraper automatically rises to the highest position.
This automatic control system of scraper reclaimer is unmanned on duty system, possess wireless remote operation, can realize carrying out power/combined floodgate to the stacker in the central control room, malfunction alerting/reset, divide manual shunting, get material/stop, the long-range automatic operation of one-key formula stacker, still possess data, the figure, real-time dynamic function picture, 9 position high definition video monitor function, can ensure that operating personnel carries out long-range hand/automatic operation, manual intervention at the central control room to scraper reclaimer, scraper reclaimer automatic control system still possesses the laser scanning to the stuff bar, three-dimensional imaging, stock ground information maintenance, material inventory and stock pile automatic positioning function.
Fig. 3 is a flow chart of the unattended operation of the present invention, and it can be seen from the chart that after switching to an automatic mode on an operation table, switching to a remote operation mode on an upper computer, controlling power switching, fault resetting, and switching to remote manual operation, remote unlocking is selected and a material pile to be operated is selected in sequence.
After remote unlocking is selected, the scraper is lifted to the upper limit, the crane walks leftwards or rightwards to a material taking position, the ground belt runs after remote locking, then the material and manual walking speed are selected, the chain is started, the scraper reclaimer is controlled to walk, the scraper is controlled to ascend and descend to take materials, the chain is stopped after operation is finished, and the control mode is ended.
After the material pile to be operated is selected, if the automatic scanning is clicked, the automatic scanning process is carried out on the selected material pile, and the scanning is automatically finished. After the ground belt runs, if the automatic material leveling is clicked, the automatic scanning and automatic material leveling process is carried out on the selected material pile, the material leveling is automatically finished, and the scraper plate is automatically lifted to the highest position; if the automatic material taking is clicked, the selected material pile is automatically scanned, the material taking process is automatically carried out, the clicking is stopped, the material taking is finished, and the scraper plate is also automatically lifted to the highest position. The process is clear, efficient, busy and not disordered, and the effect of automatic control can be realized.
The auxiliary video monitoring of the operator can remotely carry out manual operation and automatic operation on the scraper reclaimer in a central control room, so that the working intensity of the operator is greatly reduced, the working environment is improved, the simultaneous automatic operation of controlling a plurality of devices by one person can be realized, the labor cost is reduced, the system also has the functions of a stock checking, three-dimensional simulation modeling, real-time data updating, stock ground data management and the like, and timely and accurate data support is provided for the production operation of the stock ground.
The on-site upper computer has the manual intervention fine adjustment function of manual operation standby and automatic operation of the scraper reclaimer under special conditions, and an operator can modify parameters and manually fine adjust the equipment under the condition that the equipment does not stop.
Taking a first stock yard half-door type scraper reclaimer as an example, surveying and mapping a stock yard, establishing a stock yard coordinate system, determining a coordinate origin of the stock yard and the position of the scraper reclaimer in the coordinate system, and unifying encoder data of the scraper reclaimer and the stock yard coordinate system; determining the installation position data of a 3D laser scanner according to a structural drawing of a scraper reclaimer, installing two sets of laser scanners at a scraper cantilever, carrying out region division on a material strip, establishing a corresponding database in a server according to the interval position divided by a stock ground, and communicating the database with an upper computer and a laser scanning server so that the upper computer and the laser scanning server can read the database; scanning the whole stock ground through an upper computer to acquire data information of stockpiles in the stock ground, and respectively calculating and storing data of different stock grounds in corresponding databases according to sections divided by the stock ground by using a laser scanning server according to the acquired data information; and then, by a characteristic extraction algorithm, the system judges that the height of the highest point of each stock yard stock pile is the angle of the initial lowering of the scraper reclaimer, the stock yard position where the highest point is located is the walking position of the scraper reclaimer, so that the scraper reclaimer can automatically position the initial position of a target stock pile, and the boundary data of the stock pile is extracted according to the shape of the stock pile, so that the boundary data can be set as the material leveling and reclaiming boundary of the scraper reclaimer, and at the moment, unmanned material leveling or reclaiming can be carried out in a central control room, so that the purposes of reducing personnel and increasing efficiency are achieved, the failure rate of artificial interference of equipment is reduced, and the effective operation rate of the equipment is improved.
A feature is a feature descriptor used in computer vision and image processing for object detection. Feature extraction (feature extraction) includes two parts: feature detection (feature detection) and feature description (feature description). Assuming we use object cerners as features, the detection is to find the cerners in a region or image; the description is to assign quantitative attributes (such as corner orientation and location) to the detected features.
Features are used to distinguish objects, typically independent of location, rotation, and scale, and also independent of drilling levels and changes used by the viewpoint between the imaging sensor and the scale.
The upper computer has the manual intervention fine adjustment functions of manual operation standby and automatic operation on the scraper reclaimer under special conditions, and an operator can modify parameters and manually fine adjust the equipment under the condition that the equipment does not shut down.
The auxiliary video monitoring of the operator can remotely carry out manual operation and automatic operation on the scraper reclaimer in a central control room, so that the working intensity of the operator is greatly reduced, the working environment is improved, the simultaneous automatic operation of controlling a plurality of devices by one person can be realized, the labor cost is reduced, the system also has the functions of a stock checking, three-dimensional simulation modeling, real-time data updating, stock ground data management and the like, and timely and accurate data support is provided for the production operation of the stock ground.
The invention has the effect of remotely controlling the scraper reclaimer to carry out high-efficiency operation, thereby realizing unmanned management of a stock ground and avoiding the exposure of operating personnel to the dust environment of the stock ground. The system realizes remote automatic control of the scraper reclaimer, greatly reduces the working strength of operators, improves the working environment of the operators, realizes simultaneous control of multiple devices by one person, greatly reduces the labor cost, standardizes the operation flow of the scraper reclaimer, well reduces the damage of the scraper reclaimer to the devices caused by human factors, reduces the maintenance rate of the devices, runs stably and reliably, and has remarkable economic benefit.
Claims (8)
1. The utility model provides a scraper blade reclaimer's automatic control system which characterized in that: the system is used for realizing remote control of the scraper reclaimer and comprises a laser scanning system, a video monitoring system, a positioning system, a PLC (programmable logic controller) control system and an upper computer, wherein the positioning system is installed on the scraper reclaimer and used for acquiring positioning data of the scraper reclaimer;
this automatic control system passes through laser scanning system scanning formation of image and shows material 3D model in the host computer, combines the scraper blade reclaimer's that positioning system obtained location data, confirms the critical data of opening of scraper blade reclaimer and material flattening, the material operation scheme of getting to through video monitoring system, real time monitoring, thereby realize long-range automatic control, ensure production safety operation.
2. The automatic control system of a scraper reclaimer of claim 1, wherein: the laser scanning system comprises two 3D laser scanners and a laser scanning server, wherein the two 3D laser scanners are respectively arranged at the top end of a cantilever platform of the scraper reclaimer and the middle part of a large arm; the two 3D laser scanners are in information connection with a laser scanning server, and the laser scanning server is in information connection with an upper computer and a PLC control system.
3. The automatic control system of a scraper reclaimer of claim 1, wherein: the video monitoring system comprises a plurality of cameras, and the cameras are respectively installed at different positions of the scraper reclaimer, so that full-coverage monitoring of the scraper reclaimer is realized.
4. The automatic control system of a scraper reclaimer of claim 3, wherein: the number of the cameras is six, and the six cameras are respectively arranged on the traveling end main side, the traveling auxiliary side advancing direction, the traveling auxiliary side returning direction, the material pile, the discharging hopper and the ground belt of the scraper reclaimer.
5. The automatic control system of a scraper reclaimer of claim 1, wherein: the positioning system comprises a cart encoder and a winch encoder which are arranged on the scraper reclaimer, and the cart encoder and the winch encoder are in information connection with the PLC control system.
6. The automatic control system of a scraper reclaimer of claim 1, wherein: the scraper reclaimer is also provided with a protection limit which is 2 sets of ultrasonic sensors and is arranged on two sides away from the head 1/3 of the cantilever.
7. The automatic control system of a scraper reclaimer of claim 2, wherein: comprises the following steps of use,
s1, surveying and mapping the stock ground, establishing a stock ground coordinate system, determining the origin of coordinates of the stock ground and the position of the scraper reclaimer in the coordinate system, and unifying the positioning data of the scraper reclaimer and the stock ground coordinate system;
s2, mounting 3D laser scanners on two sides of a scraper of the scraper reclaimer, determining mounting position data of the 3D laser scanners according to a structural drawing of the scraper reclaimer, and simultaneously establishing wireless communication between the scraper reclaimer and an upper computer as well as between the scraper reclaimer and a laser scanning server;
s3, establishing a standard database of the stock ground, and ensuring that the database can be read by the upper computer and the laser scanning server;
s4, during scanning operation, the laser scanning server sends interval coordinates needing to be taken to a PLC control system, two 3D laser scanners of the scraper reclaimer scan a stock ground in the interval, the laser scanning server performs data calculation, comparative analysis and feature extraction on collected stock ground data information, calculates volume, weight and boundary data of a stock pile and stores the volume, weight and boundary data into a database of a corresponding stock ground;
s5, when automatic material taking operation is carried out, a stock ground is selected through an upper computer, stock pile data of a corresponding stock ground database are read, after the stock ground is automatically selected by a scraper reclaimer, a laser scanning system can give boundary data, an operation cut-in point and a scraper descending angle of the corresponding stock pile under the stock ground and send the boundary data, the operation cut-in point and the scraper descending angle to a PLC control system, and after the scraper reclaimer receives the boundary data, the operation cut-in point and the scraper descending angle sent by the PLC control system, the scraper reclaimer is controlled to carry out automatic material taking operation; viewing an operation picture through a video monitoring system in the whole process;
s6, after the material taking is finished, the scraper is automatically lifted to the highest position;
s7, when automatic material leveling operation is performed, as in the step S5, the selected material pile is still automatically scanned through the laser scanning system, and the scraper reclaimer is controlled to perform automatic material leveling operation; viewing an operation picture through a video monitoring system in the whole process;
and S8, after the material leveling is finished, the scraper automatically rises to the highest position.
8. The automatic control system of a scraper reclaimer of claim 7, wherein: the 3D laser scanner installed in the middle of the top end of the cantilever platform of the scraper reclaimer scans all the material piles, and the 3D laser scanner installed in the middle of the large arm of the cantilever platform of the scraper reclaimer scans the material piles at the boundary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111294485.6A CN113928868A (en) | 2021-11-03 | 2021-11-03 | Automatic control system of scraper reclaimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111294485.6A CN113928868A (en) | 2021-11-03 | 2021-11-03 | Automatic control system of scraper reclaimer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113928868A true CN113928868A (en) | 2022-01-14 |
Family
ID=79285419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111294485.6A Withdrawn CN113928868A (en) | 2021-11-03 | 2021-11-03 | Automatic control system of scraper reclaimer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113928868A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117719899A (en) * | 2024-01-25 | 2024-03-19 | 南通奥普机械工程有限公司 | Automatic material taking machine with double scraping plates and double winding structures and material taking method thereof |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101334897A (en) * | 2007-06-27 | 2008-12-31 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| US20130341159A1 (en) * | 2012-06-04 | 2013-12-26 | Universidade De Sao Paulo - Usp | Bulk material reclaimer control system |
| CN110127385A (en) * | 2019-04-01 | 2019-08-16 | 上海宝信软件股份有限公司 | The optimal automatic aligning strategy determination method of stacker-reclaimer and system |
| CN210689519U (en) * | 2019-11-19 | 2020-06-05 | 湖南华电长沙发电有限公司 | Coal inventory system with double laser scanners of bucket wheel machine |
| CN111285127A (en) * | 2020-02-24 | 2020-06-16 | 中冶东方工程技术有限公司 | Intelligent control system and method for scraper reclaimer |
| CN211264155U (en) * | 2020-01-20 | 2020-08-14 | 武汉索尔德测控技术有限公司 | Unmanned stacker-reclaimer management system |
| CN112596455A (en) * | 2020-11-26 | 2021-04-02 | 华能国际电力股份有限公司南通电厂 | Remote intelligent material piling and taking control method for coal conveying of power plant |
| CN212965825U (en) * | 2020-10-28 | 2021-04-13 | 塔克拉夫采矿技术(北京)有限公司 | Remote control system of scraper reclaimer |
| CN112722873A (en) * | 2020-12-23 | 2021-04-30 | 国家能源集团煤焦化有限责任公司 | Automatic control system of stacker-reclaimer |
| CN112938517A (en) * | 2021-04-20 | 2021-06-11 | 中国电建集团长春发电设备有限公司 | Bucket wheel machine unattended control system and method based on UWB positioning technology |
| CN113291841A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material leveling control method of material taking machine |
| CN113320995A (en) * | 2021-05-25 | 2021-08-31 | 中冶南方工程技术有限公司 | Unmanned control system for stockyard stacker-reclaimer |
-
2021
- 2021-11-03 CN CN202111294485.6A patent/CN113928868A/en not_active Withdrawn
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101334897A (en) * | 2007-06-27 | 2008-12-31 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| US20130341159A1 (en) * | 2012-06-04 | 2013-12-26 | Universidade De Sao Paulo - Usp | Bulk material reclaimer control system |
| CN110127385A (en) * | 2019-04-01 | 2019-08-16 | 上海宝信软件股份有限公司 | The optimal automatic aligning strategy determination method of stacker-reclaimer and system |
| CN210689519U (en) * | 2019-11-19 | 2020-06-05 | 湖南华电长沙发电有限公司 | Coal inventory system with double laser scanners of bucket wheel machine |
| CN211264155U (en) * | 2020-01-20 | 2020-08-14 | 武汉索尔德测控技术有限公司 | Unmanned stacker-reclaimer management system |
| CN111285127A (en) * | 2020-02-24 | 2020-06-16 | 中冶东方工程技术有限公司 | Intelligent control system and method for scraper reclaimer |
| CN113291841A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material leveling control method of material taking machine |
| CN212965825U (en) * | 2020-10-28 | 2021-04-13 | 塔克拉夫采矿技术(北京)有限公司 | Remote control system of scraper reclaimer |
| CN112596455A (en) * | 2020-11-26 | 2021-04-02 | 华能国际电力股份有限公司南通电厂 | Remote intelligent material piling and taking control method for coal conveying of power plant |
| CN112722873A (en) * | 2020-12-23 | 2021-04-30 | 国家能源集团煤焦化有限责任公司 | Automatic control system of stacker-reclaimer |
| CN112938517A (en) * | 2021-04-20 | 2021-06-11 | 中国电建集团长春发电设备有限公司 | Bucket wheel machine unattended control system and method based on UWB positioning technology |
| CN113320995A (en) * | 2021-05-25 | 2021-08-31 | 中冶南方工程技术有限公司 | Unmanned control system for stockyard stacker-reclaimer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117719899A (en) * | 2024-01-25 | 2024-03-19 | 南通奥普机械工程有限公司 | Automatic material taking machine with double scraping plates and double winding structures and material taking method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113320995A (en) | Unmanned control system for stockyard stacker-reclaimer | |
| WO2018149087A1 (en) | Intelligent and fully automatic stacker-reclaimer control apparatus | |
| CN106946159A (en) | One kind is based on the pinpoint building tower crane automatic running systems of the Big Dipper/GPS and control method | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN109132592B (en) | Bucket wheel machine unattended operation control method based on PLC data partition storage | |
| CN112537661B (en) | Anti-collision control method and system for stacker-reclaimer | |
| CN112141734B (en) | Material taking control system and material taking method for scraper reclaimer | |
| CN114314346B (en) | Driving control method and system based on coal storage management | |
| CN112520582B (en) | High-low-lift automatic electrical control system and control method | |
| KR20190078984A (en) | Monitoring system for preventing lift objects collision against crane | |
| CN112758824A (en) | Unmanned control system of tower crane | |
| CN110642148A (en) | Control system and control method of unmanned tower crane | |
| CN112777497A (en) | Intelligent control system of tower crane | |
| CN113928868A (en) | Automatic control system of scraper reclaimer | |
| CN205634668U (en) | Virtual command system of large -scale hoist and mount operation | |
| CN112758827A (en) | Portal crane remote control system | |
| CN203299627U (en) | Remote operation control system of crown block for delayed coking | |
| CN214243511U (en) | Portal crane remote control system | |
| CN117023403A (en) | Autonomous sensing and interaction front hanging system and operation method | |
| CN116853970A (en) | Unmanned control system and unmanned control method for tower crane | |
| CN216687162U (en) | Visual tower crane control system | |
| CN116281239A (en) | Unmanned system and method for bucket wheel machine | |
| CN212355740U (en) | Bucket wheel machine system of full-automatic material of getting | |
| CN117058211A (en) | Grab bucket anti-shake collision strategy control method and system based on laser positioning | |
| CN214623416U (en) | Control system for working machine cluster |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220114 |