CN114873295A - Full-automatic stacking control system of bucket-wheel stacker reclaimer - Google Patents
Full-automatic stacking control system of bucket-wheel stacker reclaimer Download PDFInfo
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- CN114873295A CN114873295A CN202210668125.6A CN202210668125A CN114873295A CN 114873295 A CN114873295 A CN 114873295A CN 202210668125 A CN202210668125 A CN 202210668125A CN 114873295 A CN114873295 A CN 114873295A
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- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000013486 operation strategy Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 230000003137 locomotive effect Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000009472 formulation Methods 0.000 abstract 1
- 239000000203 mixture Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013077 target material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a full-automatic stacking control system of a bucket-wheel stacker-reclaimer, which comprises an automatic control system of the stacker-reclaimer, an operation strategy formulation system and an anti-collision and fault detection safety system, wherein the automatic control system of the stacker-reclaimer comprises the stacker-reclaimer, a control system and two three-dimensional laser scanners, the two three-dimensional laser scanners are respectively fixed on two sides of a cab of the stacker-reclaimer, and the stacker-reclaimer and the two three-dimensional laser scanners are both electrically connected to the control system; the operation strategy making system comprises an edge server and a sensor, wherein the edge server is electrically connected with the three-dimensional laser scanner, and the sensor is fixedly arranged on the stacker-reclaimer and is used for controlling the movement of the stacker-reclaimer; the anti-collision and fault detection safety system comprises a camera, a human-vehicle identification camera and an anti-collision protection and fault detection device.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a full-automatic stacking control system of a bucket-wheel stacker reclaimer.
Background
At present, a bulk cargo yard is generally piled by manually operating a stacker-reclaimer, most of the bulk cargo yards are closed, the field environment is severe, the dust concentration is high, and the health of field operators is seriously threatened. And the distance between the cab and the bucket wheel of the stacker-reclaimer is far, and particularly, the sight of a driver is seriously influenced during night operation. The labor intensity is higher in the manual operation process, the safe and stable operation is completely determined by the operation level and the working state of staff, and the safety accident caused by the distraction of energy is easily caused when the operator works for a long time in a fatigue way. Because the operation habits and experiences of operators of each stacker-reclaimer are different, the stacking operation can not be carried out according to the uniform standard. And the manual control has many uncontrollable factors, so that the stockpiling is not standard, the stockpile shape is irregular, and the subsequent material taking operation is inconvenient.
Disclosure of Invention
The present invention is directed to a fully automatic stacking control system for a bucket-wheel stacker reclaimer, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic stacker-reclaimer control system of a bucket-wheel stacker-reclaimer comprises an automatic control system of the stacker-reclaimer, an operation strategy making system and an anti-collision and fault detection safety system,
the automatic control system of the stacker-reclaimer comprises the stacker-reclaimer, a control system and two three-dimensional laser scanners, wherein the two three-dimensional laser scanners are respectively fixed on two sides of a cab of the stacker-reclaimer, and the stacker-reclaimer and the two three-dimensional laser scanners are both electrically connected to the control system;
the operation strategy making system comprises an edge server and a sensor, wherein the edge server is electrically connected with the three-dimensional laser scanner, and the sensor is fixedly arranged on the stacker-reclaimer and is used for controlling the movement of the stacker-reclaimer;
the anti-collision and fault detection safety system comprises a camera, a man-vehicle recognition camera, an anti-collision protection device and a fault detection device, wherein the anti-collision protection and fault detection device is arranged on the front and the rear of a stacker-reclaimer body and on a large arm, the man-vehicle recognition camera is fixedly arranged on the stacker-reclaimer, and the camera is fixedly arranged at the position of a key of the stacker-reclaimer.
Preferably, the automatic control system of the stacker-reclaimer utilizes an edge calculation server to perform edge calculation and control.
Preferably, the automatic control system of the stacker-reclaimer utilizes a three-dimensional imaging technology, and the edge computing server analyzes the point cloud data of the material pile to provide a data base for the automatic operation of the material pile of the stacker-reclaimer.
Preferably, the movement actions of the stacker-reclaimer controlled by the operation strategy making system comprise automatic walking, automatic rotation and automatic pitching; a sensor for controlling the traveling and the rotary positioning of the stacker-reclaimer in the operation strategy making system adopts a coding cable and a rotary encoder, and a tilt angle sensor and a coding cable are adopted for pitching; more than two sensors are adopted for redundancy in each positioning, and the walking data, the pitching angle and the rotating angle of the stacker-reclaimer can be acquired in real time.
Preferably, the operation strategy making system makes a proper stacking strategy through an automatic stacking algorithm according to the three-dimensional data of the stock ground.
Preferably, the operation strategy making system calculates a proper blanking point through a stockpiling point calculation algorithm according to the three-dimensional data of the stock ground.
Preferably, the anti-collision system comprises hardware anti-collision and software anti-collision, wherein the hardware anti-collision is realized by installing anti-collision devices on the front and rear parts of the locomotive and on the large arm; the software anti-collision is that the edge calculation server calculates the safe distance according to the relevant parameters of the locomotive and the stock ground, and carries out graded alarm.
Preferably, the specific safety measure of the fault detection safety system is to install a human-vehicle identification camera on the stacker-reclaimer to perform graded alarm.
Preferably, the fault detection safety system is implemented by installing a camera at a key position of the stacker-reclaimer for real-time monitoring.
Compared with the prior art, the invention has the beneficial effects that:
1. after the stacking is fully automatic, manual stacking operation on site is not needed any more, so that the labor intensity of workers is reduced;
2. the full-automatic material stacking mode is adopted for stacking, so that the uncertainty and instability easily caused by manual operation can be avoided, and the stacking efficiency is improved;
3. according to the information of the operation area and the data information of the incoming materials, a stacking strategy is formulated after the accurate calculation is carried out by an edge computer; the material is stacked according to the material stacking strategy, so that the material stack is more regular, the subsequent material taking operation of the material piling and taking machine is facilitated, and the utilization rate of a stock ground is greatly improved.
Drawings
FIG. 1 is a hardware block diagram of a fully automatic stacking control system of a stacker-reclaimer according to the present invention;
FIG. 2 is a three-dimensional point cloud data diagram of a scanned stockpile of a three-dimensional scanner according to the present invention;
FIG. 3 is a static view of the inventive pile;
fig. 4 is a software block diagram of the full-automatic stacking control system of the bucket-wheel stacker reclaimer of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-4, the embodiment provides a fully automatic stacker-reclaimer control system of a bucket-wheel stacker-reclaimer, which comprises an automatic control system of the stacker-reclaimer, an operation strategy making system and an anti-collision and fault detection safety system,
the automatic control system of the stacker-reclaimer comprises the stacker-reclaimer, a control system and two three-dimensional laser scanners, wherein the two three-dimensional laser scanners are respectively fixed on two sides of a cab of the stacker-reclaimer, and the three-dimensional scanners are eyes of the full-automatic stacker-reclaimer control system, scan and acquire operation area data in real time and provide data for automatic control of stacking. The principle of three-dimensional scanners is to create a point cloud (point) of the geometric surface of an object, which can be used to interpolate the surface shape of the object, thus creating the three-dimensional surface shape of the object; the stacker-reclaimer and the two three-dimensional laser scanners are electrically connected with the control system, the automatic control system of the stacker-reclaimer utilizes the edge server to carry out edge calculation and control, the automatic control system of the stacker-reclaimer utilizes the three-dimensional imaging technology, the edge server analyzes the point cloud data of the material pile to provide a data base for the automatic operation of the stacker-reclaimer,
the operation strategy making system comprises an edge server (namely an edge controller) and a sensor, wherein the edge server is electrically connected with the three-dimensional laser scanner, and the sensor is fixedly arranged on the stacker-reclaimer and is used for controlling the movement of the stacker-reclaimer; the movement actions of the stacker-reclaimer controlled in the operation strategy making system comprise automatic walking, automatic rotation and automatic pitching;
after the point cloud data are processed by the edge server, a stockpiling strategy is designed according to a three-dimensional stereo map of a stock yard coal pile and by combining a stockpiling process and stock yard rules, a stock dropping point is calculated, and when the first stock dropping point of the bucket wheel is aligned, a three-dimensional scanner provides real-time data of the spatial position of the bucket wheel. And feeding back the height of the material pile in real time during the material piling operation. And (4) performing stacking operation according to a stacking strategy, judging whether to stop stacking or not according to the residual material amount, and starting to walk for stacking. Calling a three-dimensional imaging model, carrying out three-dimensional calculation on the target material pile, making a pile walking scheme, and starting automatic pile walking;
specifically, as shown in fig. 3, which is a static diagram of a stockpile, the operation strategy making system makes a proper stockpiling strategy through an automatic stockpiling algorithm according to three-dimensional data of a stockyard, wherein h is a material height, and r is a radius of a bottom stockpile circle. The calculation of the blanking point of the fixed-point stacking is related to the repose angle, the size of the stock ground and the maximum height of the stock pile, and the height of the stock pile is related to the upward limit angle of the stacker-reclaimer. Upward limit height h of stacker-reclaimer Upward facing ＝L·sinα Upward facing Wherein L is the cantilever arm length, α Face upward The upper elevation limit angle of the stacker-reclaimer is defined. Height H of cantilever from ground Ground ＝H Track +H Cantilever arm In which H is Track Height of the surface of the track from the ground, H Cantilever arm And horizontally marking the height of the cantilever of the stacker-reclaimer from the track. It can therefore be seen that the stacker-reclaimer can stack the height of the pile: h is Stack ＝h Upward facing +H Ground 。
And (4) finding the repose angle of common material seeds through the material seeds, and pushing out the stacking circle radius at the bottom of the material by utilizing the repose angle theta and the height of the material pile to obtain the stacking range. Bottom radius r of pile Material H/tan theta, pile bottom diameter D Material ＝2r Material . Knowing the size of the bottom of the stockpile, and calculating a stockpile point and a stockpile track through the edge server according to the size of the stock ground.
The system operates according to the stacking operation track provided by the edge server, and analyzes the operation track into a specific control instruction of the stacker-reclaimer PLC. If the stacking operation mode is started, the target address of the cart walking, the rotating pitch angle, the cart inching distance and the like, the sensors for walking and rotating positioning of the operation track of the stacker-reclaimer adopt a coded cable and a rotary encoder, and the pitch adopts an inclination angle sensor and a coded cable; more than two sensors are adopted for redundancy in each positioning, so that the walking data, the pitching angle and the rotating angle of the stacker-reclaimer can be acquired in real time;
fig. 4 is a system software block diagram, in which an application layer adopts a B/S architecture, which is convenient for visual management and operation, has simple man-machine interaction, and mainly includes functions of management, display, device diagnosis, and the like of each functional module. The data layer manages the data collected in each production link in different areas, can realize data intercommunication, is convenient for sorting, storing and generating corresponding report data, and provides the data to other links for data analysis. The control layer is mainly controlled by a PLC (programmable logic controller) and controls the whole operation flow. And an edge controller is added, a matched algorithm is introduced for accurate control, deep mining and application are carried out on production data, and the goal of optimal control is realized. The execution layer mainly controls related bottom hardware equipment, sensors for data acquisition, motor start and stop and the like.
The anti-collision and fault detection safety system comprises a camera, a human-vehicle identification camera, an anti-collision protection and fault detection device, wherein the anti-collision protection and fault detection device is arranged on the front and the rear of a stacker-reclaimer body and on a large arm; the software anti-collision is that the edge calculation server calculates the safe distance according to the relevant parameters of the locomotive and the stock ground, and carries out graded alarm.
The human-vehicle identification camera is fixedly arranged on the stacker-reclaimer, the camera is fixedly arranged at the key position of the stacker-reclaimer, and the specific safety measure of the fault detection safety system is that the human-vehicle identification camera is arranged on the stacker-reclaimer to carry out graded alarm, and meanwhile, the camera is arranged at the key position of the stacker-reclaimer to carry out real-time monitoring and further cooperate with an anti-collision system to automatically control safe driving and protection in the whole execution process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a full-automatic windrow control system of bucket-wheel stacker reclaimer, includes the automatic control system, the operation strategy of stacker reclaimer system and anticollision and fault detection safety coefficient, its characterized in that:
the automatic control system of the material piling and taking machine comprises the material piling and taking machine, a control system and two three-dimensional laser scanners, wherein the two three-dimensional laser scanners are respectively fixed on two sides of a cab of the material piling and taking machine, and the material piling and taking machine and the two three-dimensional laser scanners are both electrically connected to the control system;
the operation strategy making system comprises an edge server and a sensor, wherein the edge server is electrically connected with the three-dimensional laser scanner, and the sensor is fixedly arranged on the stacker-reclaimer and is used for controlling the movement of the stacker-reclaimer;
the anti-collision and fault detection safety system comprises a camera, a man-vehicle recognition camera, an anti-collision protection device and a fault detection device, wherein the anti-collision protection and fault detection device is arranged on the front and the rear of a stacker-reclaimer body and on a large arm, the man-vehicle recognition camera is fixedly arranged on the stacker-reclaimer, and the camera is fixedly arranged at the position of a key of the stacker-reclaimer.
2. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: and the automatic control system of the stacker-reclaimer utilizes the edge calculation server to carry out edge calculation and control.
3. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: the automatic control system of the stacker-reclaimer utilizes a three-dimensional imaging technology, and analyzes point cloud data of a material pile through an edge computing server to provide a data base for automatic operation of stacking of the stacker-reclaimer.
4. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: the operation strategy making system controls the movement actions of the stacker-reclaimer, including automatic walking, automatic rotation and automatic pitching; a sensor for controlling the traveling and the rotary positioning of the stacker-reclaimer in the operation strategy making system adopts a coding cable and a rotary encoder, and a tilt angle sensor and a coding cable are adopted for pitching; more than two sensors are adopted for redundancy in each positioning, and the walking data, the pitching angle and the rotating angle of the stacker-reclaimer can be acquired in real time.
5. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: and the operation strategy making system makes a proper stacking strategy according to the three-dimensional data of the stock ground through an automatic stacking algorithm.
6. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: and the operation strategy making system calculates a proper blanking point through a stockpiling point calculation algorithm according to the three-dimensional data of the stock ground.
7. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: the anti-collision system comprises hardware anti-collision and software anti-collision, wherein the hardware anti-collision is realized by installing anti-collision devices on the front and rear parts of the locomotive and on the large arm; the software anti-collision is that the edge calculation server calculates the safe distance according to the relevant parameters of the locomotive and the stock ground, and carries out graded alarm.
8. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: the specific safety measure of the fault detection safety system is that a man-vehicle identification camera is arranged on the stacker-reclaimer to perform graded alarm.
9. The full-automatic stacking control system of the bucket-wheel stacker-reclaimer of claim 1, wherein: the fault detection safety system is characterized in that a camera is installed at a key position of the stacker-reclaimer for real-time monitoring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210668125.6A CN114873295A (en) | 2022-06-14 | 2022-06-14 | Full-automatic stacking control system of bucket-wheel stacker reclaimer |
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| CN202210668125.6A CN114873295A (en) | 2022-06-14 | 2022-06-14 | Full-automatic stacking control system of bucket-wheel stacker reclaimer |
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|---|---|---|---|---|
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2022
- 2022-06-14 CN CN202210668125.6A patent/CN114873295A/en active Pending
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