CN111634636B - Full-automatic material taking control system of bucket wheel machine - Google Patents
Full-automatic material taking control system of bucket wheel machine Download PDFInfo
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- CN111634636B CN111634636B CN202010427124.3A CN202010427124A CN111634636B CN 111634636 B CN111634636 B CN 111634636B CN 202010427124 A CN202010427124 A CN 202010427124A CN 111634636 B CN111634636 B CN 111634636B
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- 238000001514 detection method Methods 0.000 claims description 19
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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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
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The invention provides a full-automatic material taking control system of a bucket wheel machine, which comprises an equipment end and a control room end, wherein the equipment end mainly comprises image point cloud data acquisition equipment, reclaimer gesture acquisition equipment and a reclaimer PLC control system; the control room end mainly comprises: an image processing server, a strategy execution server and a central control room PLC control system. The invention improves the working environment of operators of the bucket wheel reclaimer, greatly reduces the labor cost and improves the production efficiency. In addition, the invention is also beneficial to standardizing the material taking operation flow and operation and prolonging the service life of the material taking machine.
Description
Technical Field
The invention relates to the field of engineering control, in particular to a control system for a bucket-wheel reclaimer/stacker reclaimer of a bulk storage yard to conduct reclaiming operation.
Background
At present, in a domestic bulk material field, a material taking machine is mainly used for material taking operation. Reclaimers are of a wide variety, with bucket wheel reclaimers (also known as "bucket wheels") having very high utility in large bulk yards. The operation of bucket turbines in the current stockyard is evolving towards full automation.
Conventional automatic material taking is generally to install a set of image point cloud acquisition equipment on the cantilever head for acquiring point cloud coordinate data in a material yard. Meanwhile, the real-time gesture of the reclaimer is obtained by adopting an encoder. The scheme has the following problems in practical application: firstly, when point cloud data are collected, the cantilever needs to be matched with rotation or pitching, so that the cooperative actions of multiple mechanisms are matched, and the cantilever is affected by factors such as stress deformation and the like, so that error accumulation is easy to occur, and the deviation of the measured point cloud data is larger. Secondly, when collecting point cloud data, the point cloud data in the bilateral stock ground cannot be collected simultaneously, so that the collection efficiency is lower. Thirdly, because the collection equipment is closer to the bucket wheel, the cleaning frequency of the collection equipment is greatly increased, and inconvenience is brought to industrial production. Finally, the encoder is used as a gesture detection means of the reclaimer, and is affected by the limitation of the encoder, and the gesture detection is inaccurate due to the phenomena of slipping, jumping and the like of the encoder.
Disclosure of Invention
According to the problems of severe manual operation environment, high cost, operation standardization and low efficiency in the existing bulk material field, the invention provides a full-automatic material taking control system of a bucket wheel machine.
The invention adopts the following technical means:
the utility model provides a full-automatic material control system of getting of bucket wheel machine, includes equipment end and control room end, equipment end mainly includes: the image point cloud data acquisition equipment is arranged on an overhaul platform of the bucket wheel type reclaimer and is used for acquiring surface data of a stockpile in a bulk storage yard; the data fusion device is used for carrying out data fusion conversion on the three-dimensional point cloud data of the material pile to finally obtain the three-dimensional coordinates of the material pile in the Euclidean coordinate space; the reclaimer gesture acquisition equipment is used for measuring gesture data of the reclaimer in real time; the material taking machine PLC control system receives surface data of a material pile in the material scattering field and attitude data of the material taking machine, performs data and instruction interaction between the material taking machine PLC control system and the central control room PLC control system through the Ethernet communication module, and controls a driving device of each mechanism of the bucket wheel machine to perform material taking operation; the control room end mainly comprises: the image processing server receives the data acquired by the image point cloud data acquisition equipment, performs analysis and filtering processing, and performs three-dimensional imaging display of point cloud; the strategy execution server reads surface data of a stockpile in a stock yard from the image processing server, combines the attitude data of the reclaimer to generate an operation instruction, and sends the operation instruction to a central control room PLC system in real time; and the central control room PLC control system receives the operation instruction by the strategy execution server and performs data and instruction interaction with the reclaimer PLC control system.
Further, the image point cloud data acquisition equipment is a two-dimensional laser scanner mounted on the rotary cradle head, and three-dimensional calculation is performed on the acquired two-dimensional point cloud data of the surface of the material pile and the corresponding angle of the cradle head to obtain three-dimensional point cloud data of the material pile in the bulk material field.
Further, the rotary platform is oppositely arranged at two sides of the overhaul platform.
Further, when the bulk material place is not provided with a ceiling, the reclaimer gesture acquisition equipment adopts a Beidou/GPS system; when the bulk material place is not provided with a ceiling, the attitude acquisition equipment of the reclaimer adopts electromagnetic bus acquisition equipment.
Further, the equipment end of the system also comprises a safety anti-collision device, and collision between the reclaimer and the obstacle is prevented through distance detection.
Further, the policy enforcement server includes: the strategy calculation unit is used for calculating a first operation target value of the material taking operation; the process control unit is used for calculating and controlling the material taking operation in real time; and the simulation unit is used for off-line testing of the software and training teaching of the system.
Compared with the prior art, the invention has the following advantages:
1. according to the full-automatic material taking control system of the bucket wheel machine, provided by the invention, through a full-automatic operation mode, the working environment of operators of the bucket wheel type material taking machine is improved, meanwhile, the labor cost is reduced, and the production efficiency is improved.
2. By applying the scheme of the invention, the material taking operation flow and operation can be standardized, and the service life of the material taking machine can be prolonged.
3. The invention is preferably provided with the rotary cradle head, and the three-dimensional laser scanner is formed by software algorithm calculation, so that the system construction cost is reduced, and the data acquisition precision is improved.
For the reasons, the invention can be widely popularized in bucket wheel machine systems.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a functional block diagram of a full automatic material taking control system of a bucket wheel reclaimer of the present invention.
Fig. 2 is a schematic diagram of an installation position of an image point cloud data acquisition device in an embodiment.
Fig. 3 is a schematic structural diagram of an automatic material taking control system in an embodiment.
In the figure: 1. a reclaimer air chamber; 2. an image point cloud data acquisition device; 3. a data fusion device; 4. an on-board ethernet switch; 5. the attitude acquisition equipment of the reclaimer; 6. a spool slip ring case; 7. a cable drum; 8. a ground junction box; 9. a central control room; 10. a first repeater; 11. a rotary frequency converter; 12. a rotary encoder; 13. a pitch encoder; 14. a second repeater; 15. a walking encoder; 16. a running frequency converter; 17. a running frequency converter; 18. an image processing server; 19. a policy enforcement server; 20. an Ethernet switch; 21. safety anti-collision equipment;
101. an image point cloud data acquisition device; 102. a first mobile station; 103. a second mobile station; 104. a pitching hinge point mechanism; 105. a cantilever mechanism; 106. a rotary platform mechanism; 107 running gear; 108. a weight mechanism; 109. bucket wheel mechanism.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1, the invention provides a full-automatic material taking control system of a bucket wheel machine, which comprises an equipment end and a control room end, wherein the equipment end mainly comprises image point cloud data acquisition equipment, material taking machine gesture acquisition equipment, data fusion equipment and a material taking machine PLC control system; the control room end mainly comprises: an image processing server, a strategy execution server and a central control room PLC control system.
In particular, hardware devices that may be employed by the image point cloud data acquisition device include three-dimensional laser scanners, range radars, TOF cameras, and the like. The device is used for collecting surface data of objects such as stockpiles in a stock yard, and the data are transmitted to a data fusion device.
As a preferred embodiment, a two-dimensional laser scanner mounting rotation Yun Taizu is used to form a three-dimensional laser scanner. The method has the advantages that hardware cost can be greatly reduced, the corresponding point cloud data and the corresponding angle of the cradle head are subjected to three-dimensional calculation by utilizing a corresponding point cloud data fusion method, and the calculated result is three-dimensional (length coordinate, width coordinate and height coordinate) point cloud data of a material pair, so that the method can be used for calculating a full-automatic material taking algorithm. The high cost caused by the three-dimensional laser scanner is greatly reduced, and the situation that the two-dimensional laser scanner or other distance measuring sensors are applied to perform full-automatic control at the cost of reducing the dimension and the precision of the model is also improved.
In a further embodiment, two sets of equipment are employed and bilaterally symmetrically mounted on the second highest service platform of the bucket wheel reclaimer. By adopting the arrangement mode, the dead zone of scanning can be reduced as much as possible due to the higher installation position; the two-side stock ground of the material taking machine can be scanned simultaneously by adopting two sets of equipment for symmetrical installation, so that the data interference is small and the scanning efficiency is high.
The data fusion device is mainly used for carrying out data fusion conversion on the data acquired by the image point cloud data acquisition device, and finally converting the data into three-dimensional coordinates of the Euclidean coordinate space. In a further embodiment, a two-dimensional laser scanner is matched with a rotary holder to serve as an image point cloud data acquisition device, and a data fusion device fuses according to two-dimensional point cloud data and holder rotation angle data, so that three-dimensional coordinates capable of reflecting the surface position of a material field are obtained.
In the invention, the image point cloud data acquisition equipment and the data fusion equipment are both arranged on the reclaimer body, namely, the algorithm processing of the scanned point cloud data is completed on the reclaimer body, and the processed point cloud data is transmitted to the image processing server of the central control room. Therefore, when the central control room carries out intelligent control on a plurality of reclaimers, the calculation load of the image processing server is greatly reduced, the display efficiency of the image processing server is higher, and the query statistics is smoother. In view of the conventional practice, the point-removed data obtained by scanning the image point cloud data acquisition equipment are directly transmitted to the image point cloud data acquisition equipment for algorithm processing, and the configuration performance requirement on the image processing server is high, so that the algorithm performance requirements such as internal data processing display and the like of the image processing server cannot be met. The method and the device can effectively reduce the operation load of the image processing server in the central control room, thereby improving the overall performance of the system.
The reclaimer gesture acquisition equipment is mainly used for measuring three gesture data (running position, rotation angle and pitching angle) of the reclaimer in real time, and the real-time measurement data are transmitted to a strategy execution server to participate in calculation and instruction control of a full-automatic reclaiming algorithm. Hardware equipment which can be adopted by the system comprises a Beidou/GPS system, a Gray bus, an inclinometer and the like. The attitude acquisition equipment of the reclaimer is configured in two industrial scenes, namely whether a bulk material field is provided with a ceiling or not.
As a preferred embodiment, when the bulk material site is not equipped with a ceiling, the beidou/GPS system is adopted as an attitude acquisition device, and devices such as an encoder and an inclinometer are configured for verification, for example, a running encoder is arranged on a running wheel, a rotary encoder is arranged on a rotary shaft, or a pitch encoder or an inclinometer is arranged on a pitch shaft. When the bulk material place is provided with a ceiling, electromagnetic bus acquisition equipment such as a grid Lei Muxian and the like are adopted, and equipment such as an encoder, an inclinometer and the like are configured for verification. Therefore, the problem that potential safety hazards are brought to full-automatic material taking control due to data false acquisition caused by the slipping phenomenon of the encoder in the operation process when the walking encoder, the rotary encoder and the pitching encoder are adopted to collect the gesture of the material taking machine in the prior art is solved.
In a further embodiment, the reclaimer gesture collection device is a Beidou/GPS system, and two sets of Beidou/GPS systems are selected so as to form a differential positioning detection system, so that the pitching angle and the turning angle can be detected. The differential positioning detection system should arrange a base station on the ground and two mobile stations on the reclaimer. Preferably, the mobile station is mounted at the upper detection platform of the boom tie bar and on the boom at about 1/3 of the bucket wheel. The above is a recommended mobile station installation location, but the installation location is not limited thereto. And timely transmitting the phase observation data and the coordinate information of the reference station to a user in a data link mode, and carrying out real-time differential processing on the received data link and the self-acquired phase observation data by the user so as to obtain the real-time three-dimensional position of the user.
In another embodiment, the reclaimer gesture collection device is an electromagnetic bus collection device such as gray bus, and the installation position is determined according to the specific situation of the site, and generally, the reclaimer gesture collection device should follow a Zhou Fushe bus near a running track and outside a rotating platform.
The material taking machine PLC control system is mainly used for receiving surface data of a material pile in a bulk material yard and attitude data of the material taking machine, carrying out data and instruction interaction between the material taking machine PLC control system and the central control room PLC control system through the Ethernet communication module, and controlling driving devices of all mechanisms of the bucket wheel machine to carry out material taking operation. The material taking machine PLC control system 6 and the central control room PLC control system 7 are both provided with Ethernet communication modules.
The image processing server is mainly used for receiving the data acquired by the image point cloud data acquisition equipment, analyzing and filtering the data and displaying the three-dimensional imaging of the point cloud. The image processing server is provided with point cloud analysis processing software, the software controls the image point cloud data acquisition equipment to acquire data, and performs corresponding analysis, filtering and other calculations and storage on the point cloud data in the stock ground acquired by the image point cloud data acquisition equipment. Specifically, the image processing server can perform compression storage of point cloud data, and preferably, a PCL (Point Cloud Library) method is adopted to store and process a large amount of point cloud data so as to perform material statistical analysis and historical data query in the image processing server. In addition, the image processing server can also perform filtering and denoising, and performs point cloud three-dimensional imaging display in the image processing server.
The strategy execution server is mainly used for reading the stock yard data from the image processing server, calculating a stock pile model and a material pile and material taking model, automatically generating an intelligent operation instruction and carrying out real-time communication with the central control room PLC system. In particular, modeling of the reclaimer is mainly achieved through a current general robot modeling method, such as a D-H method and the like, which are optionally adopted. The robot modeling method is not unique, but no matter what robot modeling method is adopted, the three-dimensional coordinate formula of the cantilever head of the reclaimer, namely a certain point of the bucket wheel edge, can be finally obtained. And then, further combining the three-dimensional point cloud coordinates of the material pile, judging whether the reclaimer and the material pile are cut by calculating whether the three-dimensional coordinates of a certain point at the edge of the bucket wheel are overlapped with the three-dimensional point cloud coordinates of the material pile, and deducing the running position and the rotation angle of the reclaimer on the premise of knowing the three-dimensional coordinates of the certain point at the edge of the bucket wheel at the moment if the reclaimer and the material pile are cut.
The full-automatic software control platform of the reclaimer is carried in the policy execution server, and the platform software comprises three parts of policy calculation, process control and simulation. The strategy calculation is used for calculating a first operation target value of the full-automatic material taking operation, and mainly comprises a first running stop position, a first rotation angle, a first pitching angle, a layer number, length coordinate values of each layer and a starting and ending point, a safety position of each layer of allowable operation and the like when the full-automatic material taking operation is carried out. The process control is used for real-time calculation and control of full-automatic material taking operation, and mainly comprises an in-point angle and an out-point angle of material taking every revolution, a distance of travel and the like. The simulation platform is used for off-line testing of the software, namely, the software is tested off-line under the condition of no support of a PLC network and no support of gesture detection equipment; and the device can also be used for training teaching of a full-automatic material taking control system.
In particular applications, policy computation is pre-computation prior to execution of a job action. The result of the strategy calculation can be directly subjected to process control, and an operation mechanism in the process control is that the attitude value of the reclaimer is obtained by calculation of a real-time model, and the operation action of the reclaimer is controlled by a PLC system. Similarly, the result of the policy calculation may also be directly simulated, where the internal operation mechanism of the simulation is that the attitude value of the reclaimer is calculated by a real-time model, and the safety of the fully automatic reclaiming control system is tested by simulating the PLC system through a simulation program (for example, the simulation program may be developed by the SIMULINK software, the virtual PLC simulation software, etc.). In view of the conventional practice, a software algorithm of a control flow is installed in a server, and calculation and control are integrated and mixed together, so that the operation is simple and convenient, but the controllability is low, the uncertainty is high, and unsafe feeling is brought to a user. The calculation and control are realized by different functional modules, so that the operation precision and the control effect of the system are improved.
In addition, the system also comprises a central control room PLC control system, and the strategy execution server receives the operation instructions and performs data and instruction interaction with the reclaimer PLC control system.
Further, the equipment end of the system also comprises a safety anti-collision device, and specifically, hardware equipment which can be adopted by the safety anti-collision device comprises a laser type detection device, a radar type detection device, a microwave type detection device and the like. For preventing collisions between the reclaimer machine and other obstructions (e.g., co-orbital stacker reclaimer devices, adjacent orbital stacker reclaimer devices, in-yard streamer devices, stockpiles, etc.). Such an anti-collision function is mainly achieved by distance detection.
The process of carrying out full-automatic material taking operation by using the control system comprises the following steps:
step 1, acquiring surface point cloud data in a material field by using an image point cloud data acquisition device, wherein the data acquisition is preferably performed by using a two-dimensional laser scanner in combination with a rotating cradle head.
And 2, transmitting the acquired data to data fusion equipment, calculating a fusion algorithm so as to form three-dimensional point cloud data, and transmitting the three-dimensional point cloud data to an image processing server in a reliable communication mode such as TCP/IP.
And 3, performing three-dimensional imaging display, historical data query and stock ground data statistics of the stock ground according to the three-dimensional point cloud data by the image processing server.
And 4, detecting real-time posture information such as running position, pitching angle, turning angle and the like of the material piling and taking equipment by using the material taking equipment posture acquisition equipment, and transmitting the information to a strategy execution server in a reliable communication mode such as TCP/IP or a field bus and the like.
And 5, the strategy execution server receives scheduling instructions and operation instructions sent by the upper management system, the instructions can clearly acquire information such as a material taking range, material taking weight and material taking flow, meanwhile, the strategy execution server also receives operation parameters input by interface operators of the full-automatic system, a full-automatic material taking strategy algorithm in the strategy execution server reads three-dimensional point cloud data in the material taking range from the image processing server through reliable communication modes such as TCP/IP, and the like, performs full-automatic strategy calculation by combining an equipment model and a control model, and performs data interaction with a central control room PLC control system through reliable communication modes such as TCP/IP.
And 6, transmitting detection signals of the safety anti-collision equipment to a material taking machine PLC control system or a strategy execution server in a reliable communication mode such as TCP/IP or field bus, wherein the strategy execution server is enabled to process variable values related to the safety anti-collision equipment in real time in the process of performing full-automatic strategy calculation and control through data interaction by the strategy execution server and the central control room PLC control system, so that the safety execution of the full-automatic strategy is ensured.
And 7, completing full-automatic material taking operation by the bucket wheel type material taking machine body according to the instruction issued by the material taking machine PLC control system to the driving device of each mechanism.
The technical scheme of the invention is further described below through specific application examples.
Example 1
2-3, the full-automatic material taking control system provided in this embodiment is implemented by a QL6000.55 bucket wheel reclaimer of the port service company of Wacan Cao Feidian, and mainly comprises a pitching hinge point mechanism, a cantilever mechanism, a rotary platform mechanism, a running mechanism, a counterweight mechanism, a bucket wheel mechanism and an automatic material taking control system; the rotary platform mechanism is arranged at the middle part of the bucket wheel machine and can perform rotary motion in the horizontal direction; the cantilever mechanism is connected to the rotary platform mechanism through a pitching hinge point mechanism, and a bucket wheel mechanism is arranged at the tail end of the cantilever mechanism; the running mechanism is arranged below the rotary platform mechanism; the counterweight mechanism is disposed in a direction opposite to an extending direction of the cantilever mechanism, and keeps balance of the bucket wheel machine.
In this embodiment, the image point cloud data acquisition device is disposed on the detection platform on the upper portion of the cantilever beam pull rod, and includes two data acquisition groups symmetrically disposed on two sides of the platform, for acquiring point cloud data on two sides of the reclaimer. The first mobile station and the second mobile station are respectively arranged at the upper part detection platform of the cantilever beam pull rod and at the position which is about 1/3 of the position from the bucket wheel on the cantilever beam. The pitching encoder or the inclinometer is arranged on the pitching hinge point mechanism, the rotary encoder is arranged on the rotary platform mechanism, the walking encoder is arranged at the walking mechanism, the data extracted by the acquisition elements are acquired through the on-board PLC system, and the data are connected with a server system in a central control room through a ground control system to carry out further processing operation.
As shown in fig. 3, when the system works, the data acquired by the image point cloud data acquisition device 2 are fused by the data fusion device 3 to form three-dimensional point cloud coordinate data, and then the three-dimensional point cloud coordinate data are transmitted to the image processing server 18 in the central control room so as to perform data classification storage and image display. The reclaimer pose acquisition device 5 transmits the detected reclaimer pose data to the policy enforcement server 19 of the central office. Other data transmission modes can be considered according to the configuration of different gesture acquisition devices, for example, the detection value of the gesture acquisition device 5 of the reclaimer can be transmitted to a PLC system in an electric room of the reclaimer.
In this embodiment, the rotary encoder 12, the pitch encoder 13, and the travel encoder 15 are used to perform the posture check of the reclaimer. The detection values of the three encoders are transmitted to a PLC system in the electric room of the reclaimer. The gesture verification device may also be implemented by using other hardware devices with similar functions, for example, a Radio Frequency Identification (RFID) device may be used to perform verification of the walking position instead of the walking encoder 15.
Further, the detection value of the safety collision preventing device 21 is transmitted to the PLC system in the electric room. Other data transmission methods are also conceivable, depending on the configuration of the different security anti-collision devices, for example, the detection values of the security anti-collision device 21 can also be transmitted to the policy execution server 19.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The utility model provides a full-automatic material control system of getting of bucket wheel machine, includes equipment end and control room end, its characterized in that, equipment end mainly includes:
the image point cloud data acquisition equipment is arranged on an overhaul platform of the bucket wheel type reclaimer and is used for acquiring surface data of a stockpile in a bulk storage yard;
the data fusion device is used for carrying out data fusion conversion on the three-dimensional point cloud data of the material pile to finally obtain the three-dimensional coordinates of the material pile in the Euclidean coordinate space;
the reclaimer gesture acquisition equipment is used for measuring gesture data of the reclaimer in real time; and
the PLC control system of the reclaimer receives surface data of a material pile in a bulk material yard and attitude data of the reclaimer, performs data and instruction interaction between the PLC control system of the central control room through the Ethernet communication module, and controls a driving device of each mechanism of the bucket wheel machine to perform material taking operation;
the control room end mainly comprises:
the image processing server receives the data acquired by the image point cloud data acquisition equipment, performs analysis and filtering processing, and performs three-dimensional imaging display of point cloud;
the strategy execution server reads surface data of a material pile in a material yard from the image processing server, calculates a material pile model and a material pile taking model, automatically generates an intelligent operation instruction, communicates with a central control room PLC system in real time, models a material taking machine to finally obtain a three-dimensional coordinate formula of a certain point of the bucket wheel edge, further combines the three-dimensional point cloud coordinates of the material pile, judges whether the material taking machine and the material pile are cut through calculating whether the three-dimensional coordinates of the certain point of the bucket wheel edge coincide with the three-dimensional point cloud coordinates of the material pile, and deduces the running position and the rotation angle of the material taking machine on the premise of knowing the three-dimensional coordinates of the certain point of the bucket wheel edge at the moment if the cut is judged;
the system comprises a policy execution server, a full-automatic software control platform of a material taking machine, wherein the platform software comprises three parts of policy calculation, process control and simulation, wherein the policy calculation is used for calculating a first operation target value of the full-automatic material taking operation and comprises a first running stop position, a first rotation angle, a first pitching angle, a layer number, length coordinate values of each layer and a starting and ending point, a safety position of each layer of allowable operation and the like when the full-automatic material taking operation is carried out, and the process control is used for calculating and controlling the full-automatic material taking operation in real time and mainly comprises an in-point angle, an out-point angle and a running distance of material taking in each rotation;
and the central control room PLC control system receives the operation instruction by the strategy execution server and performs data and instruction interaction with the reclaimer PLC control system.
2. The full-automatic material taking control system of the bucket wheel machine according to claim 1, wherein the image point cloud data acquisition equipment is a two-dimensional laser scanner mounted on a rotary tripod head, and the acquired two-dimensional point cloud data on the surface of the material pile and the corresponding angle of the tripod head are subjected to three-dimensional calculation to obtain three-dimensional point cloud data of the material pile in the bulk material field.
3. The full-automatic material taking control system of a bucket wheel machine according to claim 2, wherein the rotary platforms are oppositely arranged at two sides of the maintenance platform.
4. The fully automatic material taking control system of a bucket wheel machine according to claim 1, wherein,
when the bulk material place is not provided with a ceiling, the posture acquisition equipment of the reclaimer adopts a Beidou/GPS system;
when the bulk material place is not provided with a ceiling, the attitude acquisition equipment of the reclaimer adopts electromagnetic bus acquisition equipment.
5. The fully automatic material taking control system of a bucket wheel machine according to claim 1, wherein the equipment end of the system further comprises a safety anti-collision device, and collision between the material taking machine and the obstacle is prevented through distance detection.
6. The full-automatic material taking control system of a bucket wheel machine according to claim 1, wherein the policy enforcement server comprises:
the strategy calculation unit is used for calculating a first operation target value of the material taking operation;
the process control unit is used for calculating and controlling the material taking operation in real time;
and the simulation unit is used for off-line testing of the software and training teaching of the system.
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| CN113156904B (en) * | 2021-04-15 | 2022-11-04 | 湛江港（集团）股份有限公司 | Ore blending system and ore blending method |
| 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 |
| CN113463720B (en) * | 2021-06-30 | 2023-02-17 | 广西柳工机械股份有限公司 | System and method for identifying contact material of loader bucket |
| CN113955512A (en) * | 2021-11-10 | 2022-01-21 | 大唐南京发电厂 | Method for estimating material taking flow and controlling constant flow of bucket-wheel type material taking machine |
| CN114803560A (en) * | 2022-04-13 | 2022-07-29 | 中国恩菲工程技术有限公司 | Intelligent discharging system and control method thereof |
| CN114803391B (en) * | 2022-05-12 | 2023-11-03 | 北京华能新锐控制技术有限公司 | Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system |
| CN115716603B (en) * | 2022-12-05 | 2023-12-15 | 北京京能电力股份有限公司 | Bucket wheel machine material taking path planning method and system |
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