CN102020118B - Method and system for identifying varieties of piled and taken raw materials in stockyard - Google Patents
Method and system for identifying varieties of piled and taken raw materials in stockyard Download PDFInfo
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- CN102020118B CN102020118B CN 201010529409 CN201010529409A CN102020118B CN 102020118 B CN102020118 B CN 102020118B CN 201010529409 CN201010529409 CN 201010529409 CN 201010529409 A CN201010529409 A CN 201010529409A CN 102020118 B CN102020118 B CN 102020118B
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Abstract
The invention relates to a method and a system for identifying the varieties of piled and taken raw materials in a stockyard. The method comprises the following steps of: acquiring the running position of a material piling and taking machine and the angle of a spiral arm of the material piling and taking machine; obtaining the operating position coordinates of a bucket wheel, positioned at the tail end of the spiral arm, of the material piling and taking machine according to the acquired running position of the material piling and taking machine, the angle of the spiral arm, the spiral arm length of the material piling and taking machine and the length of the stockyard; and comparing the operating position coordinates of the bucket wheel with the position area coordinates of each raw material in the stockyard to obtain the varieties of the raw materials currently operated by the material piling and taking machine. The identification method is not influenced by external factors; and in the method and the system, the varieties of the raw materials operated by the material piling and taking machine can be accurately identified in various environments so as to avoid the occurrence of variety mixing accidents and improve the production efficiency.
Description
Technical field
The present invention relates to the automation of industry field, particularly a kind of stock ground heap is got the method and system of the raw material variety identification in the raw material process.
Background technology
In industrial enterprise's production process, the management in stock ground is the important step of enterprise's material turnover, storage, in this link, has mainly comprised reception, storage (heap) and transportation technological processes such as (getting) to raw material.In the stock ground, stack various raw materials, between every kind of raw material certain spacer region is arranged all, to prevent the mixed matter of raw material.At present, to stock yard windrow with get in the process of material, most enterprises are to use stacker-reclaimer to operate, stacker-reclaimer is a kind of heavy stock ground mobile device, it mainly is made up of running mechanism, cantilever mechanism, bucket wheel mechanism, trailer and belt conveyor.Stacker-reclaimer can be advanced in orbit, through the bucket wheel machine of the cantilever mechanism bucket wheel mechanism terminal with being arranged in cantilever mechanism, raw material is carried out windrow and gets the material operation.
Identification to raw material variety mainly is to carry out artificial congnition through the bucket wheel position to stacker-reclaimer, and is various and very close on profile and color owing to the raw material variety in the stock ground, can not be directly with eyes or instrument identification; So mode commonly used is through marker or literal are set, identification bucket wheel position, the kind that the raw material of storing according to this position comes artificial judgement raw material in ground fixed position; This mode often receives influence of various factors, for example marker or literal can't be seen clearly by dirt or misunderstood, night insufficient light or when rainy, all correctly identification marker or literal; Thereby kind identification error to the operation raw material; Not only the quality to product has a direct impact, and causes material kind of a mixed matter, the more important thing is that wrong raw material stacks and obtain; May cause serious negative effect to the postorder production facilities; Destroy the normal production order, even cause industrial accident, for enterprise brings serious loss.
Summary of the invention
Thereby the kind that the present invention is directed to artificial judgement raw material in the prior art is prone to cause the kind identification error to the operation raw material to cause the problem of mixing the matter accident under the influence that receives external factor; Provide a kind of stock ground heap to get the automatic identifying method of raw material variety; This recognition methods does not receive the influence of external factor; Can under various environment, correctly discern the operated raw material variety of stacker-reclaimer, avoid mixing the matter accident and take place, improve production efficiency.The invention still further relates to the recognition system that a kind of stock ground heap is got raw material variety.
Technical scheme of the present invention is following:
The recognition methods that a kind of stock ground heap is got raw material variety; It is characterized in that; That at first obtains stacker-reclaimer walks line position and stacker-reclaimer spiral arm angle; The said line position of walking that obtains stacker-reclaimer is meant in the stacker-reclaimer bottom through support and connects locating wheel, be provided with that locating wheel contacts with the walking rails of stacker-reclaimer and with the same moved further of stacker-reclaimer, first rotary encoder is set on locating wheel; Locating wheel was along with rotation when stacker-reclaimer was advanced, drive that the rotation of first rotary encoder produces the impulse singla that has direction and receive by controller after draw the line position of walking of stacker-reclaimer; Again according to the stacker-reclaimer obtained walk line position, the spiral arm angle adds spiral arm length and the stock ground length that stacker-reclaimer is intrinsic, obtains the operating position coordinate that stacker-reclaimer is positioned at the terminal bucket wheel of spiral arm; Each raw material band of position coordinate in this bucket wheel operating position coordinate and stock ground is compared, obtain the current operated raw material variety of stacker-reclaimer.
The said stacker-reclaimer spiral arm angle of obtaining is meant that rotary encoder is set to be come the spiral arm angle of stacker-reclaimer is carried out code identification on the stacker-reclaimer spiral arm.
The said stacker-reclaimer spiral arm angle of obtaining is meant at the flower wheel of stacker-reclaimer rotary transfer arm web setting with its rotation; The gear of this flower wheel combines with the spiral arm disk gear; Second rotary encoder is set on flower wheel; Drive the flower wheel rotation through the rotation spiral arm, thus drive that second rotary encoder produces the impulse singla that has direction and receive by controller after draw stacker-reclaimer spiral arm angle.
The stacker-reclaimer that obtains walk line position after comprise that also this is walked line position proofreaies and correct.
Said correction is included in that the stacker-reclaimer walking rails is other to be provided with one or set gradually a plurality of check points; Sensor is set on stacker-reclaimer; When stacker-reclaimer process check point; Sensor sends to controller with the signal of the check point that collects, and is carried out the correction of walking line position of stacker-reclaimer according to this check point by controller.
The recognition system that a kind of stock ground heap is got raw material variety; It is characterized in that; Comprise stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification and controller; Said stacker-reclaimer traveling position identification device is arranged on and is used to obtain stacker-reclaimer on the stacker-reclaimer and walks line position; Said stacker-reclaimer traveling position identification device comprises support, locating wheel and first rotary encoder that on locating wheel, is provided with, and said first rotary encoder links to each other with controller, and said locating wheel links to each other with the bottom of stacker-reclaimer through support; Said locating wheel contact with the walking rails of stacker-reclaimer and with the same moved further of stacker-reclaimer, said locating wheel drive when rotating that the rotation of first rotary encoder produces the impulse singla that has direction and receive by controller after draw the line position of walking of stacker-reclaimer; Said stacker-reclaimer spiral arm angle means of identification is arranged on the spiral arm of stacker-reclaimer and is used to obtain stacker-reclaimer spiral arm angle, and said stacker-reclaimer traveling position identification device all links to each other with controller with stacker-reclaimer spiral arm angle means of identification; Said controller carries out computing according to spiral arm length and stock ground length that stacker-reclaimer is walked line position, stacker-reclaimer spiral arm angle, stacker-reclaimer; Obtain the operating position coordinate that stacker-reclaimer is positioned at the terminal bucket wheel of spiral arm; And each raw material band of position coordinate in this bucket wheel operating position coordinate and stock ground compared, obtain the current operated raw material variety of stacker-reclaimer.
Also be provided with spring on the said support, said spring is used to strengthen the friction force between locating wheel and the walking rails.
Said stacker-reclaimer spiral arm angle means of identification comprises rotary encoder, and said rotary encoder links to each other with controller, and said rotary encoder is arranged on the spiral arm angle that is used on the stacker-reclaimer spiral arm stacker-reclaimer and carries out code identification.
Said stacker-reclaimer spiral arm angle means of identification comprises flower wheel and second rotary encoder that on flower wheel, is provided with; The gear of said flower wheel combines with stacker-reclaimer spiral arm disk gear; Said second rotary encoder links to each other with controller, the rotation of said flower wheel drive that second rotary encoder produces the impulse singla that has direction and receive by controller after draw stacker-reclaimer spiral arm angle.
Also comprise the traveling position correction apparatus; Said traveling position correction apparatus is included in sensor that is provided with on the stacker-reclaimer and the one or more check points that are provided with on stacker-reclaimer walking rails side; Said sensor links to each other with controller; Said sensor is used for the signal of acquisition correction point when stacker-reclaimer process check point and sends it to controller, and said controller carries out the correction of walking line position of stacker-reclaimer according to this check point.
Technique effect of the present invention is following:
The recognition methods that stock ground provided by the invention heap is got raw material variety, the stacker-reclaimer that is based on the stock ground are discerned the method for judgement to raw material variety automatically in operating process, main application is a stacker-reclaimer.What get access to stacker-reclaimer at first respectively walks line position and stacker-reclaimer spiral arm angle; Walk line position and spiral arm angle according to this stacker-reclaimer again; And the spiral arm length of stacker-reclaimer and stock ground length; Calculate the coordinate of the bucket wheel operating position of stacker-reclaimer, and each raw material band of position coordinate position in itself and stock ground is compared, obtain the current operated raw material variety of stacker-reclaimer.This method through to the stacker-reclaimer in stock ground walk line position and the spiral arm angle is discerned; And with the windrow of the stacker-reclaimer that calculates or operating position coordinate and each raw material band of position coordinate contrast of getting material; Obtain both logical relations; Finally obtain current operated raw material variety, realize the automatic identification of the operated raw material variety of stacker-reclaimer, and can the raw material variety that identify be shown to operating personal in real time.This method is the automatic identification that the stock ground heap is got raw material variety; Can under various environment, correctly discern the operated raw material variety of stacker-reclaimer, need not the bucket wheel position of artificial congnition stacker-reclaimer, avoid in the prior art judging that the kind of raw material can receive extraneous influence of various factors and correct identification marker through manual work; Thereby kind identification error to the operation raw material; Cause the problem of material kind of mixed matter accident, this method of the present invention can effectively be avoided the raw material variety identification error, does not receive the influence of external factor; Stopping to mix the matter accident takes place; And, improved production efficiency for guaranteeing that the follow-up normal production order provides prerequisite, alleviate labor intensity of operating personnel and judged pressure.
Displacement encoder is set in the bottom of stacker-reclaimer to be come the line position of walking of stacker-reclaimer is carried out code identification; This displacement encoder is real to be traveling location recognition coder; In stacker-reclaimer traveling process; Carry out the position encoded identification of stacker-reclaimer traveling through this displacement encoder, realize stacker-reclaimer is walked the accurate detection of line position; Or connect locating wheel through support in the stacker-reclaimer bottom; First rotary encoder is set on locating wheel; By first rotary encoder locating wheel is rotated counting; Thereby obtain the locating wheel advanced positions, because locating wheel is along with the same moved further of stacker-reclaimer, so also just having obtained stacker-reclaimer simultaneously walks line position.
Rotary encoder is set on the stacker-reclaimer spiral arm to be come the spiral arm angle of stacker-reclaimer is carried out code identification; This rotary encoder is real to be spiral arm angle recognition coding device; In the spiral arm rotary course of stacker-reclaimer, carry out the identification of spiral arm angle through this rotary encoder; Or flower wheel is set at stacker-reclaimer rotary transfer arm web; Second rotary encoder is set on flower wheel; By second rotary encoder flower wheel is rotated counting, thereby obtains the anglec of rotation of flower wheel, because the gear of flower wheel combines with the gear of spiral arm rotating disk; So can further obtain the anglec of rotation, i.e. stacker-reclaimer spiral arm angle as the spiral arm rotating disk of driving wheel.
This recognition methods comprises walking the correction of line position; Can be when occurring water, oil stain or other obstacle on stacker-reclaimer long-play or the walking rails; Obtaining the deviation that line position causes of walking of stacker-reclaimer proofreaies and correct; Guarantee that stacker-reclaimer walks the precision that line position obtains, and then improved the precision of raw material variety identification.
The recognition system that stock ground provided by the invention heap is got raw material variety; Comprise stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification and controller; Obtain stacker-reclaimer through stacker-reclaimer traveling position identification device and walk line position; Stacker-reclaimer spiral arm angle means of identification obtains stacker-reclaimer spiral arm angle, and controller carries out computing with spiral arm length and stock ground length that this stacker-reclaimer is walked line position, stacker-reclaimer spiral arm angle, stacker-reclaimer, obtains the coordinate of the bucket wheel operating position of stacker-reclaimer; And each raw material band of position coordinate in itself and stock ground compared, obtain the current operated raw material variety of stacker-reclaimer.The variety of issue that this recognition system has avoided existing manual identification raw material variety to cause can not receive the influence of external environment factor, realizes the automatic identification that the field heap is got raw material variety; And accuracy of identification is high; Avoid mixing the generation of matter accident, realize the windrow of stacker-reclaimer and the proper operation of getting material, improved production efficiency; Strengthen the safety of raw material storage and transport process, improved the enterprise production management level.
Description of drawings
Fig. 1 gets the preferred structure diagram of circuit of the recognition methods of raw material variety for stock ground of the present invention heap.
Fig. 2 walks the collection scheme drawing of line position for preferred stacker-reclaimer.
Fig. 3 walks the correction work scheme drawing of line position for stacker-reclaimer.
Fig. 4 is the collection scheme drawing of preferred stacker-reclaimer spiral arm angle.
Fig. 5 gets the schematic diagram of the recognition methods of raw material variety for stock ground of the present invention heap.
Fig. 6 gets the schematic diagram of the recognition system structure of raw material variety for the preferred stock ground of the present invention heap.
Fig. 7 gets the scheme drawing of the recognition system structure of raw material variety for the preferred stock ground of the present invention heap.
Each label is listed as follows among the figure:
The 1-stacker-reclaimer; The 2-support; The 3-locating wheel; 4-first rotary encoder; The 5-walking rails; The 6-spring; 7-spiral arm rotating disk; The 8-flower wheel; 9-second rotary encoder; The 10-sensor; 11-relative correction point; The absolute check point of 12-; The 13-bucket wheel; 14-stacker-reclaimer spiral arm; The 15-raw material; The 16-raw material.
The specific embodiment
The present invention will be described below in conjunction with accompanying drawing.
Fig. 1 gets the preferred structure diagram of circuit of the recognition methods of raw material variety for stock ground of the present invention heap, and what this method was at first obtained stacker-reclaimer walks line position and stacker-reclaimer spiral arm angle, and the line position of walking of the stacker-reclaimer that obtains is proofreaied and correct; Walk line position and spiral arm angle according to the stacker-reclaimer of obtaining again, and the spiral arm length of stacker-reclaimer and stock ground length, the coordinate that stacker-reclaimer is positioned at the operating position of the terminal bucket wheel of spiral arm obtained; Then the operating position coordinate of this bucket wheel and each raw material band of position coordinate in stock ground are compared, obtain the current operated raw material variety of stacker-reclaimer.
Concrete steps are following:
(1), obtains stacker-reclaimer and walk line position
Fig. 2 walks the collection scheme drawing of line position for preferred stacker-reclaimer; Bottom at stacker-reclaimer 1 connects locating wheel 3 through support 2; This locating wheel 3 contact with the walking rails 5 of stacker-reclaimer 1 and locating wheel 3 can with stacker-reclaimer 1 same moved further, first rotary encoder 4 is set on locating wheel 3.When stacker-reclaimer is advanced; Locating wheel 3 is along with rotation; First rotary encoder, 4 rotations above driving are rotated counting by 4 pairs of locating wheels 3 of first rotary encoder, produce the impulse singla that has direction; Again by controller received pulse signal; Controller carries out the signal conversion and then draws locating wheel 3 advanced positions or the advanced positions coding after receiving this impulse singla, because locating wheel 3 is along with stacker-reclaimer 1 same moved further, so also stacker-reclaimer 1 is walked line position or traveling is position encoded with regard to having obtained simultaneously.
The compression of the spring 6 on the support 2 can guarantee that locating wheel 3 and walking rails have enough friction force are arranged between 5, thereby makes locating wheel 3 can not skid when rotating, thereby guarantees that 4 pairs of locating wheels of first rotary encoder 3 carry out accurately rotation counting.
Stacker-reclaimer traveling positional precision: the employing girth is that locating wheel 3, the first rotary encoders 4 of 50mm are 200 yards weekly, and then stacker-reclaimer traveling location recognition precision is: 50mm/200=0.25mm.
(2), the line position of walking of the stacker-reclaimer that obtains is proofreaied and correct
Fig. 3 walks the correction work scheme drawing of line position for stacker-reclaimer, near the walking rails 5 of stacker-reclaimer 1, sets gradually a plurality of relative correction points 11 and an absolute check point 12 (check point in other words conj.or perhaps resets), and sensor 10 is set on stacker-reclaimer 1.When stacker-reclaimer is advanced and is put 11 through a relative correction; Sensor 10 collects the signal of a relative correction point 11; And this signal that will collect sends to controller, carried out the correction of walking line position or line position encoded radio of stacker-reclaimer 1 according to this relative correction point 11 by controller; When stacker-reclaimer is advanced and during through absolute check point 12; Sensor 10 collects the reset signal of an absolute check point 12; And this reset signal that will collect sends to controller, the position encoded value of the traveling of stacker-reclaimer 1 resetted according to this reset signal by controller.
This embodiment gathers each check point signal through sensor 10, in addition, also can gather relative correction point and absolute check point signal through on stacker-reclaimer 1, being provided with near switch or photoelectric switch or other collecting device.
(3), obtain stacker-reclaimer spiral arm angle
Fig. 4 is the collection scheme drawing of preferred stacker-reclaimer spiral arm angle; At the gear arranged outside of the spiral arm rotating disk 7 of stacker-reclaimer 1 flower wheel 8 with its rotation; The gear of this flower wheel 8 combines with spiral arm rotating disk 7 gears, and second rotary encoder 9 is set on flower wheel 8.When the spiral arm rotating disk 7 of stacker-reclaimer rotates; Also rotate with its gear cncr flower wheel 8 thereupon, thereby drive 9 rotations of second rotary encoder, be rotated counting by 9 pairs of flower wheels 8 of second rotary encoder; Generation has the impulse singla of direction; By controller received pulse signal, controller carries out the anglec of rotation or the anglec of rotation coding that flower wheel 8 was changed and then drawn to signal after receiving this impulse singla, because the gear of flower wheel 8 combines with the gear of spiral arm rotating disk 7 again; So can further obtain the anglec of rotation or anglec of rotation coding, i.e. stacker-reclaimer spiral arm angle or spiral arm angular coding as the spiral arm rotating disk 7 of driving wheel.
Stacker-reclaimer spiral arm angle accuracy of identification: adopting girth is that flower wheel 8, the second rotary encoders 9 of 50mm are 200 yards weekly, is 18000mm as the stacker-reclaimer spiral arm disk diameter of driving wheel, so stacker-reclaimer spiral arm angle accuracy of identification is:
360°/[(18000/50)×200]＝0.005°
(4), walk line position and spiral arm angle according to the stacker-reclaimer of obtaining again; And the spiral arm length of stacker-reclaimer and stock ground length; Obtain the coordinate that stacker-reclaimer is positioned at the operating position of the terminal bucket wheel of spiral arm; Schematic diagram as shown in Figure 5, wherein, the walking rails direction of stacker-reclaimer is longitudinal direction Y.
The coordinate position of the bucket wheel 13 of stacker-reclaimer spiral arm 14 ends (X, Y) computing formula:
X＝M+L×Cos（α）
Y＝L×Sin（α）
Wherein: M: stacker-reclaimer is walked line position (or being converted into corresponding encoded radio)
L: the length of stacker-reclaimer spiral arm 14 (or being converted into corresponding encoded radio)
α: spiral arm angle
(5), the zone at each raw material variety of stock ground place is divided by coordinate position,, comprise raw material 15 and raw material 16 among the figure, between every kind of raw material certain spacer region is arranged all, prevent the mixed matter of raw material like raw material shown in dotted lines in Figure 5 region.
Length and width size according to the stock ground is encoded, and the coordinate of raw material region is:
……
Raw material N coordinate be (XN, YN)-(XNa, YNa)
Then bucket wheel coordinate position and each raw material variety area coordinate position are compared, can identify the raw material variety that stacker-reclaimer is being operated.For example, when the bucket wheel coordinate position was in certain raw material M coordinate position scope, its logical relation was following:
（X≥XMa）&&（X≤XM）&&（Y≥YM）&&（Y≤YMa）
At this moment, the operated raw material variety of stacker-reclaimer is M.Stacker-reclaimer is when advancing; Its spiral arm is also in rotation; When the coordinate position of the coordinate position of the terminal bucket wheel of stacker-reclaimer spiral arm and raw material M satisfies above-mentioned logical relation; Can identify the operated principle kind of stacker-reclaimer is M, just can carry out windrow and the operation of getting material to this raw material M through bucket wheel.
Stacker-reclaimer traveling positional precision is 0.25mm, and stacker-reclaimer spiral arm angle accuracy of identification is 0.005 °, and spiral arm length is 14 meters, and therefore, the bucket wheel coordinate accuracy of identification of stacker-reclaimer will be less than 1mm.The area coordinate of each raw material variety of stock ground all is unit with rice; And the bucket wheel coordinate accuracy of identification of stacker-reclaimer is 1mm; Considerably beyond the raw material variety coordinate unit, therefore, can very accurately identify stacker-reclaimer operation raw material variety; After further carrying out the traveling location correction, the raw material variety recognition accuracy can reach 100%.
The invention still further relates to the recognition system that a kind of stock ground heap is got raw material variety; The preferred structure schematic diagram of this recognition system is as shown in Figure 6; This system comprises stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification, traveling position correction apparatus and controller, and stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification all link to each other with controller with the traveling position correction apparatus.This recognition system is through being provided with stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification and controller; To stacker-reclaimer walk line position and the spiral arm angle is measured collection; And to the line position of gathering of walking being proofreaied and correct through the traveling position correction apparatus; Thereby obtain the coordinate position of the terminal bucket wheel of stacker-reclaimer spiral arm,, just can judge the raw material variety of stacker-reclaimer operation again according to the regional location coordinate of each raw material variety of stock ground.Wherein, Controller can be selected the compact process controller of digital signal acquiring, calculating; Like PLC; By PLC to the signal that stacker-reclaimer traveling position identification device and stacker-reclaimer spiral arm angle means of identification send gather, digitized processing and calculating, at last result calculated and each raw material variety region are compared, judge the raw material variety of current operation.
Fig. 7 gets the structural representation of the recognition system of raw material variety for the preferred stock ground of the present invention heap.
Stacker-reclaimer traveling position identification device is arranged on the bottom of stacker-reclaimer 1; Comprise support 2, spring 6, locating wheel 3 and first rotary encoder 4; Support 2 is arranged on the bottom of stacker-reclaimer 1, and support 2 connects locating wheels 3, this locating wheel 3 contact with the walking rails 5 of stacker-reclaimer 1 and locating wheel 3 can with stacker-reclaimer 1 same moved further; First rotary encoder 4 is arranged on the locating wheel 3 and first rotary encoder 4 links to each other with PLC; Spring 6 is arranged on the support 2, and 6 compressions of this spring give support 2 downward pressure, so spring 6 can be strengthened the friction force between locating wheel 3 and the walking rails 5.When stacker-reclaimer 1 is advanced; Locating wheel 3 is along with rotation, and first rotary encoder 4 above driving rotates, and first rotary encoder 4 produces the impulse singla that has direction; Receive this impulse singla by PLC again, can obtain that stacker-reclaimer 1 is walked line position or traveling is position encoded.For obtain stacker-reclaimer walk line position or traveling is position encoded; Stacker-reclaimer traveling position identification device in the recognition system of the present invention can realize through other structure, like the bottom at stacker-reclaimer displacement encoder is set the line position of walking of stacker-reclaimer is carried out code identification.
The traveling position correction apparatus is included in sensor 10 that is provided with on the stacker-reclaimer 1 and a plurality of check points that are provided with on walking rails 5 sides of stacker-reclaimer 1, and like relative correction point 11, sensor 10 links to each other with PLC.Sensor 10 is used for putting through relative correction at stacker-reclaimer 1 to be gathered the signal of this relative correction point at 11 o'clock and sends it to PLC, and PLC carries out the correction of walking line position or the position encoded value of traveling of stacker-reclaimer 1 according to relative correction point 11.In addition; Can also an absolute check point be set in addition or perhaps the check point that resets on walking rails 5 sides of stacker-reclaimer 1; After sensor 10 collected the signal of absolute check point and sends to PLC, PLC resetted to the position encoded value of the traveling of stacker-reclaimer 1 according to this signal.
Stacker-reclaimer spiral arm angle means of identification links to each other with the spiral arm of stacker-reclaimer; Second rotary encoder 9 that comprises flower wheel 8 and on flower wheel 8, be provided with; Flower wheel 8 is arranged on the gear outside of the spiral arm rotating disk 7 of stacker-reclaimer 1; The gear of this flower wheel 8 combines with spiral arm rotating disk 7 gears, and second rotary encoder 9 links to each other with PLC.When the spiral arm rotating disk 7 of stacker-reclaimer rotates; Also rotate with its gear cncr flower wheel 8 thereupon; Thereby drive 9 rotations of second rotary encoder; Second rotary encoder 9 produces the impulse singla that has direction, receives this impulse singla by PLC again, can obtain stacker-reclaimer spiral arm angle or spiral arm angular coding.In order to obtain stacker-reclaimer spiral arm angle or spiral arm angular coding; Stacker-reclaimer spiral arm angle means of identification in the recognition system of the present invention can be realized through other structure, as rotary encoder is set on the stacker-reclaimer spiral arm spiral arm angle of stacker-reclaimer is carried out code identification.
This means of identification is after the stacker-reclaimer of obtaining is walked line position and spiral arm angle; Length and stock ground length by PLC walks line position, stacker-reclaimer spiral arm angle, stacker-reclaimer spiral arm 14 according to stacker-reclaimer are carried out digitized processing and calculating; Obtain the coordinate (X of bucket wheel 13 operating positions of stacker-reclaimer 1; Y), and each raw material band of position coordinate in these bucket wheel 13 operating position coordinates and stock ground compared, obtain the current operated raw material variety of stacker-reclaimer.
This system of the present invention has realized the automatic identification of getting raw material variety is piled in the stock ground, can under various external environments, correctly discern raw material variety, and operating personal is notified or be shown to recognition result; Just can effectively avoid the raw material variety identification error; Stop to mix the generation of matter accident, improved production efficiency, alleviated labor intensity of operating personnel and judged pressure; To change recognition system and be dissolved in the modern production management mode, and can improve the technological means and the level of management of producing supervision.
Should be pointed out that the above specific embodiment can make those skilled in the art more fully understand the invention, but do not limit the present invention in any way creation.Therefore; Although this specification sheets has carried out detailed explanation with reference to accompanying drawing and embodiment to the invention,, those skilled in the art are to be understood that; Still can make amendment or be equal to replacement the invention; In a word, all do not break away from the technical scheme and the improvement thereof of the spirit and the scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (10)
1. recognition methods that the stock ground heap is got raw material variety; It is characterized in that; That at first obtains stacker-reclaimer walks line position and stacker-reclaimer spiral arm angle; The said line position of walking that obtains stacker-reclaimer is meant in the stacker-reclaimer bottom through support and connects locating wheel, be provided with that locating wheel contacts with the walking rails of stacker-reclaimer and with the same moved further of stacker-reclaimer, first rotary encoder is set on locating wheel; Locating wheel was along with rotation when stacker-reclaimer was advanced, drive that the rotation of first rotary encoder produces the impulse singla that has direction and receive by controller after draw the line position of walking of stacker-reclaimer; Again according to the stacker-reclaimer obtained walk line position, the spiral arm angle adds spiral arm length and the stock ground length that stacker-reclaimer is intrinsic, obtains the operating position coordinate that stacker-reclaimer is positioned at the terminal bucket wheel of spiral arm; Each raw material band of position coordinate in this bucket wheel operating position coordinate and stock ground is compared, obtain the current operated raw material variety of stacker-reclaimer.
2. the recognition methods that stock ground according to claim 1 heap is got raw material variety is characterized in that the said stacker-reclaimer spiral arm angle of obtaining is meant that rotary encoder is set to be come the spiral arm angle of stacker-reclaimer is carried out code identification on the stacker-reclaimer spiral arm.
3. the recognition methods that stock ground according to claim 1 heap is got raw material variety; It is characterized in that; The said stacker-reclaimer spiral arm angle of obtaining is meant at the flower wheel of stacker-reclaimer rotary transfer arm web setting with its rotation; The gear of this flower wheel combines with the spiral arm disk gear; Second rotary encoder is set on flower wheel, drives the flower wheel rotation through the rotation spiral arm, thus drive that second rotary encoder produces the impulse singla that has direction and receive by controller after draw stacker-reclaimer spiral arm angle.
4. the recognition methods that stock ground according to claim 1 heap is got raw material variety is characterized in that, the stacker-reclaimer that obtains walk line position after comprise that also this is walked line position proofreaies and correct.
5. the recognition methods that stock ground according to claim 4 heap is got raw material variety; It is characterized in that; Said correction is included in that the stacker-reclaimer walking rails is other to be provided with one or set gradually a plurality of check points, and sensor is set on stacker-reclaimer, when stacker-reclaimer during through check point; Sensor sends to controller with the signal of the check point that collects, and is carried out the correction of walking line position of stacker-reclaimer according to this check point by controller.
6. the recognition system of getting raw material variety is piled in a stock ground; It is characterized in that; Comprise stacker-reclaimer traveling position identification device, stacker-reclaimer spiral arm angle means of identification and controller; Said stacker-reclaimer traveling position identification device is arranged on and is used to obtain stacker-reclaimer on the stacker-reclaimer and walks line position; Said stacker-reclaimer traveling position identification device comprises support, locating wheel and first rotary encoder that on locating wheel, is provided with, and said first rotary encoder links to each other with controller, and said locating wheel links to each other with the bottom of stacker-reclaimer through support; Said locating wheel contact with the walking rails of stacker-reclaimer and with the same moved further of stacker-reclaimer, said locating wheel drive when rotating that the rotation of first rotary encoder produces the impulse singla that has direction and receive by controller after draw the line position of walking of stacker-reclaimer; Said stacker-reclaimer spiral arm angle means of identification is arranged on the spiral arm of stacker-reclaimer and is used to obtain stacker-reclaimer spiral arm angle, and said stacker-reclaimer traveling position identification device all links to each other with controller with stacker-reclaimer spiral arm angle means of identification; Said controller carries out computing according to spiral arm length and stock ground length that stacker-reclaimer is walked line position, stacker-reclaimer spiral arm angle, stacker-reclaimer; Obtain the operating position coordinate that stacker-reclaimer is positioned at the terminal bucket wheel of spiral arm; And each raw material band of position coordinate in this bucket wheel operating position coordinate and stock ground compared, obtain the current operated raw material variety of stacker-reclaimer.
7. the recognition system that stock ground according to claim 6 heap is got raw material variety is characterized in that also be provided with spring on the said support, said spring is used to strengthen the friction force between locating wheel and the walking rails.
8. pile the recognition system of getting raw material variety according to claim 6 or 7 described stock grounds; It is characterized in that; Said stacker-reclaimer spiral arm angle means of identification comprises rotary encoder; Said rotary encoder links to each other with controller, and said rotary encoder is arranged on the spiral arm angle that is used on the stacker-reclaimer spiral arm stacker-reclaimer and carries out code identification.
9. pile the recognition system of getting raw material variety according to claim 6 or 7 described stock grounds; It is characterized in that; Said stacker-reclaimer spiral arm angle means of identification comprises flower wheel and second rotary encoder that on flower wheel, is provided with; The gear of said flower wheel combines with stacker-reclaimer spiral arm disk gear; Said second rotary encoder links to each other with controller, the rotation of said flower wheel drive that second rotary encoder produces the impulse singla that has direction and receive by controller after draw stacker-reclaimer spiral arm angle.
10. the recognition system that stock ground according to claim 9 heap is got raw material variety; It is characterized in that; Also comprise the traveling position correction apparatus; Said traveling position correction apparatus is included in sensor that is provided with on the stacker-reclaimer and the one or more check points that are provided with on stacker-reclaimer walking rails side; Said sensor links to each other with controller, and said sensor is used for the signal of acquisition correction point when stacker-reclaimer process check point and sends it to controller, and said controller carries out the correction of walking line position of stacker-reclaimer according to this check point.
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| CN104370118A (en) * | 2014-11-11 | 2015-02-25 | 宁夏嘉翔自控技术有限公司 | Detection system of bucket wheel machine |
| CN112024307B (en) * | 2020-08-31 | 2022-07-15 | 中国一冶集团有限公司 | Vehicle for concrete foundation anticorrosion construction |
| CN112722874A (en) * | 2020-12-29 | 2021-04-30 | 天津天钢联合特钢有限公司 | Intelligent management and control system for coke mechanized stock yard |
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| CN101121469A (en) * | 2006-08-10 | 2008-02-13 | 包起帆 | Bulk cargo automation field material stacking and fetching system and its material stacking and fetching method |
| CN101694576A (en) * | 2009-10-26 | 2010-04-14 | 马鞍山钢铁股份有限公司 | Stockyard operation dynamic display and real-time management system and management method thereof |
| CN201882649U (en) * | 2010-11-02 | 2011-06-29 | 北京三博中自科技有限公司 | Identification system for varieties of stocks stacked and taken in stock ground |
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| JPS61254425A (en) * | 1985-04-27 | 1986-11-12 | Osaka Gas Co Ltd | Position detecting method for working machine |
| JPH06305580A (en) * | 1993-04-27 | 1994-11-01 | Mitsubishi Heavy Ind Ltd | Scattered object pile shape detecting device |
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| CN101121469A (en) * | 2006-08-10 | 2008-02-13 | 包起帆 | Bulk cargo automation field material stacking and fetching system and its material stacking and fetching method |
| CN101694576A (en) * | 2009-10-26 | 2010-04-14 | 马鞍山钢铁股份有限公司 | Stockyard operation dynamic display and real-time management system and management method thereof |
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Denomination of invention: Method and system for identifying varieties of piled and taken raw materials in stockyard Effective date of registration: 20131111 Granted publication date: 20121205 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: Sanbo Zhongzi Tech Co., Ltd. Beijing Registration number: 2013990000835 |
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