CN102336340A - Full-automatic bulk cargo storage yard stacking and taking method - Google Patents
Full-automatic bulk cargo storage yard stacking and taking method Download PDFInfo
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- CN102336340A CN102336340A CN2010102371370A CN201010237137A CN102336340A CN 102336340 A CN102336340 A CN 102336340A CN 2010102371370 A CN2010102371370 A CN 2010102371370A CN 201010237137 A CN201010237137 A CN 201010237137A CN 102336340 A CN102336340 A CN 102336340A
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Abstract
The invention relates to a full-automatic bulk cargo storage yard stacking and taking method applied to large port wharfs, truck stations and open storages. According to the method, when a stacking and taking machine works, an operating driver for operating and monitoring is not needed in a cab of the stacking and taking machine and a person for control and operation of the whole process is also not needed in a field industrial personal computer on the basis of fully ensuring the utilization rate of a stock yard and exerting the stacking and taking capacity and other functions of the stacking and taking machine. After the field industrial personal computer acquires an operation task from a management system, optimal calculation and security inspection are performed according to the condition of the stock yard and the state of the stacking and taking machine, and related stacking or taking mode information is automatically generated; and then the system automatically sends related control instructions to a programmable logic controller (PLC) corresponding to the local stacking and taking machine, and the stacking and taking machine performs unmanned automatic stacking and taking operation of the whole process. Therefore, the method overcomes the defects of low automation degree of the conventional bulk cargo storage yard, high labor intensity of operators, low working efficiency and low field utilization rate.
Description
Technical field
The present invention relates to a kind of automation control heap access method; Be particularly related to a kind of large-scale port and pier, lorry station, open storage of being applied to, can also be widely used in the full automaticity bulk storage yard heap access method of the stock yard of all kinds of large-scale stockyards, mine, iron and steel enterprise etc.
Background technology
Bucket wheel machine; It is a kind of visual plant that loads and unloads bulk material in the modernized industry continuously; Be mainly used in large bulk cargos such as harbour, harbour, metallurgy, cement, steel plant, coke-oven plant, coal storage plant, power plant, like stacking, the extraction operation in the storage stock ground such as ore, coal, coke, sandstone.Utilize bucket wheel to get material continuously, with the rail type loading-unload machine of the continuous windrow of belt conveyer on the machine.It is the special-purpose machinery in bulk material (bulk cargo) bedding plant; Be on the basis of bucket wheel excavator, to develop and come; Can form bedding plant Transport Machinery system with (ship) machine of unloading, belt conveyer, shipment (car) machine, productive capacity per hour can reach more than 10,000 ton.The operation of bucket-wheel stacker reclaimer has very strong regularity, is prone to realize automation.Mode has manually, S. A. and automatic etc.
Large-scale bulk goods (like ore, coal, small crushed stone, yellow sand etc.) dump mainly is dispersed throughout mine, energy storage storehouse, harbour, lorry station etc.; Especially for bulk cargo stock yards such as the ore that is distributed in storage storehouse, harbour, coals, its operation technique process mode relies on manual work fully to carry out information transmission, plan, processing, operation, heap and gets strategy, management etc.Tall and big stacker-reclaimer equipment role in wide bulk goods stockpile field has just served as artificial spade shovel or loading and unloading " instrument " such as grab bucket, forklift, all control and operating process all be unable to do without into.Stacker-reclaimer operation driver is single or oral assignment instructions based on production plan, and mobile stacker-reclaimer is set the control strategy of piling or getting to specifying stockpile based on individual's experience.Operation is waited for next instruction after accomplishing again.The stockyard of mineral aggregate all is open work often owing to loose, and influenced when operation by various situation usually is that dust is all over the sky, the working environment very severe, the employee of storage yard operation throughout the year under this environment health also be affected widely.In addition; The concertedness of the reasonable utilization on the reasonable Arrangement of bulk material pile, material level management, metrical information, failure message, plan information, job information, ground, stockyard and all kinds of job instructions, promptness, correctness etc. can't be taken on a new look always in the place, and efficient can't promote.Because large-scale dump is not realized integrated automation; Various windrows are clear like the overlapping fan of piles and piles of hill; The heaps of piling material extracting operation mode difference, each stockpile under the height volumes difference of mineral aggregate kind difference, stockpile, the different climate between the stockpile of place are got between flow direction difference, plan and the business not equal; Making the stacker-reclaimer in stock ground must be equipped with a large amount of operation driver and supvr drives, coordinates these equipment and carry out operation; Its work efficiency has been difficult to further improve on a large scale, and productive costs is high.
Summary of the invention
The object of the present invention is to provide a kind of full automaticity bulk storage yard heap access method; This heap access method can realize that stacker-reclaimer does not have the automatic stacking and taking operation of overall process under the situation of operating the driver at the scene; Get in the material process at heap; On-the-spot industrial computer personnel can pass through monitor terminal and industrial television video terminal real time monitoring field operation process, can carry out M/C to heap, material extracting operation through the operation board that is positioned at on-the-spot industrial computer during extraordinary circumstances.Thereby overcome the defective that existing bulk cargo stock yard degree of automation is low, operator's labour intensity high, operating efficiency is low.
For solving the problems of the technologies described above, described full automaticity bulk storage yard heap access method may further comprise the steps:
(1) three-dimensional laser scanner is connected with on-the-spot industrial computer through TCP/IP with the PLC controller; On-the-spot industrial computer is integrated the data of each coder, sensor and three-dimensional laser scanner through the three-dimensional laser process software; Thereby set up the three dimensional space coordinate model in entire job zone; The three-dimensional laser process software calculates best heap and gets the material initial point, and is input to the data bank of on-the-spot industrial computer;
(2) on-the-spot industrial computer based on be stored in the database the windrow strategy with get material strategy and generate job instruction, pile material extracting operation pattern and preparation automatically and pile material extracting operation process control instruction automatically;
(3) on-the-spot industrial computer is selected automatic heap material extracting operation pattern, and operation process control carrying out automatic or manual is selected, and selection result is sent into the PLC controller;
(4) the PLC controller in conjunction with on-the-spot absolute encoder, obliquity sensor, the swing type mechanism of actuating mechanism controls stacker-reclaimer, luffing mechanism, running mechanism work, is accomplished local operation control through the bus communication pattern; Through the stockpile laser scanning device stock ground situation is carried out real time scan simultaneously, stockpile information is transferred to on-the-spot industrial computer through industrial network;
(5) on-the-spot industrial computer is realized the processing of the heap type scan-data of stacker-reclaimer, generates the stockpile characteristic data, the stockpile heap is got computation optimization and storage yard operation process monitoring, and in time instruction is issued the PLC controller of corresponding local stacker-reclaimer;
It is characterized in that the data scanning method of laser scanning device is following:
Large-scale bulk goods heap is divided into a plurality of zones;
A three-dimensional laser scanner respectively is installed on the bucket wheel machine of bank both sides, and is set the mid point extended line of stockpile subregion and the intersection point of bucket wheel machine track is a measurement point;
Drive bucket wheel machine and stop at measurement point, open scanner and begin to do static measurement;
Two bucket wheel machines are measured a side of dump in this subregion respectively, with two the integrated volume information and line drawings that just can obtain material in this zone of result of a measurement;
Each material subregion is measured, can be obtained the material information of each subregion and the overall information in whole stockyard.
Full automaticity bulk storage yard of the present invention heap access method can let large-scale bulk goods stockpile field round Realization stacker-reclaimer full automaticity stacking and taking operation at the scene.Full automaticity bulk storage yard heap access method mainly is meant when the stacker-reclaimer operation; Heap fully guaranteeing stock ground degree of utilization, performance stacker-reclaimer is got on material ability and other function basis; Do not have the operation driver in the stacker-reclaimer driver's cab and operate and keep watch on, do not need personnel to carry out omnidistance control operation in the on-the-spot industrial computer yet.After on-the-spot industrial computer obtains job task from management system; Be optimized calculating and safety examination based on stock ground situation and stacker-reclaimer state; Automatically produce relevant heap or delivery formula information; System's control instruction of will being correlated with automatically sends to corresponding local stacker-reclaimer PLC controller subsequently, carries out the unpiloted automatic heap of overall process, material extracting operation by stacker-reclaimer.Get in the material process at heap, on-the-spot industry control chamber personnel can pass through monitor terminal and industrial television video terminal real time monitoring field operation process, can carry out M/C to heap, material extracting operation through the lever operated dish that is positioned at centralized control room during extraordinary circumstances.Thereby overcome the defective that existing bulk cargo stock yard degree of automation is low, operator's labour intensity high, operating efficiency is low and the utilization of area rate is low.
Description of drawings
Fig. 1 is the diagram of circuit of full automaticity bulk storage yard heap access method of the present invention.
Fig. 2 is the structural representation of scanning survey in the full automaticity bulk storage yard heap access method of the present invention.
Fig. 3 is the block diagram of the bucket wheel control program of full automaticity bulk storage yard heap access method of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Full automaticity bulk storage yard heap access method as shown in Figure 1 may further comprise the steps:
(1) three-dimensional laser scanner is connected with on-the-spot industrial computer through TCP/IP with the PLC controller; On-the-spot industrial computer is integrated the data of each coder, sensor and three-dimensional laser scanner through the three-dimensional laser process software; Thereby set up the three dimensional space coordinate model in entire job zone; The three-dimensional laser process software calculates best heap and gets the material initial point, and is input to the data bank of on-the-spot industrial computer;
(2) on-the-spot industrial computer based on be stored in the database the windrow strategy with get material strategy and generate job instruction, pile material extracting operation pattern and preparation automatically and pile material extracting operation process control instruction automatically;
(3) on-the-spot industrial computer is selected automatic heap material extracting operation pattern, and operation process control carrying out automatic or manual is selected, and selection result is sent into the PLC controller;
(4) the PLC controller in conjunction with on-the-spot absolute encoder, obliquity sensor, the swing type mechanism of actuating mechanism controls stacker-reclaimer, luffing mechanism, running mechanism work, is accomplished local operation control through the bus communication pattern; Through the stockpile laser scanning device stock ground situation is carried out real time scan simultaneously, stockpile information is transferred to on-the-spot industrial computer through industrial network;
(5) on-the-spot industrial computer is realized the processing of the heap type scan-data of stacker-reclaimer, generates the stockpile characteristic data, the stockpile heap is got computation optimization and storage yard operation process monitoring, and in time instruction is issued the PLC controller of corresponding local stacker-reclaimer;
The data scanning method of laser scanning device is as shown in Figure 2:
Large-scale bulk goods heap is divided into a plurality of zones, and dotted line is divided into 20 sub regions with 4 strip shape stockpiles;
A three-dimensional laser scanner respectively is installed on the bucket wheel machine of bank both sides, and is set the mid point extended line of stockpile subregion and the intersection point of bucket wheel machine track is a measurement point, shown in Fig. 2 ringlet;
Drive bucket wheel machine and stop at measurement point, open scanner and begin to do static measurement;
Like Fig. 2, measurement point 1 and 6, two bucket wheel machines of measurement point are measured a side of bank in this subregion respectively, with two the integrated volume information and line drawings that just can obtain material in this zone of result of a measurement;
Each material subregion is measured, can be obtained the material information of each subregion and the overall information in whole stockyard.
Wherein, industrial video control monitor unit and all kinds of sensing equipment also are equipped with in said heap enchashment field, gather stacker-reclaimer each mechanism's state and failure message, and information is sent into on-the-spot industrial computer and PLC controller; On-the-spot industrial computer receives the main state of each stacker-reclaimer, failure message, and sends each stacker-reclaimer of process control instruction control and send relevant caution.
Wherein, said on-the-spot industrial computer also is provided with lever operated dish, and under special circumstances as manually operated backup means, lever operated dish is controlled local stacker-reclaimer through the PLC controller.
Wherein, windrow job step is following:
On-the-spot industrial computer is received the data of each coder, sensor and three-dimensional laser scanner, and the windrow strategy that utilization is left in the data bank is confirmed accumulation mode;
On-the-spot industrial computer is confirmed Work machine, accumulation address realm, stockpile heap height according to the current running condition information in stock ground in the data bank, generates production plan and work pattern;
Accumulation mode, production plan and work pattern are sent to the PLC controller as job instruction through industrial network; While ground material transmission belt flow startup;
After the PLC controller is received instruction, send into the position calculation program module, calculate, draw the start position information of suitable cantilever pitching, cantilever revolution and large vehicle walking;
The self-orientation program; The location information that result of calculation and the absolute value encoder measurement on the cantilever luffing mechanism that is contained in stacker-reclaimer, cantilever gyration mechanism, the cart running mechanism are come out compares; According to difference relatively, the PLC controller is by pre-set data, and the motor of corresponding mechanism is sent hand of rotation and velocity setting instruction; Make corresponding mechanism with proper speed and direction operation; Actual position signal and the given position of measuring feedback until coder coincide, and motor is out of service, and accomplish the location;
Carry out the windrow strategy, the bulk cargo that is shipped by belt conveyer unloads the belt conveyer to the jib through trailer, throws from the jib front end and unloads to the stock ground; Through the operation of complete machine, the revolution of jib, pitching can make stockpile form the neat shape of trapezoidal cross-section.
Wherein, the material extracting operation step is following:
On-the-spot industrial computer is received the data of each coder, sensor and three-dimensional laser scanner, and stacker-reclaimer layout material extracting operation is instructed;
On-the-spot industrial computer produces following stacker-reclaimer and gets the initial control information of material: on-the-spot industrial computer is confirmed to get the material point of penetration for the first time according to the current stockpile heap type state of stock ground in the data bank, and promptly stacker-reclaimer is initially walked line position, the initial degreeof turn of cantilever, luffing angle;
Above information is sent to the PLC controller, starts ground material transmission belt flow process simultaneously;
After the PLC controller is received information, the initial job location information of wherein traveling, revolution, luffing mechanism is sent into the self-orientation program, accomplish the self-orientation of each mechanism; Make bucket wheel with suitable angle and degree of depth incision stockpile, operation is ready, gets the material beginning;
Bucket-wheel stacker reclaimer utilizes cantilever revolution, bucket wheel rotation stockpile to be carried out layering get material: portable beam is placed the windrow top; Cart leaves to the stockpile end; System is in gets the material operating mode, roller rotation, adjustment activity depth of beam; Make and get hopper material feeding thickness and progressively be added to pre-determined bit, the roller dolly begins walking; When an end walks to the other end, cart stepping 0.5-1m continues to get material, until having got the ground floor material, is that starting point repeats the above-mentioned material process of getting with the stockpile other end then, gets the material mode with layering and accomplishes the material task of getting.
Get the material be divided into layering get the material the vertical material of getting with the top.Material is got in layering: portable beam is placed windrow top, and cart leaves to the stockpile end, and system is in gets the material operating mode, the roller rotation, and adjustment activity depth of beam makes and gets hopper material feeding thickness and progressively be added to pre-determined bit, and the roller dolly begins walking.When an end walks to the other end, cart stepping 0.5-1m continues to get material, until having got the ground floor material, is that starting point repeats the above-mentioned material process of getting with the stockpile other end then, gets the material mode with layering and accomplishes the material task of getting; Material is vertically got at the top: this is got the material mode and is mainly used in the arrangement stock ground, optionally takes the material of optional position, top, stock ground, makes things convenient for the stock ground management.
As shown in Figure 3, according to the technology of bucket wheel machine,, adopt main program nested subroutine mode in conjunction with program design mode, according to the angle-data that obliquity sensor is gathered, designed following bucket wheel machine control program structure.In the diagram logic, traveling and revolution control logic are the most complicated, and traveling will be controlled equipment such as running motor, volume cable laying motor, cantilever, belt and work simultaneously, requires matching coordinative, and protection puts in place, thereby the realization cart is walked low speed walking, operations such as braking at a high speed; Revolution then mainly realizes the speed governing of turning motor.
Full automaticity bulk storage yard of the present invention heap access method can let large-scale bulk goods stockpile field round Realization stacker-reclaimer full automaticity stacking and taking operation at the scene.Full automaticity bulk storage yard heap access method mainly is meant when the stacker-reclaimer operation; Heap fully guaranteeing stock ground degree of utilization, performance stacker-reclaimer is got on material ability and other function basis; Do not have the operation driver in the stacker-reclaimer driver's cab and operate and keep watch on, do not need personnel to carry out omnidistance control operation in the on-the-spot industrial computer yet.After on-the-spot industrial computer obtains job task from management system; Be optimized calculating and safety examination based on stock ground situation and stacker-reclaimer state; Automatically produce relevant heap or delivery formula information; System's control instruction of will being correlated with automatically sends to corresponding local stacker-reclaimer PLC controller subsequently, carries out the unpiloted automatic heap of overall process, material extracting operation by stacker-reclaimer.Get in the material process at heap, on-the-spot industry control chamber personnel can pass through monitor terminal and industrial television video terminal real time monitoring field operation process, can carry out M/C to heap, material extracting operation through the lever operated dish that is positioned at centralized control room during extraordinary circumstances.Thereby overcome the defective that existing bulk cargo stock yard degree of automation is low, operator's labour intensity high, operating efficiency is low and the utilization of area rate is low.
More than show and described groundwork of the present invention and principal character and advantage thereof.The technological personage of the industry should understand; The present invention does not receive the restriction of above-mentioned implementing regulations; That describes in above-mentioned implementing regulations and the specification sheets just is used to explain principle of the present invention; Under the prerequisite that does not break away from the principle of the invention and scope, the present invention also can have various changes and modifications, and these variations and improvement all belong in the scope of the invention of requirement protection.
The present invention requires protection domain to define with appending claims and other equivalent.
Claims (5)
1. a full automaticity bulk storage yard is piled access method, may further comprise the steps:
(1) three-dimensional laser scanner is connected with on-the-spot industrial computer through TCP/IP with the PLC controller; On-the-spot industrial computer is integrated the data of each coder, sensor and three-dimensional laser scanner through the three-dimensional laser process software; Thereby set up the three dimensional space coordinate model in entire job zone; The three-dimensional laser process software calculates best heap and gets the material initial point, and is input to the data bank of on-the-spot industrial computer;
(2) on-the-spot industrial computer based on be stored in the database the windrow strategy with get material strategy and generate job instruction, pile material extracting operation pattern and preparation automatically and pile material extracting operation process control instruction automatically;
(3) on-the-spot industrial computer is selected automatic heap material extracting operation pattern, and operation process control carrying out automatic or manual is selected, and selection result is sent into the PLC controller;
(4) the PLC controller in conjunction with on-the-spot absolute encoder, obliquity sensor, the swing type mechanism of actuating mechanism controls stacker-reclaimer, luffing mechanism, running mechanism work, is accomplished local operation control through the bus communication pattern; Through the stockpile laser scanning device stock ground situation is carried out real time scan simultaneously, stockpile information is transferred to on-the-spot industrial computer through industrial network;
(5) on-the-spot industrial computer is realized the processing of the heap type scan-data of stacker-reclaimer, generates the stockpile characteristic data, the stockpile heap is got computation optimization and storage yard operation process monitoring, and in time instruction is issued the PLC controller of corresponding local stacker-reclaimer;
It is characterized in that the data scanning method of laser scanning device is following:
Large-scale bulk goods heap is divided into a plurality of zones;
A three-dimensional laser scanner respectively is installed on the bucket wheel machine of bank both sides, and is set the mid point extended line of stockpile subregion and the intersection point of bucket wheel machine track is a measurement point;
Drive bucket wheel machine and stop at measurement point, open scanner and begin to do static measurement;
Two bucket wheel machines are measured a side of dump in this subregion respectively, with two the integrated volume information and line drawings that just can obtain material in this zone of result of a measurement;
Each material subregion is measured, can be obtained the material information of each subregion and the overall information in whole stockyard.
2. based on the described full-automatic bulk storage yard heap access method of claim 1; It is characterized in that: industrial video supervising device and all kinds of sensing equipment also are equipped with in said heap enchashment field; Gather stacker-reclaimer each mechanism's state and fault message, information is sent into on-the-spot industrial computer and PLC controller; On-the-spot industrial computer receives the main state of each stacker-reclaimer, fault message, and sends each stacker-reclaimer of process control commands for controlling and send relevant caution.
3. full automaticity bulk storage yard heap access method according to claim 1; It is characterized in that: said on-the-spot industrial computer also is provided with lever operated dish; As manually operated backup means, lever operated dish is controlled local stacker-reclaimer through the PLC controller under special circumstances.
4. full automaticity bulk storage yard heap access method according to claim 1 is characterized in that windrow job step is following:
On-the-spot industrial computer is received the data of each coder, sensor and three-dimensional laser scanner, and the windrow strategy that utilization is left in the data bank is confirmed accumulation mode;
On-the-spot industrial computer is confirmed Work machine, accumulation address realm, stockpile heap height according to the current running condition information in stock ground in the data bank, generates production plan and work pattern;
Accumulation mode, production plan and work pattern are sent to the PLC controller as job instruction through industrial network; While ground material transmission belt flow startup;
After the PLC controller is received instruction, send into the position calculation program module, calculate, draw the start position information of suitable cantilever pitching, cantilever revolution and large vehicle walking;
The self-orientation program; The location information that result of calculation and the absolute value encoder measurement on the cantilever luffing mechanism that is contained in stacker-reclaimer, cantilever gyration mechanism, the cart running mechanism are come out compares; According to difference relatively, the PLC controller is by pre-set data, and the motor of corresponding mechanism is sent hand of rotation and velocity setting instruction; Make corresponding mechanism with proper speed and direction operation; Actual position signal and the given position of measuring feedback until coder coincide, and motor is out of service, and accomplish the location;
Carry out the windrow strategy, the bulk cargo that is shipped by belt conveyer unloads the belt conveyer to the jib through trailer, throws from the jib front end and unloads to the stock ground; Through the operation of complete machine, the revolution of jib, pitching can make stockpile form the neat shape of trapezoidal cross-section.
5. full automaticity bulk storage yard heap access method according to claim 1 is characterized in that the material extracting operation step is following:
On-the-spot industrial computer is received the data of each coder, sensor and three-dimensional laser scanner, and stacker-reclaimer layout material extracting operation is instructed;
On-the-spot industrial computer produces following stacker-reclaimer and gets the initial control information of material: on-the-spot industrial computer is confirmed to get the material point of penetration for the first time according to the current stockpile heap type state of stock ground in the data bank, and promptly stacker-reclaimer is initially walked line position, the initial degreeof turn of cantilever, luffing angle;
Above information is sent to the PLC controller, starts ground material transmission belt flow process simultaneously;
After the PLC controller is received information, the initial job location information of wherein traveling, revolution, luffing mechanism is sent into the self-orientation program, accomplish the self-orientation of each mechanism; Make bucket wheel with suitable angle and degree of depth incision stockpile, operation is ready, gets the material beginning;
Bucket-wheel stacker reclaimer utilizes cantilever revolution, bucket wheel rotation stockpile to be carried out layering get material: portable beam is placed the windrow top; Cart leaves to the stockpile end; System is in gets the material operating mode, roller rotation, adjustment activity depth of beam; Make and get hopper material feeding thickness and progressively be added to pre-determined bit, the roller dolly begins walking; When an end walks to the other end, cart stepping 0.5-1m continues to get material, until having got the ground floor material, is that starting point repeats the above-mentioned material process of getting with the stockpile other end then, gets the material mode with layering and accomplishes the material task of getting.
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