CN102502281B - Stacker as well as control method and device thereof - Google Patents
Stacker as well as control method and device thereof Download PDFInfo
- Publication number
- CN102502281B CN102502281B CN201110337945.9A CN201110337945A CN102502281B CN 102502281 B CN102502281 B CN 102502281B CN 201110337945 A CN201110337945 A CN 201110337945A CN 102502281 B CN102502281 B CN 102502281B
- Authority
- CN
- China
- Prior art keywords
- stocker
- reclaimer
- record
- control
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention provides a stacker as well as a control method and device thereof, which are used for solving the problems that stacking through semiautomatic operation cannot be realized when various materials are stacked in a single stock ground arranged by a stroke collision block, and a driver manually controls the stacker to reciprocate in the prior art. The method comprises the following steps of: recording the current position point of the stacker when receiving a position recording instruction; then, recording the position point where the stacker reaches after running for a certain distance along a preset direction when receiving the position recording instruction again; and controlling the stacker to automatic reciprocate and stack according to the two recorded position points. Due to the adoption of the technical scheme of the invention, the labor intensity of the driver is lower under the condition that various materials are stacked in one stock ground, and higher control precision for the stacker can be achieved.
Description
Technical field
The present invention relates to technical field of engineering machinery, relate to especially a kind of stocker and control method thereof and device.
Background technology
Mixed-windrowed locomotive is a kind of conventional construction machinery and equipment, and common and reclaimer is used in conjunction with, and realizes material in stacking and the transportation in stock ground.Fig. 1 is the schematic diagram that a kind of stock ground of the prior art is arranged.As shown in Figure 1, the travel switch collision block of 11 to 19 expression mixed-windrowed locomotives, is arranged and has been formed two stock grounds by these collision blocks, is wherein stacked with respectively 1A, two stockpiles of 1B.Wherein 11,19 is mixed-windrowed locomotive end position collision block, and 12,18 is the spacing collision block of mixed-windrowed locomotive, and 14,16 for becoming starting point collision block, and 13,17 is fixed endpoint collision block, and 15 is the mid point collision block between 1A, two stockpiles of 1B.
During stocker automatic stockpiling, becoming round operation between starting point 14 and fixed endpoint 13 (or becoming starting point 16 and fixed endpoint 17), jib automatic-ascending certain altitude when material high detection detects signal, when jib height is higher, after mixed-windrowed locomotive senses and becomes starting point, mixed-windrowed locomotive continues traveling until the distance stopping is also far away.
According to prior art, under the mode of operation of automatic stockpiling, mixed-windrowed locomotive can only be to move between above-mentioned change starting point and fixed endpoint in intrinsic scope, thus in the scope of each stockpile shown in Fig. 1, can only stack a kind of material, lower for the degree of utilization in stock ground.To this, common way of the prior art is a plurality of less scopes of being chosen in the scope of each stockpile shown in Fig. 1 by chaufeur, control stocker reciprocal windrow in each less scope, braking before at every turn returning need be realized by driver's operation, near reclaimer one side, need according to the height of jib, determined by tractor driver that trip distance senses to realize being similar to the control function becoming after starting point in addition, to meet the technological requirement of getting heap, feeding, make the labour intensity of chaufeur large and not good to the control accuracy of each reciprocal stroke length.
In the prior art, when stacking multiple material in the single stock ground of being arranged by stroke collision block, the labour intensity of chaufeur is large and not good to the control accuracy of each reciprocal stroke length.For this problem, effective solution is not yet proposed at present.
Summary of the invention
Main purpose of the present invention is to provide a kind of stocker and control method and device, to solve in prior art when stacking multiple material in the single stock ground of being arranged by stroke collision block, the large and not good problem of control accuracy to each reciprocal stroke length of the labour intensity of chaufeur.
To achieve these goals, according to an aspect of the present invention, provide a kind of method of controlling stocker.
The method of control stocker of the present invention comprises: when receiving position recording instruction, record the current location point of stocker, then when again receiving described position recording instruction, record described stocker and by preset direction, move the location point arriving after a segment distance; Control described stocker and come and go operation windrow according to two described locations point of record.
According to a further aspect in the invention, provide a kind of device of controlling stocker.
The device of control stocker of the present invention comprises: receiving-recording equipment, for record the current location point of stocker when receiving position recording instruction, then when again receiving described position recording instruction, record described stocker and by preset direction, move the location point arriving after a segment distance; Control convenience, comes and goes operation windrow for controlling described stocker according to two described locations point of record.
According to another aspect of the invention, provide a kind of stocker, this stocker comprises the device of control stocker of the present invention.
According to technical scheme of the present invention, in stock ground, record two locations point and control stocker back and forth movement between these two locations point, and can record many group locations point, every group of two locations point, control stocker back and forth movement between two locations point of each group respectively, realized thus and made a stock ground stack multiple material and every kind of material is carried out to automatic stockpiling, and alleviated the labour intensity of chaufeur, and had higher control accuracy.
Accompanying drawing explanation
Figure of description is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram that a kind of stock ground of the prior art is arranged;
Fig. 2 is according to the key step schematic diagram of the method for the control mixed-windrowed locomotive of the embodiment of the present invention;
Fig. 3 is according to the schematic diagram of a plurality of stock grounds section of the division of the embodiment of the present invention;
Fig. 4 is according to the schematic diagram of the element of the device of the control stocker of the embodiment of the present invention.
The specific embodiment
It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the application can combine mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
In the present embodiment, mixed-windrowed locomotive records two locations point under the control of chaufeur, one of them is as becoming starting point, and Fig. 2 is according to the key step schematic diagram of the method for the control mixed-windrowed locomotive of the embodiment of the present invention, and the method can be realized by the controller of mixed-windrowed locomotive.For the step shown in Fig. 2, explain below.
Step S21: receiving position recording instruction.Thereby the button that this position recording instruction is for example pressed on control panel by the relevant equipment of the driver's operation of mixed-windrowed locomotive sends.
Step S23: record the current location point of mixed-windrowed locomotive.The recording mode of location point can be chosen flexibly, for example, adopt the distance of a fixture in laser measurement mixed-windrowed locomotive and stock ground, utilizes this distance to identify the position of mixed-windrowed locomotive.Also can adopt approach switch step-by-step counting, thereby approach switch is installed the wheel of mixed-windrowed locomotive or other are synchronizeed the mechanism rotating with mixed-windrowed locomotive near to be made the number of approach switch counting be directly proportional to the miles of relative movement of mixed-windrowed locomotive to adopt this counting to identify the position of mixed-windrowed locomotive, for example the current location of mixed-windrowed locomotive can adopt current existing count value to identify, after mixed-windrowed locomotive moves a segment distance, counting changes, and change value can be used for identifying the new location of mixed-windrowed locomotive.
After mixed-windrowed locomotive moves a segment distance by preset direction, execution step S25.This preset direction is that chaufeur is according to the position of reclaimer and feeding orientation determination, the information that is used to specify this preset direction can be to be kept in advance in controller, also can before mixed-windrowed locomotive is by above-mentioned preset direction operation, be used the devices such as action button or handle to send to controller by chaufeur.Above-mentioned reclaimer is the reclaimer with mixed-windrowed locomotive cooperating.
Step S25: receiving position recording instruction.This position recording instruction is sent by chaufeur equally.
Step S27: control mixed-windrowed locomotive and come and go operation windrow according to two locations point of record.
In this step, can be using above-mentioned two locations point of record respectively as being similar to fixed endpoint of the prior art and becoming starting point, using the nearest location point of its middle distance reclaimer as becoming starting point, another location point is as fixed endpoint, thereby meets the technological requirement of heap feeding.
Particularly, in this step for the control of mixed-windrowed locomotive, mainly comprise following two steps: steps A, control mixed-windrowed locomotive to the direction motion the windrow that approach reclaimer, from then stocker being braked through carry out time delay according to the current height of mixed-windrowed locomotive jib apart from the moment of the nearest location point of reclaimer; And step B, control mixed-windrowed locomotive to direction motion windrow away from reclaimer, from then mixed-windrowed locomotive being braked through carry out time delay by default duration apart from the moment of reclaimer described location point farthest.
Distance between two above-mentioned locations point can be less than the length in stock ground, that is to say that these two locations point have calibrated a scope in stock ground, mixed-windrowed locomotive is crank motion within the scope of this, performs step A and performs step B afterwards, then performs step successively again A and step B.After execution of step A, can provide service direction by chaufeur, then perform step B, also can be automatically to be judged by controller, this Time Controller is confirmed next to need to control mixed-windrowed locomotive to the direction motion away from reclaimer according to the position relationship of two locations point of the current position of mixed-windrowed locomotive and record (be that controller is confirmed the more close nearest location point of distance reclaimer of mixed-windrowed locomotive, rather than apart from reclaimer location point farthest).Similarly, after execution of step B, if by controller automatic decision service direction, what controller confirmation mixed-windrowed locomotive was more close is apart from reclaimer location point farthest, rather than the location point nearest apart from reclaimer.Benefit by controller automatic decision mixed-windrowed locomotive service direction is without driver's operation, to alleviate its work load.
Preferred operation scheme below in conjunction with mixed-windrowed locomotive, is described specifically its working process again.
Chaufeur is got to automatic stockpiling mode by mode select switch, under automatic stockpiling mode, controller is according to reclaimer position and feeding direction judgement mixed-windrowed locomotive direction, the mixed-windrowed locomotive set direction that moves first that chaufeur is provided is the direction that mixed-windrowed locomotive need to move, start conveying belt, conveying belt operation a period of time is for example after 6 seconds, after ground supplied materials signal being detected, mixed-windrowed locomotive starts automatically by the direction of selecting first, now chaufeur clicks windrow scope and sets button, this Time Controller by mixed-windrowed locomotive traveling position probing to data deposit word the inside, and the data that may be locked in this word in this automatic operational process cannot be revised, guarantee correctness and the safety controlled, and controller has recorded first location point of automatic stockpiling, when mixed-windrowed locomotive runs to another end points of this windrow, again press windrow scope setting button and (the distance travelled data that detect of mixed-windrowed locomotive can be deposited equally to another word the inside, and the data that are locked in this word in this automatic operational process cannot be revised), record second location point of automatic stockpiling, remove the effect that moves first mixed-windrowed locomotive direction switch simultaneously.Then position data mixed-windrowed locomotive being detected compares with two position datas that recorded, the service direction of controller automatic decision mixed-windrowed locomotive, start thus mixed-windrowed locomotive by operation automatically between two locations point that set, even if operation stops rear restart routine automatically, only otherwise artificially remove the data logging of two locations point, stocker or the scope the inside automatic stockpiling of setting, until this stockpile windrow completes, manually remove windrow scope setting recording data.Mixed-windrowed locomotive service direction change-over swith is first got to zero-bit and pressed S. A. stop button and just record data can be removed.As need carry out next section of windrow, by operation again above.
From above description, can find out, if Primary batching system is 1,000 ten thousand tons, need to be with 100 meters of long stock grounds according to stock ground width and height, and whole stock ground length is 400 meters, automatically move and cannot carry out this time between original change starting point and fixed endpoint, and 100 meters of scopes that record by windrow scope set point data just can be set in stock ground conditions permit windrow scope are carried out automatic stockpiling (as: A stockpile section), windrow section can be selected arbitrarily stock ground section according to actual conditions.
In the situation that realizing any selection stock ground section, in a stock ground, can mark a plurality of stock grounds section, wherein each stock ground section can be stacked different material.Below in conjunction with Fig. 3, be illustrated.Fig. 3 is according to the schematic diagram of a plurality of stock grounds section of the division of the embodiment of the present invention.
As shown in Figure 3, suppose stock ground is divided into P, Q, R, tetra-stockpiles of S, two ends, stock ground represent with 3a and 3h respectively, are respectively arranged with end position collision block 31,32, and the spacing collision block 33,34 of mixed-windrowed locomotive.When if reclaimer rests between P stockpile and Q stockpile, according to heap feeding technological requirement, must set 3b, 3c, 3e, tetra-points of 3g are " change starting point ", 3a, 3d, 3f, tetra-points of 3h are " fixed endpoint ", if when reclaimer rests between Q stockpile and R stockpile, and heap feeding technological requirement 3b, 3d, 3e, tetra-points of 3g are " change starting point ", 3a, 3c, 3f, tetra-points of 3h are " fixed endpoint ", Q stockpile original " becoming starting point 3c " has become " fixedly starting point 3c " thus, Q stockpile original " fixed endpoint 3d " has become " becoming end points 3d ", be that multistage windrow technique is set " change starting point " and " fixed endpoint " or " change end points " and " fixedly starting point " according to the position of reclaimer and feeding direction, by four stockpile P of diagram, Q, R, S is like this, and stock ground can be divided to more multistage according to same principle, to meet the heap feeding technique in any multistage stock ground, solved and in the independent stock ground setting, carried out the drawback that multiple stockpile batching just cannot automatic stockpiling be moved originally, improved the degree of utilization in stock ground.
Fig. 4 is according to the schematic diagram of the element of the device of the control stocker of the embodiment of the present invention.As shown in Figure 4, the device 40 of the control stocker in the present embodiment mainly comprises receiving-recording equipment 41 and control convenience 42.Wherein receiving-recording equipment 41, for record the current location point of stocker when receiving position recording instruction, then records stocker and by preset direction, moves the location point arriving after a segment distance when again receiving position recording instruction; Control convenience 42 comes and goes operation windrow for controlling stocker according to two locations point of record.
The device 40 of controlling stocker can also comprise direction reception facilities (not shown), and for receiving the information that is used to specify preset direction, this preset direction is according to reclaimer position and feeding orientation determination with stocker cooperating.
Control convenience 42 also can be used for alternately carrying out following steps A and step B: steps A: control stocker to the direction motion the windrow that approach reclaimer, from then stocker being braked through carry out time delay according to the current height of stocker jib apart from the moment of the nearest location point of reclaimer; Step B: control stocker to direction motion windrow away from reclaimer, from then stocker being braked through carry out time delay by default duration apart from the moment of reclaimer location point farthest.
Control convenience 42 also can be used for: between the steps A and step B successively carried out, according to the position relationship of two locations point of the current position of stocker and record, confirm next to need to control stocker to the direction motion away from reclaimer; Between the step B and steps A that successively carry out, according to the position relationship of two locations point of the current position of stocker and record, confirm next to need to control stocker to the direction motion that approaches reclaimer.
Above mixed-windrowed locomotive has been described as an example to the technical scheme of the present embodiment, this technical scheme can be applied in the stocker of other types.Stocker in the present embodiment comprises the device of the control stocker in the present embodiment.
According to the technical scheme of the present embodiment, in stock ground, record two locations point and control stocker back and forth movement between these two locations point, and can record many group locations point, every group of two locations point, control stocker back and forth movement between two locations point of each group respectively, realized thus and made a stock ground stack multiple material and every kind of material is carried out to automatic stockpiling, and alleviated the labour intensity of chaufeur, and had higher control accuracy.
Obviously, those skilled in the art should be understood that, above-mentioned each equipment of the present invention or each step can realize with general computer device, they can concentrate on single computer device, or be distributed on the network that a plurality of computer devices form, alternatively, they can be realized with the executable program code of computer device, thereby, they can be stored in memory storage and be carried out by computer device, or they are made into respectively to each integrated circuit modules, or a plurality of modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a method of controlling stocker, is characterized in that, comprising:
When receiving position recording instruction, record the current location point of stocker, then when again receiving described position recording instruction, record described stocker and by preset direction, move the location point arriving after a segment distance, wherein, described position recording instruction is sent by the driver's operation relevant device of described stocker;
Control described stocker and come and go operation windrow according to two described locations point of record.
2. method according to claim 1, it is characterized in that, before described stocker is by described preset direction operation, described method also comprises: receive the information that is used to specify described preset direction, described preset direction is according to position and the feeding orientation determination of the reclaimer with described stocker cooperating.
3. method according to claim 1 and 2, is characterized in that, controls described stocker and comes and goes operation windrow according to two described locations point of record, comprises and alternately carries out following steps A and step B:
Steps A: control described stocker to the direction motion the windrow that approach reclaimer, carry out time delay then to described stocker braking according to the current height of described stocker jib from the moment through apart from the nearest described location point of described reclaimer;
Step B: control described stocker to direction motion windrow away from described reclaimer, carry out time delay then to described stocker braking by default duration from the moment through apart from described reclaimer described location point farthest.
4. method according to claim 3, is characterized in that,
Between the steps A and step B successively carried out, also comprise: according to the position relationship of two locations point of the current position of described stocker and record, confirm next to need to control described stocker to the direction motion away from described reclaimer;
Between the step B and steps A that successively carry out, also comprise: according to the position relationship of two locations point of the current position of described stocker and record, confirm next to need to control described stocker to the direction motion that approaches described reclaimer.
5. method according to claim 1 and 2, is characterized in that, described stocker is mixed-windrowed locomotive.
6. a device of controlling stocker, is characterized in that, comprising:
Receiving-recording equipment, for record the current location point of stocker when receiving position recording instruction, then when again receiving described position recording instruction, record described stocker and by preset direction, move the location point arriving after a segment distance, wherein, described position recording instruction is sent by the driver's operation relevant device of described stocker;
Control convenience, comes and goes operation windrow for controlling described stocker according to two described locations point of record.
7. device according to claim 6, is characterized in that, also comprises direction reception facilities, and for receiving the information that is used to specify described preset direction, described preset direction is according to reclaimer position and feeding orientation determination with described stocker cooperating.
8. according to the device described in claim 6 or 7, it is characterized in that, described control convenience is also for alternately carrying out following steps A and step B:
Steps A: control described stocker to the direction motion the windrow that approach reclaimer, carry out time delay then to described stocker braking according to the current height of described stocker jib from the moment through apart from the nearest described location point of described reclaimer;
Step B: control described stocker to direction motion windrow away from described reclaimer, carry out time delay then to described stocker braking by default duration from the moment through apart from described reclaimer described location point farthest.
9. device according to claim 8, is characterized in that, described control convenience also for:
Between the steps A and step B successively carried out, according to the position relationship of two locations point of the current position of described stocker and record, confirm next to need to control described stocker to the direction motion away from described reclaimer;
Between the step B and steps A that successively carry out, according to the position relationship of two locations point of the current position of described stocker and record, confirm next to need to control described stocker to the direction motion that approaches described reclaimer.
10. a stocker, is characterized in that, comprises the device of the control stocker described in any one in claim 5 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110337945.9A CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
| PCT/CN2012/081979 WO2013063990A1 (en) | 2011-10-31 | 2012-09-26 | Stacker and control method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110337945.9A CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102502281A CN102502281A (en) | 2012-06-20 |
| CN102502281B true CN102502281B (en) | 2014-10-01 |
Family
ID=46214432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110337945.9A Active CN102502281B (en) | 2011-10-31 | 2011-10-31 | Stacker as well as control method and device thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102502281B (en) |
| WO (1) | WO2013063990A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502281B (en) * | 2011-10-31 | 2014-10-01 | 中联重科物料输送设备有限公司 | Stacker as well as control method and device thereof |
| CN103303652B (en) * | 2013-05-31 | 2016-02-24 | 嘉兴市一建机械制造有限公司 | A kind of stocker |
| CN105197616B (en) * | 2015-11-04 | 2017-08-29 | 北方重工集团有限公司 | A kind of Coal Stack Yard reversible moving overhead traveling crane material stocking device |
| CN113581871B (en) * | 2021-08-24 | 2023-05-12 | 陕钢集团汉中钢铁有限责任公司 | Gradual-change type mixing ore stacking method |
| CN114476706A (en) * | 2021-12-08 | 2022-05-13 | 中交水运规划设计院有限公司 | Coal blending method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2006235857A1 (en) * | 2005-11-04 | 2007-05-24 | Roche Process Engineering Pty Ltd | Stacking system and method |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5574923A (en) * | 1978-12-01 | 1980-06-05 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic remote operation method of reclaimer |
| JPS6428124A (en) * | 1987-07-22 | 1989-01-30 | Meidensha Electric Mfg Co Ltd | Automatic control for stacker |
| CN201796274U (en) * | 2010-07-30 | 2011-04-13 | 中国神华能源股份有限公司 | Remote control system for stacker |
| CN101937249B (en) * | 2010-08-13 | 2012-09-05 | 中国神华能源股份有限公司 | Method and system for detecting and controlling stockpiling |
| CN102502281B (en) * | 2011-10-31 | 2014-10-01 | 中联重科物料输送设备有限公司 | Stacker as well as control method and device thereof |
-
2011
- 2011-10-31 CN CN201110337945.9A patent/CN102502281B/en active Active
-
2012
- 2012-09-26 WO PCT/CN2012/081979 patent/WO2013063990A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2006235857A1 (en) * | 2005-11-04 | 2007-05-24 | Roche Process Engineering Pty Ltd | Stacking system and method |
| CN101104480A (en) * | 2006-07-14 | 2008-01-16 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| 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 |
Non-Patent Citations (4)
| Title |
|---|
| 基于ARM-WinCE的混匀堆料机自动控制系统的研究与实现;解书钢;《中国知网学位论文库》;20100919;正文第9-11页 * |
| 斗轮堆取料机的作业工艺及其控制特点;黄时辉;《起重运输机械》;19860131(第1期);第25-30页 * |
| 解书钢.基于ARM-WinCE的混匀堆料机自动控制系统的研究与实现.《中国知网学位论文库》.2010, |
| 黄时辉.斗轮堆取料机的作业工艺及其控制特点.《起重运输机械》.1986,(第1期),25-30. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102502281A (en) | 2012-06-20 |
| WO2013063990A1 (en) | 2013-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102502281B (en) | Stacker as well as control method and device thereof | |
| CN104609086B (en) | Four-directional shuttle vehicle control system based on road right tokens | |
| CN109190840A (en) | A kind of freezer shuttle dispatching management information system and dispatching method | |
| CN101898569B (en) | Method and system for controlling train route | |
| CN110544061A (en) | Material distribution method and system | |
| CN105346913A (en) | Automatic guide sorting system and method | |
| CN103193054A (en) | Warehouse management method and warehouse management system | |
| CN111309470B (en) | Job scheduling method and device | |
| CN107444825A (en) | A kind of mobile consolidating the load system and method based on robot | |
| CN110834963A (en) | Black light operation management system and method for stacker-reclaimer in bulk material yard | |
| CN110817220A (en) | RGV avoiding method, RGV and RGV avoiding system | |
| CN110404830A (en) | Sorting system and method | |
| CN109800901A (en) | Dispatching method, device, storage medium and the electronic device of scooter | |
| CN110733824A (en) | AGV task generation method based on WMS system, AGV warehouse-in and warehouse-out method and storage device | |
| CN110262471A (en) | Robot dispatching method and device, robot and robot dispatch system | |
| CN105858350A (en) | Positioning system and method for bobbin winding trolley of automatic bobbin winder | |
| CN112053065A (en) | Local delivery method and device of robot and robot | |
| CN108945911A (en) | The Intelligent logistics managing and control system of discrete manufacturing business | |
| CN103854514A (en) | Parking space navigation method and system and intelligent navigation guiding terminal | |
| CN108873833B (en) | Movement control method of automatic guided transport vehicle and automatic guided transport vehicle | |
| CN111182466B (en) | Active wireless relay system and control method | |
| CN113759837A (en) | Control method and device for automatic guided vehicle, electronic device, and storage medium | |
| KR20210040121A (en) | Construction management system | |
| CN116382292A (en) | Multi-machine collaborative scheduling method, equipment and medium on cloud of moving robot | |
| CN111079967A (en) | Device control method, device, server, storage medium, and device control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170621 Address after: 410000 Hunan province Changsha hi tech Development Zone, Lin Yulu No. 288 Patentee after: Changsha ZOOMLION Environmental Industry Co., Ltd. Address before: Yuelu District City, Hunan province 410205 Changsha Changsha high tech Industrial Development Zone No. 57 Yuan Lu Valley Patentee before: Zoomlion Material Handling Equipment Co., Ltd. |
|
| TR01 | Transfer of patent right |