CN103738856B - Rubbish automatic feeding system control method - Google Patents
Rubbish automatic feeding system control method Download PDFInfo
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- CN103738856B CN103738856B CN201310753406.2A CN201310753406A CN103738856B CN 103738856 B CN103738856 B CN 103738856B CN 201310753406 A CN201310753406 A CN 201310753406A CN 103738856 B CN103738856 B CN 103738856B
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Abstract
Present invention is disclosed a kind of rubbish automatic feeding system, comprise the crane device be arranged on above rubbish storage pit, described crane device comprises traveling mechanism of the larger traveller, wheeling mechanism, lifting mechanism and grab bucket, described rubbish storage pit surrounding is provided with laser material position monitoring device, described laser material position monitoring device exports dump position signal to controller, and described controller pipage control signal is to crane device.This rubbish method of shipment achieves the mode of operation of automation garbage disposal, improves rubbish feeding work efficiency and reliability, also can reduce used artificial of Biohazard Waste Disposal simultaneously, save human cost.
Description
Technical field
The present invention relates to dump pit in waste incineration processing system interior for capturing the pay-off of rubbish.
Background technology
At present, in urban garbage treatment system, need to arrange rubbish storage hole, utilize storage pit to collect each waste-skip and transport the rubbish of coming back, then the rubbish driving with grab bucket is utilized to pick up in feeding rubbish hopper by rubbish, rubbish enters the downstream of garbage disposal by rubbish driving feeding, and the key equipment that refuse disposal system normally runs is maintained in rubbish driving as can be seen here, and stable, the normal operation of rubbish driving is the essential condition ensureing that refuse disposal system normally runs.
The driving of traditional manual controllable type rubbish needs rubbish road operators to carry out the operation of the actions such as rubbish feeding, stirring, fragmentation at driving operator's compartment, and for ensureing garbage disposal ability, driving operation factor is higher, thus increases road operators's working strength.In addition, arrange comparatively large because rubbish storage hole is general, moving operation room is arranged on rubbish hopper level usually, easily causes road operators's sight line blind area to bring very big inconvenience to operation; In addition, driving behaviour does platform and middle control service platform adheres to zones of different separately, and road operators cannot accurately judge the work such as travelling-crane feeding, fragmentation, and in needing, control notice could reasonable arrangement feeding.
Summary of the invention
Technical matters to be solved by this invention realizes a kind of device that automatically can carry out rubbish feeding.
To achieve these goals, the technical solution used in the present invention is: rubbish automatic feeding system, comprise the crane device be arranged on above rubbish storage pit, described crane device comprises traveling mechanism of the larger traveller, wheeling mechanism, lifting mechanism and grab bucket, described rubbish storage pit surrounding is provided with laser material position monitoring device, described laser material position monitoring device exports dump position signal to controller, and described controller pipage control signal is to crane device.
Described grab bucket is provided with Weighing mechanism, and described Weighing mechanism exports material grasping weight signal to controller.
Described crane device is provided with manual handles.
Rubbish automatic feeding system control method:
Rubbish storage pit, garbage crushing dog-house position are become 3D grid with waste incineration dog-house position calculation by controller;
Laser material position monitoring device is by rubbish three-dimensional position signal delivery controller in rubbish storage pit;
Working signal is delivered to controller by the motor of crane device, and controller, by calculating traveling mechanism of the larger traveller, the rotating cycle of the motor of wheeling mechanism and lifting mechanism, calculates grab bucket present position;
During work, controller sends the instruction capturing somewhere rubbish in rubbish storage pit, crane device will be grabbed bucket by after above parking place conduct to this rubbish, open and grab bucket and drop to above rubbish, and grab bucket captures rubbish, rising after grab bucket grasping movement completes, rubbish is transported to discharge position by crane device afterwards, grab bucket is dropped to blowing height, and grab bucket is opened blowing and completed blowing, finally, grab bucket rise and by crane device by its conduct to parking place or repetitive operation.
After the action of grab bucket material grasping completes, weight signal can be delivered to controller by Weighing mechanism, if material grasping weight is being preset outside reasonable material grasping weight interval, then output alarm signal is to Control Room.
Two regions are divided in rubbish storage pit, position is for stacking the A district of non-shredding refuse and the B district for stacking shredding refuse respectively, waste-skip by discharge port by dumping to A district, exceed pre-set threshold value when laser material position monitoring device detects rubbish height below discharge port, then control grab bucket and rubbish crawl below discharge port is piled into garbage mountain to other regions, A district.
Garbage crushing equipment discharging opening is positioned at B district, exceedes pre-set threshold value when laser material position monitoring device detects rubbish height below discharging opening, then control grab bucket and rubbish crawl below discharging opening is piled into garbage mountain to other regions, B district.
When grabbing bucket when piling up A district and B district garbage mountain, laser material position monitoring device gathers garbage mountain height, when exceeding preset height threshold values, then again pile up in vacancy, in addition, when garbage mountain is stacked into preset height threshold values, the record accumulation time, when capturing rubbish to garbage crushing dog-house when grabbing bucket by A district garbage mountain, and when capturing rubbish to waste incineration dog-house by B district garbage mountain, preferential crawl piles up garbage mountain of long duration.
Laser material position monitoring device is equipped with in described garbage crushing dog-house and waste incineration dog-house, material is lacked when monitoring in garbage crushing dog-house and waste incineration dog-house, then control grab bucket crawl rubbish and carry out feeding, wherein garbage mountain place of A district rubbish can only capture to garbage crushing dog-house, and garbage mountain place of B district rubbish can only capture to waste incineration dog-house.
As operated by personnel manual handles, then crane device transfers manual control state at once to, and performs corresponding manual handles order.
Rubbish method of shipment of the present invention achieves the mode of operation of automation garbage disposal, improves rubbish feeding work efficiency and reliability, also can reduce used artificial of Biohazard Waste Disposal simultaneously, save human cost.
Accompanying drawing explanation
Mark in the content expressed every width accompanying drawing in specification sheets of the present invention below and figure is briefly described:
Fig. 1 is rubbish automatic feeding system structural representation;
Fig. 2 is laser material position monitoring device grid plan schematic diagram;
Mark in above-mentioned figure is: 1, traveling mechanism of the larger traveller; 2, wheeling mechanism; 3, lifting mechanism; 4, grab bucket; 5, garbage crushing dog-house; 6, waste incineration dog-house; 7, rubbish storage pit; 8, non-shredding refuse; 9, shredding refuse.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and principle of work, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.
Known see Fig. 1, rubbish automatic feeding system, comprise the crane device be arranged on above rubbish storage pit 7, crane device comprises traveling mechanism of the larger traveller 1, wheeling mechanism 2, lifting mechanism 3 and grab bucket 4, garbage crushing dog-house 5 and waste incineration dog-house 6 is also provided with in rubbish storage pit 7, laser material position monitoring device (being made up of multiple laser probes at rubbish storage pit 7 wall and top) is provided with in rubbish storage pit 7 surrounding, utilize this device to grasp dump pit rubbish distribution three-dimensional situation, thus understand sanitary fill state.
Can install the distance measuring equipment (DME) of detection below obstacle in addition below grab bucket 4, decline process in grab bucket 4, whether induction below has obstacle or rubbish distance grab bucket 4 how far to also have, thus accurately controls to capture height, guarantees to capture quality at every turn.The distance measuring equipment (DME) of detection surrounding obstacle distance can also be installed in grab bucket 4 surrounding simultaneously, thus avoid bumping against obstacle in grab bucket 4 conduct process.Grab bucket 4 is also provided with Weighing mechanism, captures the weight of rubbish for monitoring and record grab bucket 4.
Rubbish automatic feeding system has a controller, the Weighing mechanism of grab bucket 4 and all distance measuring equipment (DME)s, and induced signal is delivered to this controller by the laser material position monitoring device be arranged in rubbish storage pit 7, the control command that controller inputs according to manual command or other equipment, control crane device automatically to run, carry out the crawl of rubbish material.In the Control Room of refuse burning system, be also provided with the manual handles controlling crane device, as operated by personnel manual handles, then crane device transfers manual control state at once to, and performs corresponding manual handles order.Like this when device fails, Non-follow control state can be switched to rapidly, reduce accident harm.
The surrounding of rubbish storage pit 7 is provided with monitoring camera, and vision signal is delivered to Control Room, and duty personnel need be made a video recording by multiple spot, the TV condition monitoring system of Signal transmissions, TV telltale composition observes the state that in trash repository, each position abnormal condition and rubbish hang.Control point is dog-house, garbage unloading door, rubbish hang position, dump pit integral status.In addition, system also has automatic fault diagnosis system, and when finding indicative fault, display failure code also sends warning, and when finding shutdown property fault, hard stop is also reported to the police.
Based on said system, rubbish automatic feeding system control method is as follows:
Grid address is designed by 6000mm × 6000mm (opening size setting according to grab bucket) by controller, the regions such as rubbish storage pit 7, garbage crushing dog-house 5 position and waste incineration dog-house 6 position in workshop and website are all included in the three-dimensional coordinate system in control program, the region of crane device work is made to have accurate, detailed address, as shown in Figure 2, the size of each grid can set (as 6m × 6m) according to required feeding, the precision that feeds intake, and each net center of a lattice is destination address;
Laser material position monitoring device, by rubbish three-dimensional position signal delivery controller in rubbish storage pit 7, draws the appearance profile (being usually piled into mountain shape) of rubbish;
Dump pit grid address divides and fills an absolute encoder by each on traveling mechanism of the larger traveller 1 (X-axis), wheeling mechanism 2 (Y-axis), lifting mechanism 3 (Z axis), motor often revolves the coder that turns around and then sends 1024 digital signals to controller, feedback signal carries out high-speed counting, calculate the number of turns that motor relative starting position runs, just can calculate hoisting crane and the actual position of grab bucket residing for 4, each transmission device carries out point-to-point control by On-off signal, output, reaches the object automatically controlled.
By the structure of above-mentioned spatial coordinates, during system works, controller sends the instruction capturing somewhere rubbish in rubbish storage pit 7, crane device by grab bucket 4 by after above parking place conduct to this rubbish, open grab bucket 4 and drop to above rubbish, grab bucket 4 captures rubbish, rising after 4 grasping movement of grabbing bucket complete, rubbish is transported to discharge position by crane device afterwards, grab bucket 4 is dropped to blowing height, grab bucket 4 is opened blowing and is completed blowing, finally, grab bucket 4 rise and by crane device by its conduct to parking place or repetitive operation.
Describe in detail with regard to each process below:
Material grasping: grab bucket 4 (without material state) can run to the dumping region that control system judges automatically, and drops to the height of material grasping, and closed grab bucket captures rubbish, completes material grasping process.During material grasping, the weight signal capturing rubbish can be delivered to controller by Weighing mechanism, if material grasping weight is being preset outside reasonable material grasping weight interval, when namely material grasping is not enough or when material grasping is overweight, now weight can be had to show and overweight warning at touch-screen.
Feed intake: under the grab bucket (having material state) that driving is closed, grab bucket automatic lifting runs to gasification furnace hopper or the crusher hopper of control system judgement, and drop to the height fed intake, automatic Weighing also records the weight of this bucket rubbish, opening grab bucket puts in hopper by rubbish, automatically completes the process of feeding intake.
Carrying and stirring: controller automatically can control grab bucket 4 and work, when grab bucket 4 arrives the position of waste handling and collapse of setting, capture rubbish and rubbish rendered to certain position (or region) in dump pit and stack.If grab bucket is 4 in conduct process, if the distance measuring equipment (DME) above it sense grab bucket 4 conduct direction on there is obstacle, and distance is less than safety distance, then give the alarm, and stops grab bucket 4 to run at once, waits for artificial treatment.
Automatic parking: grab bucket 4 prepares to enter parked state, then grab bucket 4 is in without material state, lifting mechanism 3 energy automatic lifting is to the height of setting, capable 1 walking of wheeling mechanism is to the position of setting, traveling mechanism of the larger traveller 1 is walked and is arrived parking place, grab bucket 4 drops to the height of setting automatically, automatically completes the overall process of parking.
Grab bucket state detects automatically: when crawl amount does not reach requirement, automatically again capture; When grab bucket drops on dump side and makes grab bucket tilt to overturning set angle, automatically detect and correct, now lifting mechanism 3 controls rubbish rise, controller positions rubbish again, finely tune grab bucket position by crane device, lifting mechanism 3 declines again, captures rubbish; When grab bucket 4 crawl amount overloads, according to debugging mensuration situation with after soliciting staff, by manually determining all to unload or rerun after partial relief, or re-start crawl.
According to garbage disposal needs, be divided into two regions in rubbish storage pit 7, position is for stacking the A district of non-shredding refuse 8 and the B district for stacking shredding refuse 9 respectively, only need define range intervals in controller.
Non-shredding refuse 8 carries out fragmentation need to place a period of time before fragmentation after again, so the rubbish that soot transport comes needs to carry out respectively beating heap according to haulage time, namely waste-skip by discharge port by dumping to A district, exceed pre-set threshold value when laser material position monitoring device detects rubbish height below discharge port, then control grab bucket 4 and rubbish crawl below discharge port is piled into garbage mountain to other regions, A district.Garbage crushing equipment discharging opening is positioned at B district, exceedes pre-set threshold value when laser material position monitoring device detects rubbish height below discharging opening, then control grab bucket 4 and rubbish crawl below discharging opening is piled into garbage mountain to other regions, B district.
When A district and B district carry out sanitary fill, laser material position monitoring device gathers garbage mountain height, when exceeding preset height threshold values, then again pile up in vacancy, in addition, when garbage mountain is stacked into preset height threshold values, the record accumulation time, when grab bucket 4 captures rubbish to garbage crushing dog-house 5 by A district garbage mountain, and when capturing rubbish to waste incineration dog-house 6 by B district garbage mountain, preferential crawl piles up garbage mountain of long duration.
Laser material position monitoring device is equipped with in garbage crushing dog-house 5 and waste incineration dog-house 6, material is lacked when monitoring in garbage crushing dog-house 5 and waste incineration dog-house 6, then control grab bucket 4 to capture rubbish and carry out feeding, waste incineration dog-house 6 is put into for avoiding not broken rubbish 8, need can only capture to garbage crushing dog-house 5, B district garbage mountain place rubbish to controller setting garbage mountain place of A district rubbish can only capture to waste incineration dog-house 6.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (9)
1. rubbish automatic feeding system control method, rubbish automatic feeding system comprises the crane device be arranged on above rubbish storage pit, described crane device comprises traveling mechanism of the larger traveller, wheeling mechanism, lifting mechanism and grab bucket, be characterised in that: described rubbish storage pit surrounding is provided with laser material position monitoring device, described laser material position monitoring device exports dump position signal to controller, and described controller pipage control signal is to crane device;
Control method:
Rubbish storage pit, garbage crushing dog-house position are become 3D grid with waste incineration dog-house position calculation by controller;
Laser material position monitoring device is by rubbish three-dimensional position signal delivery controller in rubbish storage pit;
Working signal is delivered to controller by the motor of crane device, and controller, by calculating traveling mechanism of the larger traveller, the rotating cycle of the motor of wheeling mechanism and lifting mechanism, calculates grab bucket present position;
During work, controller sends the instruction capturing somewhere rubbish in rubbish storage pit, grab bucket is marched to after above this rubbish by parking place by crane device, opens and grabs bucket and drop to above rubbish, and grab bucket captures rubbish, rising after grab bucket grasping movement completes, rubbish is transported to discharge position by crane device afterwards, grab bucket is dropped to blowing height, and grab bucket is opened blowing and completed blowing, finally, grab bucket is risen and is marched to parking place or repetitive operation by crane device.
2. rubbish automatic feeding system control method according to claim 1, it is characterized in that: after the action of grab bucket material grasping completes, weight signal can be delivered to controller by Weighing mechanism, if material grasping weight is being preset outside reasonable material grasping weight interval, then output alarm signal is to Control Room.
3. rubbish automatic feeding system control method according to claim 1, it is characterized in that: in rubbish storage pit, be divided into two regions, be respectively the A district for stacking non-shredding refuse and the B district for stacking shredding refuse, waste-skip by discharge port by dumping to A district, exceed pre-set threshold value when laser material position monitoring device detects rubbish height below discharge port, then control grab bucket and rubbish crawl below discharge port is piled into garbage mountain to other regions, A district.
4. rubbish automatic feeding system control method according to claim 3, it is characterized in that: garbage crushing equipment discharging opening is positioned at B district, exceed pre-set threshold value when laser material position monitoring device detects rubbish height below discharging opening, then control grab bucket and rubbish crawl below discharging opening is piled into garbage mountain to other regions, B district.
5. rubbish automatic feeding system control method according to claim 4, it is characterized in that: when grabbing bucket when piling up A district and B district garbage mountain, laser material position monitoring device gathers garbage mountain height, when exceeding preset height threshold values, then again pile up in vacancy, in addition, when garbage mountain is stacked into preset height threshold values, the record accumulation time, when capturing rubbish to garbage crushing dog-house when grabbing bucket by A district garbage mountain, and when capturing rubbish to waste incineration dog-house by B district garbage mountain, preferential crawl piles up garbage mountain of long duration.
6. rubbish automatic feeding system control method according to claim 5, it is characterized in that: in described garbage crushing dog-house and waste incineration dog-house, be equipped with laser material position monitoring device, material is lacked when monitoring in garbage crushing dog-house and waste incineration dog-house, then control grab bucket crawl rubbish and carry out feeding, wherein garbage mountain place of A district rubbish can only capture to garbage crushing dog-house, and garbage mountain place of B district rubbish can only capture to waste incineration dog-house.
7. rubbish automatic feeding system control method according to claim 1, it is characterized in that: as operated by personnel manual handles, then crane device transfers manual control state at once to, and performs corresponding manual handles order.
8. rubbish automatic feeding system control method according to claim 1, is characterized in that: described grab bucket is provided with Weighing mechanism, and described Weighing mechanism exports material grasping weight signal to controller.
9. the rubbish automatic feeding system control method according to claim 1 or 8, is characterized in that: described crane device is provided with manual handles.
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| CN201310753406.2A CN103738856B (en) | 2013-12-31 | 2013-12-31 | Rubbish automatic feeding system control method |
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Families Citing this family (13)
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| CN105417377B (en) * | 2014-08-12 | 2017-11-14 | 河南卫华重型机械股份有限公司 | The region of division and the high monitoring system of material in a kind of garbage pool |
| CN107161862A (en) * | 2017-05-18 | 2017-09-15 | 合肥市春华起重机械有限公司 | A kind of control method that class transporter grab crane is hung for rubbish |
| JP6812311B2 (en) * | 2017-06-20 | 2021-01-13 | 日立造船株式会社 | Information processing device, information processing method, and control program |
| JP6554148B2 (en) * | 2017-07-31 | 2019-07-31 | 荏原環境プラント株式会社 | Apparatus, system, program, method, and data structure for estimating waste quality |
| CN108002235B (en) * | 2017-12-25 | 2024-01-26 | 上海昂丰装备科技有限公司 | Redundancy control system and control method for garbage crane |
| CN108031703B (en) * | 2018-01-04 | 2023-09-29 | 中国恩菲工程技术有限公司 | Method, system, electronic device and computer readable medium for garbage disposal |
| CN109718945A (en) * | 2018-12-29 | 2019-05-07 | 中国神华能源股份有限公司 | Hm coal preparation plant intelligently adds Jie's system and method |
| CN109941886A (en) * | 2019-04-17 | 2019-06-28 | 北京起重运输机械设计研究院有限公司 | A kind of hopper feeding control method and system |
| CN110525989B (en) * | 2019-08-21 | 2020-12-29 | 中冶焦耐(大连)工程技术有限公司 | Intelligent limestone stock yard feeding method |
| CN111977509A (en) * | 2020-08-27 | 2020-11-24 | 广东永通起重机械股份有限公司 | Full-automatic garbage grab bucket crane |
| CN112939357A (en) * | 2021-02-05 | 2021-06-11 | 河南德中互利环境科技有限公司 | Integrated sewage treatment equipment based on 5G intelligent remote automatic control system |
| CN114014163A (en) * | 2021-10-13 | 2022-02-08 | 杭州科晟能源技术有限公司 | Traveling control system of waste incineration plant |
| CN114348678B (en) * | 2022-01-06 | 2023-08-22 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
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| CN1330545C (en) * | 2005-05-17 | 2007-08-08 | 陈莲秀 | Crab bucket ship unloading new technology |
| JP2007261711A (en) * | 2006-03-27 | 2007-10-11 | Mitsui Eng & Shipbuild Co Ltd | Crab bucket of crane for garbage treatment |
| CN100535685C (en) * | 2007-01-11 | 2009-09-02 | 上海港机重工有限公司 | Device and method for detecting 3D location of object in port handling automated job |
| CN201772465U (en) * | 2010-09-08 | 2011-03-23 | 安徽海螺川崎节能设备制造有限公司 | Refuse burning device |
| CN102923578A (en) * | 2012-11-13 | 2013-02-13 | 扬州华泰特种设备有限公司 | Automatic control system of efficient handing operation of container crane |
| CN103332622B (en) * | 2013-07-02 | 2016-07-13 | 中科华核电技术研究院有限公司 | Nuclear fuel assembly transhipment electric block |
| CN203638996U (en) * | 2013-12-31 | 2014-06-11 | 安徽海螺川崎工程有限公司 | Automatic garbage feeding system |
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Address after: 241000 Anhui province Wuhu Yijiang District Yijiang South Road dragon fire hillock town Patentee after: ANHUI CONCH KAWASAKI ENGINEERING Co.,Ltd. Patentee after: ANHUI CONCH KAWASAKI ENERGY CONSERVATION EQUIPMENT MANUFACTURING Co.,Ltd. Patentee after: ANHUI CONCH DESIGN & RESEARCH INSTITUTE OF BUILDING MATERIALS Co.,Ltd. Address before: 241000 Anhui province Wuhu Yijiang District Yijiang South Road dragon fire hillock town Patentee before: ANHUI CONCH KAWASAKI ENGINEERING Co.,Ltd. Patentee before: ANHUI CONCH KAWASAKI ENERGY CONSERVATION EQUIPMENT MANUFACTURING Co.,Ltd. Patentee before: ANHUI CONCH DESIGN & Research Institute OF BUILDING MATERIALS |
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Effective date of registration: 20220915 Address after: 237300 Meishan Town, Jinzhai County, Lu'an City, Anhui Province Patentee after: Jinzhai Haichuang Environmental Engineering Co.,Ltd. Patentee after: ANHUI CONCH KAWASAKI ENGINEERING Co.,Ltd. Patentee after: ANHUI CONCH KAWASAKI ENERGY CONSERVATION EQUIPMENT MANUFACTURING Co.,Ltd. Patentee after: ANHUI CONCH DESIGN & RESEARCH INSTITUTE OF BUILDING MATERIALS Co.,Ltd. Address before: 241000 Anhui province Wuhu Yijiang District Yijiang South Road dragon fire hillock town Patentee before: ANHUI CONCH KAWASAKI ENGINEERING Co.,Ltd. Patentee before: ANHUI CONCH KAWASAKI ENERGY CONSERVATION EQUIPMENT MANUFACTURING Co.,Ltd. Patentee before: ANHUI CONCH DESIGN & RESEARCH INSTITUTE OF BUILDING MATERIALS Co.,Ltd. |
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