CN104118802A - Automatic control method for material taking and feeding operations of full-automatic garbage transport crane - Google Patents

Abstract

An automatic control method for the retrieving and feeding operation of a fully automatic garbage handling crane. After the automatic positioning of the fully automatic garbage handling crane and the grabbing point are determined, the control system sends instructions to the lifting mechanism to realize the automatic material retrieving operation. According to the planned speed, after the lifting, trolley, and cart are linked to the center position above the feeding port, the grab bucket will automatically open to realize automatic feeding operation. It can realize the partition of the garbage bin and the automatic positioning of the grab of the automatic garbage handling crane and the automatic selection of the grabbing point, so as to realize the automation of the reclaiming operation. At the same time, it can realize the automatic planning of the speed of the fully automatic garbage handling crane, and can realize the mutual coordination of the speed of lifting, trolley and cart according to the distance between the grab bucket and the feeding port, so as to realize the automation of feeding operation. It prolongs the service life of equipment, improves working conditions, reduces labor intensity, saves energy consumption, improves work efficiency and mechanism operation reliability, and is conducive to cost control for enterprises. In the harsh operating environment of waste incineration, The operator's work safety is guaranteed.

Description

An automatic control method for retrieving and feeding operations of a fully automatic garbage handling crane

technical field

The invention relates to an automatic control method for the operation of a garbage handling crane, in particular to an automatic control method for the retrieving and feeding operation of a fully automatic garbage handling crane.

Background technique

The garbage handling crane is the core of the feeding system of the incineration power plant. In the process of garbage incineration, it mainly realizes the work of garbage retrieving and feeding. It has the characteristics of continuous work and heavy work tasks. At the same time, the working load is often in the rated state due to the grabbing, and the speed of each mechanism is higher than that of the general bridge crane. The harshness of the maintenance working environment makes it require high reliability.

At present, the control method of domestic garbage handling cranes adopts manual control or traditional semi-automatic control, and all work tasks are manually operated by the driver, as long as the cart, trolley and lifting mechanism do not exceed their respective limit operating ranges. Its working efficiency, running stability and safety all can't reach higher level.

The retrieving and feeding process of the garbage handling crane means that when feeding is required, the garbage handling crane uses the grab bucket to grab the garbage, and controls the operation of the cart, trolley and lifting mechanism to make the grab run to the feeding port. At this time, open the grab bucket to put garbage into the feeding port, and then return to the garbage bin to repeat the above actions until the feeding command disappears.

In the technical field of crane automatic feeding control technology, the Chinese utility model patent publication No. CN 201610353 U discloses a technical scheme of "Automatic Feeding System for Garbage Grab Crane". Bucket cranes have precise position control. But do not provide positioning method, more do not provide a kind of reclaiming operation control method of the fully automatic garbage handling crane based on precise positioning method.

In the field of crane operation control technology, the Chinese invention patent with the publication number CN 103434936 A discloses a technical solution of "A Method and System for Automatic Control of Crane Lifting Operation". The signal of the valve realizes the automatic control of the crane lifting operation. However, there is no speed control method for the cart, trolley and hoisting mechanism of the garbage grab crane, nor is there a method for controlling the feeding operation of the fully automatic garbage handling crane based on automatic speed planning.

In addition, the currently widely used garbage grab crane control system is developed on the premise of manual control or semi-automatic control, which cannot meet the control requirements of a fully automatic garbage handling crane with automatic feeding and retrieving functions. In the field of crane control technology, the specification of the Chinese utility model patent with the publication number CN 203079568 U discloses a technical solution of "Automatic Intelligent Crane Electric Control System". The frequency converter realizes the intelligent control of the crane. However, no automatic control method is applied to the electrical control system, and the system's functions cannot be well realized.

Contents of the invention

The object of the present invention is to provide an automatic control method for the retrieving and feeding operation of a fully automatic garbage handling crane, so as to realize the fully automatic control of the garbage handling crane and reduce the labor intensity of operators.

In order to achieve the above object, the present invention provides the following technical solution: a method for automatically controlling the retrieving and feeding operation of a fully automatic garbage handling crane, comprising the following steps:

1: Judging the material shortage information of the feeding port and determining the position of the material gap.

2: Determine the grabbing area based on the position information of the gap opening obtained in 1.

The determination of the above-mentioned grabbing area includes the following steps:

2.1: According to the size of the garbage bin and the opening width of the grab bucket, the garbage bin is divided into functional areas.

2.2: On the basis of 2.1, divide the garbage warehouse into equal parts in the direction of the cart running to the Rakai area.

2.3: Each feeding port corresponds to a certain grabbing area, and when the feeding port is short of material, it will take priority to start picking from the corresponding area.

3: After determining the grabbing area, use the control system to realize automatic material picking.

Above-mentioned automatic fetching comprises the following steps:

3.1: Use the position information transmitted by the absolute value encoders of each mechanism to the control system to realize the automatic positioning of the fully automatic garbage handling crane.

3.2: Use the garbage surface height information transmitted by the laser ranging sensor to the control system, combined with the picking strategy, to realize the automatic selection of the grabbing point.

The above-mentioned retrieving strategy includes the following steps:

3.2.1: In the grabbing area determined in 2, use the height information in 3.2 to select the highest point in the area as the grabbing point.

3.2.2: If there are two or more highest points with the same height in the grabbing area, select the point closest to the feeding port as the grabbing point.

3.2.3: If there is little or no garbage in the grabbing area, select the highest point of the adjacent area as the grabbing point.

3.2.4: After the grab automatically picks up materials, the height value of the garbage surface changes. After the laser ranging sensor scans the garbage surface again, use the new height information to determine according to the methods 3.2.1, 3.2.2 and 3.2.3. A grab point.

After the automatic positioning and grabbing point of the fully automatic garbage handling crane are determined, the control system sends instructions to the lifting mechanism to realize automatic material picking operations.

4: After automatic material retrieving, use the height value of the grab bucket to automatically plan the lifting speed.

The above-mentioned automatic speed planning of the hoisting mechanism by using the grab height value includes the following steps:

4.1: For grabbing points at different heights, plan different lifting speeds according to the speed curve of the lifting mechanism.

4.2: In action 3, the hoisting mechanism is lifted slowly at a small speed until the grab is completely closed.

4.3: After the action in 4.2 is completed, if the grabbing amount meets the requirements, the lifting mechanism will accelerate to a safe height and run at a constant speed.

The determination of the above crawling volume requirements includes the following steps:

4.3.1: When the grabbing capacity exceeds 130% of the full load, it is determined that the grab is overloaded, and the lifting mechanism is prohibited from lifting at this time.

4.3.2: When the grabbing capacity is less than 30% of the full load, it is judged that the grabbing bucket is not enough. At this time, the grabbing bucket is required to open. After repeating 3.2, perform 4.1 action.

4.4: After the hoisting mechanism runs to the initial height of deceleration according to 4.3, it decelerates to zero speed, brakes with the brake, and waits for the grab to open and feed.

The determination of the above deceleration starting height includes the following steps:

4.4.1: Use the speed curve of the hoisting mechanism and the action time in 4.2 and 4.3 to determine the lifting height in 4.2 and 4.3.

The above-mentioned slow lifting height and the lifting height of accelerating to the highest speed are fixed, and the constant speed running time of different grasping points is different, resulting in different uniform speed lifting heights.

4.4.2: Use the height information and feeding height in 4.4.1 to determine the deceleration start height according to the deceleration process of the speed curve.

5: After the hoisting mechanism is raised to a safe height, the cart and trolley are linked, and the speed of the cart and trolley is automatically planned by using the distance value and speed curve between the crane and the feeding port.

The speed automatic planning of the above trolley includes the following steps:

5.1: Divide the distance between the trolley and the center of the feeding port into several areas.

5.2: Use the distance between the trolley and the center of the feeding port to calculate the time it takes for the car to run to the feeding port.

5.3: Use the position information of the trolley obtained in 5.1 and 5.2 to determine the maximum running speed of the trolley according to the speed running curve of the trolley.

The above-mentioned maximum running speed is determined according to the area where the trolley is located and the parameters set by the frequency converter.

5.4: Using the difference between the height of the grab bucket and the feeding height, and according to the speed change curve of the lifting mechanism, calculate the time required for the lifting mechanism to lift the grab bucket higher than the height of the feeding platform.

5.5: Compare the time information obtained in 5.2 and 5.4 to determine the starting time of the car.

The above-mentioned automatic speed planning of the cart is similar to that of the trolley, the only difference is that after the lifting mechanism raises the grab bucket to a safe height, the cart can be started directly without considering the start time. Therefore, the steps of automatic planning of the speed of the cart will not be repeated.

6: According to the planned speed, after the hoist, trolley, and cart are linked to the center position above the feeding port, the grab will automatically open to realize automatic feeding operation.

7: Steps 2 to 6 are automatically cycled until the information of the lack of material at the feeding port disappears, and the automatic feeding and retrieving operation is completed.

According to the above scheme, the safe height is determined according to the distribution of garbage in the garbage bin, and the safe height is 1-2 meters higher than the height of the garbage at the grabbing point.

According to the above scheme, the determination of the feeding height is related to the height of the feeding platform, and 1-2 meters higher than the height of the feeding platform is taken as the feeding height.

The invention is beneficial in that it can realize the division of the garbage bin, the automatic positioning of the grab bucket of the automatic garbage handling crane and the automatic selection of the grabbing point, thereby realizing the automation of the material retrieving operation. At the same time, it can realize the automatic planning of the speed of the fully automatic garbage handling crane, and can realize the mutual coordination of the speed of lifting, trolley and cart according to the distance between the grab bucket and the feeding port, so as to realize the automation of feeding operation. It prolongs the service life of equipment, improves working conditions, reduces labor intensity, saves energy consumption, improves work efficiency and mechanism operation reliability, and is conducive to cost control for enterprises. In the harsh operating environment of waste incineration, The operator's work safety is guaranteed.

Description of drawings

Fig. 1 is a flow chart of automatic retrieving and feeding of a fully automatic garbage handling crane according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the functional area division of the garbage bin according to the embodiment of the present invention.

Fig. 3 is a schematic diagram of the partitions of the garbage bin in the running direction of the cart according to the embodiment of the present invention.

Fig. 4 is a schematic diagram of the subdivision of the reclaiming area in the traveling direction of the trolley according to the embodiment of the present invention.

Fig. 5 is a schematic diagram of the installation position of the laser ranging sensor according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of the height of the garbage surface according to the embodiment of the present invention.

Fig. 7 is a schematic diagram of the height of the garbage surface after the automatic reclaiming operation according to the embodiment of the present invention.

Fig. 8 is a schematic diagram of the speed planning of the hoisting mechanism according to the embodiment of the present invention.

Fig. 9 is a sectional view of a garbage bin according to an embodiment of the present invention.

Fig. 10 is a schematic diagram of the relationship between the maximum running speed of the trolley and the distance from the feed port according to the embodiment of the present invention.

Fig. 11 is a flowchart of trolley speed planning according to the embodiment of the present invention.

Fig. 12 is a schematic diagram of trolley speed planning according to an embodiment of the present invention.

Fig. 13 is a flow chart of the speed planning of the cart according to the embodiment of the present invention.

In the figure: 1. Retrieving area, 2. Unloading area, 3. Blind area for retrieving materials, 4. The first feeding port, 5. The second feeding port, 6. The third feeding port, 7. Laser ranging sensor, 8 .Garbage bin, 9. Discharge port, 10. Grab bucket, 11. Trolley, 12. Cart, 13. Feeding platform, 14. Incinerator, D _0. Width of garbage bin, D _1. Diameter when the grab is open, d. Width of blind area for retrieving materials, m. Width of unloading area, n. Width of reclaiming area, k. Width of area in the direction of trolley, W _D. Width of main beam of large vehicle, S. Distance between trolley and feeding port, H. Height of feeding platform, H _0. Feeding height, h. Actual height value of grab bucket, V _qmax . Maximum speed of lifting mechanism, V _qmin . Minimum speed of lifting mechanism

Detailed ways

In conjunction with the accompanying drawings, an embodiment is used to further illustrate the technical solution of the present invention.

As shown in FIG. 1 , the automatic retrieving and feeding operation process of the fully automatic garbage handling crane in this embodiment is illustrated.

The automatic reclaiming and feeding operation of the garbage handling crane means that the control system uses the automatic control method of the reclaiming and feeding operation of the automatic garbage handling crane to realize the automatic operation of reclaiming and feeding according to the information of the lack of material.

The lack of material opening information is the selection of the feeding opening by the operator using the touch screen, which is the premise of automatic feeding and feeding. In this embodiment, three feed ports are taken as an example. When the lack of feed ports is determined, the control system will drive the large cart 12 and trolley 11 to the top of the feed point according to the feed port information. The automatic reclaiming of the garbage handling crane means that according to the reclaiming strategy, after the reclaiming point is determined, the grab bucket 10 automatically descends and stops after touching the garbage surface; when the grab bucket 10 is too inclined, the reclaiming position is automatically adjusted. When retrieving the material, grab and lift it until the grab bucket 10 is completely closed; use the load cell to detect the grab weight, and re-fetch the material when it is overloaded. The automatic feeding of the garbage handling crane means that after the automatic retrieving is completed, the grab 10 is first raised to the feeding height by using the speed planning, and then the grab 12 and the trolley 11 are used to move the grab to the designated feeding port.

Automatic feeding and retrieving operations, and at the same time can weigh the garbage and record the weight. During the automatic feeding operation, intermittently open the grab bucket to ensure that the garbage enters the feeding port.

The operation process is realized based on an automatic control method for retrieving and feeding operations of a fully automatic garbage handling crane, including the following steps:

1: Judging the material shortage information of the feeding port and determining the position of the material gap.

2: Determine the grabbing area based on the position information of the gap opening obtained in 1.

The determination of the above-mentioned grabbing area includes the following steps:

2.1: According to the size of the garbage bin 8 and the opening width of the grab bucket 10, the garbage bin 8 is divided into functional areas.

2.2: On the basis of 2.1, divide the garbage bin into equal parts in the running direction of the cart 12 into the Rakhine area.

2.3: The first feeding port 4, the second feeding port 5, and the third feeding port 6 respectively correspond to a certain grabbing area, and when the feeding port is short of material, it is preferred to start picking from the corresponding area.

3: After determining the grabbing area, use the control system to realize automatic material picking.

Above-mentioned automatic fetching comprises the following steps:

3.1: Use the position information transmitted by the absolute value encoders of each mechanism to the control system to realize the automatic positioning of the fully automatic garbage handling crane.

3.2: Use the garbage surface height information transmitted by the laser ranging sensor 7 to the control system, combined with the picking strategy, to realize automatic selection of grabbing points.

The above-mentioned retrieving strategy includes the following steps:

3.2.1: In the grabbing area determined in 2, use the height information in 3.2 to select the highest point in the area as the grabbing point.

3.2.2: If there are two or more highest points with the same height in the grabbing area, select the point closest to the feeding port as the grabbing point.

3.2.3: If there is little or no garbage in the grabbing area, select the highest point of the adjacent area as the grabbing point.

3.2.4: After the grab bucket 10 takes material automatically, the height value of the garbage surface changes. After the laser ranging sensor 7 re-scans the garbage surface, use the new height information according to the methods in 3.2.1, 3.2.2 and 3.2.3 Determine the next grab point.

After the automatic positioning and grabbing point of the fully automatic garbage handling crane are determined, the control system sends instructions to the lifting mechanism to realize automatic material picking operations.

4: After automatic material retrieving, use the height value of the grab bucket 10 to automatically plan the lifting speed.

The above-mentioned automatic speed planning of the hoisting mechanism by using the height value of the grab bucket 10 includes the following steps:

4.1: For grabbing points at different heights, plan different lifting speeds according to the speed curve of the lifting mechanism.

4.2: During action 3, the hoisting mechanism is lifted slowly at a small speed until the grab bucket 10 is completely closed.

4.3: After the action in 4.2 is completed, if the grabbing amount meets the requirements, the lifting mechanism will accelerate to a safe height and run at a constant speed.

The determination of the above crawling volume requirements includes the following steps:

4.3.1: When the grabbing capacity exceeds 130% of the full load, it is judged that the grab bucket 10 is overloaded, and the lifting mechanism is stipulated to prohibit lifting at this time.

4.3.2: When the grabbing capacity is less than 30% of the full load, it is determined that the grabbing bucket 10 is not grabbing enough. At this time, the grabbing bucket 10 is stipulated to open the bucket. After repeating 3.2, perform the action of 4.1.

The above-mentioned safe height is determined according to the garbage distribution in the garbage bin 8, and the present invention selects 1 to 2 meters higher than the grabbing point garbage height as the safe height. After the grab bucket 10 is lifted to a safe height, the hoisting mechanism runs at a constant speed.

4.4: After the hoisting mechanism runs to the initial height of deceleration according to 4.3, it decelerates to zero speed, brakes with the brake, and waits for the grab bucket 10 to open and feed.

The determination of the above deceleration starting height includes the following steps:

4.4.1: Use the speed curve of the hoisting mechanism and the action time in 4.2 and 4.3 to determine the lifting height in 4.2 and 4.3.

The above-mentioned slow lifting height and the lifting height of accelerating to the highest speed are fixed, and the constant speed running time of different grasping points is different, resulting in different uniform speed lifting heights.

4.4.2: Use the height information and feeding height in 4.4.1 to determine the deceleration start height according to the deceleration process of the speed curve.

The determination of the above-mentioned feeding height is related to the height of the feeding platform, and the present invention selects 1-2 meters higher than the height of the feeding platform as the feeding height.

5: After the hoisting mechanism is raised to a safe height, the cart 12 and trolley 11 are linked, and the speed of the cart 12 and trolley 11 is automatically planned by using the distance value and speed curve between the crane and the feeding port.

The speed automatic planning of the above-mentioned dolly 11 includes the following steps:

5.1: Divide the distance between the trolley 11 and the center of the feeding port into several areas.

5.2: Use the distance between the trolley 11 and the center of the feeding port to calculate the time for the trolley 11 to reach the feeding port.

5.3: Use the position information of the trolley 11 obtained in 5.1 and 5.2, and determine the maximum running speed of the trolley 11 according to the speed running curve of the trolley 11.

The above-mentioned maximum running speed is determined according to the area where the trolley 11 is located and according to the parameters set by the frequency converter.

5.4: Use the difference between the height of the grab bucket 10 and the feeding height, and according to the speed change curve of the lifting mechanism, calculate the time required for the lifting mechanism to raise the grab bucket 10 to a height higher than the feeding platform.

5.5: Compare the time information obtained in 5.2 and 5.4 to determine the starting time of the car 11.

The above-mentioned automatic speed planning of the cart 12 is similar to the automatic speed planning of the trolley 11, the only difference is that after the lifting mechanism raises the grab bucket 10 to a safe height, the cart 12 can be started directly without considering the start time. Therefore, the automatic planning steps of the speed of the cart 12 will not be described in detail.

6: According to the planned speed, after the lifting, trolley 11, and cart 12 are linked to the center position above the feeding port, the grab bucket 10 will automatically open to realize the automatic feeding operation.

7: Steps 2 to 6 are automatically cycled until the information of the lack of material at the feeding port disappears, and the automatic feeding and retrieving operation is completed.

In conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the partition of the garbage bin 8 and the process of automatic material retrieving by the grab bucket 10 of the automatic garbage handling crane are described.

As shown in FIG. 2 , FIG. 3 and FIG. 4 , the partitions of the garbage bin 8 include functional area divisions, area divisions in the running direction of the cart 12 and area divisions in the running direction of the trolley 11 .

The division of the functional areas of the garbage bin 8 is determined by the special requirements of the field of application of the present invention. The special requirement means that the garbage entering the garbage bin 8 cannot be directly put into the incinerator, and must be fermented in the garbage bin 8 for 2 to 3 days. In order to avoid putting unfermented garbage into the incinerator 14 during automatic feeding and feeding, in this embodiment, the area close to the discharge door in the garbage bin 8 is separately divided into a discharge area 2, and the width of the discharge area 2 is not less than the opening of the grab bucket 10. diameter at the time. When the fully automatic garbage handling crane grabs garbage in the area close to the garbage bin 8, in order to prevent the grab 10 from colliding with the garbage bin 10, a safety limit device must be installed at the left and right limits of the trolley 11 and cart 12. The area between the limit device and the wall of the garbage bin is divided into the blind area 3 for retrieving materials. Remove the unloading area 2 and the blind area 3 for retrieving materials, and divide the remaining areas of the garbage bin 8 into the retrieving area 1. The width of garbage bin 8 in the present embodiment is D ₀ meter, and the diameter when grab bucket 10 is opened is D ₁ meter, and the width d meter of taking material blind zone 3, the width of unloading district 2 is m meter, and the width of taking material district 1 is m meter. If the width is n meters, then there is n=D ₀ -md, m≥D ₁ , and the width d of the dead zone is defined as 0.2m.

The area division of the running direction of the cart 12 is carried out according to the number of feeding ports. In the present embodiment, the garbage bin 8 has 3 incineration feed inlets, which are the first feeding inlet 4, the second feeding inlet 5, and the third feeding inlet 6, so the garbage bin 8 is vertically divided into three areas of I, II, and III, respectively. There is a one-to-one correspondence with the first feeding port 4, the second feeding port 5, and the third feeding port 6.

The regional division of the running direction of the dolly 11 is based on the division of the functional areas of the garbage bin 8, and the reclaiming area 1 is divided into i equal-spacing areas in the running direction of the dolly 11 (the spacing is set as km), then there are The values of i and k are determined according to the size of the grab bucket 10 and the single feeding amount.

The width k of the area in the running direction of the trolley 11 is mainly determined by the diameter of the grab bucket 10 when it is opened. If k>D ₁ , the garbage between two adjacent areas cannot be completely captured, and the remaining garbage is determined by the difference between the two, and the remaining garbage must be manually captured by manual operation, which results in low work efficiency . If k<D ₁ , the grabbing areas of the two adjacent regions will overlap. Without affecting the single feeding amount of the crane, a small amount of overlapping will help reduce the residue of garbage; if the overlapping area is too large, it will not only affect the grabbing It may also increase the number of partitions, thereby increasing the feeding times and seriously affecting the feeding efficiency. When k takes the maximum value, i.e. k=D ₁ , the number i of partitions in the running direction of the trolley 11 is the smallest, but i must be an integer value, that is:

$<span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&le;</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; d</span>}}{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

The optimal i and k are determined by formulas 1 and 2, and the area division of the running direction of the trolley 11 of the garbage bin 8 is completed.

As shown in Fig. 5, Fig. 6 and Fig. 7, the automatic retrieving of the grab bucket of the automatic garbage handling crane includes the information collection process of the garbage height in the garbage bin and the automatic acquisition process of the garbage grabbing point.

The information collection of the garbage height in the garbage bin 8 is obtained by using the laser ranging sensor 7 to detect.

First, as shown in Figure 4, the reclaiming area is equally divided into several areas, and the distance between the garbage surface and the laser ranging sensor itself is detected by using the laser ranging sensor installed on the main girder of the crane. The height of the garbage surface is obtained by subtracting the detection value from the installation height at the bottom of the garbage pit. Before the automatic feeding starts, the cart 12 travels the entire journey, and the height information is stored in the host computer and updated in real time.

The specific installation position of the laser ranging sensor 7 is shown in FIG. 5 . The sensor is installed on the edge of the main girder of the crane, and the distance from the center of the main girder is smaller than the opening radius of the grab bucket 10 . A laser ranging sensor 7 is respectively arranged on the left and right sides of the center line of each row on the lower edge of the main beam of the cart 12, and is installed vertically. No matter whether the cart 12 is feeding on the left or the right, it can detect the garbage surface in real time. high. The installation heights of the two laser sensors are consistent, and the distance between them is slightly larger than the diameter of the grab bucket.

The grabbing point is determined based on the garbage surface height information. In this embodiment, three situations are used to analyze the selected location of the reclaiming point. The schematic diagram of the height distribution of the garbage surface is shown in Figure 6, and the length of the garbage pit is L.

The grabbing point can be divided into the following three situations: Grabbing from point ③, the slope is relatively large, and the grab bucket 10 is easy to roll over. Although the grab bucket 10 is equipped with a tilt detection device, too many tilting times of the grab bucket 10 will reduce Work efficiency: grabbing from point ②, due to the high height of the garbage on both sides, when the grab bucket 10 sinks, it is subjected to the resistance of the garbage on both sides, causing the top of the grab bucket 10 to fail to touch the garbage, reducing the amount of garbage grabbed; from Point ④ grabbing can not only obtain the largest possible grabbing capacity but also reduce the chance of the grab bucket 10 turning over. Therefore, the present invention chooses the highest point as the grabbing point, and the grabbing point in this embodiment is the highest point ④.

If the position of the highest point is close to the wall of the garbage pit, and the distance from the wall of the garbage pit is less than the radius when the grab bucket 10 is opened, as shown in ① in Figure 6, the grab bucket will collide with the wall of the garbage pit when grabbing from the highest point. , this situation must be avoided. Therefore, in this embodiment, the distance from the wall of the garbage bin is less than The data is removed, that is, only the coordinates of the running direction of the cart 12 are read in the interval The height value within.

In this embodiment, the garbage collection point is determined in combination with the height of the garbage surface and the length of the crane's running path. On the basis of the regional division of the running direction of the cart 12, it is stipulated that each feeding port corresponds to a certain area. When the feeding port is short of material, it is preferentially grabbed from the highest point of the corresponding picking area one by one; if the amount of garbage in the corresponding picking area If there is less or no material, grab from the adjacent area; if there are two or more points with the same height in one area, grab from the point that is closer to the material opening first.

When the grab bucket 10 picks up materials, there will be a grabbing range. After grabbing the garbage, the height distribution information in the grabbing range must be removed, and the new garbage surface height will be obtained after the cart 12 runs and scans. The present embodiment illustrates its necessity, and the schematic diagram of the height change of the garbage surface after taking the material is shown in Figure 7.

After grabbing at position ④, if the cart 1 is within the feeding range of the feed port, the cart 12 does not need to move at this time, and the height information within the grabbing range cannot be updated. If the original height information is kept, it will be grabbed from position ④ repeatedly, which completely violates the selection rules of the pick-up point. After removing the height information within the grasping range, according to the installation position of the laser ranging sensor, the garbage heights at positions ⑤ and ⑥ can be measured. After the grab bucket 10 picks up the material, the height of the rubbish in the grabbing range will gradually sink from the edge, and the height in the grabbing range is lower than the height of position ⑤ or position ⑥. Compare the height values outside the grabbing range to determine the next highest point position.

As shown in Figure 8, it illustrates the automatic planning process of the speed of the hoisting mechanism during the automatic feeding operation of the automatic garbage handling crane.

In the process of the crane in this embodiment moving to the feeding port after taking the material, due to the high lifting height, the lifting mechanism can be accelerated to the maximum speed of full load when grabbing at different positions. In this embodiment, the speed of the hoisting mechanism is planned into three stages, which are specifically described as follows:

Stage 1: Grabbing and lifting stage, in order to avoid the grab bucket 10 from turning over due to the resistance of the garbage, the hoisting mechanism slowly rises at a small speed V _qmin during the closing process of the grab bucket 10 . V _qmin is determined by the closing time of the grab bucket and the height difference between opening and closing.

Stage 2: fast running stage, if the grab bucket 10 is closed and meets the requirements of the grab volume, the hoisting mechanism accelerates to the maximum speed V _qmax at full load and then runs at a constant speed.

Stage 3: Deceleration to stop stage, after the speed of the hoisting mechanism is reduced from V _qmax to 0, the brake is applied for braking.

As shown in Figure 9, Figure 10, Figure 11 and Figure 12, it illustrates the automatic planning process of the speed of the trolley during the automatic feeding operation of the automatic garbage handling crane.

The automatic planning of the speed of the trolley 11 includes two parts: the maximum running speed of the trolley 11 and the starting time of the trolley 11 relative to the hoisting mechanism.

The maximum speed V _xmax during the running of the trolley 11 is determined according to the distance S between the initial position of the trolley 11 and the feeding position. The relationship between the maximum speed of the trolley in this embodiment and the distance from the feed opening is shown in Figure 10. In this embodiment, the maximum running speed that the trolley 11 can reach corresponds to the rated speed of the motor. In the parameter setting of the frequency converter, the rated speed of the motor of trolley 11 corresponds to a frequency of 50Hz. The speed (0-50Hz) of the trolley 11 is divided into 6 different gears.

As shown in Figure 10, _S1 to _S5 are the shortest distances traveled at corresponding speeds. If S<S ₁ , the trolley 11 runs at V _xmin , and stops when it reaches the feeding range; if S ₁ ≤S<S ₂ , the trolley 11 accelerates to 10Hz (V ₁ ); if S ₂ ≤S<S ₃ , Car 11 accelerates to 20Hz (V ₂ ); if S ₃ ≤ S < S ₄ , car 11 accelerates to 30 Hz (V ₃ ); if S ₄ ≤ S < S ₅ , car 11 accelerates to 40 Hz (V ₄ ); if S ≥S ₅ , the trolley 11 accelerates to 50Hz (V ₅ ).

If the values of S ₁ -S ₅ can be determined, the maximum speed that the trolley 11 can reach at different positions can be obtained. The calculation expression of S ₁ ~ S ₅ is:

S _n = S _plus + S _minus + S _p (3)

In Equation 3, _{the addition} of S is the distance traveled when the speed increases from 0 to the corresponding speed V _n , _{the reduction} of S is the distance traveled when the speed is reduced from V _n to 0, and S _P is the crawling distance.

In this embodiment, S _addition and S _subtraction are calculated with reference to the ramp curve set by the frequency converter. The acceleration and deceleration times set by the frequency converter of the trolley 11 are both T _bx and the maximum operating speed is V _bx , then:

${\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; bx</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; bx</span>}}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In this embodiment, when the speed of the trolley 11 is less than or equal to V _xmin , the swing angle of the wire rope is very small, which does not affect the feeding operation of the grab bucket 10, and no anti-sway is required; when the speed of the trolley 11 is higher than V _xmin , the anti-sway function is activated. In this embodiment, in order to ensure that the position accuracy in the direction of the trolley 11 meets the requirements when reaching the feeding position, the trolley 11 crawls at a speed of V _xmin when it approaches the material opening, and stops and brakes after reaching the range of the feeding position.

The speed planning of the trolley 11 in this embodiment is divided into 5 stages, as shown in Figure 12, the specific description is as follows:

Stage 1: The car does not meet the start conditions, and the speed of the car is 0.

Phase 2: Accelerate to the maximum speed V _xmax after the starting conditions are met. When the speed is higher than V _xmin , use the frequency converter to prevent shaking.

Stage 3: The trolley 11 runs at a constant speed of V _xmax , and running at a constant speed will not cause the wire rope to sway, and the anti-sway is cancelled.

Stage 4: Decelerate from V _xmax to 0 _{and reduce} the traveling distance S. When the distance between the trolley 11 and the feeding position is less than or equal to (S _minus +S _p ), the trolley 11 starts to decelerate to V _xmin , and the anti-shake is activated during the deceleration process.

Stage 5: The trolley 11 crawls at V _xmin , stops and brakes after reaching the feeding range, and cancels the anti-sway.

The startup time will be described with reference to FIG. 12 and FIG. 9 . In this embodiment, the starting time of the trolley 11 relative to the lifting mechanism is the time required for the grab bucket 10 to move from the safe height to the height of the feeding platform. After the hoisting mechanism lifts the grab bucket 10 to a safe driving height, it drives the grab bucket 10 to continuously rise. The time T required for the grab bucket 10 to be raised to the height of the feeding platform decreases with the increase of the height h of the grab bucket 10, and the time T′ for the trolley 11 to run to point A is a certain value. After a certain time T≤T′, the trolley 11 start up.

When the grab bucket 10 is lifted to the height of the feeding platform, the lifting mechanism may be in a constant speed or deceleration stage, which is related to the distance (H ₀ -H) between the position of the feeding platform and the specified feeding position. If H ₀ -H>S _p , after the height of the grab bucket 10 is higher than the feeding platform, the hoisting mechanism is in a state of constant speed operation; if H ₀ -H≤S _p , after the height of the grab bucket 10 is higher than the feeding platform, the lifting mechanism is at Deceleration running state. This embodiment discusses the relationship between T and h in two cases in conjunction with FIG. 8:

(1) When H ₀ -H≤S _p , $T=\frac{(h-h)-[S_p-(h_0-h)}{V}+T_q-\sqrt{\frac{2(h_0-h)T_q}{V}}$

(2) When H ₀ -H＞S _p ,

When the car 11 travels to point A, the speed of the car changes in three situations: when the car 11 is accelerating, when the car 11 is at a constant speed, and when the car 11 is decelerating:

(1) When car 1 is accelerating, it means that car 1 is closer to point A. The distance between car 1 and point A (SS ₀ ), then SS ₀ ≤ S _plus ,

(2) When the trolley 11 is at a constant speed, S _plus ≤ SS ₀ < SS _minus -S _p . The distance traveled by car 11 at a constant speed is (SS _plus -S ₀ ), the time it takes for car 11 to reach point A

(3) During the deceleration process of the trolley 11, SS ₀ >SS _minus -S _p . The traveling distance of the trolley 11 at a constant speed is (SS _plus -S _minus -S _p ), and the deceleration distance of the trolley 11 is (S _minus +S _p -S ₀ ). In this case, the calculation of T' is relatively complicated, and the deceleration distance from the trolley 11 to point A is also short in actual conditions, which can be ignored. Only calculate the time of acceleration and constant speed, then

After the maximum speed of the trolley 11 traveling and the relative lifting start time are determined, the speed curve of the trolley 11 is planned, and the specific process is shown in Figure 11.

The automatic planning process of the speed of the cart 12 during the automatic feeding operation of the automatic garbage handling crane is similar to that of the trolley 11, which will not be described in detail in this embodiment, and its flow chart is shown in Figure 13.

Claims (3)

1. the full automaticity Waste handling crane feeding operation autocontrol method that feeds intake, is characterized in that: comprise the steps:

1: judgement dog-house lacks material information, determine and lack material mouthful position;

2: according to the 1 scarce material mouth location information obtaining, determine capture area;

The definite of above-mentioned capture area comprises the steps:

2.1: according to trash repository (8) size and grab bucket (10) open width, trash repository (8) is carried out to function division;

2.2: on 2.1 basis, by trash repository (8) at cart (12) if service direction equal portions are divided open region;

2.3: the corresponding certain capture area of each dog-house, material mouthful preferentially starts feeding from corresponding region while lacking material;

3: determine behind capture area, utilize control system to realize automatic material taking;

Above-mentioned automatic material taking comprises the steps:

3.1: utilize each mechanism's absolute value encoder to be sent to the location information of control system, the automatic location of realizing full automaticity Waste handling crane;

3.2: utilize laser range sensor (7) to be sent to the rubbish face elevation information of control system, in conjunction with feeding strategy, realize the automatic selection that captures point;

Above-mentioned feeding strategy comprises the steps:

3.2.1: in 2 definite capture areas, utilize 3.2 elevation information, select vertex in region for capturing point;

3.2.2: if there is two or more highly identical vertexs in capture area, select apart from the nearest point of dog-house as capturing point;

3.2.3: if quantity of refuse seldom or without material, the vertex of selection adjacent area is as capturing point in capture area;

3.2.4: after grab bucket automatic material taking, rubbish face height value changes, and until laser range sensor (7), rescans after rubbish face, utilizes new elevation information, according to the method for 3.2.1,3.2.2 and 3.2.3, determine the next point that captures;

After the automatic location of full automaticity Waste handling crane and crawl point are determined, control system transmission instruction, to lifting mechanism, realizes automatic material taking operation;

4: after automatic material taking, utilize the height value of grab bucket (10) automatically to plan lifting velocity;

Above-mentioned utilization grab bucket (10) height value carries out speed to lifting mechanism automatically to be planned and comprises the steps:

4.1: the crawl point to differing heights, according to lifting mechanism velocity curve, plan different lifting velocities;

4.2: when 3 action, lifting mechanism slowly promotes with less speed, until grab bucket (10) is completely closed;

4.3: after 4.2 actions complete, if crawl amount meets the requirements, lifting mechanism travels at the uniform speed after accelerating to safe altitude;

Definite the comprising the steps: that above-mentioned crawl amount requires

4.3.1: when crawl amount surpasses 130% of laden weight, judge grab bucket (10) overload, now regulation lifting mechanism is forbidden promoting;

4.3.2: when capturing 30% of quantity not sufficient laden weight, judge that grab bucket (10) captures not enough, bucket is opened in now regulation grab bucket (10), after repeating 3.2, carries out 4.1 actions;

4.4: at lifting mechanism, by 4.3 actions, move to after deceleration starting altitude, run slowly to zero-speed, drg brake sticking brake, wait grab bucket (10) is opened and is fed intake;

The definite of above-mentioned deceleration starting altitude comprises the steps:

4.4.1: utilize the time of lifting mechanism velocity curve and 4.2,4.3 actions, determine the height promoting 4.2,4.3;

4.4.2: utilize the elevation information of 4.4.1 and the height that feeds intake, according to the moderating process of velocity curve, determine deceleration starting altitude;

5: at lifting mechanism, be promoted to after safe altitude, interlock cart (12), dolly (11), utilize the distance value of hoisting crane and dog-house and velocity curve automatically to plan cart (12), dolly (11) speed;

The speed of above-mentioned dolly (11) automatically planning comprises the steps:

5.1: dolly (11) and the distance of dog-house center are divided into some regions;

5.2: utilize the distance of dolly (11) and dog-house center, counting of carriers (11) moves to the time of dog-house;

5.3: utilize 5.1 and 5.2 dolly obtaining (11) location informations, according to the speed run curve of dolly (11), determine the maximum operational speed of dolly (11);

5.4: utilize the difference of grab bucket (10) height and the height that feeds intake, according to lifting mechanism speed change curves, calculate lifting mechanism will grab bucket (10) be promoted to higher than feeding platform height required time;

5.5: 5.2 and 5.4 temporal informations that obtain are contrasted, determine the run up time of dolly (11);

The speed of above-mentioned cart (12) automatically the speed of planning and dolly (11) planning is similar automatically, unique different be lifting mechanism will grab bucket (10) be promoted to after safe altitude, cart (12) just can directly start, without consideration run up time; Therefore repeat no more the automatic planning step of cart (12) speed;

6: the speed according to planning, will hoist, dolly (11), cart (12) link to top, dog-house center, open automatically grab bucket (10), realizes automatic charging operation;

7: automatic cycle 2 ~ 6 steps, until lacking material information, dog-house disappears, complete the automatic material taking operation that feeds intake.

2. according to the operation autocontrol method that feeds intake of a kind of full automaticity Waste handling crane feeding described in claim, it is characterized in that: described safe altitude determines according to the rubbish distribution situation in trash repository (8), using higher than capturing 1 ~ 2 meter of some rubbish height as safe altitude.

3. according to the operation autocontrol method that feeds intake of a kind of full automaticity Waste handling crane feeding described in claim, it is characterized in that: determining of the described height that feeds intake is relevant with feeding platform height, 1 ~ 2 meter that usings higher than feeding platform height as feeding intake highly.