CN104118802A - Automatic control method for material taking and feeding operations of full-automatic garbage transport crane - Google Patents
Automatic control method for material taking and feeding operations of full-automatic garbage transport crane Download PDFInfo
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- CN104118802A CN104118802A CN201410348133.8A CN201410348133A CN104118802A CN 104118802 A CN104118802 A CN 104118802A CN 201410348133 A CN201410348133 A CN 201410348133A CN 104118802 A CN104118802 A CN 104118802A
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Abstract
The invention discloses an automatic control method for material taking and feeding operations of a full-automatic garbage transport crane. After automatic positioning and grabbing point determination of the full-automatic garbage transport crane, a control system sends out a command to a hoisting mechanism, so that automatic material taking operation is realized. After a hoisting mechanism, a trolley and a cart are moved to a position above the central position of a feeding opening in a linked manner at planned speed, a grab bucket is opened automatically, and automatic feeding operation is realized. The zoning of a garbage bin, and automatic grab bucket positioning and automatic grabbing point selection of the full-automatic garbage transport crane are realized, so that the automation of the material taking operation is realized. Moreover, automatic speed planning of the full-automatic garbage transport crane is realized, and mutual coordination to the speeds of the hoisting mechanism, the trolley and the cart is realized according the distance between the grab bucket and the feeding opening, so that automation of the feeding operation is realized. The service life of the full-automatic garbage transport crane is prolonged, working conditions are improved, the labor intensity is lowered, energy consumption is reduced, the work efficiency and the mechanism running reliability are improved, cost control of enterprises is facilitated, and operation safety of operators can be ensured in harsh working environment of waste incineration.
Description
Technical field
The present invention relates to Waste handling crane operation autocontrol method, relate in particular to a kind of full automaticity Waste handling crane feeding operation autocontrol method that feeds intake.
Background technology
Waste handling crane is the core of burning electricity generation factory Feed system, in the burning process of rubbish, mainly realizes rubbish feeding and the work such as feed intake.There is continuous working, the heavy feature of task.Simultaneously because grab bucket is got thing and made workload through the rated condition of being everlasting, and each mechanism speed is higher than general crane in bridge type, and the abominable of maintenance work environment makes its reliability requirement high.
The mode of current domestic Waste handling crane adopts manually to be controlled or traditional semiautomatic control, and task is all by driver's M/C, as long as guarantee that cart, dolly and lifting mechanism do not exceed limit range of operation separately.Its work efficiency, operation stability and safety all cannot reach higher level.
The feeding process of feeding intake of Waste handling crane refers to when needs feed in raw material, and Waste handling crane utilization grab bucket captures rubbish, by controlling cart, dolly and lifting mechanism, moves, and makes grab bucket move to dog-house.Now open grab bucket to dog-house garbage throwing, then return to that trash repository repeats above-mentioned action until reinforced order disappears.
In hoisting crane automatic charging control technology field, publication number is in the prospectus of Chinese utility model patent of CN 201610353 U, to disclose the technical scheme of a kind of < < automatic feeding system for garbage grab bucket crane > >, and this technical scheme has realized garbage grab bucket crane-car is obtained to Accurate Position Control.But localization method is not provided, a kind of material extracting operation control method of the full automaticity Waste handling crane based on precise positioning method is not more provided.
In crane job control technology field, publication number is in the prospectus of Chinese invention patent of CN 103434936 A, to disclose the technical scheme of < < hoisting crane hoisting operation autocontrol method and system > >, this technical scheme, by the signal of control engine rotating speed and proportion magnetic valve, has well realized the automatic control of hoisting crane hoisting operation.But the method for control speed of cart, the dolly of garbage grab bucket crane and three mechanisms that hoist is not provided, a kind of job control method that feeds intake of the full automaticity Waste handling crane of automatically planning based on speed is not more provided.
In addition, the control system for waste grab crane generally adopting at present, be manually control or the prerequisite of semiautomatic control under develop, cannot meet and there is the feed intake control requirement of full automaticity Waste handling crane of function of automatic material taking.In crane control technical field, publication number is in the specification sheets of Chinese utility model patent of CN 203079568 U, to disclose the technical scheme of a kind of < < fully-automatic intelligent electrical control system of crane > >, this technical scheme, by Programmable Logic Controller and upper computer, utilizes frequency converter to realize the Based Intelligent Control to hoisting crane.But do not have a kind of autocontrol method to be applied in this electric control system, cannot finely realize the function of system.
Summary of the invention
The object of the present invention is to provide a kind of full automaticity Waste handling crane feeding operation autocontrol method that feeds intake, to realize the full automatic control of Waste handling crane, reduce the labour intensity of operating personal.
For achieving the above object, the invention provides following technical scheme: a kind of full automaticity Waste handling crane feeding operation autocontrol method that feeds intake, comprises 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 size and grab bucket open width, trash repository is carried out to function division.
2.2: on 2.1 basis, if trash repository is divided to open region at cart service direction equal portions.
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 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 after laser range sensor rescans 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 automatically to plan lifting velocity.
Above-mentioned utilization grab bucket 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 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 overload, now regulation lifting mechanism is forbidden promoting.
4.3.2: when capturing 30% of quantity not sufficient laden weight, judge that grab bucket captures not enough, bucket is opened in now regulation grab bucket, 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, waiting for grabs bucket to open feeds 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.
Above-mentioned slow hoisting depth is certain with the hoisting depth accelerating to the most at a high speed, and the different asynchronism(-nization)s that travel at the uniform speed that capture point cause at the uniform velocity hoisting depth difference.
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, dolly, utilize the distance value of hoisting crane and dog-house and velocity curve automatically to plan cart, little vehicle speed.
The speed of above-mentioned dolly automatically planning comprises the steps:
5.1: the distance of dolly and dog-house center is divided into some regions.
5.2: utilize the distance of dolly and dog-house center, counting of carriers moves to the time of dog-house.
5.3: utilize the 5.1 and 5.2 dolly location informations that obtain, according to the speed run curve of dolly, determine the maximum operational speed of dolly.
The definite of above-mentioned maximum operational speed is according to the region at dolly place, according to the parameter of frequency converter setting, determines and to obtain.
5.4: utilize grab bucket height and the difference highly that feeds intake, according to lifting mechanism speed change curves, calculate lifting mechanism grab bucket is 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.
The speed of above-mentioned cart automatically the speed of planning and dolly planning is similar automatically, unique different be at lifting mechanism, grab bucket to be promoted to after safe altitude, cart just can directly start, without consideration run up time.Therefore repeat no more the automatic planning step of large vehicle speed.
6: the speed according to planning, will hoist, dolly, cart link to top, dog-house center, grabs bucket and automatically open, and 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.
Press such scheme, described safe altitude determines according to the rubbish distribution situation in trash repository, usings higher than capturing 1～2 meter of some rubbish height as safe altitude.
Press such scheme, determining of the described height that feeds intake is relevant with feeding platform height, and 1～2 meter that usings higher than feeding platform height as feeding intake highly.
Usefulness of the present invention is: can realize the subregion of trash repository and the grab bucket of full automaticity Waste handling crane and automatically locate and capture the automatic selection of point, thereby realize the automation of material extracting operation.Can realize the speed of full automaticity Waste handling crane simultaneously and automatically plan, can realize according to the distance of grab bucket and dog-house hoist, the speed of dolly, cart coordinates mutually, thereby realize the automation of the operation that feeds intake.Extend the service life of equipment, improved service conditions, reduced labour intensity, saved energy loss, improved work efficiency and mechanism's serviceability, be conducive to enterprise and carry out cost control, in this severe operating environment of waste incineration, guaranteed operator's job safety.
Accompanying drawing explanation
Fig. 1 is the full automaticity Waste handling crane automatic material taking of the embodiment of the present invention diagram of circuit that feeds intake.
Fig. 2 is the trash repository function zoning schematic diagram of the embodiment of the present invention.
Fig. 3 is that the embodiment of the present invention is at the trash repository subregion schematic diagram of cart service direction.
Fig. 4 is that the embodiment of the present invention is distinguished district's schematic diagram in the feeding of trolley travelling direction.
Fig. 5 is the laser range sensor installation site schematic diagram of the embodiment of the present invention.
Fig. 6 is the rubbish face high-level schematic of the embodiment of the present invention.
Fig. 7 is that the embodiment of the present invention is in the post-job rubbish face of automatic material taking high-level schematic.
Fig. 8 is the lifting mechanism speed planning schematic diagram of the embodiment of the present invention.
Fig. 9 is the trash repository section-drawing of the embodiment of the present invention.
Figure 10 is the schematic diagram that is related to of trolley travelling maximum speed with the distance material mouthful distance of the embodiment of the present invention.
Figure 11 is the dolly speed planning diagram of circuit of the embodiment of the present invention.
Figure 12 is the dolly speed planning schematic diagram of the embodiment of the present invention.
Figure 13 is the cart speed planning diagram of circuit of the embodiment of the present invention.
In figure: 1. feeding district, 2. discharge zone, 3. feeding blind area, 4. the first dog-house, 5. the second dog-house, 6. the 3rd dog-house, 7. laser range sensor, 8. trash repository, 9. discharge port, 10. grab bucket, 11. dollies, 12. carts, 13. feeding platforms, 14. incinerators, D
0. trash repository width, D
1. diameter when grab bucket is opened, d. feeding blind area width, m. discharge zone width, n. feeding sector width, k. dolly direction peak width, W
d. cart girder is wide, and S. dolly is apart from dog-house distance, H. feeding platform height, H
0. the height that feeds intake, h. grab bucket actual height value, V
qmax. lifting mechanism maximum speed, V
qmin. lifting mechanism minimum velocity
The specific embodiment
By reference to the accompanying drawings, utilize an embodiment to further illustrate technical scheme of the present invention.
As shown in Figure 1, the full automaticity Waste handling crane automatic material taking that the present embodiment the is described operation process that feeds intake.
The operation that feeds intake of Waste handling crane full automaticity feeding refers to that control system is according to lacking material material message breath, utilize full automaticity Waste handling crane feeding to feed intake full automaticity operation that operation autocontrol method realizes feeding and feed intake.
Lacking material message breath is that operating personal utilizes touch-screen to carry out the selection of dog-house, and this is the prerequisite that automatic material taking feeds intake.It is example that the present embodiment be take 3 dog-houses, after lacking material mouthful and determining, control system according to material message breath by cart 12, dolly 11 coordinated operations above feeding point.The automatic material taking of Waste handling crane refers to according to feeding strategy, and after determining feeding point, grab bucket 10 declines automatically, after contact rubbish face, stops declining; When grab bucket 10 is too tilted, automatically adjust feeding position.During feeding, while grabbing, carry, until grab bucket 10 is completely closed; Utilize LOAD CELLS to detect weight capacity, when overload, need feeding again.The automatic charging of Waste handling crane refers to after completing automatic material taking, utilizes speed planning, first grab bucket 10 is promoted to the height that feeds intake, and then utilizes cart 12, dolly 11 interlocks that grab bucket is moved to appointment dog-house.
The automatic material taking operation that feeds intake, simultaneously can be to the weighing of rubbish, and record weight.When automatic charging operation, adopt intermittent unlatching grab bucket to feed intake, guarantee that rubbish enters dog-house.
Work flow realizes based on a kind of full automaticity Waste handling crane feeding operation autocontrol method that feeds intake, and comprises 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 sizes and grab bucket 10 open widths, trash repository 8 is carried out to function division.
2.2: on 2.1 basis, if trash repository is divided to open region at cart 12 service direction equal portions.
2.3: the first dog-houses 4, the second dog-house 5, the 3rd dog-house 6 be corresponding certain capture areas respectively, and 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 10 automatic material takings, rubbish face height value changes, and after laser range sensor 7 rescans 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 values to lifting mechanism carry out speed automatically planning comprise 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.
Above-mentioned safe altitude determines according to the rubbish distribution situation in trash repository 8, and the present invention selects higher than capturing 1～2 meter of some rubbish height as safe altitude.Grab bucket 10 is promoted to after safe altitude, and lifting mechanism travels at the uniform speed.
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.
Above-mentioned slow hoisting depth is certain with the hoisting depth accelerating to the most at a high speed, and the different asynchronism(-nization)s that travel at the uniform speed that capture point cause at the uniform velocity hoisting depth difference.
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.
Determining of the above-mentioned height that feeds intake is relevant with feeding platform height, and the present invention selects to feed intake highly higher than 1～2 meter of conduct of feeding platform height.
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.
The definite of above-mentioned maximum operational speed is according to the region at dolly 11 places, according to the parameter of frequency converter setting, determines and to obtain.
5.4: utilize grab bucket 10 height and the difference highly that feeds intake, according to lifting mechanism speed change curves, calculate lifting mechanism grab bucket 10 is 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 at lifting mechanism, grab bucket 10 to 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, grab bucket and 10 automatically open, realize 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.
In conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the process of the subregion of trash repository 8 and grab bucket 10 automatic material takings of full automaticity Waste handling crane is described.
As shown in Figure 2, Figure 3 and Figure 4, trash repository 8 subregions comprise that function zoning, cart 12 service direction regions are divided and dolly 11 service direction regions are divided.
Trash repository 8 function zonings are that the specific (special) requirements of application of the present invention determines.Specific (special) requirements refers to that the rubbish that enters trash repository 8 can not directly drop into incinerator, must be the interior fermentation of trash repository 8 2～3 days.While feeding intake for fear of automatic material taking, unfermentable rubbish is dropped into incinerator 14, the present embodiment is divided into separately discharge zone 2 by the interior region near Dump gate of trash repository 8, diameter when discharge zone 2 width are not less than grab bucket 10 unlatching.When full automaticity Waste handling crane captures rubbish in the region near rubbish 8 bulkheads, in order to prevent from grabbing bucket, 10 collide with trash repository 10 bulkheads, must safety caging device be installed at the Derivative limit on the left or on the right of dolly 11, cart 12 operations, the region of inhibiting device and rubbish bulkhead is divided into feeding blind area 3.Remove discharge zone 2, feeding blind area 3, trash repository 8 all the other regions are divided into feeding district 1.In the present embodiment, the width of trash repository 8 is D
0rice, diameter during grab bucket 10 unlatching is D
1rice, the width d rice of feeding blind area 3, the width of discharge zone 2 is m rice, the width in feeding district 1 is n rice, has n=D
0-m-d, m>=D
1, feeding blind area width d is defined as to 0.2m.
It is to carry out according to the quantity of dog-house that cart 12 service direction regions are divided.In the present embodiment, trash repository 8 has 3 to burn dog-houses is the first dog-house 4, the second dog-house 5, the 3rd dog-house 6, therefore trash repository 8 is longitudinally divided into I, II, tri-regions of III, corresponding one by one with the first dog-house 4, the second dog-house 5, the 3rd dog-house 6 respectively.
It is on the basis of trash repository 8 functional regional divisions that the region of dolly 11 service directions is divided, and feeding district 1 is divided into the region that i spacing equates (spacing is made as k rice) at dolly 11 service directions, has
according to grab bucket 10 sizes and single inventory, determine the value of i and k.
Diameter when the width k in dolly 11 service direction regions is mainly opened by grab bucket 10 is determined.If k > is D
1, the rubbish between two adjacent areas can not capture completely, how much the surplus of rubbish determined by both differences, remaining rubbish must manually be captured by manual operation, so just cause work efficiency lowly.If k < is D
1, two adjacent area grab buckets capture area and produce coincidence, and in the situation that not affecting hoisting crane single inventory, a small amount of coincidence is conducive to reduce the residual of rubbish; If coincidence area is excessive, not only can affect crawl amount, also may increase number of partitions, thereby increase the number of times that feeds intake, have a strong impact on the efficiency that feeds intake.When k gets maxim, be k=D
1time, dolly 11 service direction number of partitions i are minimum, but i is necessary for a whole value, has:
By formula 1,2, determine best i, k, complete the dolly 11 service direction regions of trash repository 8 are divided.
As shown in Fig. 5, Fig. 6 and Fig. 7, the grab bucket automatic material taking of full automaticity Waste handling crane comprises the automatic acquisition process of the interior information acquisition process of rubbish height of trash repository and the crawl point of rubbish.
The information acquisition of the interior rubbish height of trash repository 8 utilizes laser range sensor 7 to detect and obtains.
First Ru Tu4Jiang feeding district decile is divided into some regions, the laser range sensor that utilization is arranged on crane girder detects the distance between rubbish face and laser range sensor itself, and the setting height(from bottom) with laser range sensor at the bottom of with respect to dump pit deducts detected value and obtains rubbish face height value.Automatic charging starts the whole stroke of front cart 12 walking, and elevation information is stored in upper computer and real-time update.
The concrete installation site of laser range sensor 7 as shown in Figure 5.By the edge of installation of sensors crane girder, and be less than grab bucket 10 with the distance at girder center and open radius.Cart 12 girder lower edge over against every row line of centers a laser range sensor 7 is each side set, at right angle setting, is left lateral or right lateral when no matter cart 12 feeds intake, and realizes the height that detects in real time rubbish face.The setting height(from bottom) of two laser sensors is consistent, the slightly larger in diameter that both gap ratio grab buckets are opened.
Capturing point determines according to rubbish face elevation information.The present embodiment divides 3 kinds of situations to analyze the chosen position of feeding point.As shown in Figure 6, dump pit length is L to the schematic diagram that rubbish face height distributes.
Capture point and can be divided into following three kinds of situations: from point, 3. capture, the gradient is larger, grab bucket 10 is rollover easily, although in grab bucket 10 with tilt detecting device, the inclination number of times of grab bucket 10 too much can reduce work efficiency; From point, 2. capture, because the rubbish height of both sides is larger, grab bucket 10 is subject to the drag effect of both sides rubbish while sinking, and rubbish is failed to contact in 10 tops that cause grabbing bucket, and has reduced rubbish crawl amount; From point, 4. capture, can not only obtain the probability that large as far as possible crawl amount can also reduce grab bucket 10 rollovers.So the present invention selects using vertex as capturing point, the crawl point of the present embodiment be vertex 4..
If the position of vertex is near dump pit wall, and and dump pit wall between the radius of distance when being less than grab bucket 10 and opening, as in Fig. 6 1., while at this moment capturing from vertex, grab bucket can bump with dump pit wall, must avoid this situation generation.Therefore the present embodiment will be with trash repository span from being less than when data processing
data get rid of, only read cart 12 service direction coordinates in interval
interior height value.
The present embodiment is determined rubbish feeding point in conjunction with height and the hoisting crane operating path length of rubbish face.On the division basis, region of cart 12 service directions, stipulate the region that each dog-house is corresponding certain, material mouthful preferentially successively captures from the vertex in corresponding feeding region while lacking material; If quantity of refuse is fewer or without material in corresponding feeding region, from the region of facing mutually, capture; If exist the height of or a plurality of points identical in a region at 2, first from the point apart from material mouthful close together, start to capture.
While grabbing bucket 10 feeding, have a crawl scope, capture rubbish and must remove the height distributed intelligence within the scope of crawl afterwards, after cart 12 operation scannings, obtain new rubbish face height.The present embodiment illustrates its essentiality, and after feeding, rubbish face height change schematic diagram as shown in Figure 7.
After 4. position captures, if cart 1 is in the scope that feeds intake of material mouth, at this moment cart 12 does not need to move, and can not upgrade the elevation information within the scope of crawl.If retain former elevation information, 4. that can repeat captures from position, has run counter to feeding point selection rule so completely.After elevation information within the scope of crawl is rejected, according to the installation site of laser range sensor, can record position 5., position rubbish height 6., position is 5., 6. position be positioned at the edge that grab bucket 10 captures scopes.Due to after 10 feedings of grabbing bucket, rubbish height within the scope of crawl can be recessed gradually from edge, ⑤Huo position, aspect ratio position within the scope of crawl height is 6. low, can utilize the height value of position 5., beyond height 6. of position and crawl scope to compare, determine next vertex position.
The automatic planning process of speed of full automaticity Waste handling crane lifting mechanism when automatic charging operation is described as shown in Figure 8.
The hoisting crane of the present embodiment is shifted in the process of dog-house after feeding, and because lifting altitude is large, when diverse location captures, lifting mechanism can accelerate to fully loaded maximum speed.The present embodiment becomes three phases by the speed planning of lifting mechanism, is described as follows:
Stage 1: carry the stage while grabbing, because turned on one's side by rubbish resistance, in grab bucket 10 closing course, lifting mechanism is with less speed V for fear of grab bucket 10
qminrising.V
qminby the closing period of grabbing bucket, switching diff-H, determined.
Stage 2: fast the operation phase, if the closed rear requirement that meets crawl amount of grab bucket 10, lifting mechanism accelerates to the maximum speed V of at full load
qmaxafter travel at the uniform speed.
Stage 3: deceleration stop phase, lifting mechanism speed is by V
qmaxafter reducing to 0, drg brake sticking brake.
As shown in Fig. 9, Figure 10, Figure 11 and Figure 12, the automatic planning process of speed of full automaticity Waste handling crane dolly when automatic charging operation is described.
The automatic planning of described dolly 11 speed comprises that dolly 11 maximum operational speeds and dolly 11 are with respect to two parts run up time of lifting mechanism.
Maximum speed V in dolly 11 driving process
xmaxaccording to dolly 11 reference positions, apart from the distance S of position of feeding intake, determine, the trolley travelling maximum speed of the present embodiment with the relation apart from material mouthful distance as Figure 10.The rated speed of rotation of the corresponding motor of maximum operational speed that in the present embodiment, dolly 11 can reach.In converter parameter arranges, the corresponding 50Hz frequency of dolly 11 motor rated speed of rotation.The speed of dolly 11 (0～50Hz) is divided to 6 different gears.
As shown in figure 10, S
1to S
5for the shortest distance of travelling with corresponding speed.If S < is S
1, dolly 11 is with V
xminoperation, arrives and feeds intake after scope, stopping brake; If S
1≤ S < S
2, dolly 11 accelerates to 10Hz (V
1); If S
2≤ S < S
3, dolly 11 accelerates to 20Hz (V
2); If S
3≤ S < S
4, dolly 11 accelerates to 30Hz (V
3); If S
4≤ S < S
5, dolly 11 accelerates to 40Hz (V
4); If S>=S
5, dolly 11 accelerates to 50Hz (V
5).
If can determine S
1～S
5value, just can obtain the maximum speed that dolly 11 can reach at diverse location.S
1～S
5calculation expression be:
S
n=S
add+ S
subtract+ S
p(3)
In formula 3, S
addfor speed increases to corresponding speed V by 0
nthe distance of travelling, S
subtractfor speed is by V
nreduce to 0 distance of travelling, S
pfor the operating range of creeping.
The slope curve that the present embodiment arranges with reference to frequency converter is to S
add, S
subtractcalculate the acceleration of dolly 11 frequency converter settings and be T deceleration time
bx, maximum operational speed is V
bx, have:
In the present embodiment, work as dolly 11 speed and be less than or equal to V
xmintime, the pivot angle of steel rope is very little, does not affect the operation that feeds intake of grab bucket 10, without anti-, shakes; When dolly 11 speed are higher than V
xminafter, rocking-prevention function activates.The present embodiment is to guarantee that the positional precision that arrives dolly 11 directions while feeding intake position meets the demands, and dolly 11 approaches while expecting mouth with speed V
xmincreep, arrive stopping brake after the position range that feeds intake.
Dolly 11 speed plannings of the present embodiment are divided into 5 stages, as shown in figure 12, are described as follows:
In the stage 1: dolly does not meet entry condition, little vehicle speed is 0.
Stage 2: meet after entry condition, accelerate to maximum speed V
xmax.When speed is higher than V
xminafter, utilize frequency converter to prevent shaking.
Stage 3: dolly 11 is with V
xmaxtravel at the uniform speed, travel at the uniform speed and can not cause waving of steel rope, cancel anti-shaking.
Stage 4: by V
xmaxbe decelerated to the 0 distance S travelling
subtract, when dolly 11 is less than or equal to (S apart from the distance of the position that feeds intake
subtract+ S
p) after dolly 11 reduce speed now to V
xmin, in moderating process, activate anti-shaking.
Stage 5: dolly 11 is with V
xmincreep, arrive stopping brake after the scope that feeds intake, cancel anti-shaking.
In conjunction with Figure 12 and Fig. 9, to describing run up time.In the present embodiment dolly 11 with respect to run up time of lifting mechanism for 10 walking to feeding platform height required time from safe altitude from grabbing bucket.Lifting mechanism is promoted to grab bucket 10 after safety traffic height, drives grab bucket 10 constantly to rise.Grab bucket 10 is promoted to feeding platform height required time T and reduces with the increase of grab bucket 10 height h, and dolly 11 moves to the time T that A order ' be certain value, in rear dolly 11 startups of T≤T ' sometime.
Grab bucket 10 is while being promoted to feeding platform height, and lifting mechanism may be at the uniform velocity or the decelerating phase, this and the position of feeding platform and the distance (H feeding intake between position of regulation
0-H) relevant.If H
0-H > S
p, grab bucket 10 highly exceeds after feeding platform, and lifting mechanism is in the state of traveling at the uniform speed; If H
0-H≤S
p, grab bucket 10 highly exceeds after feeding platform, and lifting mechanism is in the state of running slowly.The present embodiment is discussed to the T in two kinds of situations and the relation of h in conjunction with Fig. 8:
(1) H
0-H≤S
ptime,
(2) H
0-H > S
ptime,
When dolly 11 walks to A point, the velocity variations of dolly has three kinds of situations: dolly 11 in accelerator, dolly 11 in process at the uniform velocity, dolly 11 is in moderating process:
(1) dolly 1, in accelerator, illustrates that dolly 1 distance A point is nearer.(the S-S of the distance between dolly 1 and A point
0), S-S
0≤ S
add,
(2) dolly 11 is in process at the uniform velocity, S
add≤ S-S
0< S-S
subtract-S
p.Dolly 11 at the uniform velocity operating range is (S-S
add-S
0), dolly 11 walks to the time that A is ordered
(3) dolly 11 is in moderating process, S-S
0> S-S
subtract-S
p.Dolly 11 at the uniform velocity operating range is (S-S
add-S
subtract-S
p), dolly 11 deceleration distances are (S
subtract+ S
p-S
0).In this case, the calculating more complicated of T', and the deceleration distance that under actual conditions, dolly 11 to A is ordered is also shorter, can be ignored.Only calculating acceleration and the at the uniform velocity time of section,
The maximum speed of dolly 11 driving process with all determine the relative run up time hoisting after, the velocity curve of dolly 11 just planned, its idiographic flow as shown in figure 11.
Full automaticity Waste handling crane automatic planning process of speed of cart 12 when automatic charging operation is similar to dolly 11, and the present embodiment repeats no more, and its diagram of circuit as 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.
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