CN105404300A - Method, apparatus, and system for unloading control of material warehouse - Google Patents
Method, apparatus, and system for unloading control of material warehouse Download PDFInfo
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- CN105404300A CN105404300A CN201510824716.8A CN201510824716A CN105404300A CN 105404300 A CN105404300 A CN 105404300A CN 201510824716 A CN201510824716 A CN 201510824716A CN 105404300 A CN105404300 A CN 105404300A
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Abstract
The invention provides a method, apparatus, and system for unloading control of a material warehouse. The method comprises: position information of an unloading trailer is obtained; the position information of the unloading trailer is compared with front values of calibrated position zones of all material warehouses and a first moving direction of the unloading trailer among material warehouse with various materials is determined; according to the first moving direction, the unloading trailer moves to a material dividing warehouse corresponding to the front value of one position zone; material level height information of the material dividing warehouse is obtained; the material level height information is compared with an upper limit value of the material height of the material dividing warehouse, and a second moving direction of the unloading trailer in the material dividing warehouse zone containing the same kind of materials is determined; and according to the second moving direction, the unloading trailer moves to a position with the material level height not reaching the upper limit value to carry out unloading operation. The warehouse with the same kind of materials has one or more material dividing warehouses adjacent to each other. With the method, apparatus, and system, automatic material unloading of the material warehouse is realized; the material unloading efficiency is accelerated; an unattended-operation effect is realized; and the safety and health of the staff are guaranteed.
Description
Technical field
The present invention relates to material storage field, storehouse, specifically, relate to a kind of material storehouse unloading control method, Apparatus and system.
Background technology
The major function of stock yard is that outside supplied materials is stored in stock ground, and carries out pre-service to some raw material as required, then supplies each user.A novel pinnacle storage warehouse and tradition stock ground is different, needs to be stored in respectively in different sub-material storehouses by different materials by the movement of dummy car.Due to the space that pinnacle storage warehouse is relative closure, material drop is comparatively large, and it is undesirable to add dust removing effects, makes material storehouse environment severe, brings hidden trouble to the safety of employee and health.Therefore, need dummy car automatically can select to expect storehouse according to supplied materials kind, and the automatic discharging that combines with the material level of raw material in material storehouse, thus realize unmanned.
And for the automatic discharging problem needed in the pinnacle storage warehouse in correlation technique, effective solution is not also proposed.
Summary of the invention
The invention provides a kind of material storehouse automatic discharging control system and method, expect that storehouse environment is severe to solve in correlation technique, need the problem of automatic discharging.
According to an aspect of the present invention, provide a kind of material storehouse unloading control method, described method comprises: the positional information obtaining dummy car; Value before between the lane place in the material storehouse in the positional information of described dummy car and dummy car belonging to material is compared, determines first moving direction of described dummy car between the material storehouse of variety classes material; Described dummy car according to described first moving direction walk with between described lane place before be worth corresponding sub-material storehouse; Obtain the controlling level information in described sub-material storehouse; Described controlling level information and sub-material storehouse controlling level higher limit are compared, determines second moving direction of described dummy car in the sub-material reservoir area comprising one species material; Run to according to described second moving direction the position that controlling level do not reach higher limit and carry out discharging operations; Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
Alternatively, the described positional information obtaining described dummy car comprises: adopt the incremental encoder be arranged on described dummy car, obtain the position counting information of described dummy car.
Alternatively, determine that first moving direction of described dummy car between the material storehouse of variety classes material comprises: according to the signal-count to described incremental encoder, demarcate the interval xi of position counting in each material storehouse
1~ xi
2; To stop to the coasting distance stopped according to described dummy car, setting coefficient of determination K; Xi is worth before between the count block, material storehouse in described dummy car position count value X and dummy car belonging to material
1relatively, determine described first moving direction of described dummy car, if | X-xi
1| >K, then described dummy car moves to xi
1corresponding position; If | X-xi
1|≤K, then described dummy car does not need mobile.
Alternatively, the controlling level information obtaining described appointment sub-material storehouse comprises: utilize level-sensing device to measure the controlling level in sub-material storehouse, described dummy car place.Alternatively, determine that the second moving direction in described dummy car is in the sub-material reservoir area of one species material comprises: by corresponding for sub-material storehouse, described dummy car place controlling level h compared with controlling level higher limit H, determine the moving direction in described dummy car is in the sub-material reservoir area of one species material, if h<H, then described dummy car stops walking, the sub-material base area corresponding at height h carries out discharging operations, until h >=H; If h >=H, then described dummy car walks on to the position of h<H.
Alternatively, in described dummy car walking process, verified by the positional information of one or more limit switch to described dummy car.
According to another aspect of the present invention, provide a kind of material storehouse discharge control apparatus, it is characterized in that, described device comprises: the first acquisition module, for obtaining the positional information of dummy car; First determination module, for value before between the lane place in the material storehouse in the positional information of described dummy car and dummy car belonging to material being compared, determines first moving direction of described dummy car between the material storehouse of variety classes material; Run module, for described dummy car according to described first moving direction walk with between described lane place before be worth corresponding sub-material storehouse; Second acquisition module, for obtaining the controlling level information in described sub-material storehouse; Second determination module, for described controlling level information and sub-material storehouse controlling level higher limit being compared, determines second moving direction of described dummy car in the sub-material reservoir area comprising one species material; Inversion module, discharging operations is carried out in the position not reaching higher limit for running to controlling level according to described second moving direction; Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
Alternatively, described first acquisition module also for: adopt the incremental encoder that is arranged on described dummy car, obtain the position counting information of described dummy car.
Alternatively, described first determination module also comprises: demarcate unit, for according to the signal-count to described incremental encoder, demarcates the interval xi of position counting in each material storehouse
1~ xi
2; Setup unit, for the coasting distance stopped that stopping to according to described dummy car, setting coefficient of determination K; First determining unit, for being worth xi before between the count block, material storehouse in described dummy car position count value X and dummy car belonging to material
1relatively, determine described first moving direction of described dummy car, if | X-xi
1| >K, then described dummy car moves to xi
1corresponding position; If | X-xi
1|≤K, then described dummy car does not need mobile.
Alternatively, the controlling level of described second acquisition module also for utilizing level-sensing device to measure sub-material storehouse, described dummy car place.
Alternatively, described second determination module also comprises: the second determining unit, for by corresponding for sub-material storehouse, described dummy car place controlling level h compared with controlling level higher limit H, determine the moving direction in described dummy car is in the sub-material reservoir area of same material, if h<H, then described dummy car stops walking, and the sub-material base area corresponding at height h carries out discharging operations, until h >=H; If h >=H, then described dummy car walks on to the position of h<H.
Alternatively, in described dummy car walking process, verified by the positional information of one or more limit switch to described dummy car.
According to a further aspect of the invention, provide a kind of material storehouse discharge control system, comprising: incremental encoder, described incremental encoder is arranged on dummy car, and the positional information of dummy car is sent to control system; Level-sensing device, the controlling level information in sub-material storehouse, described dummy car place measured by described level-sensing device, and send described controlling level information to control system; Control system, described control system, according to the signal-count to described incremental encoder, demarcates the position counting value in each material storehouse; Described control system receives the positional information of described dummy car, and with between the lane place in the material storehouse belonging to material in dummy car before value compare, control described dummy car and walk and expect between reservoir area accordingly; And described control system receives described controlling level information, control described dummy car in same material interval, move to the not numbered position of controlling level.
Alternatively, described material storehouse discharge control system also comprises one or more limit switch, and the position for described dummy car verifies.
By the present invention, obtain the positional information of dummy car; Value before between the lane place in the material storehouse in the positional information of dummy car and dummy car belonging to material is compared, determines first moving direction of dummy car between the material storehouse of variety classes material; This dummy car according to this first moving direction walk with between this lane place before be worth corresponding sub-material storehouse; Obtain the controlling level information in this sub-material storehouse; This controlling level information and sub-material storehouse controlling level higher limit are compared, determines second moving direction of this dummy car in the sub-material reservoir area comprising one species material; Run to according to this second moving direction the position that controlling level do not reach higher limit and carry out discharging operations; Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.Achieve material storehouse automatic discharging, accelerate discharging efficiency, accomplish unmanned, ensured the safety and health of personnel.
Accompanying drawing explanation
Be described embodiment by combining accompanying drawing below, above-mentioned characteristic sum technological merit of the present invention will become apparent and easy understand.
Fig. 1 is the material storehouse unloading control method process flow diagram according to the embodiment of the present invention;
Fig. 2 is the frame diagram of the material storehouse discharge control system according to the embodiment of the present invention;
Fig. 3 is the material storehouse distribution plan according to the embodiment of the present invention;
Fig. 4 is the control flow chart of walking between different material kind material storehouse according to the dummy car of the embodiment of the present invention;
Fig. 5 is the control flow chart of walking between the sub-material storehouse in one species material storehouse according to the dummy car of the embodiment of the present invention;
Fig. 6 is the structured flowchart () of the material storehouse discharge control apparatus according to the embodiment of the present invention;
Fig. 7 is the structured flowchart (two) of the material storehouse discharge control apparatus according to the embodiment of the present invention;
Fig. 8 is the structured flowchart (three) of the material storehouse discharge control apparatus according to the embodiment of the present invention.
Embodiment
The embodiment of material storehouse of the present invention unloading control method, Apparatus and system is described below with reference to the accompanying drawings.Those of ordinary skill in the art can recognize, when without departing from the spirit and scope of the present invention, can revise with various different mode or its combination to described embodiment.Therefore, accompanying drawing is illustrative with being described in essence, instead of for limiting the protection domain of claim.In addition, in this manual, accompanying drawing draws not in scale, and identical Reference numeral represents identical part.
In the present embodiment, a kind of material storehouse unloading control method is provided, as shown in Figure 1, comprises the following steps:
Step S102, obtains the positional information of dummy car;
Step S104, compares value before between the lane place in the material storehouse in the positional information of dummy car and dummy car belonging to material, determines first moving direction of dummy car between the material storehouse of variety classes material;
Step S106, dummy car according to the first moving direction walk with between lane place before be worth corresponding sub-material storehouse;
Step S108, obtains the controlling level information in sub-material storehouse;
Step S1010, compares controlling level information and sub-material storehouse controlling level higher limit, determines second moving direction of dummy car in the sub-material reservoir area comprising one species material;
Step S1012, runs to according to the second moving direction the position that controlling level do not reach higher limit and carries out discharging operations;
Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
By above-mentioned steps, solve pinnacle storage warehouse environment and badly endanger personal security and healthy problem, rely on automatic discharging control method, can unmanned be accomplished, accelerate discharging efficiency.
Step S102 relates to the positional information obtaining dummy car, in one alternate embodiment, incremental encoder is arranged on the wheel of dummy car by step S102, along with vehicle wheel rotation outputs signal PLC control system, PLC control system receives the signal of incremental encoder, is determined the position of dummy car by high speed counting module counting.
The counting that step S104 relates between material reservoir area is demarcated, in one alternate embodiment, step S104 adopts PLC control system according to the signal-count to this incremental encoder, demarcate the position counting value in each material storehouse, and value before between the lane place in the material storehouse in the positional information of dummy car and dummy car belonging to material compared, and then determine first moving direction of dummy car between the material storehouse of variety classes material.
Step S106 controls dummy car and walks before interval, position and be worth corresponding sub-material storehouse, in one alternate embodiment, step S106 is after determining first moving direction of dummy car between the material storehouse of variety classes material, and it is interval that PLC control system controls dummy car corresponding material library of walking.
Step S108 obtains the controlling level information in sub-material storehouse, in one alternate embodiment, step S108 is the controlling level adopting radar level gauge to measure sub-material storehouse, dummy car position in real time, this radar level gauge is installed on inside dummy car discharge port, and controlling level information is real-time transmitted to PLC control system.
Step S1010 determines whether that discharging is carried out in certain position in same material interval, in one alternate embodiment, step S1010 utilizes PLC control system according to the signal of the radar level gauge be arranged on inside dummy car discharge port, compare with controlling level higher limit, control dummy car in same material interval, move to the not numbered position of controlling level, arrive target discharge position.
In one alternate embodiment, in step S1012, dummy car runs to according to the second moving direction the position that controlling level does not reach higher limit, and carries out discharging operations.
Be described for a concrete embodiment below.As shown in Figure 2 and Figure 3, stock yard one defective material storehouse system configuration has the material storehouse of 8 kinds of materials, and often kind of material storehouse comprises again sub-material storehouse.One defective material storehouse overall length (dummy car stroke) is 610 meters.Setting material transportation direction in the present embodiment as just, be negative in the other direction, and the walking of dummy car forward, for adding counting, oppositely to be walked as subtracting counting.Respectively expect that the raw materials such as assorted ore deposit, coke are deposited in storehouse respectively according to technological requirement.Scrambler is installed on dummy car lateral wheel, for output pulse signal.Radar level gauge is installed on inside dummy car discharge port, for measuring the controlling level of dummy car position.As shown in Figure 3, in one alternate embodiment, each material storehouse is divided into correspondence position count value xi by PLC control system
1~ xi
2interval, such as x1
1~ x1
2corresponding assorted ore deposit, x2
1~ x2
2corresponding pelletizing breeze, is divided into 10 intervals by material storehouse at length direction.Take L1 as initial position (encoder pulse count is 0), L5 is that location position is carried out to a whole defective material storehouse in final position (by encoder pulse actual count value).
To stop to the coasting distance stopped according to dummy car, setting coefficient of determination K.Relative to whole material storehouse, dummy car can regard a particle.Because dummy car has certain slip when parking, scrambler also can and then count, according to the field condition setting K of dummy car track and dummy car etc., such as, setting coefficient of determination K is 50, be equivalent to dummy car to walk the distance of 0.5 meter, guarantee that dummy car can stop in the interval of 0.5 meter before and after this position, instead of look for parking spot along with the counting of scrambler always.
As shown in Figure 4, suppose that the corresponding real-time encoder step-by-step counting in dummy car position is X, after determining supplied materials kind, between the material reservoir area that PLC control system selects this material corresponding, determine xi
1~ xi
2value, such as, when supplied materials be sintering breeze time, PLC control system determine sinter breeze lane place between be counted as x8
1~ x8
2, the front value of the region labeling value in sintering deposit powder storehouse is x8
1.Xi is worth with before the material base area calibration value of this material place with encoder pulse real-time counting X
1compare, determination flow is as follows:
If | X-xi
1| >K, and X<xi
1, then dummy car forward runs to xi
1corresponding position;
If | X-xi
1| >K, and X>xi
1, then dummy car oppositely moves to xi
1corresponding position;
If | X-xi
1|≤K, then show dummy car in the position of corresponding material, terminates walking.
By above flow decision, dummy car can be walked the xi in material storehouse corresponding to material
1place, often kind of material library also can corresponding one or more sub-material storehouse, and the walking between several sub-material storehouse, needs to judge, in one alternate embodiment, as shown in Figure 5, when dummy car marches to xi according to the height of materials information in sub-material storehouse
1after correspondence position, suppose that the corresponding controlling level measured in real time in dummy car position is h, compare with setting controlling level higher limit H with actual controlling level h:
If h<H, then dummy car stop walking and in this discharging to h>=H, then dummy car forward walk to h<H position continue discharging, until | X-xi
2|≤K, dummy car stops walking and stopping material loading.
If h >=H, then dummy car continues to proceed to h<H.
In order to clearer description the present embodiment, illustrate below, as shown in Figure 3, when determine supplied materials be sintering breeze time, PLC control system determine sinter breeze lane place between be counted as x8
1~ x8
2, the front value of the region labeling value in sintering deposit powder storehouse is x8
1.Encoder pulse real-time counting is X, and X is worth x8 with before the material base area calibration value of this material place
1compare, set material transportation direction as just, be negative in the other direction, coefficient of determination is set as 50.
If | X-x8
1| >50, and X<xi
1, then dummy car forward runs to the x8 in sintering deposit powder storehouse
1corresponding position;
If | X-x8
1| >50, and X>xi
1, then dummy car oppositely moves to the x8 in sintering deposit powder storehouse
1corresponding position;
If | X-x8
1|≤50, then show dummy car at sintering breeze x8
1corresponding position, terminates walking.
Dummy car moves to the postpone of corresponding material warehouse compartment, compares with setting controlling level H (higher limit) with the controlling level h of actual sintered breeze.If h<H, then dummy car stop walking and in this discharging until h >=H.Then dummy car run to forward h<H position continue discharging until | X-x8
2|≤50, namely the end in this material interval gone to by dummy car, and dummy car stops walking and stopping material loading.
In one alternate embodiment, whole material storehouse length direction is provided with 5 limit switches, be respectively L1, L2, L3, L4, L5, the position of limit switch can be arranged on different positions according to actual needs, when limit switch encountered by dummy car, positional information corresponding for limit switch is sent to PLC control system by limit switch, such as, when L3 limit switch place walked by dummy car, trigger L3 limit circuit, the positional information at its place is sent to PLC control system by L3 limit switch, the positional information comparison that scrambler on the positional information of L3 and dummy car sends by PLC control system, proofread the positional information of dummy car.
More than describe the situation being only single supplied materials discharging, and be that various material replaces in actual production.Because all the other kind material discharge process are similar, do not describe in detail at this, by this material storehouse unloading control method, reach the object of unmanned Full-automatic discharging.
Additionally provide a kind of material storehouse discharge control apparatus in the present embodiment, this device is used for realizing above-described embodiment and preferred implementation, has carried out repeating no more of explanation.As used below, term " module " can be realize the software of predetermined function and/or the combination of hardware.
Fig. 6 is the structured flowchart of the material storehouse discharge control apparatus according to the embodiment of the present invention, as shown in Figure 6, this device comprises the first acquisition module 52, first determination module 54, runs module 56, second acquisition module 58, second determination module 510, inversion module 512.
Wherein, the first acquisition module 52 is for obtaining the positional information of dummy car; First determination module 54, for value before between the lane place in the material storehouse in the positional information of this dummy car and dummy car belonging to material being compared, determines first moving direction of this dummy car between the material storehouse of variety classes material; Run module 56, for dummy car according to this first moving direction walk with between this lane place before be worth corresponding sub-material storehouse; Second acquisition module 58, for obtaining the controlling level information in this sub-material storehouse; Second determination module 510, for this controlling level information and sub-material storehouse controlling level higher limit being compared, determines second moving direction of this dummy car in the sub-material reservoir area comprising one species material; Inversion module 512, discharging operations is carried out in the position not reaching higher limit for running to controlling level according to this second moving direction; Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
In addition, this first acquisition module 52 adopts the incremental encoder be arranged on this dummy car, obtains the position counting information of this dummy car.
As shown in Figure 7, the first determination module 54 also comprises:
Demarcate unit 542, for according to the signal-count to this incremental encoder, demarcate the interval xi of position counting in each material storehouse
1~ xi
2;
Setup unit 544, for the coasting distance stopped that stopping to according to this dummy car, setting coefficient of determination K;
First determining unit 546, for being worth xi before between the count block, material storehouse in this dummy car position count value X and dummy car belonging to material
1relatively, determine this first moving direction of this dummy car,
If | X-xi
1| >K, then this dummy car moves to xi
1corresponding position;
If | X-xi
1|≤K, then this dummy car does not need mobile.
Second acquisition module 58 utilizes radar level gauge to measure the controlling level in this sub-material storehouse, dummy car place.
As shown in Figure 8, the second determination module 510 also comprises:
Second determining unit 5102, for by corresponding for this sub-material storehouse, dummy car place controlling level h with controlling level higher limit H compared with, determine the moving direction that this dummy car is interior in the sub-material reservoir area of same material,
If h<H, then this dummy car stops walking, and the sub-material base area corresponding at height h carries out discharging operations, until h >=H;
If h >=H, then this dummy car walks on to the position of h<H.
In addition, in this dummy car walking process, verified by the positional information of one or more limit switch to this dummy car.
Additionally provide a kind of material storehouse discharge control system in the present embodiment, as shown in Figure 2, comprise incremental encoder, radar level gauge, PLC control system.Incremental encoder is arranged on the lateral wheel of dummy car, accesses PLC control system by cable, along with vehicle wheel rotation output pulse signal is to PLC control system; Radar level gauge is installed on inside the discharge port of dummy car, and measure the controlling level of dummy car position in real time, it is linked into PLC control system by cable; PLC control system, according to the signal-count to this incremental encoder, demarcates the position counting value in each material storehouse; PLC control system receives the signal of incremental encoder, the position of this dummy car is determined by high speed counting module counting, and in conjunction with between count block corresponding to the position in each material storehouse, by feed belt to dummy car feed, control dummy car corresponding material of walking interval, material can be transported to corresponding position; And this PLC control system, according to the signal of radar level gauge, controls this dummy car in same material interval, moves to the not numbered position of controlling level.
In one alternate embodiment, whole material storehouse length direction is provided with 5 limit switches, be respectively L1, L2, L3, L4, L5, the position of limit switch can be arranged on different positions according to actual needs, when limit switch encountered by dummy car, positional information corresponding for limit switch is sent to PLC control system by limit switch, the positional information comparison that the scrambler on the positional information of limit switch and dummy car sends by PLC control system, proofreads the positional information of dummy car.
By above-mentioned material storehouse automatic discharging control system, the pulse signal of application incremental encoder, counted by high speed counting module, a whole defective material storehouse is included in a large count block, the position of the corresponding dummy car of each count value, and through limit switch L1 ~ L5, it is being verified.Solve material drop in the storage warehouse of pinnacle comparatively large, dust removing effects is undesirable, makes the problem of expecting that storehouse environment is severe, relies on automatic discharging control system, accomplish unmanned, can accelerate discharging efficiency, and the safety and health of support personnel.
In sum, by material storehouse of the present invention automatic discharging control system, achieve following technique effect: 1. adopt to the mode of incremental encoder step-by-step counting to locate dummy car, can the position of Real-Time Monitoring dummy car, thus avoid the blind area between limit switch;
2. the mode by comparing with calibration value real-time counting value controls the walking of dummy car, short and sweet in logic, and program easily realizes;
3. scrambler location combines with monitoring material position, achieves the automatic discharging in single material district.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. expect a storehouse unloading control method, it is characterized in that, described method comprises:
Obtain the positional information of dummy car;
Value before between the lane place in the material storehouse in the positional information of described dummy car and described dummy car belonging to material is compared, determines first moving direction of described dummy car between the material storehouse of variety classes material;
Described dummy car according to described first moving direction walk with between described lane place before be worth corresponding sub-material storehouse;
Obtain the controlling level information in described sub-material storehouse;
Described controlling level information and sub-material storehouse controlling level higher limit are compared, determines second moving direction of described dummy car in the sub-material reservoir area comprising one species material;
Run to according to described second moving direction the position that controlling level do not reach higher limit and carry out discharging operations;
Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
2. method according to claim 1, is characterized in that, the described positional information obtaining described dummy car comprises:
Adopt the incremental encoder be arranged on described dummy car, obtain the position counting information of described dummy car.
3. method according to claim 1, is characterized in that, determines that first moving direction of described dummy car between the material storehouse of variety classes material comprises:
According to the signal-count to described incremental encoder, demarcate the interval xi of position counting in each material storehouse
1~ xi
2;
To stop to the coasting distance stopped according to described dummy car, setting coefficient of determination K;
Xi is worth before between the count block, material storehouse in described dummy car position count value X and dummy car belonging to material
1relatively, determine described first moving direction of described dummy car,
If | Χ-xi
1| >K, then described dummy car moves to xi
1corresponding position;
If | Χ-xi
1|≤K, then described dummy car does not need mobile.
4. method according to claim 1, is characterized in that, the controlling level information obtaining described appointment sub-material storehouse comprises:
Level-sensing device is utilized to measure the controlling level in sub-material storehouse, described dummy car place.
5. method according to claim 1, is characterized in that, determines that the second moving direction in described dummy car is in the sub-material reservoir area of one species material comprises:
By corresponding for sub-material storehouse, described dummy car place controlling level h compared with controlling level higher limit H, determine the moving direction in described dummy car is in the sub-material reservoir area of one species material,
If h<H, then described dummy car stops walking, and the sub-material base area corresponding at height h carries out discharging operations, until h >=H;
If h>=H, then described dummy car walks on to the position of h<H.
6. method according to claim 1, is characterized in that, in described dummy car walking process, is verified by the positional information of one or more limit switch to described dummy car.
7. expect a storehouse discharge control apparatus, it is characterized in that, described device comprises:
First acquisition module, for obtaining the positional information of dummy car;
First determination module, for value before between the lane place in the material storehouse in the positional information of described dummy car and dummy car belonging to material being compared, determines first moving direction of described dummy car between the material storehouse of variety classes material;
Run module, for described dummy car according to described first moving direction walk with between described lane place before be worth corresponding sub-material storehouse;
Second acquisition module, for obtaining the controlling level information in described sub-material storehouse;
Second determination module, for described controlling level information and sub-material storehouse controlling level higher limit being compared, determines second moving direction of described dummy car in the sub-material reservoir area comprising one species material;
Inversion module, discharging operations is carried out in the position not reaching higher limit for running to controlling level according to described second moving direction;
Wherein, one species material storehouse has one or more sub-material storehouse adjacent successively.
8. device according to claim 7, is characterized in that, described first acquisition module also for:
Adopt the incremental encoder be arranged on described dummy car, obtain the position counting information of described dummy car.
9. device according to claim 7, is characterized in that, described first determination module also comprises:
Demarcate unit, for according to the signal-count to described incremental encoder, demarcate the interval xi of position counting in each material storehouse
1~ xi
2;
Setup unit, for the coasting distance stopped that stopping to according to described dummy car, setting coefficient of determination K;
First determining unit, for being worth xi before between the count block, material storehouse in described dummy car position count value X and dummy car belonging to material
1relatively, determine described first moving direction of described dummy car,
If | Χ-xi
1| >K, then described dummy car moves to xi
1corresponding position;
If | Χ-xi
1|≤K, then described dummy car does not need mobile.
10. device according to claim 7, is characterized in that, the controlling level of described second acquisition module also for utilizing level-sensing device to measure sub-material storehouse, described dummy car place.
11. devices according to claim 7, is characterized in that, described second determination module also comprises:
Second determining unit, for by corresponding for sub-material storehouse, described dummy car place controlling level h with controlling level higher limit H compared with, determine the moving direction that described dummy car is interior in the sub-material reservoir area of same material,
If h<H, then described dummy car stops walking, and the sub-material base area corresponding at height h carries out discharging operations, until h >=H;
If h >=H, then described dummy car walks on to the position of h<H.
12. devices according to claim 7, is characterized in that, in described dummy car walking process, are verified by the positional information of one or more limit switch to described dummy car.
13. 1 kinds of material storehouse discharge control systems, is characterized in that, comprising:
Incremental encoder, described incremental encoder is arranged on dummy car, and the positional information of dummy car is sent to control system;
Level-sensing device, the controlling level information in sub-material storehouse, described dummy car place measured by described level-sensing device, and send described controlling level information to control system;
Control system, described control system, according to the signal-count to described incremental encoder, demarcates the position counting value in each material storehouse;
Described control system receives the positional information of described dummy car, and with between the lane place in the material storehouse belonging to material in dummy car before value compare, control described dummy car and walk and expect between reservoir area accordingly; And,
Described control system receives described controlling level information, controls described dummy car in same material interval, moves to the not numbered position of controlling level.
14. systems according to claim 13, is characterized in that, described material storehouse discharge control system also comprises one or more limit switch, and the position for described dummy car verifies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510824716.8A CN105404300B (en) | 2015-11-24 | 2015-11-24 | Expect storehouse unloading control method, apparatus and system |
Applications Claiming Priority (1)
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