CN106044253A - Material taking method - Google Patents
Material taking method Download PDFInfo
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- CN106044253A CN106044253A CN201610373114.XA CN201610373114A CN106044253A CN 106044253 A CN106044253 A CN 106044253A CN 201610373114 A CN201610373114 A CN 201610373114A CN 106044253 A CN106044253 A CN 106044253A
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- Prior art keywords
- reclaimer
- feeding
- stockpile
- point
- fetching
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- 239000000463 material Substances 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 107
- 238000001514 detection method Methods 0.000 claims description 29
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- 239000012530 fluid Substances 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 7
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 32
- 239000010410 layer Substances 0.000 description 81
- 241000755535 Bambusa emeiensis Species 0.000 description 23
- 239000003245 coal Substances 0.000 description 9
- 241000209094 Oryza Species 0.000 description 6
- 235000007164 Oryza sativa Nutrition 0.000 description 6
- 238000007599 discharging Methods 0.000 description 6
- 235000009566 rice Nutrition 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
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- 238000005516 engineering process Methods 0.000 description 4
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
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- 241000196324 Embryophyta Species 0.000 description 1
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- 150000001875 compounds Chemical class 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
Abstract
The invention relates to the field of control engineering and discloses a material taking method. The material taking method comprises the steps that a three-dimensional model of a material pile is obtained; a material taking initial point and a material taking ending point are determined by identifying the three-dimensional model; and a material taking machine is controlled to move from the material taking initial point to the material taking ending point for material taking. In this way, the control process of the material taking machine can be reasonably controlled, the stability and the material taking efficiency of material taking work are improved, and the labor cost is reduced.
Description
Technical field
The present invention relates to control engineering field, in particular it relates to a kind of method for fetching.
Background technology
Reclaimer is the visual plant in bulk transportation machinery, and its major function is that (material in stockyard is referred generally to coal
Charcoal or Ore, describe below as a example by coal) get on belt feeder, had bad luck again by belt feeder on ship loader and carry out
Shipment transport.In general, the feeding the most manually of reclaimer at home, during each material extracting operation, driver is seen by eyes
Examine the shape of dump, first dump is layered (being generally divided into three layers), it is judged that the reclaimer bucket wheel which layer to dump
Carry out feeding and probably determine concrete point of penetration；Then the action such as the walking of Non-follow control reclaimer, revolution, pitching, makes feeding
Machine bucket wheel is registered on dump, starts bucket wheel and cantilever belt conveyor, to start feeding.Generally, take to turn round feeding, i.e. first left
Turning, turn left to reclaimer behind limit and move ahead 1-2 rice, then turn right, after turning right to limit, reclaimer moves ahead 1-2 rice again, the most repeatedly, directly
To current layer feeding, Artificial Control reclaimer retreats to next layer of feeding position, declines large arm and makes bucket wheel be directed at next
Layer dump point of penetration, starts again at revolution material extracting operation.After reaching, Deng ship loader cabin, the coal quantity needed, stop feeding,
And the big revolution of arm of Non-follow control reclaimer, pitching zero.
In above-mentioned reclaiming process, all information are required for operator and carry out observing acquisition by eyes, in order to complete to take
Material, in this process, operator need trick to combine, and its most of the time is in the operation process of high intensity, because of rather than
Chang Rongyi is tired, and working performance is affected bigger by fatigue；It addition, under the weather conditions such as strong wind, sleet mist, operator regard
Line unclear and cannot normal observation, thus must stop operation, the most greatly have impact on work efficiency.
Summary of the invention
It is an object of the invention to provide a kind of method for fetching, this method for fetching improves stability and the feeding of material extracting operation
Efficiency, and reduce cost of labor.
To achieve these goals, the present invention provides a kind of method for fetching, and this method for fetching includes: obtain the three-dimensional of stockpile
Model；Identify that threedimensional model determines feeding starting point and feeding terminating point；And control reclaimer from described feeding starting point to
Described feeding terminating point carries out feeding.
Preferably, in the case of described reclaimer is for revolution feeding, described method for fetching also includes: control described feeding
Machine turns round to first direction to carry out feeding；When the bucket wheel of described reclaimer arrives stockpile edge, control described reclaimer and stop
Non-return turns and controls its walking preset distance；And control described reclaimer to direction revolution opposite to the first direction.
Preferably, this method for fetching also includes: according to the angle of revolution of described reclaimer, the height of the bucket wheel of described reclaimer
The luffing angle of the cantilever of degree and described reclaimer calculates the change of the threedimensional model of stockpile, and updates stockpile according to this change
Threedimensional model.
Preferably, described method for fetching also includes: according to the volume of described stockpile, this stockpile is divided into multiple feeding layer；Really
The feeding starting point of fixed each feeding layer and feeding terminating point；And control reclaimer takes from each in accordance with the order from top to bottom
The feeding starting point of the bed of material carries out feeding to the feeding terminating point of this feeding layer.
Preferably, described feeding layer volume less than preset vol time in the case of, determine that this feeding layer feeding terminates.
Preferably, described feeding starting point is first point on described feeding layer on described reclaimer direction of travel,
And described feeding terminating point is last point on described reclaimer direction of travel on described feeding layer.
Preferably, described method for fetching also include the edge detecting described stockpile with determine described reclaimer whether move to
Stockpile edge.
Preferably, described reclaimer determine meet following at least one when feeding in the case of described reclaimer move to
Described stockpile edge: do not receive the stockpile margin signal through material reflection；Pressure in the bucket wheel fluid pressure line of described reclaimer
Power is less than preset pressure；Difference between angle of revolution and the angle of revolution of feeding last time of this feeding is more than predetermined angle；
And the medial angle of described reclaimer is more than or equal to presetting inner angle, or laterior horn is more than or equal to presetting laterior horn
Degree.
Preferably, determine beyond side draw material point of penetration be that the center of circle, the circle that cantilever is radius of described reclaimer take with described
The walking track centerline first intersection point on described reclaimer direction of travel of material machine, should be with the walking rail of described reclaimer
The centrage first intersection point on described reclaimer direction of travel in road takes with described with the line of described outside feeding point of penetration
The angle of the walking track centerline of material machine is laterior horn；Within determining side draw material point of penetration be the center of circle, described reclaimer outstanding
Arm is the circle first intersection point on described reclaimer direction of travel with the walking track centerline of described reclaimer of radius,
Should be with first intersection point on described reclaimer direction of travel of the walking track centerline of described reclaimer and described inner side
The line of feeding point of penetration is medial angle with the angle of the walking track centerline of described reclaimer.
Preferably, whether existed by sonic sensor or microwave radar detection material.
Preferably, described method for fetching also includes that stack collapse detects.
Preferably, the detection of described stack collapse includes: detection bucket wheel pressure；When bucket wheel pressure is more than the first preset pressure, really
Fixed serious stack collapse；And when bucket wheel pressure is less than or equal to described first preset pressure more than the second preset pressure, determine light
Micro-stack collapse.
Preferably, in the case of serious stack collapse, described method for fetching also includes: control described reclaimer stop revolution or
Walking；Control described reclaimer and retreat predeterminable range；Control described reclaimer carry out feeding in the scheduled time and forbid reclaimer
Revolution and walking；And control the revolution of described reclaimer or walking.
Preferably, in the case of slight stack collapse, described method for fetching also includes: control described reclaimer stop revolution or
Walking；Control described reclaimer carry out feeding in the scheduled time and forbid reclaimer revolution and walking；And control described feeding
Machine revolution or walking.
By technique scheme, by identifying feeding starting point and the feeding terminating point of threedimensional model, control reclaimer
Feeding is carried out to described feeding terminating point from described feeding starting point.So can the control process of conservative control reclaimer, carry
The stability of high material extracting operation and feeding efficiency, and reduce cost of labor.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the method for fetching provided according to the present invention；
Fig. 2 is the schematic diagram of stacker operation；
Fig. 3 is the flow chart of the stockpile modeling method provided according to the present invention；
Fig. 4 is the design sketch of Neosinocalamus affinis；
Fig. 5 is the modelling effect figure in reclaiming process；
Fig. 6 is the structural representation providing stockpile model building device according to the present invention；
Fig. 7 is the flow chart of the recognition methods of the Neosinocalamus affinis for reclaimer feeding according to present invention offer；
Fig. 8 is feeding starting point and the figure of feeding terminating point determining each layer of stockpile according to one embodiment of the present invention
Show；
Fig. 9 is laterior horn and the schematic diagram of medial angle of stockpile top layer；
Figure 10 is the structural representation of the stockpile edge detecting device provided according to the present invention；
Figure 11 be reclaimer bucket wheel fluid pressure line in different situations time pressure curve schematic diagram；
Figure 12 shows the flow chart of the stack collapse detection method according to one embodiment of the present invention；
Figure 13 is the structural representation of the stack collapse detection device in the reclaiming process according to present invention offer；And
Figure 14 is the flow chart of the method for fetching provided according to one embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that this place is retouched
The detailed description of the invention stated is merely to illustrate and explains the present invention, is not limited to the present invention.
Fig. 1 is the flow chart of the method for fetching provided according to the present invention, as it is shown in figure 1, the method for fetching that the present invention provides
May include that in step 10 place, obtain the threedimensional model of stockpile；In step 11 place, identify that threedimensional model determines feeding starting point
With feeding terminating point；And in step 12 place, control reclaimer and take to described feeding terminating point from described feeding starting point
Material.So can the control process of conservative control reclaimer, improve stability and the feeding efficiency of material extracting operation, and reduce
Cost of labor.
The model of described stockpile can be stored in advance in data base, for the ease of material extracting operation or windrow operation again
Time obtain stockpile three-dimensional information, during the windrow of stacker, need the stockpile on stockyard is modeled.Building of stockpile
Mould refers to be embodied the data of stockpile three-D profile by normalized data, i.e. digital elevation model, mathematic(al) representation
For: z=f (x, y).
The three-dimensional modeling of stockpile for work such as material stack volume calculating, full-automatic heap material extracting operations it is critical that basis
Sex work.The most traditional modeling method is the method using laser scanning modeling, specifically by two dimension or three-dimensional laser
Scanner carries out entire scan to stockpile, and the coordinate being combined scan origin by scanning acquisition cloud data finally calculates stockpile
The three-dimensional coordinate information of each location point, it is achieved three-dimensional modeling.The advantage of laser scanning modeling is that data accuracy is high, and single-point is by mistake
Difference can control in Centimeter Level, and as a example by the dump of 20,000 tons, after laser scanning, the error of volume can control within 1%.Lack
Point is: sweep time is long, scan one dump and typically requires and be stitched together after different position is scanned, the dependence to weather
Relatively strong, run into the big greasy weather or dust relatively big in the environment of, the penetrance of laser can be severely impacted, and laser scanner cannot
Normal work.
The stacker in stockyard, reclaimer, in operation process, need the dump to operation to carry out Real-time modeling set, such that it is able to
Realize full automatic heap material extracting operation.But in operation process, be typically due to the dust of material (such as coal) too big or
The situations such as big greasy weather and cause laser scanner to model, thus affect production.
For material characteristic, the present invention also provides for a kind of stockpile modeling method, and such as, coal belongs to bulk cargo, according to coal
The varying in size of granule, water content are different, and the angle of repose of coal is different, it addition, the initial velocity of dishing out of coal is different, and dump
Discharging point also can be different.But, the angle of repose of similar coal material is essentially identical.Fig. 2 gives stacker operation
Schematic diagram.
As in figure 2 it is shown, described stockpile modeling method may include that in step 30 place, according to the angle of pitch of stacker boom
And the speed of arm belt obtains the discharging point of material；In step 31 place, obtain angle of repose according to material characteristic；In step 32
Place, obtains the volume having unloaded material；And in step 33 place, set up according to described discharging point, described angle of repose and described volume
Neosinocalamus affinis.So can set up the threedimensional model reflecting stockpile the most truly, in order to use during material extracting operation, promote to take
Expect the stability of operation and improve the efficiency of material extracting operation.Wherein Fig. 4 shows the design sketch of Neosinocalamus affinis.
Wherein, by during windrow, by arm belt scale, material can be weighed, thus can be according to institute
State material characteristic and unloaded material weight obtain described material volume.
If continuing windrow on existing stockpile, the most described stockpile modeling method includes: obtain described existing Neosinocalamus affinis,
And set up Neosinocalamus affinis based on described existing Neosinocalamus affinis during windrow.
During windrow, the weight of institute's heap material is drawn by the belt balance weighing being arranged on stacker boom,
Its accuracy is higher.Therefore to improve the accuracy of institute's established model further, described stockpile modeling method can also include: root
Calculate the volume of described stockpile according to institute's established model, weight based on the volume calculated and institute's heap material corrects described model.Example
As calculated volume by weight, then adjust described model and make the volume of model approach the volume calculated by weight.
In reclaiming process, reclaimer is rotated by bucket wheel and carries out material extracting operation.In general, the ground that bucket wheel is dug up
Side, material can cut.So, by the angle of revolution, left and right of each reclaimer material, in conjunction with height and the cantilever angle of pitch of bucket wheel
Degree, can calculate the change of dump model.
Therefore, in reclaiming process, described stockpile modeling method can also include: obtains the data of original Neosinocalamus affinis；
Operational factor according to reclaimer obtains the material data of the position of the bucket wheel process of described reclaimer；At described original stockpile mould
Described material data is eliminated to obtain Neosinocalamus affinis in type.Modelling effect figure in reclaiming process is as shown in Figure 5.
Wherein, the operational factor of described reclaimer includes: the walking position of described reclaimer, luffing angle, angle of revolution,
The height of described bucket wheel.
Correspondingly, the present invention also provides for a kind of stockpile model building device, as shown in Figure 6, the stockpile modeling dress that the present invention provides
Put and may include that discharging point acquisition module 61, obtain material according to the angle of pitch of stacker boom and the speed of arm belt
Discharging point；Angle of repose acquisition module 62, for obtaining angle of repose according to material characteristic；Volume acquisition module 63, for having obtained
Unload the volume of material；And processing module 64, for setting up stockpile mould according to described discharging point, described angle of repose and described volume
Type.So can set up the threedimensional model reflecting stockpile the most truly, in order to use during material extracting operation, promote material extracting operation
Stability and improve the efficiency of material extracting operation.
If continuing windrow on existing stockpile, the most described stockpile model building device may include that model acquisition module, is used for
Obtain described existing Neosinocalamus affinis, and described processing module 64 sets up material based on described existing Neosinocalamus affinis during windrow
Heap model.
Described stockpile model building device also includes: correction module, for calculating the volume of described stockpile, base according to institute's established model
Weight in the volume calculated and institute's heap material corrects described model.
In reclaiming process, described stockpile model building device can also include: model acquisition module, is used for obtaining original stockpile
The data of model；Material data acquisition module, the bucket wheel obtaining described reclaimer for the operational factor according to reclaimer passes through
The material data of position；Described processing module 64 eliminates described material data to obtain stockpile on described original Neosinocalamus affinis
Model.
The stockpile modeling method of present invention offer and device, it is possible to by the parameter during stacker windrow and reclaimer
Parameter in reclaiming process realizes the modeling of mathematical modelling, reaches not rely on the pure mathematics modeling of laser scanning, the most permissible
Realize the modeling of round-the-clock stockpile, and then improve work efficiency.And, the stockpile modeling method provided by the present invention is modeled
The error of type volume is less than 1%, improves job stability.
It addition, in reclaiming process, if described reclaimer is revolution feeding, the most described method for fetching can also include:
Control described reclaimer to turn round to first direction to carry out feeding；When the bucket wheel of described reclaimer arrives stockpile edge, control
Described reclaimer stops revolution and controls its walking preset distance；And control described reclaimer to opposite to the first direction
Direction revolution.
Described method for fetching can also include: according to the angle of revolution of described reclaimer, the height of the bucket wheel of described reclaimer
The luffing angle of the cantilever of degree and described reclaimer calculates the change of the threedimensional model of stockpile, and updates stockpile according to this change
Threedimensional model.
In one embodiment of the invention, stockpile can carry out layering to control feeding, the most described method for fetching
Can also include: according to the volume of described stockpile, this stockpile is divided into multiple feeding layer；Determine that the feeding of each feeding layer initiates
Point and feeding terminating point；And control reclaimer takes to this from the feeding starting point of each feeding layer in accordance with the order from top to bottom
The feeding terminating point of the bed of material carries out feeding.I.e. after top layer feeding completes, can be using middle level as current top layer, in order to will
It is defined as feeding layer and carries out feeding.
Wherein, described feeding starting point is first point on described feeding layer on described reclaimer direction of travel, and
Described feeding terminating point is last point on described feeding layer on described reclaimer direction of travel.
As it has been described above, after the threedimensional model of stockpile is built up, control reclaimer carries out automatic material taking to be needed to realize Neosinocalamus affinis
Intelligent Recognition.Such as, in the open storage ground operating system of bulk cargo terminals, reclaimer is used to take also the material in stockyard away
It is transferred to the equipment of ship loader.Under traditional handicraft, it is common that manual operation, operator is taken by the Adjusting Shape observing stockpile
The large arm position of material machine carries out feeding.Along with development in science and technology, the dimensional Modeling Technology of stockpile is gradually grown up, the three of stockpile
Dimension data can be acquired by the way of laser scanning, it is possible to produces the dem data of specification.But, three-dimensional modeling
Data are generally used to carry out the measurement of volume and visual displaying, operator can carry out manually according to threedimensional model or
Semi-automatic material extracting operation, is difficulty with full-automatic material extracting operation, and reason is that the Neosinocalamus affinis recognition methods not having a kind of intelligence comes
Automatically carry out stockpile identification and control reclaimer and carry out automatic material taking operation.
Therefore, the present invention also provides for the recognition methods of a kind of Neosinocalamus affinis for reclaimer feeding, as it is shown in fig. 7, this
The recognition methods that invention provides may include that in step 70 place, obtains described Neosinocalamus affinis；In step 71 place, according to described material
This stockpile is divided into multiple feeding layer by the volume of heap；And in step 72 place, determine the feeding starting point of each feeding layer and take
Material terminating point.So can promote the stability of material extracting operation and improve feeding efficiency.
Wherein, owing to the height of each feeding of bucket wheel can not be the highest, stack collapse situation otherwise can occur.Therefore, according to described
This stockpile is divided into multiple feeding layer and may include that and be layered by described stockpile according to predetermined altitude by the volume of stockpile；Calculate
The volume of each layer；And at the volume of a layer more than in the case of preset vol, using this layer as a feeding layer.That is, institute
State the volume of feeding layer less than in the case of during preset vol, determine that this feeding layer feeding terminates.
Wherein, the volume calculating each layer may include that the matrix grid that described layer is divided into preliminary dimension；And it is right
The volume of the matrix grid in described layer is integrated obtaining the volume of this layer.
It addition, determine that the feeding starting point of each feeding layer and feeding terminating point may include that and projected extremely by described stockpile
In the plane parallel with described reclaimer direction of travel；Determine two of the projection of described stockpile and the bottom surface projection of a feeding layer
Intersection point, wherein along the feeding starting point that first intersection point is this feeding layer on reclaimer direction of travel, another intersection point is
The feeding terminating point of this feeding layer.
It addition, described recognition methods also comprises determining that laterior horn and the medial angle of each feeding layer, for follow-up feeding
During judge whether to get stockpile edge.
Wherein it is determined that the laterior horn of each feeding layer and medial angle comprise determining that beyond side draw material point of penetration be the center of circle, institute
State the circle that cantilever is radius of reclaimer and the walking track centerline of described reclaimer on described reclaimer direction of travel
First intersection point, should with described reclaimer walking the track centerline first intersection point on described reclaimer direction of travel with
The line of described outside feeding point of penetration is laterior horn with the angle of the walking track centerline of described reclaimer；Determine with inner side
Feeding point of penetration be the walking track centerline of the circle that cantilever is radius and the described reclaimer of the center of circle, described reclaimer in institute
State first intersection point on reclaimer direction of travel, should with described reclaimer walking track centerline at described reclaimer row
Walk the line of first intersection point on direction and described inner side feeding point of penetration and the walking track centerline of described reclaimer
Angle is medial angle.
Wherein, outside feeding point of penetration be for reclaimer outside-in turn round during, get thing at first
The point of material；And inner side feeding point of penetration is during Inside To Outside revolution for reclaimer, get material at first
Point.
The Neosinocalamus affinis being used for reclaimer feeding that the present invention provides will be described in detail below by detailed description of the invention
Recognition methods.
In this embodiment, can be, but not limited to be divided into stockpile the matrix grid of 20 centimetres * 20 centimetres, each net
The height value of lattice point is exactly digital elevation.In the case of knowing the ranks subscript of data point on grid, according to elevation model just
The height value that mesh point is corresponding can be found.
Wherein, the principle calculating volume is as follows:
The volume of each grid is integrated, is not regular geometric figure due to Neosinocalamus affinis, simplification side can be used
Formula carries out volume calculating.Such as, being sued for peace by the height of each mesh point, the floor space with single grid is multiplied the most again
Draw the volume of stockpile.In the present embodiment, the length of side of grid is set as 20 centimetres, then floor space is 0.04 square metre.Material
The volume s=Σ hi*0.04 of heap, wherein hi is the height value of each point.
Calculating for the top layer volume after layering is similar with above-mentioned calculating process, first can only add up top layer (such as
Elevation be more than or equal to 11.5 meters) altitude data, then the height value of mesh point is deducted 11.5, then sues for peace, be multiplied by the most again
Floor space 0.04 can draw top layer volume.
First the calculating of middle level volume calculate more than middle level and include the volume of top layer, then deducts top layer volume
Go out middle level volume.
Wherein, starting point, terminating point principle are calculated as follows:
Typically start operation in the middle of stockpile due to material extracting operation, a line that therefore can choose Neosinocalamus affinis center row is high
Number of passes is according to being analyzed.According to the situation of every, general stockpile is divided into three layers, and ground floor is 0-5.5 rice, and the second layer is 5.5-11
Rice, third layer is 11-16 rice, the highest the altitude data point of center row is divided into three parts, the two of each part according to three
End row subscript just reflects the starting point and ending point position of current layer, as shown in Figure 8.Wherein F and A is the feeding of stockpile bottom
Starting point and feeding terminating point, E and B is feeding starting point and the feeding terminating point in stockpile middle level, D and C is taking of stockpile top layer
Material starting point and feeding terminating point.
Calculating laterior horn, the principle of medial angle:
As a example by stockpile top layer, the height of feeding is 11.5 meters, may determine that outside stockpile top layer, feeding is cut by model
Access point and inner side feeding point of penetration, then, be the center of circle by outside point of penetration within calculating, with reclaimer jib-length as radius
Draw camber line, the camber line obtained and the intersection point of walking track centerline, connect point of penetration and intersection point, then calculating line and row
Walk the angle of centrage, as shown in Figure 9, it may be determined that medial angle β and laterior horn α.
Top layer volume as determined above, middle level volume, bottom volume, top layer starting point, top layer terminating point, middle level starting point,
Middle level terminating point, bottom starting point, bottom terminating point, top layer laterior horn, top layer medial angle, middle level medial angle, middle level laterior horn,
After bottom medial angle, bottom laterior horn, can be driven to the control device (such as PLC) of reclaimer, controlling device can
To carry out automatic material taking operation according to above-mentioned parameter.
Correspondingly, the present invention also provides for the identification device of a kind of Neosinocalamus affinis for reclaimer feeding, and described identification fills
Put and may include that model acquisition module, be used for obtaining described Neosinocalamus affinis；Hierarchical block, for the volume according to described stockpile
This stockpile is divided into multiple feeding layer；And feeding point acquisition module, for determining the feeding starting point of each feeding layer and taking
Material terminating point.
Wherein, described hierarchical block is used for: be layered by described stockpile according to predetermined altitude；Calculate the body of each layer
Long-pending；And at the volume of a layer more than in the case of preset vol, using this layer as a feeding layer.
The volume calculating each layer includes: described layer is divided into the matrix grid of preliminary dimension；And in described layer
The volume of matrix grid be integrated obtaining the volume of this layer.
Described feeding point acquisition module is used for: by the projection of described stockpile to the plane parallel with described reclaimer direction of travel
On；Determine the projection of described stockpile and two intersection points of the bottom surface of feeding layer projection, wherein along on reclaimer direction of travel
The feeding starting point that first intersection point is this feeding layer, another intersection point is the feeding terminating point of this feeding layer.
It addition, described identification device also includes: feeding angle acquisition module, for determine each feeding layer laterior horn and
Medial angle.
Wherein, described feeding angle acquisition module is used for: beyond determining, side draw material point of penetration is the center of circle, described reclaimer
Cantilever is the circle intersection point with the walking track centerline of described reclaimer of radius, this intersection point and described outside feeding point of penetration
Line is laterior horn with the angle of the walking track centerline of described reclaimer；Within determining, the incision of side draw material is the center of circle, described
The cantilever of reclaimer is the circle intersection point with the walking track centerline of described reclaimer of radius, this intersection point and described outside feeding
The line of incision is medial angle with the angle of the walking track centerline of described reclaimer.
The recognition methods of the Neosinocalamus affinis for reclaimer feeding provided by the present invention and identify that device can be automatic
Calculate material stack volume, feeding starting point, feeding terminating point, medial angle, laterior horn, it is possible to replace the operator having wide experience
Member, it is achieved the Intelligent Recognition of dump information, controls reclaimer and realizes entire roboticized work, improve working performance.
In reclaiming process, to the detection at dump edge it is critical that.The most domestic reclaimer is typically all people
Work feeding, the method for feeding is revolution feeding, i.e. by revolution reclaimer cantilever, makes the bucket wheel can be with material extracting operation.Manually taking
Under material pattern be the eye observation by driver be determined revolution startup and stopping, but the limitation of manual observation exists
Operation level difference in everyone causes sight line under the reduction of feeding efficiency, greasy weather and vile weather cannot judge dump time unclear
Border substantially cannot be carried out material extracting operation.To this end, described method for fetching also includes that the edge detecting described stockpile is to determine
State whether reclaimer moves to stockpile edge.
Described reclaimer determines that described reclaimer moves to described material meet following at least one when feeding in the case of
Heap edge: do not receive the stockpile margin signal through material reflection；Pressure in the bucket wheel fluid pressure line of described reclaimer is less than
Preset pressure；Difference between angle of revolution and the angle of revolution of feeding last time of this feeding is more than predetermined angle；And institute
The medial angle stating reclaimer is more than or equal to preset inner angle, or laterior horn is more than or equal to presetting outside angle.
Wherein it is possible to whether existed by sonic sensor or microwave radar detection material.
Correspondingly, the present invention also provides for a kind of stockpile edge detecting device, and this stockpile edge detecting device is at reclaimer bucket
Can automatically detect when wheel feeding is to stockpile edge, testing result can be used to control reclaimer and stops revolution action and transfer row to
Walk action, thus realize semi-automatic or automatic material taking operation.
As shown in Figure 10, the stockpile edge detecting device that the present invention provides may include that edge detector 101, is arranged on
On reclaimer, it is used for detecting stockpile margin signal；And processor 102, it is connected with described stockpile edge detector 101, in institute
State in the case of the stockpile margin signal detected meets predetermined condition, determine that the operating of described reclaimer is to the limit of described stockpile
Edge.So it is capable of the automatic detection to stockpile edge, improves the feeding efficiency of reclaimer.
In one embodiment, described edge detector may be mounted on the bucket wheel of described reclaimer；Described edge
Detector is used for launching detection signal, and receives the stockpile margin signal through material reflection；Described predetermined condition is described edge
Detector does not receives the stockpile margin signal through material reflection；Wherein, during described edge detector includes following device
Person: sound wave detector, microwave radar and laser range finder.
In this embodiment, when reclaimer feeding to stockpile edge, such as sonic sensor can detect that front does not has
Have object to stop, then acoustic reflection is not returned, so may determine that reclaimer bucket wheel feeding to adjacent edges, due to material
Heap self has angle of repose, and when sonic sensor detects edge, the material at edge is not taken totally toward contact by reclaimer,
Now can carry out the feeding of ticket reserving time by increasing delay command control reclaimer, in order to taken only by material.
In revolution feeding mode, the bucket wheel both sides of described reclaimer are mounted on described edge detector.
In another embodiment of the present invention, described edge detector can be pressure transducer, is arranged on described feeding
In the bucket wheel fluid pressure line of machine, the pressure in the bucket wheel fluid pressure line detecting described reclaimer, wherein said predetermined condition
Pressure by being detected is less than preset pressure.
In this embodiment, bucket wheel fluid pressure line increases analog quantity pressure transducer, bucket wheel pressure can be led to
The signal crossing 4-20 milliampere is transferred to PLC Analog input mModule, by calculating the real-time pressure of bucket wheel.Can enter in advance
Row no load test and heavy duty test, determine the difference between heavy duty pressure and unloaded pressure, in order to detect.Such as bucket wheel is empty
Load pressure is 50bar, and heavy duty pressure is 70-120bar, therefore, it can determine when bucket wheel pressure being detected less than 60bar
Edge through feeding to stockpile.
In another embodiment of the invention, described edge detector can be angle of revolution detector, is arranged on institute
Stating on the slewing equipment of reclaimer, for detecting the angle of revolution of described reclaimer, wherein said predetermined condition is examined by this
The difference of the angle of revolution that the angle of revolution surveyed and last time are detected is more than presetting angle of revolution.
In general, according to the profile characteristic of dump, the angle of revolution, outside after reclaimer stepping 1-2 rice, inner side revolution
Angle differs the least with the last angle of revolution, outside of feeding, angle of revolution, inner side, through surveying, and generally no greater than 5 degree.As
This, when the difference of this angle of revolution and angle of revolution last time is more than 5 degree, it is determined that feeding is to the edge of stockpile.
In a further embodiment of the present invention, described edge detector can be angle detector, be arranged on described in take
On the slewing equipment of material machine, for detecting medial angle or the laterior horn of described reclaimer, wherein said predetermined condition is by being detected
Medial angle more than or equal to preset inner angle, or laterior horn more than or equal to preset outside angle.
According to the maximum volume of cargo in storage of stockpile, can calculate outside the bucket wheel of the certain altitude maximum when the accurate big buttress of label taking
Angle and minimum medial angle, can be as predetermined condition, when returning back to maximum laterior horn or minimum medial angle, and can be true
Fixed the most feeding is to the edge of stockpile.
Wherein, maximum laterior horn and minimum medial angle can set according to the situation of actual stockpile.Such as, real in one
Executing in mode, for top layer, maximum laterior horn could be arranged to 70 degree, and for middle level, maximum laterior horn could be arranged to 80 degree,
For bottom, maximum laterior horn could be arranged to 90 degree.For top layer, minimum medial angle could be arranged to 20 degree, for middle level,
Minimum medial angle could be arranged to 15 degree, and for bottom, minimum medial angle could be arranged to 10 degree.
It addition, described stockpile edge detecting device can also include alarm, take described in determining at described processor
The operating of material machine is reported to the police to the edge of described stockpile.
Wherein, described processor can be comparator, is used for judging whether to meet predetermined condition.
The edge of stockpile is detected, it is possible to realize detection automatically, and then can realize by above-mentioned methods and apparatus
Can mutually check between automatically or semi-automatically material extracting operation, and various means, it is ensured that the safety of operation；This detection side
Method and device response are fast, can improve working performance.
During the material extracting operation of reclaimer, owing to the distance that feeding height is the highest, single enters car of monolayer is excessive etc.
, often there is the situation of stockpile stack collapse in reason.Reclaimer when material extracting operation, typically by the rotation of bucket wheel, suspending arm rotary with
And the mode into car of walking carries out swinging or walking material taking operation.So-called stack collapse, refers to that stockpile is prominent in reclaiming process
So avalanche, causes the bucket wheel of reclaimer to load suddenly increase, bucket wheel stall and stop operation.At present, reclaimer is all artificial hand
Action industry, the situation of stack collapse relies on eye to observe, and the process of stack collapse relies on and regulates manually.This has the disadvantage in that people
Work observe poor stability, there is visual fatigue in manual observation, in the case of particularly night work sight line is unclear often can not and
Shi Faxian, thus cause the putty of bucket wheel seriously, add the difficulty of process；It addition, process low-response, efficiency manually
Low, after operator see stack collapse, the degree of stack collapse to be judged, reselection processing method, its dependence to artificial experience
Property too strong, after personnel's fatigue, often result in process not in time, and there is potential safety hazard.
Therefore, the method for fetching that the present invention provides can also include that stack collapse detects, in order to detection stockpile stack collapse situation automatically
And can automatically process according to stack collapse situation, to improve working performance, it is to avoid potential safety hazard.
Owing to the bucket wheel of reclaimer drives usually fluid motor-driven, when stack collapse situation occurs in stockpile time, bucket wheel liquid
Pressure in pressure pipe road can raise.Therefore, it is possible to according to the zero load of bucket wheel, underloading, rated load, slight stack collapse overload, serious
The situations such as stack collapse overload are similar to the pressure curve testing out bucket wheel work.As shown in figure 11, bucket wheel hydraulic pressure when A point is bucket wheel zero load
Pressure in pipeline, the pressure in bucket wheel fluid pressure line when B point is bucket wheel rated load, bucket wheel when C point is stockpile slight stack collapse
Pressure in fluid pressure line, the pressure in bucket wheel fluid pressure line when D is stockpile serious stack collapse,
Based on foregoing, the detection of described stack collapse may include that detection bucket wheel pressure；Preset more than first at bucket wheel pressure
During pressure, determine serious stack collapse；And it is less than or equal to described first preset pressure at bucket wheel pressure more than the second preset pressure
Time, determine slight stack collapse.
In the case of serious stack collapse, described method for fetching also includes: controls described reclaimer and stops revolution or walking；Control
Make described reclaimer and retreat predeterminable range；Control described reclaimer carry out feeding in the scheduled time and forbid reclaimer revolution and row
Walk；And control the revolution of described reclaimer or walking.
In the case of slight stack collapse, described method for fetching also includes: controls described reclaimer and stops revolution or walking；Control
Make described reclaimer carry out feeding in the scheduled time and forbid reclaimer revolution and walking；And control described reclaimer revolution or
Walking.
The stack collapse detection method that the present invention provides will be described in detail below by detailed description of the invention.
As shown in figure 11, bucket wheel zero load pressure is at about 50bar, and normal load, between 80bar-120bar, is slightly collapsed
Buttress load is at more than 120bar, and serious stack collapse load is at more than 160bar.According to test curve, it can be deduced that collapsing of current dump
Buttress situation, and owing to pressure transducer response is fast, parameter stability, can automatically identify, relatively eye-observation has had the lifting of matter.
Slight stack collapse and serious stack collapse can be automatically detected, it is not necessary to people by above-mentioned stack collapse detection method and detection device
Work is observed and is judged, saves manpower, and improves detection efficiency；And can automatically process according to stack collapse situation, thus it is
Full-automatic material extracting operation carries out basis, improves treatment effeciency.
Figure 12 shows the flow chart of the stack collapse detection method according to one embodiment of the present invention.As shown in figure 12, exist
Step 121 place, bucket wheel is started working；Pressure in step 122 place, in detection bucket wheel fluid pressure line；In step 123 place, it is judged that
Whether pressure is more than 160bar；If pressure is more than 160bar, then at 124, determine that serious stack collapse occurs in stockpile；If pressure
Not more than 160bar, then in step 125 place, it is judged that whether pressure is more than 120bar；If pressure is more than 120bar, then 126
Place, determines that slight stack collapse occurs in stockpile；If pressure more than 120bar, then in step 127 place, does not determines the non-stack collapse of stockpile；Continue
Continue and pressure is detected.
For the situation of slight stack collapse, after stack collapse being detected, control device (such as PLC) and feeding can be automatically stopped
Machine revolution or walking, and control after reclaimer original place carries out feeding such as 3 seconds, to be again started up revolution or walking, the most logical
Cross of short duration revolution, the material of slight stack collapse can be taken totally by stopping of walking, the most normal feeding.
In the case of serious stack collapse, can first stop currently turning round or walking motion, PLC can control reclaimer and retreat
Such as about 1 meter, then control reclaimer original place and carry out feeding such as 5 seconds, then in current location according to the side before interrupting
Turn round or walking motion to carrying out, start normal operation.
Correspondingly, the stack collapse detection device during the present invention also provides for a kind of reclaiming process.As shown in figure 13, the present invention provides
Reclaiming process in stack collapse detection device may include that signal detector 131, be arranged on reclaimer, be used for detecting stockpile
Stack collapse signal；And processor 132, it is connected with described signal detector 131, reaches predetermined at detected stack collapse signal
During condition, determine stockpile stack collapse.
In one embodiment of the invention, described signal detector 131 can be pressure detector, is arranged on described
Pressure signal in the bucket wheel fluid pressure line of reclaimer, in the bucket wheel fluid pressure line detecting described reclaimer.
In another embodiment of the invention, described signal detector 131 can be moment inspecting device, is arranged on institute
State on the bucket wheel of reclaimer, for detecting the moment of the bucket wheel of described material machine.
In another embodiment of the present invention, described signal detector 131 can be amperometric, with driving institute
The motor of the bucket wheel stating reclaimer connects, for detecting the electric current of described motor.
Wherein, described processor 132 can be comparator, is used for judging whether to reach predetermined condition.
It addition, described processor 132 can be PLC.
In order to be further ensured that the timely process to stack collapse situation, described stack collapse detection device can also include alarm,
It is connected with described processor 132, for reporting to the police in the case of stockpile stack collapse.
Below will by detailed description of the invention describe in detail the present invention provide method for fetching, it should be noted that basis
Invention is not restricted to this.
Figure 14 is the flow chart of the method for fetching provided according to one embodiment of the present invention.As shown in figure 14, in step
At 141, obtain Neosinocalamus affinis；In step 142 place, calculate the volume of each layer of stockpile (such as, top layer, middle level, bottom), according to body
Amass and determine feeding layer；In step 143 place, determine feeding starting point and the feeding terminating point of each layer；In step 144 place, control
The bucket wheel of reclaimer is to the starting point of feeding layer；In step 145 place, control reclaimer and carry out feeding；Taking current layer, taking
Material machine reselects feeding layer, and carries out automatic layer-changing feeding；In step 149 place, after completing feeding amount, update Neosinocalamus affinis,
To use during feeding next time；In reclaiming process, in step 146 place, carry out stack collapse detection in real time；And in step 147
Place, carries out stockpile rim detection in real time.
The method for fetching provided by the present invention, is breached a round-the-clock modeling difficult problem for stockpile, solves dump model
Intelligent Recognition, it is proposed that new dump edge detection method, device and stack collapse detection processing method, device, said method and dress
Put and can replace artificial feeding completely and carry out intelligent decision, the various problems processed in reclaiming process, it is achieved that be round-the-clock
Under the conditions of material extracting operation full-automatic unmanned on duty, saved personnel cost in process of production, improve working performance and steady
Qualitative, efficiently avoid security incident.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (14)
1. a method for fetching, it is characterised in that this method for fetching includes:
Obtain the threedimensional model of stockpile；
Identify that threedimensional model determines feeding starting point and feeding terminating point；And
Control reclaimer and carry out feeding from described feeding starting point to described feeding terminating point.
Method the most according to claim 1, it is characterised in that in the case of described reclaimer is for revolution feeding, described
Method for fetching also includes:
Control described reclaimer to turn round to first direction to carry out feeding；
When the bucket wheel of described reclaimer arrives stockpile edge, control described reclaimer and stop revolution and control its pre-spacing of walking
From；And
Control described reclaimer to direction revolution opposite to the first direction.
Method the most according to claim 2, it is characterised in that this method for fetching also includes: returning according to described reclaimer
The luffing angle of the cantilever of gyration, the height of bucket wheel of described reclaimer and described reclaimer calculates the threedimensional model of stockpile
Change, and according to this change update stockpile threedimensional model.
Method for fetching the most according to claim 1, it is characterised in that described method for fetching also includes:
This stockpile is divided into multiple feeding layer by the volume according to described stockpile；
Determine feeding starting point and the feeding terminating point of each feeding layer；And
Control reclaimer to terminate from the feeding starting point of each feeding layer to the feeding of this feeding layer in accordance with the order from top to bottom
Point carries out feeding.
Method for fetching the most according to claim 4, it is characterised in that when the volume of described feeding layer is less than preset vol
In the case of, determine that this feeding layer feeding terminates.
Method for fetching the most according to claim 4, it is characterised in that described feeding starting point is in institute on described feeding layer
State first point on reclaimer direction of travel, and described feeding terminating point is in described reclaimer walking side on described feeding layer
Last point upwards.
Method for fetching the most according to claim 2, it is characterised in that described method for fetching also includes detecting described stockpile
Edge is to determine whether described reclaimer moves to stockpile edge.
Method for fetching the most according to claim 7, it is characterised in that described reclaimer when feeding meet below at least one
Determine in the case of person that described reclaimer moves to described stockpile edge:
Do not receive the stockpile margin signal through material reflection；
Pressure in the bucket wheel fluid pressure line of described reclaimer is less than preset pressure；
Difference between angle of revolution and the angle of revolution of feeding last time of this feeding is more than predetermined angle；And
The medial angle of described reclaimer is more than or equal to presetting inner angle, or laterior horn is more than or equal to presetting laterior horn
Degree.
Method for fetching the most according to claim 8, it is characterised in that beyond determining, side draw material point of penetration is the center of circle, described
The cantilever of reclaimer is the walking track centerline of circle and the described reclaimer of radius the on described reclaimer direction of travel
One intersection point, should be with the walking track centerline of described reclaimer first intersection point on described reclaimer direction of travel and institute
The angle stating the line of outside feeding point of penetration and the walking track centerline of described reclaimer is laterior horn；Side draw within determining
Material point of penetration be the walking track centerline of the circle that cantilever is radius and the described reclaimer of the center of circle, described reclaimer described
First intersection point on reclaimer direction of travel, is somebody's turn to do walking at described reclaimer of the walking track centerline with described reclaimer
The folder of the walking track centerline of first intersection point on direction and the line of described inner side feeding point of penetration and described reclaimer
Angle is medial angle.
Method for fetching the most according to claim 7, it is characterised in that by sonic sensor or microwave radar detection thing
Whether material exists.
11. method for fetching according to any one of claim 1 to 10, it is characterised in that described method for fetching also includes
Stack collapse detects.
12. method for fetching according to claim 1, it is characterised in that the detection of described stack collapse includes:
Detection bucket wheel pressure；
When bucket wheel pressure is more than the first preset pressure, determine serious stack collapse；And
When bucket wheel pressure is less than or equal to described first preset pressure more than the second preset pressure, determine slight stack collapse.
13. method for fetching according to claim 12, it is characterised in that in the case of serious stack collapse, described feeding side
Method also includes:
Control described reclaimer and stop revolution or walking；
Control described reclaimer and retreat predeterminable range；
Control described reclaimer carry out feeding in the scheduled time and forbid reclaimer revolution and walking；And
Control the revolution of described reclaimer or walking.
14. method for fetching according to claim 12, it is characterised in that in the case of slight stack collapse, described feeding side
Method also includes:
Control described reclaimer and stop revolution or walking；
Control described reclaimer carry out feeding in the scheduled time and forbid reclaimer revolution and walking；And
Control the revolution of described reclaimer or walking.
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