CN107416541A - Feed bin automatic distributing device and distributing method - Google Patents
Feed bin automatic distributing device and distributing method Download PDFInfo
- Publication number
- CN107416541A CN107416541A CN201710608859.4A CN201710608859A CN107416541A CN 107416541 A CN107416541 A CN 107416541A CN 201710608859 A CN201710608859 A CN 201710608859A CN 107416541 A CN107416541 A CN 107416541A
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- Prior art keywords
- feed bin
- belt conveyor
- distributing device
- node
- anchor node
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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
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
- B65D90/48—Arrangements of indicating or measuring devices
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention belongs to distributing method technical field, more particularly, to a plant feed bin automatic distributing device and distributing method, wherein feed bin automatic distributing device includes feed bin, belt conveyor above this feed bin is set, belt conveyor dump car on this belt conveyor is set, characterized by further comprising belt conveyor discharge carriage positioning apparatus, bin-level detection means.The feed bin automatic distributing device and distributing method of the present invention can realize Full-automatic uniform cloth, avoid hole capital after selling all securities or pressure ore deposit accident, it can realize unattended, reduce post worker, greatly reduce the possibility of occupational disease, both the health of post operation worker had been ensure that, has reached the purpose of personnel reduction and enlargement again；In addition, improving economic benefit using the feed bin automatic distributing device and distributing method of the present invention, it can be worked for maintenance repair and reliable reference is provided, so as to reduce Electromechanical Accidents and cost input.
Description
Technical field
The invention belongs to distributing method technical field, more particularly, to a plant feed bin automatic distributing device and distributing method.
Background technology
Feed bin is buffering and storage device in mining production, is the important component in mining production, under existing
Expect that cloth is operator's bin-level according to the observation, then manual control blanking, because live dust is big, working strength is big,
Very big harm is caused to operator, in addition, also having the following disadvantages：
1st, dump car is controlled manually, causes feed bin cloth unreasonable, and feed bin easily occurs and draws empty or pressure ore deposit accident；
2nd, easily rolled up and hinder by belt conveyor when operating personnel observe bin-level, dump car is wounded, and dump car goes out
The security incidents such as rail；
3rd, in continuous production, worker needs frequent operation movable unloading trolley to control the balance of ore storage bin material position, work
Intensity is big；
4th, site environment is severe, and dust, noise pollution are serious, to the physically and mentally healthy totally unfavorable of worker；
5th, automatic distributing can not be realized, workshop and control room can not implement to grasp live running situation.
The content of the invention
It is an object of the invention to provide a plant feed bin automatic distributing device and distributing method, it is equal to realize full-automatic cloth
It is even, avoid feed bin and draw empty or pressure ore deposit accident, both ensure that the health of post operation worker, and reached the purpose of personnel reduction and enlargement again,
Improve Business Economic Benefit.
The purpose of the present invention is realized by following technical proposals：
The feed bin automatic distributing device of the present invention, including feed bin, set the belt conveyor above this feed bin, are arranged on
Belt conveyor dump car on this belt conveyor, it is characterised in that also position and fill including belt conveyor dump car
Put, bin-level detection means,
Described belt conveyor discharge carriage positioning apparatus includes anchor node A, anchor node B, label node, with this label
The wireless data transmission RF433 module iis that node is connected, the control system being connected with this wireless data transmission RF433 module iis
System, described anchor node A, anchor node B complete ranging with described label node respectively, after space orientation algorithm, calculate
Go out the position of belt conveyor dump car, and positioning result is wirelessly transmitted to by wireless data transmission RF433 module iis
Control system,
Described bin-level detection means includes being arranged on the radar level gauge and sight of feed bin lid center top.
Described anchor node A and anchor node B includes DW1000 positioning chips, STM32 microprocessors and Power convert mould
Block.
Described label node includes DW1000 positioning chips, STM32 microprocessors, power transfer module and wireless data
Transmit RF433 module Is.
Described control system is PC or PLC running control systems.
Described anchor node A, anchor node B is surveyed with the ranging of described label node by no-load wave communication respectively
Away from.
A kind of distributing method using feed bin automatic distributing device, it is characterised in that comprise the following steps：
Step 1：The localization method of belt conveyor dump car
Step 1.1：Used between anchor node A and anchor node B and label node and be based on time of arrival (toa) (Time of
Arrival, TOA) distance measurement method；
Step 1.2：The distance obtained to step 1.1 carries out mean filter, improves range accuracy；
Step 1.3：The distance obtained to step 1.2 combines the space coordinates established, and the seat of label node is calculated
Mark；
Step 1.4：The positioning result obtained to step 1.3 uses Kalman filtering, obtains belt conveyor dump car
Position X；
Step 2：Material position calibrated altitude is set, the data measured according to bin-level detection means calculate bin-level with setting
Determine the distance between deviation, deviation ratio and surveyed material position and current belt discharging of conveyor dolly between calibrated altitude；
Step 3：Deviation, deviation variation rate and distance are carried out at blurring by given fuzzy domain and membership function
Reason；
Step 4：Inquiry control table determines outgoing position；
Step 5：Handled according to de-fuzzy rule sharpening and determine cloth discharge position；
Step 6：Control belt conveyor dump car to reach cloth point and carry out cloth；
Step 7：Sampling interval duration arrives, return to step 1.
In described step 2, the data measured to bin-level detection means carry out the disposal of gentle filter.
In described step 4, optimal cloth shots are found using fuzzy control table.
Advantages of the present invention：
The present invention feed bin automatic distributing device and distributing method can realize Full-automatic uniform cloth, avoid hole capital after selling all securities or
Ore deposit accident is pressed, can realize unattended, post worker is reduced, greatly reduces the possibility of occupational disease, both ensure that hilllock
The health of bit manipulation worker, reach the purpose of personnel reduction and enlargement again；In addition, feed bin automatic distributing device and cloth using the present invention
Method improves economic benefit, can be worked for maintenance repair and provide reliable reference, so as to reduce Electromechanical Accidents and cost input.
Brief description of the drawings
Fig. 1 is the positioning schematic of the present invention.
Fig. 2 is automatic distributing method flow chart of the present invention.
Fig. 3 is the location algorithm flow chart of the present invention.
Fig. 4 is the TOA range measurement principle figures of the present invention.
Fig. 5 is the location algorithm schematic diagram of the present invention.
Embodiment
The embodiment of the present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Fig. 1,2,3,4 and 5, feed bin automatic distributing device of the invention, including feed bin 9, set on this feed bin 9
The belt conveyor 7 of side, sets the belt conveyor dump car 6 on this belt conveyor 7, it is characterised in that also including skin
Band discharging of conveyor car positioning, bin-level detection means,
Described belt conveyor discharge carriage positioning apparatus includes anchor node A1, anchor node B2, label node 3, with this
The wireless data transmission RF433 module iis 5 that label node 3 is connected, are connected with this wireless data transmission RF433 module iis 5
Control system 8, described anchor node A1, anchor node B2 complete ranging with described label node 3 respectively, by space orientation
After algorithm, the position of belt conveyor dump car 6 is calculated, and positioning result is passed through into wireless data transmission RF433 modules
II5 is wirelessly transmitted to control system 8,
Described bin-level detection means includes being arranged on the radar level gauge 10 of the lid center top of feed bin 9 and aimed at
Device.
Described anchor node A and anchor node B includes DW1000 positioning chips, STM32 microprocessors and Power convert mould
Block.
Described label node 3 includes DW1000 positioning chips, STM32 microprocessors, power transfer module and without line number
According to transmission RF433 module Is 4.
Described control system 8 is PC or PLC running control systems.
Described anchor node A1, anchor node B2 is entered with the ranging of described label node 3 by no-load wave communication respectively
Row ranging.
A kind of distributing method using feed bin automatic distributing device, it is characterised in that comprise the following steps：
Step 1：The localization method of belt conveyor dump car；
Fig. 1 is the belt conveyor dump car positioning schematic of one embodiment of the invention,
As shown in figure 1, anchor node A1 and anchor node B2 is installed above belt conveyor 7, on the dump car 6 of activity
Label node 3 is installed, two anchor nodes 1 and 2 complete ranging with label node 3, and label node 3 is according to the range information received
Complete positioning and signal is sent by wireless data transmission RF433 module Is 4, and location data is sent to wireless data transmission
RF433 module iis 5, wireless data transmission RF433 module iis 5 transmit information to the PC or PLC thermoacoustic prime engines of control system 8
In system.
To the range data that collects, i.e., the range data that label node 3 receives is handled and calculated microprocessor,
To obtain the location data of dump car 6；Localization method algorithm flow in the present invention is as shown in Figure 3；
Step 1.1：Used between anchor node A1 and anchor node B2 and label node 3 and be based on time of arrival (toa) (Time of
Arrival, TOA) distance measurement method, its operation principle is as shown in Figure 4；TAG and ANCHOR is carry out TOA rangings two
Node；T1 be TAG to ANCHOR send Ranging Data at the time of；At the time of T2 is that ANCHOR receives Ranging Data；
T3 be ANCHOR to TAG send ACK at the time of；At the time of T4 is that TAG receives ACK；TAG and ANCHOR are distinguished by local clock
The time span of measurement, calculate the transmission time of signal between both devices；
Wherein, C is the light velocity；
Step 1.2：The distance obtained to step 1.1 carries out mean filter, improves range accuracy, distance measurement result is carried out equal
Value filtering, using neighborhood averaging；
Step 1.3：The distance obtained to step 1.2 combines the space coordinates established, and the seat of label node is calculated
Mark；Assuming that conveyer belt is X-axis, label node 3 moves in X-axis, it is known to two anchor node AnchorA (XA, YA) and
AnchorB(XB, YB), Unknown Label node Tag (X, 0), AnchorA to the Tag distance measured are DISA, positioned at X-axis and away from
It is DIS from AnchorAAPoint be X1And X2；AnchorB to the Tag distance measured is DISB, positioned at X-axis and distance
AnchorA is DISBPoint be X3And X4；
Two minimum points of difference are found out,
|Xa-Xb|=MIN (| X1-X3|, | X2-X3|, | X2-X4|)
The average value for seeking two points is the abscissa value of label node 3；
Step 1.4：The positioning result obtained to step 1.3 uses Kalman filtering, obtains belt conveyor dump car 6
Position X；
Step 2：Set material position calibrated altitude, the data measured according to the material-level detecting device of feed bin 9 calculate the material position of feed bin 9 with
The distance between deviation, deviation ratio and surveyed material position and current belt discharging of conveyor dolly 6 between established standardses height；
E (k)=d-y
Ee(k)=[E (k)-E (k-1)]/T
Wherein：D is the material position calibrated altitude of setting；
Y is the actual material position detected；
Deviations of the E (k) between kT moment bin-level and setting height；
Ec(k) it is deviation ratio；
E (k-1) is the deviation at (k-1) T moment；
T is sampling interval duration, and this example is arranged to 10 minutes；
Step 3：Deviation, deviation variation rate and distance are carried out at blurring by given fuzzy domain and membership function
Reason；
Deviation E selects 7 fuzzy class：Z (zero), SS (slight), MS (medium and small), S (small), M (in), MB (in big), B
(big) }；
Deviation variation rate E selects 7 fuzzy class：{ NB (negative big), NM (in negative), NS (negative small), 0 (zero), PS are (just
It is small), PM (center), PB (honest)；
Distance selects 7 fuzzy class：{ L (left side), LP (to the left), LS (a small left side), LM (left), RM (in right), RS are (small
It is right), RP (to the right), R (right side)；
Step 4：Inquiry control table determines outgoing position；
Control table is as shown in the table：
Step 5：Handled according to de-fuzzy rule sharpening and determine cloth discharge position；
Step 6：Control belt conveyor dump car 6 to reach cloth point and carry out cloth；
Step 7：Sampling interval duration arrives, return to step 1.
In described step 2, the data measured to the material-level detecting device of feed bin 9 carry out the disposal of gentle filter.
In described step 4, optimal cloth shots are found using fuzzy control table.
The feed bin automatic distributing device and distributing method of the present invention detects by belt conveyor discharge carriage positioning apparatus
Belt conveyor dump car 6 detects the material position of feed bin 9 in the position of feed bin 9, by radar level gauge 10, and according to Belt Conveying
The position of machine dump car 6 and material position data are calculated, and control belt conveyor dump car 6 to walk, to reach automatic cloth
The purpose of material；The positioner of belt conveyor dump car 6 is entered by no-load communication techniques to belt conveyor dump car 6
Row positioning, relative to laser range finder, infrared distance measurement method, have that measurement angle is big, scope is wide, anti-dust interference ability is strong
Feature, meanwhile, radar level gauge 10 is arranged on the center top that feed bin 9 covers, and coordinates the sight in installation pedestal, binder
The ore deposit position of strobe of storehouse 9 times, finds more satisfactory mount point, and the present apparatus has than contact-type bin level indicator and similar non-contact material position
Count more excellent performance；Automatic distributing method detects according to belt conveyor discharge carriage positioning apparatus and bin-level device
Small truck position and material position calculated, and control belt conveyor dump car 6 to walk, realize unattended full-automatic cloth
Material, reduces post worker, greatly reduces the possibility of occupational disease, both ensure that the health of post operation worker, reached again
The purpose of personnel reduction and enlargement；In addition, improving economic benefit using the feed bin automatic distributing device and distributing method of the present invention, can be
Maintenance repair work provides reliable reference, so as to reduce Electromechanical Accidents and cost input.
Claims (8)
1. a plant feed bin automatic distributing device, including feed bin, set the belt conveyor above this feed bin, set in this belt
Belt conveyor dump car on conveyer, it is characterised in that also including belt conveyor discharge carriage positioning apparatus, feed bin
Material-level detecting device,
Described belt conveyor discharge carriage positioning apparatus includes anchor node A, anchor node B, label node, with this label node
The wireless data transmission RF433 module iis being connected, the control system being connected with this wireless data transmission RF433 module iis,
Described anchor node A, anchor node B completes ranging with described label node respectively, after space orientation algorithm, calculates skin
Position with discharging of conveyor dolly, and positioning result is wirelessly transmitted to control by wireless data transmission RF433 module iis
System,
Described bin-level detection means includes being arranged on the radar level gauge and sight of feed bin lid center top.
2. feed bin automatic distributing device according to claim 1, it is characterised in that described anchor node A and anchor node B is equal
Including DW1000 positioning chips, STM32 microprocessors and power transfer module.
3. feed bin automatic distributing device according to claim 1, it is characterised in that described label node includes DW1000
Positioning chip, STM32 microprocessors, power transfer module and wireless data transmission RF433 module Is.
4. feed bin automatic distributing device according to claim 1, it is characterised in that described control system be PC or
PLC running control systems.
5. feed bin automatic distributing device according to claim 1, it is characterised in that described anchor node A, anchor node B difference
Ranging with described label node carries out ranging by no-load wave communication.
6. a kind of distributing method using feed bin automatic distributing device, it is characterised in that comprise the following steps：
Step 1：The localization method of belt conveyor dump car
Step 1.1：Between anchor node A and anchor node B and label node use based on time of arrival (toa) (Timeof Arrival,
TOA distance measurement method)；
Step 1.2：The distance obtained to step 1.1 carries out mean filter, improves range accuracy；
Step 1.3：The distance obtained to step 1.2 combines the space coordinates established, and the coordinate of label node is calculated；
Step 1.4：The positioning result obtained to step 1.3 uses Kalman filtering, obtains belt conveyor dump car position
X；
Step 2：Material position calibrated altitude is set, the data measured according to bin-level detection means calculate bin-level and marked with setting
The distance between deviation, deviation ratio and surveyed material position and current belt discharging of conveyor dolly between quasi- height；
Step 3：By given fuzzy domain and membership function to deviation, deviation variation rate and apart from progress Fuzzy processing；
Step 4：Inquiry control table determines outgoing position；
Step 5：Handled according to de-fuzzy rule sharpening and determine cloth discharge position；
Step 6：Control belt conveyor dump car to reach cloth point and carry out cloth；
Step 7：Sampling interval duration arrives, return to step 1.
7. a kind of distributing method using feed bin automatic distributing device according to claim 6, it is characterised in that described
In step 2, the data measured to bin-level detection means carry out the disposal of gentle filter.
8. a kind of distributing method using feed bin automatic distributing device according to claim 6, it is characterised in that described
In step 4, optimal cloth shots are found using fuzzy control table.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608859.4A CN107416541A (en) | 2017-07-21 | 2017-07-21 | Feed bin automatic distributing device and distributing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608859.4A CN107416541A (en) | 2017-07-21 | 2017-07-21 | Feed bin automatic distributing device and distributing method |
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| Publication Number | Publication Date |
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Family
ID=60431074
Family Applications (1)
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| CN201710608859.4A Pending CN107416541A (en) | 2017-07-21 | 2017-07-21 | Feed bin automatic distributing device and distributing method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674904A (en) * | 2018-05-25 | 2018-10-19 | 河南科技大学 | A kind of mine with spreading Belt Conveying trolley automatically |
| CN109335742A (en) * | 2018-10-31 | 2019-02-15 | 芜湖新兴铸管有限责任公司 | Dummy car is remotely located operation control system |
| CN110027922A (en) * | 2019-05-14 | 2019-07-19 | 鞍钢股份有限公司 | A kind of dump car control method when multiple discharge |
| CN110271842A (en) * | 2019-06-03 | 2019-09-24 | 兴仁市东方薏珠保健食品有限责任公司 | A kind of myotonin quality distribution system |
| CN110304357A (en) * | 2019-05-29 | 2019-10-08 | 金川集团股份有限公司 | A kind of automatic control system of more storehouse clothes |
| CN111268458A (en) * | 2020-03-24 | 2020-06-12 | 重钢西昌矿业有限公司 | Automatic material distribution system for ore bin |
| CN112079135A (en) * | 2020-08-27 | 2020-12-15 | 三一汽车制造有限公司 | Material conveying control method for mixing station and mixing station |
| CN112407978A (en) * | 2020-11-12 | 2021-02-26 | 中国石油天然气集团有限公司 | Sand hanging process for shale gas sand fracturing |
| CN112573223A (en) * | 2020-11-27 | 2021-03-30 | 中国科学院自动化研究所 | Method, system and device for loading simulated human intelligence into steamer |
| CN113844902A (en) * | 2020-06-28 | 2021-12-28 | 宝山钢铁股份有限公司 | Wireless charging control discharging trolley device and control method |
| CN115215072A (en) * | 2022-07-28 | 2022-10-21 | 四川公路桥梁建设集团有限公司 | Unmanned full-automatic feeding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674904A (en) * | 2018-05-25 | 2018-10-19 | 河南科技大学 | A kind of mine with spreading Belt Conveying trolley automatically |
| CN109335742A (en) * | 2018-10-31 | 2019-02-15 | 芜湖新兴铸管有限责任公司 | Dummy car is remotely located operation control system |
| CN110027922A (en) * | 2019-05-14 | 2019-07-19 | 鞍钢股份有限公司 | A kind of dump car control method when multiple discharge |
| CN110304357A (en) * | 2019-05-29 | 2019-10-08 | 金川集团股份有限公司 | A kind of automatic control system of more storehouse clothes |
| CN110271842A (en) * | 2019-06-03 | 2019-09-24 | 兴仁市东方薏珠保健食品有限责任公司 | A kind of myotonin quality distribution system |
| CN111268458B (en) * | 2020-03-24 | 2021-05-11 | 重钢西昌矿业有限公司 | Automatic material distribution method for ore bin |
| CN111268458A (en) * | 2020-03-24 | 2020-06-12 | 重钢西昌矿业有限公司 | Automatic material distribution system for ore bin |
| CN113844902A (en) * | 2020-06-28 | 2021-12-28 | 宝山钢铁股份有限公司 | Wireless charging control discharging trolley device and control method |
| CN112079135A (en) * | 2020-08-27 | 2020-12-15 | 三一汽车制造有限公司 | Material conveying control method for mixing station and mixing station |
| CN112079135B (en) * | 2020-08-27 | 2022-03-04 | 三一汽车制造有限公司 | Material conveying control method for mixing station and mixing station |
| CN112407978A (en) * | 2020-11-12 | 2021-02-26 | 中国石油天然气集团有限公司 | Sand hanging process for shale gas sand fracturing |
| CN112573223A (en) * | 2020-11-27 | 2021-03-30 | 中国科学院自动化研究所 | Method, system and device for loading simulated human intelligence into steamer |
| CN112573223B (en) * | 2020-11-27 | 2021-11-09 | 中国科学院自动化研究所 | Method, system and device for loading simulated human intelligence into steamer |
| CN115215072A (en) * | 2022-07-28 | 2022-10-21 | 四川公路桥梁建设集团有限公司 | Unmanned full-automatic feeding device |
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Application publication date: 20171201 |