CN107608303A - A kind of automation control system of stacker - Google Patents
A kind of automation control system of stacker Download PDFInfo
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- CN107608303A CN107608303A CN201710791136.2A CN201710791136A CN107608303A CN 107608303 A CN107608303 A CN 107608303A CN 201710791136 A CN201710791136 A CN 201710791136A CN 107608303 A CN107608303 A CN 107608303A
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Abstract
The invention discloses a kind of automation control system of stacker, passes through computer control and the single plane automation that stacker is completed by way of PLC control combinations.Its technical scheme is：The present invention flexibly issues work order and configuration job parameter according to different working conditions, simultaneously by being communicated between opc server and PLC, a series of stacker unit automatic commands calculated (scan instruction, pile instruction, point instruction, cutoff command) are sent to PLC to realize the single plane automation of whole stacker.
Description
Technical field
The present invention relates to area of computer aided bulk transport machinery control technology, more particularly, to generates dry bulk cargo automation
Stacker realizes a series of control systems for clicking automatic command required during automatic stockpiling technological process in pier storage yard.
Background technology
The single plane automation of dry bulk cargo stockyard stacker is lacking very perfect solution always before, it is known that some
Automation stacker is also all directly controlled merely the generation and transmission of instruction with PLC control modules, seldom by computer
Software carries out auxiliary control.The instruction generation of stacker and overall control are realized in this way, because the closing of PLC program
Property, it is difficult to easily and flexibly be carried out parameter configuration according to the difference of working condition, computer software technology can not be utilized
, also can not be in automatic stockpiling for example RDBMS provides the foundation that the data source of magnanimity generates as control instruction
Flow midway carries out effective prevention when occurring abnormal, for example is suspended and continued the operation of flow.These are all stacker lists
The problem of machine automation is present.
The content of the invention
The brief overview of one or more aspects given below is to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and the key or decisive key element for being both not intended to identify all aspects is also non-
Attempt to define the scope in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts think the sequence of more detailed description given later.
It is an object of the invention to solve the above problems, there is provided a kind of automation control system of stacker, pass through meter
The mode that calculation machine controls and PLC controls combine completes the single plane automation of stacker.
The technical scheme is that：Present invention is disclosed a kind of automation control system of stacker, including under work order
Hair module, directive generation module, central control PLC module, database and stacker unit PLC control modules, work order issue mould
Block and directive generation module are all connected with database, central control PLC module issued respectively with work order module, directive generation module,
Stacker unit PLC control modules establish connection, wherein：
Work order issues module, carries out work order schedule and confirmation by dispatcher, and the work order that will confirm that is handed down to central control
PLC module；
Central control PLC module, for the communication and coordination of the collaborative work of each modular assembly in automation control system,
The work order that module is issued from work order is transmitted to stacker unit PLC control modules；
Stacker unit PLC control modules, instruction application is sent to directive generation module by central control PLC module,
And the instruction from directive generation module is received, complete the finally actual manipulation to stacker；
Directive generation module, instructed according to the instruction application generation response received, by central control PLC module forwards extremely
Stacker unit PLC control modules；
Database, the stockyard material data obtained for storing collection.
According to an embodiment of the automation control system of the stacker of the present invention, database is relevant database.
According to an embodiment of the automation control system of the stacker of the present invention, work order issues the work order schedule bag of module
Include filling in for work order information and automatic stockpiling technology pattern, wherein work order information includes the specific job area in stockyard, windrow
Height limitation, the angle of resting in peace of ore materials, the aggregate tonnage for preparing unloading, and the actual technology pattern for carrying out windrow, automatically
Windrow technology pattern includes revolution windrow technique, grid windrow technique.
According to an embodiment of the automation control system of the stacker of the present invention, the response of directive generation module generation refers to
Order includes scan instruction, pile instruction, point instruction, cutoff command.
According to an embodiment of the automation control system of the stacker of the present invention, scan instruction indicates the cart of stacker
Operating area scope is travelled on track, and pile instruction instruction stacker carries out the true reactor field areas of full-automatic windrow, point
Hopper is moved to the blanking point coordinates of position in stockyard, cutoff command instruction stacker heap during instruction instruction stacker automatic job
Parking spot after the completion of material.
According to an embodiment of the automation control system of the stacker of the present invention, directive generation module has parameter configuration
Function is to meet the needs of different work operating mode.
According to an embodiment of the automation control system of the stacker of the present invention, directive generation module is serviced by OPC
Device carries out communication with central control PLC module and interacted.
According to an embodiment of the automation control system of the stacker of the present invention, system also includes：
Laser scanning assembly, on stacker, real time scan is carried out to stockyard to obtain the position 3-D graphic in stockyard.
According to an embodiment of the automation control system of the stacker of the present invention, system also includes：
Production management information module, issue module foundation with work order and communicate, production management information transfer is issued to work order
Module.
According to an embodiment of the automation control system of the stacker of the present invention, system also includes：
Remote console, and central control PLC module establish communication, and remote operation mould is established for automation control system
Formula.
Present invention contrast prior art has following beneficial effect：The system of the present invention is flexible according to different working conditions
Work order and configuration job parameter are issued, while by being communicated between opc server and PLC, a series of heaps that will calculate
Material machine unit automatic command (scan instruction, pile instruction, point instruction, cutoff command) is sent to PLC to realize whole stacker
Single plane automation.
Brief description of the drawings
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, it better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or like reference.
Fig. 1 shows the schematic diagram of an embodiment of the automation control system of the stacker of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Pay attention to, it is below in conjunction with accompanying drawing and specifically real
It is only exemplary to apply the aspects of example description, and is understood not to carry out any restrictions to protection scope of the present invention.
Fig. 1 shows the principle of an embodiment of the automation control system of the stacker of the present invention.Fig. 1 is referred to, this
The main composition of the automation control system of the stacker of embodiment includes：Work order issues module and directive generation module.In addition,
System also includes：Relevant database, production management information module, central control PLC module, stacker unit PLC control moulds
Block, laser scanning assembly, remote console.Relevant database is used for the stockyard material number that memory heap field scan collection obtains
According to.Remote console and central control PLC module establish communication, and teleoperation mode is established for automation control system.Production
Management information module issues module foundation with work order and communicated, and production management information transfer is issued into module to work order.Laser scanning
Component is located on stacker, carries out real time scan to stockyard to obtain the position 3-D graphic in stockyard.
Work order issues module and is scheduled by Central Control Room dispatcher, fills in specific WorkForm System, and work order information includes heap
The specific job area of field, the height limitation of windrow, the angle of resting in peace of ore materials, the aggregate tonnage for preparing unloading, and it is actual
Carry out the information such as the technology pattern of windrow.In the technology pattern selection of automatic stockpiling, equally there are multiple choices, for example turn round heap
Material technique, grid windrow technique.Work order, which issues module, to be handed down to central control PLC module by the work order that dispatcher determines.
Central control PLC module is the maincenter core of whole automation control system, and it bears remote operating system, each
Individual unit PLC control modules (for example stacker unit PLC control modules in Fig. 1), laser scanning assembly, directive generation module
And work order issues the communication and coordination of the collaborative work between these modular assemblies such as module.In the control flow of routine,
Central control PLC module can will issue the work order information of module from work order, first be transmitted to stacker unit PLC control modules.
Stacker unit PLC control modules are after treatment to the directive generation module (instruction of directive generation module generation
It is for generating the positional information directed stacker concretely and acted, these instructions include scan instruction, pile instruction and point and referred to
Make, cutoff command etc.) specific instruction application is sent, these applications are forwarded also by central control PLC module.
Directive generation module carries out computing, generation response instruction passes through center control according to the request received by algorithm
PLC module is forwarded to stacker unit PLC control modules, is completed finally to the reality of machinery by stacker unit PLC control modules
Border control operation, so as to complete entirely to automate stacker work flow.
The whole most important part of automation control system, it is to direct stacker progress automatic job concretely for producing
The directive generation module of specific instruction, there is provided flexible parameter configuration function so that the Automated condtrol stream of whole stacker
Journey, the quick and easy demand that different work operating mode is realized by parameter configuration of energy.The OPC that directive generation module passes through maturation
Server technology carries out communication with PLC control program and interacted, and minimum, which sends command interval, can reach 10ms, and communication data
It is highly stable.The content of all kinds of instructions and its core algorithm of generation are illustrated one by one below.
In the complete procedure that stacker carries out automatic job, directive generation module generation scan instruction first allows windrow
Operating area scope is travelled on the cart track of machine, and in motion, the 3D laser scanners on stacker can enter to stockyard
Row real time scan, the position 3-D graphic in stockyard is obtained, to ensure that operation can be carried out safely and conveniently (actually in scanning process
In, the one piece region bigger than operating area can be scanned, to ensure not having around operating area abnormal object, improves security).
For example, the data of scan instruction most critical are along nearly remote two seats in cart orbital direction where stacker
Scale value.For the security consideration of automatic job, scan instruction can be than the operation border that is required in work order, to cart track distal end
Pile each with near-end scans 20 meters of scope.
After the completion of scan instruction performs, directive generation module will send pile instruction to stacker, and pile instruction is automation heap
Material machine carries out the true reactor field areas of full-automatic windrow.Pile instruction is sent to stacker unit PLC controls by directive generation module
Molding block, stacker unit PLC control modules run to target location according to the physical location that pile instructs along cart track, so far
Pile instruction is finished.
For example, the data of pile instruction most critical are the rectangle regions that automatic stockpiling machine prepares to delimit in stockyard
Domain, so key is exactly two-dimensional coordinate value of 4 points of this rectangle on the ground level of stockyard.This coordinate value requires according in work order
Operation border proximally and distally, and two coordinate values in longitudinal direction in vertical cart orbital direction determine 4 couples of 4 points
Coordinate value.
Afterwards, directive generation module sends to stacker unit PLC control modules and calculated by a series of complex algorithm
The point instruction gone out, hopper is moved to the blanking point coordinates of position in stockyard when point instruction is stacker automatic job.Point instruction is not
One but one group of continuous point coordinates, it can form one group of seat in good order according to technique is different, operational factor is different
Hopper is automatically moved to these coordinate points by punctuate, stacker, and hopper is moved to by a blanking coordinate points after the completion of stacking
It is next, until instruct whole to terminate a little, or the bulk cargo of the batch always important reaches amount of plan.
Point instruction refers to that in operating area each actual discharging point that automation stacker is actually passed through is passed through
The specific coordinate position crossed.Each automatic stockpiling technique, the path of discharging point is entirely different during its windrow, below
Each point under the operating mode is discussed in detail with grid windrow technique (therein cart track distal end proximally this operating mode of windrow)
The computational methods of instruction.
Calculate each discharging point can substantially be divided into two big stages, and the stage one is calculated in operating area scope
Step value between the line number of interior discharging point, columns and consecutive points, this has just drawn the abscissa of each discharging point in fact
And ordinate；Stage two is the sequential path of the discharging point determined according to specific automation windrow technique and the sequence number of point instruction
(point instruction is sent successively, the sequence number of first discharging point is 1, and the sequence number of second discharging point is 2) to determine currently to fall
The specific transverse and longitudinal coordinate value of shots.
Stage one：Accounting Line Number, columns and final step value
Calculate the line number and columns of discharging point in operating area, it is known that condition is to prepare the height of heap blowing heap
HeightLimit, the operating area border FrameLimit2 and FrameLimit1 of cart orbital direction and vertical big track
The operating area border PositionFar and PositionNear in road direction.In addition, the required angle of repose θ for stacking material (dissipates
When material will not continue to slide after stacking and ground level angle), angle is also known.Meanwhile in order to ensure that automatic stockpiling is made
Industry material will not be released outside operating area because of accidentalia heap, the present invention can the border of operating area inwardly reserved one away from
From DeltaOfRadius, this value is also known.Operating area length and width is certain, then the line number of discharging point
To just depend on final step value with columns, and the computational methods of this final step value, be by default one it is desirable that
Step value PreStepValue, if directly planning the path of discharging point with this value, it may appear that region can not divide exactly and make
Into the waste on border, then need to calculate discharging point columns m and line number n that big enable accommodates, be modified further according to technique
Calculate final step value StepFinalValue.Here is the formula calculated.
(1) length of side LNarrow of the vertical cart orbital direction of operating area rectangle
LNarrow=PositionFar-PositionNear
(2) operating area rectangle along cart orbital direction becomes LWide
LWide=FrameLimit2-FrameLimit1
(3) close to the point at operating area edge, its distance is not dependent on stepping, and depends on material stack height and angle of repose
Radius=HeightLimit/tg (θ)
(4) point at most edge will also consider the inside preset space in border of operating area on the basis of Radius
DeltaOfRadius
FinalRadius=Radius+DeltaOfRadius
(5) primary Calculation line number n
N=rounds up ((LNarrow -2*FinalRadius)/PreStepValue)+1
(6) the further processing of line number
In order to ensure function is odd number, be so advantageous to automate windrow during discharging point block and block between rank
Connect.
When the line number n of primary Calculation is odd number, do not process, when being even number
N=n+1
(7) according to the line number n finally calculated, final step value can be calculated
StepFinalValue=is rounded ((LNarrow -2*FinalRadius)/(n -1))
(8) columns m is calculated
M=rounds ((LWide -2*FinalRadius)/StepFinalValue)+1
So far obtained the line number n of discharging point in operating area, columns m, the distance StepFinalValue of point and point with
And the distance FinalRadius at edge, in fact can calculate the transverse and longitudinal coordinate of each discharging point, then second stage will
What is solved is exactly the sequence number instructed according to windrow technique and point, and which discharging point calculate that it should choose is.
Stage two：Specific coordinate value is calculated according to a sequence number for instruction
The sequence number index of known point instruction, another important information are also to be used as parameter default in technique, i.e.,
The TurnCount that how many individual points are turned is along in cart orbital direction, such TurnCount*n is just formed one by one
Windrow job block, automatic stockpiling is carried out successively.
Therefore, as the sequence number index instructed, a judgement for first having to carry out is, it whether be it is rational, it
Reasonable value scope should be 1<=index<=m*n；It is if not illegal in this scope, this instruction request.In this model
Its corresponding discharging point transverse and longitudinal coordinate value can be calculated certainly by enclosing.One is needed exist for according to the index values on path planning
The conversion of row and column is converted to, specific coordinate value is can be obtained by after conversion.
Point instruction is carried out after completion, and directive generation module can generate cutoff command, and commander's stacker cart is moved to
Target location, armed state is initially located in after stopping, waits the arriving of next work order task scheduling.
After stacker automatic stockpiling flow starts startup, can occur some abnormal conditions once in a while in way on stream unavoidably
Need to exclude, now, the human-computer interaction interface provided using computer-aided control software can be at any time by directive generation module
Instruction calculate and issue process pause, treat to restart again after flow exception or failture evacuation, greatly strengthen windrow
The robustness of machine automatic control system, also can be in a dilemma even running into a slight hitch after avoiding flow startup
Difficult situation.
Although for make explanation simplify the above method is illustrated and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
Those skilled in the art will further appreciate that, with reference to the embodiments described herein come the various illustratives that describe
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.To be clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees vague generalization description.Such feature be implemented as hardware or software depend on concrete application and
Put on the design constraint of total system.Technical staff can be realized described for every kind of application-specific with different modes
Feature, but such realize that decision-making should not be interpreted to cause departing from the scope of the present invention.
General place can be used with reference to various illustrative logic plate, module and the circuits that presently disclosed embodiment describes
Reason device, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) other are compiled
Journey logical device, discrete door or transistor logic, discrete nextport hardware component NextPort or its be designed to carry out function described herein
Any combinations are realized or performed.General processor can be microprocessor, but in alternative, the processor can be appointed
What conventional processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, example
As the combination of DSP and microprocessor, multi-microprocessor, the one or more microprocessors to be cooperated with DSP core or it is any its
His such configuration.
It can be embodied directly in hardware, in by processor with reference to the step of method or algorithm that embodiment disclosed herein describes
Embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor to enable the processor from/to the storage
Medium is read and write-in information.In alternative, storage medium can be integrated into processor.Processor and storage medium can
Reside in ASIC.ASIC can reside in user terminal.In alternative, processor and storage medium can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware or its any combinations
Middle realization.If being embodied as computer program product in software, each function can be used as the instruction of one or more bars or generation
Code storage is transmitted on a computer-readable medium or by it.Computer-readable medium includes computer-readable storage medium and communication
Both media, it includes any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer accesses.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or desirable program code and any other medium that can be accessed by a computer of data structure form.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc passes from web site, server or other remote sources
Send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compact disc
(CD), laser disc, laser disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is for so that any person skilled in the art all can make or use this public affairs to being previously described for the disclosure
Open.Various modifications to the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.Thus, the disclosure is not intended to be limited
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (10)
- A kind of 1. automation control system of stacker, it is characterised in that including work order issue module, directive generation module, in Control PLC module, database and stacker unit PLC control modules are entreated, work order issues module and directive generation module is all connected with Database, central control PLC module issue module, directive generation module, stacker unit PLC control modules with work order and built respectively Vertical connection, wherein：Work order issues module, carries out work order schedule and confirmation by dispatcher, and the work order that will confirm that is handed down to central control PLC mould Block；Central control PLC module, for the communication and coordination of the collaborative work of each modular assembly in automation control system, future The work order that module is issued from work order is transmitted to stacker unit PLC control modules；Stacker unit PLC control modules, instruction application is sent to directive generation module by central control PLC module, and connect The instruction from directive generation module is received, completes the finally actual manipulation to stacker；Directive generation module, according to the instruction application generation response instruction received, pass through central control PLC module forwards to windrow Machine unit PLC control modules；Database, the stockyard material data obtained for storing collection.
- 2. the automation control system of stacker according to claim 1, it is characterised in that database is relational data Storehouse.
- 3. the automation control system of stacker according to claim 1, it is characterised in that work order issues the work order of module Scheduling includes filling in for work order information and automatic stockpiling technology pattern, wherein specific job area of the work order information including stockyard, The height limitation of windrow, the angle of resting in peace of ore materials, the aggregate tonnage for preparing unloading, and the actual technique mould for carrying out windrow Formula, automatic stockpiling technology pattern include revolution windrow technique, grid windrow technique.
- 4. the automation control system of stacker according to claim 1, it is characterised in that directive generation module generation Response instruction includes scan instruction, pile instruction, point instruction, cutoff command.
- 5. the automation control system of stacker according to claim 4, it is characterised in that scan instruction indicates stacker Cart track on operating area scope travelled, pile instruction instruction stacker carries out the true reactor place of full-automatic windrow Domain, hopper is moved to the blanking point coordinates of position in stockyard, cutoff command instruction heap when point instructs instruction stacker automatic job Parking spot after the completion of material machine windrow.
- 6. the automation control system of stacker according to claim 1, it is characterised in that directive generation module has ginseng Configuration feature is counted to meet the needs of different work operating mode.
- 7. the automation control system of stacker according to claim 1, it is characterised in that directive generation module passes through Opc server carries out communication with central control PLC module and interacted.
- 8. the automation control system of stacker according to claim 1, it is characterised in that system also includes：Laser scanning assembly, on stacker, real time scan is carried out to stockyard to obtain the position 3-D graphic in stockyard.
- 9. the automation control system of stacker according to claim 1, it is characterised in that system also includes：Production management information module, issue module foundation with work order and communicate, production management information transfer is issued into module to work order.
- 10. the automation control system of stacker according to claim 1, it is characterised in that system also includes：Remote console, and central control PLC module establish communication, and teleoperation mode is established for automation control system.
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| CN109976276A (en) * | 2019-03-28 | 2019-07-05 | 华电电力科学研究院有限公司 | A kind of the windrow control method and Related product of coal yard stacker-reclaimer |
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| 张子才: ""矿石堆取料机的自动堆取作业研究和应用"", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
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| CN107766116A (en) * | 2017-10-25 | 2018-03-06 | 上海振华重工(集团)股份有限公司 | A kind of emulator, automatic dock stockyard handling facilities analogue system |
| CN109976276A (en) * | 2019-03-28 | 2019-07-05 | 华电电力科学研究院有限公司 | A kind of the windrow control method and Related product of coal yard stacker-reclaimer |
| CN110244648A (en) * | 2019-06-13 | 2019-09-17 | 中国神华能源股份有限公司 | Control method and control system for stockyard |
| CN110244648B (en) * | 2019-06-13 | 2021-08-31 | 中国神华能源股份有限公司 | Control method and control system for storage yard |
| CN110510524A (en) * | 2019-09-05 | 2019-11-29 | 北京坚构创新科技有限公司 | A kind of material grab bucket intelligence control system |
| CN111326861A (en) * | 2020-02-11 | 2020-06-23 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
| CN111326861B (en) * | 2020-02-11 | 2021-03-09 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
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