CN108045973A - A kind of automatic stockpiling method of windrow system - Google Patents
A kind of automatic stockpiling method of windrow system Download PDFInfo
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- CN108045973A CN108045973A CN201711331743.7A CN201711331743A CN108045973A CN 108045973 A CN108045973 A CN 108045973A CN 201711331743 A CN201711331743 A CN 201711331743A CN 108045973 A CN108045973 A CN 108045973A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 239000000463 material Substances 0.000 claims abstract description 80
- 238000001514 detection method Methods 0.000 claims description 43
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000004519 manufacturing process Methods 0.000 claims description 20
- 238000005259 measurement Methods 0.000 claims description 16
- 238000007599 discharging Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 14
- 230000000052 comparative effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000465 moulding Methods 0.000 description 3
- 241001270131 Agaricus moelleri Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to a kind of windrow methods to include the following steps：(1) windrow instruction is received；(2) feed height and operating area are calculated；(3) control stacker device moves to the in place of operation starting point and windrow mechanism；(4) revolution retreats walking windrow.The present invention can be used for the unmanned windrow technique of bulk cargo stock yard, it can fully ensure that stock ground utilization rate, the windrow ability for playing stacker device, overcome the defects of existing bulk cargo stock yard the degree of automation is low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate, walking windrow is retreated using revolution simultaneously, travel time realizes regular windrow during windrow can not only be saved, increase the regular heap shape material heap of at least 15% material amount of storage simultaneously, and stable windrow flow can be provided for windrow operation, improve work efficiency.
Description
Technical field
The invention belongs to intelligent handling technique fields, and in particular to a kind of automatic stockpiling method of windrow system.
Background technology
Being taken at present in steel, bargh for the heap of bulk cargo is completed using stacker-reclaimer, and domestic most enterprises
Stacker-reclaimer be all to be fulfiled assignment task using manual operation, labor intensity is big, the working time is long, and bulk material pile takes often
High dust pollution is caused, the physical and mental health of the operating personnel for working long hours causes very big damage.In the prior art, struggle against
It takes turns stacker-reclaimer to be mostly manually operated using " drivers' cab is manual " mode of operation, that is, driver, purely manual operation.This operation
Mode requires driver's long-time attention high concentration, and driver's labor intensity is larger, and manual operation has much artificial do
Factor is disturbed, such as live dust can cause to block to the sight of driver, especially under the environment such as wet weather, dense fog, night, easily make
The phenomenon that overloading into bucket-wheel stacker reclaimer or collide dump, the safe operation of serious threat equipment；On the other hand manually grasp
The bucket wheel point of penetration poor location to elect, feeding output is uneven, influences safety, the economical operation of entire coaling system, old friend
Work operates the operation that can not realize high efficiency, high accurancy and precision, low so as to cause operating efficiency, and then it is more to influence safety, economic dispatch
Aspect benefit.
To sum up, it is urgent to provide a kind of achievable high efficiency, the windrow methods of the automatic intelligent of the operation of high accurancy and precision.
The content of the invention
The object of the present invention is to provide a kind of windrow sides of the windrow system of high, the achievable automation control of operating efficiency
Method.
Above-mentioned purpose is to be achieved through the following technical solutions：A kind of automatic stockpiling method of windrow system, the windrow system
System includes stacker device, control module and detection module, and including stacker device, control module and detection module, the windrow is set
It is standby to include at least walking mechanism, luffing mechanism, swing mechanism and windrow mechanism, wherein, the swing mechanism is set with luffing mechanism
It puts on the walking mechanism top, the windrow mechanism is connected by arm support with the swing mechanism, described arm support one end and institute
It states windrow mechanism to be connected, the other end is hinged with the swing mechanism, and the luffing mechanism is connected with the arm support and can control institute
It states arm support and carries out elevating movement along the hinge of itself and swing mechanism；The detection module includes detecting complete feed place reason pattern
The geographical Shape measure device of feature, for detect stacker device walking position position detecting device, for measuring turn-around machine
The angle of revolution detection device of structure angle of revolution and the angle measurement unit for detecting the arm support pitch angle, describedly
It manages shape characteristic and includes at least the coordinate of the surface topography that heap is expected in stock ground and material heap precalculated position in default coordinate system
Value；The control module includes data server and computing module, and the detection module is by the data information transfer of detection to institute
Control module is stated, the data message of reception is stored in data server and real-time update, the automatic heap by the control module
Material method includes the following steps：
(1) windrow instruction is received：The control module obtains the windrow production plan comprising production plan information and refers in real time
Order, the production plan information include at least operation total amount, mass flow；
(2) feed height and operating area are calculated：The control module obtains the geography of complete feed field from data server
Topographic data, and the production plan information that step (1) obtains is combined, the suitable height of windrow is calculated by job scheduling intelligent algorithm
The operating area of this subjob is spent and met, determines the starting point coordinate and terminal point coordinate of starting operating area.
(3) control stacker device moves to the in place of operation starting point and windrow mechanism；
(4) revolution retreats walking windrow：The control module control stacker device carries out windrow, while sends revolution order
And swing mechanism movement is controlled to carry out revolution windrow, shape is managed in geographical Shape measure device real time monitoring complete feed place during windrow
Looks feature, the control module manage shape characteristic data acquisition heap shape surface data by complete feed place, and according to windrow track
Judge to work as in front fitting radius whether windrow is completed, the control module after the completion of windrow in the radius of gyration of operation starting point
It sends walking order control stacker device and starts to retreat and run to next setting and carry out revolution windrow, until the terminal that fulfils assignment
Revolution windrow operation.
The method that stock ground uses gridding, region division that will be effectively in stockpiling area are continuous grid surface, curved surface
The vertex of each upper grid cell possesses a three dimensional space coordinate value (x, y, z), and the coordinate value is with a certain static in stock ground
Three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent the position of material heap surface mesh vertex in the horizontal direction
Value, z values represent the height on material heap surface mesh vertex, that is, expect the height value of heap surface specified point, the size of grid can basis
The requirement of display precision is adjusted.The geography Shape measure device can be measurement including 3D laser scanners and
Modeling.
The present invention can be used for the unmanned windrow technique of bulk cargo stock yard, can realize that windrow is realized in large-scale bulk goods material stockyard comprehensively
Equipment at the scene without operation driver in the case of overall process automatic stockpiling operation.The present invention can fully ensure that stock ground utilization rate,
On the basis of the windrow ability and the other functions that play stacker device, operated and monitored without operation driver in stacker device, in
Control is indoor to carry out whole control operation also without personnel, and so as to overcome, existing bulk cargo stock yard the degree of automation is low, grasps
The defects of authors' labor intensity is high, operating efficiency is low low with utilization of area rate, while walking windrow is retreated using revolution, not only may be used
Travel time realizes regular windrow (being flat-top at the top of material heap) during saving windrow, while increases at least 15% material amount of storage
Regular heap shape material heap, and stable windrow flow can be provided for windrow operation, improve work efficiency.
Preferably, further technical solution is：Specific in the step (3) controls the process to be：The control mould
Block obtains position coordinates of the current stacker device in stock ground by position detecting device, and by the position coordinates and step of reception
(2) starting point coordinate that the calculating in obtains is compared, and sends walking order control walking mechanism movement according to comparative result
To operation starting point coordinate；Then the control module determines the height of current windrow mechanism according to arm support pitch angle data, and
It answers the height of windrow with the height of current windrow mechanism compared with by what is obtained in step (2) and sends pitching command and control and bow
Mechanism kinematic is faced upward until windrow mechanism reaches predetermined height；Again, the control module is according to true by angle of revolution data
The horizontal level of settled preceding windrow mechanism, and judge whether windrow mechanism is located in the operating area of starting point coordinate, and according to sentencing
Disconnected result sends revolution order control swing mechanism and carries out rotary motion until windrow mechanism reaches predetermined horizontal level.
Further technical solution is：The automatic stockpiling method of the windrow system further includes progress complete feed field and makes an inventory of goods in a warehouse
The step of (5)：The geographical topographic data of the control module complete feed field is stored in data server with DEM terrain data forms
In, complete feed place reason topographic data is converted into 2D or 3D heap shapes by computing module and shown by the control module, the 2D or
3D heap shapes are shown including at least the name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape sectional view letter in complete feed field
Breath.The present invention can record complete feed field material statistical information in real time by the system, and inquire about complete feed field by control module
Material statistical information realizes the function of making an inventory of goods in a warehouse of complete feed field.
Further technical solution is：Computing module described in the step (5) turns complete feed place reason topographic data
It turns in the calculating process that 2D or 3D heap shapes are shown, the computation model of the heap annular volume of the material heap is, in formula, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m figurate numbers for DEM
According to the stock ground line number under form, n is the stock ground columns under DEM terrain data forms, hijCorresponding net under being arranged for the i-th row j
Lattice height value, V are the heap annular volume of material heap.
Further technical solution is：Topographic data is first managed in complete feed place by control module described in the step (5)
The name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view are included by computing module acquisition
2D the or 3D heap shapes of information show, each material in then being shown according to the information to prestore in the control module to 2D or 3D heap shapes
Heap carries out the mark of name of material.
Further technical solution is：The geography Shape measure device can detect the geographical shape in the measurable region in stockyard
Looks feature can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, wherein, the geographical shape in the immeasurability region
Computation model in looks feature acquisition process is：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, x
With z be respectively geographical Shape measure device in abscissa of the arbitrary point in material heap immeasurability region in default coordinate system and
Ordinate, xpWith zpRespectively geographical Shape measure device is being preset in the material measurable region of heap and the focus p in immeasurability region
Coordinate system in abscissa and ordinate, the z0For adjustment factor, the adjustment factor can be filled according to geographical Shape measure
The coordinate for the installation site put and the relative position relation of rickyard coordinate determine；The immeasurability region is the geographical shape
The blind area of looks detection device.So set, in predetermined coordinate system, abscissa and ordinate to discharging heap any point are
The height value of discharging heap surface specified point can be calculated, so as to obtain whole shape characteristic data that material heap can obtain surface, then
Control module is based on the data and carries out relevant control operation to stacker device, realizes the automatic intelligent of windrow.
Further technical solution is：The stacker device includes pylon, and the pylon is arranged on the walking mechanism
It top and is not rotated with the swing mechanism, the geography Shape measure device is arranged on the tower top, and the angle is surveyed
Amount device includes the second angle measuring device for being arranged on the first angle measuring device of tower top and being arranged on arm support,
The pitch angle of the first angle measuring device and second angle measuring device collective effect measurement arm support.So set, ground
It manages Shape measure device to set aloft, greatly reduces the blind area of geographical Shape measure device, improve the accurate of acquisition of information
Property.The measurement function of geographical Shape measure device and measurement process are from bucket wheel machine posture and/or the influence of movement simultaneously.
Further technical solution is：In the step (3), the control method of the arm support pitch angle is：It is described
The current pitch angle angle value of first angle detection device detection arm support simultaneously gives the data sending of detection to the control module, the control
Molding root tuber determines the height of current windrow mechanism, and the heap that will be obtained in step (2) according to the arm support pitch angle data of reception
Material height, when feed height is higher than the height of current windrow mechanism, controls mould compared with the height of current windrow mechanism
Block sends pitching command control luffing mechanism movement, and the pitching command includes the angle value of pitching, and control module passes through first
Angle detection device obtains the pitch angle angle value of arm support in real time, when what control module received carrys out first angle detection device pitch angle
When angle value is identical with the pitch angle angle value in the pitching command that control module is sent, control module sends control elevation mount and stops
Movement；When feed height is less than the height of current windrow mechanism, the control luffing mechanism movement of control module pitching command is described
Pitching command includes the angle value of pitching, and control module obtains the pitch angle of arm support by second angle detection device in real time
Value, when bowing in the pitching command for carrying out second angle detection device pitch angle angle value and being sent with control module that control module receives
When elevation angle angle value is identical, control module control elevation mount stop motion.
Further technical solution is：The stacker device is boom type bucket-wheel stacker, and the windrow mechanism is bucket
Wheel, the boom type bucket-wheel stacker include rack, and the pylon is arranged in the rack, and it is defeated that the arm support is equipped with material
Mechanism is sent, the one side of the swing mechanism is connected with the arm support, and opposite side is fixedly connected with balancing counterweight mechanism.
Further technical solution is：The material conveying mechanism is ribbon conveyer, and the discharging point of the belt is set
There are impact idler and side carrying roller, the side carrying roller turns forward along belt-conveying direction to be set in predetermined angular.Impact idler
Setting can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, another outer roller is according to above-mentioned side
Formula setting will generate opposite sliding speed with belt, belt can effectively be promoted to return back to the center of ribbon conveyer, such as
This limited can be avoided belt deviation.
Further technical solution is：The arm support is equipped with guide component, and material falls into band by the guide component
On formula conveyer, the ribbon conveyer is equipped with deviation-resisting device for belts, and the deviation-resisting device for belts includes leading for driving
Material component moves and changes the driving device of the discharging point of guide component and the relative position of belt and for measuring its own
To the detecting element of belt side distance, the detecting element, driving device and the control module are electrically connected, the control module
Store the initial distance data between detecting element and belt side, the detecting element by detection its between belt side
Range data passes to control module, and the control module is by the range data of reception and the detecting element to prestore and belt side
Between initial distance data be compared, and control driving device that the movement of guide component is driven to change itself and water according to comparative result
Flat angular separation.So set, when detecting that sideslip occurs for belt, by control module driving device is controlled to drive guide structure
Part movement changes its discharging point on belt, since discharging point variation causes belt bearing capacity change, discharging point is made to be in skin
The center of band realizes the correction to belt deviation, effectively improves production efficiency, reduces the generation of production accident.It is preferred that institute
Detecting element is stated as photoelectric sensor or displacement sensor.
Description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Fig. 1 is a kind of structure diagram of automatic stockpiling system involved by one embodiment of the present invention；
Fig. 2 is that the geographical Shape measure device involved by one embodiment of the present invention detects the geographical pattern that heap is expected in stockyard
The schematic diagram of feature；
Fig. 3 retreats walking windrow procedure schematic diagram for revolution of the present invention；
Fig. 4 is the schematic diagram of material heap shaped grid representation of a surface method of the present invention.
In figure：
13 walking mechanism of geographical Shape measure 2 control module of device, 4 luffing mechanism
5 first angle measuring device, 6 second angle measuring device, 7 arm support, 8 swing mechanism
9 angle of revolution detection device, 10 position detecting device, 11 windrow mechanism, 12 pylon
The measurable region A2 immeasurabilities region B material heaps of 13 balancing counterweight mechanism A1
C walking revolutions retreat windrow operation track D operating areas E stacker devices and retreat track
14 stacker device, 15 grid vertex
Specific embodiment
The present invention will be described in detail below in conjunction with the accompanying drawings, and the description of this part is only exemplary and explanatory, should not
There is any restriction effect to protection scope of the present invention.In addition, description of the those skilled in the art according to this document, it can be right
Feature in this document in embodiment and in different embodiments carries out respective combination.
The embodiment of the present invention is as follows, with reference to Fig. 1 and Fig. 3, a kind of automatic stockpiling method of windrow system, the windrow system
Including stacker device 14, control module 2 and detection module, including stacker device 14, control module 2 and detection module, the heap
Expect that equipment 14 includes at least walking mechanism 3, luffing mechanism 4, swing mechanism 8 and windrow mechanism 11, wherein, the swing mechanism 8
3 top of walking mechanism is arranged on luffing mechanism 4, the windrow mechanism 11 passes through arm support 7 and 8 phase of swing mechanism
Even, described 7 one end of arm support is connected with the windrow mechanism 11, and the other end is hinged with the swing mechanism 8, the luffing mechanism 4
It is connected with the arm support 7 and the arm support 7 can control to carry out elevating movement along the hinge of itself and swing mechanism 8；The detection mould
Block include for detect complete feed place reason shape characteristic geographical Shape measure device 1, for detect stacker device 14 walk position
The position detecting device 10 put, for the angle of revolution detection device 9 that measures 8 angle of revolution of swing mechanism and for detecting
State the angle measurement unit of 7 pitch angle of arm support, the geography shape characteristic include at least expect in stock ground the surface topography of heap with
And coordinate value of the material heap precalculated position in default coordinate system；The control module 2 includes data server and computing module,
The detection module is by the data information transfer of detection to the control module 2, and the control module 2 is by the data message of reception
Data server and real-time update are stored in, the automatic stockpiling method includes the following steps：
(1) windrow instruction is received：The control module 2 obtains the windrow production plan comprising production plan information and refers in real time
Order, the production plan information include at least operation total amount, mass flow；
(2) feed height and operating area are calculated：The control module 2 obtains the geography of complete feed field from data server
Topographic data, and the production plan information that step (1) obtains is combined, the suitable height of windrow is calculated by job scheduling intelligent algorithm
The operating area of this subjob is spent and met, determines the starting point coordinate and terminal point coordinate of starting operating area.
(3) control stacker device 14 moves to the in place of operation starting point and windrow mechanism 11；
(4) revolution retreats walking windrow：The control module 2 controls stacker device 14 to carry out windrow, while sends revolution
It orders and the movement of swing mechanism 8 is controlled to carry out revolution windrow, geographical Shape measure device 1 monitors complete feed field in real time during windrow
Geographical shape characteristic, the control module 2 manage shape characteristic data acquisition heap shape surface data by complete feed place, and according to heap
Expect that track judges to work as in front fitting radius whether windrow is completed, the control after the completion of windrow in the radius of gyration of operation starting point
Molding block 2, which sends walking order control stacker device 14 and starts to retreat, to be run to next setting and carries out revolution windrow, until complete
Into the revolution windrow operation of operation terminal.
Stock ground uses the method for gridding, and such as Fig. 4, region division that will be effectively in stockpiling area is continuous grid song
Face, the vertex of each grid cell possesses a three dimensional space coordinate value (x, y, z) on curved surface, and the coordinate value is with certain in stock ground
Static three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent material heap surface mesh vertex 15 in the horizontal direction
On positional value, z values represent the height on material heap surface mesh vertex 15, that is, expect the height value of heap surface specified point, the ruler of grid
It is very little to be adjusted according to the requirement of display precision.The geography Shape measure device 1 can be to include 3D laser scanners
Measurement inside and modeling.
The present invention can be used for the unmanned windrow technique of bulk cargo stock yard, can realize that windrow is realized in large-scale bulk goods material stockyard comprehensively
Equipment 14 at the scene without operation driver in the case of overall process automatic stockpiling operation.The present invention can be utilized fully ensuring that stock ground
Rate, play stacker device 14 windrow ability and other functions on the basis of, in stacker device 14 without operation driver carry out operation and
Monitoring, Central Control Room is interior to carry out whole control operation also without personnel, so as to overcome existing bulk cargo stock yard automation journey
The defects of low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate is spent, while walking heap is retreated using revolution
Material, travel time realizes regular windrow (being flat-top at the top of material heap) during can not only saving windrow, while increases at least 15%
The regular heap shape material heap of material amount of storage, and stable windrow flow can be provided for windrow operation, improve work efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, the specific control process in the step (3)
For：The control module 2 obtains position coordinates of the current stacker device 14 in stock ground by position detecting device 10, and will connect
The position coordinates of receipts sends walking life compared with the starting point coordinate that the calculating in step (2) obtains, and according to comparative result
Order control walking mechanism 3 moves to operation starting point coordinate；Then the control module 2 is determined according to 7 pitch angle data of arm support
The height of current windrow mechanism 11, and by obtained in step (2) answer the height of windrow and the height of current windrow mechanism 11 into
It goes relatively and sends pitching command control luffing mechanism 4 movement until windrow mechanism 11 reaches predetermined height；Again, the control
Whether molding block 2 judges windrow mechanism 11 according to determining the horizontal level of current windrow mechanism 11 by angle of revolution data
In the operating area of starting point coordinate, and revolution order control swing mechanism 8 is sent according to judging result and carries out rotary motion
Until windrow mechanism 11 reaches predetermined horizontal level.
On the basis of above-described embodiment, in another embodiment of the present invention, the automatic stockpiling method of the windrow system
It further includes and carries out the step of complete feed field is made an inventory of goods in a warehouse (5)：The geographical topographic data of the 2 complete feed field of control module is with DEM terrain datas
Form is stored in data server, and complete feed place reason topographic data is converted into 2D by the control module 2 by computing module
Or 3D heap shapes are shown, 2D the or 3D heaps shape shows name of material, heap annular volume, the heap including at least each material heap in complete feed field
Shape angle of repose, heap shape sectional view information.The present invention can record complete feed field material statistical information in real time by the system, and lead to
It crosses control module 2 and inquires about complete feed field material statistical information, realize the function of making an inventory of goods in a warehouse of complete feed field.
On the basis of above-described embodiment, in another embodiment of the present invention, computing module described in the step (5) will be complete
Stock ground geography topographic data is converted into the calculating process that 2D or 3D heap shapes are shown, the computation model of the heap annular volume of the material heap
For, in formula, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is DEM landform
Stock ground line number under data format, n be DEM terrain data forms under stock ground columns, hijIt is corresponding under being arranged for the i-th row j
Grid height value, V are the heap annular volume of material heap.
On the basis of above-described embodiment, in another embodiment of the present invention, control module 2 described in the step (5) is first
By complete feed place manage topographic data by computing module acquisition include the name of material of each material heap in complete feed field, heap annular volume,
Heap shape angle of repose, 2D the or 3D heap shapes of heap shape sectional view information are shown, then according to the information pair to prestore in the control module 2
The mark of 2D or 3D heap shapes each material heap progress name of material in showing.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 2,1 energy of geography Shape measure device
The geographical shape characteristic in the detection measurable region in stockyard can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region,
In, the computation model in the geographical shape characteristic acquisition process in the immeasurability region is：Z=tan (θ) (x-xp)+zp+z0,
In formula, θ is the angle of repose of material heap material, and x and z is respectively geographical Shape measure device 1 in the arbitrary of material heap immeasurability region
Abscissa and ordinate of the point in default coordinate system, xpWith zpRespectively geographical Shape measure device 1 is in the measurable area of material heap
Abscissas and ordinate of the focus p in domain and immeasurability region in default coordinate system, the z0It is described for adjustment factor
Adjustment factor can be true according to the coordinate of the installation site of geographical Shape measure device 1 and the relative position relation of rickyard coordinate
It is fixed；The immeasurability region is the blind area of the geographical Shape measure device 1.So set, in predetermined coordinate system, give
The abscissa and ordinate at discharging heap any point can calculate the height value of discharging heap surface specified point, can so as to obtain material heap
Whole shape characteristic data on surface are obtained, then control module 2 is based on the data and carries out relevant control to stacker device 14
The automatic intelligent of windrow is realized in operation.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the stacker device 14 includes pylon
12, the pylon 12 is arranged on 3 top of walking mechanism and is not rotated with the swing mechanism 8, the geography Shape measure
Device 1 is arranged on 12 top of pylon, and the angle measurement unit includes being arranged on the first angle measurement at 12 top of pylon
Device 5 and the second angle measuring device 6 being arranged on arm support 7, the first angle measuring device 5 and second angle measurement
6 collective effect of device measures the pitch angle of arm support 7.So set, geographical Shape measure device 1 is set aloft, subtract significantly
Lack the blind area of geographical Shape measure device 1, improve the accuracy of acquisition of information.The measurement of geographical Shape measure device 1 simultaneously
Function and measurement process are from bucket wheel machine posture and/or the influence of movement.
On the basis of above-described embodiment, in another embodiment of the present invention, in the step (3), 7 pitch angle of arm support
The control method of degree is：The first angle detection device detects 7 current pitch angle angle value of arm support and by the data sending of detection
To the control module 2, the control module 2 determines current windrow mechanism 11 according to the 7 pitch angle data of arm support of reception
Highly, and by the feed height obtained in step (2) compared with the height of current windrow mechanism 11, when feed height is higher than
During the height of current windrow mechanism 11, control module 2 sends pitching command control luffing mechanism 4 and moves, the pitching command bag
The angle value of pitching is included, control module 2 is obtained the pitch angle angle value of arm support 7 by first angle detection device, works as control in real time
What module 2 received carrys out the pitch angle in the pitching command that first angle detection device pitch angle angle value is sent with control module 2
When being worth identical, control module 2 sends control elevation mount stop motion；When feed height is less than the height of current windrow mechanism 11
When, 2 pitching command of control module control luffing mechanism 4 moves, and the pitching command includes the angle value of pitching, control module 2
The pitch angle angle value of arm support 7 is obtained in real time by second angle detection device, when what control module 2 received carrys out second angle detection
When device pitch angle angle value is identical with the pitch angle angle value in the pitching command that control module 2 is sent, control module 2 controls pitching
Device stop motion.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the stacker device 14 is 7 formula of arm support
Bucket-wheel stacker, the windrow mechanism 11 are bucket wheel, and the 7 formula bucket-wheel stacker of arm support includes rack, and the pylon 12 is set
In the rack, the arm support 7 is equipped with material conveying mechanism, and the one side of the swing mechanism 8 is connected with the arm support 7,
Opposite side is fixedly connected with balancing counterweight mechanism 13.
On the basis of above-described embodiment, in another embodiment of the present invention, the material conveying mechanism is ribbon conveyer,
The discharging point of the belt is equipped with impact idler and side carrying roller, and the side carrying roller turns forward along belt-conveying direction in predetermined angle
Degree is set.The setting of impact idler can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, in addition
Side carrying roller is set in the manner described above to generate opposite sliding speed with belt, effectively belt can be promoted to return back to belt conveying
The center of machine so limited can avoid belt deviation.
On the basis of above-described embodiment, in another embodiment of the present invention, the arm support 7 is equipped with guide component, and material leads to
It crosses the guide component to fall on ribbon conveyer, the ribbon conveyer is equipped with deviation-resisting device for belts, the anti-race of belt
Deflection device includes guide component is driven to move and changes the discharging point of guide component and the driving dress of the relative position of belt
It puts and for measuring the detecting element that its own arrives belt side distance, the detecting element, driving device and the control
Module 2 is electrically connected, and the control module 2 stores the initial distance data between detecting element and belt side, the detecting element
Its range data between belt side of detection is passed into control module 2, the control module 2 is by the range data of reception
With the detecting element to prestore compared with the initial distance data between belt side, and driving device is controlled according to comparative result
The movement of guide component is driven to change itself and horizontal direction angle.So set, when detecting that sideslip occurs for belt, pass through control
Module 2 controls driving device driving guide component movement to change its discharging point on belt, since discharging point variation causes skin
Band bearing capacity change, makes discharging point be in the center of belt, realizes the correction to belt deviation, effectively improves production effect
Rate reduces the generation of production accident.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
A kind of specific embodiment, control module 2 obtains the instruction of automatic stockpiling production plan in real time, when control module 2 connects
After receiving the instruction of automatic stockpiling production plan, control module 2 obtains complete feed place graphic data from central data server, and combines
Automatic stockpiling production plan information such as operation total amount, mass flow etc. meet this work by the calculating of job scheduling intelligent algorithm
The operating area of industry；Control module 2 obtains position of the current stacker device 14 in stock ground by position detecting device 10, if
14 current location of stacker device just in operation coordinate starting point, then need not issue walking order to walking mechanism 3, if windrow
14 current location of equipment is not in operation coordinate starting point, and control module 2 sends walking order to walking mechanism 3, and walking order includes
Direction of travel and travel distance, control module 2 obtain the currently position in stock ground of stacker device 14 by position-measurement device,
After the result of position-measurement device feedback is identical with operation coordinate starting point, control module 2, which is sent, stops walking order to walking
Mechanism 3, stacker device 14 reach operation starting point coordinate.Control module 2 judges whether arm support 7 bows according to material stack height
Action is faced upward, if material stack height, higher than current 14 arm support of stacker device, 7 height, control module 2 sends pitching command and gives pitching machine
Structure 4, pitching command include the angle value of pitching, and control module 2 obtains 7 current pitching of arm support by first angle measuring device 5
Angle value, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control module 2, which is sent, stops pitching life
Make to luffing mechanism 4, if material stack height less than 7 height of current 14 arm support of stacker device, control module 2 send pitching command to
Luffing mechanism 4, pitching command include the angle value of pitching, and control module 2 obtains arm support 7 by second angle measuring device 6 and works as
Preceding pitch angle angle value, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control module 2, which is sent, to be stopped
Pitching command stops pitching motion to luffing mechanism 4,14 arm support 7 of stacker device.Control module 2 sends revolution order to turn-around machine
Structure 8, revolution order include angle of revolution angle value, and control module 2 obtains angle of revolution by angle of revolution detection device 9, works as revolution
When angle is identical with revolution order angle, control module 2, which is sent, stops revolution order to swing mechanism 8, and stacker device 14 stops
Revolution acts.After 14 arm support 7 of stacker device is in place, control module 2 sends windrow and starts to work order, stacker device 14 start from
Dynamic windrow operation, control module 2 sends revolution order to swing mechanism 8 in automatic stockpiling operation process, controls stacker device
14 uniform windrows, control module 2 obtain heap shape surface data in real time by geographical Shape measure device 1, and according to windrow track
Judge that, if having completed automatic stockpiling in the radius of gyration, the transmission of control module 2 is bowed when whether windrow is completed in front fitting radius
Order is faced upward to luffing mechanism 4,14 arm support 7 of stacker device is lifted to peak (flow is consistent with above-mentioned pitching flow), controls mould
Block 2 sends revolution order to swing mechanism 8, and 14 arm support 7 of stacker device is turned back to above track (flow and above-mentioned revolution flow
Unanimously), computer control sends walking order to walking mechanism 3, and stacker device 14 is run to next operation coordinate points (flow
It is consistent with above-mentioned walking flow), control module 2 sends windrow start-up operation order, and stacker device 14 starts automatic stockpiling.Control
Module 2 repeats to send walking, pitching, revolution, bucket wheel start-up operation order, until first layer material windrow is completed.When first
It is layered after the completion of windrow, control module 2 calculates the second layering coordinate starting point, and control module 2 sends windrow operation and is stopped life
Make, pitching command, revolution order, walking order, stacker device 14 is run into the second layering coordinate starting point, repeats stacker device
14 first layer windrows act, until the second layering material windrow is completed.Stacker device 14 repeats layering windrow action, until complete
Into automatic stockpiling production plan.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of automatic stockpiling method of windrow system, which is characterized in that the windrow system includes stacker device, control module
And detection module, including stacker device, control module and detection module, the stacker device includes at least walking mechanism, pitching
Mechanism, swing mechanism and windrow mechanism, wherein, the swing mechanism is arranged on the walking mechanism top, institute with luffing mechanism
Windrow mechanism is stated by arm support with the swing mechanism to be connected, described arm support one end is connected with the windrow mechanism, the other end with
The swing mechanism is hinged, and the luffing mechanism is connected with the arm support and can control the arm support along its hinge with swing mechanism
Point carries out elevating movement；The detection module include for detect complete feed place reason shape characteristic geographical Shape measure device,
For detect stacker device walking position position detecting device, for measure the angle of revolution of swing mechanism angle of revolution detection
Device and the angle measurement unit for detecting the arm support pitch angle, the geography shape characteristic are included at least in stock ground
Expect the coordinate value of the surface topography and material heap precalculated position of heap in default coordinate system；The control module takes including data
Business device and computing module, for the detection module by the data information transfer of detection to the control module, the control module will
The data message of reception is stored in data server and real-time update, and the automatic stockpiling method includes the following steps：
(1) windrow instruction is received：The control module obtains the windrow production plan comprising production plan information and instructs in real time, institute
Production plan information is stated including at least operation total amount, mass flow；
(2) feed height and operating area are calculated：The control module obtains the geographical pattern of complete feed field from data server
Data, and combine step (1) obtain production plan information, by job scheduling intelligent algorithm calculate windrow proper height with
And meet the operating area of this subjob, determine the starting point coordinate and terminal point coordinate of starting operating area；
(3) control stacker device moves to the in place of operation starting point and windrow mechanism；
(4) revolution retreats walking windrow：The control module control stacker device carries out windrow, while sends revolution and order and control
Swing mechanism movement processed carries out revolution windrow, and geographical Shape measure device real time monitoring complete feed place reason pattern is special during windrow
Sign, the control module manages shape characteristic data acquisition heap shape surface data by complete feed place, and is judged according to windrow track
When whether windrow is completed in front fitting radius, the control module is sent after the completion of windrow in the radius of gyration of operation starting point
Walking order control stacker device, which starts to retreat, to be run to next setting and carries out revolution windrow, until the terminal that fulfils assignment returns
Turn windrow operation.
2. the automatic stockpiling method of windrow system according to claim 1, which is characterized in that the tool in the step (3)
Body controls the process to be：The control module obtains position coordinates of the current stacker device in stock ground by position detecting device,
And by the position coordinates of reception compared with the starting point coordinate that the calculating in step (2) obtains, and sent according to comparative result
Walking order control walking mechanism moves to operation starting point coordinate；Then the control module is true according to arm support pitch angle data
The height of settled preceding windrow mechanism, and by what is obtained in step (2) the height of windrow is answered to be carried out with the height of current windrow mechanism
Relatively and pitching command control luffing mechanism movement is sent until windrow mechanism reaches predetermined height；Again, the control mould
Root tuber evidence determines the horizontal level of current windrow mechanism by angle of revolution data, and judges whether windrow mechanism is located at starting point and sits
In target operating area, and revolution order control swing mechanism is sent according to judging result and carries out rotary motion until windrow mechanism
Reach predetermined horizontal level.
3. according to the automatic stockpiling method of the windrow system described in claim 2, which is characterized in that the windrow system it is automatic
Windrow method, which further includes, carries out the step of complete feed field is made an inventory of goods in a warehouse (5)：The geographical topographic data of the control module complete feed field is with DEM
Graphic data form is stored in data server, and the control module converts complete feed place reason topographic data by computing module
It is shown for 2D or 3D heap shapes, 2D the or 3D heaps shape shows name of material, the heap body including at least each material heap in complete feed field
Product, heap shape angle of repose, heap shape sectional view information.
4. according to the automatic stockpiling method of the windrow system described in claim 3, which is characterized in that counted described in the step (5)
It calculates module complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shapes are shown, the heap annular volume of the material heap
Computation model beIn formula, m and n are the grid number under the DEM terrain data forms of stock ground,
In, m be DEM terrain data forms under stock ground line number, n be DEM terrain data forms under stock ground columns, hijIt is arranged for the i-th row j
Under corresponding grid height value, V be material heap heap annular volume.
5. the automatic stockpiling method of windrow system according to claim 4, which is characterized in that described in the step (5)
Control module first by complete feed place manage topographic data by computing module acquisition include the name of material of each material heap in complete feed field,
Heap annular volume, heap shape angle of repose, 2D the or 3D heap shapes of heap shape sectional view information show, then according to prestoring in the control module
Information 2D or 3D heap shapes are shown in each material heap carry out the mark of name of material.
6. the automatic stockpiling method of the windrow system according to Claims 1 to 5 any one, which is characterized in that describedly
The geographical shape characteristic that reason Shape measure device can detect the measurable region in stockyard can simultaneously calculate and obtain immeasurability region
Geographical shape characteristic, wherein, the computation model in the geographical shape characteristic acquisition process in the immeasurability region is：Z=tan
(θ)(x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, and x and z is respectively that geographical Shape measure device can not in material heap
Abscissa and ordinate of the arbitrary point of measured zone in default coordinate system, xpWith zpRespectively geographical Shape measure device
In abscissas and ordinate of the focus p in the material measurable region of heap and immeasurability region in default coordinate system, the z0
For adjustment factor, the adjustment factor can be according to the coordinate of the installation site of geographical Shape measure device and the phase of rickyard coordinate
Position relationship is determined；The immeasurability region is the blind area of the geographical Shape measure device.
7. the automatic stockpiling method of windrow system according to claim 6, which is characterized in that the stacker device includes tower
Frame, the pylon are arranged on the walking mechanism top and are not rotated with the swing mechanism, the geography Shape measure device
The tower top is arranged on, the angle measurement unit includes being arranged on the first angle measuring device of tower top and set
The second angle measuring device on arm support is put, the first angle measuring device and second angle measuring device collective effect are surveyed
Measure the pitch angle of arm support.
8. the automatic stockpiling method of windrow system according to claim 7, which is characterized in that described in the step (3)
The control method of arm support pitch angle is：The current pitch angle angle value of first angle detection device detection arm support and by detection
Data sending gives the control module, and the control module determines current windrow mechanism according to the arm support pitch angle data of reception
Height, and by the feed height obtained in step (2) compared with the height of current windrow mechanism, when feed height is higher than
During the height of current windrow mechanism, control module sends pitching command control luffing mechanism movement, and the pitching command includes bowing
The angle value faced upward, control module obtain the pitch angle angle value of arm support by first angle detection device in real time, when control module connects
Receive come first angle detection device pitch angle angle value it is identical with the pitch angle angle value in the pitching command that control module is sent when,
Control module sends control elevation mount stop motion；When feed height is less than the height of current windrow mechanism, control module
Pitching command control luffing mechanism movement, the pitching command include the angle value of pitching, and control module is examined by second angle
Survey device and obtain the pitch angle angle value of arm support in real time, when control module receive come second angle detection device pitch angle angle value with
When pitch angle angle value in the pitching command that control module is sent is identical, control module control elevation mount stop motion.
9. the automatic stockpiling method of windrow system according to claim 7, which is characterized in that the stacker device is arm support
Formula bucket-wheel stacker, the windrow mechanism are bucket wheel, and the boom type bucket-wheel stacker includes rack, and the pylon is arranged on institute
It states in rack, the arm support is equipped with material conveying mechanism, and the one side of the swing mechanism is connected with the arm support, and opposite side is solid
Surely it is connected with balancing counterweight mechanism.
10. the automatic stockpiling method of windrow system according to claim 8, which is characterized in that the material conveying mechanism
For ribbon conveyer, the discharging point of the belt is equipped with impact idler and side carrying roller, the side carrying roller along belt-conveying direction to
Top rake is set in predetermined angular.
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