CN108128638B - Automatic material taking method of material taking system - Google Patents
Automatic material taking method of material taking system Download PDFInfo
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- CN108128638B CN108128638B CN201711331734.8A CN201711331734A CN108128638B CN 108128638 B CN108128638 B CN 108128638B CN 201711331734 A CN201711331734 A CN 201711331734A CN 108128638 B CN108128638 B CN 108128638B
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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
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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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
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The invention relates to a material taking method of a material taking system, which comprises the following steps: (1) receiving a material taking instruction: the control module acquires a material taking operation plan instruction containing operation plan information in real time; (2) calculating a working area: the control module acquires geographic topography data of the whole stock ground from the data server, calculates and determines an operation area which is in accordance with the operation through an operation scheduling intelligent algorithm by combining the operation plan information acquired in the step (1), and calculates the start point coordinate and the layering height of the layering operation according to the topography data of the operation area; (3) controlling the material taking equipment to move to an operation starting point and the material taking mechanism to be in place; (4) and (4) taking materials. The invention can realize the full-process automatic material taking operation of the material taking equipment under the condition of no operation driver on site in a large bulk material yard, thereby overcoming the defects of low automation degree, high labor intensity of operators, low operation efficiency and low site utilization rate of the existing bulk material yard.
Description
Technical Field
The invention belongs to the technical field of intelligent loading and unloading, and particularly relates to an automatic material taking method of a material taking system.
Background
At present, the piling and taking of bulk materials in iron and steel enterprises and mine enterprises are completed by adopting a stacker-reclaimer, the stacker-reclaimer of most domestic enterprises completes operation tasks by adopting manual operation, the labor intensity is high, the working time is long, the bulk material piling and taking can cause high dust pollution, and the physical and mental health of operators working for a long time is greatly damaged. In the prior art, the bucket-wheel stacker reclaimer mostly adopts a 'cab manual' operation mode, namely, the driver manually operates and operates purely manually. The operation mode requires a driver to pay high attention for a long time, the labor intensity of the driver is high, and manual operation has many human interference factors, such as shielding of field dust to the sight of the driver, and particularly easily causing the phenomenon that a bucket-wheel stacker-reclaimer is overloaded or collides with a coal pile under the environment of overcast and rainy, heavy fog, night and the like, so that the safe operation of the equipment is seriously threatened; on the other hand, the position difference of the cutting point of the bucket wheel selected by manual operation is poor, the material taking output is uneven, the safe and economic operation of the whole coal feeding system is influenced, and the manual operation cannot realize high-efficiency and high-precision operation, so that the operation efficiency is low, and further the safety, economy and other benefits are influenced.
In summary, it is desirable to provide an automatic and intelligent material taking method capable of realizing high-efficiency and high-precision operation.
Disclosure of Invention
The invention aims to provide a material taking method of a material taking system, which has high operation efficiency and can realize automatic control.
The above purpose is realized by the following technical scheme: a material taking method of a material taking system comprises material taking equipment, a control module and a detection module, and comprises the material taking equipment, the control module and the detection module, wherein the material taking equipment at least comprises a walking mechanism, a pitching mechanism, a slewing mechanism and a material taking mechanism, the slewing mechanism and the pitching mechanism are arranged on the upper portion of the walking mechanism, the material taking mechanism is connected with the slewing mechanism through an arm support, one end of the arm support is connected with the material taking mechanism, the other end of the arm support is hinged with the slewing mechanism, and the pitching mechanism is connected with the arm support and can control the arm support to perform pitching motion along a hinge point of the arm support and the slewing mechanism; the detection module comprises a geographic morphology detection device for detecting geographic morphology characteristics of the whole stock ground, a position detection device for detecting the walking position of the material taking equipment, a rotation angle detection device for measuring the rotation angle of the rotation mechanism and an angle measurement device for detecting the pitching angle of the arm support, wherein the geographic morphology characteristics at least comprise the surface morphology of a stock pile in the stock ground and the coordinate value of a preset position of the stock pile in a preset coordinate system; the control module comprises a data server and a calculation module, the detection module transmits detected data information to the control module, the control module stores the received data information in the data server and updates the data information in real time, and the material taking method comprises the following steps:
(1) receiving a material taking instruction: the control module acquires a material taking operation plan instruction containing operation plan information in real time, wherein the operation plan information at least comprises operation total amount and material flow;
(2) calculating a working area: the control module acquires geographic topography data of the whole stock ground from the data server, calculates and determines an operation area which is in accordance with the operation through an operation scheduling intelligent algorithm by combining the operation plan information acquired in the step (1), and calculates the start point coordinate and the layering height of the layering operation according to the topography data of the operation area;
(3) controlling the material taking equipment to move to an operation starting point and the material taking mechanism to be in place;
(4) taking materials: and (3) controlling the material taking equipment to take materials by the control module according to the data obtained in the step (2), simultaneously sending a rotation command and controlling the rotation mechanism to move to perform rotation material taking, wherein a geographic morphology detection device monitors the physical morphology characteristics of the whole material field in real time in the material taking process, the control module obtains stacking surface data according to the physical morphology characteristic data of the whole material field, judges whether material taking is completed in the current rotation radius according to the material taking track, and sends a walking command to control the material taking equipment to start and move to the next operation point to perform rotation material taking after the material taking is completed in the rotation radius of the starting point of the layered operation until the operation amount is completed.
The stock ground adopts a gridding method, namely, an area in an effective material taking area is divided into continuous grid curved surfaces, the vertex of each grid unit on each curved surface is provided with a three-dimensional space coordinate value (x, y, z), the coordinate value takes a certain static three-dimensional space point in the stock ground as a reference coordinate zero point, wherein the x and y coordinates represent the position value of the grid vertex on the surface of the stock pile in the horizontal direction, the z value represents the height of the grid vertex on the surface of the stock pile, namely the height value of a specific point on the surface of the stock pile, and the size of the grid can be adjusted according to the requirement of display precision. The topographical detection device may be a measurement and modeling system that includes a 3D laser scanner.
The invention can be used for unmanned material taking process of bulk material yard, and can realize automatic material taking operation of the whole process of the large bulk material yard under the condition that no operation driver is on site. The invention can fully ensure the utilization rate of the stock yard, exert the material taking capability and other functions of the material taking equipment, and the material taking equipment is operated and monitored by a non-operator driver, and a central control room is not required to be controlled by personnel in the whole process, thereby overcoming the defects of low automation degree, high labor intensity of operators, low operation efficiency and low site utilization rate of the existing bulk stock yard.
The distance between two operation points, that is, the distance of the material taking equipment moving between two times of rotary material taking operations is judged by the control module according to the actual operation condition.
Preferably, the further technical scheme is as follows: the material taking device is an arm support type bucket-wheel material taking machine, the material taking mechanism is a bucket wheel, the arm support type bucket-wheel material taking machine comprises a rack, the tower is arranged on the rack, a material conveying mechanism is arranged on the arm support, one side of the swing mechanism is connected with the arm support, and the other side of the swing mechanism is fixedly connected with a balance weight mechanism.
The further technical scheme is as follows: the material conveying mechanism is a belt conveyor, a blanking point of the belt is provided with a buffer carrier roller and a side carrier roller, and the side carrier roller inclines forwards along the conveying direction of the belt to form a preset angle. The setting of snub pulley can effectively slow down the impact of material blanking process to the belt, guarantees the stability of transportation, and the setting of side bearing roller will produce relative slip velocity with the belt according to above-mentioned mode in addition, can effectively make the belt reply to belt conveyor's central point and put, so can the limited belt off tracking of avoiding.
The further technical scheme is as follows: the arm support is provided with a material guiding component, the material between the bucket wheel and the belt conveyor moves through the material guiding component to be transported, the belt conveyor is provided with a belt deviation preventing device, the belt deviation preventing device comprises a driving device and a detecting element, the driving device is used for driving the material guiding component to move and changing the relative position of a blanking point of the material guiding component and the belt, the detecting element is used for measuring the distance from the belt deviation preventing device to the side surface of the belt, the detection element, the driving device and the control module are electrically connected, the control module stores initial distance data between the detection element and the side surface of the belt, the detecting element transmits the detected distance data between the detecting element and the side surface of the belt to the control module, the control module compares the received distance data with the pre-stored initial distance data between the detecting element and the side surface of the belt, and controlling the driving device to drive the material guiding component to move according to the comparison result so as to change the included angle between the material guiding component and the horizontal direction. So set up, when detecting the belt and take place the off tracking, through control module control drive arrangement drive guide component motion change its blanking point on the belt, because the blanking point changes and arouses the belt bearing capacity change, make the blanking point be in the central point of belt and put, realize the correction to the belt off tracking, effectively improve production efficiency, reduce the emergence of production accident. Preferably, the detection element is a photosensor or a displacement sensor.
The further technical scheme is as follows: the specific control process in the step (3) is as follows: the control module acquires the position coordinate of the current material taking equipment in the stock ground through the position detection device, compares the received position coordinate with the starting point coordinate obtained by calculation in the step (2), and sends a walking command to control the walking mechanism to move to the operation starting point coordinate according to the comparison result; then the control module determines the height of the current material taking mechanism according to the arm support pitching angle data, compares the height of the material to be taken obtained in the step (2) with the height of the current material taking mechanism and sends a pitching command to control the pitching mechanism to move until the material taking mechanism reaches the preset height; and thirdly, the control module determines the horizontal position of the current material taking mechanism according to the rotation angle data, judges whether the material taking mechanism is positioned in the operation area of the starting point coordinate, and sends a rotation command according to the judgment result to control the rotation mechanism to rotate until the material taking mechanism reaches the preset horizontal position.
The further technical scheme is as follows: the automatic material taking method of the material taking system further comprises the step (5) of carrying out full stockyard inventory: geographic topography data of the full stock yard of the control module are stored in a data server in a DEM (digital elevation model) topography data format, the control module converts the geographic topography data of the full stock yard into 2D or 3D heap-shaped display through a calculation module, and the 2D or 3D heap-shaped display at least comprises the material name, the heap-shaped volume, the heap-shaped angle of repose and the information of a heap-shaped section map of each stock yard in the full stock yard. The system can record the material statistical information of the whole stock ground in real time and inquire the material statistical information of the whole stock ground through the control module, so that the stock checking function of the whole stock ground is realized.
The further technical scheme is as follows: in the step (5), in the calculation process of converting the full stockyard geographic topography data into 2D or 3D heap shape display by the calculation module, the calculation model of the heap shape volume of the stockpile is
In the formula, m and n are the number of grids in a stock ground DEM topographic data format, wherein m is the number of stock ground lines in the DEM topographic data format, n is the number of stock ground columns in the DEM topographic data format, and h isijAnd V is the height value of the corresponding grid under the ith row and the jth column, and is the pile-shaped volume of the material pile.
The further technical scheme is as follows: in the step (5), the control module firstly obtains the 2D or 3D stack shape display of the material name, the stack shape volume, the stack shape angle of repose and the stack shape section diagram information of each stock pile in the full stock ground through the calculation module, and then labels the material name of each stock pile in the 2D or 3D stack shape display according to the information prestored in the control module.
The further technical scheme is as follows: the geographic morphology detection device can detect the geographic morphology characteristics of a measurable area of a storage yard and can calculate and obtain the geographic morphology characteristics of an unmeasured area, wherein a calculation model in the process of acquiring the geographic morphology characteristics of the unmeasured area is as follows: z-tan (θ) (x-x)p)+zp+z0In the formula, theta is a repose angle of the material in the material pile, x and z are respectively a horizontal coordinate and a vertical coordinate of any point of the geographic topography detection device on the contour envelope line of the unmeasured area of the material pile in a preset coordinate system, and xpAnd zpRespectively a geographical topography detection device in a material pile measurable area and an unmeasurable areaThe abscissa and the ordinate of the focal point p of the field in a predetermined coordinate system, z0The adjustment coefficient can be determined according to the relative position relationship between the coordinates of the installation position of the geographic topography detection device and the coordinates of the material taking field; the unmeasured area is a blind area of the geographic topography detection device.
The further technical scheme is as follows: the material taking equipment comprises a tower, the tower is arranged on the upper portion of the traveling mechanism and does not rotate along with the rotating mechanism, the geographic feature detection device is arranged on the top of the tower, the angle measurement device comprises a first angle measurement device arranged on the top of the tower and a second angle measurement device arranged on the arm support, and the first angle measurement device and the second angle measurement device jointly measure the pitching angle of the arm support.
The further technical scheme is as follows: in the step (3), the control method of the boom pitch angle is as follows: the first angle measuring device detects a current pitching angle value of the arm support and sends detected data to the control module, the control module determines the height of a current material taking mechanism according to received arm support pitching angle data, compares the material taking height obtained in the step (2) with the height of the current material taking mechanism, when the material taking height is higher than the height of the current material taking mechanism, the control module sends a pitching command to control the pitching mechanism to move, the pitching command comprises a pitching angle value, the control module obtains the pitching angle value of the arm support in real time through the first angle measuring device, and when the pitching angle value of the first angle measuring device received by the control module is the same as the pitching angle value in the pitching command sent by the control module, the control module controls the pitching device to stop moving; when the material taking height is lower than the height of the current material taking mechanism, the control module sends a pitching command to control the movement of the pitching mechanism, the pitching command comprises a pitching angle value, the control module obtains the pitching angle value of the arm support in real time through the second angle detection device, and when the pitching angle value of the second angle detection device received by the control module is the same as the pitching angle value in the pitching command sent by the control module, the control module controls the pitching device to stop moving.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an automatic material taking system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a geographical topography detecting apparatus according to an embodiment of the present invention detecting geographical topography of a stock yard stock pile;
fig. 3 is a schematic diagram of a stock pile shape mesh surface representation method according to the present invention.
In the figure:
1 geographical topography detection device 2 control module 3 running gear 4 every single move mechanism
5 first angle measuring device 6 second angle measuring device 7 arm support 8 slewing mechanism
9 gyration angle detection device 10 position detection device 11 feeding agencies 12 pylon
13 balance weight mechanism A1 measurable area A2 non-measurable area
14 material taking device 15 grid vertex
Detailed Description
The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.
The embodiment of the invention is as follows, referring to fig. 1, a material taking method of a material taking system is provided, the material taking system comprises a material taking device 14, a control module 2 and a detection module, the material taking device 14 at least comprises a walking mechanism 3, a pitching mechanism 4, a slewing mechanism 8 and a material taking mechanism 11, wherein the slewing mechanism 8 and the pitching mechanism 4 are arranged at the upper part of the walking mechanism 3, the material taking mechanism 11 is connected with the slewing mechanism 8 through an arm support 7, one end of the arm support 7 is connected with the material taking mechanism 11, the other end of the arm support is hinged with the slewing mechanism 8, and the pitching mechanism 4 is connected with the arm support 7 and can control the arm support 7 to perform pitching motion along the hinging point of the arm support 7 and the slewing mechanism 8; the detection module comprises a geographic topography detection device 1 for detecting geographic topography characteristics of the whole stock ground, a position detection device 10 for detecting a walking position of a material taking device 14, a rotation angle detection device 9 for measuring a rotation angle of a rotation mechanism 8 and an angle measurement device for detecting a pitching angle of the arm support 7, wherein the geographic topography characteristics at least comprise the surface topography of a stock pile in the stock ground and coordinate values of a preset position of the stock pile in a preset coordinate system; the control module 2 comprises a data server and a calculation module, the detection module transmits detected data information to the control module 2, the control module 2 stores the received data information in the data server and updates the data information in real time, and the material taking method comprises the following steps:
(1) receiving a material taking instruction: the control module 2 acquires a material taking operation plan instruction containing operation plan information in real time, wherein the operation plan information at least comprises operation total amount and material flow;
(2) calculating a working area: the control module 2 acquires geographic topography data of the whole stock ground from the data server, calculates and determines an operation area which is in accordance with the operation through an operation scheduling intelligent algorithm by combining the operation plan information acquired in the step (1), and calculates the start point coordinate and the layering height of the layering operation according to the topography data of the operation area;
(3) controlling the material taking device 14 to move to the operation starting point and the material taking mechanism 11 to be in place;
(4) taking materials: and (3) controlling the material taking equipment 14 to take materials by the control module 2 according to the data obtained in the step (2), simultaneously sending a rotation command and controlling the rotation mechanism 8 to move to perform rotation material taking, wherein the geographic morphology detection device 1 monitors the physical morphology characteristics of the whole material field in real time in the material taking process, the control module 2 obtains stacking surface data according to the physical morphology characteristic data of the whole material field, judges whether material taking is completed in the current rotation radius according to the material taking track, and after material taking is completed in the rotation radius of the starting point of the layered operation, the control module 2 sends a walking command to control the material taking equipment 14 to start and then move to the next operation point to perform rotation material taking until the operation amount is completed.
The stock ground adopts a gridding method, as shown in fig. 3, that is, an area in an effective material taking area is divided into continuous grid curved surfaces, a vertex of each grid unit on the curved surface has a three-dimensional space coordinate value (x, y, z), the coordinate value takes a certain static three-dimensional space point in the stock ground as a reference coordinate zero point, wherein x and y coordinates represent a position value of a grid vertex 15 on the surface of the stock pile in the horizontal direction, z represents the height of the grid vertex 15 on the surface of the stock pile, namely the height value of a specific point on the surface of the stock pile, and the size of the grid can be adjusted according to the requirement of display accuracy. The topographical detection device 1 may be a measurement and modeling system, including a 3D laser scanner.
The invention can be used for unmanned material taking process of bulk cargo stock yards, and can realize the full-process automatic material taking operation of the material taking equipment 14 in a large bulk cargo stock yard under the condition of no operation driver on site. The invention can fully ensure the utilization rate of the stock yard, exert the material taking capability and other functions of the material taking equipment 14, and the material taking equipment 14 is operated and monitored by a non-operator, and the central control room is not required to be controlled by personnel in the whole process, thereby overcoming the defects of low automation degree, high labor intensity of operators, low operation efficiency and low site utilization rate of the existing bulk stock yard.
The distance between the two operating points, i.e. the distance the material-taking device 14 moves between two rotary material-taking operations, is determined by the control module 2 according to the actual operating conditions.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the material taking device 14 is an arm support 7 type bucket-wheel material taking machine, the material taking mechanism 11 is a bucket wheel, the arm support 7 type bucket-wheel material taking machine includes a frame, the tower 12 is arranged on the frame, the arm support 7 is provided with a material conveying mechanism, one side of the swing mechanism 8 is connected with the arm support 7, and the other side is fixedly connected with a balance weight mechanism 13.
On the basis of the above embodiment, in another embodiment of the invention, the material conveying mechanism is a belt conveyor, and the material dropping point of the belt is provided with buffer supporting rollers and side supporting rollers, and the side supporting rollers are inclined forwards at a preset angle along the conveying direction of the belt. The setting of snub pulley can effectively slow down the impact of material blanking process to the belt, guarantees the stability of transportation, and the setting of side bearing roller will produce relative slip velocity with the belt according to above-mentioned mode in addition, can effectively make the belt reply to belt conveyor's central point and put, so can the limited belt off tracking of avoiding.
On the basis of the above embodiment, in another embodiment of the present invention, the arm support 7 is provided with a material guiding member, the material between the bucket wheel and the belt conveyor moves through the material guiding member to be transported, the belt conveyor is provided with a belt deviation preventing device, the belt deviation preventing device includes a driving device for driving the material guiding member to move and changing a relative position between a blanking point of the material guiding member and a belt and a detecting element for measuring a distance from the driving device to a side surface of the belt, the detecting element and the driving device are electrically connected to the control module 2, the control module 2 stores initial distance data between the detecting element and the side surface of the belt, the detecting element transmits the detected distance data between the detecting element and the side surface of the belt to the control module 2, and the control module 2 compares the received distance data with the pre-stored initial distance data between the detecting element and the side surface of the belt, and controlling the driving device to drive the material guiding component to move according to the comparison result so as to change the included angle between the material guiding component and the horizontal direction. So set up, when detecting the belt and take place the off tracking, through control module 2 control drive arrangement drive guide component motion change its blanking point on the belt, because the blanking point changes and arouses the belt bearing capacity change, make the blanking point be in the central point of belt and put, realize the correction to the belt off tracking, effectively improve production efficiency, reduce the emergence of production accident. Preferably, the detection element is a photosensor or a displacement sensor.
On the basis of the above embodiment, in another embodiment of the present invention, the specific control process in the step (3) is: the control module 2 acquires the position coordinate of the current material taking equipment 14 in the stock ground through the position detection device 10, compares the received position coordinate with the starting point coordinate obtained by calculation in the step (2), and sends a walking command to control the walking mechanism 3 to move to the operation starting point coordinate according to the comparison result; then the control module 2 determines the height of the current material taking mechanism 11 according to the pitching angle data of the arm support 7, compares the height of the material to be taken obtained in the step (2) with the height of the current material taking mechanism 11 and sends a pitching command to control the pitching mechanism 4 to move until the material taking mechanism 11 reaches the preset height; thirdly, the control module 2 determines the horizontal position of the current material taking mechanism 11 according to the rotation angle data, judges whether the material taking mechanism 11 is located in the operation area of the starting point coordinate, and sends a rotation command according to the judgment result to control the rotation mechanism 8 to rotate until the material taking mechanism 11 reaches the preset horizontal position.
On the basis of the above embodiment, in another embodiment of the present invention, the automatic material taking method of the material taking system further includes a step (5) of performing a full stockyard inventory: geographic topography data of the full stock ground of the control module 2 are stored in a data server in a DEM (digital elevation model) topographic data format, the control module 2 converts the geographic topography data of the full stock ground into 2D or 3D heap-shaped display through a calculation module, and the 2D or 3D heap-shaped display at least comprises the material name, the heap-shaped volume, the heap-shaped angle of repose and the information of a heap-shaped section map of each stock ground in the full stock ground. The system can record the material statistical information of the whole stock ground in real time and inquire the material statistical information of the whole stock ground through the control module 2, so that the stock checking function of the whole stock ground is realized.
On the basis of the above embodiment, in another embodiment of the present invention, in the calculation process of converting the full yard physical and topography data into the 2D or 3D heap shape display by the calculation module in the step (5), the calculation model of the heap shape volume of the material heap is
Wherein m and n are the grid number in the topographic data format of the stock ground DEM, and m is the stock ground line in the topographic data format of the DEMNumber, n is the number of stock ground columns in DEM topographic data format, hijAnd V is the height value of the corresponding grid under the ith row and the jth column, and is the pile-shaped volume of the material pile.
On the basis of the above embodiment, in another embodiment of the present invention, in the step (5), the control module 2 first obtains, through the calculation module, the 2D or 3D heap shape display including the material name, the heap shape volume, the heap shape repose angle, and the heap shape profile information of each heap in the full stockyard, and then labels the material name of each heap in the 2D or 3D heap shape display according to the information prestored in the control module 2.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 2, the geographic feature detection apparatus 1 can detect the geographic feature of the measurable area of the storage yard and can calculate and obtain the geographic feature of the unmeasured area, wherein the calculation model in the process of acquiring the geographic feature of the unmeasured area is: z-tan (θ) (x-x)p)+zp+z0In the formula, theta is a repose angle of the material in the material pile, x and z are respectively a horizontal coordinate and a vertical coordinate of any point of the geographic topography detection device 1 on the contour envelope line of the non-measurable area of the material pile in a preset coordinate system, and xpAnd zpThe horizontal coordinate and the vertical coordinate of the focal point p of the geographic topography detection device 1 in the measurable area and the non-measurable area of the material pile in a preset coordinate system respectively, and the z0The adjustment coefficient can be determined according to the relative position relationship between the coordinates of the installation position of the geographic topography detection device 1 and the coordinates of the material taking field; the unmeasured area is a blind area of the geographic topography detection apparatus 1.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the material taking apparatus 14 includes a tower 12, the tower 12 is disposed on the upper portion of the traveling mechanism 3 and does not rotate with the slewing mechanism 8, the geographic topography detecting device 1 is disposed on the top of the tower 12, the angle measuring device includes a first angle measuring device 5 disposed on the top of the tower 12 and a second angle measuring device 6 disposed on the boom 7, and the first angle measuring device 5 and the second angle measuring device 6 jointly measure the pitch angle of the boom 7.
On the basis of the foregoing embodiment, in another embodiment of the present invention, in the step (3), the method for controlling the pitch angle of the boom 7 includes: the first angle measuring device 5 detects a current pitch angle value of the arm support 7 and sends detected data to the control module 2, the control module 2 determines the height of the current material taking mechanism 11 according to the received pitch angle data of the arm support 7, compares the material taking height obtained in the step (2) with the height of the current material taking mechanism 11, when the material taking height is higher than the height of the current material taking mechanism 11, the control module 2 sends a pitch command to control the pitch mechanism 4 to move, the pitch command comprises a pitch angle value, the control module 2 obtains the pitch angle value of the arm support 7 in real time through the first angle measuring device 5, and when the pitch angle value of the first angle measuring device 5 received by the control module 2 is the same as the pitch angle value in the pitch command sent by the control module 2, the control module 2 controls the pitch device to stop moving; when the material taking height is lower than the height of the current material taking mechanism 11, the control module 2 sends a pitching command to control the pitching mechanism 4 to move, the pitching command comprises a pitching angle value, the control module 2 obtains the pitching angle value of the arm support 7 in real time through the second angle detection device, and when the pitching angle value of the second angle detection device received by the control module 2 is the same as the pitching angle value in the pitching command sent by the control module 2, the control module 2 controls the pitching device to stop moving.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. An automatic material taking method of a material taking system is characterized in that the material taking system comprises material taking equipment, a control module and a detection module, the material taking equipment comprises the material taking equipment, the control module and the detection module, the material taking equipment at least comprises a walking mechanism, a pitching mechanism, a slewing mechanism and a material taking mechanism, wherein the slewing mechanism and the pitching mechanism are arranged on the upper portion of the walking mechanism, the material taking mechanism is connected with the slewing mechanism through an arm support, one end of the arm support is connected with the material taking mechanism, the other end of the arm support is hinged with the slewing mechanism, and the pitching mechanism is connected with the arm support and can control the arm support to perform pitching motion along a hinge point of the arm support and the slewing mechanism; the detection module comprises a geographic morphology detection device for detecting geographic morphology characteristics of the whole stock ground, a position detection device for detecting the walking position of the material taking equipment, a rotation angle detection device for measuring the rotation angle of the rotation mechanism and an angle measurement device for detecting the pitching angle of the arm support, wherein the geographic morphology characteristics at least comprise the surface morphology of a stock pile in the stock ground and the coordinate value of a preset position of the stock pile in a preset coordinate system; the control module comprises a data server and a calculation module, the detection module transmits detected data information to the control module, the control module stores the received data information in the data server and updates the data information in real time, and the material taking method comprises the following steps:
(1) receiving a material taking instruction: the control module acquires a material taking operation plan instruction containing operation plan information in real time, wherein the operation plan information at least comprises operation total amount and material flow;
(2) calculating a working area: the control module acquires geographic topography data of the whole stock ground from the data server, calculates and determines an operation area which is in accordance with the operation through an operation scheduling intelligent algorithm by combining the operation plan information acquired in the step (1), and calculates the start point coordinate and the layering height of the layering operation according to the topography data of the operation area;
(3) controlling the material taking equipment to move to an operation starting point and the material taking mechanism to be in place;
(4) taking materials: the control module controls the material taking equipment to take materials according to the data obtained in the step (2), simultaneously sends a rotation command and controls the rotation mechanism to move to take materials in a rotation mode, a geographic topography detection device monitors the physical topography characteristics of the whole material field in real time in the material taking process, the control module obtains stacking surface data through the physical topography characteristics data of the whole material field, judges whether material taking is completed in the current rotation radius according to the material taking track, and sends a walking command to control the material taking equipment to start and move to the next operation point to take materials in a rotation mode after the material taking in the rotation radius of the starting point of the layered operation is completed until the operation amount is completed;
the geographic morphology detection device can detect the geographic morphology characteristics of a measurable area of a storage yard and can calculate and obtain the geographic morphology characteristics of an unmeasured area, wherein a calculation model in the process of acquiring the geographic morphology characteristics of the unmeasured area is as follows: z-tan (θ) (x-x)p)+zp+z0In the formula, theta is a repose angle of the material in the material pile, x and z are respectively a horizontal coordinate and a vertical coordinate of any point of the geographic topography detection device on the contour envelope line of the unmeasured area of the material pile in a preset coordinate system, and xpAnd zpThe horizontal coordinate and the vertical coordinate of the focal point p of the geographic topography detection device in the measurable area and the unmeasured area of the material pile in a preset coordinate system respectively, and the z0The adjustment coefficient can be determined according to the relative position relationship between the coordinates of the installation position of the geographic topography detection device and the coordinates of the material taking field; the unmeasured area is a blind area of the geographic topography detection device.
2. The automatic material taking method of the material taking system as claimed in claim 1, wherein the material taking device is an arm-mounted bucket-wheel material taking machine, the material taking mechanism is a bucket wheel, the arm-mounted bucket-wheel material taking machine comprises a frame, a tower is arranged on the frame, a material conveying mechanism is arranged on the arm support, one side of the swing mechanism is connected with the arm support, and the other side of the swing mechanism is fixedly connected with a balance weight mechanism.
3. The automatic reclaiming method of a reclaiming system as claimed in claim 2 wherein the material conveying mechanism is a belt conveyor, and the material drop point of the belt is provided with a buffer idler and a side idler which is inclined forwardly at a predetermined angle in the direction of belt transport.
4. The automatic material taking method of the material taking system as claimed in claim 3, wherein the arm support is provided with a material guiding member, the material between the bucket wheel and the belt conveyor is transported through the material guiding member, the belt conveyor is provided with a belt deviation preventing device, the belt deviation preventing device comprises a driving device for driving the material guiding member to move and changing the relative position of a blanking point of the material guiding member and a belt and a detecting element for measuring the distance from the detecting element to the side surface of the belt, the detecting element and the driving device are electrically connected with the control module, the control module stores initial distance data between the detecting element and the side surface of the belt, the detecting element transmits the detected distance data between the detecting element and the side surface of the belt to the control module, and the control module compares the received distance data with the pre-stored initial distance data between the detecting element and the side surface of the belt, and controlling the driving device to drive the material guiding component to move according to the comparison result so as to change the included angle between the material guiding component and the horizontal direction.
5. The automatic material taking method of the material taking system as claimed in any one of claims 1 to 4, wherein the automatic material taking method of the material taking system further comprises a step (5) of performing a stock yard inventory: geographic topography data of the full stock yard of the control module are stored in a data server in a DEM (digital elevation model) topography data format, the control module converts the geographic topography data of the full stock yard into 2D or 3D heap-shaped display through a calculation module, and the 2D or 3D heap-shaped display at least comprises the material name, the heap-shaped volume, the heap-shaped angle of repose and the information of a heap-shaped section map of each stock yard in the full stock yard.
6. The automatic reclaiming method of claim 5 wherein in the step (5), the calculation module converts the full-field physical topography data into a 2D or 3D heap-shaped display, and the calculation model of the heap-shaped volume of the material heap is
In the formula, m and n are the number of grids in a stock ground DEM topographic data format, wherein m is the number of stock ground lines in the DEM topographic data format, n is the number of stock ground columns in the DEM topographic data format, and h isijAnd V is the height value of the corresponding grid under the ith row and the jth column, and is the pile-shaped volume of the material pile.
7. The automatic reclaiming method of the reclaiming system according to claim 6 wherein in step (5) the control module first obtains the 2D or 3D pile shape display including the material name, the pile shape volume, the pile shape angle of repose and the pile shape profile information of each pile in the full stock yard through the calculation module, and then labels the material name of each pile in the 2D or 3D pile shape display according to the information pre-stored in the control module.
8. The automatic material taking method of the material taking system as claimed in claim 5, wherein the material taking device comprises a tower, the tower is arranged at the upper part of the travelling mechanism and does not rotate along with the slewing mechanism, the geographic feature detection device is arranged at the top of the tower, the angle measurement device comprises a first angle measurement device arranged at the top of the tower and a second angle measurement device arranged on the arm support, and the first angle measurement device and the second angle measurement device jointly measure the pitching angle of the arm support.
9. The automatic material taking method of the material taking system as claimed in claim 8, wherein in the step (3), the control method of the boom pitch angle is as follows: the first angle measuring device detects a current pitching angle value of the arm support and sends detected data to the control module, the control module determines the height of a current material taking mechanism according to received arm support pitching angle data, compares the material taking height obtained in the step (2) with the height of the current material taking mechanism, when the material taking height is higher than the height of the current material taking mechanism, the control module sends a pitching command to control the pitching mechanism to move, the pitching command comprises a pitching angle value, the control module obtains the pitching angle value of the arm support in real time through the first angle measuring device, and when the pitching angle value of the first angle measuring device received by the control module is the same as the pitching angle value in the pitching command sent by the control module, the control module controls the pitching device to stop moving; when the material taking height is lower than the height of the current material taking mechanism, the control module sends a pitching command to control the movement of the pitching mechanism, the pitching command comprises a pitching angle value, the control module obtains the pitching angle value of the arm support in real time through the second angle detection device, and when the pitching angle value of the second angle detection device received by the control module is the same as the pitching angle value in the pitching command sent by the control module, the control module controls the pitching device to stop moving.
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| CN109650090A (en) * | 2019-02-27 | 2019-04-19 | 莱芜钢铁集团电子有限公司 | A kind of reclaimer feeding control method and device |
| CN113291854B (en) * | 2020-08-10 | 2023-05-02 | 湖南长天自控工程有限公司 | Material piling method and material piling device |
| CN113485238A (en) * | 2021-08-17 | 2021-10-08 | 华能沾化热电有限公司 | Bucket wheel machine fault online diagnosis system and device |
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| CN101104480B (en) * | 2006-07-14 | 2011-01-19 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101334897B (en) * | 2007-06-27 | 2011-06-15 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
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