CN108147147B - Automatic intelligent material piling and taking system - Google Patents
Automatic intelligent material piling and taking system Download PDFInfo
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- CN108147147B CN108147147B CN201711331742.2A CN201711331742A CN108147147B CN 108147147 B CN108147147 B CN 108147147B CN 201711331742 A CN201711331742 A CN 201711331742A CN 108147147 B CN108147147 B CN 108147147B
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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
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Abstract
The invention relates to a material piling and taking system which comprises material piling and taking equipment, a control module and a detection module, wherein the detection module at least comprises a geographical topography detection device and a position detection device, the geographical topography detection device can detect geographical topography characteristics of a measurable area of a storage yard and can calculate and obtain the geographical topography characteristics of an unmeasured area, the detection module transmits detected data information to the control module, the control module obtains a control result through control operation, and the control module controls the material piling and taking equipment to perform corresponding action operation according to the control result and finish an operation target. The geographical topography detection device can calculate the height value of a specific point on the surface of the material pile by giving the abscissa and the ordinate of any point of the material pile, so that all topography characteristic data of the surface of the material pile can be obtained, and then the control module carries out related control operation on the material piling and taking equipment based on the data, thereby realizing the automatic intellectualization of the material piling and taking.
Description
Technical Field
The invention belongs to the technical field of intelligent loading and unloading, and particularly relates to an automatic intelligent material stacking and 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 view of the above, it is desirable to provide an automatic and intelligent stacker-reclaimer system capable of realizing high-efficiency and high-precision operation.
Disclosure of Invention
The invention aims to provide a material piling and taking system of a material piling system, which has high operation efficiency and can realize automatic control.
The above purpose is realized by the following technical scheme: an automatic intelligent material piling and taking system comprises material piling and taking equipment, a control module and a detection module, wherein the detection module at least comprises a geographical topography detection device for detecting the geographical topography characteristics of the whole material field and a position detection device for detecting the walking position of the material piling and taking equipment, and the geographical topography characteristics at least comprise the surface topography of a material pile in the material field and the coordinate value of a preset position of the material pile in a preset coordinate system; 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, and the 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 stock dump; the detection module transmits detected data information to the control module, the control module combines the acquired data information with stacking and material taking operation target instructions to obtain a control result through control operation, and the control module controls the stacking and material taking equipment to perform corresponding action operation according to the control result and complete an operation target.
The stock ground adopts a gridding method, namely, an area in an effective stock ground area is divided into continuous grid curved surfaces, the vertex of each grid unit on the curved surfaces 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 the x and y coordinates represent the position value of the grid vertex on the surface of the stock ground in the horizontal direction, the z value represents the height of the grid vertex on the surface of the stock ground, namely the height value of a specific point on the surface of the stock ground, and the size of the grid can be adjusted according to the requirement of display precision.
According to the arrangement, in a preset coordinate system, the height value of a specific point on the surface of the material pile can be calculated by giving the abscissa and the ordinate of any point of the material pile, so that all the feature data of the surface of the material pile can be obtained, and then the control module performs related control operation on the material piling and taking equipment based on the data, so that the automatic intelligence of material piling and taking is realized.
It will be appreciated by those skilled in the art that the unmeasured areas are blind areas of the geographic topography detection device. The topographical detection device may be a measurement and modeling system that includes a 3D laser scanner.
Preferably, the further technical scheme is as follows: the further technical scheme is as follows: the material piling and taking equipment at least comprises a travelling mechanism, a pitching mechanism, a slewing mechanism, a rack and a material piling and taking mechanism, wherein the rack is arranged at the upper part of the travelling mechanism, the slewing mechanism is arranged on the rack, the material piling and taking mechanism is connected with the slewing mechanism through an arm support, one end of the arm support is connected with the material piling and 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 further comprises 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, and the control module controls the walking mechanism, the pitching mechanism and the rotation mechanism to perform corresponding action operation and complete an operation target according to a control result.
The invention can be used for unmanned piling and taking process of bulk cargo stock yards, and can realize the full-process automatic piling and taking operation of large bulk cargo stock yards 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 piling and taking capability and other functions of the material piling and taking equipment, and the material piling and taking equipment 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 further technical scheme is as follows: the control module comprises a data server and a calculation module, the control module stores received data information in the data server and updates the data information in real time, geographic topography data of the whole stock yard is stored in the data server in a DEM (digital elevation model) topographic data format, the control module can convert the geographic topography data of the whole stock yard into 2D or 3D heap-shaped display through the 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 heap-shaped section diagram information of each stock yard in the whole stock yard. According to the arrangement, the system can record the material statistical information of the full stock ground in real time, and the control module can inquire the material statistical information of the full stock ground, so that the stock checking function of the full stock ground is realized.
The further technical scheme is as follows: in the calculation process of converting the physical and morphological data of the whole material field into 2D or 3D heap shape display, the calculation model of the heap shape volume of the material pile 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: the control module obtains 2D or 3D stack shape display including the material name, the stack shape volume, the stack shape repose angle and the stack shape section diagram information of each material stack in the full material field through the calculation module according to the full material field physical and morphological data, and labels the material name of each material stack 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 material piling and taking equipment further comprises a tower, the geographic feature detection device is arranged at the top of the tower, and the tower is arranged on the walking mechanism and does not rotate along with the rotating mechanism. So set up, geographical appearance detection device sets up in the eminence, and the blind area that has significantly reduced geographical appearance detection device improves the accuracy that information acquisition. Meanwhile, the measuring function and the measuring process of the geographic topography detection device are not influenced by the attitude and/or the movement of the bucket wheel machine.
The further technical scheme is as follows: the angle measuring device comprises a first angle measuring device arranged at the top of the tower frame and a second angle measuring device arranged on the arm frame, and the first angle measuring device and the second angle measuring device jointly measure the pitching angle of the arm frame.
The specific control method of the boom pitch angle comprises the following steps: the first angle detection 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 the current stacking mechanism according to the received arm support pitching angle data, compares the stacking height obtained in the step (2) with the height of the current stacking mechanism, and sends a pitching command to control the pitching mechanism to move when the stacking height is higher than the height of the current stacking mechanism, wherein 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 detection device, and when the pitching angle value of the first 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 sends the pitching device to stop moving; when the stacking height is lower than the height of the current stacking mechanism, the control module controls the pitching mechanism to move through a pitching command, the pitching command comprises a pitching angle value, the control module obtains the pitching angle value of the arm support through the second angle detection device in real time, 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.
The further technical scheme is as follows: the material piling and taking device is an arm support type bucket wheel material piling and taking machine, the material piling and taking mechanism is a bucket wheel, 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 calculation module calculates an operation area which accords with the operation at this time through an operation scheduling intelligent algorithm according to operation plan information, determines a starting point coordinate and an end point coordinate of the initial operation area, the control module acquires the whole material field geographic morphology data and the related information of the material piling and taking equipment from the data server, calculates and compares the position coordinate of the material piling and taking equipment with the starting point coordinate determined by the calculation module, and sends a walking command to control the walking mechanism to move until the material piling and taking equipment reaches the operation starting point coordinate; the control module compares the material pile height data or the height of the material to be piled obtained by calculation of the calculation module with the arm support pitching angle data and sends a pitching command to control the pitching mechanism to move until the material piling and taking mechanism reaches the preset height.
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 diagram of an automatic stacker-reclaimer 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 process diagram of a rotary backward walking stacking method according to the present invention;
fig. 4 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 pile feeding agencies 12 pylon
13 balance weight mechanism A1 measurable area A2 unmeasurable area B stockpile
C-walking-rotating-retreating-stacking-operation-track D-operation-area-E-stacking-material-retreating-equipment retreating track
14 stacker reclaimer device 15 grid vertices
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.
In the following embodiments of the present invention, referring to fig. 1 and fig. 2, a stacker-reclaimer system includes a stacker-reclaimer 14, a control module 2 and a detection module, where the detection module at least includes a geographic feature detection device 1 for detecting a geographic feature of a whole material yard and a position detection device 10 for detecting a walking position of the stacker-reclaimer 14, and the geographic feature at least includes a surface feature of the material pile in the material yard and a coordinate value of a predetermined position of the material pile in a preset coordinate system; the geographical topography detection device 1 can detect geographical topography characteristics of a measurable area of a storage yard and can calculate and obtain geographical topography characteristics of an unmeasured area, and a calculation model in the process of acquiring the geographical topography 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 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 geographical feature detection device 1 and the coordinates of the stock yard; the detection module transmits the detected data information to the control module 2, and the control module controls the data informationThe control module 2 combines the acquired data information with the target instructions of the stacking and reclaiming operations, and obtains a control result through control operation, and the control module 2 controls the stacking and reclaiming equipment 14 to perform corresponding action operation according to the control result and complete the operation target.
As shown in fig. 4, the stock yard adopts a gridding method, that is, an area in the effective stock piling area is divided into continuous grid curved surfaces, the 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 yard as a reference coordinate zero point, wherein the x and y coordinates represent the position value of the grid vertex 15 on the surface of the stock pile in the horizontal direction, the z value represents the height of the grid vertex 15 on the surface of the stock pile, that is, 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.
With the arrangement, in a preset coordinate system, the height value of a specific point on the surface of the material pile can be calculated by giving the abscissa and the ordinate of any point of the material pile, so that all the feature data of the surface of the material pile can be obtained, and then the control module 2 performs related control operation on the material piling and taking equipment 14 based on the data, so that the automatic intellectualization of material piling and taking is realized.
It will be appreciated by those skilled in the art that the unmeasured areas are blind areas of the geographic topography detection apparatus 1. The topographical detection device 1 may be a measurement and modeling system, including a 3D laser scanner.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, a further technical solution is: the material piling and taking device 14 at least comprises a traveling mechanism 3, a pitching mechanism 4, a rotating mechanism 8, a rack and a material piling and taking mechanism 11, wherein the rack is arranged at the upper part of the traveling mechanism 3, the rotating mechanism 8 is arranged on the rack, the material piling and taking mechanism 11 is connected with the rotating mechanism 8 through an arm support 7, one end of the arm support 7 is connected with the material piling and taking mechanism 11, the other end of the arm support 7 is hinged with the rotating 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 hinged point of the arm support 7 and the rotating mechanism 8; the detection module further comprises a rotation angle detection device 9 for measuring the rotation angle of the rotation mechanism 8 and an angle measurement device for detecting the pitching angle of the arm support 7, and the control module 2 controls the walking mechanism 3, the pitching mechanism 4 and the rotation mechanism 8 to perform corresponding action operation and complete an operation target according to a control result.
The invention can be used for unmanned piling and taking process of bulk cargo stock yards, and can realize the full-process automatic piling and taking operation of the piling and taking equipment 14 in large bulk cargo stock yards under the condition of no operation driver on site. The invention can fully ensure the utilization rate of the stock yard, exert the material piling and taking capability and other functions of the material piling and taking equipment 14, and the material piling and taking equipment 14 is operated and monitored by no operation driver, 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 cargo stock yard.
On the basis of the above embodiment, in another embodiment of the present invention, the control module 2 includes a data server and a calculation module, the control module 2 stores the received data information in the data server and updates the received data information in real time, wherein the geographic topography data of the full stockyard is stored in the data server in a DEM topographic data format, the control module 2 can convert the geographic topography data of the full stockyard into a 2D or 3D heap shape display through the calculation module, and the 2D or 3D heap shape display at least includes the material name, the heap shape volume, the heap shape angle of repose, and the heap shape profile information of each stockpile in the full stockyard. According to the arrangement, the system can record the material statistical information of the full stock ground in real time, and the control module 2 can inquire the material statistical information of the full stock ground, so that the stock checking function of the full 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-field topographic data into 2D or 3D heap shape display, the calculation model of the heap shape volume of the material heap is
Wherein m and n are the number of grids in the terrain data format of the stock ground DEM, m is the number of rows in the stock ground in the terrain data format of the DEM, and n is DEStock ground column number h under M terrain data formatijAnd 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, the control module 2 obtains, through the calculation module, 2D or 3D stack shape display including a material name, a stack shape volume, a stack shape repose angle, and stack shape profile information of each stack in the full yard from the full yard physical topography data, and labels the material name of each stack in the 2D or 3D stack shape display according to information prestored in the control module 2.
In another embodiment of the present invention based on the above embodiment, as shown in fig. 1, the stacker-reclaimer device 14 further comprises a tower 12, the geographic topography detecting device 1 is disposed on top of the tower 12, and the tower 12 is disposed on the traveling mechanism 3 and does not rotate with the slewing mechanism 8. So set up, geographical appearance detection device 1 sets up in the eminence, and the blind area of geographical appearance detection device 1 that has significantly reduced improves the accuracy that information acquireed. Meanwhile, the measuring function and the measuring process of the geographic topography detection device 1 are not influenced by the attitude and/or the movement of the bucket wheel machine.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, 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 cooperate to measure the pitch angle of the boom 7.
The specific control method of the pitching angle of the arm support 7 comprises the following steps: the first angle detection device 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 stacking mechanism according to the received pitch angle data of the arm support 7, the stacking height obtained in the step (2) is compared with the height of the current stacking mechanism, when the stacking height is higher than the height of the current stacking mechanism, 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 detection device, and when the pitch angle value of the first angle detection device 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 sends control data to stop the pitch device to move; when the stacking height is lower than the height of the current stacking mechanism, the control module 2 controls the pitching mechanism 4 to move through a pitching command, the pitching command comprises a pitching angle value, the control module 2 obtains the pitching angle value of the arm support 7 through the second angle detection device in real time, 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.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the stacker-reclaimer 14 is a boom 7 type bucket-wheel stacker-reclaimer, the stacker-reclaimer 11 is a bucket wheel, the boom 7 is provided with a material conveying mechanism, one side of the swing mechanism 8 is connected to the boom 7, and the other side is fixedly connected to 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 calculation module calculates an operation area according to the operation plan information by using an operation scheduling intelligent algorithm, determines a start point coordinate and an end point coordinate of a start operation area, the control module 2 obtains the physical and morphological data of the whole material field and the related information of the stacking and reclaiming equipment 14 from the data server, calculates and compares the position coordinate of the stacking equipment with the start point coordinate determined by the calculation module, and controls the traveling mechanism 3 to move until the stacking equipment reaches the operation start point coordinate; the control module 2 compares the material pile height data or the height of the material to be piled obtained by calculation of the calculation module with the pitching angle data of the arm support 7 and sends a pitching command to control the pitching mechanism 4 to move until the material piling and taking mechanism 11 reaches the preset height.
The invention provides an automatic stacking operation process of an automatic stacking and reclaiming system, which adopts a rotary backward walking stacking mode, and comprises the following specific steps as shown in figure 3:
(1) receiving a stacking instruction: the control module 2 acquires a stockpiling 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 the stacking height and the working area: and (2) acquiring geographic morphology data of the whole stock ground from a data server, calculating a proper height of stockpiling and an operation area conforming to the operation by an operation scheduling intelligent algorithm by combining the operation plan information acquired in the step (1), and determining a start point coordinate and an end point coordinate of the initial operation area.
(3) Controlling the stacking equipment to move to the operation starting point and the stacking mechanism to be in place;
(4) revolving, retreating, walking and stacking: the control module 2 controls the stacking equipment to stack materials, simultaneously sends a rotation command and controls the rotation mechanism 8 to move to rotate and stack materials, the geographic morphology detection device 1 monitors the physical morphology characteristics of the whole material field in real time in the stacking process, the control module 2 obtains stacking surface data through the physical morphology characteristic data of the whole material field, judges whether stacking is completed in the current rotation radius according to the stacking track, and after stacking is completed in the rotation radius of the operation starting point, the control module 2 sends a walking command to control the stacking equipment to start to retreat and walk to the next operation point to perform rotation stacking until the rotation stacking operation of the operation end point is completed.
The material piling machine has the advantages that the material piling machine is rotated and retreated to walk and pile materials, so that the walking time in the material piling process can be saved, regular piling (the top of the material pile is flat), at least 15% of pile-shaped material piles with regular material storage capacity are added, stable material taking flow can be provided for material taking operation, and the working efficiency is improved.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, the specific control process in step (3) is: the control module 2 acquires the position coordinate of the current stacking equipment in the stock yard 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 stacking mechanism according to the pitching angle data of the arm support 7, compares the height of the stacking mechanism obtained in the step (2) with the height of the current stacking mechanism and sends a pitching command to control the pitching mechanism 4 to move until the stacking mechanism reaches the preset height; thirdly, the control module 2 determines the horizontal position of the current stacking mechanism according to the rotation angle data, judges whether the stacking 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 8 to rotate until the stacking mechanism reaches the preset horizontal position.
In a specific embodiment, the control module 2 acquires an automatic stacking operation plan instruction in real time, and after the control module 2 receives the automatic stacking operation plan instruction, the control module 2 acquires full-material field shape data from a central data server, and calculates an operation area which accords with the operation by an operation scheduling intelligent algorithm in combination with automatic material taking operation plan information such as operation total amount, material flow and the like; the control module 2 acquires the current position of the stacker-reclaimer 14 in the stock ground through the position detection device 10, if the current position of the stacker-reclaimer 14 is right at the start point of an operation coordinate, a walking command does not need to be issued to the traveling mechanism 3, if the current position of the stacker-reclaimer 14 is not at the start point of the operation coordinate, the control module 2 sends the walking command to the traveling mechanism 3, the walking command comprises a walking direction and a walking distance, the control module 2 acquires the current position of the stacker-reclaimer 14 in the stock ground through the position measurement device, when the result fed back by the position measurement device is the same as the start point of the operation coordinate, the control module 2 sends a walking stopping command to the traveling mechanism 3, and the stacker-reclaimer 14 reaches the coordinates of the operation start point. The control module 2 judges whether the arm support 7 needs to perform pitching action according to the height of the material pile, if the height of the material pile is higher than the height of the arm support 7 of the current stacking and reclaiming device 14, the control module 2 sends a pitching command to the pitching mechanism 4, the pitching command comprises a pitching angle value, the control module 2 obtains the current pitching angle value of the arm support 7 through the first angle measuring device 5, when the pitching angle value is the same as the pitching angle value sent by the control module 2, the control module 2 sends a pitching stopping command to the pitching mechanism 4, if the height of the material pile is lower than the height of the arm support 7 of the current stacking and reclaiming device 14, the control module 2 sends a pitching command to the pitching mechanism 4, the pitching command comprises a pitching angle value, the control module 2 obtains the current pitching angle value of the arm support 7 through the second angle measuring device 6, and when the pitching angle value is the same as the pitching angle value sent by the control module 2, the control module 2 sends a pitch stopping command to the pitching mechanism 4, and the arm support 7 of the stacker-reclaimer 14 stops pitching. The control module 2 sends a rotation command to the rotation mechanism 8, the rotation command comprises a rotation angle value, the control module 2 obtains a rotation angle through the rotation angle detection device 9, when the rotation angle is the same as the rotation command angle, the control module 2 sends a rotation stopping command to the rotation mechanism 8, and the material stacking and taking device 14 stops rotating. After the arm support 7 of the stacker-reclaimer 14 is in place, the control module 2 sends a stacker starting work command, the stacker-reclaimer 14 starts automatic stacker operation, the control module 2 sends a rotation command to the rotation mechanism 8 in the automatic stacker operation process to control the stacker-reclaimer 14 to stack uniformly, the control module 2 obtains stacker surface data in real time through the geographic profile detection device 1 and judges whether stacker is completed in the current rotation radius according to the stacker track, if automatic stacker is completed in the rotation radius, the control module 2 sends a pitching command to the pitching mechanism 4 to lift the arm support 7 of the stacker-reclaimer 14 to the highest point (the flow is consistent with the pitching flow), the control module 2 sends a rotation command to the rotation mechanism 8 to rotate the arm support 7 of the stacker-reclaimer 14 to the upper part of the track (the flow is consistent with the rotation flow), the computer controls to send a walking command to the walking mechanism 3, when the stacker-reclaimer 14 travels to the next operation coordinate point (the flow is consistent with the above travel flow), the control module 2 sends a stacker start work command, and the stacker-reclaimer 14 starts automatic stacking. And the control module 2 repeatedly sends walking, pitching, rotating and bucket wheel working starting commands until the first layered material stacking is completed. After the first layered stacking is completed, the control module 2 calculates a second layered coordinate starting point, the control module 2 sends a stacking operation stop command, a pitching command, a turning command and a walking command, the stacking and taking equipment 14 walks to the second layered coordinate starting point, and the first layered stacking action of the stacking and taking equipment 14 is repeated until the second layered stacking is completed. The stacker reclaimer device 14 repeats the action of layering the stacker until the automatic stacker operation plan is completed.
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 (10)
1. An automatic intelligent material piling and taking system is characterized by comprising material piling and taking equipment, a control module and a detection module, wherein the detection module at least comprises a geographical feature detection device for detecting the geographical feature of the whole material field and a position detection device for detecting the walking position of the material piling and taking equipment, and the geographical feature at least comprises the surface feature of a material pile in the material field and the coordinate value of a preset position of the material pile in a preset coordinate system; 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, and the 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 stock dump; the detection module transmits detected data information to the control module, the control module combines the acquired data information with stacking and material taking operation target instructions to obtain a control result through control operation, and the control module controls the stacking and material taking equipment to perform corresponding action operation according to the control result and complete an operation target.
2. The automatic intelligent material piling and taking system according to claim 1, wherein the material piling and taking device at least comprises a traveling mechanism, a pitching mechanism, a swing mechanism, a frame and a material piling and taking mechanism, the frame is arranged at the upper part of the traveling mechanism, the swing mechanism is arranged on the frame, the material piling and taking mechanism is connected with the swing mechanism through an arm support, one end of the arm support is connected with the material piling and taking mechanism, the other end of the arm support is hinged with the swing mechanism, and the pitching mechanism is connected with the arm support and can control the arm support to perform pitching motion along the hinged point of the arm support and the swing mechanism; the detection module further comprises 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, and the control module controls the walking mechanism, the pitching mechanism and the rotation mechanism to perform corresponding action operation and complete an operation target according to a control result.
3. The automated intelligent material piling and taking system according to claim 2, wherein the control module comprises a data server and a calculation module, the control module stores the received data information in the data server and updates the received data information in real time, the geographic topography data of the full stock yard is stored in the data server in a DEM (digital elevation model) topographic data format, the control module can convert the geographic topography data of the full stock yard into a 2D or 3D heap shape display through the calculation module, and the 2D or 3D heap shape display at least comprises the material name, the heap shape volume, the heap shape angle of repose and the heap shape section map information of each stock pile in the full stock yard.
4. The automated intelligent material piling and taking system according to claim 3, wherein in the calculation process of converting the full material field geographic topography data into the 2D or 3D heap shape display, the calculation model of the heap shape volume of the material pile 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.
5. The automatic intelligent material piling and taking system according to claim 4, wherein the control module obtains 2D or 3D pile shape display including material names, pile shape volumes, pile shape repose angles and pile shape profile information of all piles in the full yard through the calculation module according to the full yard geographic topography data, and labels the material names of all the piles in the 2D or 3D pile shape display according to information prestored in the control module.
6. The automated intelligent stacker reclaimer system of claim 3, wherein said stacker reclaimer device further comprises a tower, said geographic topography detection device being disposed on top of said tower, said tower being disposed on said traveling mechanism and not rotating with said slewing mechanism.
7. The automated intelligent stacker reclaimer system of claim 6, wherein the angle measuring device comprises a first angle measuring device disposed on top of the tower and a second angle measuring device disposed on the boom, the first and second angle measuring devices cooperating to measure the pitch angle of the boom.
8. The automated intelligent stacker-reclaimer system of claim 7, wherein the stacker-reclaimer device is a boom type bucket wheel stacker-reclaimer, the stacker-reclaimer mechanism is a bucket wheel, the boom is provided with a material conveying mechanism, one side of the swing mechanism is connected with the boom, and the other side of the swing mechanism is fixedly connected with a balance weight mechanism.
9. The automated intelligent stacker-reclaimer system of claim 8, wherein said material conveying mechanism is a belt conveyor, a material drop point of the belt is provided with a buffer idler and a side idler, said side idler being inclined forward in a belt transport direction at a predetermined angle.
10. The automatic intelligent material piling and taking system according to claim 4, wherein the calculation module calculates an operation area according with the operation according to the operation plan information through an operation scheduling intelligent algorithm, determines a start point coordinate and an end point coordinate of the start operation area, the control module obtains the physical and morphological data of the whole material field and the related information of the material piling and taking device from the data server, calculates and compares the position coordinate of the material piling device with the start point coordinate determined by the calculation module, and sends a walking command to control the walking mechanism to move until the material piling device reaches the operation start point coordinate; the control module compares the material pile height data or the height of the material to be piled obtained by calculation of the calculation module with the arm support pitching angle data and sends a pitching command to control the pitching mechanism to move until the material piling and taking mechanism reaches the preset height.
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| JP7183595B2 (en) * | 2018-07-06 | 2022-12-06 | 株式会社安川電機 | CONTROL SYSTEM, MODEL CONSTRUCTION DEVICE, AND DATA GENERATION METHOD |
| CN110356862B (en) * | 2019-05-31 | 2021-08-31 | 燕山大学 | Anti-collision method and system for stacker-reclaimer based on GPS positioning |
| CN111674954B (en) * | 2020-07-17 | 2022-06-07 | 中冶长天国际工程有限责任公司 | Material taking system and method |
| 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 |
| CN113548488A (en) * | 2021-06-16 | 2021-10-26 | 华能(浙江)能源开发有限公司玉环分公司 | Full-automatic control system of bucket wheel machine |
| CN114620496A (en) * | 2022-02-22 | 2022-06-14 | 国能网信科技(北京)有限公司 | Intelligent material piling and taking control method and device, electronic equipment and storage medium |
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| KR100489677B1 (en) * | 2002-08-30 | 2005-05-17 | 재단법인 포항산업과학연구원 | Method for controlling position of reclaimer |
| 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 |
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