CN108180849A - Stacking height detection device and detection method in a kind of garbage pool - Google Patents
Stacking height detection device and detection method in a kind of garbage pool Download PDFInfo
- Publication number
- CN108180849A CN108180849A CN201711418865.XA CN201711418865A CN108180849A CN 108180849 A CN108180849 A CN 108180849A CN 201711418865 A CN201711418865 A CN 201711418865A CN 108180849 A CN108180849 A CN 108180849A
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- Prior art keywords
- stacking height
- grab bucket
- garbage pool
- stacking
- height
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Incineration Of Waste (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses stacking height detection device and detection method in a kind of garbage pool, which includes grab bucket positioning module, non-contact altimeter and stacking height computing module；The grab bucket positioning module is mounted in grab bucket, and for detecting the position coordinates of the grab bucket, described grab bucket operates in the top of garbage pool；The non-contact altimeter is mounted on the side of the grab bucket straight down；The non-contact altimeter and the grab bucket positioning module are all connected with the stacking height computing module；The stacking height computing module memory contains the stacking height of each block in garbage pool, and the stacking height for the block that update is located at immediately below the grab bucket is calculated according to the testing result of the non-contact altimeter and the grab bucket positioning module.Beneficial effects of the present invention are：The variation of stacking height in garbage pool can be monitored in real time by non-contact altimeter and grab bucket positioning module, stacking height computing module.
Description
Technical field
The invention belongs to field of environment protection equipment, and in particular to stacking height detection device and detection side in a kind of garbage pool
Method.
Background technology
In the prior art, large-scale waste incineration and generating electricity station is usually provided with garbage pool, temporarily to store rubbish；Rubbish
Rubbish in pond needs cooperation crane progress grasp handling of grabbing bucket；Grab bucket and crane need personnel to carry out visual operation, however
Garbage pool surrounding air is dirty, and severe working environment can threaten to the health of crane operator, it is therefore necessary to draw
Enter crane automatic control system.But crane automatic control system of the prior art has the following problems：1. existing crane
Automatic control system is mostly used for loading and unloading container etc. and has figurate cargo, and rubbish is bulk cargo, does not fix shape,
Existing automatic control system can not accurately position it；2. for having a figurate cargo, control system can be with
The stack height of each region in goods yard is counted by recording stowed location and stacking number, to plan the operation line of crane
Road；However rubbish is bulk cargo, the stacking height of each region in garbage pool can not be accurately obtained by stacked, this causes automatically
Control system can not accurately capture the rubbish in garbage pool.In conclusion stacking height detection technique is garbage pool crane
The primary technical barrier of automatic control system.
Invention content
According to the deficiencies of the prior art described above, It is an object of the present invention to provide stacking height detects in a kind of garbage pool
Device and detection method, the detection device use non-contact sensor, can accurately detect each region in garbage pool
Rubbish stacking height.
The object of the invention realization is completed by following technical scheme：
Stacking height detection device in a kind of garbage pool, stacking height detection device includes grab bucket positioning mould in the garbage pool
Group, non-contact altimeter and stacking height computing module；The grab bucket positioning module is mounted in grab bucket, described for detecting
The position coordinates of grab bucket, described grab bucket operate in the top of garbage pool；The non-contact altimeter is mounted on the side of the grab bucket
Face；The non-contact altimeter and the grab bucket positioning module are all connected with the stacking height computing module；The heap height of embankment
Degree computing module memory contains the stacking height of each block in garbage pool, and according to the non-contact altimeter and described grabs
The testing result of bucket positioning module calculates the stacking height for the block that update is located at immediately below the grab bucket.
The stacking height computing module is industrial personal computer, PLC, microcontroller or all-purpose computer.
The non-contact altimeter include Safety shell, the laser-measured height module that is arranged on inside the Safety shell and
Acceleration transducer；The Safety shell is fixedly mounted on the side of the grab bucket, and the bottom of the Safety shell offers inspection
Forms are surveyed, tempered glass is inlaid in the detection forms；The laser-measured height module is suspended in the safety by universal joint
The inside of housing；Openable and closable sealing baffle is provided with below the detection forms, the side of the sealing baffle is connected with
Barrier driving mechanism；The barrier driving mechanism is connect with the laser-measured height module and the acceleration transducer；Work as institute
When stating the relative altitude that laser-measured height module detects and being less than alarm threshold, the barrier driving mechanism drives the sealing baffle
It is closed, to block the detection forms；When the acceleration transducer detects that the duration is more than the vertical of the first time limit
During upward acceleration, the barrier driving mechanism drives the sealing baffle to open.
High pressure washing nozzle and gas drying nozzle are provided with below the detection forms；The high pressure washing nozzle
High-pressure water is connected, the gas drying nozzle is connect by gas-heating apparatus with gas cylinder；It is opened when the sealing baffle is in
When opening state, at predetermined time intervals, the high pressure washing nozzle is rinsed the detection forms, and the gas dries after flushing
Dry nozzle dries the detection forms.
Described grab bucket is suspended in the top of the garbage pool by crane.
The detection method of stacking height detection device in a kind of garbage pool, the detection method specifically include following steps：
Garbage pool is divided into the two-dimensional array that several blocks are formed in the horizontal direction, stacking height computing module memory contains each area
The stacking height of block；Described in non-contact altimeter test constantly below the stacking surface of block to altimeter non-contact this described
Relative altitude；The relative altitude and grab bucket that the stacking height computing module is measured according to the non-contact altimeter position
The testing result of module calculates the stacking height of the non-contact altimeter lower block, and to the stacking height computing module
The stacking height data of storage inside are updated.
The grab bucket positioning module is used to measure the position coordinates of the grab bucket, and the position coordinates of the grab bucket include grab bucket
Vertical height hz；The stacking height computing module calculates the formula of the stacking height of the non-contact altimeter lower block
It is as follows：
Hs = hz – hr
Wherein：Hs is the stacking height of the non-contact altimeter lower block, and hr is the non-contact altimeter to stacking table
The relative altitude in face.
The shape of the block is circle, and the edge of each adjacent block is overlapped.
It is an advantage of the invention that：By non-contact altimeter and grab bucket positioning module, stacking height computing module can be with
Monitor the variation of stacking height in garbage pool in real time；Stacking height detection technique has precision height, reliability height in the garbage pool
The advantages that.
Description of the drawings
Fig. 1 is the structure diagram of stacking height detection device in garbage pool of the present invention；
Fig. 2 is the side view of stacking height detection device in garbage pool of the present invention；
Fig. 3 is the vertical view of garbage pool in the present invention；
Fig. 4 is sectional view of the non-contact altimeter in sealing baffle in the closure state in the present invention；
Fig. 5 is sectional view of the non-contact altimeter when sealing baffle is in opening in the present invention.
Specific embodiment
The feature of the present invention and other correlated characteristics are described in further detail by embodiment below in conjunction with attached drawing, with
Convenient for the understanding of technical staff of the same trade：
Such as Fig. 1-5, label 1-19 is respectively in figure：Garbage pool 1, grab bucket 2, crane 3, grab bucket positioning module 4, non-contact altimeter
5a, non-contact altimeter 5b, stacking height computing module 6, block 7, Safety shell 8, laser-measured height module 9, acceleration sensing
Device 10, detection forms 11, universal joint 12, sealing baffle 13, barrier driving mechanism 14, high pressure washing nozzle 15, gas drying spray
Mouth 16, high-pressure water 17, gas-heating apparatus 18, gas cylinder 19, trolley 20.
Embodiment：As shown in Figures 1 to 3, the present embodiment is related to stacking height detection device in a kind of garbage pool, which uses
In the rubbish stacking height of each block 7 in detection garbage pool 1；Rubbish inside garbage pool 1 is by operating in the grab bucket of garbage pool 1
2 carry out grasp handling；Grab bucket 2 is suspended in the lower section of crane 3, and grab bucket 2 can be mobile above garbage pool 1 by crane 3.Rubbish
1 inside rubbish stacking height of pond mainly by grab bucket 2 influence, as long as therefore monitoring grab bucket 2 lower section stacking height variation, you can
Grasp the variation of the rubbish stacking height of 1 inside each region of garbage pool.
As shown in Figure 1, 2, stacking height detection device includes grab bucket positioning module 4, non-connects in the garbage pool of the present embodiment
Touch altimeter 5a and stacking height computing module 6；Positioning module 4 of grabbing bucket is mounted in grab bucket 2, for detecting the position of grab bucket 2
Put coordinate；Non-contact altimeter 5a is mounted on the side of grab bucket 2, for detecting the phase between grab bucket 2 and rubbish stacking upper surface
It adjusts the distance；Non-contact altimeter 5a and grab bucket positioning module 4 are all connected with stacking height computing module 6.
As shown in Figures 1 to 3, there are one two-dimensional table, which is used to deposit for setting in stacking height computing module 6
Store up the rubbish stacking height of each block 7 in garbage pool 1；Stacking height computing module 6 can be detected according to non-contact altimeter 5a
To relative altitude and grab bucket positioning module 4 detect grab bucket position coordinates calculate be located at grab bucket 2 immediately below block 7
Stacking height；The stacking height calculated can be used to the data in the two-dimensional table of its inside in stacking height computing module 6
It is updated；Grab bucket 2 is mobile above garbage pool 1 with crane 3, and stacking height computing module 6 is at predetermined time intervals to non-contact
Stacking height below altimeter 5a is calculated, the block that such stacking height computing module 6 can persistently pass through grab bucket 2
7 stacking height data are updated so that the data of 6 memory storage of stacking height computing module and the actual state one of stacking
It causes.
As shown in Figure 1, in the present embodiment, grab bucket positioning module 4 on crane 3 each motive position determine perimeter
Idler wheel driving encoder, gear-rack drive encoder and axis dress rotary encoder；Stacking height computing module 6 is industry control
Machine, microcontroller, PLC or all-purpose computer.
As shown in Fig. 2,4,5, non-contact altimeter 5a includes Safety shell 8, the Laser Measuring being arranged on inside Safety shell 8
High module 9 and acceleration transducer 10；Safety shell 8 be fixedly mounted on grab bucket 2 side, Safety shell 8 by high intensity not
Become rusty closed container made of steel, for the laser-measured height module 9 and acceleration transducer 10 for protecting it internal；For the ease of laser
It surveys the light beam that high module 9 is sent out to penetrate, the bottom of Safety shell 8 offers detection forms 11, detects in forms 11 and is inlaid with steel
Change glass；Laser-measured height module 9 is suspended in the inside of Safety shell 8 by universal joint 12, and universal joint 12 may insure Laser Measuring
High module 9 can keep posture straight down in measurement process；The lower section of detection forms 11 is provided with openable and closable sealing
Baffle 13, the side of sealing baffle 13 are connected with barrier driving mechanism 14, and barrier driving mechanism 14 is hydraulic oil in the present embodiment
Cylinder.
As shown in Fig. 2,4,5, barrier driving mechanism 14 is connect with laser-measured height module 9 and acceleration transducer 10；When
The relative altitude that laser-measured height module 9 detects be less than alarm threshold when, represent grab bucket 2 will be captured from stacking object or
By object other side on stacking, in order to avoid the object on the tempered glass and stacking in detection forms 11 collides, relatively
Barrier driving mechanism 14 drives sealing baffle 13 to be closed when being highly less than alarm threshold；State after sealing baffle 13 is closed such as is schemed
Shown in 4；When acceleration transducer 10 detects that the duration is more than the acceleration straight up in the first time limit, grab bucket is represented
2 have been lifted up certain distance, and the danger of collision has been not present in non-contact altimeter 5a, and barrier driving mechanism 14 drives at this time
Sealing baffle 13 is opened, and the state after sealing baffle 13 is opened is as shown in Figure 5.
As shown in Fig. 2,4,5, the lower section of detection forms 11 is provided with high pressure washing nozzle 15 and gas drying nozzle 16；
High pressure washing nozzle 15 is connect by pipeline with high-pressure water 17；Gas drying nozzle 16 passes through gas-heating apparatus 18 and gas cylinder
19 connections；Sealing 13 plates of gear are stated when be in opening, at predetermined time intervals, high pressure washing nozzle 15 is to the steel of detection forms 11
Change and be rinsed in glass, gas drying nozzle 16 sprays high temperature and high pressure gas to tempered glass after flushing, so as to detecting window
The tempered glass of body 11 is dried；The spot of tempered glass surface contamination can be washed in time by rinsing and drying, and made
Preferable transparency can be kept by obtaining tempered glass.
As shown in Figure 1, being provided with trolley 20 on crane 3, the side of trolley 20 is equipped with non-contact altimeter 5b, non-contact
Altimeter 5b is used to detect the stacking height below non-contact altimeter 5a；Non-contact altimeter 5b also calculates mould with stacking height
Block 6 connects.
As shown in Figures 1 to 3, this implementation further relates to stacking height detection method in a kind of garbage pool, and this method includes following
Step：
1）As shown in figure 3, garbage pool 1 is divided into several blocks 7 in the horizontal direction；Each block 7 is arranged in a manner of two-dimensional array
Row；In the present embodiment, each block 7 is circle, and the edge of adjacent block 7 is overlapped.
2）As shown in Figure 1,3, there are one two-dimensional tables for setting in stacking height computing module 6；Cell in the table
It is corresponded with the block 7 in garbage pool 1, for storing the stacking height of respective block 7；Stacking height detects in garbage pool
When device comes into operation, without rubbish in garbage pool 1, therefore when for the first time using stacking height detection device in garbage pool, need
Two-dimensional table in stacking height computing module 6 is zeroed out.
3）As shown in Figures 1 to 3, non-contact altimeter 5a test constantlies below block 7 stacking surface to grab bucket 2 phase
To height；Stacking height computing module 6 according to the non-contact altimeter 5a relative altitudes measured and grab bucket positioning module 4 inspection
The stacking height that result calculates 2 lower blocks 7 of the grab bucket is surveyed, and to being deposited in the two-dimensional table in stacking height computing module 6
The stacking height data of storage are updated；Since the stacking height in garbage pool 1 is mainly influenced by grab bucket 2, pass through interval
Predetermined time measures the stacking height of non-contact altimeter 5a lower blocks 7, you can stacking height in detection garbage pool 1 in real time
Variation.
As shown in Figure 1, 2, for measuring the position coordinates of grab bucket 2,2 position coordinates of grabbing bucket include grab bucket positioning module 4
The vertical height of grab bucket 2；When non-contact altimeter 5a is mounted on the side of the grab bucket 2,2 vertical height of grabbing bucket can be approximate
Equal to the vertical height of non-contact altimeter 5a, the heap height of embankment of 2 lower blocks 7 of grab bucket of the calculating of stacking height computing module 6 at this time
The formula of degree is as follows：
Hs = hz – hr
Wherein：Hs is the stacking height of the block 7 below non-contact altimeter 5a, and hz is the vertical height of grab bucket 2, and hr is non-
Contact height meter 5a to stacking surface relative altitude.
As shown in Figure 1, 2, stacking height computing module 6 can also by non-contact altimeter 5b measure the grab bucket 2 under
The stacking height of square block 12, and the stacking height data to being stored in the two-dimensional table in stacking height computing module 6 carry out
Update.Non-contact altimeter 5a and non-contact altimeter 5b backup each other.
The present embodiment has the beneficial effect that：Mould is calculated by non-contact altimeter and grab bucket positioning module, stacking height
Block can monitor the variation of stacking height in garbage pool in real time；In the garbage pool stacking height detection technique have precision it is high, can
By property it is high the advantages that.
Claims (9)
1. stacking height detection device in a kind of garbage pool, it is characterised in that stacking height detection device includes in the garbage pool
Grab bucket positioning module, non-contact altimeter and stacking height computing module；The grab bucket positioning module is mounted in grab bucket, is used
In the position coordinates for detecting the grab bucket, described grab bucket operates in the top of garbage pool；The non-contact altimeter is mounted on institute
State the side of grab bucket；The non-contact altimeter and the grab bucket positioning module are all connected with the stacking height computing module；
The stacking height computing module memory contains the stacking height of each block in garbage pool, and according to the non-contact altimeter
And the testing result of the grab bucket positioning module calculates the stacking height for the block that update is located at immediately below the grab bucket.
2. stacking height detection device in a kind of garbage pool according to claim 1, it is characterised in that the stacking height
Computing module is industrial personal computer, microcontroller, PLC or all-purpose computer.
3. stacking height detection device in a kind of garbage pool according to claim 1, it is characterised in that the non-contact height
Degree meter includes Safety shell, the laser-measured height module that is arranged on inside the Safety shell and acceleration transducer；The peace
Full housing is fixedly mounted on the side of the grab bucket, and the bottom of the Safety shell offers detection forms, the detection forms
In be inlaid with tempered glass；The laser-measured height module is suspended in the inside of the Safety shell by universal joint；The detection
Openable and closable sealing baffle is provided with below forms, the side of the sealing baffle is connected with barrier driving mechanism；The gear
Plate driving mechanism is connect with the laser-measured height module and the acceleration transducer；When the laser-measured height module detects
Relative altitude when being less than alarm threshold, the barrier driving mechanism drives the sealing baffle to be closed, to block the inspection
Survey forms；It is described when the acceleration transducer detects that the duration is more than the acceleration straight up in the first time limit
Barrier driving mechanism drives the sealing baffle to open.
4. stacking height detection device in a kind of garbage pool according to claim 3, it is characterised in that the detection forms
Lower section be provided with high pressure washing nozzle and gas drying nozzle；The high pressure washing nozzle connects high-pressure water, the gas
Body drying nozzle is connect by gas-heating apparatus with gas cylinder；When the sealing baffle is in opening, every pre- timing
Between, the high pressure washing nozzle is rinsed the detection forms, and the gas drying nozzle is to the detection window after flushing
Body is dried.
5. stacking height detection device in a kind of garbage pool according to claim 1, it is characterised in that the grab bucket passes through
Crane is suspended in the top of the garbage pool.
6. stacking height detection device in a kind of garbage pool according to claim 5, it is characterised in that the crane includes
One trolley is equipped with non-contact altimeter on the trolley.
7. a kind of detection method using stacking height detection device in the garbage pool any in claim 1 to 6, special
Sign is that the detection method specifically includes following steps：Garbage pool is divided into the two dimension that several blocks are formed in the horizontal direction
Array, stacking height computing module memory contain the stacking height of each block；The non-contact altimeter interval predetermined time measures
The stacking surface of the non-contact altimeter lower block is to the relative altitude of the grab bucket；The stacking height computing module root
The relative altitude and the testing result for positioning module of grabbing bucket measured according to the non-contact altimeter calculates the non-contact height
The stacking height of lower block is counted, and the stacking height data of the stacking height computing module storage inside are updated.
8. the detection method of stacking height detection device in a kind of garbage pool according to claim 7, it is characterised in that institute
The position coordinates that grab bucket positioning module is used to measure the grab bucket are stated, the position coordinates of the grab bucket include the vertical height of grab bucket
hz；The stacking height computing module calculates the following institute of calculation formula of the stacking height of the non-contact altimeter lower block
Show：
Hs = hz – hr
Wherein：Hs is the stacking height of the non-contact altimeter lower block, and hr is opposite for the grab bucket to stacking surface
Highly.
9. the detection method of stacking height detection device in a kind of garbage pool according to claim 7, it is characterised in that institute
The shape for stating block is circle, and the edge of each adjacent block is overlapped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418865.XA CN108180849B (en) | 2017-12-25 | 2017-12-25 | Device and method for detecting stacking height in garbage pool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418865.XA CN108180849B (en) | 2017-12-25 | 2017-12-25 | Device and method for detecting stacking height in garbage pool |
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| Publication Number | Publication Date |
|---|---|
| CN108180849A true CN108180849A (en) | 2018-06-19 |
| CN108180849B CN108180849B (en) | 2020-07-03 |
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ID=62547278
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711418865.XA Active CN108180849B (en) | 2017-12-25 | 2017-12-25 | Device and method for detecting stacking height in garbage pool |
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| Country | Link |
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| CN (1) | CN108180849B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113800405A (en) * | 2021-10-12 | 2021-12-17 | 上海昂丰装备科技有限公司 | A anticollision hoisting machine constructs for in rubbish storage pit |
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| CN108180849B (en) | 2020-07-03 |
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