CN108182715A - A kind of material stacking and fetching system with statistics rickyard material information - Google Patents
A kind of material stacking and fetching system with statistics rickyard material information Download PDFInfo
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- CN108182715A CN108182715A CN201711330095.3A CN201711330095A CN108182715A CN 108182715 A CN108182715 A CN 108182715A CN 201711330095 A CN201711330095 A CN 201711330095A CN 108182715 A CN108182715 A CN 108182715A
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- 239000000463 material Substances 0.000 title claims abstract description 128
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 238000012546 transfer Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 100
- 238000000034 method Methods 0.000 claims description 21
- 238000004519 manufacturing process Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 11
- 238000007599 discharging Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 241001270131 Agaricus moelleri Species 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
Abstract
The present invention relates to a kind of material stacking and fetching systems with statistics rickyard material information, including heap reclaimer device, control module and detection module, the detection module includes at least geographical Shape measure device, the detection module gives the data information transfer of detection to the control module, the control module includes data server and computing module, the data information of reception is stored in data server and real-time update by the control module, wherein, the geographical topographic data of complete feed field is stored in DEM terrain data forms in data server, complete feed place reason topographic data can be converted into 2D or 3D heap shapes by computing module and shown by the control module, 2D the or 3D heaps shape shows the name of material including at least each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view information.The present invention can record complete feed field material statistical information in real time by this system, and inquire complete feed field material statistical information by control module, realize the function of making an inventory of goods in a warehouse of complete feed field.
Description
Technical field
The invention belongs to intelligent handling technique fields, and in particular to a kind of heap feeding with statistics rickyard material information
System.
Background technology
The heap of bulk cargo, which is taken, in steel, bargh at present is completed using stacker-reclaimer, and domestic most enterprises
Stacker-reclaimer be all to be fulfiled assignment task using manual operation, labor intensity is big, the working time is long, and bulk material pile takes often
Dusty is caused to pollute, the physical and mental health of the operating personnel for working long hours causes very big damage.In the prior art, it struggles against
It takes turns stacker-reclaimer to be mostly manually operated using " drivers' cab is manual " mode of operation, that is, driver, purely manual operation.This operation
Mode requires driver's long-time attention high concentration, and driver's labor intensity is larger, and manual operation has much artificial do
Factor is disturbed, such as live dust can cause to block to the sight of driver, especially under the environment such as wet weather, dense fog, night, easily make
The phenomenon that overloading into bucket-wheel stacker reclaimer or collide dump, the safe operation of serious threat equipment；On the other hand artificial behaviour
The bucket wheel point of penetration poor location to elect, feeding output is uneven, influences safety, the economical operation of entire coaling system, old friend
Work operates the operation that can not realize high efficiency, high accurancy and precision, low so as to cause operating efficiency, and then it is more to influence safety, economic dispatch
Aspect benefit.
To sum up, it is urgent to provide a kind of achievable high efficiency, the operation of high accurancy and precision automatic intelligent and meanwhile can record complete
Stock ground material real-time statistics realize the material stacking and fetching system of the function of making an inventory of goods in a warehouse of complete feed field.
Invention content
The object of the present invention is to provide a kind of achievable high efficiency, the operation of high accurancy and precision automatic intelligent and meanwhile can
Complete feed field material real-time statistics are recorded, realize the material stacking and fetching system of the function of making an inventory of goods in a warehouse of complete feed field.
Above-mentioned purpose is to be achieved through the following technical solutions：A kind of heap feeding system with statistics rickyard material information
System, including heap reclaimer device, control module and detection module, the detection module includes at least to detect complete feed place reason shape
The geographical Shape measure device of looks feature, the geography shape characteristic include at least the surface topography and material heap of material heap in stock ground
Coordinate value of the precalculated position in preset coordinate system, the detection module give the data information transfer of detection to the control mould
Block, the control module include data server and computing module, and the data information of reception is stored in number by the control module
According to server and real-time update, wherein, the geographical topographic data of complete feed field is stored in data server with DEM terrain data forms
In, complete feed place reason topographic data can be converted into 2D or 3D heap shapes by computing module and shown by the control module, the 2D
Or 3D heap shapes show name of material, heap annular volume, heap shape angle of repose, the heap shape sectional view including at least each material heap in complete feed field
Information.
The present invention can record complete feed field material statistical information in real time by this system, and be inquired entirely by control module
Stock ground material statistical information realizes the function of making an inventory of goods in a warehouse of complete feed field.
The method that stock ground uses gridding, region division that will be effectively in stockpiling area are continuous grid surface, curved surface
The vertex of each upper grid cell has a three dimensional space coordinate value (x, y, z), and the coordinate value is with a certain static in stock ground
Three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent the position of material heap surface mesh vertex in the horizontal direction
Value, z values represent the height value of the height on material heap surface mesh vertex, i.e. material heap surface specified point, and the size of grid can basis
The requirement of display precision is adjusted.
Preferably, further technical solution is：Complete feed place reason topographic data is converted into what 2D or 3D heap shapes were shown
In calculating process, the computation model of the heap annular volume of the material heap isIn formula, m and n are stock ground
Grid number under DEM terrain data forms, wherein, m is the stock ground line number under DEM terrain data forms, and n is DEM terrain datas
Stock ground columns under form, hijCorresponding grid height value under being arranged for the i-th row j, V are the heap annular volume of material heap.
Further technical solution is：The control module obtains complete feed place reason topographic data by computing module
Including the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view information 2D or 3D heap shapes
It has been shown that, and in show according to the information to prestore in the control module to 2D or 3D heap shapes each material heap progress name of material mark
Note.
Further technical solution is：The heap reclaimer device includes at least walking mechanism, luffing mechanism, swing mechanism
And stacker-reclaimer structure, wherein, the swing mechanism is arranged on the walking mechanism top, the stacker-reclaimer with luffing mechanism
Structure is connected by arm support with the swing mechanism, and described arm support one end is connected with the stacker-reclaimer structure, the other end with described time
Rotation mechanism is hinged, and the luffing mechanism is connected with the arm support and the arm support can control to be carried out along its hinge with swing mechanism
Pitching movement；The detection module is further included for detecting the position detecting device of heap reclaimer device walking position, for measuring
The angle of revolution detection device of swing mechanism angle of revolution and the angle detection device for detecting the arm support pitch angle,
The detection module is by the data information transfer of detection to the control module, and the control module is by the data information knot of acquisition
Heap, material extracting operation target instruction target word are closed, by operation is controlled to obtain control result, the control module controls institute according to control result
It states walking mechanism, luffing mechanism and swing mechanism and carries out corresponding motion action and the target that fulfils assignment.
The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, can realize that large-scale bulk goods material heap field realizes that heap takes comprehensively
The automatic stacking and taking operation of overall process in the case of expecting equipment at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground
On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device and other functions, operated in heap reclaimer device without operation driver
And monitoring, Central Control Room is interior to carry out whole control operation also without personnel, so as to overcome existing bulk cargo stock yard automation
The defects of degree is low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate.
Further technical solution is：The heap reclaimer device includes pylon, and the pylon is arranged on the vehicle with walking machine
Structure top, the geography Shape measure device are arranged on the tower top.So set, geographical Shape measure device is arranged on
Eminence greatly reduces the blind area of geographical Shape measure device, improves the accuracy of acquisition of information.Geographical Shape measure dress simultaneously
The measurement function and measurement process put are not influenced by bucket wheel machine posture and/or movement.
Further technical solution is：The first angle that the angle measurement unit includes being arranged on tower top measures
Device and the second angle measuring device being arranged on arm support, the first angle measuring device and second angle measuring device
Collective effect measures the pitch angle of arm support.
Specifically a kind of control method of arm support pitch angle is：The first angle detection device detects the current pitching of arm support
The data of detection are simultaneously sent to the control module by angle value, and the control module is according to the arm support pitch angle data of reception
It determines the height of current windrow mechanism, and the feed height and the height of current windrow mechanism that are obtained in step (2) is compared
Compared with when feed height is higher than the height of current windrow mechanism, control module sends pitching command control luffing mechanism movement, institute
The angle value that pitching command includes pitching is stated, control module obtains the pitch angle of arm support by first angle detection device in real time
Value, when bowing in the pitching command for carrying out first angle detection device pitch angle angle value and being sent with control module that control module receives
When elevation angle angle value is identical, control module sends control elevation mount stop motion；When feed height is less than current windrow mechanism
During height, control module pitching command control luffing mechanism movement, the pitching command includes the angle value of pitching, control module
The pitch angle angle value of arm support is obtained in real time by second angle detection device, when what control module received carrys out second angle detection dress
Put pitch angle angle value it is identical with the pitch angle angle value in the pitching command that control module is sent when, control module control elevation mount
Stop motion.
Further technical solution is：The geography Shape measure device can detect the geographical shape that stockyard can measure region
Looks feature can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, and the immeasurability region is the geographical pattern
The blind area of detection device.The geography Shape measure device can be the measurement and modeling system including 3D laser scanners
System.
Further technical solution is：Calculating mould in the geographical shape characteristic acquisition process in the immeasurability region
Type is：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, and x and z is respectively geographical Shape measure device
In abscissa and ordinate of the arbitrary point in material heap immeasurability region in preset coordinate system, xpWith zpRespectively geographical shape
Looks detection device can measure abscissas and perpendicular seat of the focus p in region and immeasurability region in preset coordinate system in material heap
Mark, the z0For adjustment factor, the adjustment factor can be according to the coordinate and windrow of the installation site of geographical Shape measure device
The relative position relation of field coordinate determines.So set, providing the abscissa at material heap any point and ordinate can calculate
The height value of material heap surface specified point, so as to obtain whole shape characteristic data that material heap can obtain surface.
Further technical solution is：The computing module passes through job scheduling intelligent algorithm according to production plan information
The operating area for meeting this subjob is calculated, determines the starting point coordinate and terminal point coordinate of starting operating area, the control module
Complete feed place reason topographic data and the relevant information of heap reclaimer device are obtained from data server, the position of stacker device is sat
It marks the starting point coordinate determined with computing module to be calculated and compared, and sends out walking order control walking mechanism movement until windrow
Equipment reaches operation starting point coordinate；The control module answers windrow by what material stack height data or computing module calculating obtained
Height and arm support pitch angle data be compared and send out pitching command control luffing mechanism movement until stacker-reclaimer structure
Reach scheduled height.The walking order includes direction of travel and travel distance.
Further technical solution is：The heap reclaimer device be boom type bucket-wheel stacker reclaimer, the stacker-reclaimer
Structure is bucket wheel, and the boom type bucket-wheel stacker reclaimer includes rack, and the pylon is arranged in the rack, is set on the arm support
There is material conveying mechanism, the side of the swing mechanism is connected with the arm support, and opposite side is fixedly connected with balancing counterweight mechanism.
Further technical solution is：The material conveying mechanism is ribbon conveyer, and the discharging point of the belt is set
There are impact idler and side carrying roller, the side carrying roller turns forward along belt-conveying direction to be set in predetermined angular.Impact idler
Setting can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, another outer roller is according to above-mentioned side
Formula setting will generate opposite sliding speed with belt, belt can effectively be promoted to return back to the center of ribbon conveyer, such as
This limited can be avoided belt deviation.
Further technical solution is：The arm support is equipped with guide component, between the bucket wheel and ribbon conveyer
Material moved the guide component transhipment, and the ribbon conveyer is equipped with deviation-resisting device for belts, the deviation-resisting device for belts
Including be used to guide component be driven to move and change the discharging point of guide component and the relative position of belt driving device and
For measuring the detecting element that its own arrives belt side distance, the detecting element, driving device and control module electricity
Even, the control module stores the initial distance data between detecting element and belt side, and the detecting element is by detection
Its range data between belt side passes to control module, and the control module is by the range data of reception and the inspection to prestore
The initial distance data surveyed between element and belt side are compared, and driving device are controlled to drive guide structure according to comparison result
Part movement changes itself and horizontal direction angle.So set, when detecting that sideslip occurs for belt, controlled and driven by control module
Dynamic device driving guide component movement changes its discharging point on belt, since discharging point variation causes belt bearing capacity to become
Change, discharging point is made to be in the center of belt, realizes the correction to belt deviation, effectively improve production efficiency, reduce production
The generation of accident.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
Description of the drawings
The attached drawing for forming the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Fig. 1 is a kind of structure diagram of automatic material stacking and fetching system involved by one embodiment of the present invention；
Fig. 2 is the geographical pattern of the geographical Shape measure device detection stockyard material heap involved by one embodiment of the present invention
The schematic diagram of feature；
Fig. 3 retreats walking windrow procedure schematic diagram for revolution of the present invention；
Fig. 4 is the schematic diagram of material heap shaped grid representation of a surface method of the present invention.
In figure：
13 walking mechanism of geographical Shape measure 2 control module of device, 4 luffing mechanism
5 first angle measuring device, 6 second angle measuring device, 7 arm support, 8 swing mechanism
9 angle of revolution detection device, 10 position detecting device, 11 stacker-reclaimer structure, 12 pylon
13 balancing counterweight mechanism A1 can measure region A2 immeasurabilities region B material heaps
C walking revolutions retreat windrow operation track D operating areas E heaps reclaimer device and retreat track
14 heap reclaimer device, 15 grid vertex
Specific embodiment
The present invention will be described in detail below in conjunction with the accompanying drawings, and the description of this part is only exemplary and explanatory, should not
There is any restriction effect to protection scope of the present invention.In addition, description of the those skilled in the art according to this document, it can be right
Feature in this document in embodiment and in different embodiments carries out the corresponding combination.
The embodiment of the present invention is as follows, with reference to Fig. 1, a kind of material stacking and fetching system with statistics rickyard material information, including
Heap reclaimer device 14, control module 2 and detection module, the detection module include at least special for detecting complete feed place reason pattern
The geographical Shape measure device 1 of sign, it is pre- that the geography shape characteristic includes at least the surface topography of material heap and material heap in stock ground
The coordinate value in preset coordinate system is put in positioning, and the detection module gives the data information transfer of detection to the control module
2, the control module 2 includes data server and computing module, and the data information of reception is stored in number by the control module 2
According to server and real-time update, wherein, the geographical topographic data of complete feed field is stored in data server with DEM terrain data forms
In, complete feed place reason topographic data can be converted into 2D or 3D heap shapes by computing module and shown by the control module 2, the 2D
Or 3D heap shapes show name of material, heap annular volume, heap shape angle of repose, the heap shape sectional view including at least each material heap in complete feed field
Information.
The present invention can record complete feed field material statistical information in real time by this system, and pass through control module 2 and inquire
Complete feed field material statistical information realizes the function of making an inventory of goods in a warehouse of complete feed field.
The method that stock ground uses gridding, region division that will be effectively in stockpiling area are continuous grid surface, curved surface
The vertex of each upper grid cell has a three dimensional space coordinate value (x, y, z), and the coordinate value is with a certain static in stock ground
Three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent 15 position in the horizontal direction of material heap surface mesh vertex
Put value, z values represent the height value of the height, i.e. material heap surface specified point on material heap surface mesh vertex 15, and the size of grid can be with
It is adjusted according to the requirement of display precision.
On the basis of above-described embodiment, in another embodiment of the present invention, complete feed place reason topographic data be converted into 2D or
In the calculating process that 3D heap shapes are shown, the computation model of the heap annular volume of the material heap isFormula
In, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is the stock ground line number under DEM terrain data forms, n
For the stock ground columns under DEM terrain data forms, hijCorresponding grid height value under being arranged for the i-th row j, V are the heap of material heap
Annular volume.
On the basis of above-described embodiment, in another embodiment of the present invention, pattern is managed in complete feed place by the control module 2
Data include the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape by computing module acquisition and cut open
2D the or 3D heap shapes of face figure information show, and each in being shown according to the information to prestore in the control module 2 to 2D or 3D heap shapes
A material heap carries out the mark of name of material.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the heap reclaimer device 14 at least wraps
Walking mechanism 3, luffing mechanism 4, swing mechanism 8 and stacker-reclaimer structure 11 are included, wherein, the swing mechanism 8 and luffing mechanism 4
3 top of walking mechanism is arranged on, the stacker-reclaimer structure 11 is connected by arm support 7 with the swing mechanism 8, the arm support
7 one end are connected with the stacker-reclaimer structure 11, and the other end is hinged with the swing mechanism 8, the luffing mechanism 4 and the arm support
7 are connected and the arm support 7 can control to carry out pitching movement along its hinge with swing mechanism 8；The detection module further includes use
Position detecting device 10 in detection 14 walking position of heap reclaimer device, the angle of revolution for measuring 8 angle of revolution of swing mechanism
Spend detection device 9 and the angle detection device for detecting 7 pitch angle of arm support, the detection module is by the number of detection
It is believed that breath passes to the control module 2, the control module 2 refers to the data information combination heap of acquisition, material extracting operation target
It enables, by operation is controlled to obtain control result, the control module 2 controls the walking mechanism 3, pitching machine according to control result
Structure 4 and swing mechanism 8 carry out corresponding motion action and the target that fulfils assignment.
The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, can realize that large-scale bulk goods material heap field realizes that heap takes comprehensively
The automatic stacking and taking operation of overall process in the case of expecting equipment 14 at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground
On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device 14 and other functions, carried out in heap reclaimer device 14 without operation driver
It operates and monitors, carry out whole control operation in Central Control Room also without personnel, so as to overcome existing bulk cargo stock yard certainly
The defects of dynamicization degree is low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the heap reclaimer device 14 includes tower
Frame 12, the pylon 12 are arranged on 3 top of walking mechanism, and the geography Shape measure device 1 is arranged on the pylon 12
Top.So set, geographical Shape measure device 1 sets the blind area for aloft, greatly reducing geographical Shape measure device 1,
Improve the accuracy of acquisition of information.The measurement function of geographical Shape measure device 1 and measurement process be not by bucket wheel machine posture simultaneously
And/or the influence of movement.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the angle measurement unit includes setting
Put the first angle measuring device 5 at the top of pylon 12 and the second angle measuring device 6 that is arranged on arm support 7, described the
One angle measurement unit 5 and 6 collective effect of second angle measuring device measure the pitch angle of arm support 7.
Specifically a kind of control method of 7 pitch angle of arm support is：The first angle detection device detection arm support 7 is currently bowed
The data of detection are simultaneously sent to the control module 2 by elevation angle angle value, and the control module 2 is according to 7 pitch angle of arm support of reception
Degrees of data determines the height of current windrow mechanism, and the feed height and the height of current windrow mechanism that will be obtained in step (2)
It is compared, when feed height is higher than the height of current windrow mechanism, control module 2 sends pitching command control luffing mechanism
4 movements, the pitching command include the angle value of pitching, and control module 2 obtains arm support 7 in real time by first angle detection device
Pitch angle angle value, when control module 2 receive first angle detection device pitch angle angle value of coming bow with what control module 2 was sent
Face upward pitch angle angle value in order it is identical when, control module 2 sends control elevation mount stop motion；Work as when feed height is less than
During the height of preceding windrow mechanism, 2 pitching command of control module control luffing mechanism 4 moves, and the pitching command includes pitching
Angle value, control module 2 obtain the pitch angle angle value of arm support 7 by second angle detection device in real time, when control module 2 receives
Come second angle detection device pitch angle angle value it is identical with the pitch angle angle value in the pitching command that control module 2 is sent when,
Control module 2 controls elevation mount stop motion.
On the basis of above-described embodiment, in another embodiment of the present invention, the geography Shape measure device 1 can detect heap
The geographical shape characteristic in the measurable region in field can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, described to survey
Measure blind area of the region for the geographical Shape measure device 1.The geography Shape measure device 1 can be to include 3D laser scannings
Measurement and modeling including instrument.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 2, the geography in the immeasurability region
Computation model in shape characteristic acquisition process is：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material,
X and z is respectively geographical Shape measure 1 abscissa in the arbitrary point in material heap immeasurability region in preset coordinate system of device
And ordinate, xpWith zpThe focus p that respectively geographical Shape measure device 1 can measure region and immeasurability region in material heap exists
Abscissa and ordinate in preset coordinate system, the z0For adjustment factor, the adjustment factor can be examined according to geographical pattern
The coordinate of installation site and the relative position relation of rickyard coordinate for surveying device 1 determine.So set, it is any one to provide material heap
The abscissa and ordinate of point can calculate the height value of material heap surface specified point, and the complete of surface is can obtain so as to obtain material heap
Portion's shape characteristic data.
On the basis of above-described embodiment, in another embodiment of the present invention, the computing module is according to production plan information
Meet the operating area of this subjob by the calculating of job scheduling intelligent algorithm, determine starting point coordinate and the end of starting operating area
Point coordinates, the control module 2 obtain complete feed place reason topographic data and the correlation of heap reclaimer device 14 from data server
The starting point coordinate that the position coordinates of stacker device are determined with computing module is calculated and compared information, and sends out walking order
The movement of walking mechanism 3 is controlled until stacker device reaches operation starting point coordinate；The control module 2 is by material stack height data or institute
That states computing module calculating acquisition answers the height of windrow to be compared with 7 pitch angle data of arm support and send out pitching command control
The movement of luffing mechanism 4 is until stacker-reclaimer structure 11 reaches scheduled height.It is described walking order include direction of travel and walk away from
From.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the heap reclaimer device 14 is arm support 7
Formula bucket-wheel stacker reclaimer, the stacker-reclaimer structure 11 are bucket wheel, and the 7 formula bucket-wheel stacker reclaimer of arm support includes rack, the tower
Frame 12 is arranged in the rack, and the arm support 7 is equipped with material conveying mechanism, side and the arm of the swing mechanism 8
Frame 7 is connected, and opposite side is fixedly connected with balancing counterweight mechanism 13.
On the basis of above-described embodiment, in another embodiment of the present invention, the material conveying mechanism is ribbon conveyer,
The discharging point of the belt is equipped with impact idler and side carrying roller, and the side carrying roller turns forward along belt-conveying direction in predetermined angle
Degree setting.The setting of impact idler can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, in addition
Side carrying roller is set in the manner described above to generate opposite sliding speed with belt, effectively belt can be promoted to return back to belt conveying
The center of machine so limited can avoid belt deviation.
On the basis of above-described embodiment, in another embodiment of the present invention, the arm support 7 is equipped with guide component, the bucket
Material between wheel and ribbon conveyer moved the guide component and transported, and the ribbon conveyer is filled equipped with belt anti-deviation
It puts, the deviation-resisting device for belts includes guide component is driven to move and changes the discharging point of guide component and the phase of belt
Driving device to position and for measuring the detecting element that its own arrives belt side distance, the detecting element, driving
Device is electrically connected with the control module 2, and the control module 2 stores the initial distance number between detecting element and belt side
According to its range data between belt side of detection is passed to control module 2, the control module 2 by the detecting element
Initial distance data between the range data of reception and the detecting element to prestore and belt side are compared, and according to comparing
Output control driving device drives the movement of guide component to change itself and horizontal direction angle.So set, when detecting belt hair
During raw sideslip, control driving device that the movement of guide component is driven to change its discharging point on belt by control module 2, due to
Discharging point variation causes belt bearing capacity change, and discharging point is made to be in the center of belt, realizes the correction to belt deviation,
Production efficiency is effectively improved, reduces the generation of production accident.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
The present invention provides a kind of automatic stockpiling work flow of automatic material stacking and fetching system, and walking windrow is retreated using revolution,
Such as Fig. 3, the specific steps are：
(1) windrow instruction is received：The control module 2 obtains the windrow production plan comprising production plan information and refers in real time
It enables, the production plan information includes at least operation total amount, mass flow；
(2) feed height and operating area are calculated：The control module 2 obtains the geography of complete feed field from data server
Topographic data, and the production plan information that step (1) obtains is combined, the suitable height of windrow is calculated by job scheduling intelligent algorithm
The operating area of this subjob is spent and met, determines the starting point coordinate and terminal point coordinate of starting operating area.
(3) control stacker device moves to the in place of operation starting point and windrow mechanism；
(4) revolution retreats walking windrow：The control module 2 controls stacker device to carry out windrow, while sends revolution life
It enables and the movement of swing mechanism 8 is controlled to carry out revolution windrow, geographical Shape measure device 1 monitors complete feed place in real time during windrow
Shape characteristic is managed, the control module 2 manages shape characteristic data acquisition heap shape surface data, and according to windrow by complete feed place
Track judges to work as in front fitting radius whether windrow is completed, the control after the completion of windrow in the radius of gyration of operation starting point
Module 2, which sends walking order control stacker device and starts to retreat, to be run to next setting and carries out revolution windrow, until completing to make
The revolution windrow operation of industry terminal.
Walking windrow is retreated using revolution, travel time realizes regular windrow (material heap top during can not only saving windrow
Portion is flat-top), while increase the regular heap shape material heap of at least 15% material amount of storage, and can be provided for material extracting operation stable
Feeding flow improves working efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3, the specific control in the step (3)
Process is：The control module 2 obtains position coordinates of the current stacker device in stock ground by position detecting device 10, and will
The starting point coordinate that the position coordinates of reception are obtained with the calculating in step (2) is compared, and send out walking according to comparison result
Order control walking mechanism 3 moves to operation starting point coordinate；Then the control module 2 is true according to 7 pitch angle data of arm support
The height of settled preceding windrow mechanism, and the height of windrow is answered to be carried out with the height of current windrow mechanism by what is obtained in step (2)
Relatively and pitching command control luffing mechanism 4 movement is sent out until windrow mechanism reaches scheduled height；Again, the control mould
Block 2 judges whether windrow mechanism is located at starting point according to determining the horizontal position of current windrow mechanism by angle of revolution data
In the operating area of coordinate, and revolution order control swing mechanism 8 is sent out according to judging result and carries out rotary motion until windrow
Mechanism reaches scheduled horizontal position.
A kind of specific embodiment, control module 2 obtains the instruction of automatic stockpiling production plan in real time, when control module 2 connects
After receiving the instruction of automatic stockpiling production plan, control module 2 obtains complete feed place graphic data from central data server, and combines
Automatic material taking production plan information such as operation total amount, mass flow etc. meet this work by the calculating of job scheduling intelligent algorithm
The operating area of industry；Control module 2 obtains position of the current heap reclaimer device 14 in stock ground by position detecting device 10, such as
14 current location of fruit heap reclaimer device just in operation coordinate starting point, does not then need to issue walking order to walking mechanism 3, if
For 14 current location of heap reclaimer device not in operation coordinate starting point, control module 2 sends walking order to walking mechanism 3, walking life
Order includes direction of travel and travel distance, and control module 2 obtains heap reclaimer device 14 currently in stock ground by position-measurement device
In position, when position-measurement device feedback result it is identical with operation coordinate starting point after, control module 2 send stop walking life
It enables to walking mechanism 3, heap reclaimer device 14 reaches operation starting point coordinate.Whether control module 2 judges arm support 7 according to material stack height
It needs to carry out pitching motion, if material stack height, higher than current 14 arm support of heap reclaimer device, 7 height, control module 2 sends pitching
It orders to luffing mechanism 4, pitching command includes the angle value of pitching, and control module 2 obtains arm by first angle measuring device 5
7 current pitch angle angle value of frame, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control module 2 is sent
Stop pitching command to luffing mechanism 4, if material stack height, less than current 14 arm support of heap reclaimer device, 7 height, control module 2 is sent out
Sending pitching command, pitching command includes the angle value of pitching to luffing mechanism 4, and control module 2 passes through second angle measuring device 6
7 current pitch angle angle value of arm support is obtained, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control mould
Block 2, which is sent, stops pitching command to luffing mechanism 4, and 14 arm support 7 of heap reclaimer device stops pitching motion.Control module 2 is sent back
Turn order to swing mechanism 8, revolution order includes angle of revolution angle value, and control module 2 is obtained back by angle of revolution detection device 9
Gyration, when angle of revolution is identical with revolution order angle, control module 2, which is sent, stops revolution order to swing mechanism 8, heap
Reclaimer device 14 stops revolution action.After 14 arm support 7 of heap reclaimer device is in place, control module 2 sends windrow and starts to work order,
Heap reclaimer device 14 starts automatic stockpiling operation, and control module 2 sends revolution order to revolution in automatic stockpiling operation process
Mechanism 8,14 uniform windrow of control heap reclaimer device, control module 2 obtain heap shape surface in real time by geographical Shape measure device 1
Data, and judge to work as in front fitting radius whether windrow is completed according to windrow track, if completed in the radius of gyration automatic
Windrow, control module 2 send pitching command to luffing mechanism 4, by 14 arm support 7 of heap reclaimer device lift to peak (flow with it is upper
It is consistent to state pitching flow), control module 2 sends revolution order to swing mechanism 8, and 14 arm support 7 of heap reclaimer device is turned back to rail
Above road (flow is consistent with above-mentioned revolution flow), computer control sends walking order to walking mechanism 3, by heap reclaimer device
14 run to next operation coordinate points (flow is consistent with above-mentioned walking flow), and control module 2 sends windrow start-up operation order,
Heap reclaimer device 14 starts automatic stockpiling.Control module 2 repeats to send walking, pitching, revolution, bucket wheel start-up operation order, directly
It is completed to first layer material windrow.After the completion of first layer windrow, control module 2 calculates the second layering coordinate starting point, control
Molding block 2 send windrow operation be stopped order, pitching command, revolution order, walking order, heap reclaimer device 14 is walked
To the second layering coordinate starting point, the 14 first layer windrow action of heap reclaimer device is repeated, until the second layering material windrow is completed.
Heap reclaimer device 14 repeats layering windrow action, until completing automatic stockpiling production plan.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of material stacking and fetching system with statistics rickyard material information, which is characterized in that including heap reclaimer device, control mould
Block and detection module, the detection module include at least the geographical Shape measure dress for detecting complete feed place reason shape characteristic
It puts, the geography shape characteristic is including at least the surface topography of material heap in stock ground and material heap precalculated position in preset coordinate system
In coordinate value, for the detection module by the data information transfer of detection to the control module, the control module includes number
According to server and computing module, the data information of reception is stored in data server and real-time update by the control module,
In, the geographical topographic data of complete feed field is stored in DEM terrain data forms in data server, and the control module can incite somebody to action complete
Stock ground geography topographic data is converted into 2D or 3D heap shapes by computing module and shows, 2D the or 3D heaps shape is shown including at least complete
The name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape sectional view information in stock ground.
2. the material stacking and fetching system with statistics rickyard material information according to claim 1, which is characterized in that complete feed field
Geographical topographic data is converted into the calculating process that 2D or 3D heap shapes are shown, the computation model of the heap annular volume of the material heap isIn formula, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is DEM landform
Stock ground line number under data format, n be DEM terrain data forms under stock ground columns, hijIt is corresponding under being arranged for the i-th row j
Grid height value, V are the heap annular volume of material heap.
It is 3. according to claim 2 from the material stacking and fetching system with statistics rickyard material information, which is characterized in that described
Complete feed place is managed topographic data and includes the name of material of each material heap, heap in complete feed field by computing module acquisition by control module
Annular volume, heap shape angle of repose, heap shape sectional view information 2D or 3D heap shapes show, and according to the letter to prestore in the control module
The mark of breath each material heap progress name of material in being shown to 2D or 3D heap shapes.
4. the material stacking and fetching system with statistics rickyard material information according to claims 1 to 3 any one, feature
It is, the heap reclaimer device includes at least walking mechanism, luffing mechanism, swing mechanism and stacker-reclaimer structure, wherein, it is described
Swing mechanism is arranged on the walking mechanism top with luffing mechanism, and the stacker-reclaimer structure passes through arm support and the swing mechanism
Be connected, described arm support one end is connected with the stacker-reclaimer structure, and the other end is hinged with the swing mechanism, the luffing mechanism and
The arm support is connected and the arm support can control to carry out pitching movement along its hinge with swing mechanism；The detection module also wraps
Include the position detecting device for detecting heap reclaimer device walking position, the angle of revolution for measuring swing mechanism angle of revolution
Detection device and the angle detection device for detecting the arm support pitch angle, the detection module believe the data of detection
Breath passes to the control module, and the control module is by data information the combination heap of acquisition, material extracting operation target instruction target word, process
Control operation obtains control result, and the control module controls the walking mechanism, luffing mechanism and revolution according to control result
Mechanism carries out corresponding motion action and the target that fulfils assignment.
5. the material stacking and fetching system with statistics rickyard material information according to claim 4, which is characterized in that the heap
Reclaimer device includes pylon, and the pylon is arranged on the walking mechanism top, and the geography Shape measure device is arranged on institute
State tower top.
6. the material stacking and fetching system with statistics rickyard material information according to claim 5, which is characterized in that the angle
Degree measuring device includes the second angle for being arranged on the first angle measuring device of tower top and being arranged on arm support and measures
Device, the first angle measuring device and second angle measuring device collective effect measure the pitch angle of arm support.
7. the material stacking and fetching system with statistics rickyard material information according to claim 6, which is characterized in that describedly
Reason Shape measure device can detect stockyard and can measure the geographical shape characteristic in region and can simultaneously calculate and obtain immeasurability region
Geographical shape characteristic, blind area of the immeasurability region for the geographical Shape measure device.
8. it is according to claim 7 have statistics rickyard material information material stacking and fetching system, which is characterized in that it is described not
Can measure region geographical shape characteristic acquisition process in computation model be：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is
The angle of repose of material heap material, the respectively geographical Shape measure devices of x and z are in the arbitrary point in material heap immeasurability region preset
Abscissa and ordinate in coordinate system, xpWith zpRespectively geographical Shape measure device can measure region with that can not survey in material heap
Measure abscissas and ordinate of the focus p in region in preset coordinate system, the z0For adjustment factor, the adjustment factor can
It is determined according to the relative position relation of the coordinate of the installation site of geographical Shape measure device and rickyard coordinate.
9. the material stacking and fetching system with statistics rickyard material information according to claim 7, which is characterized in that the meter
The operating area that module meets this subjob according to production plan information by the calculating of job scheduling intelligent algorithm is calculated, determines starting
The starting point coordinate and terminal point coordinate of operating area, the control module from data server obtain complete feed place reason topographic data with
And the relevant information of heap reclaimer device, the starting point coordinate that the position coordinates of stacker device and computing module are determined carry out calculating ratio
Compared with, and walking order control walking mechanism movement is sent out until stacker device reaches operation starting point coordinate；The control module will
What material stack height data or computing module calculating obtained answers the height of windrow to be compared simultaneously with arm support pitch angle data
Pitching command control luffing mechanism movement is sent out until stacker-reclaimer structure reaches scheduled height.
10. the material stacking and fetching system with statistics rickyard material information according to claim 9, which is characterized in that described
Heap reclaimer device be boom type bucket-wheel stacker reclaimer, the stacker-reclaimer structure be bucket wheel, the boom type bucket-wheel stacker reclaimer packet
Including rack, the pylon are arranged in the rack, and the arm support is equipped with material conveying mechanism, the side of the swing mechanism
It is connected with the arm support, opposite side is fixedly connected with balancing counterweight mechanism.
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| CN110834963A (en) * | 2019-10-28 | 2020-02-25 | 中冶京诚工程技术有限公司 | Black light operation management system and method for stacker-reclaimer in bulk material yard |
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