CN109132866B - Automatic activated carbon filling system and control method thereof - Google Patents
Automatic activated carbon filling system and control method thereof Download PDFInfo
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- CN109132866B CN109132866B CN201811288481.5A CN201811288481A CN109132866B CN 109132866 B CN109132866 B CN 109132866B CN 201811288481 A CN201811288481 A CN 201811288481A CN 109132866 B CN109132866 B CN 109132866B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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Abstract
The invention discloses an automatic active carbon filling system and a control method thereof.A position detection device is arranged on a travelling crane beam and used for sending detected operating coordinates of a lifting hook to a filling controller; the charging remote controller sends a charging instruction to the charging controller; the loading controller determines the running track of the lifting hook according to the loading instruction and the running coordinate, the crane motion control device controls the lifting hook to move to the bag breaking knife according to the running track, and the bag breaking knife is used for breaking the activated carbon bag, so that the activated carbon in the activated carbon bag is loaded into the activated carbon bin; and when detecting that the current unloading flow of the activated carbon bag after bag breaking is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon bag to the initial loading position, and completing the activated carbon loading process of the activated carbon bin. Therefore, the system and the control method provided by the embodiment control the loading process of the activated carbon bin by the loading controller so as to realize the automatic unloading process, and have higher working efficiency.
Description
Technical Field
The invention relates to the technical field of chemical production, in particular to an automatic activated carbon filling system and a control method thereof.
Background
The iron and steel enterprises are the supporting enterprises of the whole national economy, but the iron and steel enterprises make important contribution to the economic development and are accompanied by the economic developmentSerious air pollution problems are caused. In the iron and steel industry, smoke emission is generated in a plurality of processes, such as sintering, pelletizing, coking, ironmaking, steelmaking, steel rolling and the like, and the smoke emitted by each process contains a large amount of dust and SO2、NOXPollutants such as dioxins, dust and heavy metals. After the polluted flue gas is discharged into the atmosphere, the environment is polluted, and the human health is threatened. Therefore, steel enterprises generally adopt a mode of containing activated carbon in an adsorption device of a flue gas purification system to adsorb flue gas, and synchronously absorb and remove various pollutants by utilizing the actions of non-selective adsorption, catalysis and the like of the activated carbon to achieve the purpose of purifying sintered flue gas.
The activated carbon is used as an adsorbent, a large amount of activated carbon needs to be filled into the adsorption device before the flue gas purification system is put into use, and the sintering flue gas can be purified only by filling the adsorption device with the activated carbon. In the sintering flue gas desulfurization and denitrification production process, the consumption amount of the activated carbon due to abrasion, physical and chemical reactions and the like also needs to be supplemented with fresh activated carbon in time.
At present, fresh activated carbon produced by activated carbon production plants is usually packaged and transported in a bag form. The activated carbon is filled into a packaging bag to form an activated carbon bag, the structure of the activated carbon bag 10 is shown in figure 1, and the bottom of the activated carbon bag 10 is provided with
The feed opening 102 is fastened by a rope to prevent leakage during charging. Two straps 103 with the length of 1m are arranged outside the packaging bag 101 for loading and unloading. When the activated carbon packing machine is used, the process of filling activated carbon in the activated carbon bin of the adsorption device is shown in fig. 2 and fig. 3, the activated carbon package 10 is transported to a discharging place by the automobile 20, then a hitching tool standing on the automobile 20 hangs the hanging strip 103 on the packing bag 101 on the lifting hook 301 of the hoisting device 30 to hoist the activated carbon package 10, and a traveling operator standing on the discharging platform 40 controls the traveling crane 302 to move the activated carbon package 10 to a position above a discharging point. Then, the binder at the feed opening 102 of the activated carbon bag 10 is cut off (without damaging the packaging bag) by the cutter for the discharging worker standing on the discharging platform 40 for dischargingThe activated carbon falls into the discharge hopper 50 and is finally loaded into the activated carbon bin. After the filling is completed, the empty bags are transported back to the vehicle 20 by the hoisting device 30 to be unloaded, and then are collectively stacked and recovered, thereby completing the one-time filling process.
If the sum of each bag hanging time, bag lifting time, time for moving to a discharging point, single-bag discharging time and time for moving the lifting hook to the upper hook of the automobile again is set to be one-time filling time, then the single filling time of the existing filling device and method needs about 5 minutes. If the device and the method are used for initial loading of 6000 tons of activated carbon, about 21 days are needed when the activated carbon is completely filled, and the loading time is too long, so that the labor cost is increased, the time for putting into service of a desulfurization and denitrification system is delayed, and the working efficiency is influenced. Therefore, the conventional filling device and method have low filling amount in unit time, and low working efficiency is caused.
Disclosure of Invention
The invention provides an automatic activated carbon filling system and a control method thereof, which aim to solve the problem of low working efficiency caused by the existing filling system and method.
In a first aspect, the present invention provides an automatic activated carbon filling system, comprising: the device comprises a loading controller, a loading remote controller, a crane motion control device, an unloading platform, an unloading hopper arranged on the unloading platform, a bag breaking cutter positioned in the center of a receiving port of the unloading hopper, a track positioned above the unloading platform, a travelling crane beam sliding along the track, a travelling crane moving along the travelling crane beam, a lifting hook positioned at the bottom of the travelling crane and a position detection device arranged on the travelling crane beam;
the position detection device, the crane movement control device and the loading remote controller are respectively connected with the loading controller;
the charging remote controller is used for sending a charging instruction to the charging controller;
the position detection device is used for detecting the operating coordinate of the lifting hook and sending the detected operating coordinate to the loading controller; the operation coordinates comprise a loading initial coordinate, a bag breaking starting point coordinate and a bag breaking end point coordinate;
the loading controller is used for sending a travelling motion instruction to the crane motion control device according to the loading instruction and the operation coordinate, so that the crane motion control device controls the travelling beam to slide along the track, the travelling beam to move along the travelling beam and the lifting hook to carry the hoisted activated carbon bag to move up or down, and the bag breaking, unloading and unloading operations of the activated carbon bag are realized.
Optionally, the method further comprises: the weight detection device is arranged on the travelling crane and is connected with the charging controller; the weight detection device is used for detecting the weight value of the activated carbon packet and sending the detected weight value of the activated carbon packet to the charging controller.
Optionally, the loading remote controller is connected with the crane movement control device; the loading remote controller is also used for sending a traveling crane operation instruction to the crane motion control device, and the crane motion control device controls the lifting hook to move above the activated carbon bag so as to hang the activated carbon bag on the lifting hook and unload the empty activated carbon bag on the lifting hook.
In a second aspect, the present invention further provides a control method for an automatic activated carbon filling system, including the following steps:
receiving a charging instruction sent by a charging remote controller; acquiring a loading initial coordinate sent by the position detection device according to the loading instruction;
determining the running track of the lifting hook according to the initial loading coordinate and the position coordinate of the prestored bag breaking knife;
the moving track of the lifting hook is sent to a crane movement control device, the crane movement control device controls the lifting hook to move to a bag breaking knife according to the moving track, so that the bag breaking knife is used for breaking the activated carbon bag lifted by the lifting hook, and the activated carbon in the activated carbon bag is filled into an activated carbon bin;
after the bag breaking operation is finished, controlling the lifting hook to do ascending motion, and obtaining the current discharging flow of the broken activated carbon bag;
judging whether the current unloading flow is smaller than a preset unloading flow value or not; and if the current unloading flow is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
Optionally, determining the running track of the lifting hook according to the initial loading coordinate and the prestored position coordinate of the bag breaking knife according to the following steps:
establishing a coordinate system by taking the direction of the travelling crane beam moving along the rail and far away from the bag breaking cutter as an x-axis positive direction, taking the direction of the travelling crane moving along the travelling crane beam and moving from the first rail to the second rail as a y-axis positive direction, taking the direction of the lifting hook moving from the rail to the bag breaking cutter as a z-axis positive direction, and locating the origin of coordinates on the first rail; and, determining the initial coordinates (x) of the charge1，y1，z1) And the position coordinate (x) of the bag breaking knife2，y2，z2)；
According to the coordinate system and the position coordinate (x) of the bag breaking knife2，y2，z2) Determining coordinates (x) of bag breaking starting point2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) (ii) a Wherein H1＝H+L1H is the height from the bottom of the activated carbon bag to the lifting hook, L1Is a preset height; h2＝H-L2，L2The length of the bag breaking knife entering the bottom of the activated carbon bag;
will follow the initial coordinates (x) of the charge1，y1，z1) Bag breaking starting point coordinate (x)2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) The route of the directional movement is determined as the travel track of the hook.
Optionally, the crane motion control device controls the hook to move to the bag breaking knife according to the running track according to the following steps:
controlling the lifting hook to move from a loading initial coordinate (x) according to the running track1，y1，z1) Coordinate (x) of bag breaking starting point2，y2，z2-H1)；
After the lifting hook stops moving and is delayed for a first time, controlling the lifting hook to start from a bag breaking coordinate (x)2，y2，z2-H1) Coordinate (x) of bag breaking end point2，y2，z2+H2) And the bag breaking operation is carried out on the activated carbon bag hoisted by the lifting hook by utilizing the bag breaking knife.
Optionally, after the bag breaking operation is finished, controlling the lifting hook to perform a lifting motion to obtain the current discharge flow of the broken activated carbon bag according to the following steps:
coordinates (x) of the lifting hook descending to the bag breaking end point2，y2，z2+H2) Delaying for a second time after the bag breaking operation is carried out;
controlling the lifting hook to move from the bag breaking end point coordinate (x)2，y2，z2+H2) Rising to the bag breaking starting point coordinate (x)2，y2，z2-H1)；
After the lifting hook stops, acquiring the initial unloading flow of the activated carbon bag after the bag is broken under the lifting hook;
and under the condition that the initial discharging flow is larger than a preset discharging flow value, acquiring the current discharging flow of the broken activated carbon bag.
Optionally, the method further comprises:
if the initial unloading flow is less than or equal to the preset unloading flow value, controlling the lifting hook to move from the coordinate (x) of the bag breaking starting point2，y2，z2-H1) Then the coordinate (x) is lowered to the bag breaking end point2，y2，z2+H2) And performing secondary bag breaking operation on the activated carbon bag by using a bag breaking knife.
Optionally, the method further comprises:
acquiring the initial weight of the activated carbon pack detected by the weight detection device according to the charging instruction;
determining a third time period T according to the initial weight of the activated carbon packet3；T3＝k×(g1/S)，g1Is the initial weight of the activated carbon bag, k is a coefficient, the value range is 1-1.3, and S is the weight after the bag is brokenThe initial discharge flow rate of the activated carbon package.
Optionally, after the step of if the current discharge flow is smaller than the preset discharge flow value, the method further comprises:
if the current unloading flow is smaller than the preset unloading flow value, delaying for a third time length T3Then, the current weight G of the activated carbon bag is detectedi；
If the current weight G of the activated carbon bagiLess than a predetermined weight value G0And controlling the lifting hook to move reversely along the running track so as to transport the unloaded empty activated carbon packet back to the position corresponding to the initial loading coordinate.
Optionally, the method further comprises:
if the current weight G of the activated carbon bagiGreater than or equal to a predetermined weight value G0Delayed by a fourth time period T4Then, when the current weight G of the activated carbon bagiLess than a predetermined weight value G0And controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
According to the technical scheme, the embodiment of the invention provides an automatic activated carbon filling system and a control method thereof. The position detection device is arranged on the travelling crane beam and used for sending the detected operating coordinates of the lifting hook to the loading controller; the charging remote controller sends a charging instruction to the charging controller; the loading controller determines the running track of the lifting hook according to the loading instruction and the running coordinate, the crane motion control device controls the lifting hook to move to the bag breaking knife according to the running track, and the bag breaking knife is used for breaking the activated carbon bag lifted by the lifting hook, so that the activated carbon in the activated carbon bag is loaded into the activated carbon bin; and when detecting that the current unloading flow of the activated carbon bag after bag breaking is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon bag to the initial loading position according to the running track, and completing the activated carbon loading process of the activated carbon bin. Therefore, according to the system and the control method provided by the embodiment, the loading process of the activated carbon bin is controlled by the loading controller, and the crane motion control device automatically controls the operation of the lifting hook according to the loading instruction sent by the loading remote controller and the real-time detection data of the position detection device, so that the automatic unloading process can be realized, and the working efficiency is higher.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.
Fig. 1 is a schematic structural diagram of an activated carbon packet provided by the prior art;
FIG. 2 is a schematic structural diagram of an activated carbon discharge system provided by the prior art;
FIG. 3 is a top view of a prior art activated carbon discharge system;
FIG. 4 is a side view of an automated activated carbon loading system provided by an embodiment of the present invention;
FIG. 5 is a top view of an automatic activated carbon loading system according to an embodiment of the present invention
FIG. 6 is a block diagram of an automatic activated carbon loading system according to an embodiment of the present invention;
FIG. 7 is a flowchart of a control method of an automatic activated carbon filling system according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a travel track of the hook according to the embodiment of the present invention.
Detailed Description
FIG. 4 is a side view of an automated activated carbon loading system provided by an embodiment of the present invention; fig. 5 is a top view of an automatic activated carbon filling system according to an embodiment of the present invention.
Referring to fig. 4 and 5, an automatic activated carbon filling system according to an embodiment of the present invention is provided for automatically discharging activated carbon into an activated carbon bin to fill the activated carbon bin with activated carbon required for purifying flue gas. In this embodiment, the activated carbon storehouse is located the below of unloading platform 1, and unloading platform 1 is used for fixed discharge hopper 2, and the discharge gate of discharge hopper 2 communicates with the pan feeding mouth in activated carbon storehouse. The receiving port of the discharge hopper 2 is provided with a 160mm × 200mm grid made of steel plates, and a steel mesh plate with 80mm × 50mm mesh openings is laid on the grid and used for resisting impact when the activated carbon bag 10 falls down and preventing the activated carbon bag from sliding off from a travelling crane due to an accident condition and entering an activated carbon bin to influence the production process.
The center of the receiving port of the discharging hopper 2 is provided with a bag breaking knife 3, the bag breaking knife 3 is used for scratching the bottom of the activated carbon bag 10, so that the activated carbon in the activated carbon bag 10 falls into the discharging hopper 2 and then falls into the activated carbon bin, and the activated carbon in the activated carbon bin is filled.
In the embodiment, the travelling crane component controls the activated carbon bag 10 to move right above the bag breaking knife 3 so as to facilitate bag breaking treatment. The travelling crane assembly comprises a track 4, a travelling crane beam 5 sliding along the track 4, a travelling crane 6 moving along the travelling crane beam 5 and a hook 7 positioned at the bottom of the travelling crane 6. The track 4 is located the top of unloading platform 1, and lifting hook 7 is used for hoist and mount activated carbon package 10.
A hoisting motor is arranged in the travelling crane 6 and is controlled by a motor M3; the positive rotation of the motor M3 enables the lifting hook 7 to rise, the reverse rotation of the motor M3 enables the lifting hook 7 to fall, and the specific height of the lifting hook 7 can be detected by detecting the length of the steel wire rope or detecting the rotation turns of the M3, which is the prior art and is not described again. The height of the hook 7 is denoted z; the travelling crane beam 5 moves on the track 4 and is controlled by a motor M1, and the position of the travelling crane beam 5 on the track 4 is represented by x; the movement of the row cart 6 on the cart beam 5 is controlled by a motor M2, the position of the row cart 6 on the cart beam 5 being indicated by y.
In order to improve the working efficiency of the automatic activated carbon filling system, in this embodiment, the automatic discharging process of the automatic activated carbon filling system is implemented by using the control system. To this end, as shown in fig. 6, the control system includes a charging controller 200, a charging remote controller 300, a position detecting device 400, and a weight detecting device 600. The crane assembly is controlled by a crane motion control device 500, and the crane motion control device 500 is an electric control cabinet arranged when the crane assembly leaves a factory and is provided with an interface capable of communicating with the loading controller 200.
The charging controller 200 communicates with the upper control system 100 to control the flue gas purification process by the upper control system 100. The position detection device 400, the crane movement control device 500, the loading remote controller 300 and the weight detection device 600 are respectively connected with the loading controller 200; the position detection device 400 is arranged on the travelling crane beam 5, and the position of the travelling crane beam 5, the position of the travelling crane 6 and the position of the lifting hook 7 can be detected by the position detection device 400; the weight detection device 600 is arranged on the travelling crane 6, and the weight of the activated carbon bag is detected by the weight detection device 600. The position information detected by the position detecting device 400 and the weight value detected by the weight detecting device 600 are transmitted to the charging controller 200 to be subjected to a corresponding control operation by the charging controller 200 according to the received data.
The automatic activated carbon filling system provided by the embodiment can be in an automatic control state and can also be in a manual control state. When the control is performed manually, a worker operates the lifting hook 7 through the loading remote controller 300 to hang the activated carbon bag 10, namely, the loading remote controller 300 is connected with the crane motion control device 500, the loading remote controller 300 directly sends a crane operation instruction to the crane motion control device 500, and at the moment, the motion of the crane beam 5, the crane 6 and the lifting hook 7 is controlled by the loading remote controller 300. When discharging, the crane motion control device 500 controls the hook 7 to move above the activated carbon bag 10, so as to hang the activated carbon bag 10 on the hook 7 and discharge the empty activated carbon bag on the hook 7.
When the system is required to be automatically controlled, a charging instruction is sent to the charging controller 200 through the charging remote controller 300; meanwhile, the position detection device 400 detects the operation position of the hook 7, which is represented by the operation coordinates in this embodiment; the position detection device 400 sends the detected operating coordinates to the charging controller 200; and the weight detecting means 600 detects a weight change value of the activated carbon pack 10 and transmits the weight change value to the charge controller 200. The operation coordinates comprise a charging initial coordinate, a bag breaking starting point coordinate and a bag breaking end point coordinate.
The loading controller 200 sends a traveling motion command to the crane motion control device 500 according to the received loading command, the operation coordinate and the weight change value, so that the crane motion control device 500 automatically controls the traveling beam 5 to slide along the track 4, the traveling crane 6 to move along the traveling beam 5 and the lifting hook 7 to carry out ascending or descending motion on the lifted activated carbon bag 10, and automatic operation of bag breaking, unloading and unloading of the activated carbon bag is realized.
The automatic activated carbon filling system provided by this embodiment can be automatically controlled by the charging controller 200, the charging remote controller 300, the position detection device 400 and the weight detection device 600 in the control system, the charging remote controller 300 sends a charging instruction to the charging controller 200, and meanwhile, according to the charging instruction, obtains detection data of the position detection device 400 and the weight detection device 600, and sends a traveling motion instruction to the crane motion control device 500 according to the detection data, so as to automatically control the traveling crane 6 to move on the traveling crane beam 5, and drive the traveling crane beam 5 to move along the rail 4, so that the activated carbon bag 10 is conveyed to a position right above the bag breaking cutter 3, and then the lifting hook 7 is driven to descend, so that the activated carbon bag 10 vertically moves downward to the bottom of the packaging bag and is pierced by the bag breaking cutter 3, and the unloading operation is performed. The system that this embodiment provided can carry out the operation of unloading automatically, and work efficiency is high.
In order to more clearly illustrate the automatic control process of the automatic activated carbon filling system and the obtained beneficial effects, the present embodiment further provides a control method of the automatic activated carbon filling system, where the control method is executed by the control system in the automatic activated carbon filling system provided in the foregoing embodiment, as shown in fig. 7, the control method provided in the present embodiment includes the following steps:
s1, receiving a charging instruction sent by a charging remote controller; acquiring a loading initial coordinate sent by the position detection device according to the loading instruction;
before the process of filling the activated carbon bin with the activated carbon, whether the activated carbon bin needs to be filled with new activated carbon or not needs to be judged, namely whether the process of filling the new activated carbon is executed or not is judged by detecting the material level.
When the material level of the activated carbon bin is judged to be low, the hooking worker utilizes the loading remote controller 300 to control the lifting hook 7 to move above the activated carbon bag 10, and hangs the activated carbon bag 10 on the lifting hook 7. The operation of the hook 7 can be driven by the crane motion control device 500 or by the loading controller 200, and the specific implementation manner can be determined according to the actual situation and is not limited herein.
When the activated carbon bag 10 is hung on the hook 7, the hitcher presses the loading button on the loading remote controller 300, and then sends a loading command to the loading controller 200. The charging controller 200 acquires the initial coordinates of charging detected by the position detection device 400 immediately after receiving the instruction of charging. The initial loading coordinate is the position of the hook 7 when the activated carbon packet 10 is hung, namely the corresponding position of the stacking platform for storing the activated carbon packet 10. Initial coordinates of the charge are obtained so as to make an optimal running track for the lifting hook 7, so that the working efficiency is improved.
S2, determining the running track of the lifting hook according to the initial loading coordinate and the position coordinate of the pre-stored bag breaking knife;
in the system of the automatic activated carbon device provided by this embodiment, since the positions of the unloading platform, the stacking platform, and the bag breaking knife are basically fixed, the corresponding position coordinates are also fixed in the same coordinate system. In order to automatically control the operation in time, the position coordinates of the bag breaking knife, the position coordinates of the discharging platform and the position coordinates of the stacking platform are prestored in the loading controller 200.
The initial loading coordinate is located near the position coordinate of the stacking platform, and the position coordinate of the bag breaking knife is the final operation point of the lifting hook 7, so that the operation track of the lifting hook can be determined according to the two coordinate values.
Specifically, the embodiment determines the running track of the lifting hook according to the initial loading coordinate and the prestored position coordinate of the bag breaking knife according to the following steps:
s21, establishing a coordinate system by taking the direction of the travelling crane beam moving along the rail and far away from the bag breaking cutter as an x-axis forward direction, the direction of the travelling crane moving along the travelling crane beam and moving from the first rail to the second rail as a y-axis forward direction, the direction of the lifting hook moving from the rail to the bag breaking cutter as a z-axis forward direction, and the origin of coordinates on the first rail; and, determining the initial coordinates (x) of the charge1，y1，z1) And the position coordinate (x) of the bag breaking knife2，y2，z2)；
Referring to the coordinate diagrams shown in fig. 4 and 5, the track 4 includes a first track 41 and a second track 42, and in order to uniquely determine the position coordinates of the corresponding components, in the present embodiment, the origin of coordinates is set on the first track 41, the extending direction of the first track 41 is taken as an x-axis, the extending direction of the trolley 5 is taken as a y-axis, and the extending direction of the hook 7 is taken as a z-axis, a three-dimensional coordinate system is established, and the initial coordinates (x) of the charge can be determined by real-time monitoring of the position detecting device 4001，y1，z1) And the position coordinate (x) of the bag breaking knife2，y2，z2)。
S22, according to the coordinate system and the position coordinate (x) of the bag breaking knife2，y2，z2) Determining coordinates (x) of bag breaking starting point2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) (ii) a Wherein H1＝H+L1H is the height from the bottom of the activated carbon bag to the lifting hook, L1Is a preset height; h2＝H-L2，L2The length of the bag breaking knife entering the bottom of the activated carbon bag;
in order to facilitate the bag breaking knife 3 to accurately cut the bottom of the activated carbon bag 10, it is necessary that the activated carbon bag 10 is aligned with the bag breaking knife 3 when descending. Therefore, in the process that the activated carbon bag 10 moves to the bag breaking knife 3, the activated carbon bag 10 needs to be kept in a vertical descending state, so that the occurrence of scratching deviation is avoided, the bottom of the activated carbon bag 10 cannot be scratched accurately, and the activated carbon cannot leak.
Therefore, in the embodiment, a falling point, namely a bag breaking starting point, at which the activated carbon bag 10 can vertically descend is determined according to the position coordinates of the bag breaking knife 3; in a three-dimensional coordinate system, according to the position coordinate (x) of the bag breaking knife2，y2，z2) Determining coordinates (x) of bag breaking starting point2，y2，z2-H1). Wherein H1The sum of the height from the bottom of the activated carbon bag to the lifting hook and a preset height L1The thickness may be set to 500mm, or may be set to other values, and the embodiment is not particularly limited. z is a radical of2-H1For a certain distance of reserving, be convenient for adjust the position of active carbon package 10 in the removal process for active carbon package 10 is transported to and is broken bag sword 3 directly over, is convenient for carry out accurate broken bag operation.
When the activated carbon bag 10 vertically falls from the position right above the bag breaking knife 3, the activated carbon bag 10 is prevented from generating too large impact on the receiving port of the discharging hopper 2, the falling end point of the activated carbon bag 10 needs to be set, and the bag breaking end point coordinate is set as (x) on the premise that the bag breaking knife 3 can perfectly scratch the bottom of the activated carbon bag 102，y2，z2+H2). Wherein H2The height from the bottom of the activated carbon bag 10 to the lifting hook and the length L of the bag breaking knife penetrating into the bottom of the activated carbon bag2The difference is the length L of the bag breaking knife penetrating into the bottom of the activated carbon bag2Can be set to be 100mm, and the bag breaking knife penetrates into the bottom of the activated carbon bag by the length L according to the size of the activated carbon bag 102Other values may be set, and this embodiment is not particularly limited.
S23, initial coordinate (x) along the charge1，y1，z1) Bag breaking starting point coordinate (x)2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) The route of the directional movement is determined as the travel track of the hook.
Determining the coordinates (x) of the bag breaking starting point2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) Then, the three coordinate points are pressed according to the initial coordinate (x) of the material loading1，y1，z1) Bag breaking starting point coordinate (x)2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) The sequential connection of (2) is the running track of the hook (7). In this embodiment, the route with the shortest running length can be determined as the running track of the hook by using the three coordinate points.
S3, sending the running track of the lifting hook to a crane motion control device, and controlling the lifting hook to move to a bag breaking knife by the crane motion control device according to the running track so as to carry out bag breaking operation on an activated carbon bag lifted by the lifting hook by using the bag breaking knife, so that activated carbon in the activated carbon bag is filled into an activated carbon bin;
after the movement track of the hook is determined, a traveling motion command is generated by the loading controller 200 and sent to the crane motion control device 500, wherein the traveling motion command carries the movement track of the hook. The crane movement control device 500 controls the lifting hook 7 to move according to the running track according to the traveling motion instruction until the activated carbon bag is conveyed to the bag breaking knife 3, so that the bag breaking operation is performed on the activated carbon bag lifted by the lifting hook by using the bag breaking knife, and finally the activated carbon in the activated carbon bag is filled into the activated carbon bin.
Specifically, in this embodiment, the hook is controlled by the crane motion control device to move to the bag breaking knife according to the movement track according to the following steps:
s31, controlling the lifting hook to move from a loading initial coordinate (x) according to the running track1，y1，z1) Coordinate (x) of bag breaking starting point2，y2，z2-H1)；
S32, after the lifting hook stops moving and is delayed for a first time, controlling the lifting hook to move from the coordinate (x) of the bag breaking starting point2，y2，z2-H1) Coordinate (x) of bag breaking end point2，y2，z2+H2) And the bag breaking operation is carried out on the activated carbon bag hoisted by the lifting hook by utilizing the bag breaking knife.
As shown in fig. 8, with initial coordinates (x) of the charge1，y1，z1) For starting, the crane motion control device 500 controls the hook 7 to be at the initial loading coordinate (x)1，y1，z1) Starting to move, and moving to the coordinates (x) of the bag breaking starting point directly to improve the working efficiency2，y2，z2-H1) To (3).
The lifting hook 7 moves to the bag breaking starting point coordinate (x)2，y2，z2-H1) Stopping after treatment, delaying for a first time period T1First duration T1In order to wait for the time when the activated carbon bag 10 lifted by the lifting hook 7 swings stably due to inertia. When the activated carbon package 10 is no longer shaken, i.e. waits for the first time period T1Then, the hook 7 is controlled to perform a lowering motion. In this embodiment, the first duration T1The first time period may be set to be 1 to 10 seconds, and the larger the size of the activated carbon pack 10 is, the larger the generated inertial force is, and thus the larger the value of the first time period is set.
At this time, the hoisting motor M3 is controlled by the charging controller 200 to rotate reversely, so that the hook 7 moves downward until reaching the bag-breaking end coordinate (x)2，y2，z2+H2). Due to bag breaking end point coordinate (x)2，y2，z2+H2) The point is that the activated carbon bag 10 is contacted with the bag breaking cutter 3, and the bag breaking cutter 3 is inserted into the activated carbon bag 10 for a certain length, and at the moment, the bag breaking operation of the activated carbon bag 10 hoisted by the lifting hook 7 by the bag breaking cutter is completed immediately.
S4, after the bag breaking operation is finished, controlling the lifting hook to do ascending motion, and obtaining the current discharging flow of the broken activated carbon bag;
after the bag breaking knife 3 cuts the bottom of the activated carbon bag 10, the broken activated carbon bag 10 needs to be lifted up again in order to facilitate the natural outflow of the activated carbon. However, due to the fact that errors easily exist in the operation process, the situation that the bottom of the activated carbon bag is not scratched can occur, the activated carbon cannot leak, and the charging efficiency of the activated carbon bin is affected. Therefore, in order to improve the working efficiency, it is necessary to determine whether the current bag breaking operation is successful, the flow rate of the activated carbon initially leaked from the bottom of the packaging bag is obtained in this embodiment, the bag breaking success is indicated only when the initial discharge flow rate meets the condition, and then the subsequent activated carbon bin charging operation is performed.
In order to accurately determine the time when all the activated carbon in the activated carbon bag 10 flows out, so as to perform the returning operation of the next process, the present embodiment determines the current discharging flow rate of the broken activated carbon bag by detecting.
Specifically, in this embodiment, after the bag breaking operation is completed, the lifting hook is controlled to perform an ascending motion, so as to obtain the current discharge flow rate of the broken activated carbon bag:
s41, descending to a bag breaking end point coordinate (x) at the lifting hook2，y2，z2+H2) Delaying for a second time after the bag breaking operation is carried out;
after the activated carbon bag 10 is lowered to contact with the bag breaking knife 3, in order to ensure that the bag breaking knife 3 cuts the bottom of the activated carbon bag 10, a certain time is needed, namely the bag breaking knife 3 is inserted into the bottom of the activated carbon bag 10 and then is kept in a stop state, and then the activated carbon bag is waited for a second time T2. In this embodiment, the second duration T2The time can be set to 1-3 seconds, and specific values can be determined according to the size and thickness of the packaging bag of the activated carbon bag 10, which is not specifically limited in this embodiment.
S42, controlling the lifting hook to move from the bag breaking end point coordinate (x)2，y2，z2+H2) Rising to the bag breaking starting point coordinate (x)2，y2，z2-H1)；
After the bag breaking knife 3 is inserted into the bottom of the activated carbon bag 10 and stays for a second time, the loading controller 200 sends a traveling motion instruction to the crane motion control device 500 to control the winch motor M3 to rotate forward, so that the lifting hook 7 moves upward, that is, the activated carbon bag 10 carrying the broken bag is far away from the bag breaking knife 3, and the bag breaking end point coordinate (x) is used for breaking the bag2，y2，z2+H2) Rising to the bag breaking starting point coordinate (x)2，y2，z2-H1) And then stopping.
And S43, obtaining the initial discharge flow of the activated carbon bag after the bag is broken under the lifting hook after the lifting hook stops.
At the coordinate (x) of the lifting hook 7 rising to the bag breaking starting point2，y2，z2-H1) After the activated carbon bag is stopped, the activated carbon in the activated carbon bag 10 naturally flows out, at the moment, the change material quantity of the activated carbon in the activated carbon bag 10 can be detected by a sensor arranged on the activated carbon bag, and the discharge flow in unit time can be determined according to the material quantity change value. The method for calculating the initial unloading flow is the prior art scheme, and is not described herein again.
The method provided by the embodiment can accurately determine the time for obtaining the initial unloading flow of the broken activated carbon bag, namely, the broken activated carbon bag is lifted to the coordinates (x) of the starting point of the bag breaking by the lifting hook 72，y2，z2-H1) And then, the initial discharge flow is detected, so that the charging controller 200 can perform subsequent control operation according to an accurate initial discharge flow value, and the working efficiency is improved.
And S44, acquiring the current discharging flow of the broken activated carbon bag under the condition that the initial discharging flow is larger than the preset discharging flow value.
In this embodiment, the preset discharge flow value is used as a judgment basis to judge whether the bag breaking operation is successful. Because the discharge flow is changed along with time, when the bag is broken and the activated carbon is filled in the bag, the flow is maximum, and the flow is gradually reduced along with the gradual outflow of the activated carbon. Therefore, the preset discharge flow value is a flow value stored in advance in the charging controller 200 corresponding to the normal discharge operation.
And when the bag breaking operation is judged to be successful, namely under the condition that the initial unloading flow is greater than the preset unloading flow value, detecting the current unloading flow of the activated carbon bag in real time, wherein the current unloading flow value is gradually reduced along with the progress of the unloading process, and the ending of the unloading process can be indicated when the current unloading flow meets a certain condition.
If the initial discharge flow is less than or equal to the preset discharge flowMagnitude, controlling the hook to move from the bag breaking starting point coordinate (x)2，y2，z2-H1) Then the coordinate (x) is lowered to the bag breaking end point2，y2，z2+H2) And performing secondary bag breaking operation on the activated carbon bag by using a bag breaking knife.
If the initial unloading flow of the activated carbon bag after bag breaking is smaller than or equal to the preset unloading flow value, the current bag breaking operation is abnormal, so that the activated carbon in the activated carbon bag cannot naturally flow out, and therefore, the bag breaking operation needs to be carried out again at the moment to ensure the normal flowing out of the activated carbon. Because the current situation belongs to the system abnormality, the charging controller 200 gives out an audible and visual alarm, transmits an alarm signal to the superior control system 100, and stores the abnormal situation.
Therefore, after the initial unloading flow is judged to be less than or equal to the preset unloading flow value, the lifting hook 7 is controlled to descend to the bag breaking end point coordinate (x)2，y2，z2+H2) And performing second bag breaking treatment until the detected initial discharge flow is larger than the preset discharge flow value.
S5, judging whether the current unloading flow is smaller than a preset unloading flow value; and if the current unloading flow is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
When determining whether the current activated carbon package finishes the unloading work, the present embodiment adopts a manner of judging according to that the current unloading flow is smaller than the preset unloading flow value. Because the discharge flow is gradually reduced in the discharging process, the completion of discharging is indicated when the discharge flow reaches the minimum value. Therefore, the preset discharge flow value is a flow value corresponding to the completion of the discharge work stored in advance in the charging controller 200.
And comparing the current unloading flow detected in real time with a preset unloading flow value, and when the detected current unloading flow is smaller than the preset unloading flow value, indicating that the unloading process is finished. In addition, in this embodiment, whether the unloading operation is finished or not may be determined by determining whether the current unloading flow rate is 0, and when the current unloading flow rate is determined to be 0, it is determined that no activated carbon exists in the activated carbon bag, that is, the unloading process is completed.
After the unloading process is finished, the activated carbon bag is an empty bag, and the activated carbon filling of the activated carbon bin of the next round needs to be carried out. Therefore, the empty activated carbon pack needs to be controlled to return to the stacking platform, that is, the lifting hook 7 is controlled to return the unloaded empty activated carbon pack to the position corresponding to the initial loading coordinate according to the running track.
In the control method provided in this embodiment, when a method for determining whether the unloading operation is finished or not by using the flow rate of the activated carbon is adopted, if it is detected that the current unloading flow rate of the activated carbon bag is smaller than the preset unloading flow rate value, although no activated carbon flows out currently, there may be a situation that part of the activated carbon stays in the activated carbon bag and cannot flow out completely. Therefore, in this embodiment, the determination may be performed according to the weight of the activated carbon packet, and the empty packet is determined by detecting the weight of the activated carbon packet and determining that the weight of the activated carbon packet is less than the set value. Therefore, in this embodiment, the control method further includes the following steps:
s91, acquiring the initial weight of the activated carbon packet detected by the weight detection device according to the charging instruction;
s92, determining a third time length T according to the initial weight of the activated carbon packet3；T3＝k×(g1/S)，g1The initial weight of the activated carbon bag is used, k is a coefficient and ranges from 1 to 1.3, and S is the initial unloading flow of the activated carbon bag after bag breaking.
When the charging remote controller 300 transmits a charging command to the charging controller 200, the charging controller 200 controls the weight detecting device 600 to detect a weight change value of the activated carbon pack in real time according to the charging command. Therefore, the initial weight of the activated carbon package can be determined immediately after the activated carbon package 10 is hung on the hook 7 and the loading controller 200 receives the loading instruction.
In order to precisely control the time period during which the activated carbon in the activated carbon bag 10 can be emptied, the present embodiment uses the initial weight of the activated carbon bag as a reference according to the formula T3＝k×(g1/S) to be accurateAnd determining that the activated carbon bag 10 is emptied preliminarily when the time spent in the unloading process reaches the third time.
Therefore, when the current discharge flow is judged to be smaller than the preset discharge flow value, the weight judgment of the activated carbon bag 10 is needed to be carried out so as to more accurately determine the moment when the activated carbon bag is emptied, so that the situation that the activated carbon bag is emptied but still in the discharge state and the bag emptying operation is not carried out is avoided, and the work efficiency is reduced. Therefore, the method provided by this embodiment further includes, before controlling the lifting hook to return the unloaded empty activated carbon packet to the position corresponding to the initial loading coordinate according to the travel track:
s101, if the current unloading flow is smaller than a preset unloading flow value, delaying a third time length T3Then, the current weight G of the activated carbon bag is detectedj；
S102, if the current weight G of the activated carbon bagjLess than a predetermined weight value G0And controlling the lifting hook to move reversely along the running track so as to transport the unloaded empty activated carbon packet back to the position corresponding to the initial loading coordinate.
The weight detection device 600 detects the weight change of the activated carbon bag in real time, when the current discharge flow of the broken activated carbon bag is judged to be smaller than the preset discharge flow value, at this time, the weight of the activated carbon bag 10 is gradually reduced, and after waiting for the third time, the activated carbon bag is preliminarily judged to be discharged. However, in order to determine the weight of the activated carbon pack more accurately, the current weight of the activated carbon pack at the current moment needs to be acquired, and only when the current weight of the activated carbon pack is smaller than a preset weight value, the fact that the activated carbon pack has finished discharging control and activated carbon in the activated carbon pack has been discharged into the activated carbon bin can be accurately judged.
In this embodiment, the weight value G is preset0The weight of the empty packet of the activated carbon packet can be set. When the weight of the broken activated carbon bag is reduced to the weight of the empty packaging bag, the unloading process is completed, and at the moment, the activated carbon filling of the activated carbon bin of the next round needs to be carried out. Therefore, the empty activated carbon packet needs to be controlled to return to the stacking platform, that is, the lifting hook 7 is controlled to return the unloaded empty activated carbon packet according to the running trackTo the position corresponding to the initial coordinates of the charge.
However, if the weight of the activated carbon bag is still greater than the preset weight value G after waiting for the third time period0That is, the weight of the empty packaging bag is larger than that of the activated carbon bag, which indicates that the activated carbon in the activated carbon bag is not emptied, the operation of returning to empty the activated carbon bag is performed after a certain period of time is waited until no activated carbon exists in the activated carbon bag. For this reason, the control method provided in this embodiment further includes:
s103, if the current weight G of the activated carbon bagjGreater than or equal to a predetermined weight value G0Delayed by a fourth time period T4Then, when the current weight G of the activated carbon bagjLess than a predetermined weight value G0And controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
In the present embodiment, the fourth time period T4Can be according to the formula T4＝k×(Gj/Sj) To determine in which GjIs the current weight of the activated carbon bag, k is a coefficient, the value range is 1-1.3, and SjThe current discharge flow of the broken activated carbon bag is adopted. j is the serial number of a plurality of activated carbon packets.
The charging controller 200 acquires the detection value of the weight detection device 600 in real time, and determines the weight and the discharge flow rate of the activated carbon packet corresponding to the moment after waiting for the third time period, so as to accurately determine the necessary time T required for emptying the activated carbon packet4. The method provided by the embodiment can return to the stacking platform immediately after all the activated carbon in the activated carbon bag 10 is emptied so as to carry out the next filling operation, and the working efficiency is higher.
According to the technical scheme, the embodiment of the invention provides an automatic activated carbon filling system and a control method thereof, wherein a discharging hopper 2 of the system is arranged on a discharging platform 1, a bag breaking cutter 3 is positioned in the center of a receiving port of the discharging hopper 2, a track 4 is positioned above the discharging platform 1, a travelling crane beam 5 slides along the track 4, a travelling crane 6 moves along the travelling crane beam 5, and a lifting hook 7 is positioned at the bottom of the travelling crane 6. The position detection device 400 is arranged on the travelling crane beam 5 and used for sending the detected operation coordinates of the lifting hook 7 to the loading controller 200; the charging remote controller 300 sends a charging instruction to the charging controller 200; the loading controller 200 determines the running track of the lifting hook 7 according to the loading instruction and the running coordinate, the crane motion control device 500 controls the lifting hook 7 to move to the bag breaking knife 3 according to the running track, and the bag breaking knife 3 is used for breaking the activated carbon bag 10 lifted by the lifting hook 7, so that the activated carbon in the activated carbon bag 10 is filled into the activated carbon bin; and when detecting that the current unloading flow of the activated carbon bag after bag breaking is smaller than a preset unloading flow value, controlling the lifting hook 7 to return the unloaded empty activated carbon bag to the initial loading position according to the running track, and completing the activated carbon loading process of the activated carbon bin. It can be seen that, in the system and the control method provided in this embodiment, the loading process of the activated carbon bin is controlled by the loading controller 200, and the crane motion control device 500 automatically controls the operation of the hook 7 according to the loading instruction sent by the loading remote controller 300 and the real-time detection data of the position detection device 400, so that the automatic unloading process can be realized, and the working efficiency is higher.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (11)
1. An automatic activated carbon filling system, comprising: the device comprises a loading controller, a loading remote controller, a crane motion control device, an unloading platform, an unloading hopper arranged on the unloading platform, a bag breaking cutter positioned in the center of a receiving port of the unloading hopper, a track positioned above the unloading platform, a travelling crane beam sliding along the track, a travelling crane moving along the travelling crane beam, a lifting hook positioned at the bottom of the travelling crane and a position detection device arranged on the travelling crane beam;
the position detection device, the crane movement control device and the loading remote controller are respectively connected with the loading controller;
the charging remote controller is used for sending a charging instruction to the charging controller;
the position detection device is used for detecting the operating coordinate of the lifting hook and sending the detected operating coordinate to the loading controller; the operation coordinates comprise a loading initial coordinate, a bag breaking starting point coordinate and a bag breaking end point coordinate;
the loading controller is used for sending a travelling crane motion instruction to the crane motion control device according to the loading instruction and the operation coordinate, so that the crane motion control device controls the travelling crane beam to slide along the track, the travelling crane to move along the travelling crane beam and the lifting hook to carry the hoisted activated carbon bag to move up or down, and the bag breaking, unloading and unloading operations of the activated carbon bag are realized; wherein the content of the first and second substances,
the charge controller is configured to: receiving a charging instruction sent by a charging remote controller; acquiring a loading initial coordinate sent by the position detection device according to the loading instruction;
determining the running track of the lifting hook according to the initial loading coordinate and the position coordinate of the prestored bag breaking knife;
the moving track of the lifting hook is sent to a crane movement control device, the crane movement control device controls the lifting hook to move to a bag breaking knife according to the moving track, so that the bag breaking knife is used for breaking the activated carbon bag lifted by the lifting hook, and the activated carbon in the activated carbon bag is filled into an activated carbon bin;
after the bag breaking operation is finished, controlling the lifting hook to do ascending motion, and obtaining the current discharging flow of the broken activated carbon bag;
judging whether the current unloading flow is smaller than a preset unloading flow value or not; and if the current unloading flow is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
2. The system of claim 1, further comprising: the weight detection device is arranged on the travelling crane and is connected with the charging controller; the weight detection device is used for detecting the weight value of the activated carbon packet and sending the detected weight value of the activated carbon packet to the charging controller.
3. The system of claim 1, wherein said charging remote control is connected to a crane motion control device; the loading remote controller is also used for sending a traveling crane operation instruction to the crane motion control device, and the crane motion control device controls the lifting hook to move above the activated carbon bag so as to hang the activated carbon bag on the lifting hook and unload the empty activated carbon bag on the lifting hook.
4. A control method of an automatic activated carbon filling system applied to the automatic activated carbon filling system according to claim 1, comprising the steps of:
receiving a charging instruction sent by a charging remote controller; acquiring a loading initial coordinate sent by the position detection device according to the loading instruction;
determining the running track of the lifting hook according to the initial loading coordinate and the position coordinate of the prestored bag breaking knife;
the moving track of the lifting hook is sent to a crane movement control device, the crane movement control device controls the lifting hook to move to a bag breaking knife according to the moving track, so that the bag breaking knife is used for breaking the activated carbon bag lifted by the lifting hook, and the activated carbon in the activated carbon bag is filled into an activated carbon bin;
after the bag breaking operation is finished, controlling the lifting hook to do ascending motion, and obtaining the current discharging flow of the broken activated carbon bag;
judging whether the current unloading flow is smaller than a preset unloading flow value or not; and if the current unloading flow is smaller than a preset unloading flow value, controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
5. The control method according to claim 4, characterized in that the trajectory of the hook is determined from the initial coordinates of the charge and the coordinates of the position of the pre-stored bag-breaking knife according to the following steps:
establishing a coordinate system by taking the direction of the travelling crane beam moving along the rail and far away from the bag breaking cutter as an x-axis positive direction, taking the direction of the travelling crane moving along the travelling crane beam and moving from the first rail to the second rail as a y-axis positive direction, taking the direction of the lifting hook moving from the rail to the bag breaking cutter as a z-axis positive direction, and locating the origin of coordinates on the first rail; and, determining the initial coordinates (x) of the charge1，y1，z1) And the position coordinate (x) of the bag breaking knife2，y2，z2)；
According to the coordinate system and the position coordinate (x) of the bag breaking knife2，y2，z2) Determining coordinates (x) of bag breaking starting point2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) (ii) a Wherein H1＝H+L1H is the height from the bottom of the activated carbon bag to the lifting hook, L1Is a preset height; h2＝H-L2，L2The length of the bag breaking knife entering the bottom of the activated carbon bag;
will follow the initial coordinates (x) of the charge1，y1，z1) Bag breaking starting point coordinate (x)2，y2，z2-H1) And bag breaking end point coordinate (x)2，y2，z2+H2) The route of the directional movement is determined as the travel track of the hook.
6. The control method according to claim 5, characterized in that the lifting hook is controlled by the crane movement control device to move to the bag breaking knife according to the running track according to the following steps:
according to the fortuneTrajectory, controlling said hook from initial coordinates (x) of the charge1，y1，z1) Coordinate (x) of bag breaking starting point2，y2，z2-H1)；
After the lifting hook stops moving and is delayed for a first time, controlling the lifting hook to start from a bag breaking coordinate (x)2，y2，z2-H1) Coordinate (x) of bag breaking end point2，y2，z2+H2) And the bag breaking operation is carried out on the activated carbon bag hoisted by the lifting hook by utilizing the bag breaking knife.
7. The control method according to claim 5, characterized by controlling the lifting hook to do ascending movement after the bag breaking operation is finished according to the following steps to obtain the current discharge flow of the broken activated carbon bag:
coordinates (x) of the lifting hook descending to the bag breaking end point2，y2，z2+H2) Delaying for a second time after the bag breaking operation is carried out;
controlling the lifting hook to move from the bag breaking end point coordinate (x)2，y2，z2+H2) Rising to the bag breaking starting point coordinate (x)2，y2，z2-H1)；
After the lifting hook stops, acquiring the initial unloading flow of the activated carbon bag after the bag is broken under the lifting hook;
and under the condition that the initial discharging flow is larger than a preset discharging flow value, acquiring the current discharging flow of the broken activated carbon bag.
8. The control method according to claim 7, characterized by further comprising:
if the initial unloading flow is less than or equal to the preset unloading flow value, controlling the lifting hook to move from the coordinate (x) of the bag breaking starting point2，y2，z2-H1) Then the coordinate (x) is lowered to the bag breaking end point2，y2，z2+H2) And performing secondary bag breaking operation on the activated carbon bag by using a bag breaking knife.
9. The control method according to claim 4, characterized by further comprising:
acquiring the initial weight of the activated carbon pack detected by the weight detection device according to the charging instruction;
determining a third time period T according to the initial weight of the activated carbon packet3；T3＝k×(g1/S)，g1The initial weight of the activated carbon bag is used, k is a coefficient and ranges from 1 to 1.3, and S is the initial unloading flow of the activated carbon bag after bag breaking.
10. The control method of claim 9, wherein after the step of if the current discharge flow is less than the preset discharge flow value, the method further comprises:
if the current unloading flow is smaller than the preset unloading flow value, delaying for a third time length T3Then, the current weight G of the activated carbon bag is detectedi；
If the current weight G of the activated carbon bagiLess than a predetermined weight value G0And controlling the lifting hook to move reversely along the running track so as to transport the unloaded empty activated carbon packet back to the position corresponding to the initial loading coordinate.
11. The control method according to claim 10, characterized by further comprising:
if the current weight G of the activated carbon bagiGreater than or equal to a predetermined weight value G0Delayed by a fourth time period T4Then, when the current weight G of the activated carbon bagiLess than a predetermined weight value G0And controlling the lifting hook to return the unloaded empty activated carbon packet to a position corresponding to the initial loading coordinate according to the running track.
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