CN109928223A - A kind of the feeding control method and Related product of coal yard stacker-reclaimer - Google Patents
A kind of the feeding control method and Related product of coal yard stacker-reclaimer Download PDFInfo
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- CN109928223A CN109928223A CN201910243299.6A CN201910243299A CN109928223A CN 109928223 A CN109928223 A CN 109928223A CN 201910243299 A CN201910243299 A CN 201910243299A CN 109928223 A CN109928223 A CN 109928223A
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Abstract
The present invention provides a kind of feeding control method of coal yard stacker-reclaimer, comprising: obtains the real-time spatial data of coal yard；When receiving feeding mission bit stream, feeding initial position, feeding end position are determined according to the real-time spatial data；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；Feeding is carried out according to the feeding initial position, feeding end position control pick-up arm.A kind of coal yard stacker-reclaimer provided by the invention takes coal control method, in reclaiming process, in real time with the real-time spatial data got, the starting of feeding, end position are calculated, and it controls carry out feeding and can be improved the degree of automation to further realize the automated process of feeding, the demand to artificial is reduced, production efficiency is improved.Feeding control method and the Related product above-mentioned beneficial effect all having the same of a kind of coal yard stacker-reclaimer provided by the invention, this is no longer going to repeat them.
Description
Technical field
The present invention relates to technical field of industrial equipment, in particular to the feeding control method and phase of a kind of coal yard stacker-reclaimer
Close product.
Background technique
The heap material extracting operation of domestic coal yard relies primarily on the completion of manual operation scene heap reclaimer device all the time, main
Reason is that area of coal yard is big, can not provide the real time profile of operation dump, partially with the coal yard of dump three-dimensional data, heap feeding
Machine can not be interacted with dump 3-D image, complete automatical and efficient heap material extracting operation.
At abroad, automatic heap material extracting operation research is more early, correlation function has been completed in some developed countries after study, is
Coal yard installs corresponding sensing equipment and applies related system.In Japan, the semi-automatic stacker-reclaimer remotely controlled is big
The power generation of pseudo-ginseng tail is applied.And it is located at the Newcastle port of the Han Shagang of Germany, the Port of Rotterdam of Holland and Australia
The stacker-reclaimer of intelligentized Automatic Control is all had developed, but external full-automatic windrow is due to the laser scanning of only use
Mode carry out dump identification, there is no being accurately positioned to stacker-reclaimer setting using point cloud data, also without real-time
It scans and is interacted with heap feeding strategy.For the control performance of optimization system, people begin one's study stacker-reclaimer equipment to stock ground
The auto-real-time monitoring of operating condition, and the operating condition of equipment operator is improved, develop to man-machine friendly direction.With Three-dimensional Gravity
It builds the continuous development of technology and automatic technology, the various aspects of performance of stacker-reclaimer and the adaptability of field working conditions is also promoted
The height new to one.
At home, the most of stacker-reclaimer operation technique process modes of power plant are completely dependent on artificial progress information biography at present
Pass, plan, handling, operating, heap takes strategy, management etc., and fail to use automatic job, the main reason is that being difficult to material heap height
Degree is used for quickly detecting, while dump profile is also difficult to identify.Although the country had developed the automatic control of heap material extracting operation in recent years
Device can be controlled by PLC and realize automation, and have HMI operation interface, but observe material heap between large arm at a distance from, it is accurate
Positioning calculates material heap parameter according to practical windrow situation and provides the job parameter for coal, these technologies are difficult to realize certainly
Dynamicization, this step have very big dependence to stacker driver.When material heap is in irregular shape can not Automatic-searching operation open
Layer point, in operation process can not whether real-time judge work pattern efficient and rational, operation when can not be made according to practical coal
The adjustment of industry parameter, driver need to be monitored with necessary intervention, this is also to cause the heap material extracting operation of coal-burning power plant to be always
The maximum reason of manual hand manipulation.
In order to solve to artificial dependence, the harbour in China once used microwave radar detection, ultrasound examination, suspension
The technologies such as the detection of formula tilt switch, the detection of single-point type laser ranging switch, infrared detection.However it is to coal that these technologies, which are not,
The concrete condition of field is made to measure, has many defects, since three-dimensional data can not be real-time with stacker-reclaimer automatic control system
Interaction lacks the detectability to windrow wave crest, the residual pile of feeding and reactor feed stream, and it also requires the hardware of adjustment detection often
Position, therefore can not cooperate with PLC and realize that the unmanned heap feeding in real meaning Shangdi controls.
Therefore, how a kind of feeding control program of coal yard stacker-reclaimer is provided, can be improved the degree of automation, reduction pair
Artificial demand improves production efficiency, is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of feeding control method of coal yard stacker-reclaimer and related productions
Product can be improved the degree of automation, reduce the demand to artificial, improve production efficiency.Its concrete scheme is as follows:
In a first aspect, the present invention provides a kind of feeding control method of coal yard stacker-reclaimer, comprising:
Obtain the real-time spatial data of coal yard；
When receiving feeding mission bit stream, determine that feeding initial position, feeding terminate according to the real-time spatial data
Position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；
Feeding is carried out according to the feeding initial position, feeding end position control pick-up arm.
Preferably,
The real-time spatial data for obtaining coal yard, comprising:
The real-time spatial data of the coal yard is obtained by the fixed laser scanner scanning that the ceiling of coal yard is installed；
And the laser scanner scans by being set on coal yard stacker-reclaimer cantilever obtain the real-time space of the coal yard
Data.
Preferably,
It is described to carry out feeding according to the feeding initial position, feeding end position control pick-up arm, comprising:
Judge whether the feeding initial position opened layer；
If it is not, then carrying out repairing slope to the coal seam of the feeding initial position.
Preferably,
The coal seam to the feeding initial position carries out repairing slope, comprising:
The newel to the coal yard stacker-reclaimer is scraped into the coal seam of the feeding initial position；
According to the real-time spatial data, the gradient to feeding dump is determined；
Judge whether the gradient is consistent with the pitch angle of the pick-up arm；If it is not, then continuing to repair slope movement.
Preferably,
It is described to carry out feeding according to the feeding initial position, feeding end position control pick-up arm, comprising:
According to the real-time spatial data, judge whether the material heap of current feeding reaches boundary position；
If it is, stopping feeding and/or issuing alarm signal.
Second aspect, the present invention provide a kind of feeding control system of coal yard stacker-reclaimer, comprising:
Spatial data capture module, for obtaining the real-time spatial data of coal yard；
Start-stop position determination module, for being determined according to the real-time spatial data when receiving feeding mission bit stream
Feeding initial position, feeding end position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding stop bits
It sets；
Feeding control module, for being carried out according to the feeding initial position, feeding end position control pick-up arm
Feeding.
Preferably,
The feeding control module, comprising:
Layers apart judging submodule, for judging whether the feeding initial position opened layer；
Slope control submodule is repaired, if opening layer for the feeding initial position, to the feeding initial position
Coal seam carries out repairing slope.
Preferably,
It is described to repair slope control submodule, comprising:
Slope action control unit is repaired, for scraping in the coal seam of the feeding initial position into the coal yard stacker-reclaimer
Stem；
Dump gradient determination unit determines the gradient to feeding dump according to the real-time spatial data；
Gradient judging unit, for judging whether the gradient is consistent with the pitch angle of the pick-up arm；If it is not, then
Continue to repair slope movement.
The third aspect, the present invention provide a kind of coal yard heap reclaimer device, comprising:
Memory, for storing computer program；
Processor realizes that a kind of any coal yard heap of above-mentioned first aspect takes when for executing the computer program
The step of feeding control method of material machine.
Fourth aspect, the present invention provide a kind of computer readable storage medium, deposit on the computer readable storage medium
Computer program is contained, the computer program realizes a kind of above-mentioned first aspect any coal yard when being executed by processor
The step of feeding control method of stacker-reclaimer.
The present invention provides a kind of feeding control method of coal yard stacker-reclaimer, comprising: obtains the real-time spatial data of coal yard；
When receiving feeding mission bit stream, feeding initial position, feeding end position are determined according to the real-time spatial data；Its
In, the feeding mission bit stream, comprising: feeding initial position, feeding end position；According to the feeding initial position, described
Feeding end position controls pick-up arm and carries out feeding.A kind of coal yard stacker-reclaimer provided by the invention takes coal control method,
In reclaiming process, in real time with the real-time spatial data got, the starting of feeding, end position are calculated, and controls
System carries out feeding, to further realize the automated process of feeding, can be improved the degree of automation, reduces to artificial
Demand improves production efficiency.
The feeding control method and Related product of a kind of coal yard stacker-reclaimer provided by the invention are all having the same above-mentioned
Beneficial effect, this is no longer going to repeat them.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of stream of the feeding control method of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Cheng Tu；
Fig. 2 is the flow chart for repair to coal seam slope in a kind of specific embodiment of the present invention；
Fig. 3 takes getting over for coal control method for a kind of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Boundary's alarm flow figure；
Fig. 4 is a kind of reclaiming process parameter optimization flow chart for taking coal control method of coal yard stacker-reclaimer；
Fig. 5 is a kind of group of the feeding control system of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
At structural schematic diagram；
Fig. 6 is a kind of taking for feeding control system of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Expect control module composed structure schematic diagram；
Fig. 7 is a kind of repairing for feeding control system of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Slope control submodule composed structure schematic diagram；
Fig. 8 is the structural schematic diagram of computer equipment provided by another specific embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of feeding control of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
The flow chart of method processed.
In a kind of specific embodiment of the present invention, the embodiment of the present invention provides a kind of feeding control of coal yard stacker-reclaimer
Method, comprising:
Step S11: the real-time spatial data of coal yard is obtained；
In embodiments of the present invention, it is necessary first to obtain the real-time spatial data of coal yard, such as in a kind of specific embodiment party
In formula, coal yard is closed booth type coal yard, and fixed Spatial data capture device can be arranged at the top of greenhouse, for example,
Infrared scanning distance mearuring equipment be can use to obtain the real-time spatial data of coal yard, certainly, because coal yard is in operation, coal dust
The visibility of entire coal yard is produced bigger effect, therefore in order to improve the penetration capacity of Spatial data capture device, can be had
Laser scanner is set to body by Spatial data capture device, the penetration capacity of laser is stronger, is suitable for using in coal yard, certainly
Spraying device can also be matched, the visibility of coal yard is improved, other some penetration capacitys, which thus can be used, is not
Too strong Spatial data capture device.
It specifically, specifically can be to be installed by the ceiling of coal yard fixed in order to obtain the real-time spatial data of coal yard
Laser scanner scans obtain the real-time spatial data of the coal yard；And the laser by being set on coal yard stacker-reclaimer cantilever
Scanner scanning obtains the real-time spatial data of the coal yard.
Step S12: when receiving feeding mission bit stream, according to the real-time spatial data determine feeding initial position,
Feeding end position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；
, can be according to the shape of coal yard after getting the real-time spatial data of coal yard, and need the position of the dump of feeding
It sets route to be planned, such as the quality for needing the coal charge of feeding can be manually entered, computer program is calculated automatically existing
Feeding where is carried out in some dumps, where terminates the quality that can get the coal charge of needs, it is, of course, also possible to set
Fixed others principles, such as can continuous feeding for the coal charge of same coal, that is to say, that dump is in the continuous chain of mountains
Shape, rather than isolated taper dump.For example, presetting preferential feeding route, using real-time spatial data, judge that this is preferential
Whether feeding route is able to use.
Step S13: feeding is carried out according to the feeding initial position, feeding end position control pick-up arm.
Specifically, when the operation coal yard of coal yard stacker-reclaimer is circular stockyard, feeding is carried out in specifically control pick-up arm
When, the reclaiming process of stacker reclaimer of round stock yard is: material taking mouth mounting drives feeding scrapper conveyor around center stand column or so revolution
Structure running, starting scraping plate mechanism pitching to certain angle are successively scraped material using many scraper plates moved back and forth that do thereon
It drops down at lower central funnel, material transfer to ground belt conveyer is started ground belt system and material is transported to material by funnel
Over-the-counter portion designated position.
Further, in order to carry out feeding according to the feeding initial position, feeding end position control pick-up arm,
Whether feeding was carried out for feeding initial position and did not carry out feeding, does different processing, that is to say, that opened layer
Coal seam is suitable for directly carrying out feeding, and the coal seam without opening layer then needs to carry out layers apart, that is, the coal charge in dump is moved
The lower part for moving pick-up arm undertakes the gravity of pick-up arm.It specifically can be to judge whether the feeding initial position opened layer；
If it is not, then carrying out repairing slope to the coal seam of the feeding initial position.It, can be according to the letter stored before when specifically being judged
Table is ceased, information table carries out the information for carrying out layers apart when operation to coal seam before being stored with.It is of course also possible to pass through real-time space number
According to being judged, the new material heap bottom of non-layers apart and the newel of stacker-reclaimer have a distance, can be according to this section of distance
The no judgement for existing to be made whether out layer, that is to say, that if there is this section of distance, then layer was not opened in the coal seam, such as
This section of distance is not present in fruit, then the coal seam opened layer and can directly carry out that coal is taken to operate.
Fig. 2, Fig. 3 are please referred to, Fig. 2 is the flow chart for repair to coal seam slope in a kind of specific embodiment of the present invention；Fig. 3
For a kind of geofence process for taking coal control method of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Figure.
In order to which the coal seam to the feeding initial position carries out repairing slope, can specifically step be carried out:
Step S21: the newel to the coal yard stacker-reclaimer is scraped into the coal seam of the feeding initial position；
Step S22: according to the real-time spatial data, the gradient to feeding dump is determined；
Step S23: judge whether the gradient is consistent with the pitch angle of the pick-up arm；If it is not, then continuing to repair slope
Movement.
Further, in feeding, it may occur that the situation in one place being more than feeding section at this moment can be with
While feeding, real-time spatial data is updated, and according to updated spatial data, the boundary of coal charge is sentenced
It is disconnected, to obtain whether material heap reaches the information of boundary for it.
That is described according to the feeding initial position, the feeding knot when receiving feeding mission bit stream
Beam position controls pick-up arm and carries out feeding, can also include:
Step S31: according to the real-time spatial data, judge whether the material heap of current feeding reaches boundary position；
Step S32: if it is, stopping feeding and/or issuing alarm signal.
The embodiment of the present invention provides a kind of feeding control method of coal yard stacker-reclaimer, comprising: obtains the real-time empty of coal yard
Between data；When receiving feeding mission bit stream, feeding initial position, feeding stop bits are determined according to the real-time spatial data
It sets；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；According to the feeding initial position,
The feeding end position control pick-up arm carries out feeding.A kind of coal yard stacker-reclaimer provided in an embodiment of the present invention takes coal control
Method processed, in real time with the real-time spatial data got, is counted the starting of feeding, end position in reclaiming process
It calculates, and controls carry out feeding and can be improved the degree of automation to further realize the automated process of feeding, subtract
Few demand to artificial, improves production efficiency.
Referring to FIG. 4, Fig. 4 is a kind of reclaiming process parameter optimization process for taking coal control method of coal yard stacker-reclaimer
Figure.
In embodiments of the present invention, process is specific as follows:
S1: by with to mix Coal Blending System and fuel management system integrated, system can be by data-interface from message tube
Reason system receives production plan on duty (production plan includes that start-stop position, coal take coal tonnage, take the information such as coal flow) system
Start automatic material taking work pattern, stacker-reclaimer enters automatic material taking state.
S2: after material extracting operation mission dispatching, reclaimer meets automatic aligning requirement, and three-dimensional imaging model is called to be cut
Point calculates, and when three-dimensional imaging model calls Unmanned System feeding, the material heap three-dimensional data of database is stored in, to target material heap
Three-dimensional computations are carried out, feeding point of penetration position is analyzed, and location information is fed back into feeding model, starts automatic aligning.Heap takes
After local PLC receives target address information on material machine, in conjunction with pick-up arm initial bit, scraper plate pick-up arm is faced upward to maximum angle, such as
Fruit is a wide range of revolution by non-material area domain, turns round quickly operation, then slows down when pick-up arm is run into material heap region as work
Make low speed.Until actual position signal and given position coincide, positioning is completed.
S3: material extracting operation according to feeding point of penetration judges whether material heap opened layer before starting, and the dump for opening layer need to be
There is record in laser point cloud data, and enters step S5；What the dump of non-layers apart entered step S4 repairs slope process.PLC is according to sharp
The coordinate H that photoscanner provides determines the pitch angle γ of pick-up arm and carries out nutation, a length of R of pick-up arm0, then
S4: the new material heap bottom and newel of non-layers apart have a distance, carry out repairing slope operation.During repairing slope,
The material heap data that laser scanner provides play a key effect, and can choose the data and pick-up arm pitch angle for reading dump multiple spot
Degree is compared, to determine to repair slope performance.As material is scraped to central hopper, material heap mountain peak is gradually reamed, the foot of the hill
Space is gradually filled and led up between central hopper.Repair slope completion foundation be laser scanner calculate in real time material heap head, middle part,
Straight line angle-data composed by tail portion etc., and with stacker-reclaimer PLC real-time, interactive, PLC judges material Gradient and feeding
Arm pitch angle is close, also, judges that existing coal falls into belt (increase of belt electric current moment), and repairing slope at this time terminates.Into step
Rapid s5.
S5: scraper plate operation is combined with luffing mechanism, is carried out layering feeding, is layered with scraper plate elevation mount, to feeding
Arm height is positioned.Start in material heap end, carries out top feeding first, pick-up arm is under elevation mount driving, decline
Certain depth in material heap, scraper plate operation, running gear drive the revolution of mouth frame, complete first layer material extracting operation；When first layer takes
Material is completed, and pick-up arm elevation mount continues scraper plate to transfer certain depth by adjusted value, and into next bed of material, pick-up arm is reversely walked
Row completes second layer material extracting operation；The rest may be inferred, layer-by-layer feeding.
In reclaiming process, in order to accurately control the motion profile of pick-up arm, the design of feeding constant flow system control is adopted
Aim parameter is tracked with PID (proportion, integral, differential) control.
Fig. 5, Fig. 6, Fig. 7 are please referred to, Fig. 5 is a kind of coal yard stacker-reclaimer provided by a kind of specific embodiment of the present invention
Feeding control system composed structure schematic diagram；Fig. 6 is a kind of coal yard heap provided by a kind of specific embodiment of the present invention
The feeding control module composed structure schematic diagram of the feeding control system of reclaimer；Fig. 7 is a kind of specific embodiment of the present invention
A kind of feeding control system of provided coal yard stacker-reclaimer repairs slope control submodule composed structure schematic diagram.
Second aspect, the present invention provide a kind of feeding control system 500 of coal yard stacker-reclaimer, comprising:
Spatial data capture module 510, for obtaining the real-time spatial data of coal yard；
Start-stop position determination module 520, it is true according to the real-time spatial data for when receiving feeding mission bit stream
Determine feeding initial position, feeding end position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding terminate
Position；
Feeding control module 530, for according to the feeding initial position, the feeding end position control pick-up arm into
Row feeding.
Preferably,
The feeding control module 530, comprising:
Layers apart judging submodule 531, for judging whether the feeding initial position opened layer；
Slope control submodule 532 is repaired, if opening layer for the feeding initial position, to the feeding initial position
Coal seam carry out repairing slope.
Preferably,
It is described to repair slope control submodule 532, comprising:
Slope action control unit 5321 is repaired, for scraping in the coal seam of the feeding initial position to the coal yard stacker-reclaimer
Newel；
Dump gradient determination unit 5322 determines the gradient to feeding dump according to the real-time spatial data；
Gradient judging unit 5323, for judging whether the gradient is consistent with the pitch angle of the pick-up arm；If
It is no, then continue to repair slope movement.
Referring to FIG. 8, Fig. 8 is the structural representation of computer equipment provided by another specific embodiment of the invention
Figure.
In another specific embodiment of the invention, the embodiment of the present invention provides a kind of computer equipment, comprising:
Memory, for storing computer program；
Processor realizes a kind of coal described in any of the above-described kind of specific embodiment when for executing the computer program
The step of feeding control method and Related product of field stacker-reclaimer.
Below with reference to Fig. 8, it illustrates the structural schematic diagrams for the computer equipment for being suitable for being used to realize the embodiment of the present application.
Computer equipment shown in Fig. 8 is only an example, should not function to the embodiment of the present application and use scope bring it is any
Limitation.
As shown in figure 8, computer system 800 includes processor (CPU) 801, it can be according to being stored in read-only memory
(ROM) it the program in 802 or is executed respectively from the program that storage section 808 is loaded into random access storage device (RAM) 803
Kind movement appropriate and processing.In RAM 803, also it is stored with system 800 and operates required various programs and data.
CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 803
It is connected to bus 804.
I/O interface 805 is connected to lower component: the importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 808 including hard disk etc.；
And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because
The network of spy's net executes communication process.Driver 810 is also connected to I/O interface 807 as needed.Detachable media 811, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 810, in order to read from thereon
Computer program be mounted into storage section 808 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 809, and/or from detachable media
811 are mounted.When the computer program is executed by processor (CPU) 801, the above-mentioned function limited in the present processes is executed
Energy.It should be noted that computer-readable medium described herein can be computer-readable signal media or computer
Readable medium either the two any combination.Computer-readable medium for example may be-but not limited to-electricity,
Magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Computer-readable medium
More specific example can include but is not limited to: there is the electrical connection of one or more conducting wires, portable computer diskette, hard
Disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), light
Fibre, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate
Combination.In this application, it includes or the tangible medium of storage program that the program can be with that computer-readable medium, which can be any,
It is commanded execution system, device or device use or in connection.And in this application, computer-readable signal
Medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying computer-readable journey
Sequence code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal, optical signal or above-mentioned
Any appropriate combination.Computer-readable signal media can also be any computer-readable other than computer-readable medium
Medium, the computer-readable medium can be sent, propagated or transmitted for being used by instruction execution system, device or device
Or program in connection.The program code for including on computer-readable medium can pass with any suitable medium
It is defeated, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The calculating of the operation for executing the application can be write with one or more programming languages or combinations thereof
Machine program code, described program design language include object-oriented programming language-such as Java, Smalltalk, C+
+, further include conventional procedural programming language-such as " C " language or similar programming language.Program code can
Fully to execute, partly execute on the user computer on the user computer, be executed as an independent software package,
Part executes on the remote computer or executes on a remote computer or server completely on the user computer for part.
In situations involving remote computers, remote computer can pass through the network of any kind --- including local
Net (LAN) or wide area network (WAN)-are connected to subscriber computer, or, it may be connected to outer computer (such as using because of spy
Service provider is netted to connect by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
As still another embodiment of the invention, the embodiment of the present invention provides a kind of computer readable storage medium institute
It states and is stored with computer program on computer readable storage medium, the computer program realizes above-mentioned when being executed by processor
The step of one of specific embodiment of anticipating feeding control method of coal yard stacker-reclaimer.
The computer-readable medium can be included in computer or terminal device described in above-described embodiment；?
It can be individualism, and without in the supplying computer equipment.Above-mentioned computer-readable medium carries one or more
Program, when said one or multiple programs are executed by the computer equipment, so that the computer equipment: obtaining the reality of coal yard
When spatial data；When receiving feeding mission bit stream, feeding initial position, feeding knot are determined according to the real-time spatial data
Beam position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；It is originated according to the feeding
Position, feeding end position control pick-up arm carry out feeding.And storage medium above-mentioned include: USB flash disk, mobile hard disk, only
Read memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk
Or the various media that can store program code such as CD.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The feeding control method and Related product of a kind of coal yard stacker-reclaimer provided by the present invention have been carried out in detail above
Thin to introduce, used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of feeding control method of coal yard stacker-reclaimer characterized by comprising
Obtain the real-time spatial data of coal yard；
When receiving feeding mission bit stream, feeding initial position, feeding end position are determined according to the real-time spatial data；
Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；
Feeding is carried out according to the feeding initial position, feeding end position control pick-up arm.
2. the feeding control method of coal yard stacker-reclaimer according to claim 1, which is characterized in that
The real-time spatial data for obtaining coal yard, comprising:
The real-time spatial data of the coal yard is obtained by the fixed laser scanner scanning that the ceiling of coal yard is installed；
And the laser scanner scans by being set on coal yard stacker-reclaimer cantilever obtain the real-time spatial data of the coal yard.
3. the feeding control method of coal yard stacker-reclaimer according to claim 1, which is characterized in that
It is described to carry out feeding according to the feeding initial position, feeding end position control pick-up arm, comprising:
Judge whether the feeding initial position opened layer；
If it is not, then carrying out repairing slope to the coal seam of the feeding initial position.
4. the feeding control method of coal yard stacker-reclaimer according to claim 3, which is characterized in that
The coal seam to the feeding initial position carries out repairing slope, comprising:
The newel to the coal yard stacker-reclaimer is scraped into the coal seam of the feeding initial position；
According to the real-time spatial data, the gradient to feeding dump is determined；
Judge whether the gradient is consistent with the pitch angle of the pick-up arm；If it is not, then continuing to repair slope movement.
5. the feeding control method of coal yard stacker-reclaimer according to any one of claims 1 to 4, which is characterized in that
It is described to carry out feeding according to the feeding initial position, feeding end position control pick-up arm, comprising:
According to the real-time spatial data, judge whether the material heap of current feeding reaches boundary position；
If it is, stopping feeding and/or issuing alarm signal.
6. a kind of feeding control system of coal yard stacker-reclaimer characterized by comprising
Spatial data capture module, for obtaining the real-time spatial data of coal yard；
Start-stop position determination module, for determining feeding according to the real-time spatial data when receiving feeding mission bit stream
Initial position, feeding end position；Wherein, the feeding mission bit stream, comprising: feeding initial position, feeding end position；
Feeding control module, for carrying out feeding according to the feeding initial position, feeding end position control pick-up arm.
7. the feeding control system of coal yard stacker-reclaimer according to claim 6, which is characterized in that
The feeding control module, comprising:
Layers apart judging submodule, for judging whether the feeding initial position opened layer；
Slope control submodule is repaired, if opening layer for the feeding initial position, to the coal seam of the feeding initial position
It carries out repairing slope.
8. the feeding control method of coal yard stacker-reclaimer according to claim 7, which is characterized in that
It is described to repair slope control submodule, comprising:
Slope action control unit is repaired, for the coal seam of the feeding initial position to be scraped to the center to the coal yard stacker-reclaimer
Column；
Dump gradient determination unit determines the gradient to feeding dump according to the real-time spatial data；
Gradient judging unit, for judging whether the gradient is consistent with the pitch angle of the pick-up arm；If it is not, then continuing
Repair slope movement.
9. a kind of coal yard heap reclaimer device characterized by comprising
Memory, for storing computer program；
Processor realizes a kind of coal yard heap feeding as described in any one of claim 1 to 5 when for executing the computer program
The step of feeding control method of machine.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes a kind of coal yard stacker-reclaimer as described in any one of claim 1 to 5 when the computer program is executed by processor
Feeding control method the step of.
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| CN201910243299.6A CN109928223A (en) | 2019-03-28 | 2019-03-28 | A kind of the feeding control method and Related product of coal yard stacker-reclaimer |
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| CN111285132A (en) * | 2020-03-18 | 2020-06-16 | 华润电力技术研究院有限公司 | Thermal power equipment and control method and system for material piling and taking of circular coal yard of thermal power equipment |
| CN111674954A (en) * | 2020-07-17 | 2020-09-18 | 中冶长天国际工程有限责任公司 | Material taking system and method |
| CN111792396A (en) * | 2020-07-17 | 2020-10-20 | 湖南长天自控工程有限公司 | Material taking system and method for circular stock ground |
| CN112596455A (en) * | 2020-11-26 | 2021-04-02 | 华能国际电力股份有限公司南通电厂 | Remote intelligent material piling and taking control method for coal conveying of power plant |
| CN113086662A (en) * | 2021-03-26 | 2021-07-09 | 中冶京诚工程技术有限公司 | Totally-enclosed stock ground arrangement method and device |
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| CN113291843A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material taking control method and device of material taking machine |
| CN113291841A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material leveling control method of material taking machine |
| CN113653525A (en) * | 2021-08-13 | 2021-11-16 | 天津美腾科技股份有限公司 | Correction method and device for top coal caving control and electronic equipment |
| CN114715628A (en) * | 2022-03-30 | 2022-07-08 | 东北大学 | Unmanned method and scheduling system for bucket-wheel stacker reclaimer |
| CN117485929A (en) * | 2023-12-29 | 2024-02-02 | 中国电力工程顾问集团西南电力设计院有限公司 | Unmanned material stacking and taking control system and method based on intelligent control |
| CN113653525B (en) * | 2021-08-13 | 2024-04-30 | 天津美腾科技股份有限公司 | Correction method and device for caving coal control and electronic equipment |
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| CN111285132A (en) * | 2020-03-18 | 2020-06-16 | 华润电力技术研究院有限公司 | Thermal power equipment and control method and system for material piling and taking of circular coal yard of thermal power equipment |
| CN113291841B (en) * | 2020-06-24 | 2022-12-13 | 中冶长天国际工程有限责任公司 | Material leveling control method of material taking machine |
| CN113291842A (en) * | 2020-06-24 | 2021-08-24 | 湖南长天自控工程有限公司 | Material leveling control method of material taking machine |
| CN113291843A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material taking control method and device of material taking machine |
| CN113291841A (en) * | 2020-06-24 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material leveling control method of material taking machine |
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| CN111674954A (en) * | 2020-07-17 | 2020-09-18 | 中冶长天国际工程有限责任公司 | Material taking system and method |
| CN111792396A (en) * | 2020-07-17 | 2020-10-20 | 湖南长天自控工程有限公司 | Material taking system and method for circular stock ground |
| CN112596455A (en) * | 2020-11-26 | 2021-04-02 | 华能国际电力股份有限公司南通电厂 | Remote intelligent material piling and taking control method for coal conveying of power plant |
| CN113086662A (en) * | 2021-03-26 | 2021-07-09 | 中冶京诚工程技术有限公司 | Totally-enclosed stock ground arrangement method and device |
| CN113086662B (en) * | 2021-03-26 | 2022-11-11 | 中冶京诚工程技术有限公司 | Totally-enclosed stock ground arrangement method and device |
| CN113653525A (en) * | 2021-08-13 | 2021-11-16 | 天津美腾科技股份有限公司 | Correction method and device for top coal caving control and electronic equipment |
| CN113653525B (en) * | 2021-08-13 | 2024-04-30 | 天津美腾科技股份有限公司 | Correction method and device for caving coal control and electronic equipment |
| CN114715628A (en) * | 2022-03-30 | 2022-07-08 | 东北大学 | Unmanned method and scheduling system for bucket-wheel stacker reclaimer |
| CN117485929A (en) * | 2023-12-29 | 2024-02-02 | 中国电力工程顾问集团西南电力设计院有限公司 | Unmanned material stacking and taking control system and method based on intelligent control |
| CN117485929B (en) * | 2023-12-29 | 2024-03-19 | 中国电力工程顾问集团西南电力设计院有限公司 | Unmanned material stacking and taking control system and method based on intelligent control |
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