CN110127385B - Method and system for judging optimal automatic alignment strategy of stacker-reclaimer - Google Patents
Method and system for judging optimal automatic alignment strategy of stacker-reclaimer Download PDFInfo
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- CN110127385B CN110127385B CN201910257658.3A CN201910257658A CN110127385B CN 110127385 B CN110127385 B CN 110127385B CN 201910257658 A CN201910257658 A CN 201910257658A CN 110127385 B CN110127385 B CN 110127385B
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- stacker
- reclaimer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a method and a system for judging an optimal automatic alignment strategy of a stacker-reclaimer, which comprise the following steps: an electronic map acquisition step: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data; a spatial position acquisition step: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer; and (3) automatic alignment step: and searching the optimal path of each material piling and taking machine in the automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information. According to the invention, the automatic alignment path of the stacker-reclaimer is optimized through the acquisition of the stock ground electronic map and the real-time posture position of the stacker-reclaimer, so that the alignment efficiency of the stacker-reclaimer is effectively improved, and data parameter guarantee is provided for the full-automatic alignment process of the stacker-reclaimer.
Description
Technical Field
The invention relates to the field of production logistics process control, in particular to a method and a system for judging an optimal automatic alignment strategy of a stacker-reclaimer.
Background
The stacker-reclaimer is a continuous conveying efficient loading and unloading machine which can stack and reclaim materials and is used for a large-scale dry bulk cargo yard. The rubber belt conveyor comprises a rubber belt conveying arm capable of pitching and horizontally swinging, a bucket wheel at the front end of the rubber belt conveying arm, a rack and a running mechanism, wherein the rubber belt can run in two directions, the material is taken by the bucket wheel and is sent out by the conveying arm during material taking, and goods conveyed by a main conveyor are thrown to a yard by the conveying arm during material piling.
The unmanned material piling and taking in wharf material yard is the current research focus and the future development trend, such as the remote control system of cantilever type bucket-wheel material taking machine disclosed in patent CN 106200429A. Because a driver operates from a central control room instead, when manual alignment is carried out, the field condition can only be known through an onboard camera, visual dead angles exist, the situation of the peripheral position of the cart is difficult to judge at the first time, and a remote operator can only select a single alignment path to carry out alignment operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for judging an optimal automatic alignment strategy of a stacker-reclaimer.
The method for judging the optimal automatic alignment strategy of the stacker-reclaimer, provided by the invention, comprises the following steps of:
an electronic map acquisition step: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition step: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
and (3) automatic alignment step: and searching the optimal path of each material piling and taking machine in the automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information.
Preferably, the movement of the stacker-reclaimer comprises: walking, pitching and backspin.
Preferably, the attitude information of the stacker-reclaimer is acquired by an encoder and a sensor which are installed on the stacker-reclaimer.
Preferably, the spatial position obtaining step includes performing stage decomposition on the alignment process of the stacker-reclaimer, performing weight distribution on position points which may appear in each stage, and adopting a reverse recursion mode, where the state is an initial position of each stage.
Preferably, the position relationship between the stockpile and the stacker-reclaimer comprises three types, namely, stockyard crossing, stockpile non-crossing and stockpile non-crossing;
under the condition of crossing stock yards, returning the stacker-reclaimer to a zero position, and then executing walking to a target address, the automatic alignment step and material taking;
under the condition of not crossing a stock ground and a stock pile, firstly, the stacker-reclaimer is lifted to a height larger than the height of the stock pile to be crossed, so that the next step of walking is ensured not to collide with the stock pile;
and directly carrying out the automatic alignment step and material taking under the condition of not crossing a stock ground and not crossing a stock pile.
The invention provides an optimal automatic alignment strategy judgment system of a stacker-reclaimer, which comprises the following steps:
the electronic map acquisition module: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition module: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
an automatic alignment module: and searching the optimal path of each material piling and taking machine in the automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information.
Preferably, the movement of the stacker-reclaimer comprises: walking, pitching and backspin.
Preferably, the attitude information of the stacker-reclaimer is acquired by an encoder and a sensor which are installed on the stacker-reclaimer.
Preferably, the spatial position obtaining module performs stage decomposition on the alignment process of the stacker-reclaimer, performs weight distribution on position points which may appear in each stage, and adopts a reverse recursion mode, where the state is an initial position of each stage.
Preferably, the position relationship between the stockpile and the stacker-reclaimer comprises three types, namely, stockyard crossing, stockpile non-crossing and stockpile non-crossing;
under the condition of crossing stock yards, returning the stacker-reclaimer to a zero position, and then executing walking to a target address, the automatic alignment module and reclaiming;
under the condition of not crossing a stock ground and a stock pile, firstly, the stacker-reclaimer is lifted to a height larger than the height of the stock pile to be crossed, so that the next step of walking is ensured not to collide with the stock pile;
and directly carrying out the automatic alignment module and material taking under the condition of not crossing a stock ground and not crossing a stock pile.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the automatic alignment path of the stacker-reclaimer is optimized through the acquisition of the stock ground electronic map and the real-time posture position of the stacker-reclaimer, so that the alignment efficiency of the stacker-reclaimer is effectively improved, and data parameter guarantee is provided for the full-automatic alignment process of the stacker-reclaimer.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of location points at different stages of operation according to an embodiment of the present invention;
fig. 3 is a flowchart of the operation of the embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the method for determining an optimal automatic alignment strategy of a stacker-reclaimer according to the present invention includes:
an electronic map acquisition step: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition step: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
and (3) automatic alignment step: and searching the optimal path of each material piling and taking machine in the automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information.
In the preferred embodiment:
an electronic map acquisition step:
the walking, pitching and circling motion of the stacker-reclaimer is utilized to drive a laser scanning device arranged in front of a cantilever of the stacker-reclaimer to dynamically scan the stockpile, the obtained laser scanning data are subjected to preprocessing, coordinate conversion, grid standardization processing and interpolation processing to generate regular three-dimensional data, finally, a complete grid database of the whole stock yard is generated, the data content in the database is updated in real time, and the generated real-time three-dimensional stockpile image data provide data parameter guarantee for the full-automatic alignment process of the stacker-reclaimer.
A spatial position acquisition step:
the main actions of the stacker-reclaimer include walking, pitching and circling, the attitude information of the large machine is obtained through the encoders and sensors of all mechanisms, and the position information and the relative position information of the stacker-reclaimer in the space are restored by combining the mechanical model of the stacker-reclaimer.
And (3) automatic alignment step:
in view of objective factors of a field environment, the interval distance between the material piling and taking machines is limited, and from the perspective of safe operation, the optimal path is searched by combining the central control anti-collision system, so that the triggering of the central control anti-collision system is avoided in the automatic alignment process. By analyzing the field process condition, the alignment process of the stacker-reclaimer is firstly decomposed in stages, the stages are numbered, the position points possibly appearing in each stage are distributed in weight, a reverse recursion mode is adopted, the state is the initial position of each stage,
as shown in fig. 2, assume that there are 6 stages (in reverse recursion, the end stage G is removed) from the initial stage a to the end stage G, wherein B, C, D, E, F has multiple states,
an objective function:
wherein A is the final stage A of reverse recursion, and k is the number of stages of reverse recursion;
the first stage is as follows: k is 1, and there are two possible states of F1 and F2, and the optimal decision is as follows
An objective function:
f1(F1)＝min{d1(F1,G)}＝1
f1(F2)＝min{d1(F2,G)}＝2
and a second stage: k is 2, there are three possible states of E1, E2 and E3, and the optimal decision table is as follows
An objective function:
and a third stage: k is 3, and has four possible states of D1, D2, D3 and D4, and the optimal decision table is as follows
An objective function:
a fourth stage: k is 4, and has three possible states of C1, C2 and C3, and the optimal decision table is as follows
An objective function:
the fifth stage: k is 5, there are two possible states B1 and B2, and the optimal decision table is as follows
An objective function:
the sixth stage: k is 6, there is a possible state, and the optimal decision table is as follows
An objective function:
shortest path length: 42, optimal strategy: A-B1-C1-D1-E1-F1-G.
On the basis of the method for judging the optimal automatic alignment strategy of the stacker-reclaimer, the invention also provides a system for judging the optimal automatic alignment strategy of the stacker-reclaimer, which comprises the following steps:
the electronic map acquisition module: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition module: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
an automatic alignment module: and searching the optimal path of each material piling and taking machine in the automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information.
As shown in fig. 3, in practical application, taking the "co-track dual-machine" case as an example:
step 1: to confirm the working states of the stacker-reclaimer A and the stacker-reclaimer B, three conditions are that the stacker-reclaimer A stops working when the stacker-reclaimer A works, the stacker-reclaimer B stops working when the stacker-reclaimer B works and both the stacker-reclaimer A and the stacker-reclaimer B stop working when the stacker-reclaimer A and the stacker-reclaimer B stop. When the A stops working, the B stacker-reclaimer executes the material taking task, when the B stops working, the A stacker-reclaimer executes the material taking task, and when the two stacker-reclaimers both work, the stacker-reclaimer executing the task is determined according to the distance from the target material pile. After the machines for executing the tasks are determined, whether the two machines have traveling conflicts in the advancing process of the stacker-reclaimer is judged, if yes, the direct reclaiming is finished, and if not, the following operations are executed.
Step 2: and judging the position relationship between the stock pile and the current material piling and taking machine, wherein the position relationship comprises three types of material crossing, material non-crossing and material non-crossing. Under the condition of crossing a stock ground, the stacker-reclaimer is required to return to the zero position of the stacker-reclaimer, and then the steps of walking to a target address, automatically aligning, starting to take materials and the like are executed; under the condition of not crossing a stock ground and a stock pile, the stacker-reclaimer needs to be lifted to a height larger than the height of the stock pile needing to be crossed, so that the next step of walking is ensured not to collide with the stock pile; and finally, the situation that the stock yard is not crossed and the stock pile is not crossed is the simplest situation, and the automatic alignment and material taking process is directly carried out.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. An optimal automatic alignment strategy judgment method for a stacker-reclaimer is characterized by comprising the following steps:
an electronic map acquisition step: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition step: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
and (3) automatic alignment step: searching an optimal path of each stacker-reclaimer in an automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information;
the position relation between the stock pile and the material piling and taking machine comprises three types of material crossing, material pile crossing without material crossing and material pile crossing without material crossing;
under the condition of crossing stock yards, returning the stacker-reclaimer to a zero position, and then executing walking to a target address, the automatic alignment step and material taking;
under the condition of not crossing a stock ground and a stock pile, firstly, the stacker-reclaimer is lifted to a height larger than the height of the stock pile to be crossed, so that the next step of walking is ensured not to collide with the stock pile;
and directly carrying out the automatic alignment step and material taking under the condition of not crossing a stock ground and not crossing a stock pile.
2. The method for determining the optimal automatic alignment strategy of the stacker-reclaimer according to claim 1, wherein the movement of the stacker-reclaimer comprises: walking, pitching and backspin.
3. The method for determining the optimal automatic alignment strategy of the stacker-reclaimer according to claim 1, wherein the attitude information of the stacker-reclaimer is obtained by an encoder and a sensor mounted on the stacker-reclaimer.
4. The method for determining the optimal automatic alignment strategy of the stacker-reclaimer according to claim 1, wherein the automatic alignment step is to perform stage decomposition on the alignment process of the stacker-reclaimer, perform weight distribution on position points which may appear in each stage, and adopt a reverse recursion mode with the state of the initial position of each stage.
5. The utility model provides a stacker-reclaimer optimal automatic alignment tactics decision-making system which characterized in that includes:
the electronic map acquisition module: the method comprises the following steps that the movement of a stacker-reclaimer is utilized to drive a laser scanning device arranged at the front part of a cantilever of the stacker-reclaimer to scan a material pile in real time, laser scanning data are obtained, and real-time three-dimensional material pile image data are generated by utilizing the laser scanning data;
a spatial position acquisition module: obtaining position information and relative position information of the stacker-reclaimer in space according to the attitude information of the stacker-reclaimer;
an automatic alignment module: searching an optimal path of each stacker-reclaimer in an automatic alignment process according to the real-time three-dimensional material pile image data, the position information and the relative position information;
the position relation between the stock pile and the material piling and taking machine comprises three types of material crossing, material pile crossing without material crossing and material pile crossing without material crossing;
under the condition of crossing stock yards, returning the stacker-reclaimer to a zero position, and then executing walking to a target address, the automatic alignment module and reclaiming;
under the condition of not crossing a stock ground and a stock pile, firstly, the stacker-reclaimer is lifted to a height larger than the height of the stock pile to be crossed, so that the next step of walking is ensured not to collide with the stock pile;
and directly carrying out the automatic alignment module and material taking under the condition of not crossing a stock ground and not crossing a stock pile.
6. The determination system for the optimal automatic alignment strategy of the stacker-reclaimer as claimed in claim 5, wherein the movement of the stacker-reclaimer comprises: walking, pitching and backspin.
7. The determination system for the optimal automatic alignment strategy of the stacker-reclaimer according to claim 5, wherein the attitude information of the stacker-reclaimer is obtained by an encoder and a sensor mounted on the stacker-reclaimer.
8. The determination system for the optimal automatic alignment strategy of the stacker-reclaimer according to claim 5, wherein the automatic alignment module performs stage decomposition on the alignment process of the stacker-reclaimer, performs weight distribution on position points which may appear in each stage, and adopts a reverse recursion mode with the state of each stage as an initial position.
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| CN101104480B (en) * | 2006-07-14 | 2011-01-19 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN101121469A (en) * | 2006-08-10 | 2008-02-13 | 包起帆 | Bulk cargo automation field material stacking and fetching system and its material stacking and fetching method |
| CN101334897B (en) * | 2007-06-27 | 2011-06-15 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| CN201773315U (en) * | 2010-07-26 | 2011-03-23 | 上海派恩科技有限公司 | Full-automatic bulk cargo stowage piling and taking machine |
| CN202988295U (en) * | 2012-11-12 | 2013-06-12 | 中联重科物料输送设备有限公司 | Material pile detecting device and material yard |
| CN103879741B (en) * | 2014-04-04 | 2015-02-18 | 上海东源计算机自动化工程有限公司 | Laser anti-collision early warning system used for bulk cargo stockyard |
| CN104724506B (en) * | 2015-04-14 | 2016-03-02 | 上海东源计算机自动化工程有限公司 | A kind of automatic material stacking and fetching system for bulk storage yard |
| CN106429487B (en) * | 2016-11-28 | 2018-11-06 | 中冶京诚工程技术有限公司 | A kind of optimal path transport system and its raw material store production technology in parallel with mixing |
| CN108919761B (en) * | 2018-07-06 | 2020-06-23 | 湖南长重机器股份有限公司 | Digital coal yard intelligent control method based on GPU operation |
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