CN111409080A - Intelligent cleaning method for wall of large-scale cement silo - Google Patents
Intelligent cleaning method for wall of large-scale cement silo Download PDFInfo
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- CN111409080A CN111409080A CN201911419239.1A CN201911419239A CN111409080A CN 111409080 A CN111409080 A CN 111409080A CN 201911419239 A CN201911419239 A CN 201911419239A CN 111409080 A CN111409080 A CN 111409080A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 151
- 239000004568 cement Substances 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000463 material Substances 0.000 claims abstract description 23
- 101100400452 Caenorhabditis elegans map-2 gene Proteins 0.000 claims description 10
- 101150064138 MAP1 gene Proteins 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 10
- 238000007796 conventional method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
The invention discloses an intelligent cleaning method for large-scale cement silo walls, which comprises the following steps: s1: the method comprises the following steps of (1) carrying out first-time global constant-speed scanning and cleaning on the whole cement silo wall in a first round of unmanned cleaning, and acquiring first-time cement silo wall stacking data; s2: performing a second round of unmanned cleaning, performing a second global uniform scanning cleaning on the whole cement silo wall, and collecting to obtain second cement silo wall stacking data; s3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most; s4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3; s5: fifthly, unmanned cleaning, and then globally scanning and cleaning the whole cement silo wall once; s6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation. The invention greatly improves the warehouse clearing efficiency, strengthens the warehouse clearing competitiveness and simultaneously ensures the safety of the warehouse clearing.
Description
Technical Field
The invention relates to the field of cleaning of cement warehouses, in particular to an intelligent cleaning method for walls of a large-scale cement warehouse.
Background
Cement is with likepowder storage in the cement storehouse, and the easy bonding forms the caking on the storehouse wall to along with the lapse of time, the caking on the cement wall is more and more thick, and is more and more, leads to the volume of cement storehouse to diminish, and the cement that can store is less and less, and some caking can drop by oneself and mix in the cement storehouse, causes the disconnected material and stops production, seriously influences production, consequently needs regularly to clear up the cement storehouse. At present, two methods are mainly used for cleaning a cement silo, one method is manual cleaning, and the method has low efficiency of cleaning the cement silo, wastes time and labor and is easy to cause safety accidents; and the other method adopts mechanical equipment for cleaning, and the method has high efficiency and good safety and is gradually popularized and applied.
However, in the existing method for realizing the warehouse cleaning by using mechanical equipment, the probability of blind hitting of the whole warehouse cleaning operation is extremely high by adopting a sequential circulating operation mode, and finally the efficiency of the warehouse cleaning operation of a machine is low.
Disclosure of Invention
The invention aims to: in order to solve the problems that the probability of blind hit of the whole warehouse cleaning operation is extremely high and finally the efficiency of the warehouse cleaning operation of a machine is low due to the adoption of a sequential circulating operation mode in the conventional method for cleaning the warehouse of mechanical equipment, and meanwhile, due to the fact that the thicknesses of piled materials on the wall of the cement warehouse are different, the position where the piled materials are thick and the piled materials are not firm is easy to collapse due to the adoption of the sequential circulating operation mode, and certain potential safety hazards exist, the method for intelligently cleaning the wall of the large cement warehouse is particularly provided.
The technical scheme of the invention is as follows:
An intelligent cleaning method for large-scale cement silo walls comprises the following steps:
S1: and a first round of unmanned warehouse cleaning is carried out, the wall cleaning speed V1 per second is calculated according to the area of the warehouse wall, a first sawtooth cutter head is arranged on the operation head of the warehouse cleaning robot to carry out first global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the first warehouse wall stacking data are acquired.
S2: and a second round of unmanned warehouse cleaning is carried out, a second pneumatic pick tool bit is arranged on the operation head of the warehouse cleaning robot, the second global uniform scanning warehouse cleaning is carried out on the whole wall of the cement warehouse at the wall cleaning speed V2 per second with V1 in S1, and the second time of material piling data of the wall of the cement warehouse are acquired.
S3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most;
S4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3;
S5: a fifth round of unmanned warehouse cleaning is carried out, the wall cleaning speed V5 per second is calculated according to the area of the warehouse wall, and a second air pick tool bit is arranged on the operation head of the warehouse cleaning robot to carry out one-time global scanning warehouse cleaning on the whole cement warehouse wall;
S6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation.
In the above solution, the step S3 is specifically,
S31: sampling data of the wall of the cement silo within 1h by adopting an operation head of a silo cleaning robot to obtain third-time material piling data of the wall of the cement silo;
S32: drawing a topographic map of the wall of the cement silo by combining the three times of stockpiling data of the wall of the cement silo to obtain a topographic map 1;
S33: calculating the area with the maximum stockpiling rate of 30% of the reservoir wall according to the topographic map 1;
S34: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 1 at the calculated wall cleaning speed per second V3.
In the above solution, the step S4 is specifically,
S41: sampling data of the wall of the cement silo within 1h by adopting an operation head of the silo cleaning robot to obtain fourth-time material piling data of the wall of the cement silo;
S42: drawing a topographic map of the wall of the cement silo by combining the four times of stockpiling data of the wall of the cement silo to obtain a topographic map 2;
S43: calculating an area 2 with the most 50% of the remaining stockpiles of the reservoir wall according to the topographic map 2;
S44: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 2 at the calculated wall cleaning speed per second V4.
In the above scheme, the method for calculating the wall cleaning speed V per second comprises: area of the wall of the cement reservoir/(width of the operation head) and working time.
In the scheme, the working time of V1, V2, V3 and V4 is calculated to be 8-10 h.
In the scheme, the working time of the V5 is calculated to be 24-30 h.
In conclusion, the beneficial effects of the invention are as follows:
According to the invention, by adopting a mode of five-wheel unmanned warehouse cleaning and one-wheel manual warehouse cleaning, accurate priority operation is automatically carried out on a place with thicker warehouse wall stacking, so that the prior intelligent automatic fixed-point warehouse cleaning is preferentially carried out on a place with thicker and more warehouse wall stacking and simultaneously incompact stacking, the problem that the place with thicker stacking and incompact stacking is easy to collapse and has a certain potential safety hazard due to the adoption of the mode of sequential cycle operation in the conventional method for cleaning the warehouse by mechanical equipment is solved, the probability of blind hitting of the whole warehouse cleaning operation is extremely high by adopting the mode of sequential cycle operation, and finally the lower efficiency of the machine warehouse cleaning operation is brought.
Detailed Description
The present invention will be described in further detail with reference to specific examples for better carrying out the invention, but the embodiments of the present invention are not limited thereto.
An intelligent cleaning method for large-scale cement silo walls comprises the following steps:
S1: and a first round of unmanned warehouse cleaning is carried out, the wall cleaning speed V1 per second is calculated according to the area of the warehouse wall, a first sawtooth cutter head is arranged on the operation head of the warehouse cleaning robot to carry out first global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the first warehouse wall stacking data are acquired.
S2: and a second round of unmanned warehouse cleaning is carried out, a second pneumatic pick tool bit is arranged on the operation head of the warehouse cleaning robot, the second global uniform scanning warehouse cleaning is carried out on the whole wall of the cement warehouse at the wall cleaning speed V2 per second with V1 in S1, and the second time of material piling data of the wall of the cement warehouse are acquired.
S3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most;
S4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3;
S5: a fifth round of unmanned warehouse cleaning is carried out, the wall cleaning speed V5 per second is calculated according to the area of the warehouse wall, and a second air pick tool bit is arranged on the operation head of the warehouse cleaning robot to carry out one-time global scanning warehouse cleaning on the whole cement warehouse wall;
S6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation.
Preferably, in step S3, specifically,
S31: sampling data of the wall of the cement silo within 1h by adopting an operation head of a silo cleaning robot to obtain third-time material piling data of the wall of the cement silo;
S32: drawing a topographic map of the wall of the cement silo by combining the three times of stockpiling data of the wall of the cement silo to obtain a topographic map 1;
S33: calculating the area with the maximum stockpiling rate of 30% of the reservoir wall according to the topographic map 1;
S34: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 1 at the calculated wall cleaning speed per second V3.
Preferably, in step S4, specifically,
S41: sampling data of the wall of the cement silo within 1h by adopting an operation head of the silo cleaning robot to obtain fourth-time material piling data of the wall of the cement silo;
S42: drawing a topographic map of the wall of the cement silo by combining the four times of stockpiling data of the wall of the cement silo to obtain a topographic map 2;
S43: calculating an area 2 with the most 50% of the remaining stockpiles of the reservoir wall according to the topographic map 2;
S44: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 2 at the calculated wall cleaning speed per second V4.
Preferably, the method for calculating the wall cleaning speed per second comprises the following steps: area of the wall of the cement reservoir/(width of the operation head) and working time.
Preferably, the working time for calculating V1, V2, V3 and V4 is 8-10 h.
Preferably, the working time for calculating the V5 is 24-30 h.
Example 1
The diameter of the cement silo is 20m, the height is 40m, the width of the operation head is 0.7m, the working time when calculating the V1, the V2, the V3 and the V4 is 10h, and the working time when calculating the V5 is 30h
An intelligent cleaning method for large-scale cement silo walls comprises the following steps:
S1: and a first round of unmanned warehouse cleaning is carried out, a first sawtooth cutter head is arranged on the operation head of the warehouse cleaning robot according to the V1 being 0.1m/s, the first sawtooth cutter head is used for carrying out first global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the first stockpiling data of the wall of the cement warehouse are acquired.
S2: and a second round of unmanned warehouse cleaning is carried out, wherein a second pneumatic pick is arranged on the operation head of the warehouse cleaning robot according to the V2 of 0.1m/s to carry out secondary global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the second warehouse wall stacking data are acquired.
S3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most;
S4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3;
S5: a fifth round of unmanned warehouse cleaning is carried out, wherein a second air pick tool bit is arranged on the operation head of the warehouse cleaning robot according to the V5 being 0.03m/s, and the whole wall of the cement warehouse is scanned and cleaned in a global manner once again;
S6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation.
Preferably, in step S3, specifically,
S31: sampling data of the wall of the cement silo within 1h by adopting an operation head of a silo cleaning robot to obtain third-time material piling data of the wall of the cement silo;
S32: drawing a topographic map of the wall of the cement silo by combining the three times of stockpiling data of the wall of the cement silo to obtain a topographic map 1;
S33: calculating the area with the maximum stockpiling rate of 30% of the reservoir wall according to the topographic map 1;
S34: and mounting a second pneumatic pick cutter head on the working head of the warehouse cleaning robot at a V3 of 0.03m/s for performing fixed-point warehouse cleaning on the area 1.
Preferably, in step S4, specifically,
S41: sampling data of the wall of the cement silo within 1h by adopting an operation head of the silo cleaning robot to obtain fourth-time material piling data of the wall of the cement silo;
S42: drawing a topographic map of the wall of the cement silo by combining the four times of stockpiling data of the wall of the cement silo to obtain a topographic map 2;
S43: calculating an area 2 with the most 50% of the remaining stockpiles of the reservoir wall according to the topographic map 2;
S44: and mounting a second air pick cutter head on the working head of the warehouse cleaning robot at a V4 of 0.05m/s for performing fixed-point warehouse cleaning on the area 2.
Example 2
The diameter of the cement silo is 30m, the height is 40m, the width of the operation head is 1.45m, the work time when calculating the V1, the V2, the V3 and the V4 is 8h, and the work time when calculating the V5 is 24h
An intelligent cleaning method for large-scale cement silo walls comprises the following steps:
S1: and a first round of unmanned warehouse cleaning is carried out, a first sawtooth cutter head is arranged on the operation head of the warehouse cleaning robot according to the V1 being 0.09m/s, the first sawtooth cutter head is used for carrying out first global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the first stockpiling data of the wall of the cement warehouse are acquired.
S2: and a second round of unmanned warehouse cleaning is carried out, wherein a second pneumatic pick is arranged on the operation head of the warehouse cleaning robot according to the V2 of 0.09m/s to carry out secondary global uniform scanning warehouse cleaning on the whole wall of the cement warehouse, and the second warehouse wall stacking data are acquired.
S3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most;
S4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3;
S5: a fifth round of unmanned warehouse cleaning is carried out, wherein a second air pick tool bit is mounted on the operation head of the warehouse cleaning robot according to the V5 being 0.024m/s, and the whole wall of the cement warehouse is scanned and cleaned in a global manner once again;
S6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation.
Preferably, in step S3, specifically,
S31: sampling data of the wall of the cement silo within 1h by adopting an operation head of a silo cleaning robot to obtain third-time material piling data of the wall of the cement silo;
S32: drawing a topographic map of the wall of the cement silo by combining the three times of stockpiling data of the wall of the cement silo to obtain a topographic map 1;
S33: calculating the area with the maximum stockpiling rate of 30% of the reservoir wall according to the topographic map 1;
S34: and C, mounting a second air pick cutter head on the working head of the warehouse cleaning robot for performing fixed-point warehouse cleaning on the area 1 by using the V3 of 0.024 m/s.
Preferably, in step S4, specifically,
S41: sampling data of the wall of the cement silo within 1h by adopting an operation head of the silo cleaning robot to obtain fourth-time material piling data of the wall of the cement silo;
S42: drawing a topographic map of the wall of the cement silo by combining the four times of stockpiling data of the wall of the cement silo to obtain a topographic map 2;
S43: calculating an area 2 with the most 50% of the remaining stockpiles of the reservoir wall according to the topographic map 2;
S44: and a second air pick cutter head is arranged on the working head of the warehouse cleaning robot to carry out fixed-point warehouse cleaning on the area 2 by using the V4-0.045 m/s.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An intelligent cleaning method for large-scale cement silo walls is characterized by comprising the following steps:
S1: the first round of unmanned cleaning is carried out, the wall cleaning speed per second V1 is calculated according to the area of the wall, a first sawtooth cutter head is arranged on the operation head of the cleaning robot to carry out first global uniform scanning cleaning on the whole wall of the cement silo, and first cement silo wall stacking data are acquired;
S2: a second round of unmanned warehouse cleaning is carried out, wherein a second pneumatic pick tool bit is arranged on a working head of the warehouse cleaning robot, the second global uniform scanning warehouse cleaning is carried out on the whole wall of the cement warehouse at the wall cleaning speed V2 per second of V1 in S1, and the second time of material piling data of the wall of the cement warehouse are acquired;
S3: the third round of unmanned warehouse cleaning is to perform fixed-point warehouse cleaning on the area 1 which is 30% of the stockpiles on the whole warehouse wall at most;
S4: the fourth round of unmanned warehouse cleaning is carried out, and fixed-point warehouse cleaning is carried out on the area 2 with the largest 50% of warehouse wall stacking materials left after S3;
S5: a fifth round of unmanned warehouse cleaning is carried out, the wall cleaning speed V5 per second is calculated according to the area of the warehouse wall, and a second air pick tool bit is arranged on the operation head of the warehouse cleaning robot to carry out one-time global scanning warehouse cleaning on the whole cement warehouse wall;
S6: and (5) manually clearing the warehouse, and manually entering to finish the final warehouse wall clearing operation.
2. The method for intelligently cleaning the walls of the large-scale cement silo according to the claim 1, wherein the step S3 is specifically,
S31: sampling data of the wall of the cement silo within 1h by adopting an operation head of a silo cleaning robot to obtain third-time material piling data of the wall of the cement silo;
S32: drawing a topographic map of the wall of the cement silo by combining the three times of stockpiling data of the wall of the cement silo to obtain a topographic map 1;
S33: calculating the area with the maximum stockpiling rate of 30% of the reservoir wall according to the topographic map 1;
S34: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 1 at the calculated wall cleaning speed per second V3.
3. The method for intelligently cleaning the walls of the large-scale cement silo according to the claim 1, wherein the step S4 is specifically,
S41: sampling data of the wall of the cement silo within 1h by adopting an operation head of the silo cleaning robot to obtain fourth-time material piling data of the wall of the cement silo;
S42: drawing a topographic map of the wall of the cement silo by combining the four times of stockpiling data of the wall of the cement silo to obtain a topographic map 2;
S43: calculating an area 2 with the most 50% of the remaining stockpiles of the reservoir wall according to the topographic map 2;
S44: and mounting a second air pick tool bit on the working head of the warehouse cleaning robot to perform fixed-point warehouse cleaning on the area 2 at the calculated wall cleaning speed per second V4.
4. The intelligent large-scale cement silo wall cleaning method according to any one of claims 1-3, wherein the wall cleaning speed per second V is calculated by the following method: area of the wall of the cement reservoir/(width of the operation head) and working time.
5. The method as claimed in claim 4, wherein the working time of V1, V2, V3 and V4 is calculated to be 8-10 h.
6. The intelligent large-scale cement silo wall clearing method as claimed in claim 4, wherein the working time of the V5 is calculated to be 24-30 h.
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| CN201911419239.1A CN111409080A (en) | 2019-12-31 | 2019-12-31 | Intelligent cleaning method for wall of large-scale cement silo |
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| CN201911419239.1A CN111409080A (en) | 2019-12-31 | 2019-12-31 | Intelligent cleaning method for wall of large-scale cement silo |
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| CN103466344A (en) * | 2013-09-09 | 2013-12-25 | 福建省中瑞装备制造科技有限公司 | Storehouse cleaning machine for cement storehouses |
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| CN206998921U (en) * | 2017-05-19 | 2018-02-13 | 中信重工机械股份有限公司 | A kind of portable cement bunker library clearing machine device people's system |
| CN108049491A (en) * | 2017-12-13 | 2018-05-18 | 河海大学常州校区 | A kind of pipeline cleaning machine people |
| CN108190271A (en) * | 2018-03-06 | 2018-06-22 | 福建工程学院 | A kind of clear library facilities of adaptive cement bunker |
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2019
- 2019-12-31 CN CN201911419239.1A patent/CN111409080A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466344A (en) * | 2013-09-09 | 2013-12-25 | 福建省中瑞装备制造科技有限公司 | Storehouse cleaning machine for cement storehouses |
| CN106142103A (en) * | 2016-08-26 | 2016-11-23 | 绵阳钢猫科技有限公司 | Intelligence Qing Ku scale removal robot |
| CN206998921U (en) * | 2017-05-19 | 2018-02-13 | 中信重工机械股份有限公司 | A kind of portable cement bunker library clearing machine device people's system |
| CN108049491A (en) * | 2017-12-13 | 2018-05-18 | 河海大学常州校区 | A kind of pipeline cleaning machine people |
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