CN111661760A - Driving system and automatic control method thereof - Google Patents
Driving system and automatic control method thereof Download PDFInfo
- Publication number
- CN111661760A CN111661760A CN202010594097.9A CN202010594097A CN111661760A CN 111661760 A CN111661760 A CN 111661760A CN 202010594097 A CN202010594097 A CN 202010594097A CN 111661760 A CN111661760 A CN 111661760A
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- CN
- China
- Prior art keywords
- trolley
- driving
- traveling
- cart
- personal computer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a traveling system and an automatic control method thereof, the traveling system scans and forms a three-dimensional image of a material library through a 3D scanner and forms a coordinate system, an operator can directly determine a coordinate point of a target hoisting object through an industrial personal computer, and outputs a control signal to a traveling driving positioning component through the industrial personal computer, and the traveling driving positioning component drives a traveling crane to the target coordinate point to hoist the material. The traveling system can ensure that the traveling vehicle is automatically controlled in an unmanned state, liberates an operator to realize automatic operation, and effectively improves the material taking efficiency.
Description
Technical Field
The invention relates to hoisting machinery, in particular to a traveling system and an automatic control method thereof.
Background
The metallurgical industry generally adopts the driving as the main instrument of handling material in the workshop, and the driving mainly has two kinds of control mode at present, and firstly the driver's cabin direct control, another kind adopts remote controller control in the below, and these two kinds of modes are all by driving driver manual operation, get the material inefficiency and have the potential safety hazard. For example, in the steel-making process, scrap steel is taken, and due to the complex stacking environment of the scrap steel in a workshop, personal injury is likely to be caused by overhead work or improper standing position during operation, the production progress of the whole steel-making process is influenced by manual work, and the cost of human resources is high.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the drawbacks of the prior art, the present invention provides a driving system capable of performing automatic control in an unmanned state.
Another object of the present invention is to provide an automatic control method for the traveling system.
The technical scheme is as follows: the invention relates to a traveling system, which comprises a traveling body, an industrial personal computer, a 3D scanner, a signal transceiver and a traveling drive positioning assembly, wherein the traveling body comprises a cart, a cart track, a trolley track, a lifting head arranged on the trolley, and the industrial personal computer, the 3D scanner, the signal transceiver and the traveling drive positioning assembly; the industrial personal computer is connected with the 3D scanner, the 3D scanner scans the moving space range of the lifting head to form a three-dimensional image, a coordinate system is established on the three-dimensional image, and image data are transmitted to the industrial personal computer; the signal receiving and transmitting device is connected between the industrial personal computer and the driving positioning assembly for signal interaction; the industrial personal computer outputs a control signal to the driving positioning assembly according to the input coordinate point, and the driving positioning assembly drives the driving vehicle to move to the coordinate point to perform operation according to the control signal.
The driving and positioning assembly comprises a power device, and the power device comprises a cart driving device, a trolley driving device and a lifting head driving device.
The cart driving device is arranged on the cart and used for driving the cart to run on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.
The driving positioning assembly further comprises a first Gray bus positioning device, and the first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on a cart track.
The driving and positioning assembly further comprises a second Gray bus positioning device, and the second Gray bus positioning device is arranged on the trolley and used for detecting the position of the trolley on a trolley track.
The travelling crane driving positioning assembly further comprises a height encoder; the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head.
The crane driving and positioning assembly comprises a weighing device, and the weighing device is arranged on the lifting head and used for detecting the lifting weight of the lifting head.
Corresponding to the driving system, the invention provides an automatic control method, which comprises the following steps:
(1) scanning a three-dimensional space of the whole movable area of the lifting head by adopting a 3D scanner to form a three-dimensional image, establishing a coordinate system in the three-dimensional image by taking a point in the three-dimensional space as an origin of the coordinate system, and transmitting data to an industrial personal computer;
(2) determining coordinate points of objects in the stereo image through image data received by the industrial personal computer;
(3) inputting a coordinate point of a target hoisted object, and transmitting a control signal to the driving drive positioning assembly by the industrial personal computer through the signal receiving and transmitting device;
(4) the trolley driving and positioning assembly moves the trolley through the trolley driving device and the first Gray bus positioning device, the trolley driving device and the second Gray bus positioning device move the trolley, the lifting head is made to move to the position above a target lifting object, then the lifting head is moved to the target height through the lifting head driving device and the height encoder, and the target lifting object is subjected to adsorption lifting.
And further, the industrial personal computer transmits a control signal to the driving drive positioning assembly according to the input target discharging position coordinate, and controls the driving to operate to the position for discharging.
Has the advantages that: the traveling system scans a three-dimensional image forming a material library through the 3D scanner and forms a coordinate system, an operator can directly determine a coordinate point of a target hoisting object through the industrial personal computer, and outputs a control signal to the traveling drive positioning assembly through the industrial personal computer, and the traveling drive positioning assembly drives the traveling crane to the target coordinate point to hoist the material. Therefore, automatic control of the travelling crane in an unmanned state is guaranteed, automatic operation of operators is liberated, and material taking efficiency is effectively improved.
Drawings
FIG. 1 is a block diagram of the driving system of the present invention;
fig. 2 is a flow chart of the automatic control of the present invention.
Detailed Description
The present invention will be described in further detail with reference to fig. 1, which shows a traveling system for taking scrap from a steel plant. The storage area is internally provided with scrap steel and other material piles which are fixedly arranged, and the scrap steel is taken and used as required through the travelling crane system in the production process.
Specifically, the 3D scanner is installed in the workshop and is higher than the workshop, so that the 3D scanner can scan the whole warehouse area to generate a three-dimensional image. The movable area of the travelling crane lifting head is a cubic area which takes a travelling crane track as a long edge, the width of the cart is wide, the height of the highest position of the lifting head is high, the cubic area is also positioned in the scanned three-dimensional image, and the generated three-dimensional image mainly comprises the ground and the placed materials because the materials in the storage area are uniformly distributed on the ground.
When a coordinate system is established for the generated stereo image, the track direction of the cart is taken as an x axis, the length direction of the cart is taken as a y axis, the height direction is taken as a z axis, and the ground right below a stopper of the track on one side of the cart is taken as the origin of the coordinate system. And further, each material in the image forms a unique three-dimensional coordinate.
Data generated by the 3D scanner is transmitted to a control room core control system, namely the industrial personal computer in real time through wired communication. The operator can obtain the position of each material in the storage area visually through the image and the coordinate displayed on the operation interface of the industrial personal computer, and further can mark the material type on each material pile, so that the operation and the identification are convenient.
The industrial personal computer and the traveling crane on site carry out signal interaction through the signal transceiver, and specifically, the signal transceiver is two data signal transceivers, one is connected on the industrial personal computer, and the other is connected with the cpu processor of the traveling crane.
The on-site traveling crane part comprises a cart, a cart track, a trolley track, a lifting head and a traveling crane driving and positioning component. Wherein, handling head is absorption formula handling head, also is the sucking disc. The driving and positioning assembly comprises a power device, a first gray bus positioning device, a second gray bus positioning device, a height encoder and a weighing device.
The power device comprises a cart driving device, a trolley driving device and a lifting head driving device. The cart driving device is arranged on the cart and used for driving the cart to run on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.
The first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on a cart track. And the second Gray bus positioning device is arranged on the trolley and used for detecting the position of the trolley on the trolley track. And the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head. The weighing device is arranged on the lifting head and used for detecting the lifting weight of the lifting head.
Of course, the signals of the equipment are all connected with a CPU (central processing unit) of the traveling crane to carry out conventional operation processing on the signal data.
As shown in fig. 2, the automatic control method of the traveling system includes the following steps:
(1) scanning a three-dimensional space of the whole movable area of the lifting head by adopting a 3D scanner to form a three-dimensional image, establishing a coordinate system in the three-dimensional image by taking a point in the three-dimensional space as an origin of the coordinate system, and transmitting data to an industrial personal computer;
(2) determining coordinate points of objects in the stereo image through image data received by the industrial personal computer;
(3) inputting a coordinate point of a target hoisted object, and transmitting a control signal to the driving drive positioning assembly by the industrial personal computer through the signal receiving and transmitting device;
(4) the travelling crane driving positioning assembly moves the cart through the cart driving device and the first Gray bus positioning device, moves the trolley through the trolley driving device and the second Gray bus positioning device, enables the lifting head to move above a target lifting object, then moves the lifting head to a target height through the lifting head driving device and the height encoder, and adsorbs and lifts the target lifting object;
(5) the industrial personal computer transmits a control signal to the travelling crane driving and positioning assembly according to the input target discharging position coordinate, and controls the travelling crane to operate to the position for discharging.
Claims (10)
1. A traveling system comprises a traveling body, wherein the traveling body comprises a cart, a cart track, a trolley track and a lifting head arranged on the trolley, and is characterized by further comprising an industrial personal computer, a 3D scanner, a signal receiving and transmitting device and a traveling driving positioning assembly; the industrial personal computer is connected with the 3D scanner, the 3D scanner scans the moving space range of the lifting head to form a three-dimensional image, a coordinate system is established on the three-dimensional image, and image data are transmitted to the industrial personal computer; the signal receiving and transmitting device is connected between the industrial personal computer and the driving positioning assembly for signal interaction; the industrial personal computer outputs a control signal to the driving positioning assembly according to the input coordinate point, and the driving positioning assembly drives the driving vehicle to move to the coordinate point to perform operation according to the control signal.
2. The traveling system of claim 1, wherein the traveling drive positioning assembly comprises a power plant including a cart drive, and a trolley drive.
3. The travel system of claim 2, wherein the cart drive is mounted on the cart for driving the cart on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.
4. The traveling system according to claim 3, wherein the traveling drive positioning assembly further comprises a first Gray bus positioning device, and the first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on the cart track.
5. The traveling system according to claim 3, wherein the traveling drive positioning assembly further comprises a second Gray bus positioning device disposed on the cart for detecting the position of the cart on the cart track.
6. The travel system of claim 3, wherein the travel drive positioning assembly further comprises a height encoder; the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head.
7. The traveling system according to claim 1, wherein the traveling drive positioning assembly comprises a weighing device, and the weighing device is arranged on the lifting head and used for detecting the weight lifted by the lifting head.
8. The traveling system of claim 1, wherein the trolley head is an adsorption trolley head.
9. A method for automatic control of a travelling system according to any of claims 1-8, characterised by the steps of:
(1) scanning a three-dimensional space of the whole movable area of the lifting head by adopting a 3D scanner to form a three-dimensional image, establishing a coordinate system in the three-dimensional image by taking a point in the three-dimensional space as an origin of the coordinate system, and transmitting data to an industrial personal computer;
(2) determining coordinate points of objects in the stereo image through image data received by the industrial personal computer;
(3) inputting a coordinate point of a target hoisted object, and transmitting a control signal to the driving drive positioning assembly by the industrial personal computer through the signal receiving and transmitting device;
(4) the trolley driving and positioning assembly moves the trolley through the trolley driving device and the first Gray bus positioning device, the trolley driving device and the second Gray bus positioning device move the trolley, the lifting head is made to move to the position above a target lifting object, then the lifting head is moved to the target height through the lifting head driving device and the height encoder, and the target lifting object is subjected to adsorption lifting.
10. The automatic control method according to claim 9, further comprising the step (5) of transmitting a control signal to the traveling crane driving and positioning assembly by the industrial personal computer according to the input target emptying position coordinate, and controlling the traveling crane to run to the position for emptying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594097.9A CN111661760A (en) | 2020-06-24 | 2020-06-24 | Driving system and automatic control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594097.9A CN111661760A (en) | 2020-06-24 | 2020-06-24 | Driving system and automatic control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111661760A true CN111661760A (en) | 2020-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010594097.9A Pending CN111661760A (en) | 2020-06-24 | 2020-06-24 | Driving system and automatic control method thereof |
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| CN (1) | CN111661760A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148872A (en) * | 2021-11-23 | 2022-03-08 | 北京科技大学 | Machine vision library position identification and positioning control method for unmanned traveling vehicle |
| CN115786603A (en) * | 2022-11-16 | 2023-03-14 | 上海宝钢节能环保技术有限公司 | Unmanned processing system of molten iron desulfurization sediment |
-
2020
- 2020-06-24 CN CN202010594097.9A patent/CN111661760A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148872A (en) * | 2021-11-23 | 2022-03-08 | 北京科技大学 | Machine vision library position identification and positioning control method for unmanned traveling vehicle |
| CN114148872B (en) * | 2021-11-23 | 2023-01-20 | 北京科技大学 | Machine vision library position identification and positioning control method for unmanned vehicle |
| CN115786603A (en) * | 2022-11-16 | 2023-03-14 | 上海宝钢节能环保技术有限公司 | Unmanned processing system of molten iron desulfurization sediment |
| CN115786603B (en) * | 2022-11-16 | 2024-04-26 | 上海宝钢节能环保技术有限公司 | Unmanned processing system of molten iron desulfurization sediment |
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