CN111998771A - Automatic traveling positioning system and judgment method for charging car - Google Patents
Automatic traveling positioning system and judgment method for charging car Download PDFInfo
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- CN111998771A CN111998771A CN202010765799.9A CN202010765799A CN111998771A CN 111998771 A CN111998771 A CN 111998771A CN 202010765799 A CN202010765799 A CN 202010765799A CN 111998771 A CN111998771 A CN 111998771A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses an automatic walking and positioning system and a judging method of a charging car. The double check is carried out on the traveling distance of the charging car and the distance between the charging car and the laser ranging sensor, so that the accurate alignment of the charging car and the silo to be charged is judged, and the charging car and the silo to be stored with the materials are ensured to be in one-to-one correspondence and accurate charging. The invention solves the problems that the traveling distance of the existing charging car is inaccurate, silo material seeds are easy to mix, and the technical indexes of the mixed material seeds do not reach the standard.
Description
Technical Field
The invention belongs to the technical field of storage, and particularly relates to an automatic traveling positioning system and a judgment method for a charging car.
Background
The storage of raw fuel by using silos is widely applied by various industrial enterprises, and as the types of raw materials are various, a plurality of silos are arranged in common factories and mines for storage and transfer before mixing of different raw materials. Different raw materials are loaded into different silos through a charging car at the top of the silo through a transfer belt. Therefore, the running distance of the charging car on the top of the silo is very important to the accuracy of the silo to charge the seeds, and particularly when the number of samples is large, the silo seeds are easily mixed once the running distance of the charging car is inaccurate, so that the indexes of mixed materials are greatly different, and the technical indexes of the mixed materials do not reach the standard. Therefore, whether the charging car corresponds to the charging silo or not is judged only by the traveling distance of the driving motor of the charging car, and once a traveling error occurs, serious consequences can be caused.
Disclosure of Invention
The invention aims to provide an automatic traveling and positioning system and a judging method of a charging car.
In order to realize the purpose of the invention, the technical scheme of the invention is as follows:
the automatic walking and positioning system of the charging car comprises a walking rail, a laser ranging sensor, the charging car, a signal transmitting receiver, a switch and a computer processor, wherein the walking rail, the laser ranging sensor and the charging car are installed on a top platform of a charging bin in a production area, the switch and the computer processor are located in a far-end working area, the signal transmitting receiver is connected with a measurement signal in the production area and a computer signal in the working area, the charging car is located in the walking rail and automatically records a walking distance, the laser ranging sensor is installed at one end of the walking rail and measures the distance between a light beam emitting point and the charging car, and double calibration is carried out through the walking distance of the charging car and the distance between the charging car and the laser ranging sensor to ensure that the charging car and the silo where materials are stored correspond to each other one by one.
The signal transmitting and receiving device is used for transmitting signals measured by the laser ranging sensor and receiving command signals sent by the computer processor through the switch.
The switch is used for converting optical signals measured by the laser ranging sensor into computer receiving signals and converting instruction signals sent by the computer processor into charging car traveling signals.
When the materials in the silo are insufficient or need to be charged, the computer processor sends out an instruction, the instruction is transmitted to the signal transmitting receiver through the switch, and the charging car is further instructed to move to the top of the corresponding charging silo. Similarly, the distance measurement and the traveling distance of the laser distance measurement sensor and the charging car can be transmitted to the signal transmitting and receiving device in a signal form, the signal is received by the exchanger and converted and then input into the computer processor, and then the actual position of the charging car is judged by utilizing a computer program.
A positioning judgment method of an automatic traveling positioning system of a charging car is characterized in that the charging car travels a distance X along a traveling rail from an initial position, a distance Y from the charging car is measured by a laser ranging sensor at the moment, and the following algorithm is utilized for judgment:
when the traveling distance X of the charging car is less than X and less than X + d,
and | X + Y + L-D | is less than or equal to, the fact that the charging car and the silo to be charged are accurately aligned is judged, the charging car starts to charge the silo, and charging time t and min are recorded.
Wherein X is the actual traveling distance of the charging car, m,
x is the shortest linear distance from the initial position to a corresponding charging silo along the walking track, m,
d is the internal diameter of the corresponding charging silo, m,
y is the distance m from the distance measuring car by the laser distance measuring sensor,
l is the length of the charging wagon, m,
d is the distance between the initial travelling position of the charging car and the laser ranging point, m,
to meet the error minimum threshold, m.
When X is less than X or X is more than X + D or X + Y + L-D, the silo charged by the charging car is judged to be inaccurate, the charging car sends out an overhaul instruction and needs to be moved and positioned again, and charging is not started until the algorithm is established.
The initial position is the other end corresponding to the laser ranging sensor, and the charging car travels to a certain fixed position in front of the corresponding silo along the traveling rail.
A charging judging method of an automatic traveling and positioning system of a charging car utilizes a computer processor to judge the charging amount through charging time t:
and when T-W-V multiplied by T is less than P, continuing to charge until T-W-V multiplied by T is equal to P, judging that the charging of the charging car meets the requirement, and further finishing charging.
Wherein T is the material amount stored in the cylinder per ton,
w is the current material quantity of the silo, ton, the current material quantity of the silo can be calculated by the difference value of the silo loading quantity, the silo discharging quantity and the reserved area of the silo, namely, the current material quantity of the silo is the silo loading quantity-the silo discharging quantity-the reserved area of the silo storage quantity,
v is the belt conveying capacity per unit time, ton/min,
t is the charging time, min,
p is the reserved area of the silo and is stored by ton. In order to prevent the phenomenon of material blockage after materials are reloaded due to the fact that the materials of the silo are completely emptied, a part of materials are reserved in a common silo, the contact area of the falling materials is increased, the phenomenon that the falling materials compact an outlet of the silo is prevented, and the phenomenon of material blockage is further reduced.
After the charging car finishes charging, the automatic traveling is carried out to the initial position, and the computer processor calibrates the charging car and the laser ranging sensor by utilizing an algorithm Y + L-D ═ 0.
The invention has the beneficial effects that: the specific position of the material transporting and charging car on the top end of the silo is accurately judged by utilizing the traveling distance of the charging car and laser ranging, and meanwhile, a judgment basis is provided for automatic charging of the silo, so that accurate and automatic charging of the silo is realized.
Drawings
FIG. 1 is a view of an automatic traveling positioning system of a charging car;
FIG. 2 is a flow chart of the determination of the traveling location of the charging car.
In the figure: 1, a walking track; 2, a laser ranging sensor; 3, charging a car; 4, a signal transmitting receiver; 5, a switch; 6 computer processor.
Detailed Description
The automatic traveling positioning system and the determination method of the charging car of the present invention will be described in detail with reference to the accompanying drawings. The scope of the invention is not limited to the following embodiments, which are set forth for illustrative purposes only and are not intended to limit the invention in any way.
An automatic walking and positioning system of a charging car comprises a walking track 1, a laser ranging sensor 2, a charging car 3, a signal transmitting and receiving device 4, a switch 5 and a computer processor 6, the walking track 1, the laser ranging sensor 2 and the charging car 3 are arranged at the top end of the charging silo in the production area, the exchanger 5 and the computer processor 6 are positioned in the remote working area, the signal transmitter-receiver 4 is connected with the measuring signal of the production area and the computer signal of the working area, the charging car 3 is positioned in the traveling track 1, the charging car 3 automatically records the traveling distance, the laser distance measuring sensor 2 is arranged at one end of the traveling track 1 and is used for measuring the distance between a light beam emitting point and the charging car 3, double check is carried out through the traveling distance of the charging car 3 and the distance between the charging car 3 and the laser ranging sensor 2, so that the charging car 3 is ensured to correspond to silos where the materials are stored one by one.
The charging car is filled with different kinds of coal materials, including gas coal, coking coal, fat coal, lean coal and the like, and the charging car corresponds to different silos.
Further elaborated by the silo 1# for storing gas coal, when the gas coal storage amount in the silo 1# is insufficient, the computer processor 6 sends an instruction to the signal transmitter-receiver 4 through the switch 5, and further instructs the charging car 3 to travel to the top of the silo 1# for gas coal corresponding to charging. Similarly, the distance X is traveled by the charging car 3, the distance Y measured by the laser ranging sensor 2 from the charging car 3 can be transmitted to the signal transmitting and receiving device 4 in the form of a signal, the signal is received by the switch 5 and converted and then input into the computer processor 6, and then the actual position of the charging car 3 is judged by using a computer program.
The method for judging the automatic traveling positioning of the charging car is specifically characterized by comprising the following steps:
the charging car 3 actually runs for a distance X, m from the initial position along the running track 1, at the moment, the distance Y, m from the charging car 3 is measured by the laser ranging sensor 2,
the shortest straight-line distance x from the initial position of the top platform of the silo where the charging car 3 is located to the corresponding silo 1# along the walking track 1 is 5m,
the corresponding 1# silo inner diameter d is 20m,
the length L of the charging car 3 is 2m,
the minimum threshold of error is 0.01m,
the distance between the initial running position of the charging car 3 and the laser ranging point is 100m,
the following algorithm is used for judgment:
when the charging car 3 runs over a distance X < X < X + d, namely 5m < X < 25m,
and | X + Y +2-100| is less than or equal to 0.01m, the charging car 3 and the silo to be charged are accurately aligned, the charging car 3 starts to charge the silo 1, and the charging time t is recorded.
When X is less than 5m or X + Y +2-100 is more than 0.01m, the fact that the charging of the charging car 3 corresponds to the 1# silo is judged to be inaccurate, the charging car 3 sends out an overhaul instruction and needs to be moved again for positioning, and the charging is not started until the algorithm is established.
The charging determination method of the automatic traveling and positioning system of the charging car is characterized in that:
the coal charging reserved quantity P of the 1# silo is kept to be 200 tons, the material storage quantity T is 8000 tons, the existing material quantity W is 2000 tons, the belt coal conveying speed is 8 tons/min, and the computer processor 6 is used for judging the charging quantity through the charging time T:
and when T-W-V multiplied by T is less than 200 tons, namely 8000-2000-8 multiplied by T is less than 200 tons, namely T is less than 725min, continuing to charge until T is 725min, judging that the charging of the charging car 3 meets the requirement, and further finishing the charging.
Wherein t is the charging time, min.
After the charging car 3 finishes charging, the computer processor 6 automatically moves to the initial position, and when the algorithm Y +2-100 is equal to 0, that is, Y is equal to 98m, the charging car 3 and the laser ranging sensor 2 are calibrated.
Claims (6)
1. The automatic walking and positioning system of the charging car is characterized by comprising a walking track (1), a laser ranging sensor (2), the charging car (3), a signal transmitting and receiving device (4), a switch (5) and a computer processor (6), wherein the walking track (1), the laser ranging sensor (2), the charging car (3) is installed on a platform at the top end of a charging barrel bin in a production area, the switch (5) is arranged, the computer processor (6) is located in a far-end working area, the signal transmitting and receiving device (4) is connected with a production area measuring signal and a working area computer signal, the charging car (3) is located in the walking track (1), the charging car (3) automatically records the walking distance, the laser ranging sensor (2) is installed at one end of the walking track (1), the distance between a light beam emitting point and the charging car (3) is measured, and the walking distance between the light beam emitting point and the charging car (3) is measured through the charging car, The distance between the charging car (3) and the laser ranging sensor (2) is subjected to double verification, so that the charging car (3) is ensured to be in one-to-one correspondence with silos where the materials are to be stored.
2. The automatic walking and positioning system for the charging car as claimed in claim 1, wherein said signal transmitter-receiver (4) is used for transmitting the signal measured by the laser ranging sensor (2) and receiving the command signal from the computer processor (6) via the switch (5).
3. The automatic traveling and positioning system for the loading car according to claim 1, wherein the switch (5) is used for converting optical signals measured by the laser ranging sensor (2) into computer receiving signals and converting command signals sent by the computer processor (6) into traveling signals of the loading car (3).
4. A method for determining the position of a carriage according to any of claims 1 to 3, wherein the carriage (3) is moved along the track (1) from an initial position by a distance X, and the distance Y from the carriage (3) is measured by the laser distance measuring sensor (2), and the following algorithm is used to determine the position:
when the traveling distance X of the charging car is less than X and less than X + d,
and | X + Y + L-D | is less than or equal to, judging that the alignment of the charging car (3) and the silo to be charged is accurate, starting charging the silo by the charging car (3), and recording the charging time t, min;
wherein X is the actual running distance of the charging car (3), m,
x is the shortest straight line distance from the initial position of the top platform of the silo where the charging car (3) is located to a corresponding charging silo along the walking track (1), m,
d is the internal diameter of the corresponding charging silo, m,
y is the distance m measured by the laser ranging sensor (2) from the charging car (3),
l is the length of the charging car (3), m,
d is the distance between the initial traveling position of the charging car (3) and the laser ranging point, m,
to meet the error minimum threshold, m;
when X is less than X or X is more than X + D or X + Y + L-D, the silo charged by the charging car (3) is judged to be inaccurate, the charging car (3) sends out a maintenance instruction, the moving and the positioning are required to be carried out again, and the charging is not started until the algorithm is established.
5. The method for determining the location of the automatic feeding and positioning system of the charging car according to claim 4, wherein the initial position is the other end corresponding to the laser ranging sensor (2), and the charging car (3) travels along the traveling rail (1) to a fixed position in front of the corresponding silo.
6. A method for determining the loading of the automatic traveling positioning system of the charging car according to any one of claims 1 to 3, wherein the computer processor (6) is used to determine the loading by the loading time t:
when T-W-V × T is less than P, continuing to charge until T-W-V × T is equal to P, judging that the charging of the charging car (3) meets the requirement, and further finishing charging;
wherein T is the material amount stored in the cylinder per ton,
w is the current amount of material, ton,
v is the belt conveying capacity per unit time, ton/min,
t is the charging time, min,
p is the reserved area of the silo with the storage capacity of ton,
when the charging car (3) finishes charging, the automatic traveling is carried out to the initial position, and the computer processor (6) calibrates the charging car (3) and the laser ranging sensor (2) by using an algorithm Y + L-D ═ 0.
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