CN112487567A - Intelligent monitoring system and method for bucket-wheel stacker reclaimer - Google Patents
Intelligent monitoring system and method for bucket-wheel stacker reclaimer Download PDFInfo
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Abstract
The invention provides an intelligent monitoring system and method for a bucket-wheel stacker reclaimer, wherein the system comprises: the model system sends the execution instruction to the control system through the information management interface; and the control system controls the material conveying equipment and the material stacking and taking mechanical equipment to manage the materials based on the execution instruction. According to the invention, the problem of low material management efficiency in the related technology is solved, and the effect of improving the material management efficiency is further achieved.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an intelligent monitoring system and method for a bucket-wheel stacker reclaimer.
Background
For storage material management, for example, management of fuel, for example, coal, is described later with reference to fuel management as an example, in the related art, the management mode is basically that stacking, scraping and shaping of fuel are achieved by manually operating mechanical equipment on site, an operator controls the rotation and pitch angles of a mechanical arm in a cab, the site working environment is severe, high dust pollution exists, the damage to the body of the operator for a long time is large, meanwhile, the manual operation of the operator is inaccurate in the entry point of the equipment, the material is not uniform in stacking and taking, and the safety and economic operation of the whole coal stacking and taking system are affected.
In addition, at present, most of the material piling and taking control pictures are displayed based on two-dimensional graphs in China, the whole fuel whole process scene cannot be reflected through the simple graph reaction equipment operation state and the fuel storage condition, the traditional two-dimensional pictures are abstract, the reaction content is simple and effective, and a control system cannot be operated quickly by workers unfamiliar with the site.
Aiming at the problem of material management with low efficiency, no effective solution is provided at present.
Disclosure of Invention
The invention aims to provide an intelligent monitoring system and method for a bucket-wheel stacker reclaimer, which aim to solve the problem of low material management efficiency in the related art.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides an intelligent monitored control system is got to material heap which characterized in that includes: the system comprises a model system, a material storage system and a material stacking and taking mechanical device, wherein the model system is used for providing a three-dimensional model of the whole process of the material, and the three-dimensional model comprises a model of the material conveying device, a model of the material storage and a model of the material stacking and taking mechanical device;
the information management interface is connected with the model system, the information management system and the control system and is used for acquiring material stacking data recorded in the information management system and operation data of the material transmission equipment and the material stacking mechanical equipment, providing the acquired data for the model system and writing an execution instruction issued by the model system into the control system;
the control system is connected to the material conveying equipment and the material stacking and taking mechanical equipment and is used for controlling the material conveying equipment and the material stacking and taking mechanical equipment to process the materials according to the execution instruction.
Further, the system further comprises:
the laser scanning system is connected to the model system and is used for acquiring point cloud data of the materials in the material warehouse in real time and providing the point cloud data to the model system so that the model system renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials,
a video linkage system coupled to the model system for performing at least one of the following:
monitoring the process flow of the whole process of the on-site material, and storing and/or transmitting the monitored video resources to the model system for playing on the model system;
and when detecting that the alarm signal is triggered, calling the video resource associated with the alarm signal, and playing the called video resource on a preset playing device.
Further, the laser scanning system is further configured to:
acquiring sector area data rotated by the material stacking mechanical equipment during material stacking and providing the sector area data to the model system, so that the model system updates and renders the sector area data rotated by the material stacking mechanical equipment in the material whole-process three-dimensional model;
through the laser scanner that mechanical equipment's bucket wheel machine cantilever both sides set up is got to the material heap mechanical equipment both sides data is got to the material heap, wherein, both sides data are used for background program computational analysis equipment to carry out collision early warning, collision early warning includes the material heap is got mechanical equipment and is being right the material carries out the in-process that handles prevent the material heap get mechanical equipment's bucket wheel machine cantilever with the early warning that material or other obstacles bump.
Further, the three-dimensional model of the whole process of the material is obtained by the following method:
establishing a simulation three-dimensional model in proportion based on preset construction data of the material warehouse;
establishing a corresponding equipment model based on the specification and the size of the material conveying equipment and the material piling mechanical equipment;
establishing a material dynamic three-dimensional model based on the acquired material real-time point cloud data, and establishing a mapping table of a deflection angle and a pitching angle of the material stacking mechanical equipment;
and obtaining the three-dimensional model of the whole material process based on the simulation three-dimensional model, the equipment model, the dynamic three-dimensional model and the mapping table.
Further, the acquiring, by the information management interface, the material stacking data recorded in the information management system and the operation data of the material transmission device and the material stacking mechanical device includes:
the information management interface acquires the feeding information and the discharging information of the material, which are recorded in the information management system, and the running states and real-time data of the material transmission equipment and the material piling mechanical equipment;
wherein the feeding information comprises: feeding material seeds and feeding material quantity; the discharge information comprises: discharging material type and discharging material quantity.
Further, the laser scanning system collects point cloud data of the materials in the material warehouse in real time and provides the point cloud data to the model system, and the method comprises the following steps:
the laser scanning system collects point cloud data of materials in the material warehouse in real time;
compressing and lightening the collected point cloud data to generate a bitmap BMP with a predetermined number of bits;
providing the generated BMP to the model system.
Further, the BMP is a gray scale map, and the gray scale value of each pixel point in the gray scale map is used for indicating the height value of the corresponding position of the material.
Further, the control system is configured to control the material conveying device and the material stacking and fetching mechanical device to perform at least one of the following operations according to the execution instruction: stacking, taking materials, shaping materials and coiling materials.
An intelligent monitoring method for material piling, which is applied to the intelligent monitoring system for material piling according to any one of claims 1 to 8, and comprises the following steps:
the model system sends the execution instruction to the control system through the information management interface;
and the control system controls the material conveying equipment and the material stacking and taking mechanical equipment to process the materials based on the execution instruction.
Further, the method further comprises at least one of:
the model system receives point cloud data of the materials in the material warehouse, which is acquired by a laser scanning system in the intelligent material piling monitoring system, and renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials;
the model system receives sector area data which are acquired by a laser scanning system and are rotated by the material piling mechanical equipment when materials are piled, wherein the sector area data are collected by the laser scanning system and are used for the intelligent material piling monitoring system, and the sector area data which are rotated by the material piling mechanical equipment are updated and rendered in the three-dimensional model of the whole process of the materials;
the model system receives monitoring video resources from a video linkage system included in the intelligent material piling monitoring system, wherein the monitoring video resources are obtained by the video linkage system through a process flow of the overall material process of a monitoring site;
and the model system plays the monitoring video resource.
Compared with the prior art, the invention has the beneficial effects that: the invention provides an intelligent monitoring system of a bucket-wheel stacker reclaimer, which comprises: the system comprises a model system, a material storage system and a material stacking and taking mechanical device, wherein the model system is used for providing a three-dimensional model of the whole process of the material, and the three-dimensional model comprises a model of the material conveying device, a model of the material storage and a model of the material stacking and taking mechanical device; the information management interface is connected with the model system, the information management system and the control system and is used for acquiring material stacking data recorded in the information management system and operation data of the material transmission equipment and the material stacking mechanical equipment, providing the acquired data for the model system and writing an execution instruction issued by the model system into the control system; the control system is connected to the material conveying equipment and the material stacking and taking mechanical equipment and is used for controlling the material conveying equipment and the material stacking and taking mechanical equipment to process the materials according to the execution instruction.
The invention also provides an intelligent monitoring method for material piling, which is applied to the intelligent monitoring system for material piling in the embodiment and comprises the following steps: the model system sends the execution instruction to the control system through the information management interface; and the control system controls the material conveying equipment and the material stacking and taking mechanical equipment to process the materials based on the execution instruction. According to the invention, the material processing instruction is issued by the model system, so that the material conveying equipment and the material stacking mechanical equipment can be automatically controlled to process the material without manually processing the material, and the material processing precision is improved. The problem of material management inefficiency that exists among the correlation technique is solved, and then reached the effect that improves material management efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a three-dimensional scene effect diagram of an intelligent stacker-reclaimer control system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a laser scanning system according to an embodiment of the present invention;
FIG. 3 is a three-dimensional model schematic of a bucket wheel machine according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, an intelligent monitoring system for material piling is provided, and the system includes: the system comprises a model system, a material storage system and a material stacking and taking mechanical device, wherein the model system is used for providing a material overall process three-dimensional model (or called a material overall process three-dimensional generation process model), and the three-dimensional model comprises a model of material transmission equipment, a model of a material storage and a model of material stacking and taking mechanical equipment; the information management interface is connected with the model system, the information management system and the control system and is used for acquiring material stacking data recorded in the information management system and operation data of the material transmission equipment and the material stacking mechanical equipment, providing the acquired data for the model system and writing an execution instruction issued by the model system into the control system; the control system is connected to the material conveying equipment and the material stacking and taking mechanical equipment and is used for controlling the material conveying equipment and the material stacking and taking mechanical equipment to process the materials according to the execution instruction.
In the embodiment, the material processing instruction is issued by the model system, so that the material conveying equipment and the material stacking mechanical equipment can be automatically controlled to process the material without manually processing the material, and the material processing precision is improved. The problem of material management inefficiency that exists among the correlation technique is solved, and then reached the effect that improves material management efficiency.
In an optional embodiment, the system further includes: and the laser scanning system is connected to the model system and is used for acquiring point cloud data of the materials in the material warehouse in real time and providing the point cloud data to the model system so that the model system renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials. In this embodiment, the laser scanning system can automatically scan the stacking and taking condition of the fuel in the warehouse in real time, acquire point cloud data, and realize automatic coal inventory and guide the intelligent stacking and taking operation of the control system. The model system can acquire point cloud data of materials in the warehouse in real time through a laser scanning system (such as a laser scanner) and render a dynamic three-dimensional model, so that dynamic three-dimensional simulation supervision of the whole process flow of the materials, mechanical equipment and material storage is realized. The control system can automatically stack fuel in a designated area according to coal feeding information, and automatically calculates the rotation and pitching angles of the scraper mechanical arm based on real-time point cloud data provided by the laser scanner, so that intelligent automatic material taking is realized.
In an optional embodiment, the laser scanning system is further used for collecting data of a sector area rotated by the material stacking mechanical equipment during material stacking and providing the data to the model system, so that the model system updates and renders the data of the sector area rotated by the material piling mechanical equipment in the three-dimensional model of the whole material process, the data at the two sides of the material stacking mechanical equipment are obtained through the laser scanners arranged at the two sides of the bucket wheel machine cantilever of the material stacking mechanical equipment, the two-side data are used for collision early warning of background program calculation and analysis equipment, and the collision early warning comprises early warning that a bucket wheel machine cantilever of the material piling and taking mechanical equipment is prevented from colliding with the material or other obstacles in the process of processing the material. In this embodiment, when performing collision warning, the daemon calculation and analysis device may perform collision warning based on the data on both sides and the obtained other data (for example, storage area information of the material, position information of other obstacles, and the like).
In an alternative embodiment, the material whole process three-dimensional model is obtained by: establishing a simulation three-dimensional model in proportion based on preset construction data (such as planning and design information of material storage, transportation and the like) of the material warehouse; establishing a corresponding equipment model based on the specification and the size of the material conveying equipment and the material piling mechanical equipment; establishing a dynamic three-dimensional model based on the acquired real-time point cloud data of the material, and establishing a mapping table of a deflection angle and a pitching angle of the material piling mechanical equipment; and obtaining the three-dimensional model of the whole material process based on the simulation three-dimensional model, the equipment model, the dynamic three-dimensional model and the mapping table. In this embodiment, all the mechanical devices in the three-dimensional scene access the operation data, and reflect the state information of the process flow, the device operation, the alarm, and the like in the picture in real time.
In an optional embodiment, the acquiring, by the information management interface, the material stacking data recorded in the information management system and the operation data of the material conveying device and the material stacking mechanical device includes: the information management interface acquires the feeding information and the discharging information of the material, which are recorded in the information management system, and the running states and real-time data of the material transmission equipment and the material piling mechanical equipment; wherein the feeding information comprises: feeding material seeds and feeding material quantity; the discharge information comprises: discharging material type and discharging material quantity.
In an alternative embodiment, the laser scanning system collecting point cloud data of the material in the material warehouse in real time and providing the point cloud data to the model system comprises: the laser scanning system collects point cloud data of materials in the material warehouse in real time; compressing and lightening the collected point cloud data to generate a bitmap BMP with a predetermined number of bits; providing the generated BMP to the model system. For example, the laser scanning system can acquire laser scanner data of a coal pile scanned by the laser scanner in real time (taking materials as coal for illustration), convert the laser scanner data into standard (x, y, z) data with a bucket wheel machine center as an origin, simultaneously establish an accurate 3D model of the coal pile, generate a bmp (bitmap) picture through point cloud data plane mapping, update the latest point cloud data to a database, calculate the storage amount of fuel in the warehouse according to the latest data, and realize coal inventory.
In an optional embodiment, the BMP is a gray scale map, and a gray scale value of each pixel point in the gray scale map is used to indicate a height value of a corresponding position of the material.
In an optional embodiment, the control system is configured to control the material conveying device and the material stacking and fetching mechanical device to perform at least one of the following operations according to the execution instruction: stacking, taking materials, shaping materials and coiling materials. Specifically, in the present embodiment, the following operations may be performed by the control system: in the stacking process, a control module controls a rotating mechanism to rotate and stack materials, material level detection equipment on a stacking mechanical arm judges the stacking height limit, and a rotating area of the stacking mechanical arm performs laser scanning to obtain real-time point cloud data of a coal pile (taking the material is coal as an example for explanation) and update database data; in the material taking process, calculating real-time point cloud data to obtain a deflection angle and a pitch angle of a planned material taking area, issuing an instruction to a scraper plate to realize automatic material scraping, and scanning the rotated areas of the scraper plate through laser scanners on two sides of the scraper plate to update point cloud data in a database in real time; in the shaping process, the scraper carries out coal pile shaping through an entry point obtained by point cloud data calculation, and coal taking efficiency is improved; and in the coal inventory process, calculating the total fuel amount in the coal bunker or the total amount of each sector area according to the latest point cloud data of the coal pile in the database.
In an optional embodiment, the system further comprises: a video linkage system coupled to the model system for performing at least one of the following:
monitoring the process flow of the whole process of the on-site material, and storing and/or transmitting the monitored video resources to the model system for playing on the model system;
upon detecting that an alarm signal is triggered (i.e., detecting that an alarm signal has occurred), a video asset already associated with the alarm signal is retrieved (e.g., automatically retrieved) (this association operation may be performed in advance, a variety of alarm signals may be configured in advance, and a received video asset associated with each alarm signal is configured), and the retrieved video asset is played on a predetermined playback device (e.g., a head end).
Through the video linkage system, the whole process technological process and the alarm of the monitoring equipment associated fuel can be realized, and the system can automatically call related video resources to perform whole-process video supervision.
The invention will be described with reference to specific examples, taking fuels as examples, as follows:
fig. 1 is a three-dimensional scene effect diagram of an intelligent stacker-reclaimer control system according to an embodiment of the present invention, in this embodiment, the system may be a novel intelligent monitoring system for a bucket-wheel stacker-reclaimer, and the intelligent stacker-reclaimer control system in this embodiment includes:
the model system is used for providing a three-dimensional model of a production process and mechanical equipment of the whole fuel process; an information management interface: the system is used for being connected with a production information management system and acquiring a fuel inlet and outlet plan and real-time running state and data of equipment; a laser scanning system: the system is used for acquiring three-dimensional dynamic point cloud data of the coal pile in real time, synchronously updating the data in the database, and compressing the data to generate a BMP (bone map information) map; the control system comprises: the intelligent automatic stacking and taking device is used for realizing the intelligent automatic stacking, taking, shaping and coal coiling of fuel. A video linkage system: the method is used for realizing the association of the video monitoring equipment with the production process flow and the equipment and automatically acquiring the corresponding video resources for supervision.
Through the embodiment, the model system provides a three-dimensional simulation model for the whole fuel process, and dynamic simulation of the whole scene is realized; the information management interface is used for establishing data communication between the fuel management system and the control system, acquiring an access plan of fuel and the running state and data of each device, graphically displaying data in a three-dimensional simulation scene, and simultaneously writing an upper computer instruction into the control system; meanwhile, the execution result of the control system, including the deflection angle and the pitching angle of the mechanical equipment and the operation data of the production process flow, are fed back to the picture of the upper computer, so that synchronous real-time monitoring is realized; when the stacking mechanical arm and the material taking mechanical arm execute deflection action, the laser scanning system automatically operates to obtain the latest point cloud data of the deflected fan-shaped region, synchronously updates the latest point cloud data into a database after coordinate conversion, calculates the total fuel amount in the current coal bunker or the total fuel amount of the specified fan-shaped region according to the latest point cloud data, and simultaneously performs plane mapping and light-weight processing on the spatial point cloud data through a background program to generate a BMP (bone marrow map) picture; the video linkage system automatically acquires the video resources of the field equipment and associates the video information with the three-dimensional simulation scene of the whole fuel process, so that the whole fuel process is controlled and monitored in real time through the three-dimensional simulation scene.
Alternatively, the model system may obtain the fuel overall process three-dimensional simulation model by: constructing an equal-proportion three-dimensional model according to planning construction information of a fuel warehouse; constructing a three-dimensional model of the equipment according to the equipment size information; implanting the model according to the relative position under the same coordinate system; the rotation and pitching actions of the mechanical arm read real-time data of equipment in the control system through a data interface and simulate execution actions in a three-dimensional scene; the three-dimensional model of the fuel in the system is generated by automatically performing space stretching after a BMP (bone map) is introduced into a control of software. By the embodiment, the three-dimensional simulation model with complete fuel whole process and accurate information is established.
According to the above embodiment of the present invention, the following steps may be performed through the information management interface: acquiring the running state and real-time data of each device; acquiring a fuel inlet and outlet plan and recording the fuel inlet and outlet plan in a database; according to the stacking and reclaiming plan, the stacking area of coal (coal is an example of fuel, but not limited to coal, and other fuels can be used) is judged, and an execution instruction is sent to the lower computer.
According to the above embodiment of the present invention, the laser scanning system is shown in fig. 2, and 1 and 2 in fig. 2 are laser scanner mounting positions on the left and right sides of the arm of the bucket wheel machine, and the following steps can be executed by the laser scanning system: when a stacking task is executed, a laser scanner arranged on a stacking arm is automatically started to scan the rotated area of the stacking arm and acquire point cloud data of the area; when a material taking task is executed, when a cantilever of the bucket wheel machine rotates to take materials to the left side, a laser scanner arranged on the left side of the cantilever of the bucket wheel machine is automatically started to scan the rotating area of the cantilever of the bucket wheel machine, and point cloud data of the area are acquired; when the cantilever of the bucket wheel machine rotates to the right side to take materials, the laser scanner on the right side of the cantilever of the bucket wheel machine is started to scan the materials rotated by the cantilever of the bucket wheel machineAnd acquiring point cloud data of the area. And simultaneously converting the point cloud data acquired in real time according to the self-defined coordinates, updating the point cloud data into a database, calculating and constructing a geographic morphology model of the three-dimensional coal pile, compressing and carrying out lightweight processing on the point cloud data, generating an 8-bit BMP format gray scale map, wherein the gray scale value of each pixel point in the image represents the height of the corresponding position of the coal pile. According to the acquired point cloud data, all fuel disks or fuel disks in a designated sector area in a warehouse can be realized, and a calculation model of the fuel volume is
In this formula, m is the width of the BMP map, n is the length of the BMP map, w is the actual width, l is the actual length, hijI rows and j columns of gray values, and V is the volume of the fuel pile.
With the above-described embodiments of the invention, a so-called stacker reclaimer apparatus, i.e. an open-pit bucket wheel machine, as shown in fig. 3, comprises a stacker boom 1, a reclaimer boom 2, a fuel inlet 3 and corresponding detection and control modules.
In the embodiment of the present invention, the following operations may be performed by the control system:
when an automatic stacking task is executed, the control system receives a stacking area instruction, automatically starts stacking equipment, detects data such as deflection limit and stacking limit at the same time, and immediately pushes the data to an upper computer for displaying when an alarm is generated; when the material level limit is reached, the control system automatically adjusts the deflection angle of the stacking arm and continues stacking. When the manual stacking task is executed, the control system receives an instruction sent by the upper computer and executes an action according to the instruction.
When an automatic material taking task is executed, the control system receives a material taking area instruction, controls the cantilever of the bucket wheel machine to automatically rotate to a specified angle, the scraper automatically adjusts the pitching angle to implement coal scraping operation, and in the coal scraping process, the control system detects the current of the scraper motor in real time and automatically adjusts the pitching angle of the scraper to prevent overload or idling. When a manual material taking task is executed, the control system receives a manual operation instruction of an operator, controls the cantilever of the bucket wheel machine to rotate and the scraper to pitch, and realizes manual material taking.
When the automatic shaping task is executed, the control system receives the shaping area instruction, calculates the provided entry points, namely the deflection angle and the pitching angle, according to the point cloud data, automatically controls the cantilever of the bucket wheel machine to rotate, and the scraper to pitch to the designated position to carry out shaping operation, cuts off the peak of the coal pile, levels the fuel stored in the area, can achieve the effect of immediately taking the material, and improves the fuel supply efficiency. When the manual shaping task is executed, the control system receives a manual operation instruction of an operator, and controls the cantilever of the bucket wheel machine to rotate and the scraper to pitch, so that manual shaping is realized.
According to the above embodiment of the present invention, the following steps are performed by the video linkage system: when the intelligent control system executes the stacking or material taking process flow, the system automatically calls the video resources related to the process flow and presents a real-time picture on a software picture.
In this embodiment, a material processing method of an intelligent monitoring system operating in any one of the above embodiments is provided, where the flow of the processing method includes the following steps:
step S402, the model system sends the execution instruction to the control system through the information management interface;
and S404, controlling the material conveying equipment and the material stacking and taking mechanical equipment to process the material by the control system based on the execution instruction.
Through the embodiment, the material processing instruction is issued by the model system, so that the material conveying equipment and the material stacking mechanical equipment can be automatically controlled to process the material without manually processing the material, and the material processing precision is improved. The problem of material management inefficiency that exists among the correlation technique is solved, and then reached the effect that improves material management efficiency.
In an optional embodiment, the method further comprises at least one of:
the model system receives point cloud data of the materials in the material warehouse, which is acquired by a laser scanning system in the intelligent monitoring system, and renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials.
The model system receives sector area data which are acquired by a laser scanning system and are rotated by the material piling mechanical equipment when materials are piled, wherein the sector area data are collected by the laser scanning system and are updated and rendered in the three-dimensional model of the whole material process.
In an optional embodiment, the method further comprises:
the model system receives monitoring video resources from a video linkage system included in the intelligent monitoring system, wherein the monitoring video resources are obtained by the video linkage system through a process flow of the overall process of monitoring the materials on site;
and the model system plays the monitoring video resource.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Those skilled in the art will appreciate that the various modules or steps of the invention described above can be implemented using a general purpose computing device, that they can be centralized on a single computing device or distributed across a network of computing devices, and that they can alternatively be implemented using program code executable by a computing device, such that the steps illustrated and described herein can be performed by a computing device stored in a memory device and, in some cases, performed in an order different than that used herein, or separately fabricated into various integrated circuit modules, or multiple modules or steps thereof, and implemented as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an intelligent monitored control system is got to material heap which characterized in that includes: the system comprises a model system, a material storage system and a material stacking and taking mechanical device, wherein the model system is used for providing a three-dimensional model of the whole process of the material, and the three-dimensional model comprises a model of the material conveying device, a model of the material storage and a model of the material stacking and taking mechanical device;
the information management interface is connected with the model system, the information management system and the control system and is used for acquiring material stacking data recorded in the information management system and operation data of the material transmission equipment and the material stacking mechanical equipment, providing the acquired data for the model system and writing an execution instruction issued by the model system into the control system;
the control system is connected to the material conveying equipment and the material stacking and taking mechanical equipment and is used for controlling the material conveying equipment and the material stacking and taking mechanical equipment to process the materials according to the execution instruction.
2. The intelligent material-stacking monitoring system according to claim 1, further comprising:
the laser scanning system is connected to the model system and is used for acquiring point cloud data of the materials in the material warehouse in real time and providing the point cloud data to the model system so that the model system renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials,
a video linkage system coupled to the model system for performing at least one of the following:
monitoring the process flow of the whole process of the on-site material, and storing and/or transmitting the monitored video resources to the model system for playing on the model system;
and when detecting that the alarm signal is triggered, calling the video resource associated with the alarm signal, and playing the called video resource on a preset playing device.
3. The intelligent material-piling monitoring system according to claim 2, wherein the laser scanning system is further configured to:
acquiring sector area data rotated by the material stacking mechanical equipment during material stacking and providing the sector area data to the model system, so that the model system updates and renders the sector area data rotated by the material stacking mechanical equipment in the material whole-process three-dimensional model;
through the laser scanner that mechanical equipment's bucket wheel machine cantilever both sides set up is got to the material heap mechanical equipment both sides data is got to the material heap, wherein, both sides data are used for background program computational analysis equipment to carry out collision early warning, collision early warning includes the material heap is got mechanical equipment and is being right the material carries out the in-process that handles prevent the material heap get mechanical equipment's bucket wheel machine cantilever with the early warning that material or other obstacles bump.
4. The intelligent material-stacking monitoring system according to claim 2, wherein the three-dimensional model of the whole material process is obtained by:
establishing a simulation three-dimensional model in proportion based on preset construction data of the material warehouse;
establishing a corresponding equipment model based on the specification and the size of the material conveying equipment and the material piling mechanical equipment;
establishing a material dynamic three-dimensional model based on the acquired material real-time point cloud data, and establishing a mapping table of a deflection angle and a pitching angle of the material stacking mechanical equipment;
and obtaining the three-dimensional model of the whole material process based on the simulation three-dimensional model, the equipment model, the dynamic three-dimensional model and the mapping table.
5. The intelligent monitoring system for material stacking and fetching according to claim 1, wherein the information management interface acquiring the material stacking and fetching data recorded in the information management system and the operation data of the material transmission device and the material stacking and fetching mechanical device comprises:
the information management interface acquires the feeding information and the discharging information of the material, which are recorded in the information management system, and the running states and real-time data of the material transmission equipment and the material piling mechanical equipment;
wherein the feeding information comprises: feeding material seeds and feeding material quantity; the discharge information comprises: discharging material type and discharging material quantity.
6. The intelligent material-stacking monitoring system according to claim 2, wherein the laser scanning system collects point cloud data of the material in the material warehouse in real time and provides the point cloud data to the model system, and the system comprises:
the laser scanning system collects point cloud data of materials in the material warehouse in real time;
compressing and lightening the collected point cloud data to generate a bitmap BMP with a predetermined number of bits;
providing the generated BMP to the model system.
7. The intelligent material piling monitoring system according to claim 6, wherein the BMP is a gray scale map, and gray scale values of pixel points in the gray scale map are used for indicating height values of corresponding positions of the material.
8. The intelligent material piling and taking monitoring system according to claim 1, wherein the control system is configured to control the material conveying device and the material piling and taking mechanical device to perform at least one of the following operations according to the execution instruction: stacking, taking materials, shaping materials and coiling materials.
9. An intelligent monitoring method for material piling, which is applied to the intelligent monitoring system for material piling according to any one of claims 1 to 8, and comprises the following steps:
the model system sends the execution instruction to the control system through the information management interface;
and the control system controls the material conveying equipment and the material stacking and taking mechanical equipment to process the materials based on the execution instruction.
10. The method of claim 9, further comprising at least one of:
the model system receives point cloud data of the materials in the material warehouse, which is acquired by a laser scanning system in the intelligent material piling monitoring system, and renders and displays the point cloud data of the materials in the three-dimensional model of the whole process of the materials;
the model system receives sector area data which are acquired by a laser scanning system and are rotated by the material piling mechanical equipment when materials are piled, wherein the sector area data are collected by the laser scanning system and are used for the intelligent material piling monitoring system, and the sector area data which are rotated by the material piling mechanical equipment are updated and rendered in the three-dimensional model of the whole process of the materials;
the model system receives monitoring video resources from a video linkage system included in the intelligent material piling monitoring system, wherein the monitoring video resources are obtained by the video linkage system through a process flow of the overall material process of a monitoring site;
and the model system plays the monitoring video resource.
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