CN112537661B - Anti-collision control method and system for stacker-reclaimer - Google Patents
Anti-collision control method and system for stacker-reclaimer Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
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- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses an anti-collision control method and system for a stacker-reclaimer, wherein the method comprises the following steps: comprising the following steps: according to the geometric characteristics of the stacker-reclaimer, a basic geometric body containing a mechanical structure is extracted, key points are generated on the surface of the basic geometric body, and the relative coordinates p1 of the key points are obtained; establishing an anti-collision combined model of the stacker-reclaimer, and calculating three-dimensional space world coordinates p2 of key points according to a combination mode of the combined model and the mechanical size of the stacker-reclaimer; calculating world coordinates p3 of the three-dimensional space of the key points of the stacker-reclaimer after walking, turning and pitching to obtain world coordinates Q of the surface points of the anti-collision related objects in the three-dimensional space; calculating the space distance between the world coordinates P of all key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance; and performing anti-collision control according to the minimum space distance and the set safety distance.
Description
Technical Field
The application relates to the technical field of anti-collision analysis of stacker-reclaimers, in particular to an anti-collision control method and system of a stacker-reclaimer.
Background
The stacker-reclaimer is also called a bucket-wheel stacker-reclaimer, is a high-efficiency continuous loading and unloading machine and is widely used in bulk storage yards of bulk cargo wharfs, mines, power plants and the like.
In a modern bulk storage yard, a plurality of stacker-reclaimers are required to cooperatively operate, and due to the large movement range of the stacker-reclaimers, great collision risks exist among the stacker-reclaimers, between the stacker-reclaimers and fixed constructions and between the stacker-reclaimers and the stockpiles, and once collision occurs, serious machine damage and personal casualties accidents can be caused, so that huge economic loss is caused for enterprises. The traditional stacker-reclaimer anti-collision control adopts a mode that an operator observes the machine by naked eyes as a main part, an anti-collision limit switch, a steel wire rope limit, a microwave radar switch and the like are used as auxiliary parts to prevent collision, but the mode depends on factors such as the operation level of workers, the sensitivity and the precision of a sensor and the like.
Along with the continuous rising of the cost of raw materials such as ores, the automatic anti-collision control of the stacker-reclaimer can solve the common problem faced by all bulk material yards by effectively reducing the labor cost, improving the working environment to the maximum extent, stabilizing the productivity and reducing the yield caused by manual intervention, and the automatic anti-collision control of the stacker-reclaimer is one of the key technologies. The existing automatic anti-collision control technology of the stacker-reclaimer mainly comprises two types, namely a planar projection method and a three-dimensional model method, but the two types have the following defects: the plane projection method is to project the cantilever of the stacker-reclaimer onto the horizontal plane and calculate the minimum distance between the two projections in the plane, and the algorithm is simple, but the minimum distance between the stacker-reclaimers cannot be accurately calculated, and some effective working space is wasted, especially when the same stack position is operated, the working range of the stacker-reclaimer is greatly limited, and the stacking and reclaiming operation efficiency is influenced. The three-dimensional model method is to build a three-dimensional mathematical model of the stacker-reclaimer cantilever by considering factors such as rotation, pitching and the like of the stacker-reclaimer cantilever, and the method needs to solve a multi-element equation, has complex algorithm and large calculated amount, and is very difficult to be practically applied.
Disclosure of Invention
According to the problems existing in the prior art, the application discloses an anti-collision control method of a stacker-reclaimer, which specifically comprises the following steps: according to the geometric characteristics of the stacker-reclaimer, a basic geometric body containing a mechanical structure is extracted, key points are generated on the surface of the basic geometric body, and the relative coordinates of the key points are obtained;
establishing an anti-collision combined model of the stacker-reclaimer, and calculating three-dimensional space world coordinates of key points according to a combination mode of the combined model and the mechanical size of the stacker-reclaimer;
calculating world coordinates of key points in three-dimensional space after walking, turning and pitching actions of the stacker-reclaimer, and obtaining world coordinates Q of the surface points of the anti-collision related objects in the three-dimensional space;
calculating the space distance between the world coordinates P of all key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance;
and performing anti-collision control according to the minimum space distance and the set safety distance.
Further, when the anti-collision combined model is built: and taking a basic geometric body as a root part, wherein the root part comprises a plurality of connecting structures and a basic geometric body serving as a sub-part, the sub-part is connected with the root part through the connecting structures, the sub-part serves as a father part of the next part, comprises the corresponding connecting structures and the basic geometric body serving as the sub-part, and the anti-collision combined model of the stacker-reclaimer is built iteratively according to the relation.
Further, the running, pitching and turning actions of the stacker-reclaimer are defined as the rotation and translation movements of the basic geometrical body around the coordinate axes of the three-dimensional coordinate system respectively, wherein the running actions are simplified into the translation of the basic geometrical body along the x-axis, the turning actions are simplified into the rotation of the basic geometrical body of the turning part around the z-axis, the pitching actions are simplified into the rotation of the basic geometrical body of the counterweight part and the basic geometrical body of the cantilever part around the y-axis, and the three-dimensional space world coordinates p2 of the key points on each part are respectively rotated and translated around the coordinate axes according to the running, pitching and turning postures of the machine, so that the stacker-reclaimer passes through the runningWorld coordinates p3 of the key points after the row, rotation and pitching actions, namely p3=T p *T c * (p 2, 1), wherein T p For a rotation translation matrix of the parent component, T c Is a rotational translation matrix of the connection structure.
Further, the rotation translation matrix T of the parent component p Expressed as:
wherein x, y and z are the rotation angles of the parent component around the original x axis, y axis and z axis respectively, and delta p.x, delta p.y and delta p.z are the translation distances of the parent component along the x axis, y axis and z axis respectively;
the fixed connection structure defaults to non-rotation and translation only, wherein the rotation and translation matrix T of the connection structure c Expressed as:
where Δ p.x, Δ p.y, Δ p.z are the distances that the base geometry translates along the x-axis, y-axis, and z-axis, respectively.
When the root part and the sub-part are connected by adopting an axial structure, the rotation translation matrix of the axial connection structure is as follows:
wherein x, y, z are the angles of rotation of the child component coordinate system about the x-axis, y-axis, z-axis of the parent component coordinate system, respectively, Δ p.x, Δ p.y, Δ p.z are the distances of translation of the child component coordinate system and the parent component coordinate system along the x-axis, y-axis, z-axis, respectively.
Further, the three-dimensional world coordinates P of the key points and the surface point space distance D between the key points and the anti-collision related object PQ And acquiring in real time along with the action of the stacker-reclaimer.
Further, in the anti-collision control process: setting three-level safety distances, and sending an alarm signal when the calculated distance is smaller than the first-level safety distance; when the calculated distance is smaller than the second-level safety distance, a deceleration signal and an alarm signal are sent; and when the calculated distance is smaller than the three-level safety distance, sending a stop command and an alarm signal.
Further, calculating the space distance between the world coordinates P of the three-dimensional space of all the key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance:
wherein, the three-dimensional world coordinates P of all key points acquire all the relative coordinates pn=T of the key points based on an iterative mode p(n-1) *T c(n-1) *(p(n-1),1)
An anti-collision control system of a stacker-reclaimer, comprising:
the stacker-reclaimer gesture acquisition equipment is used for acquiring walking, rotation and pitching gesture data of the stacker-reclaimer in real time;
the anti-collision related object surface point acquisition equipment is used for acquiring world coordinate information in a three-dimensional space of a material pile, a fixed construct, the ground and a dam foundation;
the anti-collision calculation server is used for generating an anti-collision combined model of the stacker-reclaimer and the three-dimensional world coordinates of key points thereof, reading the attitude data of the stacker-reclaimer in real time, calculating the three-dimensional world coordinates of the key points of the stacker-reclaimer after running, turning and pitching actions, reading the three-dimensional data of the surface points of the anti-collision related objects in real time, calculating the space distances between the three-dimensional world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, and acquiring the minimum value of the space distance and simultaneously generating an anti-collision strategy; the anti-collision computing server is in data communication with an anti-collision monitoring client.
And the PLC control system of the stacker-reclaimer is in real-time data communication with the anti-collision calculation server, receives the attitude data transmitted by the attitude acquisition equipment of the stacker-reclaimer, performs data and instruction interaction with the anti-collision calculation server, and sends the control instruction of the anti-collision calculation server to the driving devices of all mechanisms of the stacker-reclaimer in real time so as to automatically control the stacker-reclaimer to perform stacking and reclaiming operations.
Further, the anti-collision calculation server comprises a data communication module, a space distance calculation module and an anti-collision strategy generation module;
the data communication module is used for communicating with a PLC control system of the stacker-reclaimer and the anti-collision related object surface point acquisition equipment;
the space distance calculation module is used for calculating the minimum value of the space distance between the stacker-reclaimer and the surface point of the anti-collision related object after running, turning and pitching;
and the anti-collision strategy generation module generates a control instruction in real time according to the minimum value of the spatial distance between the stacker-reclaimer and the anti-collision related object and sends the control instruction to the PLC control system of the stacker-reclaimer through the data communication module.
By adopting the technical scheme, the anti-collision control method and the anti-collision control system for the stacker-reclaimer provided by the application have the advantages that the attitude data of the stacker-reclaimer are read in real time, the anti-collision combination of the whole structure of the stacker-reclaimer is established, the minimum space distance between the anti-collision control method and the anti-collision related object is calculated, the anti-collision control is carried out in real time according to the minimum space distance, and a control instruction is sent to a PLC (programmable logic controller) system of the stacker-reclaimer, so that the three-dimensional space anti-collision of the stacker-reclaimer is realized; according to the application, the anti-collision of one or more of the working conditions of the machine, the same-rail stacker-reclaimer, the different-rail stacker-reclaimer, the material pile, the fixed construction, the ground, the dam foundation and the like is calculated in real time, so that the anti-collision without dead angles is comprehensively realized; therefore, the application realizes the full-automatic anti-collision of the stacker-reclaimer, can effectively reduce the risk of collision of operators under the conditions of blind areas of sight, fatigue operation, unskilled operation and the like in the traditional operation mode, and is beneficial to improving the development of unmanned automatic operation of the stacker-reclaimer.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a flow chart of the method of the present application;
FIG. 2 is a schematic diagram of inheritance relationships of an anti-collision combined model of a reclaimer in an embodiment of the application;
FIG. 3 is a schematic diagram of an anti-collision combination model of a reclaimer and key points thereof in an embodiment of the application;
FIG. 4 is a functional block diagram of an anti-collision system of a stacker-reclaimer in an embodiment of the application;
fig. 5 is a schematic structural diagram of an anti-collision control system of a stacker-reclaimer in embodiment 2 of the present application.
Detailed Description
In order to make the technical scheme and advantages of the present application more clear, the technical scheme in the embodiment of the present application is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present application:
as shown in fig. 1, an anti-collision control method of a stacker-reclaimer, embodiment 1 specifically includes the following steps:
step S11: generating relative coordinates of key points on the surface of the basic geometric body, namely according to the mechanical size of the stacker-reclaimer, refining the basic geometric body which can envelop the mechanical structure, generating the key points on the surface of the basic geometric body, and acquiring the relative coordinates p1 of the key points.
In this step, according to the mechanical structure of the stacker-reclaimer, a basic geometry that can envelope the mechanical structure is proposed, and in the preferred embodiment of fig. 3, the embodiment of the present application simplifies the traveling portion of the reclaimer to a cuboid, the turning portion to a cylinder, the counterweight portion to a cuboid, the cantilever portion to a cuboid, the bucket wheel portion to a cylinder, and the tie rod portion to a line segment.
And generating key points uniformly on the surface of the basic geometric body according to the set precision, wherein the precision can be adjusted according to the actual conditions, such as 1 meter interval, 2 meters interval and 3 meters interval. The higher the accuracy, the higher the performance requirements for the anti-collision computing server. In the preferred embodiment of fig. 1, keypoints 107 are shown. The key points on the basic geometric body can be deleted or moved individually according to the actual working conditions.
And calculating the difference value according to the size of the basic geometric body and the set precision, and calculating the relative coordinates p1 of the key points on the surface of the basic geometric body.
Step S12: generating an anti-collision combined model of the stacker-reclaimer and a three-dimensional spatial world coordinate of a key point of the anti-collision combined model, taking a basic geometric body as a root part, connecting the root part with a plurality of connecting structures and a basic geometric body serving as a sub-part, connecting the sub-part with the root part through the connecting structures, taking the sub-part as a father part of the next part, and iteratively establishing the anti-collision combined model of the stacker-reclaimer according to the corresponding connecting structures and the basic geometric body serving as the sub-part, wherein the connecting structures comprise fixed connection and shaft connection, and calculating the three-dimensional spatial world coordinate p2 of the key point according to a combination mode of the combined model and the mechanical size of the stacker-reclaimer.
Preferably, when the stacker-reclaimer combination model is built, basic geometric bodies representing the structure of the stacker-reclaimer can be combined according to the model.
Preferably, when the stacker-reclaimer combination model is built, only basic geometric bodies of key anti-collision parts can be selected for combination according to working conditions.
Specifically, in the above steps, only the running part basic geometry 101, the revolving part basic geometry 102, the counterweight part simplified to be a cuboid 103, the cantilever part basic geometry 104 and the bucket wheel part basic geometry 105 are selected to be combined to establish the reclaimer combination model, the running part basic geometry 101 is taken as a root part, the root part comprises the sub-part revolving part basic geometry 102 and a vertical shaft connecting structure, the revolving part basic geometry 102 is taken as a first father part, the sub-part counterweight part basic geometry 103, the cantilever part basic geometry 104 and a horizontal shaft connecting structure are taken as included, and the cantilever part basic geometry 104 is taken as a second father part, and the sub-part bucket wheel part basic geometry 105 and the horizontal shaft connecting structure are included. FIG. 2 illustrates the inheritance relationship of the reclaimer anti-collision combined model in an embodiment. And respectively calculating the three-dimensional world coordinates p2 of the key points on each part according to the combination mode of the combination model and the mechanical size of the stacker-reclaimer.
S13, calculating the three-dimensional world coordinates p3 of the key points of the stacker-reclaimer after running, turning and pitching.
In the step, the running distance, the pitching angle and the turning angle of the stacking and taking materials can be acquired through the attitude acquisition module of the stacker-reclaimer.
The walking, pitching and turning actions of the stacker-reclaimer are simplified into translational and rotational movements of the basic geometric body, the walking actions are simplified into the translational movements of the basic geometric body along the x-axis, the turning actions are simplified into the rotations of the turning part basic geometric body 102 around the z-axis, the pitching actions are simplified into the rotations of the counterweight part basic geometric body 103 and the cantilever part basic geometric body 104 around the y-axis, and the three-dimensional world coordinates p2 of the key points on each part are respectively rotated and translated around the coordinate axes according to the walking, pitching and turning postures of the machine, so that the three-dimensional world coordinates p3 of the key points of the stacker-reclaimer after the walking, turning and pitching actions can be obtained.
First, a rotation translation matrix T of a parent component is calculated p Rotation translation matrix T of parent component p The method comprises the following steps:
wherein x, y and z are the rotation angles of the parent component around the original x axis, y axis and z axis respectively, and delta p.x, delta p.y and delta p.z are the translation distances of the parent component along the x axis, y axis and z axis respectively;
again calculating the rotational translation matrix T of the connection structure c ：
The fixed connection structure defaults to not rotate, only translates, and then the rotation translation matrix of fixed connection is:
wherein Δ p.x, Δ p.y, Δ p.z are the distances that the basic geometry translates along the x-axis, y-axis, z-axis, respectively;
further, when the root part and the sub-part are connected by adopting a shaft structure, the rotation translation matrix of the shaft connection structure is as follows:
wherein x, y and z are the angles of rotation of the child component coordinate system around the x-axis, y-axis and z-axis of the parent component coordinate system, respectively, and delta p.x, delta p.y and delta p.z are the translation distances of the child component coordinate system and the parent component coordinate system along the x-axis, y-axis and z-axis, respectively;
the three-dimensional world coordinates p3 of the key points after the stacker-reclaimer moves, rotates and tilts, namely p3=t_p_t_c (p 2, 1);
sequentially and iteratively calculating the three-dimensional coordinates of the key point space of the next sub-component:
pn＝T n-1 *T n-1 *(p(n-1),1)；
world coordinates Q (X, Y, Z) of the collision-preventing related object surface points in the three-dimensional space are acquired.
The anti-collision related objects comprise a stacker-reclaimer with the same rail, a stacker-reclaimer with different rails, a material pile, a fixed building object, the ground and a dam foundation.
The world coordinate algorithm of the surface points of the stacker-reclaimer with the same track and the stacker-reclaimer with different tracks in the three-dimensional space adopts the steps S11 to S12, and specifically, the stacker-reclaimer with different tracks only calculates the three-dimensional space coordinates of the surface points of the basic geometry of the cantilever part and the basic geometry of the bucket wheel part.
The three-dimensional world coordinates of the surface points of the fixed construction, the ground and the dam foundation are obtained through site mapping or a laser scanner, and the surface point data of the material pile can be obtained through the laser scanner.
Step S14: calculating the space distance between the world coordinates P of all the key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance:
step S15, anti-collision control is carried out according to the calculated minimum value of the space distance and the set safety distance; wherein the three-dimensional world coordinates P of the key points are spaced from the surface points of the object related to the collision prevention by the distance D PQ Calculating in real time along with the action of the stacker-reclaimer;
the minimum spatial distance is taken as the nearest distance between the local machine and the anti-collision related object.
Preferably, the anti-collision control method with the fixed object is as follows: setting three-level safety distances, and sending an alarm signal when the minimum value of the space distance is smaller than the first-level safety distance; when the minimum value of the space distance is smaller than the second-level safety distance, a deceleration signal is sent to a local PLC system, and an alarm signal is sent; and when the minimum value of the space distance is smaller than the three-level safety distance, sending a stop command to the local PLC system, and sending an alarm signal.
Preferably, the anti-collision control method of the stacker-reclaimer with the same rail or the stacker-reclaimer with different rails comprises the following steps: setting three-level safety distances, and sending an alarm signal when the minimum value of the space distance is smaller than the first-level safety distance; when the minimum value of the space distance is smaller than the secondary safety distance, a deceleration signal is sent to a PLC system of the stacker-reclaimer with the same track or a stacker-reclaimer with different tracks, and an alarm signal is sent; when the minimum value of the space distance is smaller than the three-level safety distance, a stop signal is sent to the PLC system of the stacker-reclaimer with the same track or the stacker-reclaimer with different tracks, and an alarm signal is sent.
Preferably, the anti-collision control method of the stacker-reclaimer can simultaneously carry out anti-collision between the stacker-reclaimer and different anti-collision related objects in a multithread manner.
Example 2
Fig. 4 is a functional block diagram illustrating an anti-collision system of the stacker-reclaimer in an embodiment, and the application also discloses an anti-collision control system of the stacker-reclaimer, wherein the system comprises a posture collection device of the stacker-reclaimer, a point collection device on the surface of an anti-collision related object, a PLC control system of the stacker-reclaimer and an anti-collision calculation server, and the system executes the method of any one of the above.
The stacker-reclaimer gesture acquisition equipment (Beidou/GPS system, gray bus, encoder, inclinometer and the like) is used for acquiring walking, rotation and pitching gesture data of the stacker-reclaimer in real time;
the anti-collision related object surface point acquisition equipment comprises acquisition equipment of world coordinates in a three-dimensional space, wherein the anti-collision related object comprises a stockpile, a fixed construction, the ground and a dam foundation;
the anti-collision calculation server is used for generating an anti-collision combined model of the stacker-reclaimer and three-dimensional space world coordinates of key points thereof, reading gesture data of the stacker-reclaimer in real time, calculating the three-dimensional space world coordinates of the key points of the stacker-reclaimer after running, turning and pitching actions, reading three-dimensional data of surface points of anti-collision related objects in real time, calculating the space distances between the three-dimensional space world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, acquiring a minimum value of the space distance, and generating an anti-collision strategy;
the anti-collision calculation server is provided with anti-collision calculation software of the stacker-reclaimer, the software comprises a data communication module, a space distance calculation module, an anti-collision strategy generation module and three parts, wherein the data communication module is used for data communication between the anti-collision calculation server and a PLC control system of the stacker-reclaimer as well as between the data communication module and a surface point acquisition module of an anti-collision related object; the space distance calculation module is used for calculating the minimum value of the space distance between the surface points of the object related to the anti-collision after the stacker-reclaimer walks, rotates and tilts; the anti-collision strategy generation module generates a control instruction in real time according to the minimum value of the spatial distance between the stacker-reclaimer and an anti-collision related object, and sends the control instruction to the PLC control system of the stacker-reclaimer through the data communication module.
The PLC control system of the stacker-reclaimer is used for receiving the posture data of the posture acquisition equipment of the stacker-reclaimer, performing data and instruction interaction with the anti-collision calculation server, and sending the control instruction of the anti-collision calculation server to the driving devices of all mechanisms of the stacker-reclaimer in real time to automatically control the stacker-reclaimer to perform stacking and reclaiming operations;
the conventional stacker-reclaimer mechanical structure mainly comprises a pitching hinge point mechanism, a cantilever mechanism, a rotary platform mechanism, a running mechanism, a counterweight mechanism, a bucket wheel mechanism and an overhaul platform.
Fig. 5 is a schematic structural diagram of an anti-collision control system of a stacker-reclaimer in embodiment 2, wherein an anti-collision monitoring client 2, an anti-collision calculation server 3 and an ethernet switch 4 are disposed in a central control room 1, and anti-collision calculation software of the stacker-reclaimer is carried in the anti-collision calculation server 3, and the software comprises a data communication module, a space distance calculation module, an anti-collision strategy generation module and three parts, wherein the data communication module is used for data communication between the anti-collision calculation server 3 and a PLC control system 7 of the stacker-reclaimer and surface point acquisition equipment 17 of an anti-collision related object; the space distance calculation module is used for calculating the minimum value of the space distance between the surface points of the object related to the anti-collision after the stacker-reclaimer walks, rotates and tilts; the anti-collision strategy generation module generates control instructions in real time according to the minimum value of the spatial distance between the stacker-reclaimer and the anti-collision related object, and sends the control instructions to the PLC control system 7 of the stacker-reclaimer through the data communication module. The anti-collision monitoring client 2 is provided with anti-collision client software of the stacker-reclaimer, performs data interaction with a data communication module in the anti-collision calculation server 3, and is used for displaying the running gesture of the stacker-reclaimer in real time, displaying the space distance between the stacker-reclaimer and each anti-collision related object, dynamically alarming the running of the stacker-reclaimer according to the anti-collision strategy, and has the functions of anti-collision working condition configuration, history record inquiry and the like.
The stacker-reclaimer PLC control system 7 and the anti-collision related object surface point acquisition equipment 17 are arranged on the stacker-reclaimer body 21, are in communication connection with the central control room Ethernet switch 4 through the Ethernet switch 6, the winding drum slip ring box 18, the cable winding drum 19 and the ground junction box 20 on the stacker-reclaimer and are used for receiving posture data of the stacker-reclaimer posture acquisition equipment 16, performing data and instruction interaction with the anti-collision calculation server 3, and sending control instructions of the anti-collision calculation server 3 to driving devices of all mechanisms of the stacker-reclaimer in real time to automatically control the stacker-reclaimer to perform stacking and reclaiming operations. The anti-collision related object surface point collecting device 17 is used for collecting surface data of related objects, such as stockpiles, dam bases, ground, fixed structures and the like, which have collision risks with the stacker-reclaimer in the stockyard. Hardware devices that may be employed by the collision-related object surface point acquisition device 17 include three-dimensional laser scanners, range radars, TOF cameras, and the like. As a preferred embodiment, a two-dimensional laser scanner mounting rotation Yun Taizu is used to form a three-dimensional laser scanner.
Preferably, a data fusion device 15 is further arranged between the ethernet switch 6 and the anti-collision related object surface point acquisition device 17 on the stacker-reclaimer, and is used for converting the anti-collision related object surface point data into a three-dimensional coordinate of a material stack in euclidean coordinate space.
The stacker-reclaimer rotary encoder 10, the stacker-reclaimer pitch encoder 11 or the inclinometer, and the stacker-reclaimer travel encoder 13 of the conventional stacker-reclaimer configuration can be used as the stacker-reclaimer posture acquisition device 16. The stacker-reclaimer rotary encoder 10 is arranged on a stacker-reclaimer rotary platform mechanism, the stacker-reclaimer pitching encoder 11 or the inclinometer is arranged on a stacker-reclaimer pitching hinge point mechanism, the stacker-reclaimer running encoder 13 is arranged at a stacker-reclaimer running mechanism, and the stacker-reclaimer posture data are uploaded to the anti-collision calculation server 3 through the stacker-reclaimer PLC control system 7. Preferably, the device specifically used in this embodiment is an electromagnetic bus bar collecting device or a beidou/GPS system, which is used as a stacker-reclaimer gesture collecting device 16, and the stacker-reclaimer rotary encoder 10, the stacker-reclaimer pitch encoder 11 or the inclinometer, and the stacker-reclaimer travel encoder 13 are used for verification. When the bulk material place is not provided with a ceiling, the Beidou/GPS system is adopted as gesture acquisition equipment, and equipment such as an encoder, an inclinometer and the like are configured for verification. When the bulk material place is provided with a ceiling, electromagnetic bus acquisition equipment such as a grid Lei Muxian and the like are adopted, and equipment such as an encoder, an inclinometer and the like are configured for verification.
Example 3:
in this embodiment, the first stacker-reclaimer and the second stacker-reclaimer can be used for anti-collision calculation under multiple working conditions such as a material pile, a fixed building, the ground, a dam foundation and the like, wherein the first stacker-reclaimer and the second stacker-reclaimer can be two stacker-reclaimers on the same track or two stacker-reclaimers on adjacent tracks. The anti-collision monitoring client 2, the anti-collision calculation server 3 and the Ethernet switch 4 are arranged in the central control room 1, wherein anti-collision calculation software of the stacker-reclaimer is carried in the anti-collision calculation server 3, the software comprises a data communication module, a space distance calculation module, an anti-collision strategy generation module and three parts, and the data communication module is used for data communication between the anti-collision calculation server 3 and the first stacker-reclaimer PLC control system 112, the first stacker-reclaimer anti-collision related object surface point acquisition device 122, the second stacker-reclaimer PLC control system 212 and the second stacker-reclaimer anti-collision related object surface point acquisition device 222; the space distance calculation module is used for calculating the minimum value of the space distance between the surface points of the object related to the anti-collision after the stacker-reclaimer walks, rotates and tilts; the anti-collision strategy generation module generates control instructions in real time according to the minimum value of the spatial distance between the stacker-reclaimer and the anti-collision related object, and sends the control instructions to the first stacker-reclaimer PLC control system 112 and the second stacker-reclaimer PLC control system 212 through the data communication module. The anti-collision monitoring client 2 is provided with anti-collision client software of the stacker-reclaimer, performs data interaction with a data communication module in the anti-collision calculation server 3, and is used for displaying the running gesture of the stacker-reclaimer in real time, displaying the space distance between the stacker-reclaimer and each anti-collision related object, dynamically alarming the running of the stacker-reclaimer according to the anti-collision strategy, and has the functions of anti-collision working condition configuration, history record inquiry and the like.
The first stacker-reclaimer PLC control system 112, the second stacker-reclaimer PLC control system 212, the first stacker-reclaimer collision-related object surface point acquisition device 122, the second stacker-reclaimer collision-related object surface point acquisition device 222 are respectively installed on the first stacker-reclaimer body 110, the first stacker-reclaimer body 110 and the first stacker-reclaimer body, respectively, and are respectively in communication connection with the central control room ethernet switch 4 through the first stacker-reclaimer ethernet switch 111, the first stacker-reclaimer reel slip ring box 123, the first stacker-reclaimer cable reel 124, the first stacker-reclaimer ground junction box 125, the second stacker-reclaimer ethernet switch 211, the second stacker-reclaimer reel slip ring box 223, the second stacker-reclaimer cable reel 224 and the second stacker-reclaimer ground junction box 225, for receiving attitude data of the first stacker-reclaimer attitude acquisition device 121 and the second stacker-reclaimer attitude acquisition device 221, and performing data and instruction interaction with the collision-preventing calculation server 3, and driving the stacker-reclaimer automatic controller 3 to the stacker-reclaimer control mechanism when the respective stacker-reclaimer is controlled to take-reclaimer. The first stacker-reclaimer anti-collision related object surface point acquisition device 122 and the second stacker-reclaimer anti-collision related object surface point acquisition device 222 are used for acquiring surface data of related objects with collision risks with the stacker-reclaimer in a material yard, wherein the related objects are specifically a material pile, a dam foundation, the ground, a fixed building and the like. Hardware devices that may be used by the first stacker-reclaimer collision avoidance related object surface point acquisition device 122 and the second stacker-reclaimer collision avoidance related object surface point acquisition device 222 include a three-dimensional laser scanner, a range radar, a TOF camera, and the like. As a preferred embodiment, a two-dimensional laser scanner mounting rotation Yun Taizu is used to form a three-dimensional laser scanner.
Preferably, a first stacker-reclaimer data fusion device 120 is further disposed between the ethernet switch 111 on the first stacker-reclaimer and the first stacker-reclaimer anti-collision related object surface point acquisition device 122, and between the ethernet switch 211 on the second stacker-reclaimer and the second stacker-reclaimer anti-collision related object surface point acquisition device 222, for converting the anti-collision related object surface point data into three-dimensional coordinates in euclidean coordinate space.
The first stacker-reclaimer rotary encoder 115, the first stacker-reclaimer pitch encoder 116, or the inclinometer, the first stacker-reclaimer travel encoder 118, and the second stacker-reclaimer rotary encoder 215, the second stacker-reclaimer pitch encoder 216, or the inclinometer, and the second stacker-reclaimer travel encoder 218 of the conventional stacker-reclaimer configuration may be used as the first stacker-reclaimer attitude acquisition device 121, and the second stacker-reclaimer attitude acquisition device 221. The first stacker-reclaimer rotary encoder 115 is installed on the first stacker-reclaimer rotary platform mechanism, the first stacker-reclaimer pitch encoder 116 or the inclinometer is installed on the first stacker-reclaimer pitch hinge point mechanism, the first stacker-reclaimer travel encoder 118 is installed at the first stacker-reclaimer travel mechanism, and the first stacker-reclaimer attitude data is uploaded to the anti-collision calculation server 3 through the first stacker-reclaimer PLC control system 112. The second stacker-reclaimer rotary encoder 215 is installed on the second stacker-reclaimer rotary platform mechanism, the second stacker-reclaimer pitch encoder 216 or the inclinometer is installed on the second stacker-reclaimer pitch hinge point mechanism, the second stacker-reclaimer travel encoder 218 is installed at the second stacker-reclaimer travel mechanism, and the second stacker-reclaimer attitude data is uploaded to the anti-collision calculation server 3 through the second stacker-reclaimer PLC control system 212. Preferably, the device specifically used in this embodiment is an electromagnetic bus bar collecting device or a beidou/GPS system, which is used as the first stacker-reclaimer gesture collecting device 121 and the second stacker-reclaimer gesture collecting device 221, and the first stacker-reclaimer rotary encoder 115, the first stacker-reclaimer pitch encoder 116 or the inclinometer, the first stacker-reclaimer running encoder 118, the second stacker-reclaimer rotary encoder 215, the second stacker-reclaimer pitch encoder 216 and the second stacker-reclaimer running encoder 218 are used for verification. When the bulk material place is not provided with a ceiling, the Beidou/GPS system is adopted as gesture acquisition equipment, and equipment such as an encoder, an inclinometer and the like are configured for verification. When the bulk material place is provided with a ceiling, electromagnetic bus acquisition equipment such as a grid Lei Muxian and the like are adopted, and equipment such as an encoder, an inclinometer and the like are configured for verification.
The embodiment is used for explaining the anti-collision calculation which can be expanded to a plurality of stacker-reclaimers.
Further, the stacker-reclaimer is any one of a stacker-reclaimer, a stacker-reclaimer, a scraper and a bulldozer.
The anti-collision control method of the stacker-reclaimer is applied to the stacker-reclaimer equipment of a storage yard, can realize that the stacker-reclaimer can not collide with adjacent material piles, adjacent stacker-reclaimers, dam bases, the ground of the storage yard and other machines when automatically stacking and taking operations in an unmanned environment, can ensure the stacking and taking efficiency and safety to the greatest extent, and is one of key technologies for realizing the intellectualization of the stacker-reclaimer.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, who is within the scope of the present application, should make equivalent substitutions or modifications according to the technical scheme of the present application and the inventive concept thereof, and should be covered by the scope of the present application.
Claims (8)
1. The anti-collision control method for the stacker-reclaimer is characterized by comprising the following steps of:
according to the geometric characteristics of the stacker-reclaimer, a basic geometric body containing a mechanical structure is extracted, key points are generated on the surface of the basic geometric body, and the relative coordinates of the key points are obtained;
establishing an anti-collision combined model of the stacker-reclaimer, and calculating three-dimensional space world coordinates of key points according to a combination mode of the combined model and the mechanical size of the stacker-reclaimer;
calculating world coordinates of key points in three-dimensional space after walking, turning and pitching actions of the stacker-reclaimer, and obtaining world coordinates Q of the surface points of the anti-collision related objects in the three-dimensional space;
calculating the space distance between the world coordinates P of all key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance;
performing anti-collision control according to the minimum space distance and the set safety distance;
when the anti-collision combined model is built: and taking a basic geometric body as a root part, wherein the root part comprises a plurality of connecting structures and a basic geometric body serving as a sub-part, the sub-part is connected with the root part through the connecting structures, the sub-part serves as a father part of the next part, comprises the corresponding connecting structures and the basic geometric body serving as the sub-part, and the anti-collision combined model of the stacker-reclaimer is built iteratively according to the relation.
2. The method of claim 1, further characterized by: defining the running, pitching and turning actions of the stacker-reclaimer as the rotation and translation movements of a three-dimensional coordinate system of a basic geometrical body around the coordinate axes of the three-dimensional coordinate system respectively, wherein the running actions are simplified into the translation of the basic geometrical body along the x-axis, the turning actions are simplified into the rotation of a turning part basic geometrical body around the z-axis, the pitching actions are simplified into the rotation of a counterweight part basic geometrical body and a cantilever part basic geometrical body around the y-axis, wherein the three-dimensional space world coordinates p2 of key points on each part are respectively rotated and translated around the coordinate axes according to the running, pitching and turning postures of the mainframe, and the three-dimensional space world coordinates p3 of the key points of the stacker-reclaimer after the running, turning and pitching actions are obtained, namely p3=T p *T c * (p 2, 1), wherein T p For a rotation translation matrix of the parent component, T c Is a rotational translation matrix of the connection structure.
3. The method of claim 2, further characterized by: the rotation translation matrix T of the parent component p Expressed as:
wherein x, y and z are the rotation angles of the parent component around the original x axis, y axis and z axis respectively, and delta p.x, delta p.y and delta p.z are the translation distances of the parent component along the x axis, y axis and z axis respectively;
the fixed connection structure defaults to non-rotation and translation only, wherein the rotation and translation matrix T of the connection structure c Expressed as:
wherein Δ p.x, Δ p.y, Δ p.z are the distances that the base geometry translates along the x-axis, y-axis, z-axis, respectively;
when the root part and the sub-part are connected by adopting an axial structure, the rotation translation matrix of the axial connection structure is as follows:
wherein x, y, z are the angles of rotation of the child component coordinate system about the x-axis, y-axis, z-axis of the parent component coordinate system, respectively, Δ p.x, Δ p.y, Δ p.z are the distances of translation of the child component coordinate system and the parent component coordinate system along the x-axis, y-axis, z-axis, respectively.
4. The method of claim 1, further characterized by: the three-dimensional world coordinates P of the key points and the surface point space distance D between the key points and the anti-collision related object PQ And acquiring in real time along with the action of the stacker-reclaimer.
5. The method of claim 1, further characterized by: in the anti-collision control process: setting three-level safety distances, and sending an alarm signal when the calculated distance is smaller than the first-level safety distance; when the calculated distance is smaller than the second-level safety distance, a deceleration signal and an alarm signal are sent; and when the calculated distance is smaller than the three-level safety distance, sending a stop command and an alarm signal.
6. The method of claim 1, further characterized by: calculating the space distance between the world coordinates P of all the key points and the world coordinates Q of the anti-collision related object surface points in the three-dimensional space, and obtaining the minimum value of the space distance:
wherein, the three-dimensional world coordinates P of all key points acquire all the relative coordinates pn=T of the key points based on an iterative mode p(n-1) *T c(n-1) *(p(n-1),1)。
7. The utility model provides a stacker-reclaimer anticollision control system which characterized in that includes:
the stacker-reclaimer gesture acquisition equipment is used for acquiring walking, rotation and pitching gesture data of the stacker-reclaimer in real time;
the anti-collision related object surface point acquisition equipment is used for acquiring world coordinate information in a three-dimensional space of a material pile, a fixed construct, the ground and a dam foundation;
the anti-collision calculation server is used for generating an anti-collision combined model of the stacker-reclaimer and the three-dimensional world coordinates of key points thereof, reading the attitude data of the stacker-reclaimer in real time, calculating the three-dimensional world coordinates of the key points of the stacker-reclaimer after running, turning and pitching actions, reading the three-dimensional data of the surface points of the anti-collision related objects in real time, calculating the spatial distances between the three-dimensional world coordinates of the key points of the stacker-reclaimer and the world coordinates of the surface points of the anti-collision related objects in three-dimensional space, acquiring the minimum value of the spatial distances and generating an anti-collision strategy at the same time, and communicating the anti-collision calculation server with the anti-collision monitoring client;
and the PLC control system of the stacker-reclaimer is in real-time data communication with the anti-collision calculation server, receives the attitude data transmitted by the attitude acquisition equipment of the stacker-reclaimer, performs data and instruction interaction with the anti-collision calculation server, and sends the control instruction of the anti-collision calculation server to the driving devices of all mechanisms of the stacker-reclaimer in real time so as to automatically control the stacker-reclaimer to perform stacking and reclaiming operations.
8. The stacker-reclaimer collision avoidance control system of claim 7, further characterized by: the anti-collision calculation server comprises a data communication module, a space distance calculation module and an anti-collision strategy generation module;
the data communication module is used for communicating with a PLC control system of the stacker-reclaimer and the anti-collision related object surface point acquisition equipment;
the space distance calculation module is used for calculating the minimum value of the space distance between the stacker-reclaimer and the surface point of the anti-collision related object after running, turning and pitching;
and the anti-collision strategy generation module generates a control instruction in real time according to the minimum value of the spatial distance between the stacker-reclaimer and the anti-collision related object and sends the control instruction to the PLC control system of the stacker-reclaimer through the data communication module.
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| CN113463718A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Anti-collision control system and control method for loader |
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| CN114721323A (en) * | 2022-03-26 | 2022-07-08 | 太仓武港码头有限公司 | Safety anti-collision system, method, terminal and storage medium for stacker-reclaimer |
| CN114898540B (en) * | 2022-04-02 | 2024-01-09 | 大连九州创智科技有限公司 | Bulk cargo yard equipment anti-collision early warning method based on geometric part model |
| CN114873295A (en) * | 2022-06-14 | 2022-08-09 | 湖南千盟工业智能系统股份有限公司 | Full-automatic stacking control system of bucket-wheel stacker reclaimer |
| CN116958931B (en) * | 2023-07-20 | 2024-07-30 | 山东产研鲲云人工智能研究院有限公司 | Method and computing device for vehicle collision early warning in warehouse |
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